59.477 * [progress]: [Phase 1 of 3] Setting up.
0.002 * * * [progress]: [1/2] Preparing points
0.135 * * * [progress]: [2/2] Setting up program.
0.146 * [progress]: [Phase 2 of 3] Improving.
0.146 * [simplify]: Simplifying:
  (* R (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2)))))
0.146 * * [simplify]: iteration 0: 17 enodes
0.152 * * [simplify]: iteration 1: 34 enodes
0.204 * * [simplify]: iteration 2: 72 enodes
0.232 * * [simplify]: iteration 3: 231 enodes
0.326 * * [simplify]: iteration 4: 761 enodes
0.686 * * [simplify]: iteration 5: 1878 enodes
2.356 * * [simplify]: iteration complete: 5003 enodes
2.356 * * [simplify]: Extracting #0: cost 1 inf + 0
2.357 * * [simplify]: Extracting #1: cost 3 inf + 0
2.357 * * [simplify]: Extracting #2: cost 5 inf + 1
2.358 * * [simplify]: Extracting #3: cost 162 inf + 1
2.361 * * [simplify]: Extracting #4: cost 690 inf + 185
2.367 * * [simplify]: Extracting #5: cost 693 inf + 6841
2.376 * * [simplify]: Extracting #6: cost 613 inf + 15301
2.386 * * [simplify]: Extracting #7: cost 582 inf + 22955
2.441 * * [simplify]: Extracting #8: cost 152 inf + 178926
2.575 * * [simplify]: Extracting #9: cost 0 inf + 241286
2.747 * * [simplify]: Extracting #10: cost 0 inf + 241086
2.879 * [simplify]: Simplified to:
  (* (hypot (* (- lambda1 lambda2) (cos (/ (+ phi2 phi1) 2.0))) (- phi1 phi2)) R)
2.887 * * [progress]: iteration 1 / 4
2.887 * * * [progress]: picking best candidate
2.893 * * * * [pick]: Picked  #<alt (λ (R lambda1 lambda2 phi1 phi2) (* (hypot (* (- lambda1 lambda2) (cos (/ (+ phi2 phi1) 2.0))) (- phi1 phi2)) R))>
2.893 * * * [progress]: localizing error
2.932 * * * [progress]: generating rewritten candidates
2.932 * * * * [progress]: [ 1 / 4 ] rewriting at (2 1 1 2)
2.942 * * * * [progress]: [ 2 / 4 ] rewriting at (2 1 1)
2.960 * * * * [progress]: [ 3 / 4 ] rewriting at (2)
2.967 * * * * [progress]: [ 4 / 4 ] rewriting at (2 1)
2.969 * * * [progress]: generating series expansions
2.969 * * * * [progress]: [ 1 / 4 ] generating series at (2 1 1 2)
2.969 * [backup-simplify]: Simplify (cos (/ (+ phi2 phi1) 2.0)) into (cos (* 0.5 (+ phi1 phi2)))
2.969 * [approximate]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in (phi2 phi1) around 0
2.969 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in phi1
2.969 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in phi1
2.969 * [taylor]: Taking taylor expansion of 0.5 in phi1
2.969 * [backup-simplify]: Simplify 0.5 into 0.5
2.969 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in phi1
2.969 * [taylor]: Taking taylor expansion of phi1 in phi1
2.969 * [backup-simplify]: Simplify 0 into 0
2.969 * [backup-simplify]: Simplify 1 into 1
2.969 * [taylor]: Taking taylor expansion of phi2 in phi1
2.969 * [backup-simplify]: Simplify phi2 into phi2
2.969 * [backup-simplify]: Simplify (+ 0 phi2) into phi2
2.969 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
2.969 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
2.969 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
2.969 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in phi2
2.969 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in phi2
2.969 * [taylor]: Taking taylor expansion of 0.5 in phi2
2.969 * [backup-simplify]: Simplify 0.5 into 0.5
2.969 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in phi2
2.969 * [taylor]: Taking taylor expansion of phi1 in phi2
2.969 * [backup-simplify]: Simplify phi1 into phi1
2.969 * [taylor]: Taking taylor expansion of phi2 in phi2
2.969 * [backup-simplify]: Simplify 0 into 0
2.969 * [backup-simplify]: Simplify 1 into 1
2.969 * [backup-simplify]: Simplify (+ phi1 0) into phi1
2.969 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
2.969 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
2.969 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
2.969 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in phi2
2.969 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in phi2
2.969 * [taylor]: Taking taylor expansion of 0.5 in phi2
2.970 * [backup-simplify]: Simplify 0.5 into 0.5
2.970 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in phi2
2.970 * [taylor]: Taking taylor expansion of phi1 in phi2
2.970 * [backup-simplify]: Simplify phi1 into phi1
2.970 * [taylor]: Taking taylor expansion of phi2 in phi2
2.970 * [backup-simplify]: Simplify 0 into 0
2.970 * [backup-simplify]: Simplify 1 into 1
2.970 * [backup-simplify]: Simplify (+ phi1 0) into phi1
2.970 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
2.970 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
2.970 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
2.970 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
2.970 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
2.971 * [backup-simplify]: Simplify (- 0) into 0
2.971 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
2.971 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1
2.971 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
2.971 * [taylor]: Taking taylor expansion of 0.5 in phi1
2.971 * [backup-simplify]: Simplify 0.5 into 0.5
2.971 * [taylor]: Taking taylor expansion of phi1 in phi1
2.971 * [backup-simplify]: Simplify 0 into 0
2.971 * [backup-simplify]: Simplify 1 into 1
2.971 * [backup-simplify]: Simplify (* 0.5 0) into 0
2.972 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
2.972 * [backup-simplify]: Simplify 1 into 1
2.972 * [backup-simplify]: Simplify (+ 0) into 0
2.973 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0
2.973 * [backup-simplify]: Simplify (+ 0 1) into 1
2.973 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi1)) into 0.5
2.975 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5
2.975 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1)))
2.975 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1))))
2.975 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1))))
2.975 * [taylor]: Taking taylor expansion of (- (* 0.5 (sin (* 0.5 phi1)))) in phi1
2.975 * [taylor]: Taking taylor expansion of (* 0.5 (sin (* 0.5 phi1))) in phi1
2.975 * [taylor]: Taking taylor expansion of 0.5 in phi1
2.975 * [backup-simplify]: Simplify 0.5 into 0.5
2.975 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1
2.975 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
2.976 * [taylor]: Taking taylor expansion of 0.5 in phi1
2.976 * [backup-simplify]: Simplify 0.5 into 0.5
2.976 * [taylor]: Taking taylor expansion of phi1 in phi1
2.976 * [backup-simplify]: Simplify 0 into 0
2.976 * [backup-simplify]: Simplify 1 into 1
2.976 * [backup-simplify]: Simplify (* 0.5 0) into 0
2.977 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
2.977 * [backup-simplify]: Simplify (* 0.5 0) into 0
2.977 * [backup-simplify]: Simplify (- 0) into 0
2.977 * [backup-simplify]: Simplify 0 into 0
2.985 * [backup-simplify]: Simplify (+ 0) into 0
2.985 * [backup-simplify]: Simplify 0 into 0
2.988 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125)
2.989 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (- 0.125)) (+ (* 0 0) (* 0 1))) into (- (* 0.125 (cos (* 0.5 phi1))))
2.989 * [backup-simplify]: Simplify (+ 0 0) into 0
2.990 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 1) (* 0 phi1))) into 0
2.991 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
2.991 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0.5) (* 0 0))) into 0
2.992 * [backup-simplify]: Simplify (- 0) into 0
2.992 * [backup-simplify]: Simplify (+ (- (* 0.125 (cos (* 0.5 phi1)))) 0) into (- (* 0.125 (cos (* 0.5 phi1))))
2.992 * [taylor]: Taking taylor expansion of (- (* 0.125 (cos (* 0.5 phi1)))) in phi1
2.992 * [taylor]: Taking taylor expansion of (* 0.125 (cos (* 0.5 phi1))) in phi1
2.992 * [taylor]: Taking taylor expansion of 0.125 in phi1
2.992 * [backup-simplify]: Simplify 0.125 into 0.125
2.992 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1
2.992 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
2.992 * [taylor]: Taking taylor expansion of 0.5 in phi1
2.992 * [backup-simplify]: Simplify 0.5 into 0.5
2.992 * [taylor]: Taking taylor expansion of phi1 in phi1
2.992 * [backup-simplify]: Simplify 0 into 0
2.992 * [backup-simplify]: Simplify 1 into 1
2.992 * [backup-simplify]: Simplify (* 0.5 0) into 0
2.994 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
2.994 * [backup-simplify]: Simplify (* 0.125 1) into 0.125
2.994 * [backup-simplify]: Simplify (- 0.125) into (- 0.125)
2.995 * [backup-simplify]: Simplify (- 0.125) into (- 0.125)
2.997 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5
2.998 * [backup-simplify]: Simplify (+ (* 0.5 0.5) (* 0 0)) into 0.25
2.999 * [backup-simplify]: Simplify (- 0.25) into (- 0.25)
2.999 * [backup-simplify]: Simplify (- 0.25) into (- 0.25)
3.000 * [backup-simplify]: Simplify (+ (* (- 0.25) (* phi1 phi2)) (+ (* (- 0.125) (pow (* 1 phi2) 2)) 1)) into (- 1 (+ (* 0.25 (* phi1 phi2)) (* 0.125 (pow phi2 2))))
3.000 * [backup-simplify]: Simplify (cos (/ (+ (/ 1 phi2) (/ 1 phi1)) 2.0)) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.000 * [approximate]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in (phi2 phi1) around 0
3.000 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
3.000 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
3.000 * [taylor]: Taking taylor expansion of 0.5 in phi1
3.000 * [backup-simplify]: Simplify 0.5 into 0.5
3.000 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
3.000 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
3.000 * [taylor]: Taking taylor expansion of phi1 in phi1
3.000 * [backup-simplify]: Simplify 0 into 0
3.000 * [backup-simplify]: Simplify 1 into 1
3.001 * [backup-simplify]: Simplify (/ 1 1) into 1
3.001 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
3.001 * [taylor]: Taking taylor expansion of phi2 in phi1
3.001 * [backup-simplify]: Simplify phi2 into phi2
3.001 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
3.001 * [backup-simplify]: Simplify (+ 1 0) into 1
3.002 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
3.002 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.002 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
3.002 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
3.002 * [taylor]: Taking taylor expansion of 0.5 in phi2
3.002 * [backup-simplify]: Simplify 0.5 into 0.5
3.002 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
3.002 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
3.002 * [taylor]: Taking taylor expansion of phi1 in phi2
3.002 * [backup-simplify]: Simplify phi1 into phi1
3.002 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
3.002 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
3.002 * [taylor]: Taking taylor expansion of phi2 in phi2
3.002 * [backup-simplify]: Simplify 0 into 0
3.002 * [backup-simplify]: Simplify 1 into 1
3.002 * [backup-simplify]: Simplify (/ 1 1) into 1
3.003 * [backup-simplify]: Simplify (+ 0 1) into 1
3.003 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
3.003 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.003 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
3.003 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
3.003 * [taylor]: Taking taylor expansion of 0.5 in phi2
3.004 * [backup-simplify]: Simplify 0.5 into 0.5
3.004 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
3.004 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
3.004 * [taylor]: Taking taylor expansion of phi1 in phi2
3.004 * [backup-simplify]: Simplify phi1 into phi1
3.004 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
3.004 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
3.004 * [taylor]: Taking taylor expansion of phi2 in phi2
3.004 * [backup-simplify]: Simplify 0 into 0
3.004 * [backup-simplify]: Simplify 1 into 1
3.004 * [backup-simplify]: Simplify (/ 1 1) into 1
3.004 * [backup-simplify]: Simplify (+ 0 1) into 1
3.005 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
3.005 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.005 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
3.005 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
3.005 * [taylor]: Taking taylor expansion of 0.5 in phi1
3.005 * [backup-simplify]: Simplify 0.5 into 0.5
3.005 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
3.005 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
3.005 * [taylor]: Taking taylor expansion of phi1 in phi1
3.005 * [backup-simplify]: Simplify 0 into 0
3.005 * [backup-simplify]: Simplify 1 into 1
3.006 * [backup-simplify]: Simplify (/ 1 1) into 1
3.006 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
3.006 * [taylor]: Taking taylor expansion of phi2 in phi1
3.006 * [backup-simplify]: Simplify phi2 into phi2
3.006 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
3.006 * [backup-simplify]: Simplify (+ 1 0) into 1
3.007 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
3.007 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.007 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.007 * [taylor]: Taking taylor expansion of 0 in phi1
3.007 * [backup-simplify]: Simplify 0 into 0
3.007 * [backup-simplify]: Simplify 0 into 0
3.007 * [backup-simplify]: Simplify 0 into 0
3.007 * [taylor]: Taking taylor expansion of 0 in phi1
3.007 * [backup-simplify]: Simplify 0 into 0
3.007 * [backup-simplify]: Simplify 0 into 0
3.007 * [backup-simplify]: Simplify 0 into 0
3.007 * [backup-simplify]: Simplify 0 into 0
3.007 * [taylor]: Taking taylor expansion of 0 in phi1
3.007 * [backup-simplify]: Simplify 0 into 0
3.007 * [backup-simplify]: Simplify 0 into 0
3.008 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2))))) into (cos (* 0.5 (+ phi1 phi2)))
3.008 * [backup-simplify]: Simplify (cos (/ (+ (/ 1 (- phi2)) (/ 1 (- phi1))) 2.0)) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.008 * [approximate]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in (phi2 phi1) around 0
3.008 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
3.008 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
3.008 * [taylor]: Taking taylor expansion of -0.5 in phi1
3.008 * [backup-simplify]: Simplify -0.5 into -0.5
3.008 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
3.008 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
3.008 * [taylor]: Taking taylor expansion of phi1 in phi1
3.008 * [backup-simplify]: Simplify 0 into 0
3.008 * [backup-simplify]: Simplify 1 into 1
3.008 * [backup-simplify]: Simplify (/ 1 1) into 1
3.008 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
3.008 * [taylor]: Taking taylor expansion of phi2 in phi1
3.009 * [backup-simplify]: Simplify phi2 into phi2
3.009 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
3.009 * [backup-simplify]: Simplify (+ 1 0) into 1
3.009 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
3.009 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.010 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
3.010 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
3.010 * [taylor]: Taking taylor expansion of -0.5 in phi2
3.010 * [backup-simplify]: Simplify -0.5 into -0.5
3.010 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
3.010 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
3.010 * [taylor]: Taking taylor expansion of phi1 in phi2
3.010 * [backup-simplify]: Simplify phi1 into phi1
3.010 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
3.010 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
3.010 * [taylor]: Taking taylor expansion of phi2 in phi2
3.010 * [backup-simplify]: Simplify 0 into 0
3.010 * [backup-simplify]: Simplify 1 into 1
3.010 * [backup-simplify]: Simplify (/ 1 1) into 1
3.011 * [backup-simplify]: Simplify (+ 0 1) into 1
3.011 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
3.011 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.011 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
3.011 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
3.011 * [taylor]: Taking taylor expansion of -0.5 in phi2
3.011 * [backup-simplify]: Simplify -0.5 into -0.5
3.011 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
3.011 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
3.011 * [taylor]: Taking taylor expansion of phi1 in phi2
3.011 * [backup-simplify]: Simplify phi1 into phi1
3.011 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
3.011 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
3.011 * [taylor]: Taking taylor expansion of phi2 in phi2
3.011 * [backup-simplify]: Simplify 0 into 0
3.011 * [backup-simplify]: Simplify 1 into 1
3.012 * [backup-simplify]: Simplify (/ 1 1) into 1
3.012 * [backup-simplify]: Simplify (+ 0 1) into 1
3.012 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
3.013 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.013 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
3.013 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
3.013 * [taylor]: Taking taylor expansion of -0.5 in phi1
3.013 * [backup-simplify]: Simplify -0.5 into -0.5
3.013 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
3.013 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
3.013 * [taylor]: Taking taylor expansion of phi1 in phi1
3.013 * [backup-simplify]: Simplify 0 into 0
3.013 * [backup-simplify]: Simplify 1 into 1
3.013 * [backup-simplify]: Simplify (/ 1 1) into 1
3.013 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
3.013 * [taylor]: Taking taylor expansion of phi2 in phi1
3.013 * [backup-simplify]: Simplify phi2 into phi2
3.013 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
3.014 * [backup-simplify]: Simplify (+ 1 0) into 1
3.014 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
3.014 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.015 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.015 * [taylor]: Taking taylor expansion of 0 in phi1
3.015 * [backup-simplify]: Simplify 0 into 0
3.015 * [backup-simplify]: Simplify 0 into 0
3.015 * [backup-simplify]: Simplify 0 into 0
3.015 * [taylor]: Taking taylor expansion of 0 in phi1
3.015 * [backup-simplify]: Simplify 0 into 0
3.015 * [backup-simplify]: Simplify 0 into 0
3.015 * [backup-simplify]: Simplify 0 into 0
3.015 * [backup-simplify]: Simplify 0 into 0
3.015 * [taylor]: Taking taylor expansion of 0 in phi1
3.015 * [backup-simplify]: Simplify 0 into 0
3.015 * [backup-simplify]: Simplify 0 into 0
3.015 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2)))))) into (cos (* 0.5 (+ phi1 phi2)))
3.015 * * * * [progress]: [ 2 / 4 ] generating series at (2 1 1)
3.015 * [backup-simplify]: Simplify (* (- lambda1 lambda2) (cos (/ (+ phi2 phi1) 2.0))) into (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2))))
3.016 * [approximate]: Taking taylor expansion of (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) in (lambda1 lambda2 phi2 phi1) around 0
3.016 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) in phi1
3.016 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in phi1
3.016 * [taylor]: Taking taylor expansion of lambda1 in phi1
3.016 * [backup-simplify]: Simplify lambda1 into lambda1
3.016 * [taylor]: Taking taylor expansion of lambda2 in phi1
3.016 * [backup-simplify]: Simplify lambda2 into lambda2
3.016 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in phi1
3.016 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in phi1
3.016 * [taylor]: Taking taylor expansion of 0.5 in phi1
3.016 * [backup-simplify]: Simplify 0.5 into 0.5
3.016 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in phi1
3.016 * [taylor]: Taking taylor expansion of phi1 in phi1
3.016 * [backup-simplify]: Simplify 0 into 0
3.016 * [backup-simplify]: Simplify 1 into 1
3.016 * [taylor]: Taking taylor expansion of phi2 in phi1
3.016 * [backup-simplify]: Simplify phi2 into phi2
3.016 * [backup-simplify]: Simplify (+ 0 phi2) into phi2
3.016 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
3.016 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
3.016 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
3.016 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) in phi2
3.016 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in phi2
3.016 * [taylor]: Taking taylor expansion of lambda1 in phi2
3.016 * [backup-simplify]: Simplify lambda1 into lambda1
3.016 * [taylor]: Taking taylor expansion of lambda2 in phi2
3.016 * [backup-simplify]: Simplify lambda2 into lambda2
3.016 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in phi2
3.016 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in phi2
3.016 * [taylor]: Taking taylor expansion of 0.5 in phi2
3.016 * [backup-simplify]: Simplify 0.5 into 0.5
3.016 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in phi2
3.017 * [taylor]: Taking taylor expansion of phi1 in phi2
3.017 * [backup-simplify]: Simplify phi1 into phi1
3.017 * [taylor]: Taking taylor expansion of phi2 in phi2
3.017 * [backup-simplify]: Simplify 0 into 0
3.017 * [backup-simplify]: Simplify 1 into 1
3.017 * [backup-simplify]: Simplify (+ phi1 0) into phi1
3.017 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
3.017 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
3.017 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
3.017 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) in lambda2
3.017 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in lambda2
3.017 * [taylor]: Taking taylor expansion of lambda1 in lambda2
3.017 * [backup-simplify]: Simplify lambda1 into lambda1
3.017 * [taylor]: Taking taylor expansion of lambda2 in lambda2
3.017 * [backup-simplify]: Simplify 0 into 0
3.017 * [backup-simplify]: Simplify 1 into 1
3.017 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda2
3.017 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda2
3.017 * [taylor]: Taking taylor expansion of 0.5 in lambda2
3.017 * [backup-simplify]: Simplify 0.5 into 0.5
3.017 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda2
3.017 * [taylor]: Taking taylor expansion of phi1 in lambda2
3.017 * [backup-simplify]: Simplify phi1 into phi1
3.017 * [taylor]: Taking taylor expansion of phi2 in lambda2
3.017 * [backup-simplify]: Simplify phi2 into phi2
3.017 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2)
3.017 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2))
3.018 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2)))
3.018 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2)))
3.018 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) in lambda1
3.018 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in lambda1
3.018 * [taylor]: Taking taylor expansion of lambda1 in lambda1
3.018 * [backup-simplify]: Simplify 0 into 0
3.018 * [backup-simplify]: Simplify 1 into 1
3.018 * [taylor]: Taking taylor expansion of lambda2 in lambda1
3.018 * [backup-simplify]: Simplify lambda2 into lambda2
3.018 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda1
3.018 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda1
3.018 * [taylor]: Taking taylor expansion of 0.5 in lambda1
3.018 * [backup-simplify]: Simplify 0.5 into 0.5
3.018 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda1
3.018 * [taylor]: Taking taylor expansion of phi1 in lambda1
3.018 * [backup-simplify]: Simplify phi1 into phi1
3.018 * [taylor]: Taking taylor expansion of phi2 in lambda1
3.018 * [backup-simplify]: Simplify phi2 into phi2
3.018 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2)
3.018 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2))
3.018 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2)))
3.018 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2)))
3.018 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) in lambda1
3.018 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in lambda1
3.018 * [taylor]: Taking taylor expansion of lambda1 in lambda1
3.018 * [backup-simplify]: Simplify 0 into 0
3.018 * [backup-simplify]: Simplify 1 into 1
3.018 * [taylor]: Taking taylor expansion of lambda2 in lambda1
3.018 * [backup-simplify]: Simplify lambda2 into lambda2
3.019 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda1
3.019 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda1
3.019 * [taylor]: Taking taylor expansion of 0.5 in lambda1
3.019 * [backup-simplify]: Simplify 0.5 into 0.5
3.019 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda1
3.019 * [taylor]: Taking taylor expansion of phi1 in lambda1
3.019 * [backup-simplify]: Simplify phi1 into phi1
3.019 * [taylor]: Taking taylor expansion of phi2 in lambda1
3.019 * [backup-simplify]: Simplify phi2 into phi2
3.019 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2)
3.019 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2))
3.019 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2)))
3.019 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2)))
3.019 * [backup-simplify]: Simplify (- lambda2) into (- lambda2)
3.019 * [backup-simplify]: Simplify (+ 0 (- lambda2)) into (- lambda2)
3.019 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2)))
3.019 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0
3.020 * [backup-simplify]: Simplify (- 0) into 0
3.020 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2)))
3.020 * [backup-simplify]: Simplify (* (- lambda2) (cos (* 0.5 (+ phi1 phi2)))) into (* -1 (* lambda2 (cos (* 0.5 (+ phi1 phi2)))))
3.020 * [taylor]: Taking taylor expansion of (* -1 (* lambda2 (cos (* 0.5 (+ phi1 phi2))))) in lambda2
3.020 * [taylor]: Taking taylor expansion of -1 in lambda2
3.020 * [backup-simplify]: Simplify -1 into -1
3.020 * [taylor]: Taking taylor expansion of (* lambda2 (cos (* 0.5 (+ phi1 phi2)))) in lambda2
3.020 * [taylor]: Taking taylor expansion of lambda2 in lambda2
3.020 * [backup-simplify]: Simplify 0 into 0
3.020 * [backup-simplify]: Simplify 1 into 1
3.020 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda2
3.020 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda2
3.021 * [taylor]: Taking taylor expansion of 0.5 in lambda2
3.021 * [backup-simplify]: Simplify 0.5 into 0.5
3.021 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda2
3.021 * [taylor]: Taking taylor expansion of phi1 in lambda2
3.021 * [backup-simplify]: Simplify phi1 into phi1
3.021 * [taylor]: Taking taylor expansion of phi2 in lambda2
3.021 * [backup-simplify]: Simplify phi2 into phi2
3.021 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2)
3.021 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2))
3.021 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2)))
3.021 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2)))
3.021 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2)))
3.021 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0
3.022 * [backup-simplify]: Simplify (- 0) into 0
3.022 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2)))
3.022 * [backup-simplify]: Simplify (* 0 (cos (* 0.5 (+ phi1 phi2)))) into 0
3.022 * [backup-simplify]: Simplify (* -1 0) into 0
3.023 * [taylor]: Taking taylor expansion of 0 in phi2
3.023 * [backup-simplify]: Simplify 0 into 0
3.023 * [taylor]: Taking taylor expansion of 0 in phi1
3.023 * [backup-simplify]: Simplify 0 into 0
3.023 * [backup-simplify]: Simplify 0 into 0
3.023 * [backup-simplify]: Simplify (+ 0) into 0
3.024 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (* 0 1)) into 0
3.024 * [backup-simplify]: Simplify (+ 0 0) into 0
3.025 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi1 phi2))) into 0
3.026 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
3.027 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi1 phi2))) 0) (* 0 0)) into 0
3.027 * [backup-simplify]: Simplify (- 0) into 0
3.027 * [backup-simplify]: Simplify (+ 0 0) into 0
3.028 * [backup-simplify]: Simplify (- 0) into 0
3.028 * [backup-simplify]: Simplify (+ 1 0) into 1
3.028 * [backup-simplify]: Simplify (+ (* (- lambda2) 0) (* 1 (cos (* 0.5 (+ phi1 phi2))))) into (cos (* 0.5 (+ phi1 phi2)))
3.028 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda2
3.028 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda2
3.029 * [taylor]: Taking taylor expansion of 0.5 in lambda2
3.029 * [backup-simplify]: Simplify 0.5 into 0.5
3.029 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda2
3.029 * [taylor]: Taking taylor expansion of phi1 in lambda2
3.029 * [backup-simplify]: Simplify phi1 into phi1
3.029 * [taylor]: Taking taylor expansion of phi2 in lambda2
3.029 * [backup-simplify]: Simplify phi2 into phi2
3.029 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2)
3.029 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2))
3.029 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2)))
3.029 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2)))
3.030 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2)))
3.030 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0
3.031 * [backup-simplify]: Simplify (- 0) into 0
3.031 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2)))
3.031 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in phi2
3.031 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in phi2
3.031 * [taylor]: Taking taylor expansion of 0.5 in phi2
3.031 * [backup-simplify]: Simplify 0.5 into 0.5
3.031 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in phi2
3.031 * [taylor]: Taking taylor expansion of phi1 in phi2
3.031 * [backup-simplify]: Simplify phi1 into phi1
3.031 * [taylor]: Taking taylor expansion of phi2 in phi2
3.031 * [backup-simplify]: Simplify 0 into 0
3.031 * [backup-simplify]: Simplify 1 into 1
3.031 * [backup-simplify]: Simplify (+ phi1 0) into phi1
3.032 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
3.032 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
3.032 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
3.032 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
3.032 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
3.032 * [backup-simplify]: Simplify (- 0) into 0
3.033 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
3.033 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1
3.033 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
3.033 * [taylor]: Taking taylor expansion of 0.5 in phi1
3.033 * [backup-simplify]: Simplify 0.5 into 0.5
3.033 * [taylor]: Taking taylor expansion of phi1 in phi1
3.033 * [backup-simplify]: Simplify 0 into 0
3.033 * [backup-simplify]: Simplify 1 into 1
3.033 * [backup-simplify]: Simplify (* 0.5 0) into 0
3.035 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
3.035 * [backup-simplify]: Simplify 1 into 1
3.036 * [backup-simplify]: Simplify (+ 0) into 0
3.036 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (* 0 1)) into 0
3.037 * [backup-simplify]: Simplify (+ 0 0) into 0
3.037 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi1 phi2))) into 0
3.038 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
3.038 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi1 phi2))) 0) (* 0 0)) into 0
3.039 * [backup-simplify]: Simplify (- 0) into 0
3.039 * [backup-simplify]: Simplify (+ 0 0) into 0
3.040 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (cos (* 0.5 (+ phi1 phi2))))) into (cos (* 0.5 (+ phi1 phi2)))
3.040 * [backup-simplify]: Simplify (+ (* -1 (cos (* 0.5 (+ phi1 phi2)))) (* 0 0)) into (- (cos (* 0.5 (+ phi1 phi2))))
3.040 * [taylor]: Taking taylor expansion of (- (cos (* 0.5 (+ phi1 phi2)))) in phi2
3.040 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in phi2
3.040 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in phi2
3.040 * [taylor]: Taking taylor expansion of 0.5 in phi2
3.040 * [backup-simplify]: Simplify 0.5 into 0.5
3.040 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in phi2
3.040 * [taylor]: Taking taylor expansion of phi1 in phi2
3.040 * [backup-simplify]: Simplify phi1 into phi1
3.040 * [taylor]: Taking taylor expansion of phi2 in phi2
3.040 * [backup-simplify]: Simplify 0 into 0
3.040 * [backup-simplify]: Simplify 1 into 1
3.040 * [backup-simplify]: Simplify (+ phi1 0) into phi1
3.040 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
3.041 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
3.041 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
3.041 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
3.041 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
3.041 * [backup-simplify]: Simplify (- 0) into 0
3.041 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
3.041 * [backup-simplify]: Simplify (- (cos (* 0.5 phi1))) into (- (cos (* 0.5 phi1)))
3.041 * [taylor]: Taking taylor expansion of (- (cos (* 0.5 phi1))) in phi1
3.041 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1
3.041 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
3.042 * [taylor]: Taking taylor expansion of 0.5 in phi1
3.042 * [backup-simplify]: Simplify 0.5 into 0.5
3.042 * [taylor]: Taking taylor expansion of phi1 in phi1
3.042 * [backup-simplify]: Simplify 0 into 0
3.042 * [backup-simplify]: Simplify 1 into 1
3.042 * [backup-simplify]: Simplify (* 0.5 0) into 0
3.043 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
3.044 * [backup-simplify]: Simplify (- 1) into -1
3.044 * [backup-simplify]: Simplify -1 into -1
3.044 * [taylor]: Taking taylor expansion of 0 in phi1
3.044 * [backup-simplify]: Simplify 0 into 0
3.044 * [backup-simplify]: Simplify 0 into 0
3.044 * [backup-simplify]: Simplify 0 into 0
3.045 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
3.045 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (+ (* 0 0) (* 0 1))) into 0
3.046 * [backup-simplify]: Simplify (+ 0 0) into 0
3.047 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ phi1 phi2)))) into 0
3.047 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
3.048 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi1 phi2))) 0) (+ (* 0 0) (* 0 0))) into 0
3.048 * [backup-simplify]: Simplify (- 0) into 0
3.049 * [backup-simplify]: Simplify (+ 0 0) into 0
3.049 * [backup-simplify]: Simplify (- 0) into 0
3.049 * [backup-simplify]: Simplify (+ 0 0) into 0
3.050 * [backup-simplify]: Simplify (+ (* (- lambda2) 0) (+ (* 1 0) (* 0 (cos (* 0.5 (+ phi1 phi2)))))) into 0
3.050 * [taylor]: Taking taylor expansion of 0 in lambda2
3.050 * [backup-simplify]: Simplify 0 into 0
3.050 * [taylor]: Taking taylor expansion of 0 in phi2
3.050 * [backup-simplify]: Simplify 0 into 0
3.050 * [taylor]: Taking taylor expansion of 0 in phi1
3.050 * [backup-simplify]: Simplify 0 into 0
3.050 * [backup-simplify]: Simplify 0 into 0
3.050 * [backup-simplify]: Simplify (+ 0) into 0
3.051 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (* 0 1)) into 0
3.051 * [backup-simplify]: Simplify (+ 0 0) into 0
3.052 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi1 phi2))) into 0
3.053 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
3.053 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi1 phi2))) 0) (* 0 0)) into 0
3.053 * [backup-simplify]: Simplify (- 0) into 0
3.054 * [backup-simplify]: Simplify (+ 0 0) into 0
3.054 * [taylor]: Taking taylor expansion of 0 in phi2
3.054 * [backup-simplify]: Simplify 0 into 0
3.054 * [taylor]: Taking taylor expansion of 0 in phi1
3.054 * [backup-simplify]: Simplify 0 into 0
3.054 * [backup-simplify]: Simplify 0 into 0
3.055 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
3.056 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (+ (* 0 0) (* 0 1))) into 0
3.056 * [backup-simplify]: Simplify (+ 0 0) into 0
3.057 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ phi1 phi2)))) into 0
3.058 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
3.058 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi1 phi2))) 0) (+ (* 0 0) (* 0 0))) into 0
3.059 * [backup-simplify]: Simplify (- 0) into 0
3.059 * [backup-simplify]: Simplify (+ 0 0) into 0
3.060 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 (cos (* 0.5 (+ phi1 phi2)))))) into 0
3.061 * [backup-simplify]: Simplify (+ (* -1 0) (+ (* 0 (cos (* 0.5 (+ phi1 phi2)))) (* 0 0))) into 0
3.061 * [taylor]: Taking taylor expansion of 0 in phi2
3.061 * [backup-simplify]: Simplify 0 into 0
3.061 * [taylor]: Taking taylor expansion of 0 in phi1
3.061 * [backup-simplify]: Simplify 0 into 0
3.061 * [backup-simplify]: Simplify 0 into 0
3.061 * [backup-simplify]: Simplify (+ 0) into 0
3.062 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0
3.062 * [backup-simplify]: Simplify (+ 0 1) into 1
3.063 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi1)) into 0.5
3.065 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5
3.066 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1)))
3.066 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1))))
3.066 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1))))
3.066 * [taylor]: Taking taylor expansion of (- (* 0.5 (sin (* 0.5 phi1)))) in phi1
3.066 * [taylor]: Taking taylor expansion of (* 0.5 (sin (* 0.5 phi1))) in phi1
3.066 * [taylor]: Taking taylor expansion of 0.5 in phi1
3.066 * [backup-simplify]: Simplify 0.5 into 0.5
3.066 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1
3.066 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
3.066 * [taylor]: Taking taylor expansion of 0.5 in phi1
3.066 * [backup-simplify]: Simplify 0.5 into 0.5
3.067 * [taylor]: Taking taylor expansion of phi1 in phi1
3.067 * [backup-simplify]: Simplify 0 into 0
3.067 * [backup-simplify]: Simplify 1 into 1
3.067 * [backup-simplify]: Simplify (* 0.5 0) into 0
3.068 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
3.069 * [backup-simplify]: Simplify (* 0.5 0) into 0
3.069 * [backup-simplify]: Simplify (- 0) into 0
3.069 * [backup-simplify]: Simplify 0 into 0
3.070 * [backup-simplify]: Simplify (+ (* -1 (* 1 (* 1 (* lambda2 1)))) (* 1 (* 1 (* 1 (* 1 lambda1))))) into (- lambda1 lambda2)
3.070 * [backup-simplify]: Simplify (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (/ (+ (/ 1 phi2) (/ 1 phi1)) 2.0))) into (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2)))
3.070 * [approximate]: Taking taylor expansion of (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) in (lambda1 lambda2 phi2 phi1) around 0
3.070 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) in phi1
3.070 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
3.070 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
3.070 * [taylor]: Taking taylor expansion of 0.5 in phi1
3.070 * [backup-simplify]: Simplify 0.5 into 0.5
3.070 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
3.070 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
3.070 * [taylor]: Taking taylor expansion of phi1 in phi1
3.070 * [backup-simplify]: Simplify 0 into 0
3.070 * [backup-simplify]: Simplify 1 into 1
3.071 * [backup-simplify]: Simplify (/ 1 1) into 1
3.071 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
3.071 * [taylor]: Taking taylor expansion of phi2 in phi1
3.071 * [backup-simplify]: Simplify phi2 into phi2
3.071 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
3.071 * [backup-simplify]: Simplify (+ 1 0) into 1
3.072 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
3.072 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.072 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in phi1
3.072 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in phi1
3.072 * [taylor]: Taking taylor expansion of lambda1 in phi1
3.072 * [backup-simplify]: Simplify lambda1 into lambda1
3.072 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1)
3.072 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in phi1
3.072 * [taylor]: Taking taylor expansion of lambda2 in phi1
3.072 * [backup-simplify]: Simplify lambda2 into lambda2
3.072 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
3.072 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) in phi2
3.072 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
3.073 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
3.073 * [taylor]: Taking taylor expansion of 0.5 in phi2
3.073 * [backup-simplify]: Simplify 0.5 into 0.5
3.073 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
3.073 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
3.073 * [taylor]: Taking taylor expansion of phi1 in phi2
3.073 * [backup-simplify]: Simplify phi1 into phi1
3.073 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
3.073 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
3.073 * [taylor]: Taking taylor expansion of phi2 in phi2
3.073 * [backup-simplify]: Simplify 0 into 0
3.073 * [backup-simplify]: Simplify 1 into 1
3.073 * [backup-simplify]: Simplify (/ 1 1) into 1
3.074 * [backup-simplify]: Simplify (+ 0 1) into 1
3.074 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
3.074 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.074 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in phi2
3.074 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in phi2
3.074 * [taylor]: Taking taylor expansion of lambda1 in phi2
3.074 * [backup-simplify]: Simplify lambda1 into lambda1
3.075 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1)
3.075 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in phi2
3.075 * [taylor]: Taking taylor expansion of lambda2 in phi2
3.075 * [backup-simplify]: Simplify lambda2 into lambda2
3.075 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
3.075 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) in lambda2
3.075 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2
3.075 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2
3.075 * [taylor]: Taking taylor expansion of 0.5 in lambda2
3.075 * [backup-simplify]: Simplify 0.5 into 0.5
3.075 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2
3.075 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
3.075 * [taylor]: Taking taylor expansion of phi1 in lambda2
3.075 * [backup-simplify]: Simplify phi1 into phi1
3.075 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
3.075 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
3.075 * [taylor]: Taking taylor expansion of phi2 in lambda2
3.075 * [backup-simplify]: Simplify phi2 into phi2
3.075 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
3.075 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
3.075 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))
3.076 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.076 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.076 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in lambda2
3.076 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda2
3.076 * [taylor]: Taking taylor expansion of lambda1 in lambda2
3.076 * [backup-simplify]: Simplify lambda1 into lambda1
3.076 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1)
3.076 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda2
3.076 * [taylor]: Taking taylor expansion of lambda2 in lambda2
3.076 * [backup-simplify]: Simplify 0 into 0
3.076 * [backup-simplify]: Simplify 1 into 1
3.077 * [backup-simplify]: Simplify (/ 1 1) into 1
3.077 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) in lambda1
3.077 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1
3.077 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1
3.077 * [taylor]: Taking taylor expansion of 0.5 in lambda1
3.077 * [backup-simplify]: Simplify 0.5 into 0.5
3.077 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1
3.077 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
3.077 * [taylor]: Taking taylor expansion of phi1 in lambda1
3.077 * [backup-simplify]: Simplify phi1 into phi1
3.077 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
3.077 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
3.077 * [taylor]: Taking taylor expansion of phi2 in lambda1
3.077 * [backup-simplify]: Simplify phi2 into phi2
3.077 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
3.077 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
3.077 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))
3.078 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.078 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.078 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in lambda1
3.078 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1
3.078 * [taylor]: Taking taylor expansion of lambda1 in lambda1
3.078 * [backup-simplify]: Simplify 0 into 0
3.078 * [backup-simplify]: Simplify 1 into 1
3.078 * [backup-simplify]: Simplify (/ 1 1) into 1
3.078 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda1
3.078 * [taylor]: Taking taylor expansion of lambda2 in lambda1
3.078 * [backup-simplify]: Simplify lambda2 into lambda2
3.079 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
3.079 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) in lambda1
3.079 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1
3.079 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1
3.079 * [taylor]: Taking taylor expansion of 0.5 in lambda1
3.079 * [backup-simplify]: Simplify 0.5 into 0.5
3.079 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1
3.079 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
3.079 * [taylor]: Taking taylor expansion of phi1 in lambda1
3.079 * [backup-simplify]: Simplify phi1 into phi1
3.079 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
3.079 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
3.079 * [taylor]: Taking taylor expansion of phi2 in lambda1
3.079 * [backup-simplify]: Simplify phi2 into phi2
3.079 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
3.079 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
3.079 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))
3.080 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.080 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.080 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in lambda1
3.080 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1
3.080 * [taylor]: Taking taylor expansion of lambda1 in lambda1
3.080 * [backup-simplify]: Simplify 0 into 0
3.080 * [backup-simplify]: Simplify 1 into 1
3.080 * [backup-simplify]: Simplify (/ 1 1) into 1
3.081 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda1
3.081 * [taylor]: Taking taylor expansion of lambda2 in lambda1
3.081 * [backup-simplify]: Simplify lambda2 into lambda2
3.081 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
3.081 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.081 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
3.082 * [backup-simplify]: Simplify (- 0) into 0
3.082 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.082 * [backup-simplify]: Simplify (+ 1 0) into 1
3.083 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.083 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2
3.083 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2
3.083 * [taylor]: Taking taylor expansion of 0.5 in lambda2
3.083 * [backup-simplify]: Simplify 0.5 into 0.5
3.083 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2
3.083 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
3.083 * [taylor]: Taking taylor expansion of phi1 in lambda2
3.083 * [backup-simplify]: Simplify phi1 into phi1
3.083 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
3.083 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
3.083 * [taylor]: Taking taylor expansion of phi2 in lambda2
3.083 * [backup-simplify]: Simplify phi2 into phi2
3.083 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
3.083 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
3.083 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))
3.083 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.084 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.085 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
3.085 * [backup-simplify]: Simplify (- (/ 1 lambda2)) into (- (/ 1 lambda2))
3.085 * [backup-simplify]: Simplify (+ 0 (- (/ 1 lambda2))) into (- (/ 1 lambda2))
3.085 * [backup-simplify]: Simplify (+ 0) into 0
3.086 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
3.086 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
3.086 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
3.087 * [backup-simplify]: Simplify (+ 0 0) into 0
3.087 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
3.088 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
3.089 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
3.089 * [backup-simplify]: Simplify (- 0) into 0
3.089 * [backup-simplify]: Simplify (+ 0 0) into 0
3.090 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda2))) (* 0 1)) into (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2))
3.090 * [taylor]: Taking taylor expansion of (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) in lambda2
3.090 * [taylor]: Taking taylor expansion of (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2) in lambda2
3.090 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2
3.090 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2
3.090 * [taylor]: Taking taylor expansion of 0.5 in lambda2
3.090 * [backup-simplify]: Simplify 0.5 into 0.5
3.090 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2
3.091 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
3.091 * [taylor]: Taking taylor expansion of phi1 in lambda2
3.091 * [backup-simplify]: Simplify phi1 into phi1
3.091 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
3.091 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
3.091 * [taylor]: Taking taylor expansion of phi2 in lambda2
3.091 * [backup-simplify]: Simplify phi2 into phi2
3.091 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
3.091 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
3.091 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))
3.091 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.091 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.091 * [taylor]: Taking taylor expansion of lambda2 in lambda2
3.092 * [backup-simplify]: Simplify 0 into 0
3.092 * [backup-simplify]: Simplify 1 into 1
3.092 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.092 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
3.093 * [backup-simplify]: Simplify (- 0) into 0
3.093 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.093 * [backup-simplify]: Simplify (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.093 * [backup-simplify]: Simplify (- (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (- (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
3.093 * [taylor]: Taking taylor expansion of (- (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2
3.093 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
3.093 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
3.093 * [taylor]: Taking taylor expansion of 0.5 in phi2
3.093 * [backup-simplify]: Simplify 0.5 into 0.5
3.093 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
3.093 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
3.093 * [taylor]: Taking taylor expansion of phi1 in phi2
3.094 * [backup-simplify]: Simplify phi1 into phi1
3.094 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
3.094 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
3.094 * [taylor]: Taking taylor expansion of phi2 in phi2
3.094 * [backup-simplify]: Simplify 0 into 0
3.094 * [backup-simplify]: Simplify 1 into 1
3.094 * [backup-simplify]: Simplify (/ 1 1) into 1
3.095 * [backup-simplify]: Simplify (+ 0 1) into 1
3.095 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
3.095 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.096 * [backup-simplify]: Simplify (- (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (- (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
3.096 * [taylor]: Taking taylor expansion of (- (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi1
3.096 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
3.096 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
3.096 * [taylor]: Taking taylor expansion of 0.5 in phi1
3.096 * [backup-simplify]: Simplify 0.5 into 0.5
3.096 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
3.096 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
3.096 * [taylor]: Taking taylor expansion of phi1 in phi1
3.096 * [backup-simplify]: Simplify 0 into 0
3.096 * [backup-simplify]: Simplify 1 into 1
3.096 * [backup-simplify]: Simplify (/ 1 1) into 1
3.096 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
3.096 * [taylor]: Taking taylor expansion of phi2 in phi1
3.096 * [backup-simplify]: Simplify phi2 into phi2
3.096 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
3.097 * [backup-simplify]: Simplify (+ 1 0) into 1
3.097 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
3.098 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.098 * [backup-simplify]: Simplify (- (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (- (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
3.098 * [backup-simplify]: Simplify (- (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (- (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
3.098 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.099 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
3.099 * [backup-simplify]: Simplify (- 0) into 0
3.099 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.099 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
3.099 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
3.099 * [taylor]: Taking taylor expansion of 0.5 in phi2
3.100 * [backup-simplify]: Simplify 0.5 into 0.5
3.100 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
3.100 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
3.100 * [taylor]: Taking taylor expansion of phi1 in phi2
3.100 * [backup-simplify]: Simplify phi1 into phi1
3.100 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
3.100 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
3.100 * [taylor]: Taking taylor expansion of phi2 in phi2
3.100 * [backup-simplify]: Simplify 0 into 0
3.100 * [backup-simplify]: Simplify 1 into 1
3.100 * [backup-simplify]: Simplify (/ 1 1) into 1
3.101 * [backup-simplify]: Simplify (+ 0 1) into 1
3.101 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
3.101 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.101 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
3.101 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
3.102 * [taylor]: Taking taylor expansion of 0.5 in phi1
3.102 * [backup-simplify]: Simplify 0.5 into 0.5
3.102 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
3.102 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
3.102 * [taylor]: Taking taylor expansion of phi1 in phi1
3.102 * [backup-simplify]: Simplify 0 into 0
3.102 * [backup-simplify]: Simplify 1 into 1
3.102 * [backup-simplify]: Simplify (/ 1 1) into 1
3.102 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
3.102 * [taylor]: Taking taylor expansion of phi2 in phi1
3.102 * [backup-simplify]: Simplify phi2 into phi2
3.102 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
3.103 * [backup-simplify]: Simplify (+ 1 0) into 1
3.103 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
3.103 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.104 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.105 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)))) into 0
3.105 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)))) into 0
3.105 * [backup-simplify]: Simplify (- 0) into 0
3.106 * [backup-simplify]: Simplify (+ 0 0) into 0
3.106 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
3.107 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0
3.107 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
3.107 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
3.108 * [backup-simplify]: Simplify (+ 0 0) into 0
3.109 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0
3.109 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
3.110 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0
3.110 * [backup-simplify]: Simplify (- 0) into 0
3.111 * [backup-simplify]: Simplify (+ 0 0) into 0
3.111 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 (- (/ 1 lambda2))) (* 0 1))) into 0
3.111 * [taylor]: Taking taylor expansion of 0 in lambda2
3.111 * [backup-simplify]: Simplify 0 into 0
3.112 * [backup-simplify]: Simplify (+ 0) into 0
3.112 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
3.112 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
3.113 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
3.113 * [backup-simplify]: Simplify (+ 0 0) into 0
3.113 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
3.114 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
3.115 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
3.115 * [backup-simplify]: Simplify (- 0) into 0
3.115 * [backup-simplify]: Simplify (+ 0 0) into 0
3.116 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (/ 0 1)))) into 0
3.117 * [backup-simplify]: Simplify (- 0) into 0
3.117 * [taylor]: Taking taylor expansion of 0 in phi2
3.117 * [backup-simplify]: Simplify 0 into 0
3.117 * [taylor]: Taking taylor expansion of 0 in phi1
3.117 * [backup-simplify]: Simplify 0 into 0
3.117 * [backup-simplify]: Simplify 0 into 0
3.117 * [backup-simplify]: Simplify (+ 0) into 0
3.118 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
3.118 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
3.118 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
3.118 * [backup-simplify]: Simplify (+ 0 0) into 0
3.119 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
3.120 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
3.120 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
3.120 * [backup-simplify]: Simplify (- 0) into 0
3.121 * [backup-simplify]: Simplify (+ 0 0) into 0
3.121 * [taylor]: Taking taylor expansion of 0 in phi2
3.121 * [backup-simplify]: Simplify 0 into 0
3.121 * [taylor]: Taking taylor expansion of 0 in phi1
3.121 * [backup-simplify]: Simplify 0 into 0
3.121 * [backup-simplify]: Simplify 0 into 0
3.122 * [backup-simplify]: Simplify (- 0) into 0
3.122 * [taylor]: Taking taylor expansion of 0 in phi1
3.122 * [backup-simplify]: Simplify 0 into 0
3.122 * [backup-simplify]: Simplify 0 into 0
3.122 * [taylor]: Taking taylor expansion of 0 in phi1
3.122 * [backup-simplify]: Simplify 0 into 0
3.122 * [backup-simplify]: Simplify 0 into 0
3.123 * [backup-simplify]: Simplify (- 0) into 0
3.123 * [backup-simplify]: Simplify 0 into 0
3.123 * [backup-simplify]: Simplify 0 into 0
3.123 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2))))) (* 1 (* 1 (* 1 (/ 1 (/ 1 lambda1)))))) (* (- (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2)))))) (* 1 (* 1 (* (/ 1 (/ 1 lambda2)) 1))))) into (- (* lambda1 (cos (* 0.5 (+ phi1 phi2)))) (* lambda2 (cos (* 0.5 (+ phi1 phi2)))))
3.124 * [backup-simplify]: Simplify (* (- (/ 1 (- lambda1)) (/ 1 (- lambda2))) (cos (/ (+ (/ 1 (- phi2)) (/ 1 (- phi1))) 2.0))) into (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
3.124 * [approximate]: Taking taylor expansion of (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in (lambda1 lambda2 phi2 phi1) around 0
3.124 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi1
3.124 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in phi1
3.124 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in phi1
3.124 * [taylor]: Taking taylor expansion of lambda2 in phi1
3.124 * [backup-simplify]: Simplify lambda2 into lambda2
3.124 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
3.124 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in phi1
3.124 * [taylor]: Taking taylor expansion of lambda1 in phi1
3.124 * [backup-simplify]: Simplify lambda1 into lambda1
3.124 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1)
3.124 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
3.124 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
3.124 * [taylor]: Taking taylor expansion of -0.5 in phi1
3.124 * [backup-simplify]: Simplify -0.5 into -0.5
3.124 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
3.125 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
3.125 * [taylor]: Taking taylor expansion of phi1 in phi1
3.125 * [backup-simplify]: Simplify 0 into 0
3.125 * [backup-simplify]: Simplify 1 into 1
3.125 * [backup-simplify]: Simplify (/ 1 1) into 1
3.125 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
3.125 * [taylor]: Taking taylor expansion of phi2 in phi1
3.125 * [backup-simplify]: Simplify phi2 into phi2
3.125 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
3.126 * [backup-simplify]: Simplify (+ 1 0) into 1
3.126 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
3.126 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.126 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2
3.127 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in phi2
3.127 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in phi2
3.127 * [taylor]: Taking taylor expansion of lambda2 in phi2
3.127 * [backup-simplify]: Simplify lambda2 into lambda2
3.127 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
3.127 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in phi2
3.127 * [taylor]: Taking taylor expansion of lambda1 in phi2
3.127 * [backup-simplify]: Simplify lambda1 into lambda1
3.127 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1)
3.127 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
3.127 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
3.127 * [taylor]: Taking taylor expansion of -0.5 in phi2
3.127 * [backup-simplify]: Simplify -0.5 into -0.5
3.127 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
3.127 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
3.127 * [taylor]: Taking taylor expansion of phi1 in phi2
3.127 * [backup-simplify]: Simplify phi1 into phi1
3.127 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
3.127 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
3.127 * [taylor]: Taking taylor expansion of phi2 in phi2
3.127 * [backup-simplify]: Simplify 0 into 0
3.127 * [backup-simplify]: Simplify 1 into 1
3.127 * [backup-simplify]: Simplify (/ 1 1) into 1
3.128 * [backup-simplify]: Simplify (+ 0 1) into 1
3.128 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
3.129 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.129 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda2
3.129 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in lambda2
3.129 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda2
3.129 * [taylor]: Taking taylor expansion of lambda2 in lambda2
3.129 * [backup-simplify]: Simplify 0 into 0
3.129 * [backup-simplify]: Simplify 1 into 1
3.129 * [backup-simplify]: Simplify (/ 1 1) into 1
3.129 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda2
3.129 * [taylor]: Taking taylor expansion of lambda1 in lambda2
3.129 * [backup-simplify]: Simplify lambda1 into lambda1
3.129 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1)
3.129 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2
3.129 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2
3.129 * [taylor]: Taking taylor expansion of -0.5 in lambda2
3.129 * [backup-simplify]: Simplify -0.5 into -0.5
3.129 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2
3.129 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
3.129 * [taylor]: Taking taylor expansion of phi1 in lambda2
3.129 * [backup-simplify]: Simplify phi1 into phi1
3.130 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
3.130 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
3.130 * [taylor]: Taking taylor expansion of phi2 in lambda2
3.130 * [backup-simplify]: Simplify phi2 into phi2
3.130 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
3.130 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
3.130 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))
3.130 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.130 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.130 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda1
3.130 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in lambda1
3.130 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda1
3.130 * [taylor]: Taking taylor expansion of lambda2 in lambda1
3.130 * [backup-simplify]: Simplify lambda2 into lambda2
3.130 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
3.130 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1
3.131 * [taylor]: Taking taylor expansion of lambda1 in lambda1
3.131 * [backup-simplify]: Simplify 0 into 0
3.131 * [backup-simplify]: Simplify 1 into 1
3.131 * [backup-simplify]: Simplify (/ 1 1) into 1
3.131 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1
3.131 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1
3.131 * [taylor]: Taking taylor expansion of -0.5 in lambda1
3.131 * [backup-simplify]: Simplify -0.5 into -0.5
3.131 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1
3.131 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
3.131 * [taylor]: Taking taylor expansion of phi1 in lambda1
3.131 * [backup-simplify]: Simplify phi1 into phi1
3.131 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
3.131 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
3.131 * [taylor]: Taking taylor expansion of phi2 in lambda1
3.131 * [backup-simplify]: Simplify phi2 into phi2
3.132 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
3.132 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
3.132 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))
3.132 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.132 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.132 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda1
3.132 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in lambda1
3.132 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda1
3.132 * [taylor]: Taking taylor expansion of lambda2 in lambda1
3.133 * [backup-simplify]: Simplify lambda2 into lambda2
3.133 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
3.133 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1
3.133 * [taylor]: Taking taylor expansion of lambda1 in lambda1
3.133 * [backup-simplify]: Simplify 0 into 0
3.133 * [backup-simplify]: Simplify 1 into 1
3.133 * [backup-simplify]: Simplify (/ 1 1) into 1
3.133 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1
3.133 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1
3.133 * [taylor]: Taking taylor expansion of -0.5 in lambda1
3.133 * [backup-simplify]: Simplify -0.5 into -0.5
3.133 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1
3.133 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
3.134 * [taylor]: Taking taylor expansion of phi1 in lambda1
3.134 * [backup-simplify]: Simplify phi1 into phi1
3.134 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
3.134 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
3.134 * [taylor]: Taking taylor expansion of phi2 in lambda1
3.134 * [backup-simplify]: Simplify phi2 into phi2
3.134 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
3.134 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
3.134 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))
3.134 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.135 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.135 * [backup-simplify]: Simplify (- 1) into -1
3.136 * [backup-simplify]: Simplify (+ 0 -1) into -1
3.136 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.137 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
3.137 * [backup-simplify]: Simplify (- 0) into 0
3.137 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.138 * [backup-simplify]: Simplify (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
3.138 * [taylor]: Taking taylor expansion of (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda2
3.138 * [taylor]: Taking taylor expansion of -1 in lambda2
3.138 * [backup-simplify]: Simplify -1 into -1
3.138 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2
3.138 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2
3.138 * [taylor]: Taking taylor expansion of -0.5 in lambda2
3.138 * [backup-simplify]: Simplify -0.5 into -0.5
3.138 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2
3.138 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
3.138 * [taylor]: Taking taylor expansion of phi1 in lambda2
3.138 * [backup-simplify]: Simplify phi1 into phi1
3.138 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
3.138 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
3.138 * [taylor]: Taking taylor expansion of phi2 in lambda2
3.138 * [backup-simplify]: Simplify phi2 into phi2
3.138 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
3.138 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
3.139 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))
3.139 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.139 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.140 * [backup-simplify]: Simplify (+ 0) into 0
3.140 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
3.141 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
3.141 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
3.141 * [backup-simplify]: Simplify (+ 0 0) into 0
3.142 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
3.147 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
3.148 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
3.148 * [backup-simplify]: Simplify (- 0) into 0
3.149 * [backup-simplify]: Simplify (+ 0 0) into 0
3.150 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
3.150 * [backup-simplify]: Simplify (- 0) into 0
3.150 * [backup-simplify]: Simplify (+ (/ 1 lambda2) 0) into (/ 1 lambda2)
3.151 * [backup-simplify]: Simplify (+ (* -1 0) (* (/ 1 lambda2) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)
3.151 * [taylor]: Taking taylor expansion of (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2) in lambda2
3.151 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2
3.151 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2
3.151 * [taylor]: Taking taylor expansion of -0.5 in lambda2
3.151 * [backup-simplify]: Simplify -0.5 into -0.5
3.151 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2
3.151 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
3.151 * [taylor]: Taking taylor expansion of phi1 in lambda2
3.151 * [backup-simplify]: Simplify phi1 into phi1
3.151 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
3.152 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
3.152 * [taylor]: Taking taylor expansion of phi2 in lambda2
3.152 * [backup-simplify]: Simplify phi2 into phi2
3.152 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
3.152 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
3.152 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))
3.152 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.152 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.152 * [taylor]: Taking taylor expansion of lambda2 in lambda2
3.152 * [backup-simplify]: Simplify 0 into 0
3.152 * [backup-simplify]: Simplify 1 into 1
3.153 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.153 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
3.153 * [backup-simplify]: Simplify (- 0) into 0
3.153 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.154 * [backup-simplify]: Simplify (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.154 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
3.154 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
3.154 * [taylor]: Taking taylor expansion of -0.5 in phi2
3.154 * [backup-simplify]: Simplify -0.5 into -0.5
3.154 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
3.154 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
3.154 * [taylor]: Taking taylor expansion of phi1 in phi2
3.154 * [backup-simplify]: Simplify phi1 into phi1
3.154 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
3.154 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
3.154 * [taylor]: Taking taylor expansion of phi2 in phi2
3.154 * [backup-simplify]: Simplify 0 into 0
3.154 * [backup-simplify]: Simplify 1 into 1
3.155 * [backup-simplify]: Simplify (/ 1 1) into 1
3.155 * [backup-simplify]: Simplify (+ 0 1) into 1
3.156 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
3.156 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.156 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
3.156 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
3.156 * [taylor]: Taking taylor expansion of -0.5 in phi1
3.156 * [backup-simplify]: Simplify -0.5 into -0.5
3.156 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
3.156 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
3.156 * [taylor]: Taking taylor expansion of phi1 in phi1
3.156 * [backup-simplify]: Simplify 0 into 0
3.156 * [backup-simplify]: Simplify 1 into 1
3.156 * [backup-simplify]: Simplify (/ 1 1) into 1
3.156 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
3.156 * [taylor]: Taking taylor expansion of phi2 in phi1
3.156 * [backup-simplify]: Simplify phi2 into phi2
3.157 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
3.157 * [backup-simplify]: Simplify (+ 1 0) into 1
3.157 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
3.158 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.158 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.158 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.158 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
3.159 * [backup-simplify]: Simplify (- 0) into 0
3.159 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.159 * [backup-simplify]: Simplify (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
3.159 * [taylor]: Taking taylor expansion of (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2
3.159 * [taylor]: Taking taylor expansion of -1 in phi2
3.159 * [backup-simplify]: Simplify -1 into -1
3.159 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
3.159 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
3.159 * [taylor]: Taking taylor expansion of -0.5 in phi2
3.159 * [backup-simplify]: Simplify -0.5 into -0.5
3.159 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
3.160 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
3.160 * [taylor]: Taking taylor expansion of phi1 in phi2
3.160 * [backup-simplify]: Simplify phi1 into phi1
3.160 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
3.160 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
3.160 * [taylor]: Taking taylor expansion of phi2 in phi2
3.160 * [backup-simplify]: Simplify 0 into 0
3.160 * [backup-simplify]: Simplify 1 into 1
3.160 * [backup-simplify]: Simplify (/ 1 1) into 1
3.161 * [backup-simplify]: Simplify (+ 0 1) into 1
3.161 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
3.161 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.161 * [backup-simplify]: Simplify (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
3.162 * [taylor]: Taking taylor expansion of (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi1
3.162 * [taylor]: Taking taylor expansion of -1 in phi1
3.162 * [backup-simplify]: Simplify -1 into -1
3.162 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
3.162 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
3.162 * [taylor]: Taking taylor expansion of -0.5 in phi1
3.162 * [backup-simplify]: Simplify -0.5 into -0.5
3.162 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
3.162 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
3.162 * [taylor]: Taking taylor expansion of phi1 in phi1
3.162 * [backup-simplify]: Simplify 0 into 0
3.162 * [backup-simplify]: Simplify 1 into 1
3.162 * [backup-simplify]: Simplify (/ 1 1) into 1
3.162 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
3.162 * [taylor]: Taking taylor expansion of phi2 in phi1
3.162 * [backup-simplify]: Simplify phi2 into phi2
3.162 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
3.163 * [backup-simplify]: Simplify (+ 1 0) into 1
3.163 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
3.164 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.164 * [backup-simplify]: Simplify (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
3.164 * [backup-simplify]: Simplify (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
3.165 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
3.166 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0
3.166 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
3.166 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
3.167 * [backup-simplify]: Simplify (+ 0 0) into 0
3.168 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0
3.168 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
3.169 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0
3.170 * [backup-simplify]: Simplify (- 0) into 0
3.170 * [backup-simplify]: Simplify (+ 0 0) into 0
3.170 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)))) into 0
3.171 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)))) into 0
3.172 * [backup-simplify]: Simplify (- 0) into 0
3.172 * [backup-simplify]: Simplify (+ 0 0) into 0
3.173 * [backup-simplify]: Simplify (+ (* -1 0) (+ (* (/ 1 lambda2) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0
3.173 * [taylor]: Taking taylor expansion of 0 in lambda2
3.173 * [backup-simplify]: Simplify 0 into 0
3.173 * [backup-simplify]: Simplify (+ 0) into 0
3.174 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
3.174 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
3.174 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
3.175 * [backup-simplify]: Simplify (+ 0 0) into 0
3.175 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
3.176 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
3.177 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
3.177 * [backup-simplify]: Simplify (- 0) into 0
3.178 * [backup-simplify]: Simplify (+ 0 0) into 0
3.179 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (/ 0 1)))) into 0
3.179 * [taylor]: Taking taylor expansion of 0 in phi2
3.179 * [backup-simplify]: Simplify 0 into 0
3.179 * [taylor]: Taking taylor expansion of 0 in phi1
3.179 * [backup-simplify]: Simplify 0 into 0
3.179 * [backup-simplify]: Simplify 0 into 0
3.179 * [backup-simplify]: Simplify (+ 0) into 0
3.180 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
3.180 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
3.180 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
3.180 * [backup-simplify]: Simplify (+ 0 0) into 0
3.181 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
3.182 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
3.182 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
3.183 * [backup-simplify]: Simplify (- 0) into 0
3.183 * [backup-simplify]: Simplify (+ 0 0) into 0
3.183 * [backup-simplify]: Simplify (+ (* -1 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0
3.183 * [taylor]: Taking taylor expansion of 0 in phi2
3.184 * [backup-simplify]: Simplify 0 into 0
3.184 * [taylor]: Taking taylor expansion of 0 in phi1
3.184 * [backup-simplify]: Simplify 0 into 0
3.184 * [backup-simplify]: Simplify 0 into 0
3.184 * [taylor]: Taking taylor expansion of 0 in phi1
3.184 * [backup-simplify]: Simplify 0 into 0
3.184 * [backup-simplify]: Simplify 0 into 0
3.184 * [backup-simplify]: Simplify (+ (* -1 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0
3.184 * [taylor]: Taking taylor expansion of 0 in phi1
3.184 * [backup-simplify]: Simplify 0 into 0
3.184 * [backup-simplify]: Simplify 0 into 0
3.185 * [backup-simplify]: Simplify 0 into 0
3.185 * [backup-simplify]: Simplify (+ (* -1 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0
3.185 * [backup-simplify]: Simplify 0 into 0
3.186 * [backup-simplify]: Simplify (+ (* (* -1 (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2))))))) (* 1 (* 1 (* 1 (/ 1 (/ 1 (- lambda1))))))) (* (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2)))))) (* 1 (* 1 (* (/ 1 (/ 1 (- lambda2))) 1))))) into (- (* lambda1 (cos (* 0.5 (+ phi1 phi2)))) (* lambda2 (cos (* 0.5 (+ phi1 phi2)))))
3.186 * * * * [progress]: [ 3 / 4 ] generating series at (2)
3.187 * [backup-simplify]: Simplify (* (hypot (* (- lambda1 lambda2) (cos (/ (+ phi2 phi1) 2.0))) (- phi1 phi2)) R) into (* R (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (- phi1 phi2)))
3.187 * [approximate]: Taking taylor expansion of (* R (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (- phi1 phi2))) in (lambda1 lambda2 phi2 phi1 R) around 0
3.187 * [taylor]: Taking taylor expansion of (* R (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (- phi1 phi2))) in R
3.187 * [taylor]: Taking taylor expansion of R in R
3.187 * [backup-simplify]: Simplify 0 into 0
3.187 * [backup-simplify]: Simplify 1 into 1
3.187 * [taylor]: Taking taylor expansion of (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (- phi1 phi2)) in R
3.187 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2))))) (* (- phi1 phi2) (- phi1 phi2))))
3.187 * [taylor]: Taking taylor expansion of (+ (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2))))) (* (- phi1 phi2) (- phi1 phi2))) in R
3.187 * [taylor]: Taking taylor expansion of (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2))))) in R
3.187 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) in R
3.187 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in R
3.187 * [taylor]: Taking taylor expansion of lambda1 in R
3.187 * [backup-simplify]: Simplify lambda1 into lambda1
3.187 * [taylor]: Taking taylor expansion of lambda2 in R
3.187 * [backup-simplify]: Simplify lambda2 into lambda2
3.187 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in R
3.187 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in R
3.187 * [taylor]: Taking taylor expansion of 0.5 in R
3.187 * [backup-simplify]: Simplify 0.5 into 0.5
3.187 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in R
3.187 * [taylor]: Taking taylor expansion of phi1 in R
3.187 * [backup-simplify]: Simplify phi1 into phi1
3.187 * [taylor]: Taking taylor expansion of phi2 in R
3.187 * [backup-simplify]: Simplify phi2 into phi2
3.187 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2)
3.188 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2))
3.188 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2)))
3.188 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2)))
3.188 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) in R
3.188 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in R
3.188 * [taylor]: Taking taylor expansion of lambda1 in R
3.188 * [backup-simplify]: Simplify lambda1 into lambda1
3.188 * [taylor]: Taking taylor expansion of lambda2 in R
3.188 * [backup-simplify]: Simplify lambda2 into lambda2
3.188 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in R
3.188 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in R
3.188 * [taylor]: Taking taylor expansion of 0.5 in R
3.188 * [backup-simplify]: Simplify 0.5 into 0.5
3.188 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in R
3.188 * [taylor]: Taking taylor expansion of phi1 in R
3.188 * [backup-simplify]: Simplify phi1 into phi1
3.188 * [taylor]: Taking taylor expansion of phi2 in R
3.188 * [backup-simplify]: Simplify phi2 into phi2
3.188 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2)
3.188 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2))
3.188 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2)))
3.189 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2)))
3.189 * [taylor]: Taking taylor expansion of (* (- phi1 phi2) (- phi1 phi2)) in R
3.189 * [taylor]: Taking taylor expansion of (- phi1 phi2) in R
3.189 * [taylor]: Taking taylor expansion of phi1 in R
3.189 * [backup-simplify]: Simplify phi1 into phi1
3.189 * [taylor]: Taking taylor expansion of phi2 in R
3.189 * [backup-simplify]: Simplify phi2 into phi2
3.189 * [taylor]: Taking taylor expansion of (- phi1 phi2) in R
3.189 * [taylor]: Taking taylor expansion of phi1 in R
3.189 * [backup-simplify]: Simplify phi1 into phi1
3.189 * [taylor]: Taking taylor expansion of phi2 in R
3.189 * [backup-simplify]: Simplify phi2 into phi2
3.189 * [backup-simplify]: Simplify (- lambda2) into (- lambda2)
3.189 * [backup-simplify]: Simplify (+ lambda1 (- lambda2)) into (- lambda1 lambda2)
3.189 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2)))
3.189 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0
3.190 * [backup-simplify]: Simplify (- 0) into 0
3.190 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2)))
3.190 * [backup-simplify]: Simplify (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) into (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2))))
3.190 * [backup-simplify]: Simplify (- lambda2) into (- lambda2)
3.190 * [backup-simplify]: Simplify (+ lambda1 (- lambda2)) into (- lambda1 lambda2)
3.191 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2)))
3.191 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0
3.191 * [backup-simplify]: Simplify (- 0) into 0
3.191 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2)))
3.191 * [backup-simplify]: Simplify (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) into (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2))))
3.192 * [backup-simplify]: Simplify (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2))))) into (* (pow (- lambda1 lambda2) 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2))
3.192 * [backup-simplify]: Simplify (- phi2) into (- phi2)
3.192 * [backup-simplify]: Simplify (+ phi1 (- phi2)) into (- phi1 phi2)
3.192 * [backup-simplify]: Simplify (- phi2) into (- phi2)
3.192 * [backup-simplify]: Simplify (+ phi1 (- phi2)) into (- phi1 phi2)
3.192 * [backup-simplify]: Simplify (* (- phi1 phi2) (- phi1 phi2)) into (pow (- phi1 phi2) 2)
3.193 * [backup-simplify]: Simplify (+ (* (pow (- lambda1 lambda2) 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (pow (- phi1 phi2) 2)) into (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2)))) (+ (* 2 (* phi1 phi2)) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))))))
3.195 * [backup-simplify]: Simplify (sqrt (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2)))) (+ (* 2 (* phi1 phi2)) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))))))) into (sqrt (- (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (+ (pow phi2 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2))))) (+ (* 2 (* phi1 phi2)) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))))))
3.195 * [backup-simplify]: Simplify (+ 0) into 0
3.196 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (* 0 1)) into 0
3.197 * [backup-simplify]: Simplify (+ 0 0) into 0
3.197 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi1 phi2))) into 0
3.198 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
3.198 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi1 phi2))) 0) (* 0 0)) into 0
3.199 * [backup-simplify]: Simplify (- 0) into 0
3.199 * [backup-simplify]: Simplify (+ 0 0) into 0
3.199 * [backup-simplify]: Simplify (- 0) into 0
3.200 * [backup-simplify]: Simplify (+ 0 0) into 0
3.200 * [backup-simplify]: Simplify (+ (* (- lambda1 lambda2) 0) (* 0 (cos (* 0.5 (+ phi1 phi2))))) into 0
3.200 * [backup-simplify]: Simplify (+ 0) into 0
3.201 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (* 0 1)) into 0
3.201 * [backup-simplify]: Simplify (+ 0 0) into 0
3.202 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi1 phi2))) into 0
3.202 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
3.203 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi1 phi2))) 0) (* 0 0)) into 0
3.203 * [backup-simplify]: Simplify (- 0) into 0
3.204 * [backup-simplify]: Simplify (+ 0 0) into 0
3.204 * [backup-simplify]: Simplify (- 0) into 0
3.204 * [backup-simplify]: Simplify (+ 0 0) into 0
3.204 * [backup-simplify]: Simplify (+ (* (- lambda1 lambda2) 0) (* 0 (cos (* 0.5 (+ phi1 phi2))))) into 0
3.205 * [backup-simplify]: Simplify (+ (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) 0) (* 0 (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))))) into 0
3.205 * [backup-simplify]: Simplify (- 0) into 0
3.206 * [backup-simplify]: Simplify (+ 0 0) into 0
3.206 * [backup-simplify]: Simplify (- 0) into 0
3.206 * [backup-simplify]: Simplify (+ 0 0) into 0
3.206 * [backup-simplify]: Simplify (+ (* (- phi1 phi2) 0) (* 0 (- phi1 phi2))) into 0
3.207 * [backup-simplify]: Simplify (+ 0 0) into 0
3.209 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2)))) (+ (* 2 (* phi1 phi2)) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))))))))) into 0
3.209 * [taylor]: Taking taylor expansion of (* R (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (- phi1 phi2))) in phi1
3.209 * [taylor]: Taking taylor expansion of R in phi1
3.209 * [backup-simplify]: Simplify R into R
3.209 * [taylor]: Taking taylor expansion of (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (- phi1 phi2)) in phi1
3.209 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2))))) (* (- phi1 phi2) (- phi1 phi2))))
3.209 * [taylor]: Taking taylor expansion of (+ (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2))))) (* (- phi1 phi2) (- phi1 phi2))) in phi1
3.209 * [taylor]: Taking taylor expansion of (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2))))) in phi1
3.209 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) in phi1
3.209 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in phi1
3.209 * [taylor]: Taking taylor expansion of lambda1 in phi1
3.209 * [backup-simplify]: Simplify lambda1 into lambda1
3.209 * [taylor]: Taking taylor expansion of lambda2 in phi1
3.209 * [backup-simplify]: Simplify lambda2 into lambda2
3.209 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in phi1
3.209 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in phi1
3.209 * [taylor]: Taking taylor expansion of 0.5 in phi1
3.209 * [backup-simplify]: Simplify 0.5 into 0.5
3.209 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in phi1
3.209 * [taylor]: Taking taylor expansion of phi1 in phi1
3.209 * [backup-simplify]: Simplify 0 into 0
3.209 * [backup-simplify]: Simplify 1 into 1
3.209 * [taylor]: Taking taylor expansion of phi2 in phi1
3.209 * [backup-simplify]: Simplify phi2 into phi2
3.209 * [backup-simplify]: Simplify (+ 0 phi2) into phi2
3.210 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
3.210 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
3.210 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
3.210 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) in phi1
3.210 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in phi1
3.210 * [taylor]: Taking taylor expansion of lambda1 in phi1
3.210 * [backup-simplify]: Simplify lambda1 into lambda1
3.210 * [taylor]: Taking taylor expansion of lambda2 in phi1
3.210 * [backup-simplify]: Simplify lambda2 into lambda2
3.210 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in phi1
3.210 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in phi1
3.210 * [taylor]: Taking taylor expansion of 0.5 in phi1
3.210 * [backup-simplify]: Simplify 0.5 into 0.5
3.210 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in phi1
3.210 * [taylor]: Taking taylor expansion of phi1 in phi1
3.210 * [backup-simplify]: Simplify 0 into 0
3.210 * [backup-simplify]: Simplify 1 into 1
3.210 * [taylor]: Taking taylor expansion of phi2 in phi1
3.210 * [backup-simplify]: Simplify phi2 into phi2
3.210 * [backup-simplify]: Simplify (+ 0 phi2) into phi2
3.210 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
3.210 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
3.210 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
3.210 * [taylor]: Taking taylor expansion of (* (- phi1 phi2) (- phi1 phi2)) in phi1
3.210 * [taylor]: Taking taylor expansion of (- phi1 phi2) in phi1
3.210 * [taylor]: Taking taylor expansion of phi1 in phi1
3.210 * [backup-simplify]: Simplify 0 into 0
3.210 * [backup-simplify]: Simplify 1 into 1
3.210 * [taylor]: Taking taylor expansion of phi2 in phi1
3.210 * [backup-simplify]: Simplify phi2 into phi2
3.210 * [taylor]: Taking taylor expansion of (- phi1 phi2) in phi1
3.211 * [taylor]: Taking taylor expansion of phi1 in phi1
3.211 * [backup-simplify]: Simplify 0 into 0
3.211 * [backup-simplify]: Simplify 1 into 1
3.211 * [taylor]: Taking taylor expansion of phi2 in phi1
3.211 * [backup-simplify]: Simplify phi2 into phi2
3.211 * [backup-simplify]: Simplify (- lambda2) into (- lambda2)
3.211 * [backup-simplify]: Simplify (+ lambda1 (- lambda2)) into (- lambda1 lambda2)
3.211 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2))
3.211 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0
3.211 * [backup-simplify]: Simplify (- 0) into 0
3.211 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2))
3.212 * [backup-simplify]: Simplify (* (- lambda1 lambda2) (cos (* 0.5 phi2))) into (* (- lambda1 lambda2) (cos (* 0.5 phi2)))
3.212 * [backup-simplify]: Simplify (- lambda2) into (- lambda2)
3.212 * [backup-simplify]: Simplify (+ lambda1 (- lambda2)) into (- lambda1 lambda2)
3.212 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2))
3.212 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0
3.212 * [backup-simplify]: Simplify (- 0) into 0
3.212 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2))
3.212 * [backup-simplify]: Simplify (* (- lambda1 lambda2) (cos (* 0.5 phi2))) into (* (- lambda1 lambda2) (cos (* 0.5 phi2)))
3.213 * [backup-simplify]: Simplify (* (* (- lambda1 lambda2) (cos (* 0.5 phi2))) (* (- lambda1 lambda2) (cos (* 0.5 phi2)))) into (* (pow (- lambda1 lambda2) 2) (pow (cos (* 0.5 phi2)) 2))
3.213 * [backup-simplify]: Simplify (- phi2) into (- phi2)
3.213 * [backup-simplify]: Simplify (+ 0 (- phi2)) into (- phi2)
3.213 * [backup-simplify]: Simplify (- phi2) into (- phi2)
3.213 * [backup-simplify]: Simplify (+ 0 (- phi2)) into (- phi2)
3.213 * [backup-simplify]: Simplify (* (- phi2) (- phi2)) into (pow phi2 2)
3.214 * [backup-simplify]: Simplify (+ (* (pow (- lambda1 lambda2) 2) (pow (cos (* 0.5 phi2)) 2)) (pow phi2 2)) into (- (+ (pow phi2 2) (+ (* (pow lambda1 2) (pow (cos (* 0.5 phi2)) 2)) (* (pow lambda2 2) (pow (cos (* 0.5 phi2)) 2)))) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi2)) 2)))))
3.215 * [backup-simplify]: Simplify (sqrt (- (+ (pow phi2 2) (+ (* (pow lambda1 2) (pow (cos (* 0.5 phi2)) 2)) (* (pow lambda2 2) (pow (cos (* 0.5 phi2)) 2)))) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi2)) 2)))))) into (sqrt (- (+ (pow phi2 2) (+ (* (pow lambda1 2) (pow (cos (* 0.5 phi2)) 2)) (* (pow lambda2 2) (pow (cos (* 0.5 phi2)) 2)))) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi2)) 2))))))
3.216 * [backup-simplify]: Simplify (+ 0) into 0
3.216 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0
3.216 * [backup-simplify]: Simplify (+ 1 0) into 1
3.217 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi2)) into 0.5
3.219 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5
3.219 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi2)))
3.220 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi2)))) into (- (* 0.5 (sin (* 0.5 phi2))))
3.220 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi2))))) into (- (* 0.5 (sin (* 0.5 phi2))))
3.220 * [backup-simplify]: Simplify (- 0) into 0
3.220 * [backup-simplify]: Simplify (+ 0 0) into 0
3.221 * [backup-simplify]: Simplify (+ (* (- lambda1 lambda2) (- (* 0.5 (sin (* 0.5 phi2))))) (* 0 (cos (* 0.5 phi2)))) into (- (* 0.5 (* lambda2 (sin (* 0.5 phi2)))) (* 0.5 (* lambda1 (sin (* 0.5 phi2)))))
3.221 * [backup-simplify]: Simplify (+ 0) into 0
3.221 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0
3.222 * [backup-simplify]: Simplify (+ 1 0) into 1
3.222 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi2)) into 0.5
3.224 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5
3.225 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi2)))
3.225 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi2)))) into (- (* 0.5 (sin (* 0.5 phi2))))
3.225 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi2))))) into (- (* 0.5 (sin (* 0.5 phi2))))
3.225 * [backup-simplify]: Simplify (- 0) into 0
3.226 * [backup-simplify]: Simplify (+ 0 0) into 0
3.226 * [backup-simplify]: Simplify (+ (* (- lambda1 lambda2) (- (* 0.5 (sin (* 0.5 phi2))))) (* 0 (cos (* 0.5 phi2)))) into (- (* 0.5 (* lambda2 (sin (* 0.5 phi2)))) (* 0.5 (* lambda1 (sin (* 0.5 phi2)))))
3.227 * [backup-simplify]: Simplify (+ (* (* (- lambda1 lambda2) (cos (* 0.5 phi2))) (- (* 0.5 (* lambda2 (sin (* 0.5 phi2)))) (* 0.5 (* lambda1 (sin (* 0.5 phi2)))))) (* (- (* 0.5 (* lambda2 (sin (* 0.5 phi2)))) (* 0.5 (* lambda1 (sin (* 0.5 phi2))))) (* (- lambda1 lambda2) (cos (* 0.5 phi2))))) into (- (* 2.0 (* lambda2 (* lambda1 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))) (+ (* 1.0 (* (pow lambda2 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))) (* 1.0 (* (pow lambda1 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))))
3.228 * [backup-simplify]: Simplify (- 0) into 0
3.228 * [backup-simplify]: Simplify (+ 1 0) into 1
3.228 * [backup-simplify]: Simplify (- 0) into 0
3.229 * [backup-simplify]: Simplify (+ 1 0) into 1
3.229 * [backup-simplify]: Simplify (+ (* (- phi2) 1) (* 1 (- phi2))) into (- (* 2 phi2))
3.230 * [backup-simplify]: Simplify (+ (- (* 2.0 (* lambda2 (* lambda1 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))) (+ (* 1.0 (* (pow lambda2 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))) (* 1.0 (* (pow lambda1 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))))) (- (* 2 phi2))) into (- (* 2.0 (* lambda2 (* lambda1 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))) (+ (* 1.0 (* (pow lambda2 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))) (+ (* 1.0 (* (pow lambda1 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))) (* 2 phi2))))
3.233 * [backup-simplify]: Simplify (/ (- (* 2.0 (* lambda2 (* lambda1 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))) (+ (* 1.0 (* (pow lambda2 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))) (+ (* 1.0 (* (pow lambda1 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))) (* 2 phi2)))) (* 2 (sqrt (- (+ (pow phi2 2) (+ (* (pow lambda1 2) (pow (cos (* 0.5 phi2)) 2)) (* (pow lambda2 2) (pow (cos (* 0.5 phi2)) 2)))) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi2)) 2)))))))) into (* 1/2 (* (sqrt (/ 1 (- (+ (pow phi2 2) (+ (* (pow lambda1 2) (pow (cos (* 0.5 phi2)) 2)) (* (pow lambda2 2) (pow (cos (* 0.5 phi2)) 2)))) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi2)) 2))))))) (- (* 2.0 (* lambda2 (* lambda1 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))) (+ (* 1.0 (* (pow lambda2 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))) (+ (* 1.0 (* (pow lambda1 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))) (* 2 phi2))))))
3.233 * [taylor]: Taking taylor expansion of (* R (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (- phi1 phi2))) in phi2
3.233 * [taylor]: Taking taylor expansion of R in phi2
3.233 * [backup-simplify]: Simplify R into R
3.233 * [taylor]: Taking taylor expansion of (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (- phi1 phi2)) in phi2
3.233 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2))))) (* (- phi1 phi2) (- phi1 phi2))))
3.233 * [taylor]: Taking taylor expansion of (+ (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2))))) (* (- phi1 phi2) (- phi1 phi2))) in phi2
3.233 * [taylor]: Taking taylor expansion of (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2))))) in phi2
3.233 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) in phi2
3.233 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in phi2
3.234 * [taylor]: Taking taylor expansion of lambda1 in phi2
3.234 * [backup-simplify]: Simplify lambda1 into lambda1
3.234 * [taylor]: Taking taylor expansion of lambda2 in phi2
3.234 * [backup-simplify]: Simplify lambda2 into lambda2
3.234 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in phi2
3.234 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in phi2
3.234 * [taylor]: Taking taylor expansion of 0.5 in phi2
3.234 * [backup-simplify]: Simplify 0.5 into 0.5
3.234 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in phi2
3.234 * [taylor]: Taking taylor expansion of phi1 in phi2
3.234 * [backup-simplify]: Simplify phi1 into phi1
3.234 * [taylor]: Taking taylor expansion of phi2 in phi2
3.234 * [backup-simplify]: Simplify 0 into 0
3.234 * [backup-simplify]: Simplify 1 into 1
3.234 * [backup-simplify]: Simplify (+ phi1 0) into phi1
3.234 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
3.234 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
3.234 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
3.234 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) in phi2
3.234 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in phi2
3.234 * [taylor]: Taking taylor expansion of lambda1 in phi2
3.234 * [backup-simplify]: Simplify lambda1 into lambda1
3.234 * [taylor]: Taking taylor expansion of lambda2 in phi2
3.234 * [backup-simplify]: Simplify lambda2 into lambda2
3.234 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in phi2
3.234 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in phi2
3.234 * [taylor]: Taking taylor expansion of 0.5 in phi2
3.234 * [backup-simplify]: Simplify 0.5 into 0.5
3.234 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in phi2
3.234 * [taylor]: Taking taylor expansion of phi1 in phi2
3.234 * [backup-simplify]: Simplify phi1 into phi1
3.234 * [taylor]: Taking taylor expansion of phi2 in phi2
3.234 * [backup-simplify]: Simplify 0 into 0
3.234 * [backup-simplify]: Simplify 1 into 1
3.235 * [backup-simplify]: Simplify (+ phi1 0) into phi1
3.235 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
3.235 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
3.235 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
3.235 * [taylor]: Taking taylor expansion of (* (- phi1 phi2) (- phi1 phi2)) in phi2
3.235 * [taylor]: Taking taylor expansion of (- phi1 phi2) in phi2
3.235 * [taylor]: Taking taylor expansion of phi1 in phi2
3.235 * [backup-simplify]: Simplify phi1 into phi1
3.235 * [taylor]: Taking taylor expansion of phi2 in phi2
3.235 * [backup-simplify]: Simplify 0 into 0
3.235 * [backup-simplify]: Simplify 1 into 1
3.235 * [taylor]: Taking taylor expansion of (- phi1 phi2) in phi2
3.235 * [taylor]: Taking taylor expansion of phi1 in phi2
3.235 * [backup-simplify]: Simplify phi1 into phi1
3.235 * [taylor]: Taking taylor expansion of phi2 in phi2
3.235 * [backup-simplify]: Simplify 0 into 0
3.235 * [backup-simplify]: Simplify 1 into 1
3.235 * [backup-simplify]: Simplify (- lambda2) into (- lambda2)
3.235 * [backup-simplify]: Simplify (+ lambda1 (- lambda2)) into (- lambda1 lambda2)
3.235 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
3.235 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
3.236 * [backup-simplify]: Simplify (- 0) into 0
3.236 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
3.236 * [backup-simplify]: Simplify (* (- lambda1 lambda2) (cos (* 0.5 phi1))) into (* (- lambda1 lambda2) (cos (* 0.5 phi1)))
3.236 * [backup-simplify]: Simplify (- lambda2) into (- lambda2)
3.236 * [backup-simplify]: Simplify (+ lambda1 (- lambda2)) into (- lambda1 lambda2)
3.236 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
3.236 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
3.237 * [backup-simplify]: Simplify (- 0) into 0
3.237 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
3.237 * [backup-simplify]: Simplify (* (- lambda1 lambda2) (cos (* 0.5 phi1))) into (* (- lambda1 lambda2) (cos (* 0.5 phi1)))
3.237 * [backup-simplify]: Simplify (* (* (- lambda1 lambda2) (cos (* 0.5 phi1))) (* (- lambda1 lambda2) (cos (* 0.5 phi1)))) into (* (pow (- lambda1 lambda2) 2) (pow (cos (* 0.5 phi1)) 2))
3.238 * [backup-simplify]: Simplify (- 0) into 0
3.238 * [backup-simplify]: Simplify (+ phi1 0) into phi1
3.238 * [backup-simplify]: Simplify (- 0) into 0
3.238 * [backup-simplify]: Simplify (+ phi1 0) into phi1
3.238 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
3.239 * [backup-simplify]: Simplify (+ (* (pow (- lambda1 lambda2) 2) (pow (cos (* 0.5 phi1)) 2)) (pow phi1 2)) into (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (+ (* (pow lambda2 2) (pow (cos (* 0.5 phi1)) 2)) (pow phi1 2))) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi1)) 2)))))
3.241 * [backup-simplify]: Simplify (sqrt (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (+ (* (pow lambda2 2) (pow (cos (* 0.5 phi1)) 2)) (pow phi1 2))) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi1)) 2)))))) into (sqrt (- (+ (* (pow lambda1 2) (pow (cos (* 0.5 phi1)) 2)) (+ (* (pow lambda2 2) (pow (cos (* 0.5 phi1)) 2)) (pow phi1 2))) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi1)) 2))))))
3.242 * [backup-simplify]: Simplify (+ 0) into 0
3.242 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0
3.243 * [backup-simplify]: Simplify (+ 0 1) into 1
3.243 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi1)) into 0.5
3.246 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5
3.247 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1)))
3.247 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1))))
3.247 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1))))
3.247 * [backup-simplify]: Simplify (- 0) into 0
3.248 * [backup-simplify]: Simplify (+ 0 0) into 0
3.248 * [backup-simplify]: Simplify (+ (* (- lambda1 lambda2) (- (* 0.5 (sin (* 0.5 phi1))))) (* 0 (cos (* 0.5 phi1)))) into (- (* 0.5 (* lambda2 (sin (* 0.5 phi1)))) (* 0.5 (* lambda1 (sin (* 0.5 phi1)))))
3.248 * [backup-simplify]: Simplify (+ 0) into 0
3.249 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0
3.249 * [backup-simplify]: Simplify (+ 0 1) into 1
3.250 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi1)) into 0.5
3.252 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5
3.253 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1)))
3.253 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1))))
3.253 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1))))
3.253 * [backup-simplify]: Simplify (- 0) into 0
3.254 * [backup-simplify]: Simplify (+ 0 0) into 0
3.254 * [backup-simplify]: Simplify (+ (* (- lambda1 lambda2) (- (* 0.5 (sin (* 0.5 phi1))))) (* 0 (cos (* 0.5 phi1)))) into (- (* 0.5 (* lambda2 (sin (* 0.5 phi1)))) (* 0.5 (* lambda1 (sin (* 0.5 phi1)))))
3.255 * [backup-simplify]: Simplify (+ (* (* (- lambda1 lambda2) (cos (* 0.5 phi1))) (- (* 0.5 (* lambda2 (sin (* 0.5 phi1)))) (* 0.5 (* lambda1 (sin (* 0.5 phi1)))))) (* (- (* 0.5 (* lambda2 (sin (* 0.5 phi1)))) (* 0.5 (* lambda1 (sin (* 0.5 phi1))))) (* (- lambda1 lambda2) (cos (* 0.5 phi1))))) into (- (+ (* 0.5 (* lambda1 (* lambda2 (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1)))))) (+ (* 0.5 (* lambda2 (* (cos (* 0.5 phi1)) (* lambda1 (sin (* 0.5 phi1)))))) (* 1.0 (* lambda2 (* (sin (* 0.5 phi1)) (* lambda1 (cos (* 0.5 phi1)))))))) (+ (* 0.5 (* (pow lambda2 2) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) (+ (* 0.5 (* (pow lambda2 2) (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1))))) (* 1.0 (* (sin (* 0.5 phi1)) (* (pow lambda1 2) (cos (* 0.5 phi1))))))))
3.256 * [backup-simplify]: Simplify (- 1) into -1
3.257 * [backup-simplify]: Simplify (+ 0 -1) into -1
3.257 * [backup-simplify]: Simplify (- 1) into -1
3.257 * [backup-simplify]: Simplify (+ 0 -1) into -1
3.258 * [backup-simplify]: Simplify (+ (* phi1 -1) (* -1 phi1)) into (- (* 2 phi1))
3.261 * [backup-simplify]: Simplify (+ (- (+ (* 0.5 (* lambda1 (* lambda2 (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1)))))) (+ (* 0.5 (* lambda2 (* (cos (* 0.5 phi1)) (* lambda1 (sin (* 0.5 phi1)))))) (* 1.0 (* lambda2 (* (sin (* 0.5 phi1)) (* lambda1 (cos (* 0.5 phi1)))))))) (+ (* 0.5 (* (pow lambda2 2) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) (+ (* 0.5 (* (pow lambda2 2) (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1))))) (* 1.0 (* (sin (* 0.5 phi1)) (* (pow lambda1 2) (cos (* 0.5 phi1)))))))) (- (* 2 phi1))) into (- (+ (* 1.5 (* lambda1 (* lambda2 (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1)))))) (* 0.5 (* lambda1 (* lambda2 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))) (+ (* 1.0 (* (pow lambda2 2) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (pow lambda1 2) (sin (* 0.5 phi1))))) (* 2 phi1))))
3.264 * [backup-simplify]: Simplify (/ (- (+ (* 1.5 (* lambda1 (* lambda2 (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1)))))) (* 0.5 (* lambda1 (* lambda2 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))) (+ (* 1.0 (* (pow lambda2 2) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (pow lambda1 2) (sin (* 0.5 phi1))))) (* 2 phi1)))) (* 2 (sqrt (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (+ (* (pow lambda2 2) (pow (cos (* 0.5 phi1)) 2)) (pow phi1 2))) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi1)) 2)))))))) into (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow lambda1 2) (pow (cos (* 0.5 phi1)) 2)) (+ (* (pow lambda2 2) (pow (cos (* 0.5 phi1)) 2)) (pow phi1 2))) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi1)) 2))))))) (- (+ (* 1.5 (* lambda1 (* lambda2 (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1)))))) (* 0.5 (* lambda1 (* lambda2 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))) (+ (* 2 phi1) (+ (* 1.0 (* (pow lambda2 2) (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1))))) (* 1.0 (* (cos (* 0.5 phi1)) (* (pow lambda1 2) (sin (* 0.5 phi1))))))))))
3.264 * [taylor]: Taking taylor expansion of (* R (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (- phi1 phi2))) in lambda2
3.264 * [taylor]: Taking taylor expansion of R in lambda2
3.264 * [backup-simplify]: Simplify R into R
3.264 * [taylor]: Taking taylor expansion of (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (- phi1 phi2)) in lambda2
3.264 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2))))) (* (- phi1 phi2) (- phi1 phi2))))
3.264 * [taylor]: Taking taylor expansion of (+ (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2))))) (* (- phi1 phi2) (- phi1 phi2))) in lambda2
3.264 * [taylor]: Taking taylor expansion of (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2))))) in lambda2
3.265 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) in lambda2
3.265 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in lambda2
3.265 * [taylor]: Taking taylor expansion of lambda1 in lambda2
3.265 * [backup-simplify]: Simplify lambda1 into lambda1
3.265 * [taylor]: Taking taylor expansion of lambda2 in lambda2
3.265 * [backup-simplify]: Simplify 0 into 0
3.265 * [backup-simplify]: Simplify 1 into 1
3.265 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda2
3.265 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda2
3.265 * [taylor]: Taking taylor expansion of 0.5 in lambda2
3.265 * [backup-simplify]: Simplify 0.5 into 0.5
3.265 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda2
3.265 * [taylor]: Taking taylor expansion of phi1 in lambda2
3.265 * [backup-simplify]: Simplify phi1 into phi1
3.265 * [taylor]: Taking taylor expansion of phi2 in lambda2
3.265 * [backup-simplify]: Simplify phi2 into phi2
3.265 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2)
3.265 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2))
3.265 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2)))
3.265 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2)))
3.265 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) in lambda2
3.265 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in lambda2
3.265 * [taylor]: Taking taylor expansion of lambda1 in lambda2
3.265 * [backup-simplify]: Simplify lambda1 into lambda1
3.265 * [taylor]: Taking taylor expansion of lambda2 in lambda2
3.266 * [backup-simplify]: Simplify 0 into 0
3.266 * [backup-simplify]: Simplify 1 into 1
3.266 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda2
3.266 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda2
3.266 * [taylor]: Taking taylor expansion of 0.5 in lambda2
3.266 * [backup-simplify]: Simplify 0.5 into 0.5
3.266 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda2
3.266 * [taylor]: Taking taylor expansion of phi1 in lambda2
3.266 * [backup-simplify]: Simplify phi1 into phi1
3.266 * [taylor]: Taking taylor expansion of phi2 in lambda2
3.266 * [backup-simplify]: Simplify phi2 into phi2
3.266 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2)
3.266 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2))
3.266 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2)))
3.266 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2)))
3.266 * [taylor]: Taking taylor expansion of (* (- phi1 phi2) (- phi1 phi2)) in lambda2
3.266 * [taylor]: Taking taylor expansion of (- phi1 phi2) in lambda2
3.266 * [taylor]: Taking taylor expansion of phi1 in lambda2
3.266 * [backup-simplify]: Simplify phi1 into phi1
3.266 * [taylor]: Taking taylor expansion of phi2 in lambda2
3.266 * [backup-simplify]: Simplify phi2 into phi2
3.266 * [taylor]: Taking taylor expansion of (- phi1 phi2) in lambda2
3.266 * [taylor]: Taking taylor expansion of phi1 in lambda2
3.266 * [backup-simplify]: Simplify phi1 into phi1
3.267 * [taylor]: Taking taylor expansion of phi2 in lambda2
3.267 * [backup-simplify]: Simplify phi2 into phi2
3.267 * [backup-simplify]: Simplify (- 0) into 0
3.267 * [backup-simplify]: Simplify (+ lambda1 0) into lambda1
3.267 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2)))
3.268 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0
3.268 * [backup-simplify]: Simplify (- 0) into 0
3.268 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2)))
3.268 * [backup-simplify]: Simplify (* lambda1 (cos (* 0.5 (+ phi1 phi2)))) into (* lambda1 (cos (* 0.5 (+ phi1 phi2))))
3.269 * [backup-simplify]: Simplify (- 0) into 0
3.269 * [backup-simplify]: Simplify (+ lambda1 0) into lambda1
3.269 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2)))
3.269 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0
3.269 * [backup-simplify]: Simplify (- 0) into 0
3.270 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2)))
3.270 * [backup-simplify]: Simplify (* lambda1 (cos (* 0.5 (+ phi1 phi2)))) into (* lambda1 (cos (* 0.5 (+ phi1 phi2))))
3.270 * [backup-simplify]: Simplify (* (* lambda1 (cos (* 0.5 (+ phi1 phi2)))) (* lambda1 (cos (* 0.5 (+ phi1 phi2))))) into (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2))
3.270 * [backup-simplify]: Simplify (- phi2) into (- phi2)
3.270 * [backup-simplify]: Simplify (+ phi1 (- phi2)) into (- phi1 phi2)
3.270 * [backup-simplify]: Simplify (- phi2) into (- phi2)
3.270 * [backup-simplify]: Simplify (+ phi1 (- phi2)) into (- phi1 phi2)
3.271 * [backup-simplify]: Simplify (* (- phi1 phi2) (- phi1 phi2)) into (pow (- phi1 phi2) 2)
3.271 * [backup-simplify]: Simplify (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (pow (- phi1 phi2) 2)) into (- (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2))) (* 2 (* phi1 phi2)))
3.272 * [backup-simplify]: Simplify (sqrt (- (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2))) (* 2 (* phi1 phi2)))) into (sqrt (- (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2))) (* 2 (* phi1 phi2))))
3.273 * [backup-simplify]: Simplify (+ 0) into 0
3.274 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (* 0 1)) into 0
3.274 * [backup-simplify]: Simplify (+ 0 0) into 0
3.275 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi1 phi2))) into 0
3.275 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
3.276 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi1 phi2))) 0) (* 0 0)) into 0
3.276 * [backup-simplify]: Simplify (- 0) into 0
3.277 * [backup-simplify]: Simplify (+ 0 0) into 0
3.277 * [backup-simplify]: Simplify (- 1) into -1
3.278 * [backup-simplify]: Simplify (+ 0 -1) into -1
3.278 * [backup-simplify]: Simplify (+ (* lambda1 0) (* -1 (cos (* 0.5 (+ phi1 phi2))))) into (- (cos (* 0.5 (+ phi1 phi2))))
3.278 * [backup-simplify]: Simplify (+ 0) into 0
3.279 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (* 0 1)) into 0
3.279 * [backup-simplify]: Simplify (+ 0 0) into 0
3.280 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi1 phi2))) into 0
3.280 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
3.281 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi1 phi2))) 0) (* 0 0)) into 0
3.281 * [backup-simplify]: Simplify (- 0) into 0
3.282 * [backup-simplify]: Simplify (+ 0 0) into 0
3.282 * [backup-simplify]: Simplify (- 1) into -1
3.283 * [backup-simplify]: Simplify (+ 0 -1) into -1
3.283 * [backup-simplify]: Simplify (+ (* lambda1 0) (* -1 (cos (* 0.5 (+ phi1 phi2))))) into (- (cos (* 0.5 (+ phi1 phi2))))
3.284 * [backup-simplify]: Simplify (+ (* (* lambda1 (cos (* 0.5 (+ phi1 phi2)))) (- (cos (* 0.5 (+ phi1 phi2))))) (* (- (cos (* 0.5 (+ phi1 phi2)))) (* lambda1 (cos (* 0.5 (+ phi1 phi2)))))) into (- (* 2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))))
3.284 * [backup-simplify]: Simplify (- 0) into 0
3.284 * [backup-simplify]: Simplify (+ 0 0) into 0
3.285 * [backup-simplify]: Simplify (- 0) into 0
3.285 * [backup-simplify]: Simplify (+ 0 0) into 0
3.285 * [backup-simplify]: Simplify (+ (* (- phi1 phi2) 0) (* 0 (- phi1 phi2))) into 0
3.286 * [backup-simplify]: Simplify (+ (- (* 2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) 0) into (- (* 2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))))
3.287 * [backup-simplify]: Simplify (/ (- (* 2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (sqrt (- (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2))) (* 2 (* phi1 phi2)))))) into (* -1 (* (sqrt (/ 1 (- (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2))) (* 2 (* phi1 phi2))))) (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))))
3.287 * [taylor]: Taking taylor expansion of (* R (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (- phi1 phi2))) in lambda1
3.287 * [taylor]: Taking taylor expansion of R in lambda1
3.287 * [backup-simplify]: Simplify R into R
3.287 * [taylor]: Taking taylor expansion of (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (- phi1 phi2)) in lambda1
3.288 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2))))) (* (- phi1 phi2) (- phi1 phi2))))
3.288 * [taylor]: Taking taylor expansion of (+ (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2))))) (* (- phi1 phi2) (- phi1 phi2))) in lambda1
3.288 * [taylor]: Taking taylor expansion of (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2))))) in lambda1
3.288 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) in lambda1
3.288 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in lambda1
3.288 * [taylor]: Taking taylor expansion of lambda1 in lambda1
3.288 * [backup-simplify]: Simplify 0 into 0
3.288 * [backup-simplify]: Simplify 1 into 1
3.288 * [taylor]: Taking taylor expansion of lambda2 in lambda1
3.288 * [backup-simplify]: Simplify lambda2 into lambda2
3.288 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda1
3.288 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda1
3.288 * [taylor]: Taking taylor expansion of 0.5 in lambda1
3.288 * [backup-simplify]: Simplify 0.5 into 0.5
3.288 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda1
3.288 * [taylor]: Taking taylor expansion of phi1 in lambda1
3.288 * [backup-simplify]: Simplify phi1 into phi1
3.288 * [taylor]: Taking taylor expansion of phi2 in lambda1
3.288 * [backup-simplify]: Simplify phi2 into phi2
3.288 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2)
3.288 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2))
3.288 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2)))
3.289 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2)))
3.289 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) in lambda1
3.289 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in lambda1
3.289 * [taylor]: Taking taylor expansion of lambda1 in lambda1
3.289 * [backup-simplify]: Simplify 0 into 0
3.289 * [backup-simplify]: Simplify 1 into 1
3.289 * [taylor]: Taking taylor expansion of lambda2 in lambda1
3.289 * [backup-simplify]: Simplify lambda2 into lambda2
3.289 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda1
3.289 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda1
3.289 * [taylor]: Taking taylor expansion of 0.5 in lambda1
3.289 * [backup-simplify]: Simplify 0.5 into 0.5
3.289 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda1
3.289 * [taylor]: Taking taylor expansion of phi1 in lambda1
3.289 * [backup-simplify]: Simplify phi1 into phi1
3.289 * [taylor]: Taking taylor expansion of phi2 in lambda1
3.289 * [backup-simplify]: Simplify phi2 into phi2
3.289 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2)
3.289 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2))
3.289 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2)))
3.289 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2)))
3.289 * [taylor]: Taking taylor expansion of (* (- phi1 phi2) (- phi1 phi2)) in lambda1
3.289 * [taylor]: Taking taylor expansion of (- phi1 phi2) in lambda1
3.289 * [taylor]: Taking taylor expansion of phi1 in lambda1
3.289 * [backup-simplify]: Simplify phi1 into phi1
3.289 * [taylor]: Taking taylor expansion of phi2 in lambda1
3.289 * [backup-simplify]: Simplify phi2 into phi2
3.289 * [taylor]: Taking taylor expansion of (- phi1 phi2) in lambda1
3.290 * [taylor]: Taking taylor expansion of phi1 in lambda1
3.290 * [backup-simplify]: Simplify phi1 into phi1
3.290 * [taylor]: Taking taylor expansion of phi2 in lambda1
3.290 * [backup-simplify]: Simplify phi2 into phi2
3.290 * [backup-simplify]: Simplify (- lambda2) into (- lambda2)
3.290 * [backup-simplify]: Simplify (+ 0 (- lambda2)) into (- lambda2)
3.290 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2)))
3.290 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0
3.290 * [backup-simplify]: Simplify (- 0) into 0
3.290 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2)))
3.290 * [backup-simplify]: Simplify (* (- lambda2) (cos (* 0.5 (+ phi1 phi2)))) into (* -1 (* lambda2 (cos (* 0.5 (+ phi1 phi2)))))
3.290 * [backup-simplify]: Simplify (- lambda2) into (- lambda2)
3.290 * [backup-simplify]: Simplify (+ 0 (- lambda2)) into (- lambda2)
3.290 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2)))
3.291 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0
3.291 * [backup-simplify]: Simplify (- 0) into 0
3.291 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2)))
3.291 * [backup-simplify]: Simplify (* (- lambda2) (cos (* 0.5 (+ phi1 phi2)))) into (* -1 (* lambda2 (cos (* 0.5 (+ phi1 phi2)))))
3.291 * [backup-simplify]: Simplify (* (* -1 (* lambda2 (cos (* 0.5 (+ phi1 phi2))))) (* -1 (* lambda2 (cos (* 0.5 (+ phi1 phi2)))))) into (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2))
3.291 * [backup-simplify]: Simplify (- phi2) into (- phi2)
3.291 * [backup-simplify]: Simplify (+ phi1 (- phi2)) into (- phi1 phi2)
3.291 * [backup-simplify]: Simplify (- phi2) into (- phi2)
3.291 * [backup-simplify]: Simplify (+ phi1 (- phi2)) into (- phi1 phi2)
3.291 * [backup-simplify]: Simplify (* (- phi1 phi2) (- phi1 phi2)) into (pow (- phi1 phi2) 2)
3.292 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (pow (- phi1 phi2) 2)) into (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2)))
3.292 * [backup-simplify]: Simplify (sqrt (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2)))) into (sqrt (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2))))
3.293 * [backup-simplify]: Simplify (+ 0) into 0
3.293 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (* 0 1)) into 0
3.293 * [backup-simplify]: Simplify (+ 0 0) into 0
3.293 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi1 phi2))) into 0
3.294 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
3.294 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi1 phi2))) 0) (* 0 0)) into 0
3.294 * [backup-simplify]: Simplify (- 0) into 0
3.295 * [backup-simplify]: Simplify (+ 0 0) into 0
3.295 * [backup-simplify]: Simplify (- 0) into 0
3.295 * [backup-simplify]: Simplify (+ 1 0) into 1
3.295 * [backup-simplify]: Simplify (+ (* (- lambda2) 0) (* 1 (cos (* 0.5 (+ phi1 phi2))))) into (cos (* 0.5 (+ phi1 phi2)))
3.295 * [backup-simplify]: Simplify (+ 0) into 0
3.296 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (* 0 1)) into 0
3.296 * [backup-simplify]: Simplify (+ 0 0) into 0
3.296 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi1 phi2))) into 0
3.297 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
3.297 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi1 phi2))) 0) (* 0 0)) into 0
3.297 * [backup-simplify]: Simplify (- 0) into 0
3.300 * [backup-simplify]: Simplify (+ 0 0) into 0
3.301 * [backup-simplify]: Simplify (- 0) into 0
3.301 * [backup-simplify]: Simplify (+ 1 0) into 1
3.301 * [backup-simplify]: Simplify (+ (* (- lambda2) 0) (* 1 (cos (* 0.5 (+ phi1 phi2))))) into (cos (* 0.5 (+ phi1 phi2)))
3.302 * [backup-simplify]: Simplify (+ (* (* -1 (* lambda2 (cos (* 0.5 (+ phi1 phi2))))) (cos (* 0.5 (+ phi1 phi2)))) (* (cos (* 0.5 (+ phi1 phi2))) (* -1 (* lambda2 (cos (* 0.5 (+ phi1 phi2))))))) into (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2))))
3.302 * [backup-simplify]: Simplify (- 0) into 0
3.302 * [backup-simplify]: Simplify (+ 0 0) into 0
3.302 * [backup-simplify]: Simplify (- 0) into 0
3.303 * [backup-simplify]: Simplify (+ 0 0) into 0
3.303 * [backup-simplify]: Simplify (+ (* (- phi1 phi2) 0) (* 0 (- phi1 phi2))) into 0
3.303 * [backup-simplify]: Simplify (+ (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) 0) into (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2))))
3.304 * [backup-simplify]: Simplify (/ (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (sqrt (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2)))))) into (* -1 (* (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (sqrt (/ 1 (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2)))))))
3.304 * [taylor]: Taking taylor expansion of (* R (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (- phi1 phi2))) in lambda1
3.304 * [taylor]: Taking taylor expansion of R in lambda1
3.304 * [backup-simplify]: Simplify R into R
3.304 * [taylor]: Taking taylor expansion of (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (- phi1 phi2)) in lambda1
3.304 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2))))) (* (- phi1 phi2) (- phi1 phi2))))
3.304 * [taylor]: Taking taylor expansion of (+ (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2))))) (* (- phi1 phi2) (- phi1 phi2))) in lambda1
3.304 * [taylor]: Taking taylor expansion of (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2))))) in lambda1
3.304 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) in lambda1
3.304 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in lambda1
3.304 * [taylor]: Taking taylor expansion of lambda1 in lambda1
3.304 * [backup-simplify]: Simplify 0 into 0
3.304 * [backup-simplify]: Simplify 1 into 1
3.304 * [taylor]: Taking taylor expansion of lambda2 in lambda1
3.304 * [backup-simplify]: Simplify lambda2 into lambda2
3.304 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda1
3.304 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda1
3.304 * [taylor]: Taking taylor expansion of 0.5 in lambda1
3.304 * [backup-simplify]: Simplify 0.5 into 0.5
3.304 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda1
3.304 * [taylor]: Taking taylor expansion of phi1 in lambda1
3.304 * [backup-simplify]: Simplify phi1 into phi1
3.304 * [taylor]: Taking taylor expansion of phi2 in lambda1
3.304 * [backup-simplify]: Simplify phi2 into phi2
3.304 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2)
3.304 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2))
3.304 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2)))
3.304 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2)))
3.304 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) in lambda1
3.304 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in lambda1
3.305 * [taylor]: Taking taylor expansion of lambda1 in lambda1
3.305 * [backup-simplify]: Simplify 0 into 0
3.305 * [backup-simplify]: Simplify 1 into 1
3.305 * [taylor]: Taking taylor expansion of lambda2 in lambda1
3.305 * [backup-simplify]: Simplify lambda2 into lambda2
3.305 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda1
3.305 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda1
3.305 * [taylor]: Taking taylor expansion of 0.5 in lambda1
3.305 * [backup-simplify]: Simplify 0.5 into 0.5
3.305 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda1
3.305 * [taylor]: Taking taylor expansion of phi1 in lambda1
3.305 * [backup-simplify]: Simplify phi1 into phi1
3.305 * [taylor]: Taking taylor expansion of phi2 in lambda1
3.305 * [backup-simplify]: Simplify phi2 into phi2
3.305 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2)
3.305 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2))
3.305 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2)))
3.305 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2)))
3.305 * [taylor]: Taking taylor expansion of (* (- phi1 phi2) (- phi1 phi2)) in lambda1
3.305 * [taylor]: Taking taylor expansion of (- phi1 phi2) in lambda1
3.305 * [taylor]: Taking taylor expansion of phi1 in lambda1
3.305 * [backup-simplify]: Simplify phi1 into phi1
3.305 * [taylor]: Taking taylor expansion of phi2 in lambda1
3.305 * [backup-simplify]: Simplify phi2 into phi2
3.305 * [taylor]: Taking taylor expansion of (- phi1 phi2) in lambda1
3.305 * [taylor]: Taking taylor expansion of phi1 in lambda1
3.305 * [backup-simplify]: Simplify phi1 into phi1
3.305 * [taylor]: Taking taylor expansion of phi2 in lambda1
3.305 * [backup-simplify]: Simplify phi2 into phi2
3.305 * [backup-simplify]: Simplify (- lambda2) into (- lambda2)
3.305 * [backup-simplify]: Simplify (+ 0 (- lambda2)) into (- lambda2)
3.305 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2)))
3.305 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0
3.306 * [backup-simplify]: Simplify (- 0) into 0
3.306 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2)))
3.306 * [backup-simplify]: Simplify (* (- lambda2) (cos (* 0.5 (+ phi1 phi2)))) into (* -1 (* lambda2 (cos (* 0.5 (+ phi1 phi2)))))
3.306 * [backup-simplify]: Simplify (- lambda2) into (- lambda2)
3.306 * [backup-simplify]: Simplify (+ 0 (- lambda2)) into (- lambda2)
3.306 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2)))
3.306 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0
3.306 * [backup-simplify]: Simplify (- 0) into 0
3.306 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2)))
3.306 * [backup-simplify]: Simplify (* (- lambda2) (cos (* 0.5 (+ phi1 phi2)))) into (* -1 (* lambda2 (cos (* 0.5 (+ phi1 phi2)))))
3.307 * [backup-simplify]: Simplify (* (* -1 (* lambda2 (cos (* 0.5 (+ phi1 phi2))))) (* -1 (* lambda2 (cos (* 0.5 (+ phi1 phi2)))))) into (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2))
3.307 * [backup-simplify]: Simplify (- phi2) into (- phi2)
3.307 * [backup-simplify]: Simplify (+ phi1 (- phi2)) into (- phi1 phi2)
3.307 * [backup-simplify]: Simplify (- phi2) into (- phi2)
3.307 * [backup-simplify]: Simplify (+ phi1 (- phi2)) into (- phi1 phi2)
3.307 * [backup-simplify]: Simplify (* (- phi1 phi2) (- phi1 phi2)) into (pow (- phi1 phi2) 2)
3.307 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (pow (- phi1 phi2) 2)) into (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2)))
3.308 * [backup-simplify]: Simplify (sqrt (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2)))) into (sqrt (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2))))
3.308 * [backup-simplify]: Simplify (+ 0) into 0
3.308 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (* 0 1)) into 0
3.308 * [backup-simplify]: Simplify (+ 0 0) into 0
3.309 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi1 phi2))) into 0
3.309 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
3.310 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi1 phi2))) 0) (* 0 0)) into 0
3.310 * [backup-simplify]: Simplify (- 0) into 0
3.310 * [backup-simplify]: Simplify (+ 0 0) into 0
3.310 * [backup-simplify]: Simplify (- 0) into 0
3.310 * [backup-simplify]: Simplify (+ 1 0) into 1
3.311 * [backup-simplify]: Simplify (+ (* (- lambda2) 0) (* 1 (cos (* 0.5 (+ phi1 phi2))))) into (cos (* 0.5 (+ phi1 phi2)))
3.311 * [backup-simplify]: Simplify (+ 0) into 0
3.311 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (* 0 1)) into 0
3.311 * [backup-simplify]: Simplify (+ 0 0) into 0
3.312 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi1 phi2))) into 0
3.312 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
3.312 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi1 phi2))) 0) (* 0 0)) into 0
3.313 * [backup-simplify]: Simplify (- 0) into 0
3.313 * [backup-simplify]: Simplify (+ 0 0) into 0
3.313 * [backup-simplify]: Simplify (- 0) into 0
3.313 * [backup-simplify]: Simplify (+ 1 0) into 1
3.313 * [backup-simplify]: Simplify (+ (* (- lambda2) 0) (* 1 (cos (* 0.5 (+ phi1 phi2))))) into (cos (* 0.5 (+ phi1 phi2)))
3.314 * [backup-simplify]: Simplify (+ (* (* -1 (* lambda2 (cos (* 0.5 (+ phi1 phi2))))) (cos (* 0.5 (+ phi1 phi2)))) (* (cos (* 0.5 (+ phi1 phi2))) (* -1 (* lambda2 (cos (* 0.5 (+ phi1 phi2))))))) into (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2))))
3.314 * [backup-simplify]: Simplify (- 0) into 0
3.314 * [backup-simplify]: Simplify (+ 0 0) into 0
3.315 * [backup-simplify]: Simplify (- 0) into 0
3.315 * [backup-simplify]: Simplify (+ 0 0) into 0
3.315 * [backup-simplify]: Simplify (+ (* (- phi1 phi2) 0) (* 0 (- phi1 phi2))) into 0
3.315 * [backup-simplify]: Simplify (+ (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) 0) into (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2))))
3.316 * [backup-simplify]: Simplify (/ (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (sqrt (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2)))))) into (* -1 (* (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (sqrt (/ 1 (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2)))))))
3.317 * [backup-simplify]: Simplify (* R (sqrt (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2))))) into (* (sqrt (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2)))) R)
3.317 * [taylor]: Taking taylor expansion of (* (sqrt (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2)))) R) in lambda2
3.317 * [taylor]: Taking taylor expansion of (sqrt (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2)))) in lambda2
3.317 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2))) in lambda2
3.317 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) in lambda2
3.317 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2
3.317 * [taylor]: Taking taylor expansion of phi2 in lambda2
3.317 * [backup-simplify]: Simplify phi2 into phi2
3.317 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2))) in lambda2
3.317 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2
3.317 * [taylor]: Taking taylor expansion of phi1 in lambda2
3.317 * [backup-simplify]: Simplify phi1 into phi1
3.317 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in lambda2
3.317 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
3.317 * [taylor]: Taking taylor expansion of lambda2 in lambda2
3.317 * [backup-simplify]: Simplify 0 into 0
3.317 * [backup-simplify]: Simplify 1 into 1
3.317 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in lambda2
3.317 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda2
3.317 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda2
3.317 * [taylor]: Taking taylor expansion of 0.5 in lambda2
3.317 * [backup-simplify]: Simplify 0.5 into 0.5
3.317 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda2
3.317 * [taylor]: Taking taylor expansion of phi1 in lambda2
3.317 * [backup-simplify]: Simplify phi1 into phi1
3.317 * [taylor]: Taking taylor expansion of phi2 in lambda2
3.317 * [backup-simplify]: Simplify phi2 into phi2
3.317 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2)
3.317 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2))
3.317 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2)))
3.317 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2)))
3.318 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2)))
3.318 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0
3.318 * [backup-simplify]: Simplify (- 0) into 0
3.318 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2)))
3.318 * [taylor]: Taking taylor expansion of (* 2 (* phi1 phi2)) in lambda2
3.318 * [taylor]: Taking taylor expansion of 2 in lambda2
3.318 * [backup-simplify]: Simplify 2 into 2
3.318 * [taylor]: Taking taylor expansion of (* phi1 phi2) in lambda2
3.318 * [taylor]: Taking taylor expansion of phi1 in lambda2
3.318 * [backup-simplify]: Simplify phi1 into phi1
3.318 * [taylor]: Taking taylor expansion of phi2 in lambda2
3.318 * [backup-simplify]: Simplify phi2 into phi2
3.318 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
3.318 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
3.318 * [backup-simplify]: Simplify (+ (pow phi1 2) 0) into (pow phi1 2)
3.318 * [backup-simplify]: Simplify (+ (pow phi2 2) (pow phi1 2)) into (+ (pow phi2 2) (pow phi1 2))
3.318 * [backup-simplify]: Simplify (* phi1 phi2) into (* phi1 phi2)
3.319 * [backup-simplify]: Simplify (* 2 (* phi1 phi2)) into (* 2 (* phi1 phi2))
3.319 * [backup-simplify]: Simplify (- (* 2 (* phi1 phi2))) into (- (* 2 (* phi1 phi2)))
3.319 * [backup-simplify]: Simplify (+ (+ (pow phi2 2) (pow phi1 2)) (- (* 2 (* phi1 phi2)))) into (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))
3.319 * [backup-simplify]: Simplify (sqrt (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))) into (sqrt (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))
3.319 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0
3.319 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0
3.319 * [backup-simplify]: Simplify (+ 0 0) into 0
3.320 * [backup-simplify]: Simplify (+ 0 0) into 0
3.320 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi2)) into 0
3.320 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi1 phi2))) into 0
3.320 * [backup-simplify]: Simplify (- 0) into 0
3.320 * [backup-simplify]: Simplify (+ 0 0) into 0
3.321 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))))) into 0
3.321 * [taylor]: Taking taylor expansion of R in lambda2
3.321 * [backup-simplify]: Simplify R into R
3.321 * [backup-simplify]: Simplify (* (sqrt (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))) R) into (* (sqrt (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))) R)
3.321 * [taylor]: Taking taylor expansion of (* (sqrt (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))) R) in phi2
3.321 * [taylor]: Taking taylor expansion of (sqrt (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))) in phi2
3.321 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))) in phi2
3.321 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (pow phi1 2)) in phi2
3.321 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2
3.321 * [taylor]: Taking taylor expansion of phi2 in phi2
3.321 * [backup-simplify]: Simplify 0 into 0
3.321 * [backup-simplify]: Simplify 1 into 1
3.321 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2
3.321 * [taylor]: Taking taylor expansion of phi1 in phi2
3.321 * [backup-simplify]: Simplify phi1 into phi1
3.321 * [taylor]: Taking taylor expansion of (* 2 (* phi1 phi2)) in phi2
3.321 * [taylor]: Taking taylor expansion of 2 in phi2
3.321 * [backup-simplify]: Simplify 2 into 2
3.321 * [taylor]: Taking taylor expansion of (* phi1 phi2) in phi2
3.321 * [taylor]: Taking taylor expansion of phi1 in phi2
3.321 * [backup-simplify]: Simplify phi1 into phi1
3.321 * [taylor]: Taking taylor expansion of phi2 in phi2
3.321 * [backup-simplify]: Simplify 0 into 0
3.321 * [backup-simplify]: Simplify 1 into 1
3.321 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
3.321 * [backup-simplify]: Simplify (+ 0 (pow phi1 2)) into (pow phi1 2)
3.321 * [backup-simplify]: Simplify (* phi1 0) into 0
3.322 * [backup-simplify]: Simplify (* 2 0) into 0
3.322 * [backup-simplify]: Simplify (- 0) into 0
3.322 * [backup-simplify]: Simplify (+ (pow phi1 2) 0) into (pow phi1 2)
3.322 * [backup-simplify]: Simplify (sqrt (pow phi1 2)) into phi1
3.322 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0
3.322 * [backup-simplify]: Simplify (+ 0 0) into 0
3.323 * [backup-simplify]: Simplify (+ (* phi1 1) (* 0 0)) into phi1
3.323 * [backup-simplify]: Simplify (+ (* 2 phi1) (* 0 0)) into (* 2 phi1)
3.323 * [backup-simplify]: Simplify (- (* 2 phi1)) into (- (* 2 phi1))
3.323 * [backup-simplify]: Simplify (+ 0 (- (* 2 phi1))) into (- (* 2 phi1))
3.323 * [backup-simplify]: Simplify (/ (- (* 2 phi1)) (* 2 (sqrt (pow phi1 2)))) into -1
3.323 * [taylor]: Taking taylor expansion of R in phi2
3.323 * [backup-simplify]: Simplify R into R
3.323 * [backup-simplify]: Simplify (* phi1 R) into (* R phi1)
3.323 * [taylor]: Taking taylor expansion of (* R phi1) in phi1
3.323 * [taylor]: Taking taylor expansion of R in phi1
3.323 * [backup-simplify]: Simplify R into R
3.323 * [taylor]: Taking taylor expansion of phi1 in phi1
3.323 * [backup-simplify]: Simplify 0 into 0
3.323 * [backup-simplify]: Simplify 1 into 1
3.323 * [backup-simplify]: Simplify (* R 0) into 0
3.323 * [taylor]: Taking taylor expansion of 0 in R
3.323 * [backup-simplify]: Simplify 0 into 0
3.323 * [backup-simplify]: Simplify 0 into 0
3.325 * [backup-simplify]: Simplify (+ (* R (* -1 (* (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (sqrt (/ 1 (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2)))))))) (* 0 (sqrt (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2)))))) into (- (* (* lambda2 (* (pow (cos (* 0.5 (+ phi1 phi2))) 2) R)) (sqrt (/ 1 (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2)))))))
3.325 * [taylor]: Taking taylor expansion of (- (* (* lambda2 (* (pow (cos (* 0.5 (+ phi1 phi2))) 2) R)) (sqrt (/ 1 (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2))))))) in lambda2
3.325 * [taylor]: Taking taylor expansion of (* (* lambda2 (* (pow (cos (* 0.5 (+ phi1 phi2))) 2) R)) (sqrt (/ 1 (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2)))))) in lambda2
3.325 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (cos (* 0.5 (+ phi1 phi2))) 2) R)) in lambda2
3.325 * [taylor]: Taking taylor expansion of lambda2 in lambda2
3.325 * [backup-simplify]: Simplify 0 into 0
3.325 * [backup-simplify]: Simplify 1 into 1
3.325 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi1 phi2))) 2) R) in lambda2
3.325 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in lambda2
3.325 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda2
3.325 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda2
3.325 * [taylor]: Taking taylor expansion of 0.5 in lambda2
3.325 * [backup-simplify]: Simplify 0.5 into 0.5
3.325 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda2
3.325 * [taylor]: Taking taylor expansion of phi1 in lambda2
3.325 * [backup-simplify]: Simplify phi1 into phi1
3.325 * [taylor]: Taking taylor expansion of phi2 in lambda2
3.325 * [backup-simplify]: Simplify phi2 into phi2
3.325 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2)
3.325 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2))
3.325 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2)))
3.325 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2)))
3.325 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2)))
3.326 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0
3.326 * [backup-simplify]: Simplify (- 0) into 0
3.326 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2)))
3.326 * [taylor]: Taking taylor expansion of R in lambda2
3.326 * [backup-simplify]: Simplify R into R
3.326 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2))))) in lambda2
3.326 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2)))) in lambda2
3.326 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2))) in lambda2
3.326 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) in lambda2
3.326 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2
3.326 * [taylor]: Taking taylor expansion of phi2 in lambda2
3.326 * [backup-simplify]: Simplify phi2 into phi2
3.326 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2))) in lambda2
3.326 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2
3.326 * [taylor]: Taking taylor expansion of phi1 in lambda2
3.326 * [backup-simplify]: Simplify phi1 into phi1
3.326 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in lambda2
3.326 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
3.326 * [taylor]: Taking taylor expansion of lambda2 in lambda2
3.326 * [backup-simplify]: Simplify 0 into 0
3.326 * [backup-simplify]: Simplify 1 into 1
3.326 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in lambda2
3.326 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda2
3.326 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda2
3.326 * [taylor]: Taking taylor expansion of 0.5 in lambda2
3.326 * [backup-simplify]: Simplify 0.5 into 0.5
3.326 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda2
3.326 * [taylor]: Taking taylor expansion of phi1 in lambda2
3.326 * [backup-simplify]: Simplify phi1 into phi1
3.326 * [taylor]: Taking taylor expansion of phi2 in lambda2
3.326 * [backup-simplify]: Simplify phi2 into phi2
3.326 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2)
3.326 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2))
3.327 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2)))
3.327 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2)))
3.327 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2)))
3.327 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0
3.327 * [backup-simplify]: Simplify (- 0) into 0
3.327 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2)))
3.327 * [taylor]: Taking taylor expansion of (* 2 (* phi1 phi2)) in lambda2
3.327 * [taylor]: Taking taylor expansion of 2 in lambda2
3.327 * [backup-simplify]: Simplify 2 into 2
3.327 * [taylor]: Taking taylor expansion of (* phi1 phi2) in lambda2
3.327 * [taylor]: Taking taylor expansion of phi1 in lambda2
3.327 * [backup-simplify]: Simplify phi1 into phi1
3.327 * [taylor]: Taking taylor expansion of phi2 in lambda2
3.327 * [backup-simplify]: Simplify phi2 into phi2
3.327 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
3.327 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
3.327 * [backup-simplify]: Simplify (+ (pow phi1 2) 0) into (pow phi1 2)
3.328 * [backup-simplify]: Simplify (+ (pow phi2 2) (pow phi1 2)) into (+ (pow phi2 2) (pow phi1 2))
3.328 * [backup-simplify]: Simplify (* phi1 phi2) into (* phi1 phi2)
3.328 * [backup-simplify]: Simplify (* 2 (* phi1 phi2)) into (* 2 (* phi1 phi2))
3.328 * [backup-simplify]: Simplify (- (* 2 (* phi1 phi2))) into (- (* 2 (* phi1 phi2)))
3.328 * [backup-simplify]: Simplify (+ (+ (pow phi2 2) (pow phi1 2)) (- (* 2 (* phi1 phi2)))) into (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))
3.328 * [backup-simplify]: Simplify (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))) into (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))
3.328 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) into (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))))
3.328 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0
3.328 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0
3.329 * [backup-simplify]: Simplify (+ 0 0) into 0
3.329 * [backup-simplify]: Simplify (+ 0 0) into 0
3.329 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi2)) into 0
3.329 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi1 phi2))) into 0
3.330 * [backup-simplify]: Simplify (- 0) into 0
3.330 * [backup-simplify]: Simplify (+ 0 0) into 0
3.330 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))) (/ 0 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))))) into 0
3.330 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))))) into 0
3.331 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) (cos (* 0.5 (+ phi1 phi2)))) into (pow (cos (* 0.5 (+ phi1 phi2))) 2)
3.331 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 (+ phi1 phi2))) 2) R) into (* R (pow (cos (* 0.5 (+ phi1 phi2))) 2))
3.331 * [backup-simplify]: Simplify (* 0 (* R (pow (cos (* 0.5 (+ phi1 phi2))) 2))) into 0
3.331 * [backup-simplify]: Simplify (* 0 (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))))) into 0
3.331 * [backup-simplify]: Simplify (- 0) into 0
3.331 * [taylor]: Taking taylor expansion of 0 in phi2
3.331 * [backup-simplify]: Simplify 0 into 0
3.331 * [taylor]: Taking taylor expansion of 0 in phi1
3.332 * [backup-simplify]: Simplify 0 into 0
3.332 * [taylor]: Taking taylor expansion of 0 in R
3.332 * [backup-simplify]: Simplify 0 into 0
3.332 * [backup-simplify]: Simplify 0 into 0
3.332 * [backup-simplify]: Simplify (+ (* (sqrt (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))) 0) (* 0 R)) into 0
3.332 * [taylor]: Taking taylor expansion of 0 in phi2
3.332 * [backup-simplify]: Simplify 0 into 0
3.332 * [taylor]: Taking taylor expansion of 0 in phi1
3.332 * [backup-simplify]: Simplify 0 into 0
3.332 * [taylor]: Taking taylor expansion of 0 in R
3.332 * [backup-simplify]: Simplify 0 into 0
3.332 * [backup-simplify]: Simplify 0 into 0
3.332 * [backup-simplify]: Simplify (+ (* phi1 0) (* -1 R)) into (- R)
3.332 * [taylor]: Taking taylor expansion of (- R) in phi1
3.332 * [taylor]: Taking taylor expansion of R in phi1
3.332 * [backup-simplify]: Simplify R into R
3.332 * [backup-simplify]: Simplify (- R) into (- R)
3.332 * [taylor]: Taking taylor expansion of (- R) in R
3.332 * [taylor]: Taking taylor expansion of R in R
3.332 * [backup-simplify]: Simplify 0 into 0
3.332 * [backup-simplify]: Simplify 1 into 1
3.332 * [backup-simplify]: Simplify (- 0) into 0
3.332 * [backup-simplify]: Simplify 0 into 0
3.333 * [backup-simplify]: Simplify (+ (* R 1) (* 0 0)) into R
3.333 * [taylor]: Taking taylor expansion of R in R
3.333 * [backup-simplify]: Simplify 0 into 0
3.333 * [backup-simplify]: Simplify 1 into 1
3.333 * [backup-simplify]: Simplify 0 into 0
3.333 * [backup-simplify]: Simplify 0 into 0
3.333 * [backup-simplify]: Simplify 0 into 0
3.333 * [backup-simplify]: Simplify (* (hypot (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (/ (+ (/ 1 phi2) (/ 1 phi1)) 2.0))) (- (/ 1 phi1) (/ 1 phi2))) (/ 1 R)) into (/ (hypot (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (- (/ 1 phi1) (/ 1 phi2))) R)
3.333 * [approximate]: Taking taylor expansion of (/ (hypot (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (- (/ 1 phi1) (/ 1 phi2))) R) in (lambda1 lambda2 phi2 phi1 R) around 0
3.333 * [taylor]: Taking taylor expansion of (/ (hypot (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (- (/ 1 phi1) (/ 1 phi2))) R) in R
3.333 * [taylor]: Taking taylor expansion of (hypot (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (- (/ 1 phi1) (/ 1 phi2))) in R
3.333 * [taylor]: Rewrote expression to (sqrt (+ (* (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2)))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2)))))
3.333 * [taylor]: Taking taylor expansion of (+ (* (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2)))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2)))) in R
3.333 * [taylor]: Taking taylor expansion of (* (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2)))) in R
3.333 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) in R
3.333 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in R
3.333 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in R
3.333 * [taylor]: Taking taylor expansion of 0.5 in R
3.333 * [backup-simplify]: Simplify 0.5 into 0.5
3.334 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in R
3.334 * [taylor]: Taking taylor expansion of (/ 1 phi1) in R
3.334 * [taylor]: Taking taylor expansion of phi1 in R
3.334 * [backup-simplify]: Simplify phi1 into phi1
3.334 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
3.334 * [taylor]: Taking taylor expansion of (/ 1 phi2) in R
3.334 * [taylor]: Taking taylor expansion of phi2 in R
3.334 * [backup-simplify]: Simplify phi2 into phi2
3.334 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
3.334 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
3.334 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))
3.334 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.334 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.334 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in R
3.334 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in R
3.334 * [taylor]: Taking taylor expansion of lambda1 in R
3.334 * [backup-simplify]: Simplify lambda1 into lambda1
3.334 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1)
3.334 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in R
3.334 * [taylor]: Taking taylor expansion of lambda2 in R
3.334 * [backup-simplify]: Simplify lambda2 into lambda2
3.334 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
3.334 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) in R
3.334 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in R
3.334 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in R
3.334 * [taylor]: Taking taylor expansion of 0.5 in R
3.334 * [backup-simplify]: Simplify 0.5 into 0.5
3.335 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in R
3.335 * [taylor]: Taking taylor expansion of (/ 1 phi1) in R
3.335 * [taylor]: Taking taylor expansion of phi1 in R
3.335 * [backup-simplify]: Simplify phi1 into phi1
3.335 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
3.335 * [taylor]: Taking taylor expansion of (/ 1 phi2) in R
3.335 * [taylor]: Taking taylor expansion of phi2 in R
3.335 * [backup-simplify]: Simplify phi2 into phi2
3.335 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
3.335 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
3.335 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))
3.335 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.335 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.335 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in R
3.335 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in R
3.335 * [taylor]: Taking taylor expansion of lambda1 in R
3.335 * [backup-simplify]: Simplify lambda1 into lambda1
3.335 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1)
3.335 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in R
3.335 * [taylor]: Taking taylor expansion of lambda2 in R
3.335 * [backup-simplify]: Simplify lambda2 into lambda2
3.335 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
3.335 * [taylor]: Taking taylor expansion of (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2))) in R
3.335 * [taylor]: Taking taylor expansion of (- (/ 1 phi1) (/ 1 phi2)) in R
3.335 * [taylor]: Taking taylor expansion of (/ 1 phi1) in R
3.335 * [taylor]: Taking taylor expansion of phi1 in R
3.335 * [backup-simplify]: Simplify phi1 into phi1
3.335 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
3.335 * [taylor]: Taking taylor expansion of (/ 1 phi2) in R
3.335 * [taylor]: Taking taylor expansion of phi2 in R
3.335 * [backup-simplify]: Simplify phi2 into phi2
3.336 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
3.336 * [taylor]: Taking taylor expansion of (- (/ 1 phi1) (/ 1 phi2)) in R
3.336 * [taylor]: Taking taylor expansion of (/ 1 phi1) in R
3.336 * [taylor]: Taking taylor expansion of phi1 in R
3.336 * [backup-simplify]: Simplify phi1 into phi1
3.336 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
3.336 * [taylor]: Taking taylor expansion of (/ 1 phi2) in R
3.336 * [taylor]: Taking taylor expansion of phi2 in R
3.336 * [backup-simplify]: Simplify phi2 into phi2
3.336 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
3.336 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.336 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
3.336 * [backup-simplify]: Simplify (- 0) into 0
3.336 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.336 * [backup-simplify]: Simplify (- (/ 1 lambda2)) into (- (/ 1 lambda2))
3.337 * [backup-simplify]: Simplify (+ (/ 1 lambda1) (- (/ 1 lambda2))) into (- (/ 1 lambda1) (/ 1 lambda2))
3.337 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) into (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2)))
3.337 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.337 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
3.337 * [backup-simplify]: Simplify (- 0) into 0
3.337 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.337 * [backup-simplify]: Simplify (- (/ 1 lambda2)) into (- (/ 1 lambda2))
3.337 * [backup-simplify]: Simplify (+ (/ 1 lambda1) (- (/ 1 lambda2))) into (- (/ 1 lambda1) (/ 1 lambda2))
3.338 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) into (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2)))
3.338 * [backup-simplify]: Simplify (* (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2)))) into (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow (- (/ 1 lambda1) (/ 1 lambda2)) 2))
3.338 * [backup-simplify]: Simplify (- (/ 1 phi2)) into (- (/ 1 phi2))
3.338 * [backup-simplify]: Simplify (+ (/ 1 phi1) (- (/ 1 phi2))) into (- (/ 1 phi1) (/ 1 phi2))
3.338 * [backup-simplify]: Simplify (- (/ 1 phi2)) into (- (/ 1 phi2))
3.338 * [backup-simplify]: Simplify (+ (/ 1 phi1) (- (/ 1 phi2))) into (- (/ 1 phi1) (/ 1 phi2))
3.338 * [backup-simplify]: Simplify (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2))) into (pow (- (/ 1 phi1) (/ 1 phi2)) 2)
3.339 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow (- (/ 1 lambda1) (/ 1 lambda2)) 2)) (pow (- (/ 1 phi1) (/ 1 phi2)) 2)) into (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2)))))
3.340 * [backup-simplify]: Simplify (sqrt (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2)))))) into (sqrt (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2))))))
3.340 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda1) (/ 0 lambda1)))) into 0
3.340 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)))) into 0
3.340 * [backup-simplify]: Simplify (- 0) into 0
3.341 * [backup-simplify]: Simplify (+ 0 0) into 0
3.341 * [backup-simplify]: Simplify (+ 0) into 0
3.341 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
3.341 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
3.341 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
3.342 * [backup-simplify]: Simplify (+ 0 0) into 0
3.342 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
3.342 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
3.343 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
3.343 * [backup-simplify]: Simplify (- 0) into 0
3.343 * [backup-simplify]: Simplify (+ 0 0) into 0
3.343 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (- (/ 1 lambda1) (/ 1 lambda2)))) into 0
3.344 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda1) (/ 0 lambda1)))) into 0
3.344 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)))) into 0
3.344 * [backup-simplify]: Simplify (- 0) into 0
3.344 * [backup-simplify]: Simplify (+ 0 0) into 0
3.344 * [backup-simplify]: Simplify (+ 0) into 0
3.345 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
3.345 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
3.345 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
3.345 * [backup-simplify]: Simplify (+ 0 0) into 0
3.345 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
3.346 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
3.346 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
3.346 * [backup-simplify]: Simplify (- 0) into 0
3.347 * [backup-simplify]: Simplify (+ 0 0) into 0
3.347 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (- (/ 1 lambda1) (/ 1 lambda2)))) into 0
3.347 * [backup-simplify]: Simplify (+ (* (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) 0) (* 0 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))))) into 0
3.347 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
3.347 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
3.348 * [backup-simplify]: Simplify (- 0) into 0
3.348 * [backup-simplify]: Simplify (+ 0 0) into 0
3.348 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
3.348 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
3.348 * [backup-simplify]: Simplify (- 0) into 0
3.348 * [backup-simplify]: Simplify (+ 0 0) into 0
3.349 * [backup-simplify]: Simplify (+ (* (- (/ 1 phi1) (/ 1 phi2)) 0) (* 0 (- (/ 1 phi1) (/ 1 phi2)))) into 0
3.349 * [backup-simplify]: Simplify (+ 0 0) into 0
3.350 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2)))))))) into 0
3.350 * [taylor]: Taking taylor expansion of R in R
3.350 * [backup-simplify]: Simplify 0 into 0
3.350 * [backup-simplify]: Simplify 1 into 1
3.351 * [backup-simplify]: Simplify (/ (sqrt (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2)))))) 1) into (sqrt (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2))))))
3.351 * [taylor]: Taking taylor expansion of (/ (hypot (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (- (/ 1 phi1) (/ 1 phi2))) R) in phi1
3.351 * [taylor]: Taking taylor expansion of (hypot (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (- (/ 1 phi1) (/ 1 phi2))) in phi1
3.352 * [taylor]: Rewrote expression to (sqrt (+ (* (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2)))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2)))))
3.352 * [taylor]: Taking taylor expansion of (+ (* (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2)))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2)))) in phi1
3.352 * [taylor]: Taking taylor expansion of (* (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2)))) in phi1
3.352 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) in phi1
3.352 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
3.352 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
3.352 * [taylor]: Taking taylor expansion of 0.5 in phi1
3.352 * [backup-simplify]: Simplify 0.5 into 0.5
3.352 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
3.352 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
3.352 * [taylor]: Taking taylor expansion of phi1 in phi1
3.352 * [backup-simplify]: Simplify 0 into 0
3.352 * [backup-simplify]: Simplify 1 into 1
3.352 * [backup-simplify]: Simplify (/ 1 1) into 1
3.352 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
3.352 * [taylor]: Taking taylor expansion of phi2 in phi1
3.352 * [backup-simplify]: Simplify phi2 into phi2
3.352 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
3.353 * [backup-simplify]: Simplify (+ 1 0) into 1
3.353 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
3.353 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.353 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in phi1
3.353 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in phi1
3.353 * [taylor]: Taking taylor expansion of lambda1 in phi1
3.353 * [backup-simplify]: Simplify lambda1 into lambda1
3.353 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1)
3.353 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in phi1
3.353 * [taylor]: Taking taylor expansion of lambda2 in phi1
3.353 * [backup-simplify]: Simplify lambda2 into lambda2
3.353 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
3.353 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) in phi1
3.353 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
3.353 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
3.353 * [taylor]: Taking taylor expansion of 0.5 in phi1
3.353 * [backup-simplify]: Simplify 0.5 into 0.5
3.353 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
3.353 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
3.354 * [taylor]: Taking taylor expansion of phi1 in phi1
3.354 * [backup-simplify]: Simplify 0 into 0
3.354 * [backup-simplify]: Simplify 1 into 1
3.354 * [backup-simplify]: Simplify (/ 1 1) into 1
3.354 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
3.354 * [taylor]: Taking taylor expansion of phi2 in phi1
3.354 * [backup-simplify]: Simplify phi2 into phi2
3.354 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
3.355 * [backup-simplify]: Simplify (+ 1 0) into 1
3.355 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
3.355 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.355 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in phi1
3.355 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in phi1
3.355 * [taylor]: Taking taylor expansion of lambda1 in phi1
3.355 * [backup-simplify]: Simplify lambda1 into lambda1
3.355 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1)
3.355 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in phi1
3.355 * [taylor]: Taking taylor expansion of lambda2 in phi1
3.355 * [backup-simplify]: Simplify lambda2 into lambda2
3.356 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
3.356 * [taylor]: Taking taylor expansion of (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2))) in phi1
3.356 * [taylor]: Taking taylor expansion of (- (/ 1 phi1) (/ 1 phi2)) in phi1
3.356 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
3.356 * [taylor]: Taking taylor expansion of phi1 in phi1
3.356 * [backup-simplify]: Simplify 0 into 0
3.356 * [backup-simplify]: Simplify 1 into 1
3.356 * [backup-simplify]: Simplify (/ 1 1) into 1
3.356 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
3.356 * [taylor]: Taking taylor expansion of phi2 in phi1
3.356 * [backup-simplify]: Simplify phi2 into phi2
3.356 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
3.356 * [taylor]: Taking taylor expansion of (- (/ 1 phi1) (/ 1 phi2)) in phi1
3.356 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
3.356 * [taylor]: Taking taylor expansion of phi1 in phi1
3.356 * [backup-simplify]: Simplify 0 into 0
3.356 * [backup-simplify]: Simplify 1 into 1
3.357 * [backup-simplify]: Simplify (/ 1 1) into 1
3.357 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
3.357 * [taylor]: Taking taylor expansion of phi2 in phi1
3.357 * [backup-simplify]: Simplify phi2 into phi2
3.357 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
3.357 * [backup-simplify]: Simplify (+ 1 0) into 1
3.358 * [backup-simplify]: Simplify (+ 1 0) into 1
3.358 * [backup-simplify]: Simplify (* 1 1) into 1
3.359 * [backup-simplify]: Simplify (+ 0 1) into 1
3.359 * [backup-simplify]: Simplify (sqrt 1) into 1
3.360 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
3.360 * [backup-simplify]: Simplify (- (/ 1 phi2)) into (- (/ 1 phi2))
3.360 * [backup-simplify]: Simplify (+ 0 (- (/ 1 phi2))) into (- (/ 1 phi2))
3.361 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
3.361 * [backup-simplify]: Simplify (- (/ 1 phi2)) into (- (/ 1 phi2))
3.361 * [backup-simplify]: Simplify (+ 0 (- (/ 1 phi2))) into (- (/ 1 phi2))
3.361 * [backup-simplify]: Simplify (+ (* 1 (- (/ 1 phi2))) (* (- (/ 1 phi2)) 1)) into (- (* 2 (/ 1 phi2)))
3.361 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2)))
3.362 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi2))) (* 2 (sqrt 1))) into (/ -1 phi2)
3.362 * [taylor]: Taking taylor expansion of R in phi1
3.362 * [backup-simplify]: Simplify R into R
3.362 * [backup-simplify]: Simplify (/ 1 R) into (/ 1 R)
3.362 * [taylor]: Taking taylor expansion of (/ (hypot (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (- (/ 1 phi1) (/ 1 phi2))) R) in phi2
3.362 * [taylor]: Taking taylor expansion of (hypot (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (- (/ 1 phi1) (/ 1 phi2))) in phi2
3.362 * [taylor]: Rewrote expression to (sqrt (+ (* (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2)))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2)))))
3.362 * [taylor]: Taking taylor expansion of (+ (* (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2)))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2)))) in phi2
3.363 * [taylor]: Taking taylor expansion of (* (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2)))) in phi2
3.363 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) in phi2
3.363 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
3.363 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
3.363 * [taylor]: Taking taylor expansion of 0.5 in phi2
3.363 * [backup-simplify]: Simplify 0.5 into 0.5
3.363 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
3.363 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
3.363 * [taylor]: Taking taylor expansion of phi1 in phi2
3.363 * [backup-simplify]: Simplify phi1 into phi1
3.363 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
3.363 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
3.363 * [taylor]: Taking taylor expansion of phi2 in phi2
3.363 * [backup-simplify]: Simplify 0 into 0
3.363 * [backup-simplify]: Simplify 1 into 1
3.363 * [backup-simplify]: Simplify (/ 1 1) into 1
3.364 * [backup-simplify]: Simplify (+ 0 1) into 1
3.364 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
3.364 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.365 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in phi2
3.365 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in phi2
3.365 * [taylor]: Taking taylor expansion of lambda1 in phi2
3.365 * [backup-simplify]: Simplify lambda1 into lambda1
3.365 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1)
3.365 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in phi2
3.365 * [taylor]: Taking taylor expansion of lambda2 in phi2
3.365 * [backup-simplify]: Simplify lambda2 into lambda2
3.365 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
3.365 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) in phi2
3.365 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
3.365 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
3.365 * [taylor]: Taking taylor expansion of 0.5 in phi2
3.365 * [backup-simplify]: Simplify 0.5 into 0.5
3.365 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
3.365 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
3.365 * [taylor]: Taking taylor expansion of phi1 in phi2
3.365 * [backup-simplify]: Simplify phi1 into phi1
3.365 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
3.365 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
3.365 * [taylor]: Taking taylor expansion of phi2 in phi2
3.365 * [backup-simplify]: Simplify 0 into 0
3.365 * [backup-simplify]: Simplify 1 into 1
3.366 * [backup-simplify]: Simplify (/ 1 1) into 1
3.366 * [backup-simplify]: Simplify (+ 0 1) into 1
3.367 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
3.367 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.367 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in phi2
3.367 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in phi2
3.367 * [taylor]: Taking taylor expansion of lambda1 in phi2
3.367 * [backup-simplify]: Simplify lambda1 into lambda1
3.367 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1)
3.368 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in phi2
3.368 * [taylor]: Taking taylor expansion of lambda2 in phi2
3.368 * [backup-simplify]: Simplify lambda2 into lambda2
3.368 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
3.368 * [taylor]: Taking taylor expansion of (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2))) in phi2
3.368 * [taylor]: Taking taylor expansion of (- (/ 1 phi1) (/ 1 phi2)) in phi2
3.368 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
3.368 * [taylor]: Taking taylor expansion of phi1 in phi2
3.368 * [backup-simplify]: Simplify phi1 into phi1
3.368 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
3.368 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
3.368 * [taylor]: Taking taylor expansion of phi2 in phi2
3.368 * [backup-simplify]: Simplify 0 into 0
3.368 * [backup-simplify]: Simplify 1 into 1
3.368 * [backup-simplify]: Simplify (/ 1 1) into 1
3.368 * [taylor]: Taking taylor expansion of (- (/ 1 phi1) (/ 1 phi2)) in phi2
3.368 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
3.368 * [taylor]: Taking taylor expansion of phi1 in phi2
3.369 * [backup-simplify]: Simplify phi1 into phi1
3.369 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
3.369 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
3.369 * [taylor]: Taking taylor expansion of phi2 in phi2
3.369 * [backup-simplify]: Simplify 0 into 0
3.369 * [backup-simplify]: Simplify 1 into 1
3.369 * [backup-simplify]: Simplify (/ 1 1) into 1
3.369 * [backup-simplify]: Simplify (- 1) into -1
3.370 * [backup-simplify]: Simplify (+ 0 -1) into -1
3.370 * [backup-simplify]: Simplify (- 1) into -1
3.371 * [backup-simplify]: Simplify (+ 0 -1) into -1
3.371 * [backup-simplify]: Simplify (* -1 -1) into 1
3.372 * [backup-simplify]: Simplify (+ 0 1) into 1
3.372 * [backup-simplify]: Simplify (sqrt 1) into 1
3.373 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
3.373 * [backup-simplify]: Simplify (- 0) into 0
3.373 * [backup-simplify]: Simplify (+ (/ 1 phi1) 0) into (/ 1 phi1)
3.374 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
3.374 * [backup-simplify]: Simplify (- 0) into 0
3.374 * [backup-simplify]: Simplify (+ (/ 1 phi1) 0) into (/ 1 phi1)
3.375 * [backup-simplify]: Simplify (+ (* -1 (/ 1 phi1)) (* (/ 1 phi1) -1)) into (- (* 2 (/ 1 phi1)))
3.375 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi1)))) into (- (* 2 (/ 1 phi1)))
3.375 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi1))) (* 2 (sqrt 1))) into (/ -1 phi1)
3.375 * [taylor]: Taking taylor expansion of R in phi2
3.375 * [backup-simplify]: Simplify R into R
3.375 * [backup-simplify]: Simplify (/ 1 R) into (/ 1 R)
3.376 * [taylor]: Taking taylor expansion of (/ (hypot (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (- (/ 1 phi1) (/ 1 phi2))) R) in lambda2
3.376 * [taylor]: Taking taylor expansion of (hypot (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (- (/ 1 phi1) (/ 1 phi2))) in lambda2
3.376 * [taylor]: Rewrote expression to (sqrt (+ (* (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2)))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2)))))
3.376 * [taylor]: Taking taylor expansion of (+ (* (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2)))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2)))) in lambda2
3.376 * [taylor]: Taking taylor expansion of (* (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2)))) in lambda2
3.376 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) in lambda2
3.376 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2
3.376 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2
3.376 * [taylor]: Taking taylor expansion of 0.5 in lambda2
3.376 * [backup-simplify]: Simplify 0.5 into 0.5
3.376 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2
3.376 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
3.376 * [taylor]: Taking taylor expansion of phi1 in lambda2
3.376 * [backup-simplify]: Simplify phi1 into phi1
3.376 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
3.376 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
3.376 * [taylor]: Taking taylor expansion of phi2 in lambda2
3.376 * [backup-simplify]: Simplify phi2 into phi2
3.376 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
3.377 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
3.377 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))
3.377 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.377 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.377 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in lambda2
3.377 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda2
3.377 * [taylor]: Taking taylor expansion of lambda1 in lambda2
3.377 * [backup-simplify]: Simplify lambda1 into lambda1
3.377 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1)
3.377 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda2
3.377 * [taylor]: Taking taylor expansion of lambda2 in lambda2
3.377 * [backup-simplify]: Simplify 0 into 0
3.377 * [backup-simplify]: Simplify 1 into 1
3.378 * [backup-simplify]: Simplify (/ 1 1) into 1
3.378 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) in lambda2
3.378 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2
3.378 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2
3.378 * [taylor]: Taking taylor expansion of 0.5 in lambda2
3.378 * [backup-simplify]: Simplify 0.5 into 0.5
3.378 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2
3.378 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
3.378 * [taylor]: Taking taylor expansion of phi1 in lambda2
3.378 * [backup-simplify]: Simplify phi1 into phi1
3.378 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
3.378 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
3.378 * [taylor]: Taking taylor expansion of phi2 in lambda2
3.378 * [backup-simplify]: Simplify phi2 into phi2
3.378 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
3.378 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
3.379 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))
3.379 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.379 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.379 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in lambda2
3.379 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda2
3.379 * [taylor]: Taking taylor expansion of lambda1 in lambda2
3.379 * [backup-simplify]: Simplify lambda1 into lambda1
3.379 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1)
3.379 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda2
3.379 * [taylor]: Taking taylor expansion of lambda2 in lambda2
3.379 * [backup-simplify]: Simplify 0 into 0
3.379 * [backup-simplify]: Simplify 1 into 1
3.380 * [backup-simplify]: Simplify (/ 1 1) into 1
3.380 * [taylor]: Taking taylor expansion of (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2))) in lambda2
3.380 * [taylor]: Taking taylor expansion of (- (/ 1 phi1) (/ 1 phi2)) in lambda2
3.380 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
3.380 * [taylor]: Taking taylor expansion of phi1 in lambda2
3.380 * [backup-simplify]: Simplify phi1 into phi1
3.380 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
3.380 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
3.380 * [taylor]: Taking taylor expansion of phi2 in lambda2
3.380 * [backup-simplify]: Simplify phi2 into phi2
3.380 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
3.380 * [taylor]: Taking taylor expansion of (- (/ 1 phi1) (/ 1 phi2)) in lambda2
3.380 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
3.380 * [taylor]: Taking taylor expansion of phi1 in lambda2
3.380 * [backup-simplify]: Simplify phi1 into phi1
3.380 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
3.380 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
3.380 * [taylor]: Taking taylor expansion of phi2 in lambda2
3.380 * [backup-simplify]: Simplify phi2 into phi2
3.380 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
3.381 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.381 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
3.381 * [backup-simplify]: Simplify (- 0) into 0
3.381 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.382 * [backup-simplify]: Simplify (- 1) into -1
3.382 * [backup-simplify]: Simplify (+ 0 -1) into -1
3.382 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) -1) into (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
3.383 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.383 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
3.383 * [backup-simplify]: Simplify (- 0) into 0
3.383 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.384 * [backup-simplify]: Simplify (- 1) into -1
3.384 * [backup-simplify]: Simplify (+ 0 -1) into -1
3.384 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) -1) into (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
3.385 * [backup-simplify]: Simplify (* (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
3.385 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
3.386 * [backup-simplify]: Simplify (sqrt (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.386 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
3.387 * [backup-simplify]: Simplify (- 0) into 0
3.387 * [backup-simplify]: Simplify (+ (/ 1 lambda1) 0) into (/ 1 lambda1)
3.387 * [backup-simplify]: Simplify (+ 0) into 0
3.388 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
3.388 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
3.388 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
3.388 * [backup-simplify]: Simplify (+ 0 0) into 0
3.389 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
3.390 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
3.390 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
3.391 * [backup-simplify]: Simplify (- 0) into 0
3.391 * [backup-simplify]: Simplify (+ 0 0) into 0
3.392 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (/ 1 lambda1)) (* 0 -1)) into (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1)
3.393 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
3.393 * [backup-simplify]: Simplify (- 0) into 0
3.393 * [backup-simplify]: Simplify (+ (/ 1 lambda1) 0) into (/ 1 lambda1)
3.394 * [backup-simplify]: Simplify (+ 0) into 0
3.394 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
3.394 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
3.394 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
3.395 * [backup-simplify]: Simplify (+ 0 0) into 0
3.396 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
3.396 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
3.397 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
3.397 * [backup-simplify]: Simplify (- 0) into 0
3.398 * [backup-simplify]: Simplify (+ 0 0) into 0
3.398 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (/ 1 lambda1)) (* 0 -1)) into (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1)
3.399 * [backup-simplify]: Simplify (+ (* (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1)) (* (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1) (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))
3.399 * [backup-simplify]: Simplify (+ (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) 0) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))
3.399 * [backup-simplify]: Simplify (/ (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) (* 2 (sqrt (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)))) into (* -1 (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1))
3.399 * [taylor]: Taking taylor expansion of R in lambda2
3.399 * [backup-simplify]: Simplify R into R
3.399 * [backup-simplify]: Simplify (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) into (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)
3.399 * [taylor]: Taking taylor expansion of (/ (hypot (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (- (/ 1 phi1) (/ 1 phi2))) R) in lambda1
3.400 * [taylor]: Taking taylor expansion of (hypot (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (- (/ 1 phi1) (/ 1 phi2))) in lambda1
3.400 * [taylor]: Rewrote expression to (sqrt (+ (* (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2)))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2)))))
3.400 * [taylor]: Taking taylor expansion of (+ (* (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2)))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2)))) in lambda1
3.400 * [taylor]: Taking taylor expansion of (* (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2)))) in lambda1
3.400 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) in lambda1
3.400 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1
3.400 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1
3.400 * [taylor]: Taking taylor expansion of 0.5 in lambda1
3.400 * [backup-simplify]: Simplify 0.5 into 0.5
3.400 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1
3.400 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
3.400 * [taylor]: Taking taylor expansion of phi1 in lambda1
3.400 * [backup-simplify]: Simplify phi1 into phi1
3.400 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
3.400 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
3.400 * [taylor]: Taking taylor expansion of phi2 in lambda1
3.400 * [backup-simplify]: Simplify phi2 into phi2
3.400 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
3.400 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
3.400 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))
3.400 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.400 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.400 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in lambda1
3.400 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1
3.400 * [taylor]: Taking taylor expansion of lambda1 in lambda1
3.400 * [backup-simplify]: Simplify 0 into 0
3.400 * [backup-simplify]: Simplify 1 into 1
3.401 * [backup-simplify]: Simplify (/ 1 1) into 1
3.401 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda1
3.401 * [taylor]: Taking taylor expansion of lambda2 in lambda1
3.401 * [backup-simplify]: Simplify lambda2 into lambda2
3.401 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
3.401 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) in lambda1
3.401 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1
3.401 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1
3.401 * [taylor]: Taking taylor expansion of 0.5 in lambda1
3.401 * [backup-simplify]: Simplify 0.5 into 0.5
3.401 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1
3.401 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
3.401 * [taylor]: Taking taylor expansion of phi1 in lambda1
3.401 * [backup-simplify]: Simplify phi1 into phi1
3.401 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
3.401 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
3.401 * [taylor]: Taking taylor expansion of phi2 in lambda1
3.401 * [backup-simplify]: Simplify phi2 into phi2
3.401 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
3.401 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
3.401 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))
3.401 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.401 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.401 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in lambda1
3.401 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1
3.401 * [taylor]: Taking taylor expansion of lambda1 in lambda1
3.401 * [backup-simplify]: Simplify 0 into 0
3.401 * [backup-simplify]: Simplify 1 into 1
3.402 * [backup-simplify]: Simplify (/ 1 1) into 1
3.402 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda1
3.402 * [taylor]: Taking taylor expansion of lambda2 in lambda1
3.402 * [backup-simplify]: Simplify lambda2 into lambda2
3.402 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
3.402 * [taylor]: Taking taylor expansion of (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2))) in lambda1
3.402 * [taylor]: Taking taylor expansion of (- (/ 1 phi1) (/ 1 phi2)) in lambda1
3.402 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
3.402 * [taylor]: Taking taylor expansion of phi1 in lambda1
3.402 * [backup-simplify]: Simplify phi1 into phi1
3.402 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
3.402 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
3.402 * [taylor]: Taking taylor expansion of phi2 in lambda1
3.402 * [backup-simplify]: Simplify phi2 into phi2
3.402 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
3.402 * [taylor]: Taking taylor expansion of (- (/ 1 phi1) (/ 1 phi2)) in lambda1
3.402 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
3.402 * [taylor]: Taking taylor expansion of phi1 in lambda1
3.402 * [backup-simplify]: Simplify phi1 into phi1
3.402 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
3.402 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
3.402 * [taylor]: Taking taylor expansion of phi2 in lambda1
3.402 * [backup-simplify]: Simplify phi2 into phi2
3.402 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
3.402 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.402 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
3.403 * [backup-simplify]: Simplify (- 0) into 0
3.403 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.403 * [backup-simplify]: Simplify (+ 1 0) into 1
3.403 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.403 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.403 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
3.403 * [backup-simplify]: Simplify (- 0) into 0
3.404 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.404 * [backup-simplify]: Simplify (+ 1 0) into 1
3.404 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.404 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
3.404 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
3.405 * [backup-simplify]: Simplify (sqrt (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.405 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
3.405 * [backup-simplify]: Simplify (- (/ 1 lambda2)) into (- (/ 1 lambda2))
3.405 * [backup-simplify]: Simplify (+ 0 (- (/ 1 lambda2))) into (- (/ 1 lambda2))
3.405 * [backup-simplify]: Simplify (+ 0) into 0
3.406 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
3.406 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
3.406 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
3.406 * [backup-simplify]: Simplify (+ 0 0) into 0
3.406 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
3.407 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
3.407 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
3.407 * [backup-simplify]: Simplify (- 0) into 0
3.408 * [backup-simplify]: Simplify (+ 0 0) into 0
3.408 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda2))) (* 0 1)) into (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2))
3.409 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
3.409 * [backup-simplify]: Simplify (- (/ 1 lambda2)) into (- (/ 1 lambda2))
3.409 * [backup-simplify]: Simplify (+ 0 (- (/ 1 lambda2))) into (- (/ 1 lambda2))
3.409 * [backup-simplify]: Simplify (+ 0) into 0
3.409 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
3.409 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
3.409 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
3.410 * [backup-simplify]: Simplify (+ 0 0) into 0
3.410 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
3.410 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
3.411 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
3.411 * [backup-simplify]: Simplify (- 0) into 0
3.411 * [backup-simplify]: Simplify (+ 0 0) into 0
3.412 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda2))) (* 0 1)) into (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2))
3.412 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2))) (* (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))
3.412 * [backup-simplify]: Simplify (+ (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 0) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))
3.413 * [backup-simplify]: Simplify (/ (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) (* 2 (sqrt (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)))) into (* -1 (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2))
3.413 * [taylor]: Taking taylor expansion of R in lambda1
3.413 * [backup-simplify]: Simplify R into R
3.413 * [backup-simplify]: Simplify (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) into (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)
3.413 * [taylor]: Taking taylor expansion of (/ (hypot (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (- (/ 1 phi1) (/ 1 phi2))) R) in lambda1
3.413 * [taylor]: Taking taylor expansion of (hypot (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (- (/ 1 phi1) (/ 1 phi2))) in lambda1
3.413 * [taylor]: Rewrote expression to (sqrt (+ (* (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2)))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2)))))
3.413 * [taylor]: Taking taylor expansion of (+ (* (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2)))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2)))) in lambda1
3.413 * [taylor]: Taking taylor expansion of (* (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2)))) in lambda1
3.413 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) in lambda1
3.413 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1
3.413 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1
3.413 * [taylor]: Taking taylor expansion of 0.5 in lambda1
3.413 * [backup-simplify]: Simplify 0.5 into 0.5
3.413 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1
3.413 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
3.413 * [taylor]: Taking taylor expansion of phi1 in lambda1
3.413 * [backup-simplify]: Simplify phi1 into phi1
3.413 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
3.413 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
3.413 * [taylor]: Taking taylor expansion of phi2 in lambda1
3.414 * [backup-simplify]: Simplify phi2 into phi2
3.414 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
3.414 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
3.414 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))
3.414 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.414 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.414 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in lambda1
3.414 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1
3.414 * [taylor]: Taking taylor expansion of lambda1 in lambda1
3.414 * [backup-simplify]: Simplify 0 into 0
3.414 * [backup-simplify]: Simplify 1 into 1
3.414 * [backup-simplify]: Simplify (/ 1 1) into 1
3.414 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda1
3.414 * [taylor]: Taking taylor expansion of lambda2 in lambda1
3.414 * [backup-simplify]: Simplify lambda2 into lambda2
3.414 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
3.414 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) in lambda1
3.414 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1
3.414 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1
3.414 * [taylor]: Taking taylor expansion of 0.5 in lambda1
3.414 * [backup-simplify]: Simplify 0.5 into 0.5
3.414 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1
3.414 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
3.414 * [taylor]: Taking taylor expansion of phi1 in lambda1
3.414 * [backup-simplify]: Simplify phi1 into phi1
3.415 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
3.415 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
3.415 * [taylor]: Taking taylor expansion of phi2 in lambda1
3.415 * [backup-simplify]: Simplify phi2 into phi2
3.415 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
3.415 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
3.415 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))
3.415 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.415 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.415 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in lambda1
3.415 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1
3.415 * [taylor]: Taking taylor expansion of lambda1 in lambda1
3.415 * [backup-simplify]: Simplify 0 into 0
3.415 * [backup-simplify]: Simplify 1 into 1
3.418 * [backup-simplify]: Simplify (/ 1 1) into 1
3.418 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda1
3.418 * [taylor]: Taking taylor expansion of lambda2 in lambda1
3.418 * [backup-simplify]: Simplify lambda2 into lambda2
3.418 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
3.418 * [taylor]: Taking taylor expansion of (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2))) in lambda1
3.418 * [taylor]: Taking taylor expansion of (- (/ 1 phi1) (/ 1 phi2)) in lambda1
3.418 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
3.418 * [taylor]: Taking taylor expansion of phi1 in lambda1
3.418 * [backup-simplify]: Simplify phi1 into phi1
3.418 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
3.418 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
3.418 * [taylor]: Taking taylor expansion of phi2 in lambda1
3.418 * [backup-simplify]: Simplify phi2 into phi2
3.418 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
3.418 * [taylor]: Taking taylor expansion of (- (/ 1 phi1) (/ 1 phi2)) in lambda1
3.418 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
3.418 * [taylor]: Taking taylor expansion of phi1 in lambda1
3.418 * [backup-simplify]: Simplify phi1 into phi1
3.418 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
3.418 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
3.418 * [taylor]: Taking taylor expansion of phi2 in lambda1
3.418 * [backup-simplify]: Simplify phi2 into phi2
3.418 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
3.418 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.419 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
3.419 * [backup-simplify]: Simplify (- 0) into 0
3.419 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.419 * [backup-simplify]: Simplify (+ 1 0) into 1
3.419 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.420 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.420 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
3.420 * [backup-simplify]: Simplify (- 0) into 0
3.420 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.420 * [backup-simplify]: Simplify (+ 1 0) into 1
3.420 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.421 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
3.421 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
3.421 * [backup-simplify]: Simplify (sqrt (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.421 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
3.421 * [backup-simplify]: Simplify (- (/ 1 lambda2)) into (- (/ 1 lambda2))
3.422 * [backup-simplify]: Simplify (+ 0 (- (/ 1 lambda2))) into (- (/ 1 lambda2))
3.422 * [backup-simplify]: Simplify (+ 0) into 0
3.422 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
3.422 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
3.422 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
3.423 * [backup-simplify]: Simplify (+ 0 0) into 0
3.423 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
3.423 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
3.424 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
3.424 * [backup-simplify]: Simplify (- 0) into 0
3.424 * [backup-simplify]: Simplify (+ 0 0) into 0
3.425 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda2))) (* 0 1)) into (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2))
3.425 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
3.425 * [backup-simplify]: Simplify (- (/ 1 lambda2)) into (- (/ 1 lambda2))
3.425 * [backup-simplify]: Simplify (+ 0 (- (/ 1 lambda2))) into (- (/ 1 lambda2))
3.425 * [backup-simplify]: Simplify (+ 0) into 0
3.426 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
3.426 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
3.426 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
3.426 * [backup-simplify]: Simplify (+ 0 0) into 0
3.426 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
3.427 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
3.427 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
3.427 * [backup-simplify]: Simplify (- 0) into 0
3.428 * [backup-simplify]: Simplify (+ 0 0) into 0
3.428 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda2))) (* 0 1)) into (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2))
3.429 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2))) (* (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))
3.429 * [backup-simplify]: Simplify (+ (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 0) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))
3.429 * [backup-simplify]: Simplify (/ (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) (* 2 (sqrt (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)))) into (* -1 (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2))
3.429 * [taylor]: Taking taylor expansion of R in lambda1
3.430 * [backup-simplify]: Simplify R into R
3.430 * [backup-simplify]: Simplify (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) into (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)
3.430 * [taylor]: Taking taylor expansion of (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) in lambda2
3.430 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2
3.430 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2
3.430 * [taylor]: Taking taylor expansion of 0.5 in lambda2
3.430 * [backup-simplify]: Simplify 0.5 into 0.5
3.430 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2
3.430 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
3.430 * [taylor]: Taking taylor expansion of phi1 in lambda2
3.430 * [backup-simplify]: Simplify phi1 into phi1
3.430 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
3.430 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
3.430 * [taylor]: Taking taylor expansion of phi2 in lambda2
3.430 * [backup-simplify]: Simplify phi2 into phi2
3.430 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
3.430 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
3.431 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))
3.431 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.431 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.431 * [taylor]: Taking taylor expansion of R in lambda2
3.431 * [backup-simplify]: Simplify R into R
3.431 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.431 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
3.432 * [backup-simplify]: Simplify (- 0) into 0
3.432 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.432 * [backup-simplify]: Simplify (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) into (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)
3.433 * [backup-simplify]: Simplify (- (/ (* -1 (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) R) (+ (* (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) (/ 0 R)))) into (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* lambda2 R)))
3.433 * [taylor]: Taking taylor expansion of (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* lambda2 R))) in lambda2
3.433 * [taylor]: Taking taylor expansion of (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* lambda2 R)) in lambda2
3.433 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2
3.433 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2
3.433 * [taylor]: Taking taylor expansion of 0.5 in lambda2
3.433 * [backup-simplify]: Simplify 0.5 into 0.5
3.433 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2
3.433 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
3.433 * [taylor]: Taking taylor expansion of phi1 in lambda2
3.433 * [backup-simplify]: Simplify phi1 into phi1
3.433 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
3.433 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
3.433 * [taylor]: Taking taylor expansion of phi2 in lambda2
3.433 * [backup-simplify]: Simplify phi2 into phi2
3.433 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
3.434 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
3.434 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))
3.434 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.434 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.434 * [taylor]: Taking taylor expansion of (* lambda2 R) in lambda2
3.434 * [taylor]: Taking taylor expansion of lambda2 in lambda2
3.434 * [backup-simplify]: Simplify 0 into 0
3.434 * [backup-simplify]: Simplify 1 into 1
3.434 * [taylor]: Taking taylor expansion of R in lambda2
3.434 * [backup-simplify]: Simplify R into R
3.434 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.435 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
3.435 * [backup-simplify]: Simplify (- 0) into 0
3.435 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.435 * [backup-simplify]: Simplify (* 0 R) into 0
3.436 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 R)) into R
3.436 * [backup-simplify]: Simplify (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) into (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)
3.436 * [backup-simplify]: Simplify (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) into (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))
3.436 * [taylor]: Taking taylor expansion of (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) in phi2
3.436 * [taylor]: Taking taylor expansion of (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) in phi2
3.436 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
3.437 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
3.437 * [taylor]: Taking taylor expansion of 0.5 in phi2
3.437 * [backup-simplify]: Simplify 0.5 into 0.5
3.437 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
3.437 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
3.437 * [taylor]: Taking taylor expansion of phi1 in phi2
3.437 * [backup-simplify]: Simplify phi1 into phi1
3.437 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
3.437 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
3.437 * [taylor]: Taking taylor expansion of phi2 in phi2
3.437 * [backup-simplify]: Simplify 0 into 0
3.437 * [backup-simplify]: Simplify 1 into 1
3.437 * [backup-simplify]: Simplify (/ 1 1) into 1
3.438 * [backup-simplify]: Simplify (+ 0 1) into 1
3.438 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
3.438 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.438 * [taylor]: Taking taylor expansion of R in phi2
3.438 * [backup-simplify]: Simplify R into R
3.439 * [backup-simplify]: Simplify (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) into (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)
3.439 * [taylor]: Taking taylor expansion of (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) in phi2
3.439 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
3.439 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
3.439 * [taylor]: Taking taylor expansion of 0.5 in phi2
3.439 * [backup-simplify]: Simplify 0.5 into 0.5
3.439 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
3.439 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
3.439 * [taylor]: Taking taylor expansion of phi1 in phi2
3.439 * [backup-simplify]: Simplify phi1 into phi1
3.439 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
3.439 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
3.439 * [taylor]: Taking taylor expansion of phi2 in phi2
3.439 * [backup-simplify]: Simplify 0 into 0
3.439 * [backup-simplify]: Simplify 1 into 1
3.440 * [backup-simplify]: Simplify (/ 1 1) into 1
3.440 * [backup-simplify]: Simplify (+ 0 1) into 1
3.440 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
3.441 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.441 * [taylor]: Taking taylor expansion of R in phi2
3.441 * [backup-simplify]: Simplify R into R
3.441 * [backup-simplify]: Simplify (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) into (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)
3.443 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)))) into 0
3.443 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)))) into 0
3.443 * [backup-simplify]: Simplify (- 0) into 0
3.444 * [backup-simplify]: Simplify (+ 0 0) into 0
3.444 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
3.445 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0
3.445 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
3.446 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
3.446 * [backup-simplify]: Simplify (+ 0 0) into 0
3.447 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0
3.448 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
3.448 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0
3.449 * [backup-simplify]: Simplify (- 0) into 0
3.449 * [backup-simplify]: Simplify (+ 0 0) into 0
3.450 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 (- (/ 1 lambda2))) (* 0 1))) into 0
3.451 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)))) into 0
3.451 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)))) into 0
3.451 * [backup-simplify]: Simplify (- 0) into 0
3.451 * [backup-simplify]: Simplify (+ 0 0) into 0
3.452 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
3.453 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0
3.453 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
3.453 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
3.454 * [backup-simplify]: Simplify (+ 0 0) into 0
3.455 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0
3.456 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
3.456 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0
3.457 * [backup-simplify]: Simplify (- 0) into 0
3.457 * [backup-simplify]: Simplify (+ 0 0) into 0
3.458 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 (- (/ 1 lambda2))) (* 0 1))) into 0
3.459 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2))) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2))
3.459 * [backup-simplify]: Simplify (- (/ 1 phi2)) into (- (/ 1 phi2))
3.459 * [backup-simplify]: Simplify (+ (/ 1 phi1) (- (/ 1 phi2))) into (- (/ 1 phi1) (/ 1 phi2))
3.459 * [backup-simplify]: Simplify (- (/ 1 phi2)) into (- (/ 1 phi2))
3.459 * [backup-simplify]: Simplify (+ (/ 1 phi1) (- (/ 1 phi2))) into (- (/ 1 phi1) (/ 1 phi2))
3.459 * [backup-simplify]: Simplify (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2))) into (pow (- (/ 1 phi1) (/ 1 phi2)) 2)
3.460 * [backup-simplify]: Simplify (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (pow (- (/ 1 phi1) (/ 1 phi2)) 2)) into (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2)))) (* 2 (/ 1 (* phi1 phi2))))
3.463 * [backup-simplify]: Simplify (/ (- (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2)))) (* 2 (/ 1 (* phi1 phi2)))) (pow (* -1 (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) 2) (+)) (* 2 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (* 1/2 (/ (- (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))
3.465 * [backup-simplify]: Simplify (- (/ (* 1/2 (/ (- (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) R) (+ (* (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) (/ 0 R)) (* (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* lambda2 R))) (/ 0 R)))) into (- (+ (* 1/2 (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi2 2))))) (* 1/2 (/ 1 (* (pow phi1 2) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))))) (/ 1 (* phi1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R phi2)))))
3.465 * [taylor]: Taking taylor expansion of (- (+ (* 1/2 (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi2 2))))) (* 1/2 (/ 1 (* (pow phi1 2) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))))) (/ 1 (* phi1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R phi2))))) in lambda2
3.465 * [taylor]: Taking taylor expansion of (+ (* 1/2 (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi2 2))))) (* 1/2 (/ 1 (* (pow phi1 2) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))))) in lambda2
3.465 * [taylor]: Taking taylor expansion of (* 1/2 (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi2 2))))) in lambda2
3.465 * [taylor]: Taking taylor expansion of 1/2 in lambda2
3.465 * [backup-simplify]: Simplify 1/2 into 1/2
3.465 * [taylor]: Taking taylor expansion of (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi2 2)))) in lambda2
3.465 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi2 2))) in lambda2
3.465 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2
3.465 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2
3.465 * [taylor]: Taking taylor expansion of 0.5 in lambda2
3.465 * [backup-simplify]: Simplify 0.5 into 0.5
3.465 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2
3.465 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
3.465 * [taylor]: Taking taylor expansion of phi1 in lambda2
3.465 * [backup-simplify]: Simplify phi1 into phi1
3.465 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
3.465 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
3.465 * [taylor]: Taking taylor expansion of phi2 in lambda2
3.465 * [backup-simplify]: Simplify phi2 into phi2
3.465 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
3.466 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
3.466 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))
3.466 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.467 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.467 * [taylor]: Taking taylor expansion of (* R (pow phi2 2)) in lambda2
3.467 * [taylor]: Taking taylor expansion of R in lambda2
3.467 * [backup-simplify]: Simplify R into R
3.467 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2
3.467 * [taylor]: Taking taylor expansion of phi2 in lambda2
3.467 * [backup-simplify]: Simplify phi2 into phi2
3.467 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.467 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
3.468 * [backup-simplify]: Simplify (- 0) into 0
3.468 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.468 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
3.468 * [backup-simplify]: Simplify (* R (pow phi2 2)) into (* R (pow phi2 2))
3.469 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi2 2))) into (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi2 2)))
3.469 * [backup-simplify]: Simplify (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi2 2)))) into (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi2 2))))
3.469 * [taylor]: Taking taylor expansion of (* 1/2 (/ 1 (* (pow phi1 2) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))) in lambda2
3.469 * [taylor]: Taking taylor expansion of 1/2 in lambda2
3.469 * [backup-simplify]: Simplify 1/2 into 1/2
3.469 * [taylor]: Taking taylor expansion of (/ 1 (* (pow phi1 2) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))) in lambda2
3.469 * [taylor]: Taking taylor expansion of (* (pow phi1 2) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) in lambda2
3.469 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2
3.469 * [taylor]: Taking taylor expansion of phi1 in lambda2
3.469 * [backup-simplify]: Simplify phi1 into phi1
3.469 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) in lambda2
3.470 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2
3.470 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2
3.470 * [taylor]: Taking taylor expansion of 0.5 in lambda2
3.470 * [backup-simplify]: Simplify 0.5 into 0.5
3.470 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2
3.470 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
3.470 * [taylor]: Taking taylor expansion of phi1 in lambda2
3.470 * [backup-simplify]: Simplify phi1 into phi1
3.470 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
3.470 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
3.470 * [taylor]: Taking taylor expansion of phi2 in lambda2
3.470 * [backup-simplify]: Simplify phi2 into phi2
3.470 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
3.470 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
3.470 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))
3.471 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.471 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.471 * [taylor]: Taking taylor expansion of R in lambda2
3.471 * [backup-simplify]: Simplify R into R
3.471 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
3.471 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.471 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
3.472 * [backup-simplify]: Simplify (- 0) into 0
3.472 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.472 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) into (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)
3.473 * [backup-simplify]: Simplify (* (pow phi1 2) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) into (* R (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow phi1 2)))
3.473 * [backup-simplify]: Simplify (/ 1 (* R (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow phi1 2)))) into (/ 1 (* R (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow phi1 2))))
3.473 * [taylor]: Taking taylor expansion of (/ 1 (* phi1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R phi2)))) in lambda2
3.473 * [taylor]: Taking taylor expansion of (* phi1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R phi2))) in lambda2
3.473 * [taylor]: Taking taylor expansion of phi1 in lambda2
3.473 * [backup-simplify]: Simplify phi1 into phi1
3.473 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R phi2)) in lambda2
3.473 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2
3.474 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2
3.474 * [taylor]: Taking taylor expansion of 0.5 in lambda2
3.474 * [backup-simplify]: Simplify 0.5 into 0.5
3.474 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2
3.474 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
3.474 * [taylor]: Taking taylor expansion of phi1 in lambda2
3.474 * [backup-simplify]: Simplify phi1 into phi1
3.474 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
3.474 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
3.474 * [taylor]: Taking taylor expansion of phi2 in lambda2
3.474 * [backup-simplify]: Simplify phi2 into phi2
3.474 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
3.474 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
3.474 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))
3.474 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.475 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.475 * [taylor]: Taking taylor expansion of (* R phi2) in lambda2
3.475 * [taylor]: Taking taylor expansion of R in lambda2
3.475 * [backup-simplify]: Simplify R into R
3.475 * [taylor]: Taking taylor expansion of phi2 in lambda2
3.475 * [backup-simplify]: Simplify phi2 into phi2
3.475 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.475 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
3.476 * [backup-simplify]: Simplify (- 0) into 0
3.476 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.476 * [backup-simplify]: Simplify (* R phi2) into (* R phi2)
3.476 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R phi2)) into (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R phi2))
3.477 * [backup-simplify]: Simplify (* phi1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R phi2))) into (* R (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* phi1 phi2)))
3.477 * [backup-simplify]: Simplify (/ 1 (* R (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* phi1 phi2)))) into (/ 1 (* R (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* phi1 phi2))))
3.478 * [backup-simplify]: Simplify (+ 0) into 0
3.479 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
3.479 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
3.479 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
3.479 * [backup-simplify]: Simplify (+ 0 0) into 0
3.480 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
3.481 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
3.481 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
3.482 * [backup-simplify]: Simplify (- 0) into 0
3.482 * [backup-simplify]: Simplify (+ 0 0) into 0
3.483 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 R))) into 0
3.483 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) (/ 0 R)))) into 0
3.483 * [backup-simplify]: Simplify (- 0) into 0
3.483 * [taylor]: Taking taylor expansion of 0 in phi2
3.483 * [backup-simplify]: Simplify 0 into 0
3.484 * [backup-simplify]: Simplify (+ 0) into 0
3.484 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
3.485 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
3.485 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
3.485 * [backup-simplify]: Simplify (+ 0 0) into 0
3.486 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
3.486 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
3.487 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
3.487 * [backup-simplify]: Simplify (- 0) into 0
3.488 * [backup-simplify]: Simplify (+ 0 0) into 0
3.488 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) (/ 0 R)))) into 0
3.488 * [taylor]: Taking taylor expansion of 0 in phi2
3.488 * [backup-simplify]: Simplify 0 into 0
3.488 * [backup-simplify]: Simplify (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) into (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))
3.488 * [taylor]: Taking taylor expansion of (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) in phi1
3.488 * [taylor]: Taking taylor expansion of (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) in phi1
3.488 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
3.488 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
3.488 * [taylor]: Taking taylor expansion of 0.5 in phi1
3.488 * [backup-simplify]: Simplify 0.5 into 0.5
3.489 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
3.489 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
3.489 * [taylor]: Taking taylor expansion of phi1 in phi1
3.489 * [backup-simplify]: Simplify 0 into 0
3.489 * [backup-simplify]: Simplify 1 into 1
3.489 * [backup-simplify]: Simplify (/ 1 1) into 1
3.489 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
3.489 * [taylor]: Taking taylor expansion of phi2 in phi1
3.489 * [backup-simplify]: Simplify phi2 into phi2
3.489 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
3.490 * [backup-simplify]: Simplify (+ 1 0) into 1
3.490 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
3.490 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.490 * [taylor]: Taking taylor expansion of R in phi1
3.490 * [backup-simplify]: Simplify R into R
3.491 * [backup-simplify]: Simplify (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) into (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)
3.491 * [taylor]: Taking taylor expansion of (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) in phi1
3.491 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
3.491 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
3.491 * [taylor]: Taking taylor expansion of 0.5 in phi1
3.491 * [backup-simplify]: Simplify 0.5 into 0.5
3.491 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
3.491 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
3.491 * [taylor]: Taking taylor expansion of phi1 in phi1
3.491 * [backup-simplify]: Simplify 0 into 0
3.491 * [backup-simplify]: Simplify 1 into 1
3.491 * [backup-simplify]: Simplify (/ 1 1) into 1
3.491 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
3.491 * [taylor]: Taking taylor expansion of phi2 in phi1
3.491 * [backup-simplify]: Simplify phi2 into phi2
3.491 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
3.492 * [backup-simplify]: Simplify (+ 1 0) into 1
3.492 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
3.492 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.492 * [taylor]: Taking taylor expansion of R in phi1
3.493 * [backup-simplify]: Simplify R into R
3.493 * [backup-simplify]: Simplify (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) into (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)
3.494 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)) (* 0 (/ 0 1)))) into 0
3.494 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)) (* 0 (/ 0 lambda2)))) into 0
3.494 * [backup-simplify]: Simplify (- 0) into 0
3.494 * [backup-simplify]: Simplify (+ 0 0) into 0
3.495 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0
3.495 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0
3.495 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
3.495 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
3.496 * [backup-simplify]: Simplify (+ 0 0) into 0
3.496 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0
3.497 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0
3.498 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0
3.498 * [backup-simplify]: Simplify (- 0) into 0
3.498 * [backup-simplify]: Simplify (+ 0 0) into 0
3.499 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 (- (/ 1 lambda2))) (* 0 1)))) into 0
3.499 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)) (* 0 (/ 0 1)))) into 0
3.499 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)) (* 0 (/ 0 lambda2)))) into 0
3.500 * [backup-simplify]: Simplify (- 0) into 0
3.500 * [backup-simplify]: Simplify (+ 0 0) into 0
3.500 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0
3.501 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0
3.501 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
3.501 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
3.501 * [backup-simplify]: Simplify (+ 0 0) into 0
3.502 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0
3.503 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0
3.503 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0
3.504 * [backup-simplify]: Simplify (- 0) into 0
3.504 * [backup-simplify]: Simplify (+ 0 0) into 0
3.505 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 (- (/ 1 lambda2))) (* 0 1)))) into 0
3.505 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) 0) (+ (* 0 (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2))) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into 0
3.505 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
3.505 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
3.505 * [backup-simplify]: Simplify (- 0) into 0
3.506 * [backup-simplify]: Simplify (+ 0 0) into 0
3.506 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
3.506 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
3.506 * [backup-simplify]: Simplify (- 0) into 0
3.506 * [backup-simplify]: Simplify (+ 0 0) into 0
3.506 * [backup-simplify]: Simplify (+ (* (- (/ 1 phi1) (/ 1 phi2)) 0) (* 0 (- (/ 1 phi1) (/ 1 phi2)))) into 0
3.507 * [backup-simplify]: Simplify (+ 0 0) into 0
3.507 * [backup-simplify]: Simplify (/ (- 0 (+ (* 2 (* (* -1 (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) (* 1/2 (/ (- (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))))) (* 2 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (* 1/2 (/ (- (+ (/ 1 (* lambda2 (pow phi2 2))) (/ 1 (* lambda2 (pow phi1 2)))) (* 2 (/ 1 (* lambda2 (* phi1 phi2))))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))
3.509 * [backup-simplify]: Simplify (- (/ (* 1/2 (/ (- (+ (/ 1 (* lambda2 (pow phi2 2))) (/ 1 (* lambda2 (pow phi1 2)))) (* 2 (/ 1 (* lambda2 (* phi1 phi2))))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) R) (+ (* (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) (/ 0 R)) (* (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* lambda2 R))) (/ 0 R)) (* (- (+ (* 1/2 (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi2 2))))) (* 1/2 (/ 1 (* (pow phi1 2) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))))) (/ 1 (* phi1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R phi2))))) (/ 0 R)))) into (- (+ (* 1/2 (/ 1 (* (pow phi1 2) (* lambda2 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))))) (* 1/2 (/ 1 (* lambda2 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi2 2))))))) (/ 1 (* phi1 (* lambda2 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R phi2))))))
3.509 * [taylor]: Taking taylor expansion of (- (+ (* 1/2 (/ 1 (* (pow phi1 2) (* lambda2 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))))) (* 1/2 (/ 1 (* lambda2 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi2 2))))))) (/ 1 (* phi1 (* lambda2 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R phi2)))))) in lambda2
3.509 * [taylor]: Taking taylor expansion of (+ (* 1/2 (/ 1 (* (pow phi1 2) (* lambda2 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))))) (* 1/2 (/ 1 (* lambda2 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi2 2))))))) in lambda2
3.509 * [taylor]: Taking taylor expansion of (* 1/2 (/ 1 (* (pow phi1 2) (* lambda2 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))))) in lambda2
3.509 * [taylor]: Taking taylor expansion of 1/2 in lambda2
3.509 * [backup-simplify]: Simplify 1/2 into 1/2
3.509 * [taylor]: Taking taylor expansion of (/ 1 (* (pow phi1 2) (* lambda2 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))) in lambda2
3.509 * [taylor]: Taking taylor expansion of (* (pow phi1 2) (* lambda2 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))) in lambda2
3.509 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2
3.509 * [taylor]: Taking taylor expansion of phi1 in lambda2
3.509 * [backup-simplify]: Simplify phi1 into phi1
3.509 * [taylor]: Taking taylor expansion of (* lambda2 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) in lambda2
3.509 * [taylor]: Taking taylor expansion of lambda2 in lambda2
3.509 * [backup-simplify]: Simplify 0 into 0
3.509 * [backup-simplify]: Simplify 1 into 1
3.509 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) in lambda2
3.509 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2
3.509 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2
3.509 * [taylor]: Taking taylor expansion of 0.5 in lambda2
3.509 * [backup-simplify]: Simplify 0.5 into 0.5
3.509 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2
3.509 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
3.509 * [taylor]: Taking taylor expansion of phi1 in lambda2
3.509 * [backup-simplify]: Simplify phi1 into phi1
3.509 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
3.510 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
3.510 * [taylor]: Taking taylor expansion of phi2 in lambda2
3.510 * [backup-simplify]: Simplify phi2 into phi2
3.510 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
3.510 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
3.510 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))
3.510 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.510 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.510 * [taylor]: Taking taylor expansion of R in lambda2
3.510 * [backup-simplify]: Simplify R into R
3.510 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
3.510 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.510 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
3.511 * [backup-simplify]: Simplify (- 0) into 0
3.511 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.511 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) into (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)
3.511 * [backup-simplify]: Simplify (* 0 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) into 0
3.511 * [backup-simplify]: Simplify (* (pow phi1 2) 0) into 0
3.511 * [backup-simplify]: Simplify (+ 0) into 0
3.512 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
3.512 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
3.512 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
3.512 * [backup-simplify]: Simplify (+ 0 0) into 0
3.512 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
3.513 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
3.513 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
3.513 * [backup-simplify]: Simplify (- 0) into 0
3.514 * [backup-simplify]: Simplify (+ 0 0) into 0
3.514 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 R)) into 0
3.514 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))) into (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)
3.514 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0
3.515 * [backup-simplify]: Simplify (+ (* (pow phi1 2) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) (* 0 0)) into (* (pow phi1 2) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))
3.515 * [backup-simplify]: Simplify (/ 1 (* (pow phi1 2) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))) into (/ 1 (* (pow phi1 2) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))
3.515 * [taylor]: Taking taylor expansion of (* 1/2 (/ 1 (* lambda2 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi2 2)))))) in lambda2
3.515 * [taylor]: Taking taylor expansion of 1/2 in lambda2
3.515 * [backup-simplify]: Simplify 1/2 into 1/2
3.515 * [taylor]: Taking taylor expansion of (/ 1 (* lambda2 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi2 2))))) in lambda2
3.515 * [taylor]: Taking taylor expansion of (* lambda2 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi2 2)))) in lambda2
3.515 * [taylor]: Taking taylor expansion of lambda2 in lambda2
3.515 * [backup-simplify]: Simplify 0 into 0
3.515 * [backup-simplify]: Simplify 1 into 1
3.515 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi2 2))) in lambda2
3.515 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2
3.515 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2
3.515 * [taylor]: Taking taylor expansion of 0.5 in lambda2
3.515 * [backup-simplify]: Simplify 0.5 into 0.5
3.515 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2
3.515 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
3.515 * [taylor]: Taking taylor expansion of phi1 in lambda2
3.515 * [backup-simplify]: Simplify phi1 into phi1
3.515 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
3.515 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
3.515 * [taylor]: Taking taylor expansion of phi2 in lambda2
3.515 * [backup-simplify]: Simplify phi2 into phi2
3.515 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
3.515 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
3.515 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))
3.516 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.516 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.516 * [taylor]: Taking taylor expansion of (* R (pow phi2 2)) in lambda2
3.516 * [taylor]: Taking taylor expansion of R in lambda2
3.516 * [backup-simplify]: Simplify R into R
3.516 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2
3.516 * [taylor]: Taking taylor expansion of phi2 in lambda2
3.516 * [backup-simplify]: Simplify phi2 into phi2
3.516 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.516 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
3.516 * [backup-simplify]: Simplify (- 0) into 0
3.516 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.516 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
3.517 * [backup-simplify]: Simplify (* R (pow phi2 2)) into (* R (pow phi2 2))
3.517 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi2 2))) into (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi2 2)))
3.517 * [backup-simplify]: Simplify (* 0 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi2 2)))) into 0
3.517 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0
3.517 * [backup-simplify]: Simplify (+ (* R 0) (* 0 (pow phi2 2))) into 0
3.517 * [backup-simplify]: Simplify (+ 0) into 0
3.518 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
3.518 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
3.518 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
3.518 * [backup-simplify]: Simplify (+ 0 0) into 0
3.518 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
3.519 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
3.519 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
3.519 * [backup-simplify]: Simplify (- 0) into 0
3.520 * [backup-simplify]: Simplify (+ 0 0) into 0
3.520 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (* R (pow phi2 2)))) into 0
3.520 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi2 2))))) into (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi2 2)))
3.521 * [backup-simplify]: Simplify (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi2 2)))) into (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi2 2))))
3.521 * [taylor]: Taking taylor expansion of (/ 1 (* phi1 (* lambda2 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R phi2))))) in lambda2
3.521 * [taylor]: Taking taylor expansion of (* phi1 (* lambda2 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R phi2)))) in lambda2
3.521 * [taylor]: Taking taylor expansion of phi1 in lambda2
3.521 * [backup-simplify]: Simplify phi1 into phi1
3.521 * [taylor]: Taking taylor expansion of (* lambda2 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R phi2))) in lambda2
3.521 * [taylor]: Taking taylor expansion of lambda2 in lambda2
3.521 * [backup-simplify]: Simplify 0 into 0
3.521 * [backup-simplify]: Simplify 1 into 1
3.521 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R phi2)) in lambda2
3.521 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2
3.521 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2
3.521 * [taylor]: Taking taylor expansion of 0.5 in lambda2
3.521 * [backup-simplify]: Simplify 0.5 into 0.5
3.521 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2
3.521 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
3.521 * [taylor]: Taking taylor expansion of phi1 in lambda2
3.521 * [backup-simplify]: Simplify phi1 into phi1
3.521 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
3.521 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
3.521 * [taylor]: Taking taylor expansion of phi2 in lambda2
3.521 * [backup-simplify]: Simplify phi2 into phi2
3.521 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
3.521 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
3.521 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))
3.521 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.521 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.521 * [taylor]: Taking taylor expansion of (* R phi2) in lambda2
3.521 * [taylor]: Taking taylor expansion of R in lambda2
3.521 * [backup-simplify]: Simplify R into R
3.521 * [taylor]: Taking taylor expansion of phi2 in lambda2
3.521 * [backup-simplify]: Simplify phi2 into phi2
3.522 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.522 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
3.522 * [backup-simplify]: Simplify (- 0) into 0
3.522 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.522 * [backup-simplify]: Simplify (* R phi2) into (* R phi2)
3.522 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R phi2)) into (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R phi2))
3.522 * [backup-simplify]: Simplify (* 0 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R phi2))) into 0
3.522 * [backup-simplify]: Simplify (* phi1 0) into 0
3.522 * [backup-simplify]: Simplify (+ (* R 0) (* 0 phi2)) into 0
3.523 * [backup-simplify]: Simplify (+ 0) into 0
3.523 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
3.523 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
3.523 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
3.523 * [backup-simplify]: Simplify (+ 0 0) into 0
3.524 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
3.524 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
3.525 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
3.525 * [backup-simplify]: Simplify (- 0) into 0
3.525 * [backup-simplify]: Simplify (+ 0 0) into 0
3.525 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (* R phi2))) into 0
3.526 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R phi2)))) into (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R phi2))
3.526 * [backup-simplify]: Simplify (+ (* phi1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R phi2))) (* 0 0)) into (* phi1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R phi2)))
3.526 * [backup-simplify]: Simplify (/ 1 (* phi1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R phi2)))) into (/ 1 (* phi1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R phi2))))
3.526 * [backup-simplify]: Simplify (* 1/2 (/ 1 (* (pow phi1 2) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))) into (/ 1/2 (* R (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow phi1 2))))
3.527 * [backup-simplify]: Simplify (* 1/2 (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi2 2))))) into (/ 1/2 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi2 2))))
3.527 * [backup-simplify]: Simplify (+ (/ 1/2 (* R (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow phi1 2)))) (/ 1/2 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi2 2))))) into (+ (* 1/2 (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi2 2))))) (* 1/2 (/ 1 (* (pow phi1 2) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))))
3.527 * [backup-simplify]: Simplify (- (/ 1 (* phi1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R phi2))))) into (- (/ 1 (* R (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* phi1 phi2)))))
3.528 * [backup-simplify]: Simplify (+ (+ (* 1/2 (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi2 2))))) (* 1/2 (/ 1 (* (pow phi1 2) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))))) (- (/ 1 (* R (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* phi1 phi2)))))) into (- (+ (* 1/2 (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi2 2))))) (* 1/2 (/ 1 (* (pow phi1 2) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))))) (/ 1 (* R (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* phi1 phi2)))))
3.528 * [taylor]: Taking taylor expansion of (- (+ (* 1/2 (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi2 2))))) (* 1/2 (/ 1 (* (pow phi1 2) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))))) (/ 1 (* R (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* phi1 phi2))))) in phi2
3.528 * [taylor]: Taking taylor expansion of (+ (* 1/2 (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi2 2))))) (* 1/2 (/ 1 (* (pow phi1 2) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))))) in phi2
3.528 * [taylor]: Taking taylor expansion of (* 1/2 (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi2 2))))) in phi2
3.528 * [taylor]: Taking taylor expansion of 1/2 in phi2
3.528 * [backup-simplify]: Simplify 1/2 into 1/2
3.529 * [taylor]: Taking taylor expansion of (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi2 2)))) in phi2
3.529 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi2 2))) in phi2
3.529 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
3.529 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
3.529 * [taylor]: Taking taylor expansion of 0.5 in phi2
3.529 * [backup-simplify]: Simplify 0.5 into 0.5
3.529 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
3.529 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
3.529 * [taylor]: Taking taylor expansion of phi1 in phi2
3.529 * [backup-simplify]: Simplify phi1 into phi1
3.529 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
3.529 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
3.529 * [taylor]: Taking taylor expansion of phi2 in phi2
3.529 * [backup-simplify]: Simplify 0 into 0
3.529 * [backup-simplify]: Simplify 1 into 1
3.530 * [backup-simplify]: Simplify (/ 1 1) into 1
3.530 * [backup-simplify]: Simplify (+ 0 1) into 1
3.530 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
3.531 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.531 * [taylor]: Taking taylor expansion of (* R (pow phi2 2)) in phi2
3.531 * [taylor]: Taking taylor expansion of R in phi2
3.531 * [backup-simplify]: Simplify R into R
3.531 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2
3.531 * [taylor]: Taking taylor expansion of phi2 in phi2
3.531 * [backup-simplify]: Simplify 0 into 0
3.531 * [backup-simplify]: Simplify 1 into 1
3.531 * [backup-simplify]: Simplify (* 1 1) into 1
3.531 * [backup-simplify]: Simplify (* R 1) into R
3.532 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) into (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)
3.532 * [backup-simplify]: Simplify (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) into (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))
3.532 * [taylor]: Taking taylor expansion of (* 1/2 (/ 1 (* (pow phi1 2) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))) in phi2
3.532 * [taylor]: Taking taylor expansion of 1/2 in phi2
3.532 * [backup-simplify]: Simplify 1/2 into 1/2
3.532 * [taylor]: Taking taylor expansion of (/ 1 (* (pow phi1 2) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))) in phi2
3.532 * [taylor]: Taking taylor expansion of (* (pow phi1 2) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) in phi2
3.532 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2
3.532 * [taylor]: Taking taylor expansion of phi1 in phi2
3.532 * [backup-simplify]: Simplify phi1 into phi1
3.532 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) in phi2
3.532 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
3.532 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
3.532 * [taylor]: Taking taylor expansion of 0.5 in phi2
3.532 * [backup-simplify]: Simplify 0.5 into 0.5
3.532 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
3.532 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
3.532 * [taylor]: Taking taylor expansion of phi1 in phi2
3.532 * [backup-simplify]: Simplify phi1 into phi1
3.532 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
3.532 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
3.532 * [taylor]: Taking taylor expansion of phi2 in phi2
3.532 * [backup-simplify]: Simplify 0 into 0
3.532 * [backup-simplify]: Simplify 1 into 1
3.533 * [backup-simplify]: Simplify (/ 1 1) into 1
3.533 * [backup-simplify]: Simplify (+ 0 1) into 1
3.534 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
3.534 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.534 * [taylor]: Taking taylor expansion of R in phi2
3.534 * [backup-simplify]: Simplify R into R
3.534 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
3.534 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) into (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)
3.535 * [backup-simplify]: Simplify (* (pow phi1 2) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) into (* R (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow phi1 2)))
3.535 * [backup-simplify]: Simplify (/ 1 (* R (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow phi1 2)))) into (/ 1 (* R (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow phi1 2))))
3.535 * [taylor]: Taking taylor expansion of (/ 1 (* R (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* phi1 phi2)))) in phi2
3.535 * [taylor]: Taking taylor expansion of (* R (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* phi1 phi2))) in phi2
3.535 * [taylor]: Taking taylor expansion of R in phi2
3.535 * [backup-simplify]: Simplify R into R
3.535 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* phi1 phi2)) in phi2
3.535 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
3.535 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
3.535 * [taylor]: Taking taylor expansion of 0.5 in phi2
3.535 * [backup-simplify]: Simplify 0.5 into 0.5
3.535 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
3.535 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
3.535 * [taylor]: Taking taylor expansion of phi1 in phi2
3.535 * [backup-simplify]: Simplify phi1 into phi1
3.535 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
3.535 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
3.535 * [taylor]: Taking taylor expansion of phi2 in phi2
3.536 * [backup-simplify]: Simplify 0 into 0
3.536 * [backup-simplify]: Simplify 1 into 1
3.536 * [backup-simplify]: Simplify (/ 1 1) into 1
3.536 * [backup-simplify]: Simplify (+ 0 1) into 1
3.537 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
3.537 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.537 * [taylor]: Taking taylor expansion of (* phi1 phi2) in phi2
3.537 * [taylor]: Taking taylor expansion of phi1 in phi2
3.537 * [backup-simplify]: Simplify phi1 into phi1
3.537 * [taylor]: Taking taylor expansion of phi2 in phi2
3.537 * [backup-simplify]: Simplify 0 into 0
3.537 * [backup-simplify]: Simplify 1 into 1
3.537 * [backup-simplify]: Simplify (* phi1 0) into 0
3.537 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
3.538 * [backup-simplify]: Simplify (* R 0) into 0
3.538 * [backup-simplify]: Simplify (+ (* phi1 1) (* 0 0)) into phi1
3.539 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi1) (* 0 0)) into (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi1)
3.539 * [backup-simplify]: Simplify (+ (* R (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi1)) (* 0 0)) into (* R (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi1))
3.540 * [backup-simplify]: Simplify (/ 1 (* R (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi1))) into (/ 1 (* R (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi1)))
3.540 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
3.541 * [backup-simplify]: Simplify (+ (* R 0) (* 0 1)) into 0
3.541 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 R)) into 0
3.542 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) (/ 0 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))))) into 0
3.542 * [backup-simplify]: Simplify (+ (* 1/2 0) (* 0 (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))) into 0
3.543 * [backup-simplify]: Simplify (+ 0 0) into 0
3.543 * [backup-simplify]: Simplify (- (/ 1 (* R (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi1)))) into (- (/ 1 (* phi1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))))
3.543 * [backup-simplify]: Simplify (+ 0 (- (/ 1 (* phi1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))))) into (- (/ 1 (* phi1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))))
3.543 * [taylor]: Taking taylor expansion of (- (/ 1 (* phi1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))) in phi1
3.543 * [taylor]: Taking taylor expansion of (/ 1 (* phi1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))) in phi1
3.543 * [taylor]: Taking taylor expansion of (* phi1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) in phi1
3.543 * [taylor]: Taking taylor expansion of phi1 in phi1
3.543 * [backup-simplify]: Simplify 0 into 0
3.543 * [backup-simplify]: Simplify 1 into 1
3.544 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) in phi1
3.544 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
3.544 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
3.544 * [taylor]: Taking taylor expansion of 0.5 in phi1
3.544 * [backup-simplify]: Simplify 0.5 into 0.5
3.544 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
3.544 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
3.544 * [taylor]: Taking taylor expansion of phi1 in phi1
3.544 * [backup-simplify]: Simplify 0 into 0
3.544 * [backup-simplify]: Simplify 1 into 1
3.548 * [backup-simplify]: Simplify (/ 1 1) into 1
3.548 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
3.548 * [taylor]: Taking taylor expansion of phi2 in phi1
3.548 * [backup-simplify]: Simplify phi2 into phi2
3.548 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
3.549 * [backup-simplify]: Simplify (+ 1 0) into 1
3.550 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
3.550 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.550 * [taylor]: Taking taylor expansion of R in phi1
3.550 * [backup-simplify]: Simplify R into R
3.550 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) into (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)
3.550 * [backup-simplify]: Simplify (* 0 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) into 0
3.551 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 R)) into 0
3.551 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))) into (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)
3.551 * [backup-simplify]: Simplify (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) into (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))
3.552 * [backup-simplify]: Simplify (- (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))) into (- (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))
3.552 * [taylor]: Taking taylor expansion of (- (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))) in R
3.552 * [taylor]: Taking taylor expansion of (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) in R
3.552 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) in R
3.552 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in R
3.552 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in R
3.552 * [taylor]: Taking taylor expansion of 0.5 in R
3.552 * [backup-simplify]: Simplify 0.5 into 0.5
3.552 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in R
3.552 * [taylor]: Taking taylor expansion of (/ 1 phi1) in R
3.552 * [taylor]: Taking taylor expansion of phi1 in R
3.552 * [backup-simplify]: Simplify phi1 into phi1
3.552 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
3.552 * [taylor]: Taking taylor expansion of (/ 1 phi2) in R
3.552 * [taylor]: Taking taylor expansion of phi2 in R
3.552 * [backup-simplify]: Simplify phi2 into phi2
3.552 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
3.553 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
3.553 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))
3.553 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.553 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.553 * [taylor]: Taking taylor expansion of R in R
3.553 * [backup-simplify]: Simplify 0 into 0
3.553 * [backup-simplify]: Simplify 1 into 1
3.553 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.554 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
3.554 * [backup-simplify]: Simplify (- 0) into 0
3.554 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.555 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
3.555 * [backup-simplify]: Simplify (+ 0) into 0
3.555 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
3.556 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
3.556 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
3.556 * [backup-simplify]: Simplify (+ 0 0) into 0
3.557 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
3.557 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
3.558 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
3.558 * [backup-simplify]: Simplify (- 0) into 0
3.558 * [backup-simplify]: Simplify (+ 0 0) into 0
3.559 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) (* 0 0)) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.559 * [backup-simplify]: Simplify (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
3.559 * [backup-simplify]: Simplify (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))
3.559 * [backup-simplify]: Simplify (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))
3.559 * [backup-simplify]: Simplify (* 1/2 (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi2 2))))) into (/ 1/2 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi2 2))))
3.560 * [backup-simplify]: Simplify (* 1/2 (/ 1 (* R (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow phi1 2))))) into (/ 1/2 (* (pow phi1 2) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))
3.560 * [backup-simplify]: Simplify (+ (/ 1/2 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi2 2)))) (/ 1/2 (* (pow phi1 2) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))) into (+ (* 1/2 (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi2 2))))) (* 1/2 (/ 1 (* R (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow phi1 2))))))
3.560 * [backup-simplify]: Simplify (- (/ 1 (* R (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* phi1 phi2))))) into (- (/ 1 (* phi1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R phi2)))))
3.561 * [backup-simplify]: Simplify (+ (+ (* 1/2 (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi2 2))))) (* 1/2 (/ 1 (* R (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow phi1 2)))))) (- (/ 1 (* phi1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R phi2)))))) into (- (+ (* 1/2 (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi2 2))))) (* 1/2 (/ 1 (* R (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow phi1 2)))))) (/ 1 (* phi1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R phi2)))))
3.561 * [taylor]: Taking taylor expansion of (- (+ (* 1/2 (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi2 2))))) (* 1/2 (/ 1 (* R (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow phi1 2)))))) (/ 1 (* phi1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R phi2))))) in phi2
3.561 * [taylor]: Taking taylor expansion of (+ (* 1/2 (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi2 2))))) (* 1/2 (/ 1 (* R (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow phi1 2)))))) in phi2
3.561 * [taylor]: Taking taylor expansion of (* 1/2 (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi2 2))))) in phi2
3.561 * [taylor]: Taking taylor expansion of 1/2 in phi2
3.561 * [backup-simplify]: Simplify 1/2 into 1/2
3.561 * [taylor]: Taking taylor expansion of (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi2 2)))) in phi2
3.561 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi2 2))) in phi2
3.561 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
3.561 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
3.561 * [taylor]: Taking taylor expansion of 0.5 in phi2
3.561 * [backup-simplify]: Simplify 0.5 into 0.5
3.561 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
3.561 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
3.561 * [taylor]: Taking taylor expansion of phi1 in phi2
3.561 * [backup-simplify]: Simplify phi1 into phi1
3.561 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
3.561 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
3.561 * [taylor]: Taking taylor expansion of phi2 in phi2
3.561 * [backup-simplify]: Simplify 0 into 0
3.561 * [backup-simplify]: Simplify 1 into 1
3.562 * [backup-simplify]: Simplify (/ 1 1) into 1
3.562 * [backup-simplify]: Simplify (+ 0 1) into 1
3.562 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
3.562 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.562 * [taylor]: Taking taylor expansion of (* R (pow phi2 2)) in phi2
3.562 * [taylor]: Taking taylor expansion of R in phi2
3.562 * [backup-simplify]: Simplify R into R
3.562 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2
3.562 * [taylor]: Taking taylor expansion of phi2 in phi2
3.562 * [backup-simplify]: Simplify 0 into 0
3.563 * [backup-simplify]: Simplify 1 into 1
3.563 * [backup-simplify]: Simplify (* 1 1) into 1
3.563 * [backup-simplify]: Simplify (* R 1) into R
3.563 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) into (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)
3.563 * [backup-simplify]: Simplify (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) into (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))
3.563 * [taylor]: Taking taylor expansion of (* 1/2 (/ 1 (* R (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow phi1 2))))) in phi2
3.563 * [taylor]: Taking taylor expansion of 1/2 in phi2
3.563 * [backup-simplify]: Simplify 1/2 into 1/2
3.563 * [taylor]: Taking taylor expansion of (/ 1 (* R (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow phi1 2)))) in phi2
3.563 * [taylor]: Taking taylor expansion of (* R (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow phi1 2))) in phi2
3.563 * [taylor]: Taking taylor expansion of R in phi2
3.563 * [backup-simplify]: Simplify R into R
3.563 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow phi1 2)) in phi2
3.563 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
3.563 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
3.563 * [taylor]: Taking taylor expansion of 0.5 in phi2
3.563 * [backup-simplify]: Simplify 0.5 into 0.5
3.563 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
3.563 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
3.563 * [taylor]: Taking taylor expansion of phi1 in phi2
3.563 * [backup-simplify]: Simplify phi1 into phi1
3.563 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
3.563 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
3.563 * [taylor]: Taking taylor expansion of phi2 in phi2
3.563 * [backup-simplify]: Simplify 0 into 0
3.563 * [backup-simplify]: Simplify 1 into 1
3.564 * [backup-simplify]: Simplify (/ 1 1) into 1
3.564 * [backup-simplify]: Simplify (+ 0 1) into 1
3.564 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
3.564 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.564 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2
3.564 * [taylor]: Taking taylor expansion of phi1 in phi2
3.564 * [backup-simplify]: Simplify phi1 into phi1
3.564 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
3.565 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow phi1 2)) into (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow phi1 2))
3.565 * [backup-simplify]: Simplify (* R (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow phi1 2))) into (* (pow phi1 2) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))
3.565 * [backup-simplify]: Simplify (/ 1 (* (pow phi1 2) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))) into (/ 1 (* (pow phi1 2) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))
3.565 * [taylor]: Taking taylor expansion of (/ 1 (* phi1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R phi2)))) in phi2
3.565 * [taylor]: Taking taylor expansion of (* phi1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R phi2))) in phi2
3.565 * [taylor]: Taking taylor expansion of phi1 in phi2
3.565 * [backup-simplify]: Simplify phi1 into phi1
3.565 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R phi2)) in phi2
3.565 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
3.565 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
3.565 * [taylor]: Taking taylor expansion of 0.5 in phi2
3.565 * [backup-simplify]: Simplify 0.5 into 0.5
3.565 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
3.565 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
3.565 * [taylor]: Taking taylor expansion of phi1 in phi2
3.565 * [backup-simplify]: Simplify phi1 into phi1
3.565 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
3.565 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
3.565 * [taylor]: Taking taylor expansion of phi2 in phi2
3.565 * [backup-simplify]: Simplify 0 into 0
3.565 * [backup-simplify]: Simplify 1 into 1
3.566 * [backup-simplify]: Simplify (/ 1 1) into 1
3.566 * [backup-simplify]: Simplify (+ 0 1) into 1
3.566 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
3.566 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.566 * [taylor]: Taking taylor expansion of (* R phi2) in phi2
3.566 * [taylor]: Taking taylor expansion of R in phi2
3.566 * [backup-simplify]: Simplify R into R
3.566 * [taylor]: Taking taylor expansion of phi2 in phi2
3.566 * [backup-simplify]: Simplify 0 into 0
3.566 * [backup-simplify]: Simplify 1 into 1
3.566 * [backup-simplify]: Simplify (* R 0) into 0
3.566 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
3.567 * [backup-simplify]: Simplify (* phi1 0) into 0
3.567 * [backup-simplify]: Simplify (+ (* R 1) (* 0 0)) into R
3.567 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) (* 0 0)) into (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)
3.567 * [backup-simplify]: Simplify (+ (* phi1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) (* 0 0)) into (* phi1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))
3.568 * [backup-simplify]: Simplify (/ 1 (* phi1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))) into (/ 1 (* phi1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))
3.568 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
3.568 * [backup-simplify]: Simplify (+ (* R 0) (* 0 1)) into 0
3.568 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 R)) into 0
3.569 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) (/ 0 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))))) into 0
3.569 * [backup-simplify]: Simplify (+ (* 1/2 0) (* 0 (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))) into 0
3.569 * [backup-simplify]: Simplify (+ 0 0) into 0
3.570 * [backup-simplify]: Simplify (- (/ 1 (* phi1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))) into (- (/ 1 (* R (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi1))))
3.570 * [backup-simplify]: Simplify (+ 0 (- (/ 1 (* R (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi1))))) into (- (/ 1 (* R (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi1))))
3.570 * [taylor]: Taking taylor expansion of (- (/ 1 (* R (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi1)))) in phi1
3.570 * [taylor]: Taking taylor expansion of (/ 1 (* R (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi1))) in phi1
3.570 * [taylor]: Taking taylor expansion of (* R (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi1)) in phi1
3.570 * [taylor]: Taking taylor expansion of R in phi1
3.570 * [backup-simplify]: Simplify R into R
3.570 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi1) in phi1
3.570 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
3.570 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
3.570 * [taylor]: Taking taylor expansion of 0.5 in phi1
3.570 * [backup-simplify]: Simplify 0.5 into 0.5
3.570 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
3.570 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
3.570 * [taylor]: Taking taylor expansion of phi1 in phi1
3.570 * [backup-simplify]: Simplify 0 into 0
3.570 * [backup-simplify]: Simplify 1 into 1
3.570 * [backup-simplify]: Simplify (/ 1 1) into 1
3.570 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
3.570 * [taylor]: Taking taylor expansion of phi2 in phi1
3.570 * [backup-simplify]: Simplify phi2 into phi2
3.570 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
3.571 * [backup-simplify]: Simplify (+ 1 0) into 1
3.571 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
3.571 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.571 * [taylor]: Taking taylor expansion of phi1 in phi1
3.571 * [backup-simplify]: Simplify 0 into 0
3.571 * [backup-simplify]: Simplify 1 into 1
3.571 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
3.571 * [backup-simplify]: Simplify (* R 0) into 0
3.572 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) (* 0 0)) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.572 * [backup-simplify]: Simplify (+ (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* 0 0)) into (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)
3.572 * [backup-simplify]: Simplify (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) into (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))
3.572 * [backup-simplify]: Simplify (- (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))) into (- (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))
3.572 * [taylor]: Taking taylor expansion of (- (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))) in R
3.572 * [taylor]: Taking taylor expansion of (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) in R
3.572 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) in R
3.572 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in R
3.572 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in R
3.572 * [taylor]: Taking taylor expansion of 0.5 in R
3.572 * [backup-simplify]: Simplify 0.5 into 0.5
3.572 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in R
3.572 * [taylor]: Taking taylor expansion of (/ 1 phi1) in R
3.572 * [taylor]: Taking taylor expansion of phi1 in R
3.572 * [backup-simplify]: Simplify phi1 into phi1
3.572 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
3.572 * [taylor]: Taking taylor expansion of (/ 1 phi2) in R
3.572 * [taylor]: Taking taylor expansion of phi2 in R
3.573 * [backup-simplify]: Simplify phi2 into phi2
3.573 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
3.573 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
3.573 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))
3.573 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.573 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.573 * [taylor]: Taking taylor expansion of R in R
3.573 * [backup-simplify]: Simplify 0 into 0
3.573 * [backup-simplify]: Simplify 1 into 1
3.573 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.573 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
3.573 * [backup-simplify]: Simplify (- 0) into 0
3.574 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.574 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
3.574 * [backup-simplify]: Simplify (+ 0) into 0
3.574 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
3.574 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
3.574 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
3.575 * [backup-simplify]: Simplify (+ 0 0) into 0
3.575 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
3.575 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
3.576 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
3.576 * [backup-simplify]: Simplify (- 0) into 0
3.576 * [backup-simplify]: Simplify (+ 0 0) into 0
3.577 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) (* 0 0)) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.577 * [backup-simplify]: Simplify (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
3.577 * [backup-simplify]: Simplify (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))
3.577 * [backup-simplify]: Simplify (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))
3.578 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
3.578 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0
3.578 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
3.578 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
3.578 * [backup-simplify]: Simplify (+ 0 0) into 0
3.579 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0
3.579 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
3.580 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0
3.580 * [backup-simplify]: Simplify (- 0) into 0
3.580 * [backup-simplify]: Simplify (+ 0 0) into 0
3.581 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (+ (* 0 0) (* 0 R)))) into 0
3.581 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) (/ 0 R)) (* 0 (/ 0 R)))) into 0
3.581 * [backup-simplify]: Simplify (- 0) into 0
3.582 * [taylor]: Taking taylor expansion of 0 in phi2
3.582 * [backup-simplify]: Simplify 0 into 0
3.582 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
3.583 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0
3.583 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
3.583 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
3.583 * [backup-simplify]: Simplify (+ 0 0) into 0
3.584 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0
3.584 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
3.585 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0
3.585 * [backup-simplify]: Simplify (- 0) into 0
3.585 * [backup-simplify]: Simplify (+ 0 0) into 0
3.585 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) (/ 0 R)) (* 0 (/ 0 R)))) into 0
3.585 * [taylor]: Taking taylor expansion of 0 in phi2
3.585 * [backup-simplify]: Simplify 0 into 0
3.585 * [taylor]: Taking taylor expansion of 0 in phi1
3.585 * [backup-simplify]: Simplify 0 into 0
3.585 * [taylor]: Taking taylor expansion of 0 in phi1
3.585 * [backup-simplify]: Simplify 0 into 0
3.586 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) (/ 0 R)))) into 0
3.586 * [backup-simplify]: Simplify (- 0) into 0
3.586 * [taylor]: Taking taylor expansion of 0 in phi1
3.586 * [backup-simplify]: Simplify 0 into 0
3.586 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) (/ 0 R)))) into 0
3.586 * [taylor]: Taking taylor expansion of 0 in phi1
3.586 * [backup-simplify]: Simplify 0 into 0
3.586 * [backup-simplify]: Simplify (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) into (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))
3.586 * [taylor]: Taking taylor expansion of (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) in R
3.586 * [taylor]: Taking taylor expansion of (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) in R
3.586 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in R
3.586 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in R
3.586 * [taylor]: Taking taylor expansion of 0.5 in R
3.586 * [backup-simplify]: Simplify 0.5 into 0.5
3.586 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in R
3.586 * [taylor]: Taking taylor expansion of (/ 1 phi1) in R
3.586 * [taylor]: Taking taylor expansion of phi1 in R
3.586 * [backup-simplify]: Simplify phi1 into phi1
3.587 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
3.587 * [taylor]: Taking taylor expansion of (/ 1 phi2) in R
3.587 * [taylor]: Taking taylor expansion of phi2 in R
3.587 * [backup-simplify]: Simplify phi2 into phi2
3.587 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
3.587 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
3.587 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))
3.587 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.587 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.587 * [taylor]: Taking taylor expansion of R in R
3.587 * [backup-simplify]: Simplify 0 into 0
3.587 * [backup-simplify]: Simplify 1 into 1
3.587 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.587 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
3.587 * [backup-simplify]: Simplify (- 0) into 0
3.588 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.588 * [backup-simplify]: Simplify (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.588 * [backup-simplify]: Simplify (- (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (- (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
3.588 * [backup-simplify]: Simplify (- (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (- (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
3.589 * [backup-simplify]: Simplify (+ (* (- (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2)))))) (* (/ 1 (/ 1 R)) (* 1 (* 1 (* (/ 1 (/ 1 lambda2)) 1))))) (+ (* (- (/ 1 (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2))))))) (* (/ 1 (/ 1 R)) (* (/ 1 (/ 1 phi1)) (* (/ 1 (/ 1 phi2)) (* 1 (/ 1 lambda1)))))) (* (- (/ 1 (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2))))))) (* (/ 1 (/ 1 R)) (* (/ 1 (/ 1 phi1)) (* (/ 1 (/ 1 phi2)) (* (/ 1 (/ 1 lambda2)) (pow (/ 1 lambda1) 2)))))))) into (- (+ (/ (* R (* lambda2 (* phi1 phi2))) (* (cos (* 0.5 (+ phi1 phi2))) (pow lambda1 2))) (+ (/ (* R (* phi1 phi2)) (* (cos (* 0.5 (+ phi1 phi2))) lambda1)) (* R (* lambda2 (cos (* 0.5 (+ phi1 phi2))))))))
3.590 * [backup-simplify]: Simplify (* (hypot (* (- (/ 1 (- lambda1)) (/ 1 (- lambda2))) (cos (/ (+ (/ 1 (- phi2)) (/ 1 (- phi1))) 2.0))) (- (/ 1 (- phi1)) (/ 1 (- phi2)))) (/ 1 (- R))) into (* -1 (/ (hypot (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi2) (/ 1 phi1))) R))
3.590 * [approximate]: Taking taylor expansion of (* -1 (/ (hypot (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi2) (/ 1 phi1))) R)) in (lambda1 lambda2 phi2 phi1 R) around 0
3.590 * [taylor]: Taking taylor expansion of (* -1 (/ (hypot (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi2) (/ 1 phi1))) R)) in R
3.590 * [taylor]: Taking taylor expansion of -1 in R
3.590 * [backup-simplify]: Simplify -1 into -1
3.590 * [taylor]: Taking taylor expansion of (/ (hypot (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi2) (/ 1 phi1))) R) in R
3.590 * [taylor]: Taking taylor expansion of (hypot (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi2) (/ 1 phi1))) in R
3.590 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1)))))
3.590 * [taylor]: Taking taylor expansion of (+ (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1)))) in R
3.590 * [taylor]: Taking taylor expansion of (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in R
3.590 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in R
3.590 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in R
3.590 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in R
3.590 * [taylor]: Taking taylor expansion of lambda2 in R
3.590 * [backup-simplify]: Simplify lambda2 into lambda2
3.590 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
3.590 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in R
3.590 * [taylor]: Taking taylor expansion of lambda1 in R
3.590 * [backup-simplify]: Simplify lambda1 into lambda1
3.590 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1)
3.590 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in R
3.590 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in R
3.590 * [taylor]: Taking taylor expansion of -0.5 in R
3.590 * [backup-simplify]: Simplify -0.5 into -0.5
3.590 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in R
3.590 * [taylor]: Taking taylor expansion of (/ 1 phi1) in R
3.590 * [taylor]: Taking taylor expansion of phi1 in R
3.590 * [backup-simplify]: Simplify phi1 into phi1
3.590 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
3.590 * [taylor]: Taking taylor expansion of (/ 1 phi2) in R
3.590 * [taylor]: Taking taylor expansion of phi2 in R
3.590 * [backup-simplify]: Simplify phi2 into phi2
3.590 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
3.590 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
3.591 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))
3.591 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.591 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.591 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in R
3.591 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in R
3.591 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in R
3.591 * [taylor]: Taking taylor expansion of lambda2 in R
3.591 * [backup-simplify]: Simplify lambda2 into lambda2
3.591 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
3.591 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in R
3.591 * [taylor]: Taking taylor expansion of lambda1 in R
3.591 * [backup-simplify]: Simplify lambda1 into lambda1
3.591 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1)
3.591 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in R
3.591 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in R
3.591 * [taylor]: Taking taylor expansion of -0.5 in R
3.591 * [backup-simplify]: Simplify -0.5 into -0.5
3.591 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in R
3.591 * [taylor]: Taking taylor expansion of (/ 1 phi1) in R
3.591 * [taylor]: Taking taylor expansion of phi1 in R
3.591 * [backup-simplify]: Simplify phi1 into phi1
3.591 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
3.591 * [taylor]: Taking taylor expansion of (/ 1 phi2) in R
3.591 * [taylor]: Taking taylor expansion of phi2 in R
3.591 * [backup-simplify]: Simplify phi2 into phi2
3.591 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
3.591 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
3.591 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))
3.591 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.591 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.591 * [taylor]: Taking taylor expansion of (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1))) in R
3.592 * [taylor]: Taking taylor expansion of (- (/ 1 phi2) (/ 1 phi1)) in R
3.592 * [taylor]: Taking taylor expansion of (/ 1 phi2) in R
3.592 * [taylor]: Taking taylor expansion of phi2 in R
3.592 * [backup-simplify]: Simplify phi2 into phi2
3.592 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
3.592 * [taylor]: Taking taylor expansion of (/ 1 phi1) in R
3.592 * [taylor]: Taking taylor expansion of phi1 in R
3.592 * [backup-simplify]: Simplify phi1 into phi1
3.592 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
3.592 * [taylor]: Taking taylor expansion of (- (/ 1 phi2) (/ 1 phi1)) in R
3.592 * [taylor]: Taking taylor expansion of (/ 1 phi2) in R
3.592 * [taylor]: Taking taylor expansion of phi2 in R
3.592 * [backup-simplify]: Simplify phi2 into phi2
3.592 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
3.592 * [taylor]: Taking taylor expansion of (/ 1 phi1) in R
3.592 * [taylor]: Taking taylor expansion of phi1 in R
3.592 * [backup-simplify]: Simplify phi1 into phi1
3.592 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
3.592 * [backup-simplify]: Simplify (- (/ 1 lambda1)) into (- (/ 1 lambda1))
3.592 * [backup-simplify]: Simplify (+ (/ 1 lambda2) (- (/ 1 lambda1))) into (- (/ 1 lambda2) (/ 1 lambda1))
3.592 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.592 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
3.593 * [backup-simplify]: Simplify (- 0) into 0
3.593 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.593 * [backup-simplify]: Simplify (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
3.593 * [backup-simplify]: Simplify (- (/ 1 lambda1)) into (- (/ 1 lambda1))
3.593 * [backup-simplify]: Simplify (+ (/ 1 lambda2) (- (/ 1 lambda1))) into (- (/ 1 lambda2) (/ 1 lambda1))
3.593 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.593 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
3.593 * [backup-simplify]: Simplify (- 0) into 0
3.594 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.594 * [backup-simplify]: Simplify (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
3.594 * [backup-simplify]: Simplify (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (* (pow (- (/ 1 lambda2) (/ 1 lambda1)) 2) (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))
3.594 * [backup-simplify]: Simplify (- (/ 1 phi1)) into (- (/ 1 phi1))
3.594 * [backup-simplify]: Simplify (+ (/ 1 phi2) (- (/ 1 phi1))) into (- (/ 1 phi2) (/ 1 phi1))
3.594 * [backup-simplify]: Simplify (- (/ 1 phi1)) into (- (/ 1 phi1))
3.594 * [backup-simplify]: Simplify (+ (/ 1 phi2) (- (/ 1 phi1))) into (- (/ 1 phi2) (/ 1 phi1))
3.594 * [backup-simplify]: Simplify (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1))) into (pow (- (/ 1 phi2) (/ 1 phi1)) 2)
3.595 * [backup-simplify]: Simplify (+ (* (pow (- (/ 1 lambda2) (/ 1 lambda1)) 2) (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) (pow (- (/ 1 phi2) (/ 1 phi1)) 2)) into (- (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))))
3.596 * [backup-simplify]: Simplify (sqrt (- (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))))) into (sqrt (- (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))))
3.597 * [backup-simplify]: Simplify (+ 0) into 0
3.597 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
3.597 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
3.597 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
3.597 * [backup-simplify]: Simplify (+ 0 0) into 0
3.598 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
3.598 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
3.598 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
3.599 * [backup-simplify]: Simplify (- 0) into 0
3.599 * [backup-simplify]: Simplify (+ 0 0) into 0
3.599 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)))) into 0
3.599 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda1) (/ 0 lambda1)))) into 0
3.599 * [backup-simplify]: Simplify (- 0) into 0
3.600 * [backup-simplify]: Simplify (+ 0 0) into 0
3.600 * [backup-simplify]: Simplify (+ (* (- (/ 1 lambda2) (/ 1 lambda1)) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0
3.600 * [backup-simplify]: Simplify (+ 0) into 0
3.600 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
3.600 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
3.601 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
3.601 * [backup-simplify]: Simplify (+ 0 0) into 0
3.601 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
3.602 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
3.602 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
3.602 * [backup-simplify]: Simplify (- 0) into 0
3.602 * [backup-simplify]: Simplify (+ 0 0) into 0
3.602 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)))) into 0
3.603 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda1) (/ 0 lambda1)))) into 0
3.603 * [backup-simplify]: Simplify (- 0) into 0
3.603 * [backup-simplify]: Simplify (+ 0 0) into 0
3.603 * [backup-simplify]: Simplify (+ (* (- (/ 1 lambda2) (/ 1 lambda1)) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0
3.603 * [backup-simplify]: Simplify (+ (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 0) (* 0 (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0
3.604 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
3.604 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
3.604 * [backup-simplify]: Simplify (- 0) into 0
3.604 * [backup-simplify]: Simplify (+ 0 0) into 0
3.604 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
3.604 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
3.604 * [backup-simplify]: Simplify (- 0) into 0
3.605 * [backup-simplify]: Simplify (+ 0 0) into 0
3.605 * [backup-simplify]: Simplify (+ (* (- (/ 1 phi2) (/ 1 phi1)) 0) (* 0 (- (/ 1 phi2) (/ 1 phi1)))) into 0
3.605 * [backup-simplify]: Simplify (+ 0 0) into 0
3.606 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (- (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))))))) into 0
3.607 * [taylor]: Taking taylor expansion of R in R
3.607 * [backup-simplify]: Simplify 0 into 0
3.607 * [backup-simplify]: Simplify 1 into 1
3.608 * [backup-simplify]: Simplify (/ (sqrt (- (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))))) 1) into (sqrt (- (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))))
3.608 * [taylor]: Taking taylor expansion of (* -1 (/ (hypot (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi2) (/ 1 phi1))) R)) in phi1
3.608 * [taylor]: Taking taylor expansion of -1 in phi1
3.608 * [backup-simplify]: Simplify -1 into -1
3.608 * [taylor]: Taking taylor expansion of (/ (hypot (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi2) (/ 1 phi1))) R) in phi1
3.608 * [taylor]: Taking taylor expansion of (hypot (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi2) (/ 1 phi1))) in phi1
3.608 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1)))))
3.608 * [taylor]: Taking taylor expansion of (+ (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1)))) in phi1
3.608 * [taylor]: Taking taylor expansion of (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi1
3.608 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi1
3.608 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in phi1
3.608 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in phi1
3.608 * [taylor]: Taking taylor expansion of lambda2 in phi1
3.608 * [backup-simplify]: Simplify lambda2 into lambda2
3.608 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
3.608 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in phi1
3.608 * [taylor]: Taking taylor expansion of lambda1 in phi1
3.608 * [backup-simplify]: Simplify lambda1 into lambda1
3.608 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1)
3.608 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
3.608 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
3.608 * [taylor]: Taking taylor expansion of -0.5 in phi1
3.608 * [backup-simplify]: Simplify -0.5 into -0.5
3.608 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
3.608 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
3.608 * [taylor]: Taking taylor expansion of phi1 in phi1
3.608 * [backup-simplify]: Simplify 0 into 0
3.608 * [backup-simplify]: Simplify 1 into 1
3.609 * [backup-simplify]: Simplify (/ 1 1) into 1
3.609 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
3.609 * [taylor]: Taking taylor expansion of phi2 in phi1
3.609 * [backup-simplify]: Simplify phi2 into phi2
3.609 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
3.609 * [backup-simplify]: Simplify (+ 1 0) into 1
3.609 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
3.610 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.610 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi1
3.610 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in phi1
3.610 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in phi1
3.610 * [taylor]: Taking taylor expansion of lambda2 in phi1
3.610 * [backup-simplify]: Simplify lambda2 into lambda2
3.610 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
3.610 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in phi1
3.610 * [taylor]: Taking taylor expansion of lambda1 in phi1
3.610 * [backup-simplify]: Simplify lambda1 into lambda1
3.610 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1)
3.610 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
3.610 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
3.610 * [taylor]: Taking taylor expansion of -0.5 in phi1
3.610 * [backup-simplify]: Simplify -0.5 into -0.5
3.610 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
3.610 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
3.610 * [taylor]: Taking taylor expansion of phi1 in phi1
3.610 * [backup-simplify]: Simplify 0 into 0
3.610 * [backup-simplify]: Simplify 1 into 1
3.611 * [backup-simplify]: Simplify (/ 1 1) into 1
3.611 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
3.611 * [taylor]: Taking taylor expansion of phi2 in phi1
3.611 * [backup-simplify]: Simplify phi2 into phi2
3.611 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
3.611 * [backup-simplify]: Simplify (+ 1 0) into 1
3.612 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
3.612 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.612 * [taylor]: Taking taylor expansion of (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1))) in phi1
3.612 * [taylor]: Taking taylor expansion of (- (/ 1 phi2) (/ 1 phi1)) in phi1
3.612 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
3.612 * [taylor]: Taking taylor expansion of phi2 in phi1
3.612 * [backup-simplify]: Simplify phi2 into phi2
3.612 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
3.612 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
3.612 * [taylor]: Taking taylor expansion of phi1 in phi1
3.612 * [backup-simplify]: Simplify 0 into 0
3.612 * [backup-simplify]: Simplify 1 into 1
3.613 * [backup-simplify]: Simplify (/ 1 1) into 1
3.613 * [taylor]: Taking taylor expansion of (- (/ 1 phi2) (/ 1 phi1)) in phi1
3.613 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
3.613 * [taylor]: Taking taylor expansion of phi2 in phi1
3.613 * [backup-simplify]: Simplify phi2 into phi2
3.613 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
3.613 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
3.613 * [taylor]: Taking taylor expansion of phi1 in phi1
3.613 * [backup-simplify]: Simplify 0 into 0
3.613 * [backup-simplify]: Simplify 1 into 1
3.613 * [backup-simplify]: Simplify (/ 1 1) into 1
3.614 * [backup-simplify]: Simplify (- 1) into -1
3.614 * [backup-simplify]: Simplify (+ 0 -1) into -1
3.615 * [backup-simplify]: Simplify (- 1) into -1
3.615 * [backup-simplify]: Simplify (+ 0 -1) into -1
3.615 * [backup-simplify]: Simplify (* -1 -1) into 1
3.616 * [backup-simplify]: Simplify (+ 0 1) into 1
3.616 * [backup-simplify]: Simplify (sqrt 1) into 1
3.617 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
3.617 * [backup-simplify]: Simplify (- 0) into 0
3.617 * [backup-simplify]: Simplify (+ (/ 1 phi2) 0) into (/ 1 phi2)
3.618 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
3.619 * [backup-simplify]: Simplify (- 0) into 0
3.619 * [backup-simplify]: Simplify (+ (/ 1 phi2) 0) into (/ 1 phi2)
3.619 * [backup-simplify]: Simplify (+ (* -1 (/ 1 phi2)) (* (/ 1 phi2) -1)) into (- (* 2 (/ 1 phi2)))
3.619 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2)))
3.620 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi2))) (* 2 (sqrt 1))) into (/ -1 phi2)
3.620 * [taylor]: Taking taylor expansion of R in phi1
3.620 * [backup-simplify]: Simplify R into R
3.620 * [backup-simplify]: Simplify (/ 1 R) into (/ 1 R)
3.620 * [taylor]: Taking taylor expansion of (* -1 (/ (hypot (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi2) (/ 1 phi1))) R)) in phi2
3.620 * [taylor]: Taking taylor expansion of -1 in phi2
3.620 * [backup-simplify]: Simplify -1 into -1
3.620 * [taylor]: Taking taylor expansion of (/ (hypot (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi2) (/ 1 phi1))) R) in phi2
3.620 * [taylor]: Taking taylor expansion of (hypot (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi2) (/ 1 phi1))) in phi2
3.620 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1)))))
3.620 * [taylor]: Taking taylor expansion of (+ (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1)))) in phi2
3.620 * [taylor]: Taking taylor expansion of (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi2
3.620 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2
3.620 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in phi2
3.620 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in phi2
3.620 * [taylor]: Taking taylor expansion of lambda2 in phi2
3.620 * [backup-simplify]: Simplify lambda2 into lambda2
3.620 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
3.620 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in phi2
3.620 * [taylor]: Taking taylor expansion of lambda1 in phi2
3.620 * [backup-simplify]: Simplify lambda1 into lambda1
3.621 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1)
3.621 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
3.621 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
3.621 * [taylor]: Taking taylor expansion of -0.5 in phi2
3.621 * [backup-simplify]: Simplify -0.5 into -0.5
3.621 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
3.621 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
3.621 * [taylor]: Taking taylor expansion of phi1 in phi2
3.621 * [backup-simplify]: Simplify phi1 into phi1
3.621 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
3.621 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
3.621 * [taylor]: Taking taylor expansion of phi2 in phi2
3.621 * [backup-simplify]: Simplify 0 into 0
3.621 * [backup-simplify]: Simplify 1 into 1
3.621 * [backup-simplify]: Simplify (/ 1 1) into 1
3.622 * [backup-simplify]: Simplify (+ 0 1) into 1
3.622 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
3.622 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.622 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2
3.622 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in phi2
3.622 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in phi2
3.622 * [taylor]: Taking taylor expansion of lambda2 in phi2
3.623 * [backup-simplify]: Simplify lambda2 into lambda2
3.623 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
3.623 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in phi2
3.623 * [taylor]: Taking taylor expansion of lambda1 in phi2
3.623 * [backup-simplify]: Simplify lambda1 into lambda1
3.623 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1)
3.623 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
3.623 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
3.623 * [taylor]: Taking taylor expansion of -0.5 in phi2
3.623 * [backup-simplify]: Simplify -0.5 into -0.5
3.623 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
3.623 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
3.623 * [taylor]: Taking taylor expansion of phi1 in phi2
3.623 * [backup-simplify]: Simplify phi1 into phi1
3.623 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
3.623 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
3.623 * [taylor]: Taking taylor expansion of phi2 in phi2
3.623 * [backup-simplify]: Simplify 0 into 0
3.623 * [backup-simplify]: Simplify 1 into 1
3.624 * [backup-simplify]: Simplify (/ 1 1) into 1
3.624 * [backup-simplify]: Simplify (+ 0 1) into 1
3.624 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
3.625 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.625 * [taylor]: Taking taylor expansion of (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1))) in phi2
3.625 * [taylor]: Taking taylor expansion of (- (/ 1 phi2) (/ 1 phi1)) in phi2
3.625 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
3.625 * [taylor]: Taking taylor expansion of phi2 in phi2
3.625 * [backup-simplify]: Simplify 0 into 0
3.625 * [backup-simplify]: Simplify 1 into 1
3.625 * [backup-simplify]: Simplify (/ 1 1) into 1
3.625 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
3.625 * [taylor]: Taking taylor expansion of phi1 in phi2
3.625 * [backup-simplify]: Simplify phi1 into phi1
3.625 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
3.625 * [taylor]: Taking taylor expansion of (- (/ 1 phi2) (/ 1 phi1)) in phi2
3.625 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
3.625 * [taylor]: Taking taylor expansion of phi2 in phi2
3.625 * [backup-simplify]: Simplify 0 into 0
3.625 * [backup-simplify]: Simplify 1 into 1
3.626 * [backup-simplify]: Simplify (/ 1 1) into 1
3.626 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
3.626 * [taylor]: Taking taylor expansion of phi1 in phi2
3.626 * [backup-simplify]: Simplify phi1 into phi1
3.626 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
3.626 * [backup-simplify]: Simplify (+ 1 0) into 1
3.627 * [backup-simplify]: Simplify (+ 1 0) into 1
3.627 * [backup-simplify]: Simplify (* 1 1) into 1
3.628 * [backup-simplify]: Simplify (+ 0 1) into 1
3.628 * [backup-simplify]: Simplify (sqrt 1) into 1
3.629 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
3.629 * [backup-simplify]: Simplify (- (/ 1 phi1)) into (- (/ 1 phi1))
3.629 * [backup-simplify]: Simplify (+ 0 (- (/ 1 phi1))) into (- (/ 1 phi1))
3.630 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
3.630 * [backup-simplify]: Simplify (- (/ 1 phi1)) into (- (/ 1 phi1))
3.630 * [backup-simplify]: Simplify (+ 0 (- (/ 1 phi1))) into (- (/ 1 phi1))
3.630 * [backup-simplify]: Simplify (+ (* 1 (- (/ 1 phi1))) (* (- (/ 1 phi1)) 1)) into (- (* 2 (/ 1 phi1)))
3.630 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi1)))) into (- (* 2 (/ 1 phi1)))
3.631 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi1))) (* 2 (sqrt 1))) into (/ -1 phi1)
3.631 * [taylor]: Taking taylor expansion of R in phi2
3.631 * [backup-simplify]: Simplify R into R
3.631 * [backup-simplify]: Simplify (/ 1 R) into (/ 1 R)
3.631 * [taylor]: Taking taylor expansion of (* -1 (/ (hypot (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi2) (/ 1 phi1))) R)) in lambda2
3.631 * [taylor]: Taking taylor expansion of -1 in lambda2
3.631 * [backup-simplify]: Simplify -1 into -1
3.631 * [taylor]: Taking taylor expansion of (/ (hypot (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi2) (/ 1 phi1))) R) in lambda2
3.631 * [taylor]: Taking taylor expansion of (hypot (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi2) (/ 1 phi1))) in lambda2
3.631 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1)))))
3.632 * [taylor]: Taking taylor expansion of (+ (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1)))) in lambda2
3.632 * [taylor]: Taking taylor expansion of (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in lambda2
3.632 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda2
3.632 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in lambda2
3.632 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda2
3.632 * [taylor]: Taking taylor expansion of lambda2 in lambda2
3.632 * [backup-simplify]: Simplify 0 into 0
3.632 * [backup-simplify]: Simplify 1 into 1
3.632 * [backup-simplify]: Simplify (/ 1 1) into 1
3.632 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda2
3.632 * [taylor]: Taking taylor expansion of lambda1 in lambda2
3.632 * [backup-simplify]: Simplify lambda1 into lambda1
3.632 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1)
3.632 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2
3.632 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2
3.632 * [taylor]: Taking taylor expansion of -0.5 in lambda2
3.632 * [backup-simplify]: Simplify -0.5 into -0.5
3.632 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2
3.633 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
3.633 * [taylor]: Taking taylor expansion of phi1 in lambda2
3.633 * [backup-simplify]: Simplify phi1 into phi1
3.633 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
3.633 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
3.633 * [taylor]: Taking taylor expansion of phi2 in lambda2
3.633 * [backup-simplify]: Simplify phi2 into phi2
3.633 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
3.633 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
3.633 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))
3.633 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.633 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.633 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda2
3.633 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in lambda2
3.634 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda2
3.634 * [taylor]: Taking taylor expansion of lambda2 in lambda2
3.634 * [backup-simplify]: Simplify 0 into 0
3.634 * [backup-simplify]: Simplify 1 into 1
3.634 * [backup-simplify]: Simplify (/ 1 1) into 1
3.634 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda2
3.634 * [taylor]: Taking taylor expansion of lambda1 in lambda2
3.634 * [backup-simplify]: Simplify lambda1 into lambda1
3.634 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1)
3.634 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2
3.634 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2
3.634 * [taylor]: Taking taylor expansion of -0.5 in lambda2
3.634 * [backup-simplify]: Simplify -0.5 into -0.5
3.634 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2
3.634 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
3.634 * [taylor]: Taking taylor expansion of phi1 in lambda2
3.634 * [backup-simplify]: Simplify phi1 into phi1
3.634 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
3.634 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
3.635 * [taylor]: Taking taylor expansion of phi2 in lambda2
3.635 * [backup-simplify]: Simplify phi2 into phi2
3.635 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
3.635 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
3.635 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))
3.635 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.635 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.635 * [taylor]: Taking taylor expansion of (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1))) in lambda2
3.635 * [taylor]: Taking taylor expansion of (- (/ 1 phi2) (/ 1 phi1)) in lambda2
3.635 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
3.635 * [taylor]: Taking taylor expansion of phi2 in lambda2
3.635 * [backup-simplify]: Simplify phi2 into phi2
3.635 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
3.635 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
3.635 * [taylor]: Taking taylor expansion of phi1 in lambda2
3.636 * [backup-simplify]: Simplify phi1 into phi1
3.636 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
3.636 * [taylor]: Taking taylor expansion of (- (/ 1 phi2) (/ 1 phi1)) in lambda2
3.636 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
3.636 * [taylor]: Taking taylor expansion of phi2 in lambda2
3.636 * [backup-simplify]: Simplify phi2 into phi2
3.636 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
3.636 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
3.636 * [taylor]: Taking taylor expansion of phi1 in lambda2
3.636 * [backup-simplify]: Simplify phi1 into phi1
3.636 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
3.636 * [backup-simplify]: Simplify (+ 1 0) into 1
3.637 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.637 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
3.637 * [backup-simplify]: Simplify (- 0) into 0
3.638 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.638 * [backup-simplify]: Simplify (* 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.638 * [backup-simplify]: Simplify (+ 1 0) into 1
3.638 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.638 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
3.639 * [backup-simplify]: Simplify (- 0) into 0
3.639 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.639 * [backup-simplify]: Simplify (* 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.639 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
3.639 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
3.639 * [backup-simplify]: Simplify (sqrt (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.640 * [backup-simplify]: Simplify (+ 0) into 0
3.640 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
3.640 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
3.640 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
3.641 * [backup-simplify]: Simplify (+ 0 0) into 0
3.641 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
3.641 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
3.642 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
3.642 * [backup-simplify]: Simplify (- 0) into 0
3.642 * [backup-simplify]: Simplify (+ 0 0) into 0
3.643 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
3.643 * [backup-simplify]: Simplify (- (/ 1 lambda1)) into (- (/ 1 lambda1))
3.643 * [backup-simplify]: Simplify (+ 0 (- (/ 1 lambda1))) into (- (/ 1 lambda1))
3.643 * [backup-simplify]: Simplify (+ (* 1 0) (* (- (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1))
3.643 * [backup-simplify]: Simplify (+ 0) into 0
3.644 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
3.644 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
3.644 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
3.644 * [backup-simplify]: Simplify (+ 0 0) into 0
3.645 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
3.645 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
3.645 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
3.646 * [backup-simplify]: Simplify (- 0) into 0
3.646 * [backup-simplify]: Simplify (+ 0 0) into 0
3.646 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
3.646 * [backup-simplify]: Simplify (- (/ 1 lambda1)) into (- (/ 1 lambda1))
3.647 * [backup-simplify]: Simplify (+ 0 (- (/ 1 lambda1))) into (- (/ 1 lambda1))
3.647 * [backup-simplify]: Simplify (+ (* 1 0) (* (- (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1))
3.647 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1))) (* (- (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))
3.648 * [backup-simplify]: Simplify (+ (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) 0) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))
3.648 * [backup-simplify]: Simplify (/ (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) (* 2 (sqrt (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)))) into (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1))
3.648 * [taylor]: Taking taylor expansion of R in lambda2
3.648 * [backup-simplify]: Simplify R into R
3.648 * [backup-simplify]: Simplify (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) into (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)
3.649 * [taylor]: Taking taylor expansion of (* -1 (/ (hypot (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi2) (/ 1 phi1))) R)) in lambda1
3.649 * [taylor]: Taking taylor expansion of -1 in lambda1
3.649 * [backup-simplify]: Simplify -1 into -1
3.649 * [taylor]: Taking taylor expansion of (/ (hypot (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi2) (/ 1 phi1))) R) in lambda1
3.649 * [taylor]: Taking taylor expansion of (hypot (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi2) (/ 1 phi1))) in lambda1
3.649 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1)))))
3.649 * [taylor]: Taking taylor expansion of (+ (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1)))) in lambda1
3.649 * [taylor]: Taking taylor expansion of (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in lambda1
3.649 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda1
3.649 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in lambda1
3.649 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda1
3.649 * [taylor]: Taking taylor expansion of lambda2 in lambda1
3.649 * [backup-simplify]: Simplify lambda2 into lambda2
3.649 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
3.649 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1
3.649 * [taylor]: Taking taylor expansion of lambda1 in lambda1
3.649 * [backup-simplify]: Simplify 0 into 0
3.649 * [backup-simplify]: Simplify 1 into 1
3.649 * [backup-simplify]: Simplify (/ 1 1) into 1
3.649 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1
3.649 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1
3.649 * [taylor]: Taking taylor expansion of -0.5 in lambda1
3.649 * [backup-simplify]: Simplify -0.5 into -0.5
3.649 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1
3.649 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
3.649 * [taylor]: Taking taylor expansion of phi1 in lambda1
3.649 * [backup-simplify]: Simplify phi1 into phi1
3.649 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
3.650 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
3.650 * [taylor]: Taking taylor expansion of phi2 in lambda1
3.650 * [backup-simplify]: Simplify phi2 into phi2
3.650 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
3.650 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
3.650 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))
3.650 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.650 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.650 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda1
3.650 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in lambda1
3.650 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda1
3.650 * [taylor]: Taking taylor expansion of lambda2 in lambda1
3.650 * [backup-simplify]: Simplify lambda2 into lambda2
3.650 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
3.650 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1
3.650 * [taylor]: Taking taylor expansion of lambda1 in lambda1
3.650 * [backup-simplify]: Simplify 0 into 0
3.650 * [backup-simplify]: Simplify 1 into 1
3.650 * [backup-simplify]: Simplify (/ 1 1) into 1
3.650 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1
3.650 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1
3.650 * [taylor]: Taking taylor expansion of -0.5 in lambda1
3.650 * [backup-simplify]: Simplify -0.5 into -0.5
3.650 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1
3.651 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
3.651 * [taylor]: Taking taylor expansion of phi1 in lambda1
3.651 * [backup-simplify]: Simplify phi1 into phi1
3.651 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
3.651 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
3.651 * [taylor]: Taking taylor expansion of phi2 in lambda1
3.651 * [backup-simplify]: Simplify phi2 into phi2
3.651 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
3.651 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
3.651 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))
3.651 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.651 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.651 * [taylor]: Taking taylor expansion of (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1))) in lambda1
3.651 * [taylor]: Taking taylor expansion of (- (/ 1 phi2) (/ 1 phi1)) in lambda1
3.651 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
3.651 * [taylor]: Taking taylor expansion of phi2 in lambda1
3.651 * [backup-simplify]: Simplify phi2 into phi2
3.651 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
3.651 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
3.651 * [taylor]: Taking taylor expansion of phi1 in lambda1
3.651 * [backup-simplify]: Simplify phi1 into phi1
3.651 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
3.651 * [taylor]: Taking taylor expansion of (- (/ 1 phi2) (/ 1 phi1)) in lambda1
3.651 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
3.651 * [taylor]: Taking taylor expansion of phi2 in lambda1
3.651 * [backup-simplify]: Simplify phi2 into phi2
3.651 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
3.651 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
3.651 * [taylor]: Taking taylor expansion of phi1 in lambda1
3.651 * [backup-simplify]: Simplify phi1 into phi1
3.651 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
3.652 * [backup-simplify]: Simplify (- 1) into -1
3.652 * [backup-simplify]: Simplify (+ 0 -1) into -1
3.652 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.652 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
3.652 * [backup-simplify]: Simplify (- 0) into 0
3.653 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.653 * [backup-simplify]: Simplify (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
3.653 * [backup-simplify]: Simplify (- 1) into -1
3.653 * [backup-simplify]: Simplify (+ 0 -1) into -1
3.653 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.653 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
3.654 * [backup-simplify]: Simplify (- 0) into 0
3.654 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.654 * [backup-simplify]: Simplify (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
3.654 * [backup-simplify]: Simplify (* (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
3.654 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
3.654 * [backup-simplify]: Simplify (sqrt (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.655 * [backup-simplify]: Simplify (+ 0) into 0
3.655 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
3.655 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
3.655 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
3.656 * [backup-simplify]: Simplify (+ 0 0) into 0
3.656 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
3.656 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
3.657 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
3.657 * [backup-simplify]: Simplify (- 0) into 0
3.657 * [backup-simplify]: Simplify (+ 0 0) into 0
3.658 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
3.658 * [backup-simplify]: Simplify (- 0) into 0
3.658 * [backup-simplify]: Simplify (+ (/ 1 lambda2) 0) into (/ 1 lambda2)
3.658 * [backup-simplify]: Simplify (+ (* -1 0) (* (/ 1 lambda2) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)
3.662 * [backup-simplify]: Simplify (+ 0) into 0
3.662 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
3.662 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
3.663 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
3.663 * [backup-simplify]: Simplify (+ 0 0) into 0
3.663 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
3.664 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
3.664 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
3.664 * [backup-simplify]: Simplify (- 0) into 0
3.664 * [backup-simplify]: Simplify (+ 0 0) into 0
3.665 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
3.665 * [backup-simplify]: Simplify (- 0) into 0
3.665 * [backup-simplify]: Simplify (+ (/ 1 lambda2) 0) into (/ 1 lambda2)
3.666 * [backup-simplify]: Simplify (+ (* -1 0) (* (/ 1 lambda2) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)
3.666 * [backup-simplify]: Simplify (+ (* (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) (* (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2) (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))
3.667 * [backup-simplify]: Simplify (+ (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 0) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))
3.667 * [backup-simplify]: Simplify (/ (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) (* 2 (sqrt (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)))) into (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2))
3.667 * [taylor]: Taking taylor expansion of R in lambda1
3.667 * [backup-simplify]: Simplify R into R
3.667 * [backup-simplify]: Simplify (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) into (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)
3.668 * [taylor]: Taking taylor expansion of (* -1 (/ (hypot (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi2) (/ 1 phi1))) R)) in lambda1
3.668 * [taylor]: Taking taylor expansion of -1 in lambda1
3.668 * [backup-simplify]: Simplify -1 into -1
3.668 * [taylor]: Taking taylor expansion of (/ (hypot (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi2) (/ 1 phi1))) R) in lambda1
3.668 * [taylor]: Taking taylor expansion of (hypot (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi2) (/ 1 phi1))) in lambda1
3.668 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1)))))
3.668 * [taylor]: Taking taylor expansion of (+ (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1)))) in lambda1
3.668 * [taylor]: Taking taylor expansion of (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in lambda1
3.668 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda1
3.668 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in lambda1
3.668 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda1
3.668 * [taylor]: Taking taylor expansion of lambda2 in lambda1
3.668 * [backup-simplify]: Simplify lambda2 into lambda2
3.669 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
3.669 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1
3.669 * [taylor]: Taking taylor expansion of lambda1 in lambda1
3.669 * [backup-simplify]: Simplify 0 into 0
3.669 * [backup-simplify]: Simplify 1 into 1
3.669 * [backup-simplify]: Simplify (/ 1 1) into 1
3.669 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1
3.669 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1
3.669 * [taylor]: Taking taylor expansion of -0.5 in lambda1
3.669 * [backup-simplify]: Simplify -0.5 into -0.5
3.669 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1
3.669 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
3.669 * [taylor]: Taking taylor expansion of phi1 in lambda1
3.669 * [backup-simplify]: Simplify phi1 into phi1
3.669 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
3.669 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
3.669 * [taylor]: Taking taylor expansion of phi2 in lambda1
3.669 * [backup-simplify]: Simplify phi2 into phi2
3.669 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
3.669 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
3.670 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))
3.670 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.670 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.670 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda1
3.670 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in lambda1
3.670 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda1
3.670 * [taylor]: Taking taylor expansion of lambda2 in lambda1
3.670 * [backup-simplify]: Simplify lambda2 into lambda2
3.670 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
3.670 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1
3.670 * [taylor]: Taking taylor expansion of lambda1 in lambda1
3.670 * [backup-simplify]: Simplify 0 into 0
3.670 * [backup-simplify]: Simplify 1 into 1
3.670 * [backup-simplify]: Simplify (/ 1 1) into 1
3.670 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1
3.670 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1
3.670 * [taylor]: Taking taylor expansion of -0.5 in lambda1
3.671 * [backup-simplify]: Simplify -0.5 into -0.5
3.671 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1
3.671 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
3.671 * [taylor]: Taking taylor expansion of phi1 in lambda1
3.671 * [backup-simplify]: Simplify phi1 into phi1
3.671 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
3.671 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
3.671 * [taylor]: Taking taylor expansion of phi2 in lambda1
3.671 * [backup-simplify]: Simplify phi2 into phi2
3.671 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
3.671 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
3.671 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))
3.671 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.671 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.671 * [taylor]: Taking taylor expansion of (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1))) in lambda1
3.671 * [taylor]: Taking taylor expansion of (- (/ 1 phi2) (/ 1 phi1)) in lambda1
3.671 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
3.671 * [taylor]: Taking taylor expansion of phi2 in lambda1
3.671 * [backup-simplify]: Simplify phi2 into phi2
3.671 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
3.671 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
3.671 * [taylor]: Taking taylor expansion of phi1 in lambda1
3.671 * [backup-simplify]: Simplify phi1 into phi1
3.671 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
3.671 * [taylor]: Taking taylor expansion of (- (/ 1 phi2) (/ 1 phi1)) in lambda1
3.671 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
3.671 * [taylor]: Taking taylor expansion of phi2 in lambda1
3.671 * [backup-simplify]: Simplify phi2 into phi2
3.672 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
3.672 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
3.672 * [taylor]: Taking taylor expansion of phi1 in lambda1
3.672 * [backup-simplify]: Simplify phi1 into phi1
3.672 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
3.672 * [backup-simplify]: Simplify (- 1) into -1
3.672 * [backup-simplify]: Simplify (+ 0 -1) into -1
3.673 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.673 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
3.673 * [backup-simplify]: Simplify (- 0) into 0
3.673 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.673 * [backup-simplify]: Simplify (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
3.674 * [backup-simplify]: Simplify (- 1) into -1
3.674 * [backup-simplify]: Simplify (+ 0 -1) into -1
3.674 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.674 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
3.674 * [backup-simplify]: Simplify (- 0) into 0
3.674 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.675 * [backup-simplify]: Simplify (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
3.675 * [backup-simplify]: Simplify (* (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
3.675 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
3.675 * [backup-simplify]: Simplify (sqrt (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.675 * [backup-simplify]: Simplify (+ 0) into 0
3.676 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
3.676 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
3.676 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
3.676 * [backup-simplify]: Simplify (+ 0 0) into 0
3.676 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
3.677 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
3.677 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
3.677 * [backup-simplify]: Simplify (- 0) into 0
3.678 * [backup-simplify]: Simplify (+ 0 0) into 0
3.678 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
3.678 * [backup-simplify]: Simplify (- 0) into 0
3.678 * [backup-simplify]: Simplify (+ (/ 1 lambda2) 0) into (/ 1 lambda2)
3.679 * [backup-simplify]: Simplify (+ (* -1 0) (* (/ 1 lambda2) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)
3.679 * [backup-simplify]: Simplify (+ 0) into 0
3.679 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
3.680 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
3.680 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
3.680 * [backup-simplify]: Simplify (+ 0 0) into 0
3.680 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
3.681 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
3.681 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
3.681 * [backup-simplify]: Simplify (- 0) into 0
3.681 * [backup-simplify]: Simplify (+ 0 0) into 0
3.682 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
3.682 * [backup-simplify]: Simplify (- 0) into 0
3.682 * [backup-simplify]: Simplify (+ (/ 1 lambda2) 0) into (/ 1 lambda2)
3.683 * [backup-simplify]: Simplify (+ (* -1 0) (* (/ 1 lambda2) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)
3.683 * [backup-simplify]: Simplify (+ (* (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) (* (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2) (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))
3.683 * [backup-simplify]: Simplify (+ (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 0) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))
3.684 * [backup-simplify]: Simplify (/ (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) (* 2 (sqrt (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)))) into (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2))
3.684 * [taylor]: Taking taylor expansion of R in lambda1
3.684 * [backup-simplify]: Simplify R into R
3.684 * [backup-simplify]: Simplify (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) into (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)
3.684 * [backup-simplify]: Simplify (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) into (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))
3.684 * [taylor]: Taking taylor expansion of (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) in lambda2
3.684 * [taylor]: Taking taylor expansion of -1 in lambda2
3.684 * [backup-simplify]: Simplify -1 into -1
3.684 * [taylor]: Taking taylor expansion of (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) in lambda2
3.684 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2
3.684 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2
3.684 * [taylor]: Taking taylor expansion of -0.5 in lambda2
3.684 * [backup-simplify]: Simplify -0.5 into -0.5
3.684 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2
3.684 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
3.684 * [taylor]: Taking taylor expansion of phi1 in lambda2
3.684 * [backup-simplify]: Simplify phi1 into phi1
3.685 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
3.685 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
3.685 * [taylor]: Taking taylor expansion of phi2 in lambda2
3.685 * [backup-simplify]: Simplify phi2 into phi2
3.685 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
3.685 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
3.685 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))
3.685 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.685 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.685 * [taylor]: Taking taylor expansion of R in lambda2
3.685 * [backup-simplify]: Simplify R into R
3.685 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.685 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
3.686 * [backup-simplify]: Simplify (- 0) into 0
3.686 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.686 * [backup-simplify]: Simplify (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) into (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)
3.687 * [backup-simplify]: Simplify (- (/ (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) R) (+ (* (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) (/ 0 R)))) into (- (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* lambda2 R)))
3.687 * [backup-simplify]: Simplify (+ (* -1 (- (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* lambda2 R)))) (* 0 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))) into (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* lambda2 R))
3.687 * [taylor]: Taking taylor expansion of (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* lambda2 R)) in lambda2
3.687 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2
3.687 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2
3.687 * [taylor]: Taking taylor expansion of -0.5 in lambda2
3.688 * [backup-simplify]: Simplify -0.5 into -0.5
3.688 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2
3.688 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
3.688 * [taylor]: Taking taylor expansion of phi1 in lambda2
3.688 * [backup-simplify]: Simplify phi1 into phi1
3.688 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
3.688 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
3.688 * [taylor]: Taking taylor expansion of phi2 in lambda2
3.688 * [backup-simplify]: Simplify phi2 into phi2
3.688 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
3.688 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
3.688 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))
3.688 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.688 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.688 * [taylor]: Taking taylor expansion of (* lambda2 R) in lambda2
3.689 * [taylor]: Taking taylor expansion of lambda2 in lambda2
3.689 * [backup-simplify]: Simplify 0 into 0
3.689 * [backup-simplify]: Simplify 1 into 1
3.689 * [taylor]: Taking taylor expansion of R in lambda2
3.689 * [backup-simplify]: Simplify R into R
3.689 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.689 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
3.690 * [backup-simplify]: Simplify (- 0) into 0
3.690 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.690 * [backup-simplify]: Simplify (* 0 R) into 0
3.691 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 R)) into R
3.691 * [backup-simplify]: Simplify (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) into (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)
3.691 * [taylor]: Taking taylor expansion of (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) in phi2
3.691 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
3.691 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
3.691 * [taylor]: Taking taylor expansion of -0.5 in phi2
3.691 * [backup-simplify]: Simplify -0.5 into -0.5
3.691 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
3.691 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
3.691 * [taylor]: Taking taylor expansion of phi1 in phi2
3.691 * [backup-simplify]: Simplify phi1 into phi1
3.691 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
3.691 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
3.691 * [taylor]: Taking taylor expansion of phi2 in phi2
3.691 * [backup-simplify]: Simplify 0 into 0
3.691 * [backup-simplify]: Simplify 1 into 1
3.692 * [backup-simplify]: Simplify (/ 1 1) into 1
3.692 * [backup-simplify]: Simplify (+ 0 1) into 1
3.692 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
3.693 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.693 * [taylor]: Taking taylor expansion of R in phi2
3.693 * [backup-simplify]: Simplify R into R
3.693 * [backup-simplify]: Simplify (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) into (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)
3.693 * [backup-simplify]: Simplify (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) into (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))
3.693 * [taylor]: Taking taylor expansion of (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) in phi2
3.693 * [taylor]: Taking taylor expansion of -1 in phi2
3.693 * [backup-simplify]: Simplify -1 into -1
3.693 * [taylor]: Taking taylor expansion of (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) in phi2
3.693 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
3.693 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
3.693 * [taylor]: Taking taylor expansion of -0.5 in phi2
3.693 * [backup-simplify]: Simplify -0.5 into -0.5
3.693 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
3.694 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
3.694 * [taylor]: Taking taylor expansion of phi1 in phi2
3.694 * [backup-simplify]: Simplify phi1 into phi1
3.694 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
3.694 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
3.694 * [taylor]: Taking taylor expansion of phi2 in phi2
3.694 * [backup-simplify]: Simplify 0 into 0
3.694 * [backup-simplify]: Simplify 1 into 1
3.694 * [backup-simplify]: Simplify (/ 1 1) into 1
3.695 * [backup-simplify]: Simplify (+ 0 1) into 1
3.695 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
3.695 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.695 * [taylor]: Taking taylor expansion of R in phi2
3.695 * [backup-simplify]: Simplify R into R
3.695 * [backup-simplify]: Simplify (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) into (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)
3.696 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
3.697 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0
3.698 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
3.698 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
3.698 * [backup-simplify]: Simplify (+ 0 0) into 0
3.699 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0
3.700 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
3.700 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0
3.701 * [backup-simplify]: Simplify (- 0) into 0
3.701 * [backup-simplify]: Simplify (+ 0 0) into 0
3.702 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)))) into 0
3.703 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)))) into 0
3.703 * [backup-simplify]: Simplify (- 0) into 0
3.703 * [backup-simplify]: Simplify (+ 0 0) into 0
3.704 * [backup-simplify]: Simplify (+ (* -1 0) (+ (* (/ 1 lambda2) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0
3.705 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
3.706 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0
3.706 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
3.706 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
3.707 * [backup-simplify]: Simplify (+ 0 0) into 0
3.708 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0
3.708 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
3.709 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0
3.710 * [backup-simplify]: Simplify (- 0) into 0
3.710 * [backup-simplify]: Simplify (+ 0 0) into 0
3.710 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)))) into 0
3.711 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)))) into 0
3.711 * [backup-simplify]: Simplify (- 0) into 0
3.712 * [backup-simplify]: Simplify (+ 0 0) into 0
3.712 * [backup-simplify]: Simplify (+ (* -1 0) (+ (* (/ 1 lambda2) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0
3.714 * [backup-simplify]: Simplify (+ (* (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 0) (+ (* (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2) (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) (* 0 (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2))
3.714 * [backup-simplify]: Simplify (- (/ 1 phi1)) into (- (/ 1 phi1))
3.714 * [backup-simplify]: Simplify (+ (/ 1 phi2) (- (/ 1 phi1))) into (- (/ 1 phi2) (/ 1 phi1))
3.714 * [backup-simplify]: Simplify (- (/ 1 phi1)) into (- (/ 1 phi1))
3.714 * [backup-simplify]: Simplify (+ (/ 1 phi2) (- (/ 1 phi1))) into (- (/ 1 phi2) (/ 1 phi1))
3.714 * [backup-simplify]: Simplify (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1))) into (pow (- (/ 1 phi2) (/ 1 phi1)) 2)
3.715 * [backup-simplify]: Simplify (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (pow (- (/ 1 phi2) (/ 1 phi1)) 2)) into (- (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2)))) (* 2 (/ 1 (* phi1 phi2))))
3.717 * [backup-simplify]: Simplify (/ (- (- (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2)))) (* 2 (/ 1 (* phi1 phi2)))) (pow (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) 2) (+)) (* 2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))
3.719 * [backup-simplify]: Simplify (- (/ (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) R) (+ (* (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) (/ 0 R)) (* (- (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* lambda2 R))) (/ 0 R)))) into (- (+ (* 1/2 (/ 1 (* (pow phi2 2) (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) (* 1/2 (/ 1 (* (pow phi1 2) (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))) (/ 1 (* phi1 (* phi2 (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))))
3.721 * [backup-simplify]: Simplify (+ (* -1 (- (+ (* 1/2 (/ 1 (* (pow phi2 2) (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) (* 1/2 (/ 1 (* (pow phi1 2) (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))) (/ 1 (* phi1 (* phi2 (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))))) (+ (* 0 (- (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* lambda2 R)))) (* 0 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))) into (- (/ 1 (* R (* phi2 (* phi1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) (+ (* 1/2 (/ 1 (* R (* (pow phi1 2) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) (* 1/2 (/ 1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi2 2)))))))
3.721 * [taylor]: Taking taylor expansion of (- (/ 1 (* R (* phi2 (* phi1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) (+ (* 1/2 (/ 1 (* R (* (pow phi1 2) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) (* 1/2 (/ 1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi2 2))))))) in lambda2
3.721 * [taylor]: Taking taylor expansion of (/ 1 (* R (* phi2 (* phi1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) in lambda2
3.721 * [taylor]: Taking taylor expansion of (* R (* phi2 (* phi1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) in lambda2
3.721 * [taylor]: Taking taylor expansion of R in lambda2
3.721 * [backup-simplify]: Simplify R into R
3.721 * [taylor]: Taking taylor expansion of (* phi2 (* phi1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in lambda2
3.721 * [taylor]: Taking taylor expansion of phi2 in lambda2
3.721 * [backup-simplify]: Simplify phi2 into phi2
3.721 * [taylor]: Taking taylor expansion of (* phi1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda2
3.721 * [taylor]: Taking taylor expansion of phi1 in lambda2
3.721 * [backup-simplify]: Simplify phi1 into phi1
3.721 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2
3.721 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2
3.721 * [taylor]: Taking taylor expansion of -0.5 in lambda2
3.721 * [backup-simplify]: Simplify -0.5 into -0.5
3.721 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2
3.721 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
3.721 * [taylor]: Taking taylor expansion of phi1 in lambda2
3.721 * [backup-simplify]: Simplify phi1 into phi1
3.721 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
3.721 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
3.721 * [taylor]: Taking taylor expansion of phi2 in lambda2
3.722 * [backup-simplify]: Simplify phi2 into phi2
3.722 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
3.722 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
3.722 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))
3.722 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.722 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.722 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.723 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
3.723 * [backup-simplify]: Simplify (- 0) into 0
3.723 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.723 * [backup-simplify]: Simplify (* phi1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* phi1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
3.724 * [backup-simplify]: Simplify (* phi2 (* phi1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* phi1 phi2))
3.724 * [backup-simplify]: Simplify (* R (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* phi1 phi2))) into (* phi1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R phi2)))
3.724 * [backup-simplify]: Simplify (/ 1 (* phi1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R phi2)))) into (/ 1 (* phi1 (* phi2 (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))
3.724 * [taylor]: Taking taylor expansion of (+ (* 1/2 (/ 1 (* R (* (pow phi1 2) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) (* 1/2 (/ 1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi2 2)))))) in lambda2
3.724 * [taylor]: Taking taylor expansion of (* 1/2 (/ 1 (* R (* (pow phi1 2) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) in lambda2
3.724 * [taylor]: Taking taylor expansion of 1/2 in lambda2
3.724 * [backup-simplify]: Simplify 1/2 into 1/2
3.724 * [taylor]: Taking taylor expansion of (/ 1 (* R (* (pow phi1 2) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) in lambda2
3.725 * [taylor]: Taking taylor expansion of (* R (* (pow phi1 2) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in lambda2
3.725 * [taylor]: Taking taylor expansion of R in lambda2
3.725 * [backup-simplify]: Simplify R into R
3.725 * [taylor]: Taking taylor expansion of (* (pow phi1 2) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda2
3.725 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2
3.725 * [taylor]: Taking taylor expansion of phi1 in lambda2
3.725 * [backup-simplify]: Simplify phi1 into phi1
3.725 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2
3.725 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2
3.725 * [taylor]: Taking taylor expansion of -0.5 in lambda2
3.725 * [backup-simplify]: Simplify -0.5 into -0.5
3.725 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2
3.725 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
3.725 * [taylor]: Taking taylor expansion of phi1 in lambda2
3.725 * [backup-simplify]: Simplify phi1 into phi1
3.725 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
3.725 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
3.725 * [taylor]: Taking taylor expansion of phi2 in lambda2
3.725 * [backup-simplify]: Simplify phi2 into phi2
3.725 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
3.725 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
3.725 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))
3.726 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.726 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.726 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
3.726 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.726 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
3.727 * [backup-simplify]: Simplify (- 0) into 0
3.727 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.727 * [backup-simplify]: Simplify (* (pow phi1 2) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* (pow phi1 2) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
3.727 * [backup-simplify]: Simplify (* R (* (pow phi1 2) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (* (pow phi1 2) (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))
3.728 * [backup-simplify]: Simplify (/ 1 (* (pow phi1 2) (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into (/ 1 (* (pow phi1 2) (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))
3.728 * [taylor]: Taking taylor expansion of (* 1/2 (/ 1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi2 2))))) in lambda2
3.728 * [taylor]: Taking taylor expansion of 1/2 in lambda2
3.728 * [backup-simplify]: Simplify 1/2 into 1/2
3.728 * [taylor]: Taking taylor expansion of (/ 1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi2 2)))) in lambda2
3.728 * [taylor]: Taking taylor expansion of (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi2 2))) in lambda2
3.728 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2
3.728 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2
3.728 * [taylor]: Taking taylor expansion of -0.5 in lambda2
3.728 * [backup-simplify]: Simplify -0.5 into -0.5
3.728 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2
3.728 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
3.728 * [taylor]: Taking taylor expansion of phi1 in lambda2
3.728 * [backup-simplify]: Simplify phi1 into phi1
3.728 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
3.728 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
3.728 * [taylor]: Taking taylor expansion of phi2 in lambda2
3.728 * [backup-simplify]: Simplify phi2 into phi2
3.728 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
3.729 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
3.729 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))
3.729 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.729 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.729 * [taylor]: Taking taylor expansion of (* R (pow phi2 2)) in lambda2
3.729 * [taylor]: Taking taylor expansion of R in lambda2
3.729 * [backup-simplify]: Simplify R into R
3.729 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2
3.729 * [taylor]: Taking taylor expansion of phi2 in lambda2
3.729 * [backup-simplify]: Simplify phi2 into phi2
3.729 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.730 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
3.730 * [backup-simplify]: Simplify (- 0) into 0
3.730 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.730 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
3.730 * [backup-simplify]: Simplify (* R (pow phi2 2)) into (* R (pow phi2 2))
3.731 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi2 2))) into (* (pow phi2 2) (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))
3.731 * [backup-simplify]: Simplify (/ 1 (* (pow phi2 2) (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into (/ 1 (* (pow phi2 2) (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))
3.732 * [backup-simplify]: Simplify (+ 0) into 0
3.732 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
3.732 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
3.732 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
3.733 * [backup-simplify]: Simplify (+ 0 0) into 0
3.733 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
3.734 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
3.735 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
3.735 * [backup-simplify]: Simplify (- 0) into 0
3.736 * [backup-simplify]: Simplify (+ 0 0) into 0
3.736 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 R))) into 0
3.737 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) (/ 0 R)))) into 0
3.737 * [taylor]: Taking taylor expansion of 0 in phi2
3.737 * [backup-simplify]: Simplify 0 into 0
3.737 * [backup-simplify]: Simplify (+ 0) into 0
3.738 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
3.738 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
3.738 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
3.739 * [backup-simplify]: Simplify (+ 0 0) into 0
3.739 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
3.740 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
3.741 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
3.741 * [backup-simplify]: Simplify (- 0) into 0
3.742 * [backup-simplify]: Simplify (+ 0 0) into 0
3.742 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) (/ 0 R)))) into 0
3.743 * [backup-simplify]: Simplify (+ (* -1 0) (* 0 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))) into 0
3.743 * [taylor]: Taking taylor expansion of 0 in phi2
3.743 * [backup-simplify]: Simplify 0 into 0
3.743 * [taylor]: Taking taylor expansion of (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) in phi1
3.743 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
3.743 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
3.743 * [taylor]: Taking taylor expansion of -0.5 in phi1
3.743 * [backup-simplify]: Simplify -0.5 into -0.5
3.743 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
3.743 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
3.743 * [taylor]: Taking taylor expansion of phi1 in phi1
3.743 * [backup-simplify]: Simplify 0 into 0
3.743 * [backup-simplify]: Simplify 1 into 1
3.744 * [backup-simplify]: Simplify (/ 1 1) into 1
3.744 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
3.744 * [taylor]: Taking taylor expansion of phi2 in phi1
3.744 * [backup-simplify]: Simplify phi2 into phi2
3.744 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
3.744 * [backup-simplify]: Simplify (+ 1 0) into 1
3.745 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
3.745 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.745 * [taylor]: Taking taylor expansion of R in phi1
3.745 * [backup-simplify]: Simplify R into R
3.745 * [backup-simplify]: Simplify (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) into (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)
3.745 * [backup-simplify]: Simplify (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) into (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))
3.745 * [taylor]: Taking taylor expansion of (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) in phi1
3.745 * [taylor]: Taking taylor expansion of -1 in phi1
3.746 * [backup-simplify]: Simplify -1 into -1
3.746 * [taylor]: Taking taylor expansion of (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) in phi1
3.746 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
3.746 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
3.746 * [taylor]: Taking taylor expansion of -0.5 in phi1
3.746 * [backup-simplify]: Simplify -0.5 into -0.5
3.746 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
3.746 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
3.746 * [taylor]: Taking taylor expansion of phi1 in phi1
3.746 * [backup-simplify]: Simplify 0 into 0
3.746 * [backup-simplify]: Simplify 1 into 1
3.746 * [backup-simplify]: Simplify (/ 1 1) into 1
3.746 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
3.746 * [taylor]: Taking taylor expansion of phi2 in phi1
3.746 * [backup-simplify]: Simplify phi2 into phi2
3.746 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
3.747 * [backup-simplify]: Simplify (+ 1 0) into 1
3.747 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
3.747 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.747 * [taylor]: Taking taylor expansion of R in phi1
3.748 * [backup-simplify]: Simplify R into R
3.748 * [backup-simplify]: Simplify (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) into (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)
3.749 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0
3.750 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0
3.750 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
3.750 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
3.751 * [backup-simplify]: Simplify (+ 0 0) into 0
3.752 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0
3.753 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0
3.754 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0
3.755 * [backup-simplify]: Simplify (- 0) into 0
3.755 * [backup-simplify]: Simplify (+ 0 0) into 0
3.755 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)) (* 0 (/ 0 lambda2)))) into 0
3.756 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)) (* 0 (/ 0 1)))) into 0
3.757 * [backup-simplify]: Simplify (- 0) into 0
3.757 * [backup-simplify]: Simplify (+ 0 0) into 0
3.758 * [backup-simplify]: Simplify (+ (* -1 0) (+ (* (/ 1 lambda2) 0) (+ (* 0 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into 0
3.759 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0
3.760 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0
3.760 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
3.760 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
3.761 * [backup-simplify]: Simplify (+ 0 0) into 0
3.762 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0
3.764 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0
3.764 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0
3.765 * [backup-simplify]: Simplify (- 0) into 0
3.765 * [backup-simplify]: Simplify (+ 0 0) into 0
3.765 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)) (* 0 (/ 0 lambda2)))) into 0
3.766 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)) (* 0 (/ 0 1)))) into 0
3.767 * [backup-simplify]: Simplify (- 0) into 0
3.767 * [backup-simplify]: Simplify (+ 0 0) into 0
3.768 * [backup-simplify]: Simplify (+ (* -1 0) (+ (* (/ 1 lambda2) 0) (+ (* 0 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into 0
3.769 * [backup-simplify]: Simplify (+ (* (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 0) (+ (* (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2) 0) (+ (* 0 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) (* 0 (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))) into 0
3.769 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
3.769 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
3.770 * [backup-simplify]: Simplify (- 0) into 0
3.770 * [backup-simplify]: Simplify (+ 0 0) into 0
3.770 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
3.771 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
3.771 * [backup-simplify]: Simplify (- 0) into 0
3.771 * [backup-simplify]: Simplify (+ 0 0) into 0
3.772 * [backup-simplify]: Simplify (+ (* (- (/ 1 phi2) (/ 1 phi1)) 0) (* 0 (- (/ 1 phi2) (/ 1 phi1)))) into 0
3.772 * [backup-simplify]: Simplify (+ 0 0) into 0
3.774 * [backup-simplify]: Simplify (/ (- 0 (+ (* 2 (* (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))))) (* 2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (* 1/2 (/ (- (+ (/ 1 (* lambda2 (pow phi2 2))) (/ 1 (* lambda2 (pow phi1 2)))) (* 2 (/ 1 (* lambda2 (* phi1 phi2))))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))
3.777 * [backup-simplify]: Simplify (- (/ (* 1/2 (/ (- (+ (/ 1 (* lambda2 (pow phi2 2))) (/ 1 (* lambda2 (pow phi1 2)))) (* 2 (/ 1 (* lambda2 (* phi1 phi2))))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) R) (+ (* (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) (/ 0 R)) (* (- (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* lambda2 R))) (/ 0 R)) (* (- (+ (* 1/2 (/ 1 (* (pow phi2 2) (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) (* 1/2 (/ 1 (* (pow phi1 2) (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))) (/ 1 (* phi1 (* phi2 (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))) (/ 0 R)))) into (- (+ (* 1/2 (/ 1 (* lambda2 (* (pow phi2 2) (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))) (* 1/2 (/ 1 (* (pow phi1 2) (* lambda2 (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))))) (/ 1 (* phi1 (* lambda2 (* phi2 (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))))
3.781 * [backup-simplify]: Simplify (+ (* -1 (- (+ (* 1/2 (/ 1 (* lambda2 (* (pow phi2 2) (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))) (* 1/2 (/ 1 (* (pow phi1 2) (* lambda2 (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))))) (/ 1 (* phi1 (* lambda2 (* phi2 (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))))) (+ (* 0 (- (+ (* 1/2 (/ 1 (* (pow phi2 2) (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) (* 1/2 (/ 1 (* (pow phi1 2) (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))) (/ 1 (* phi1 (* phi2 (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))))) (+ (* 0 (- (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* lambda2 R)))) (* 0 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))))) into (- (/ 1 (* R (* lambda2 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* phi1 phi2))))) (+ (* 1/2 (/ 1 (* lambda2 (* (pow phi2 2) (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))) (* 1/2 (/ 1 (* R (* lambda2 (* (pow phi1 2) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))))))
3.781 * [taylor]: Taking taylor expansion of (- (/ 1 (* R (* lambda2 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* phi1 phi2))))) (+ (* 1/2 (/ 1 (* lambda2 (* (pow phi2 2) (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))) (* 1/2 (/ 1 (* R (* lambda2 (* (pow phi1 2) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))))) in lambda2
3.781 * [taylor]: Taking taylor expansion of (/ 1 (* R (* lambda2 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* phi1 phi2))))) in lambda2
3.781 * [taylor]: Taking taylor expansion of (* R (* lambda2 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* phi1 phi2)))) in lambda2
3.781 * [taylor]: Taking taylor expansion of R in lambda2
3.781 * [backup-simplify]: Simplify R into R
3.781 * [taylor]: Taking taylor expansion of (* lambda2 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* phi1 phi2))) in lambda2
3.781 * [taylor]: Taking taylor expansion of lambda2 in lambda2
3.781 * [backup-simplify]: Simplify 0 into 0
3.782 * [backup-simplify]: Simplify 1 into 1
3.782 * [taylor]: Taking taylor expansion of (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* phi1 phi2)) in lambda2
3.782 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2
3.782 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2
3.782 * [taylor]: Taking taylor expansion of -0.5 in lambda2
3.782 * [backup-simplify]: Simplify -0.5 into -0.5
3.782 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2
3.782 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
3.782 * [taylor]: Taking taylor expansion of phi1 in lambda2
3.782 * [backup-simplify]: Simplify phi1 into phi1
3.782 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
3.782 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
3.782 * [taylor]: Taking taylor expansion of phi2 in lambda2
3.782 * [backup-simplify]: Simplify phi2 into phi2
3.782 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
3.782 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
3.782 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))
3.782 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.783 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.783 * [taylor]: Taking taylor expansion of (* phi1 phi2) in lambda2
3.783 * [taylor]: Taking taylor expansion of phi1 in lambda2
3.783 * [backup-simplify]: Simplify phi1 into phi1
3.783 * [taylor]: Taking taylor expansion of phi2 in lambda2
3.783 * [backup-simplify]: Simplify phi2 into phi2
3.783 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.783 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
3.784 * [backup-simplify]: Simplify (- 0) into 0
3.784 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.784 * [backup-simplify]: Simplify (* phi1 phi2) into (* phi1 phi2)
3.784 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* phi1 phi2)) into (* phi2 (* phi1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))
3.785 * [backup-simplify]: Simplify (* 0 (* phi2 (* phi1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0
3.785 * [backup-simplify]: Simplify (* R 0) into 0
3.785 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi2)) into 0
3.785 * [backup-simplify]: Simplify (+ 0) into 0
3.786 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
3.786 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
3.786 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
3.787 * [backup-simplify]: Simplify (+ 0 0) into 0
3.787 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
3.788 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
3.789 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
3.789 * [backup-simplify]: Simplify (- 0) into 0
3.790 * [backup-simplify]: Simplify (+ 0 0) into 0
3.790 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (* phi1 phi2))) into 0
3.791 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* phi2 (* phi1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* phi1 phi2))
3.791 * [backup-simplify]: Simplify (+ (* R (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* phi1 phi2))) (* 0 0)) into (* R (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* phi1 phi2)))
3.792 * [backup-simplify]: Simplify (/ 1 (* R (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* phi1 phi2)))) into (/ 1 (* R (* phi2 (* phi1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))
3.792 * [taylor]: Taking taylor expansion of (+ (* 1/2 (/ 1 (* lambda2 (* (pow phi2 2) (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))) (* 1/2 (/ 1 (* R (* lambda2 (* (pow phi1 2) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))))) in lambda2
3.792 * [taylor]: Taking taylor expansion of (* 1/2 (/ 1 (* lambda2 (* (pow phi2 2) (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))) in lambda2
3.792 * [taylor]: Taking taylor expansion of 1/2 in lambda2
3.792 * [backup-simplify]: Simplify 1/2 into 1/2
3.792 * [taylor]: Taking taylor expansion of (/ 1 (* lambda2 (* (pow phi2 2) (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) in lambda2
3.792 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow phi2 2) (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) in lambda2
3.792 * [taylor]: Taking taylor expansion of lambda2 in lambda2
3.792 * [backup-simplify]: Simplify 0 into 0
3.792 * [backup-simplify]: Simplify 1 into 1
3.792 * [taylor]: Taking taylor expansion of (* (pow phi2 2) (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in lambda2
3.792 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2
3.792 * [taylor]: Taking taylor expansion of phi2 in lambda2
3.792 * [backup-simplify]: Simplify phi2 into phi2
3.792 * [taylor]: Taking taylor expansion of (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda2
3.792 * [taylor]: Taking taylor expansion of R in lambda2
3.792 * [backup-simplify]: Simplify R into R
3.792 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2
3.792 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2
3.793 * [taylor]: Taking taylor expansion of -0.5 in lambda2
3.793 * [backup-simplify]: Simplify -0.5 into -0.5
3.793 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2
3.793 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
3.793 * [taylor]: Taking taylor expansion of phi1 in lambda2
3.793 * [backup-simplify]: Simplify phi1 into phi1
3.793 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
3.793 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
3.793 * [taylor]: Taking taylor expansion of phi2 in lambda2
3.793 * [backup-simplify]: Simplify phi2 into phi2
3.793 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
3.793 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
3.793 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))
3.793 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.794 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.794 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
3.794 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.794 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
3.794 * [backup-simplify]: Simplify (- 0) into 0
3.795 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.795 * [backup-simplify]: Simplify (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
3.795 * [backup-simplify]: Simplify (* (pow phi2 2) (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi2 2)))
3.796 * [backup-simplify]: Simplify (* 0 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi2 2)))) into 0
3.796 * [backup-simplify]: Simplify (+ 0) into 0
3.797 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
3.797 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
3.797 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
3.798 * [backup-simplify]: Simplify (+ 0 0) into 0
3.798 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
3.799 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
3.800 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
3.800 * [backup-simplify]: Simplify (- 0) into 0
3.800 * [backup-simplify]: Simplify (+ 0 0) into 0
3.801 * [backup-simplify]: Simplify (+ (* R 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0
3.801 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0
3.801 * [backup-simplify]: Simplify (+ (* (pow phi2 2) 0) (* 0 (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0
3.802 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi2 2))))) into (* (pow phi2 2) (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))
3.802 * [backup-simplify]: Simplify (/ 1 (* (pow phi2 2) (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into (/ 1 (* (pow phi2 2) (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))
3.802 * [taylor]: Taking taylor expansion of (* 1/2 (/ 1 (* R (* lambda2 (* (pow phi1 2) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))) in lambda2
3.802 * [taylor]: Taking taylor expansion of 1/2 in lambda2
3.802 * [backup-simplify]: Simplify 1/2 into 1/2
3.802 * [taylor]: Taking taylor expansion of (/ 1 (* R (* lambda2 (* (pow phi1 2) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) in lambda2
3.802 * [taylor]: Taking taylor expansion of (* R (* lambda2 (* (pow phi1 2) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) in lambda2
3.803 * [taylor]: Taking taylor expansion of R in lambda2
3.803 * [backup-simplify]: Simplify R into R
3.803 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow phi1 2) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in lambda2
3.803 * [taylor]: Taking taylor expansion of lambda2 in lambda2
3.803 * [backup-simplify]: Simplify 0 into 0
3.803 * [backup-simplify]: Simplify 1 into 1
3.803 * [taylor]: Taking taylor expansion of (* (pow phi1 2) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda2
3.803 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2
3.803 * [taylor]: Taking taylor expansion of phi1 in lambda2
3.803 * [backup-simplify]: Simplify phi1 into phi1
3.803 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2
3.803 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2
3.803 * [taylor]: Taking taylor expansion of -0.5 in lambda2
3.803 * [backup-simplify]: Simplify -0.5 into -0.5
3.803 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2
3.803 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
3.803 * [taylor]: Taking taylor expansion of phi1 in lambda2
3.803 * [backup-simplify]: Simplify phi1 into phi1
3.803 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
3.803 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
3.803 * [taylor]: Taking taylor expansion of phi2 in lambda2
3.803 * [backup-simplify]: Simplify phi2 into phi2
3.803 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
3.803 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
3.804 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))
3.804 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.804 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.804 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
3.804 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.804 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
3.805 * [backup-simplify]: Simplify (- 0) into 0
3.805 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.805 * [backup-simplify]: Simplify (* (pow phi1 2) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* (pow phi1 2) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
3.806 * [backup-simplify]: Simplify (* 0 (* (pow phi1 2) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0
3.806 * [backup-simplify]: Simplify (* R 0) into 0
3.806 * [backup-simplify]: Simplify (+ 0) into 0
3.807 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
3.807 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
3.807 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
3.807 * [backup-simplify]: Simplify (+ 0 0) into 0
3.808 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
3.813 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
3.814 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
3.814 * [backup-simplify]: Simplify (- 0) into 0
3.815 * [backup-simplify]: Simplify (+ 0 0) into 0
3.815 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0
3.815 * [backup-simplify]: Simplify (+ (* (pow phi1 2) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0
3.816 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (pow phi1 2) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into (* (pow phi1 2) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
3.817 * [backup-simplify]: Simplify (+ (* R (* (pow phi1 2) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* 0 0)) into (* R (* (pow phi1 2) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))
3.817 * [backup-simplify]: Simplify (/ 1 (* R (* (pow phi1 2) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into (/ 1 (* R (* (pow phi1 2) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))
3.818 * [backup-simplify]: Simplify (* 1/2 (/ 1 (* (pow phi2 2) (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into (/ 1/2 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi2 2))))
3.818 * [backup-simplify]: Simplify (* 1/2 (/ 1 (* R (* (pow phi1 2) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into (/ 1/2 (* (pow phi1 2) (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))
3.819 * [backup-simplify]: Simplify (+ (/ 1/2 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi2 2)))) (/ 1/2 (* (pow phi1 2) (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into (+ (* 1/2 (/ 1 (* (pow phi2 2) (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) (* 1/2 (/ 1 (* R (* (pow phi1 2) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))))
3.820 * [backup-simplify]: Simplify (- (+ (* 1/2 (/ 1 (* (pow phi2 2) (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) (* 1/2 (/ 1 (* R (* (pow phi1 2) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))))) into (- (+ (* 1/2 (/ 1 (* (pow phi2 2) (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) (* 1/2 (/ 1 (* R (* (pow phi1 2) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))))
3.822 * [backup-simplify]: Simplify (+ (/ 1 (* R (* phi2 (* phi1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) (- (+ (* 1/2 (/ 1 (* (pow phi2 2) (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) (* 1/2 (/ 1 (* R (* (pow phi1 2) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))))) into (- (/ 1 (* phi1 (* phi2 (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) (+ (* 1/2 (/ 1 (* (pow phi2 2) (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) (* 1/2 (/ 1 (* R (* (pow phi1 2) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))))
3.822 * [taylor]: Taking taylor expansion of (- (/ 1 (* phi1 (* phi2 (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) (+ (* 1/2 (/ 1 (* (pow phi2 2) (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) (* 1/2 (/ 1 (* R (* (pow phi1 2) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))))) in phi2
3.822 * [taylor]: Taking taylor expansion of (/ 1 (* phi1 (* phi2 (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) in phi2
3.822 * [taylor]: Taking taylor expansion of (* phi1 (* phi2 (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) in phi2
3.822 * [taylor]: Taking taylor expansion of phi1 in phi2
3.822 * [backup-simplify]: Simplify phi1 into phi1
3.822 * [taylor]: Taking taylor expansion of (* phi2 (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi2
3.822 * [taylor]: Taking taylor expansion of phi2 in phi2
3.822 * [backup-simplify]: Simplify 0 into 0
3.822 * [backup-simplify]: Simplify 1 into 1
3.822 * [taylor]: Taking taylor expansion of (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2
3.822 * [taylor]: Taking taylor expansion of R in phi2
3.822 * [backup-simplify]: Simplify R into R
3.822 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
3.822 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
3.822 * [taylor]: Taking taylor expansion of -0.5 in phi2
3.822 * [backup-simplify]: Simplify -0.5 into -0.5
3.822 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
3.822 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
3.822 * [taylor]: Taking taylor expansion of phi1 in phi2
3.822 * [backup-simplify]: Simplify phi1 into phi1
3.822 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
3.822 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
3.822 * [taylor]: Taking taylor expansion of phi2 in phi2
3.822 * [backup-simplify]: Simplify 0 into 0
3.822 * [backup-simplify]: Simplify 1 into 1
3.823 * [backup-simplify]: Simplify (/ 1 1) into 1
3.823 * [backup-simplify]: Simplify (+ 0 1) into 1
3.824 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
3.824 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.824 * [backup-simplify]: Simplify (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
3.825 * [backup-simplify]: Simplify (* 0 (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0
3.825 * [backup-simplify]: Simplify (* phi1 0) into 0
3.825 * [backup-simplify]: Simplify (+ (* R 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0
3.826 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
3.827 * [backup-simplify]: Simplify (+ (* phi1 (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* 0 0)) into (* phi1 (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))
3.827 * [backup-simplify]: Simplify (/ 1 (* phi1 (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into (/ 1 (* phi1 (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))
3.827 * [taylor]: Taking taylor expansion of (+ (* 1/2 (/ 1 (* (pow phi2 2) (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) (* 1/2 (/ 1 (* R (* (pow phi1 2) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))) in phi2
3.827 * [taylor]: Taking taylor expansion of (* 1/2 (/ 1 (* (pow phi2 2) (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) in phi2
3.827 * [taylor]: Taking taylor expansion of 1/2 in phi2
3.827 * [backup-simplify]: Simplify 1/2 into 1/2
3.827 * [taylor]: Taking taylor expansion of (/ 1 (* (pow phi2 2) (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) in phi2
3.827 * [taylor]: Taking taylor expansion of (* (pow phi2 2) (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi2
3.827 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2
3.827 * [taylor]: Taking taylor expansion of phi2 in phi2
3.827 * [backup-simplify]: Simplify 0 into 0
3.828 * [backup-simplify]: Simplify 1 into 1
3.828 * [taylor]: Taking taylor expansion of (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2
3.828 * [taylor]: Taking taylor expansion of R in phi2
3.828 * [backup-simplify]: Simplify R into R
3.828 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
3.828 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
3.828 * [taylor]: Taking taylor expansion of -0.5 in phi2
3.828 * [backup-simplify]: Simplify -0.5 into -0.5
3.828 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
3.828 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
3.828 * [taylor]: Taking taylor expansion of phi1 in phi2
3.828 * [backup-simplify]: Simplify phi1 into phi1
3.828 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
3.828 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
3.828 * [taylor]: Taking taylor expansion of phi2 in phi2
3.828 * [backup-simplify]: Simplify 0 into 0
3.828 * [backup-simplify]: Simplify 1 into 1
3.829 * [backup-simplify]: Simplify (/ 1 1) into 1
3.829 * [backup-simplify]: Simplify (+ 0 1) into 1
3.830 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
3.830 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.830 * [backup-simplify]: Simplify (* 1 1) into 1
3.830 * [backup-simplify]: Simplify (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
3.831 * [backup-simplify]: Simplify (* 1 (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
3.831 * [backup-simplify]: Simplify (/ 1 (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (/ 1 (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))
3.831 * [taylor]: Taking taylor expansion of (* 1/2 (/ 1 (* R (* (pow phi1 2) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) in phi2
3.831 * [taylor]: Taking taylor expansion of 1/2 in phi2
3.831 * [backup-simplify]: Simplify 1/2 into 1/2
3.831 * [taylor]: Taking taylor expansion of (/ 1 (* R (* (pow phi1 2) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) in phi2
3.831 * [taylor]: Taking taylor expansion of (* R (* (pow phi1 2) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi2
3.831 * [taylor]: Taking taylor expansion of R in phi2
3.831 * [backup-simplify]: Simplify R into R
3.831 * [taylor]: Taking taylor expansion of (* (pow phi1 2) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2
3.831 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2
3.831 * [taylor]: Taking taylor expansion of phi1 in phi2
3.831 * [backup-simplify]: Simplify phi1 into phi1
3.831 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
3.831 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
3.831 * [taylor]: Taking taylor expansion of -0.5 in phi2
3.831 * [backup-simplify]: Simplify -0.5 into -0.5
3.832 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
3.832 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
3.832 * [taylor]: Taking taylor expansion of phi1 in phi2
3.832 * [backup-simplify]: Simplify phi1 into phi1
3.832 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
3.832 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
3.832 * [taylor]: Taking taylor expansion of phi2 in phi2
3.832 * [backup-simplify]: Simplify 0 into 0
3.832 * [backup-simplify]: Simplify 1 into 1
3.832 * [backup-simplify]: Simplify (/ 1 1) into 1
3.833 * [backup-simplify]: Simplify (+ 0 1) into 1
3.833 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
3.833 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.834 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
3.834 * [backup-simplify]: Simplify (* (pow phi1 2) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* (pow phi1 2) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
3.834 * [backup-simplify]: Simplify (* R (* (pow phi1 2) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (* (pow phi1 2) (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))
3.835 * [backup-simplify]: Simplify (/ 1 (* (pow phi1 2) (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into (/ 1 (* (pow phi1 2) (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))
3.835 * [backup-simplify]: Simplify (+ (* R 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0
3.836 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
3.836 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0
3.837 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (/ 0 (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))) into 0
3.838 * [backup-simplify]: Simplify (+ (* 1/2 0) (* 0 (/ 1 (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into 0
3.838 * [backup-simplify]: Simplify (+ 0 0) into 0
3.839 * [backup-simplify]: Simplify (- 0) into 0
3.839 * [backup-simplify]: Simplify (+ (/ 1 (* phi1 (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) 0) into (/ 1 (* R (* phi1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))
3.839 * [taylor]: Taking taylor expansion of (/ 1 (* R (* phi1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) in phi1
3.839 * [taylor]: Taking taylor expansion of (* R (* phi1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi1
3.839 * [taylor]: Taking taylor expansion of R in phi1
3.839 * [backup-simplify]: Simplify R into R
3.839 * [taylor]: Taking taylor expansion of (* phi1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi1
3.839 * [taylor]: Taking taylor expansion of phi1 in phi1
3.839 * [backup-simplify]: Simplify 0 into 0
3.839 * [backup-simplify]: Simplify 1 into 1
3.839 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
3.839 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
3.840 * [taylor]: Taking taylor expansion of -0.5 in phi1
3.840 * [backup-simplify]: Simplify -0.5 into -0.5
3.840 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
3.840 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
3.840 * [taylor]: Taking taylor expansion of phi1 in phi1
3.840 * [backup-simplify]: Simplify 0 into 0
3.840 * [backup-simplify]: Simplify 1 into 1
3.840 * [backup-simplify]: Simplify (/ 1 1) into 1
3.841 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
3.841 * [taylor]: Taking taylor expansion of phi2 in phi1
3.841 * [backup-simplify]: Simplify phi2 into phi2
3.841 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
3.841 * [backup-simplify]: Simplify (+ 1 0) into 1
3.842 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
3.842 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.842 * [backup-simplify]: Simplify (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into 0
3.842 * [backup-simplify]: Simplify (* R 0) into 0
3.843 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.844 * [backup-simplify]: Simplify (+ (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* 0 0)) into (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
3.844 * [backup-simplify]: Simplify (/ 1 (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (/ 1 (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))
3.844 * [taylor]: Taking taylor expansion of (/ 1 (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in R
3.844 * [taylor]: Taking taylor expansion of (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in R
3.844 * [taylor]: Taking taylor expansion of R in R
3.844 * [backup-simplify]: Simplify 0 into 0
3.844 * [backup-simplify]: Simplify 1 into 1
3.844 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in R
3.844 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in R
3.844 * [taylor]: Taking taylor expansion of -0.5 in R
3.844 * [backup-simplify]: Simplify -0.5 into -0.5
3.844 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in R
3.844 * [taylor]: Taking taylor expansion of (/ 1 phi1) in R
3.844 * [taylor]: Taking taylor expansion of phi1 in R
3.844 * [backup-simplify]: Simplify phi1 into phi1
3.844 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
3.844 * [taylor]: Taking taylor expansion of (/ 1 phi2) in R
3.845 * [taylor]: Taking taylor expansion of phi2 in R
3.845 * [backup-simplify]: Simplify phi2 into phi2
3.845 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
3.845 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
3.845 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))
3.845 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.845 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.845 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.846 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
3.846 * [backup-simplify]: Simplify (- 0) into 0
3.847 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.847 * [backup-simplify]: Simplify (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into 0
3.847 * [backup-simplify]: Simplify (+ 0) into 0
3.848 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
3.848 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
3.848 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
3.849 * [backup-simplify]: Simplify (+ 0 0) into 0
3.849 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
3.852 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
3.853 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
3.853 * [backup-simplify]: Simplify (- 0) into 0
3.854 * [backup-simplify]: Simplify (+ 0 0) into 0
3.854 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.855 * [backup-simplify]: Simplify (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
3.855 * [backup-simplify]: Simplify (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
3.856 * [backup-simplify]: Simplify (* 1/2 (/ 1 (* (pow phi1 2) (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into (/ 1/2 (* R (* (pow phi1 2) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))
3.856 * [backup-simplify]: Simplify (* 1/2 (/ 1 (* (pow phi2 2) (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into (/ 1/2 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi2 2))))
3.857 * [backup-simplify]: Simplify (+ (/ 1/2 (* R (* (pow phi1 2) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) (/ 1/2 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi2 2))))) into (+ (* 1/2 (/ 1 (* (pow phi2 2) (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) (* 1/2 (/ 1 (* (pow phi1 2) (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))))
3.858 * [backup-simplify]: Simplify (- (+ (* 1/2 (/ 1 (* (pow phi2 2) (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) (* 1/2 (/ 1 (* (pow phi1 2) (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))))) into (- (+ (* 1/2 (/ 1 (* (pow phi2 2) (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) (* 1/2 (/ 1 (* (pow phi1 2) (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))))
3.859 * [backup-simplify]: Simplify (+ (/ 1 (* phi1 (* phi2 (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) (- (+ (* 1/2 (/ 1 (* (pow phi2 2) (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) (* 1/2 (/ 1 (* (pow phi1 2) (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))))) into (- (/ 1 (* R (* phi2 (* phi1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) (+ (* 1/2 (/ 1 (* (pow phi2 2) (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) (* 1/2 (/ 1 (* (pow phi1 2) (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))))
3.860 * [taylor]: Taking taylor expansion of (- (/ 1 (* R (* phi2 (* phi1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) (+ (* 1/2 (/ 1 (* (pow phi2 2) (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) (* 1/2 (/ 1 (* (pow phi1 2) (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))))) in phi2
3.860 * [taylor]: Taking taylor expansion of (/ 1 (* R (* phi2 (* phi1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) in phi2
3.860 * [taylor]: Taking taylor expansion of (* R (* phi2 (* phi1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) in phi2
3.860 * [taylor]: Taking taylor expansion of R in phi2
3.860 * [backup-simplify]: Simplify R into R
3.860 * [taylor]: Taking taylor expansion of (* phi2 (* phi1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi2
3.860 * [taylor]: Taking taylor expansion of phi2 in phi2
3.860 * [backup-simplify]: Simplify 0 into 0
3.860 * [backup-simplify]: Simplify 1 into 1
3.860 * [taylor]: Taking taylor expansion of (* phi1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2
3.860 * [taylor]: Taking taylor expansion of phi1 in phi2
3.860 * [backup-simplify]: Simplify phi1 into phi1
3.860 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
3.860 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
3.860 * [taylor]: Taking taylor expansion of -0.5 in phi2
3.860 * [backup-simplify]: Simplify -0.5 into -0.5
3.860 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
3.860 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
3.860 * [taylor]: Taking taylor expansion of phi1 in phi2
3.860 * [backup-simplify]: Simplify phi1 into phi1
3.860 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
3.860 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
3.860 * [taylor]: Taking taylor expansion of phi2 in phi2
3.860 * [backup-simplify]: Simplify 0 into 0
3.860 * [backup-simplify]: Simplify 1 into 1
3.861 * [backup-simplify]: Simplify (/ 1 1) into 1
3.861 * [backup-simplify]: Simplify (+ 0 1) into 1
3.862 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
3.862 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.862 * [backup-simplify]: Simplify (* phi1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* phi1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
3.863 * [backup-simplify]: Simplify (* 0 (* phi1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0
3.863 * [backup-simplify]: Simplify (* R 0) into 0
3.863 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0
3.863 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* phi1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into (* phi1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
3.864 * [backup-simplify]: Simplify (+ (* R (* phi1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* 0 0)) into (* R (* phi1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))
3.864 * [backup-simplify]: Simplify (/ 1 (* R (* phi1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into (/ 1 (* R (* phi1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))
3.865 * [taylor]: Taking taylor expansion of (+ (* 1/2 (/ 1 (* (pow phi2 2) (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) (* 1/2 (/ 1 (* (pow phi1 2) (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))) in phi2
3.865 * [taylor]: Taking taylor expansion of (* 1/2 (/ 1 (* (pow phi2 2) (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) in phi2
3.865 * [taylor]: Taking taylor expansion of 1/2 in phi2
3.865 * [backup-simplify]: Simplify 1/2 into 1/2
3.865 * [taylor]: Taking taylor expansion of (/ 1 (* (pow phi2 2) (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) in phi2
3.865 * [taylor]: Taking taylor expansion of (* (pow phi2 2) (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi2
3.865 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2
3.865 * [taylor]: Taking taylor expansion of phi2 in phi2
3.865 * [backup-simplify]: Simplify 0 into 0
3.865 * [backup-simplify]: Simplify 1 into 1
3.865 * [taylor]: Taking taylor expansion of (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2
3.865 * [taylor]: Taking taylor expansion of R in phi2
3.865 * [backup-simplify]: Simplify R into R
3.865 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
3.865 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
3.865 * [taylor]: Taking taylor expansion of -0.5 in phi2
3.865 * [backup-simplify]: Simplify -0.5 into -0.5
3.865 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
3.865 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
3.865 * [taylor]: Taking taylor expansion of phi1 in phi2
3.865 * [backup-simplify]: Simplify phi1 into phi1
3.865 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
3.865 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
3.865 * [taylor]: Taking taylor expansion of phi2 in phi2
3.865 * [backup-simplify]: Simplify 0 into 0
3.865 * [backup-simplify]: Simplify 1 into 1
3.866 * [backup-simplify]: Simplify (/ 1 1) into 1
3.866 * [backup-simplify]: Simplify (+ 0 1) into 1
3.867 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
3.867 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.867 * [backup-simplify]: Simplify (* 1 1) into 1
3.867 * [backup-simplify]: Simplify (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
3.867 * [backup-simplify]: Simplify (* 1 (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
3.868 * [backup-simplify]: Simplify (/ 1 (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (/ 1 (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))
3.868 * [taylor]: Taking taylor expansion of (* 1/2 (/ 1 (* (pow phi1 2) (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) in phi2
3.868 * [taylor]: Taking taylor expansion of 1/2 in phi2
3.868 * [backup-simplify]: Simplify 1/2 into 1/2
3.868 * [taylor]: Taking taylor expansion of (/ 1 (* (pow phi1 2) (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) in phi2
3.868 * [taylor]: Taking taylor expansion of (* (pow phi1 2) (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi2
3.868 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2
3.868 * [taylor]: Taking taylor expansion of phi1 in phi2
3.868 * [backup-simplify]: Simplify phi1 into phi1
3.868 * [taylor]: Taking taylor expansion of (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2
3.868 * [taylor]: Taking taylor expansion of R in phi2
3.868 * [backup-simplify]: Simplify R into R
3.868 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
3.868 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
3.868 * [taylor]: Taking taylor expansion of -0.5 in phi2
3.868 * [backup-simplify]: Simplify -0.5 into -0.5
3.868 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
3.868 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
3.868 * [taylor]: Taking taylor expansion of phi1 in phi2
3.868 * [backup-simplify]: Simplify phi1 into phi1
3.868 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
3.868 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
3.868 * [taylor]: Taking taylor expansion of phi2 in phi2
3.868 * [backup-simplify]: Simplify 0 into 0
3.868 * [backup-simplify]: Simplify 1 into 1
3.869 * [backup-simplify]: Simplify (/ 1 1) into 1
3.869 * [backup-simplify]: Simplify (+ 0 1) into 1
3.870 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
3.870 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.870 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
3.870 * [backup-simplify]: Simplify (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
3.870 * [backup-simplify]: Simplify (* (pow phi1 2) (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (* R (* (pow phi1 2) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))
3.871 * [backup-simplify]: Simplify (/ 1 (* R (* (pow phi1 2) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into (/ 1 (* R (* (pow phi1 2) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))
3.871 * [backup-simplify]: Simplify (+ (* R 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0
3.872 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
3.872 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0
3.873 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (/ 0 (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))) into 0
3.874 * [backup-simplify]: Simplify (+ (* 1/2 0) (* 0 (/ 1 (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into 0
3.874 * [backup-simplify]: Simplify (+ 0 0) into 0
3.875 * [backup-simplify]: Simplify (- 0) into 0
3.875 * [backup-simplify]: Simplify (+ (/ 1 (* R (* phi1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) 0) into (/ 1 (* phi1 (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))
3.875 * [taylor]: Taking taylor expansion of (/ 1 (* phi1 (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) in phi1
3.875 * [taylor]: Taking taylor expansion of (* phi1 (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi1
3.875 * [taylor]: Taking taylor expansion of phi1 in phi1
3.875 * [backup-simplify]: Simplify 0 into 0
3.875 * [backup-simplify]: Simplify 1 into 1
3.875 * [taylor]: Taking taylor expansion of (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi1
3.875 * [taylor]: Taking taylor expansion of R in phi1
3.875 * [backup-simplify]: Simplify R into R
3.875 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
3.875 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
3.875 * [taylor]: Taking taylor expansion of -0.5 in phi1
3.875 * [backup-simplify]: Simplify -0.5 into -0.5
3.875 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
3.875 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
3.875 * [taylor]: Taking taylor expansion of phi1 in phi1
3.875 * [backup-simplify]: Simplify 0 into 0
3.875 * [backup-simplify]: Simplify 1 into 1
3.876 * [backup-simplify]: Simplify (/ 1 1) into 1
3.876 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
3.876 * [taylor]: Taking taylor expansion of phi2 in phi1
3.876 * [backup-simplify]: Simplify phi2 into phi2
3.876 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
3.876 * [backup-simplify]: Simplify (+ 1 0) into 1
3.877 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
3.877 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.877 * [backup-simplify]: Simplify (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
3.878 * [backup-simplify]: Simplify (* 0 (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0
3.878 * [backup-simplify]: Simplify (+ (* R 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0
3.878 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
3.879 * [backup-simplify]: Simplify (/ 1 (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (/ 1 (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))
3.879 * [taylor]: Taking taylor expansion of (/ 1 (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in R
3.879 * [taylor]: Taking taylor expansion of (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in R
3.879 * [taylor]: Taking taylor expansion of R in R
3.879 * [backup-simplify]: Simplify 0 into 0
3.879 * [backup-simplify]: Simplify 1 into 1
3.879 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in R
3.879 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in R
3.879 * [taylor]: Taking taylor expansion of -0.5 in R
3.879 * [backup-simplify]: Simplify -0.5 into -0.5
3.879 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in R
3.879 * [taylor]: Taking taylor expansion of (/ 1 phi1) in R
3.879 * [taylor]: Taking taylor expansion of phi1 in R
3.879 * [backup-simplify]: Simplify phi1 into phi1
3.879 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
3.879 * [taylor]: Taking taylor expansion of (/ 1 phi2) in R
3.879 * [taylor]: Taking taylor expansion of phi2 in R
3.879 * [backup-simplify]: Simplify phi2 into phi2
3.879 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
3.879 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
3.880 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))
3.880 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.880 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.880 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.880 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
3.881 * [backup-simplify]: Simplify (- 0) into 0
3.881 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.881 * [backup-simplify]: Simplify (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into 0
3.882 * [backup-simplify]: Simplify (+ 0) into 0
3.882 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
3.882 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
3.883 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
3.883 * [backup-simplify]: Simplify (+ 0 0) into 0
3.884 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
3.884 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
3.885 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
3.885 * [backup-simplify]: Simplify (- 0) into 0
3.886 * [backup-simplify]: Simplify (+ 0 0) into 0
3.886 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.887 * [backup-simplify]: Simplify (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
3.887 * [backup-simplify]: Simplify (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
3.888 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
3.889 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0
3.889 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
3.889 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
3.889 * [backup-simplify]: Simplify (+ 0 0) into 0
3.890 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0
3.891 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
3.892 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0
3.892 * [backup-simplify]: Simplify (- 0) into 0
3.893 * [backup-simplify]: Simplify (+ 0 0) into 0
3.894 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (+ (* 0 0) (* 0 R)))) into 0
3.894 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) (/ 0 R)) (* 0 (/ 0 R)))) into 0
3.894 * [taylor]: Taking taylor expansion of 0 in phi2
3.894 * [backup-simplify]: Simplify 0 into 0
3.895 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
3.896 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0
3.896 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
3.897 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
3.897 * [backup-simplify]: Simplify (+ 0 0) into 0
3.898 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0
3.899 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
3.899 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0
3.900 * [backup-simplify]: Simplify (- 0) into 0
3.900 * [backup-simplify]: Simplify (+ 0 0) into 0
3.901 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) (/ 0 R)) (* 0 (/ 0 R)))) into 0
3.902 * [backup-simplify]: Simplify (+ (* -1 0) (+ (* 0 0) (* 0 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))) into 0
3.902 * [taylor]: Taking taylor expansion of 0 in phi2
3.902 * [backup-simplify]: Simplify 0 into 0
3.902 * [taylor]: Taking taylor expansion of 0 in phi1
3.902 * [backup-simplify]: Simplify 0 into 0
3.902 * [taylor]: Taking taylor expansion of 0 in phi1
3.902 * [backup-simplify]: Simplify 0 into 0
3.902 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) (/ 0 R)))) into 0
3.902 * [taylor]: Taking taylor expansion of 0 in phi1
3.902 * [backup-simplify]: Simplify 0 into 0
3.903 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) (/ 0 R)))) into 0
3.903 * [backup-simplify]: Simplify (+ (* -1 0) (* 0 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))) into 0
3.904 * [taylor]: Taking taylor expansion of 0 in phi1
3.904 * [backup-simplify]: Simplify 0 into 0
3.904 * [taylor]: Taking taylor expansion of (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) in R
3.904 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in R
3.904 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in R
3.904 * [taylor]: Taking taylor expansion of -0.5 in R
3.904 * [backup-simplify]: Simplify -0.5 into -0.5
3.904 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in R
3.904 * [taylor]: Taking taylor expansion of (/ 1 phi1) in R
3.904 * [taylor]: Taking taylor expansion of phi1 in R
3.904 * [backup-simplify]: Simplify phi1 into phi1
3.904 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
3.904 * [taylor]: Taking taylor expansion of (/ 1 phi2) in R
3.904 * [taylor]: Taking taylor expansion of phi2 in R
3.904 * [backup-simplify]: Simplify phi2 into phi2
3.904 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
3.904 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
3.904 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))
3.905 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.905 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.905 * [taylor]: Taking taylor expansion of R in R
3.905 * [backup-simplify]: Simplify 0 into 0
3.905 * [backup-simplify]: Simplify 1 into 1
3.905 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.905 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
3.906 * [backup-simplify]: Simplify (- 0) into 0
3.906 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.906 * [backup-simplify]: Simplify (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.906 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.909 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2)))))) (* (/ 1 (/ 1 (- R))) (* 1 (* 1 (* (/ 1 (/ 1 (- lambda2))) 1))))) (+ (* (/ 1 (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2))))))) (* (/ 1 (/ 1 (- R))) (* (/ 1 (/ 1 (- phi1))) (* (/ 1 (/ 1 (- phi2))) (* 1 (/ 1 (- lambda1))))))) (* (/ 1 (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2))))))) (* (/ 1 (/ 1 (- R))) (* (/ 1 (/ 1 (- phi1))) (* (/ 1 (/ 1 (- phi2))) (* (/ 1 (/ 1 (- lambda2))) (pow (/ 1 (- lambda1)) 2)))))))) into (+ (/ (* phi1 (* R phi2)) (* lambda1 (cos (* 0.5 (+ phi1 phi2))))) (+ (/ (* phi1 (* lambda2 (* R phi2))) (* (pow lambda1 2) (cos (* 0.5 (+ phi1 phi2))))) (* lambda2 (* (cos (* 0.5 (+ phi1 phi2))) R))))
3.909 * * * * [progress]: [ 4 / 4 ] generating series at (2 1)
3.909 * [backup-simplify]: Simplify (hypot (* (- lambda1 lambda2) (cos (/ (+ phi2 phi1) 2.0))) (- phi1 phi2)) into (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (- phi1 phi2))
3.909 * [approximate]: Taking taylor expansion of (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (- phi1 phi2)) in (lambda1 lambda2 phi2 phi1) around 0
3.910 * [taylor]: Taking taylor expansion of (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (- phi1 phi2)) in phi1
3.910 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2))))) (* (- phi1 phi2) (- phi1 phi2))))
3.910 * [taylor]: Taking taylor expansion of (+ (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2))))) (* (- phi1 phi2) (- phi1 phi2))) in phi1
3.910 * [taylor]: Taking taylor expansion of (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2))))) in phi1
3.910 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) in phi1
3.910 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in phi1
3.910 * [taylor]: Taking taylor expansion of lambda1 in phi1
3.910 * [backup-simplify]: Simplify lambda1 into lambda1
3.910 * [taylor]: Taking taylor expansion of lambda2 in phi1
3.910 * [backup-simplify]: Simplify lambda2 into lambda2
3.910 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in phi1
3.910 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in phi1
3.910 * [taylor]: Taking taylor expansion of 0.5 in phi1
3.910 * [backup-simplify]: Simplify 0.5 into 0.5
3.910 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in phi1
3.910 * [taylor]: Taking taylor expansion of phi1 in phi1
3.910 * [backup-simplify]: Simplify 0 into 0
3.911 * [backup-simplify]: Simplify 1 into 1
3.911 * [taylor]: Taking taylor expansion of phi2 in phi1
3.911 * [backup-simplify]: Simplify phi2 into phi2
3.911 * [backup-simplify]: Simplify (+ 0 phi2) into phi2
3.911 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
3.911 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
3.911 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
3.911 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) in phi1
3.911 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in phi1
3.911 * [taylor]: Taking taylor expansion of lambda1 in phi1
3.911 * [backup-simplify]: Simplify lambda1 into lambda1
3.911 * [taylor]: Taking taylor expansion of lambda2 in phi1
3.911 * [backup-simplify]: Simplify lambda2 into lambda2
3.911 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in phi1
3.911 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in phi1
3.911 * [taylor]: Taking taylor expansion of 0.5 in phi1
3.911 * [backup-simplify]: Simplify 0.5 into 0.5
3.911 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in phi1
3.911 * [taylor]: Taking taylor expansion of phi1 in phi1
3.911 * [backup-simplify]: Simplify 0 into 0
3.911 * [backup-simplify]: Simplify 1 into 1
3.911 * [taylor]: Taking taylor expansion of phi2 in phi1
3.911 * [backup-simplify]: Simplify phi2 into phi2
3.911 * [backup-simplify]: Simplify (+ 0 phi2) into phi2
3.911 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
3.912 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
3.912 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
3.912 * [taylor]: Taking taylor expansion of (* (- phi1 phi2) (- phi1 phi2)) in phi1
3.912 * [taylor]: Taking taylor expansion of (- phi1 phi2) in phi1
3.912 * [taylor]: Taking taylor expansion of phi1 in phi1
3.912 * [backup-simplify]: Simplify 0 into 0
3.912 * [backup-simplify]: Simplify 1 into 1
3.912 * [taylor]: Taking taylor expansion of phi2 in phi1
3.912 * [backup-simplify]: Simplify phi2 into phi2
3.912 * [taylor]: Taking taylor expansion of (- phi1 phi2) in phi1
3.912 * [taylor]: Taking taylor expansion of phi1 in phi1
3.912 * [backup-simplify]: Simplify 0 into 0
3.912 * [backup-simplify]: Simplify 1 into 1
3.912 * [taylor]: Taking taylor expansion of phi2 in phi1
3.912 * [backup-simplify]: Simplify phi2 into phi2
3.912 * [backup-simplify]: Simplify (- lambda2) into (- lambda2)
3.912 * [backup-simplify]: Simplify (+ lambda1 (- lambda2)) into (- lambda1 lambda2)
3.912 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2))
3.912 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0
3.913 * [backup-simplify]: Simplify (- 0) into 0
3.913 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2))
3.913 * [backup-simplify]: Simplify (* (- lambda1 lambda2) (cos (* 0.5 phi2))) into (* (- lambda1 lambda2) (cos (* 0.5 phi2)))
3.913 * [backup-simplify]: Simplify (- lambda2) into (- lambda2)
3.913 * [backup-simplify]: Simplify (+ lambda1 (- lambda2)) into (- lambda1 lambda2)
3.914 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2))
3.914 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0
3.914 * [backup-simplify]: Simplify (- 0) into 0
3.914 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2))
3.914 * [backup-simplify]: Simplify (* (- lambda1 lambda2) (cos (* 0.5 phi2))) into (* (- lambda1 lambda2) (cos (* 0.5 phi2)))
3.915 * [backup-simplify]: Simplify (* (* (- lambda1 lambda2) (cos (* 0.5 phi2))) (* (- lambda1 lambda2) (cos (* 0.5 phi2)))) into (* (pow (- lambda1 lambda2) 2) (pow (cos (* 0.5 phi2)) 2))
3.915 * [backup-simplify]: Simplify (- phi2) into (- phi2)
3.915 * [backup-simplify]: Simplify (+ 0 (- phi2)) into (- phi2)
3.915 * [backup-simplify]: Simplify (- phi2) into (- phi2)
3.915 * [backup-simplify]: Simplify (+ 0 (- phi2)) into (- phi2)
3.915 * [backup-simplify]: Simplify (* (- phi2) (- phi2)) into (pow phi2 2)
3.916 * [backup-simplify]: Simplify (+ (* (pow (- lambda1 lambda2) 2) (pow (cos (* 0.5 phi2)) 2)) (pow phi2 2)) into (- (+ (pow phi2 2) (+ (* (pow lambda1 2) (pow (cos (* 0.5 phi2)) 2)) (* (pow lambda2 2) (pow (cos (* 0.5 phi2)) 2)))) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi2)) 2)))))
3.917 * [backup-simplify]: Simplify (sqrt (- (+ (pow phi2 2) (+ (* (pow lambda1 2) (pow (cos (* 0.5 phi2)) 2)) (* (pow lambda2 2) (pow (cos (* 0.5 phi2)) 2)))) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi2)) 2)))))) into (sqrt (- (+ (pow phi2 2) (+ (* (pow lambda1 2) (pow (cos (* 0.5 phi2)) 2)) (* (pow lambda2 2) (pow (cos (* 0.5 phi2)) 2)))) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi2)) 2))))))
3.918 * [backup-simplify]: Simplify (+ 0) into 0
3.919 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0
3.919 * [backup-simplify]: Simplify (+ 1 0) into 1
3.920 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi2)) into 0.5
3.922 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5
3.923 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi2)))
3.923 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi2)))) into (- (* 0.5 (sin (* 0.5 phi2))))
3.923 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi2))))) into (- (* 0.5 (sin (* 0.5 phi2))))
3.924 * [backup-simplify]: Simplify (- 0) into 0
3.924 * [backup-simplify]: Simplify (+ 0 0) into 0
3.924 * [backup-simplify]: Simplify (+ (* (- lambda1 lambda2) (- (* 0.5 (sin (* 0.5 phi2))))) (* 0 (cos (* 0.5 phi2)))) into (- (* 0.5 (* lambda2 (sin (* 0.5 phi2)))) (* 0.5 (* lambda1 (sin (* 0.5 phi2)))))
3.925 * [backup-simplify]: Simplify (+ 0) into 0
3.925 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0
3.926 * [backup-simplify]: Simplify (+ 1 0) into 1
3.926 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi2)) into 0.5
3.929 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5
3.929 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi2)))
3.930 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi2)))) into (- (* 0.5 (sin (* 0.5 phi2))))
3.930 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi2))))) into (- (* 0.5 (sin (* 0.5 phi2))))
3.930 * [backup-simplify]: Simplify (- 0) into 0
3.931 * [backup-simplify]: Simplify (+ 0 0) into 0
3.931 * [backup-simplify]: Simplify (+ (* (- lambda1 lambda2) (- (* 0.5 (sin (* 0.5 phi2))))) (* 0 (cos (* 0.5 phi2)))) into (- (* 0.5 (* lambda2 (sin (* 0.5 phi2)))) (* 0.5 (* lambda1 (sin (* 0.5 phi2)))))
3.932 * [backup-simplify]: Simplify (+ (* (* (- lambda1 lambda2) (cos (* 0.5 phi2))) (- (* 0.5 (* lambda2 (sin (* 0.5 phi2)))) (* 0.5 (* lambda1 (sin (* 0.5 phi2)))))) (* (- (* 0.5 (* lambda2 (sin (* 0.5 phi2)))) (* 0.5 (* lambda1 (sin (* 0.5 phi2))))) (* (- lambda1 lambda2) (cos (* 0.5 phi2))))) into (- (* 2.0 (* lambda2 (* lambda1 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))) (+ (* 1.0 (* (pow lambda2 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))) (* 1.0 (* (pow lambda1 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))))
3.933 * [backup-simplify]: Simplify (- 0) into 0
3.933 * [backup-simplify]: Simplify (+ 1 0) into 1
3.934 * [backup-simplify]: Simplify (- 0) into 0
3.934 * [backup-simplify]: Simplify (+ 1 0) into 1
3.934 * [backup-simplify]: Simplify (+ (* (- phi2) 1) (* 1 (- phi2))) into (- (* 2 phi2))
3.936 * [backup-simplify]: Simplify (+ (- (* 2.0 (* lambda2 (* lambda1 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))) (+ (* 1.0 (* (pow lambda2 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))) (* 1.0 (* (pow lambda1 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))))) (- (* 2 phi2))) into (- (* 2.0 (* lambda2 (* lambda1 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))) (+ (* 1.0 (* (pow lambda2 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))) (+ (* 1.0 (* (pow lambda1 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))) (* 2 phi2))))
3.938 * [backup-simplify]: Simplify (/ (- (* 2.0 (* lambda2 (* lambda1 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))) (+ (* 1.0 (* (pow lambda2 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))) (+ (* 1.0 (* (pow lambda1 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))) (* 2 phi2)))) (* 2 (sqrt (- (+ (pow phi2 2) (+ (* (pow lambda1 2) (pow (cos (* 0.5 phi2)) 2)) (* (pow lambda2 2) (pow (cos (* 0.5 phi2)) 2)))) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi2)) 2)))))))) into (* 1/2 (* (sqrt (/ 1 (- (+ (pow phi2 2) (+ (* (pow lambda1 2) (pow (cos (* 0.5 phi2)) 2)) (* (pow lambda2 2) (pow (cos (* 0.5 phi2)) 2)))) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi2)) 2))))))) (- (* 2.0 (* lambda2 (* lambda1 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))) (+ (* 1.0 (* (pow lambda2 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))) (+ (* 1.0 (* (pow lambda1 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))) (* 2 phi2))))))
3.938 * [taylor]: Taking taylor expansion of (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (- phi1 phi2)) in phi2
3.938 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2))))) (* (- phi1 phi2) (- phi1 phi2))))
3.939 * [taylor]: Taking taylor expansion of (+ (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2))))) (* (- phi1 phi2) (- phi1 phi2))) in phi2
3.939 * [taylor]: Taking taylor expansion of (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2))))) in phi2
3.939 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) in phi2
3.939 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in phi2
3.939 * [taylor]: Taking taylor expansion of lambda1 in phi2
3.939 * [backup-simplify]: Simplify lambda1 into lambda1
3.939 * [taylor]: Taking taylor expansion of lambda2 in phi2
3.939 * [backup-simplify]: Simplify lambda2 into lambda2
3.939 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in phi2
3.939 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in phi2
3.939 * [taylor]: Taking taylor expansion of 0.5 in phi2
3.939 * [backup-simplify]: Simplify 0.5 into 0.5
3.939 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in phi2
3.939 * [taylor]: Taking taylor expansion of phi1 in phi2
3.939 * [backup-simplify]: Simplify phi1 into phi1
3.939 * [taylor]: Taking taylor expansion of phi2 in phi2
3.939 * [backup-simplify]: Simplify 0 into 0
3.939 * [backup-simplify]: Simplify 1 into 1
3.939 * [backup-simplify]: Simplify (+ phi1 0) into phi1
3.939 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
3.939 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
3.939 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
3.939 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) in phi2
3.939 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in phi2
3.939 * [taylor]: Taking taylor expansion of lambda1 in phi2
3.939 * [backup-simplify]: Simplify lambda1 into lambda1
3.939 * [taylor]: Taking taylor expansion of lambda2 in phi2
3.939 * [backup-simplify]: Simplify lambda2 into lambda2
3.939 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in phi2
3.939 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in phi2
3.939 * [taylor]: Taking taylor expansion of 0.5 in phi2
3.939 * [backup-simplify]: Simplify 0.5 into 0.5
3.939 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in phi2
3.939 * [taylor]: Taking taylor expansion of phi1 in phi2
3.939 * [backup-simplify]: Simplify phi1 into phi1
3.939 * [taylor]: Taking taylor expansion of phi2 in phi2
3.939 * [backup-simplify]: Simplify 0 into 0
3.939 * [backup-simplify]: Simplify 1 into 1
3.939 * [backup-simplify]: Simplify (+ phi1 0) into phi1
3.939 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
3.939 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
3.939 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
3.939 * [taylor]: Taking taylor expansion of (* (- phi1 phi2) (- phi1 phi2)) in phi2
3.939 * [taylor]: Taking taylor expansion of (- phi1 phi2) in phi2
3.939 * [taylor]: Taking taylor expansion of phi1 in phi2
3.939 * [backup-simplify]: Simplify phi1 into phi1
3.939 * [taylor]: Taking taylor expansion of phi2 in phi2
3.939 * [backup-simplify]: Simplify 0 into 0
3.939 * [backup-simplify]: Simplify 1 into 1
3.939 * [taylor]: Taking taylor expansion of (- phi1 phi2) in phi2
3.940 * [taylor]: Taking taylor expansion of phi1 in phi2
3.940 * [backup-simplify]: Simplify phi1 into phi1
3.940 * [taylor]: Taking taylor expansion of phi2 in phi2
3.940 * [backup-simplify]: Simplify 0 into 0
3.940 * [backup-simplify]: Simplify 1 into 1
3.940 * [backup-simplify]: Simplify (- lambda2) into (- lambda2)
3.940 * [backup-simplify]: Simplify (+ lambda1 (- lambda2)) into (- lambda1 lambda2)
3.940 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
3.940 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
3.940 * [backup-simplify]: Simplify (- 0) into 0
3.940 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
3.940 * [backup-simplify]: Simplify (* (- lambda1 lambda2) (cos (* 0.5 phi1))) into (* (- lambda1 lambda2) (cos (* 0.5 phi1)))
3.940 * [backup-simplify]: Simplify (- lambda2) into (- lambda2)
3.940 * [backup-simplify]: Simplify (+ lambda1 (- lambda2)) into (- lambda1 lambda2)
3.940 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
3.940 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
3.941 * [backup-simplify]: Simplify (- 0) into 0
3.941 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
3.941 * [backup-simplify]: Simplify (* (- lambda1 lambda2) (cos (* 0.5 phi1))) into (* (- lambda1 lambda2) (cos (* 0.5 phi1)))
3.941 * [backup-simplify]: Simplify (* (* (- lambda1 lambda2) (cos (* 0.5 phi1))) (* (- lambda1 lambda2) (cos (* 0.5 phi1)))) into (* (pow (- lambda1 lambda2) 2) (pow (cos (* 0.5 phi1)) 2))
3.941 * [backup-simplify]: Simplify (- 0) into 0
3.941 * [backup-simplify]: Simplify (+ phi1 0) into phi1
3.942 * [backup-simplify]: Simplify (- 0) into 0
3.942 * [backup-simplify]: Simplify (+ phi1 0) into phi1
3.942 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
3.942 * [backup-simplify]: Simplify (+ (* (pow (- lambda1 lambda2) 2) (pow (cos (* 0.5 phi1)) 2)) (pow phi1 2)) into (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (+ (* (pow lambda2 2) (pow (cos (* 0.5 phi1)) 2)) (pow phi1 2))) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi1)) 2)))))
3.943 * [backup-simplify]: Simplify (sqrt (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (+ (* (pow lambda2 2) (pow (cos (* 0.5 phi1)) 2)) (pow phi1 2))) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi1)) 2)))))) into (sqrt (- (+ (* (pow lambda1 2) (pow (cos (* 0.5 phi1)) 2)) (+ (* (pow lambda2 2) (pow (cos (* 0.5 phi1)) 2)) (pow phi1 2))) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi1)) 2))))))
3.943 * [backup-simplify]: Simplify (+ 0) into 0
3.943 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0
3.944 * [backup-simplify]: Simplify (+ 0 1) into 1
3.944 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi1)) into 0.5
3.945 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5
3.946 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1)))
3.946 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1))))
3.946 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1))))
3.946 * [backup-simplify]: Simplify (- 0) into 0
3.946 * [backup-simplify]: Simplify (+ 0 0) into 0
3.946 * [backup-simplify]: Simplify (+ (* (- lambda1 lambda2) (- (* 0.5 (sin (* 0.5 phi1))))) (* 0 (cos (* 0.5 phi1)))) into (- (* 0.5 (* lambda2 (sin (* 0.5 phi1)))) (* 0.5 (* lambda1 (sin (* 0.5 phi1)))))
3.947 * [backup-simplify]: Simplify (+ 0) into 0
3.947 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0
3.947 * [backup-simplify]: Simplify (+ 0 1) into 1
3.948 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi1)) into 0.5
3.949 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5
3.949 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1)))
3.949 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1))))
3.949 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1))))
3.950 * [backup-simplify]: Simplify (- 0) into 0
3.950 * [backup-simplify]: Simplify (+ 0 0) into 0
3.950 * [backup-simplify]: Simplify (+ (* (- lambda1 lambda2) (- (* 0.5 (sin (* 0.5 phi1))))) (* 0 (cos (* 0.5 phi1)))) into (- (* 0.5 (* lambda2 (sin (* 0.5 phi1)))) (* 0.5 (* lambda1 (sin (* 0.5 phi1)))))
3.951 * [backup-simplify]: Simplify (+ (* (* (- lambda1 lambda2) (cos (* 0.5 phi1))) (- (* 0.5 (* lambda2 (sin (* 0.5 phi1)))) (* 0.5 (* lambda1 (sin (* 0.5 phi1)))))) (* (- (* 0.5 (* lambda2 (sin (* 0.5 phi1)))) (* 0.5 (* lambda1 (sin (* 0.5 phi1))))) (* (- lambda1 lambda2) (cos (* 0.5 phi1))))) into (- (+ (* 0.5 (* lambda1 (* lambda2 (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1)))))) (+ (* 0.5 (* lambda2 (* (cos (* 0.5 phi1)) (* lambda1 (sin (* 0.5 phi1)))))) (* 1.0 (* lambda2 (* (sin (* 0.5 phi1)) (* lambda1 (cos (* 0.5 phi1)))))))) (+ (* 0.5 (* (pow lambda2 2) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) (+ (* 0.5 (* (pow lambda2 2) (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1))))) (* 1.0 (* (sin (* 0.5 phi1)) (* (pow lambda1 2) (cos (* 0.5 phi1))))))))
3.951 * [backup-simplify]: Simplify (- 1) into -1
3.951 * [backup-simplify]: Simplify (+ 0 -1) into -1
3.951 * [backup-simplify]: Simplify (- 1) into -1
3.952 * [backup-simplify]: Simplify (+ 0 -1) into -1
3.952 * [backup-simplify]: Simplify (+ (* phi1 -1) (* -1 phi1)) into (- (* 2 phi1))
3.953 * [backup-simplify]: Simplify (+ (- (+ (* 0.5 (* lambda1 (* lambda2 (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1)))))) (+ (* 0.5 (* lambda2 (* (cos (* 0.5 phi1)) (* lambda1 (sin (* 0.5 phi1)))))) (* 1.0 (* lambda2 (* (sin (* 0.5 phi1)) (* lambda1 (cos (* 0.5 phi1)))))))) (+ (* 0.5 (* (pow lambda2 2) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) (+ (* 0.5 (* (pow lambda2 2) (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1))))) (* 1.0 (* (sin (* 0.5 phi1)) (* (pow lambda1 2) (cos (* 0.5 phi1)))))))) (- (* 2 phi1))) into (- (+ (* 1.5 (* lambda1 (* lambda2 (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1)))))) (* 0.5 (* lambda1 (* lambda2 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))) (+ (* 1.0 (* (pow lambda2 2) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (pow lambda1 2) (sin (* 0.5 phi1))))) (* 2 phi1))))
3.955 * [backup-simplify]: Simplify (/ (- (+ (* 1.5 (* lambda1 (* lambda2 (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1)))))) (* 0.5 (* lambda1 (* lambda2 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))) (+ (* 1.0 (* (pow lambda2 2) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (pow lambda1 2) (sin (* 0.5 phi1))))) (* 2 phi1)))) (* 2 (sqrt (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (+ (* (pow lambda2 2) (pow (cos (* 0.5 phi1)) 2)) (pow phi1 2))) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi1)) 2)))))))) into (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow lambda1 2) (pow (cos (* 0.5 phi1)) 2)) (+ (* (pow lambda2 2) (pow (cos (* 0.5 phi1)) 2)) (pow phi1 2))) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi1)) 2))))))) (- (+ (* 1.5 (* lambda1 (* lambda2 (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1)))))) (* 0.5 (* lambda1 (* lambda2 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))) (+ (* 2 phi1) (+ (* 1.0 (* (pow lambda2 2) (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1))))) (* 1.0 (* (cos (* 0.5 phi1)) (* (pow lambda1 2) (sin (* 0.5 phi1))))))))))
3.955 * [taylor]: Taking taylor expansion of (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (- phi1 phi2)) in lambda2
3.955 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2))))) (* (- phi1 phi2) (- phi1 phi2))))
3.956 * [taylor]: Taking taylor expansion of (+ (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2))))) (* (- phi1 phi2) (- phi1 phi2))) in lambda2
3.956 * [taylor]: Taking taylor expansion of (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2))))) in lambda2
3.956 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) in lambda2
3.956 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in lambda2
3.956 * [taylor]: Taking taylor expansion of lambda1 in lambda2
3.956 * [backup-simplify]: Simplify lambda1 into lambda1
3.956 * [taylor]: Taking taylor expansion of lambda2 in lambda2
3.956 * [backup-simplify]: Simplify 0 into 0
3.956 * [backup-simplify]: Simplify 1 into 1
3.956 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda2
3.956 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda2
3.956 * [taylor]: Taking taylor expansion of 0.5 in lambda2
3.956 * [backup-simplify]: Simplify 0.5 into 0.5
3.956 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda2
3.956 * [taylor]: Taking taylor expansion of phi1 in lambda2
3.956 * [backup-simplify]: Simplify phi1 into phi1
3.956 * [taylor]: Taking taylor expansion of phi2 in lambda2
3.956 * [backup-simplify]: Simplify phi2 into phi2
3.956 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2)
3.956 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2))
3.956 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2)))
3.956 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2)))
3.956 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) in lambda2
3.956 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in lambda2
3.956 * [taylor]: Taking taylor expansion of lambda1 in lambda2
3.956 * [backup-simplify]: Simplify lambda1 into lambda1
3.956 * [taylor]: Taking taylor expansion of lambda2 in lambda2
3.956 * [backup-simplify]: Simplify 0 into 0
3.956 * [backup-simplify]: Simplify 1 into 1
3.956 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda2
3.956 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda2
3.956 * [taylor]: Taking taylor expansion of 0.5 in lambda2
3.956 * [backup-simplify]: Simplify 0.5 into 0.5
3.956 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda2
3.956 * [taylor]: Taking taylor expansion of phi1 in lambda2
3.956 * [backup-simplify]: Simplify phi1 into phi1
3.956 * [taylor]: Taking taylor expansion of phi2 in lambda2
3.956 * [backup-simplify]: Simplify phi2 into phi2
3.956 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2)
3.956 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2))
3.956 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2)))
3.956 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2)))
3.957 * [taylor]: Taking taylor expansion of (* (- phi1 phi2) (- phi1 phi2)) in lambda2
3.957 * [taylor]: Taking taylor expansion of (- phi1 phi2) in lambda2
3.957 * [taylor]: Taking taylor expansion of phi1 in lambda2
3.957 * [backup-simplify]: Simplify phi1 into phi1
3.957 * [taylor]: Taking taylor expansion of phi2 in lambda2
3.957 * [backup-simplify]: Simplify phi2 into phi2
3.957 * [taylor]: Taking taylor expansion of (- phi1 phi2) in lambda2
3.957 * [taylor]: Taking taylor expansion of phi1 in lambda2
3.957 * [backup-simplify]: Simplify phi1 into phi1
3.957 * [taylor]: Taking taylor expansion of phi2 in lambda2
3.957 * [backup-simplify]: Simplify phi2 into phi2
3.957 * [backup-simplify]: Simplify (- 0) into 0
3.957 * [backup-simplify]: Simplify (+ lambda1 0) into lambda1
3.957 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2)))
3.957 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0
3.958 * [backup-simplify]: Simplify (- 0) into 0
3.958 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2)))
3.958 * [backup-simplify]: Simplify (* lambda1 (cos (* 0.5 (+ phi1 phi2)))) into (* lambda1 (cos (* 0.5 (+ phi1 phi2))))
3.958 * [backup-simplify]: Simplify (- 0) into 0
3.958 * [backup-simplify]: Simplify (+ lambda1 0) into lambda1
3.958 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2)))
3.958 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0
3.958 * [backup-simplify]: Simplify (- 0) into 0
3.959 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2)))
3.959 * [backup-simplify]: Simplify (* lambda1 (cos (* 0.5 (+ phi1 phi2)))) into (* lambda1 (cos (* 0.5 (+ phi1 phi2))))
3.959 * [backup-simplify]: Simplify (* (* lambda1 (cos (* 0.5 (+ phi1 phi2)))) (* lambda1 (cos (* 0.5 (+ phi1 phi2))))) into (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2))
3.959 * [backup-simplify]: Simplify (- phi2) into (- phi2)
3.959 * [backup-simplify]: Simplify (+ phi1 (- phi2)) into (- phi1 phi2)
3.959 * [backup-simplify]: Simplify (- phi2) into (- phi2)
3.959 * [backup-simplify]: Simplify (+ phi1 (- phi2)) into (- phi1 phi2)
3.959 * [backup-simplify]: Simplify (* (- phi1 phi2) (- phi1 phi2)) into (pow (- phi1 phi2) 2)
3.959 * [backup-simplify]: Simplify (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (pow (- phi1 phi2) 2)) into (- (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2))) (* 2 (* phi1 phi2)))
3.960 * [backup-simplify]: Simplify (sqrt (- (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2))) (* 2 (* phi1 phi2)))) into (sqrt (- (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2))) (* 2 (* phi1 phi2))))
3.960 * [backup-simplify]: Simplify (+ 0) into 0
3.961 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (* 0 1)) into 0
3.961 * [backup-simplify]: Simplify (+ 0 0) into 0
3.961 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi1 phi2))) into 0
3.962 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
3.962 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi1 phi2))) 0) (* 0 0)) into 0
3.962 * [backup-simplify]: Simplify (- 0) into 0
3.963 * [backup-simplify]: Simplify (+ 0 0) into 0
3.963 * [backup-simplify]: Simplify (- 1) into -1
3.963 * [backup-simplify]: Simplify (+ 0 -1) into -1
3.963 * [backup-simplify]: Simplify (+ (* lambda1 0) (* -1 (cos (* 0.5 (+ phi1 phi2))))) into (- (cos (* 0.5 (+ phi1 phi2))))
3.963 * [backup-simplify]: Simplify (+ 0) into 0
3.964 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (* 0 1)) into 0
3.964 * [backup-simplify]: Simplify (+ 0 0) into 0
3.968 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi1 phi2))) into 0
3.969 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
3.970 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi1 phi2))) 0) (* 0 0)) into 0
3.970 * [backup-simplify]: Simplify (- 0) into 0
3.971 * [backup-simplify]: Simplify (+ 0 0) into 0
3.971 * [backup-simplify]: Simplify (- 1) into -1
3.972 * [backup-simplify]: Simplify (+ 0 -1) into -1
3.972 * [backup-simplify]: Simplify (+ (* lambda1 0) (* -1 (cos (* 0.5 (+ phi1 phi2))))) into (- (cos (* 0.5 (+ phi1 phi2))))
3.973 * [backup-simplify]: Simplify (+ (* (* lambda1 (cos (* 0.5 (+ phi1 phi2)))) (- (cos (* 0.5 (+ phi1 phi2))))) (* (- (cos (* 0.5 (+ phi1 phi2)))) (* lambda1 (cos (* 0.5 (+ phi1 phi2)))))) into (- (* 2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))))
3.973 * [backup-simplify]: Simplify (- 0) into 0
3.973 * [backup-simplify]: Simplify (+ 0 0) into 0
3.974 * [backup-simplify]: Simplify (- 0) into 0
3.974 * [backup-simplify]: Simplify (+ 0 0) into 0
3.974 * [backup-simplify]: Simplify (+ (* (- phi1 phi2) 0) (* 0 (- phi1 phi2))) into 0
3.975 * [backup-simplify]: Simplify (+ (- (* 2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) 0) into (- (* 2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))))
3.976 * [backup-simplify]: Simplify (/ (- (* 2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (sqrt (- (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2))) (* 2 (* phi1 phi2)))))) into (* -1 (* (sqrt (/ 1 (- (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2))) (* 2 (* phi1 phi2))))) (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))))
3.976 * [taylor]: Taking taylor expansion of (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (- phi1 phi2)) in lambda1
3.976 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2))))) (* (- phi1 phi2) (- phi1 phi2))))
3.976 * [taylor]: Taking taylor expansion of (+ (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2))))) (* (- phi1 phi2) (- phi1 phi2))) in lambda1
3.976 * [taylor]: Taking taylor expansion of (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2))))) in lambda1
3.976 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) in lambda1
3.976 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in lambda1
3.976 * [taylor]: Taking taylor expansion of lambda1 in lambda1
3.976 * [backup-simplify]: Simplify 0 into 0
3.976 * [backup-simplify]: Simplify 1 into 1
3.977 * [taylor]: Taking taylor expansion of lambda2 in lambda1
3.977 * [backup-simplify]: Simplify lambda2 into lambda2
3.977 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda1
3.977 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda1
3.977 * [taylor]: Taking taylor expansion of 0.5 in lambda1
3.977 * [backup-simplify]: Simplify 0.5 into 0.5
3.977 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda1
3.977 * [taylor]: Taking taylor expansion of phi1 in lambda1
3.977 * [backup-simplify]: Simplify phi1 into phi1
3.977 * [taylor]: Taking taylor expansion of phi2 in lambda1
3.977 * [backup-simplify]: Simplify phi2 into phi2
3.977 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2)
3.977 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2))
3.977 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2)))
3.977 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2)))
3.977 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) in lambda1
3.977 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in lambda1
3.977 * [taylor]: Taking taylor expansion of lambda1 in lambda1
3.977 * [backup-simplify]: Simplify 0 into 0
3.977 * [backup-simplify]: Simplify 1 into 1
3.977 * [taylor]: Taking taylor expansion of lambda2 in lambda1
3.977 * [backup-simplify]: Simplify lambda2 into lambda2
3.977 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda1
3.977 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda1
3.977 * [taylor]: Taking taylor expansion of 0.5 in lambda1
3.977 * [backup-simplify]: Simplify 0.5 into 0.5
3.977 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda1
3.977 * [taylor]: Taking taylor expansion of phi1 in lambda1
3.977 * [backup-simplify]: Simplify phi1 into phi1
3.977 * [taylor]: Taking taylor expansion of phi2 in lambda1
3.977 * [backup-simplify]: Simplify phi2 into phi2
3.978 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2)
3.978 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2))
3.978 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2)))
3.978 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2)))
3.978 * [taylor]: Taking taylor expansion of (* (- phi1 phi2) (- phi1 phi2)) in lambda1
3.978 * [taylor]: Taking taylor expansion of (- phi1 phi2) in lambda1
3.978 * [taylor]: Taking taylor expansion of phi1 in lambda1
3.978 * [backup-simplify]: Simplify phi1 into phi1
3.978 * [taylor]: Taking taylor expansion of phi2 in lambda1
3.978 * [backup-simplify]: Simplify phi2 into phi2
3.978 * [taylor]: Taking taylor expansion of (- phi1 phi2) in lambda1
3.978 * [taylor]: Taking taylor expansion of phi1 in lambda1
3.978 * [backup-simplify]: Simplify phi1 into phi1
3.978 * [taylor]: Taking taylor expansion of phi2 in lambda1
3.978 * [backup-simplify]: Simplify phi2 into phi2
3.978 * [backup-simplify]: Simplify (- lambda2) into (- lambda2)
3.978 * [backup-simplify]: Simplify (+ 0 (- lambda2)) into (- lambda2)
3.978 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2)))
3.978 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0
3.978 * [backup-simplify]: Simplify (- 0) into 0
3.979 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2)))
3.979 * [backup-simplify]: Simplify (* (- lambda2) (cos (* 0.5 (+ phi1 phi2)))) into (* -1 (* lambda2 (cos (* 0.5 (+ phi1 phi2)))))
3.979 * [backup-simplify]: Simplify (- lambda2) into (- lambda2)
3.979 * [backup-simplify]: Simplify (+ 0 (- lambda2)) into (- lambda2)
3.979 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2)))
3.979 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0
3.979 * [backup-simplify]: Simplify (- 0) into 0
3.979 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2)))
3.979 * [backup-simplify]: Simplify (* (- lambda2) (cos (* 0.5 (+ phi1 phi2)))) into (* -1 (* lambda2 (cos (* 0.5 (+ phi1 phi2)))))
3.979 * [backup-simplify]: Simplify (* (* -1 (* lambda2 (cos (* 0.5 (+ phi1 phi2))))) (* -1 (* lambda2 (cos (* 0.5 (+ phi1 phi2)))))) into (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2))
3.980 * [backup-simplify]: Simplify (- phi2) into (- phi2)
3.980 * [backup-simplify]: Simplify (+ phi1 (- phi2)) into (- phi1 phi2)
3.980 * [backup-simplify]: Simplify (- phi2) into (- phi2)
3.980 * [backup-simplify]: Simplify (+ phi1 (- phi2)) into (- phi1 phi2)
3.980 * [backup-simplify]: Simplify (* (- phi1 phi2) (- phi1 phi2)) into (pow (- phi1 phi2) 2)
3.980 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (pow (- phi1 phi2) 2)) into (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2)))
3.981 * [backup-simplify]: Simplify (sqrt (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2)))) into (sqrt (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2))))
3.981 * [backup-simplify]: Simplify (+ 0) into 0
3.981 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (* 0 1)) into 0
3.981 * [backup-simplify]: Simplify (+ 0 0) into 0
3.982 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi1 phi2))) into 0
3.982 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
3.983 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi1 phi2))) 0) (* 0 0)) into 0
3.983 * [backup-simplify]: Simplify (- 0) into 0
3.983 * [backup-simplify]: Simplify (+ 0 0) into 0
3.983 * [backup-simplify]: Simplify (- 0) into 0
3.984 * [backup-simplify]: Simplify (+ 1 0) into 1
3.984 * [backup-simplify]: Simplify (+ (* (- lambda2) 0) (* 1 (cos (* 0.5 (+ phi1 phi2))))) into (cos (* 0.5 (+ phi1 phi2)))
3.984 * [backup-simplify]: Simplify (+ 0) into 0
3.984 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (* 0 1)) into 0
3.984 * [backup-simplify]: Simplify (+ 0 0) into 0
3.985 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi1 phi2))) into 0
3.985 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
3.986 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi1 phi2))) 0) (* 0 0)) into 0
3.986 * [backup-simplify]: Simplify (- 0) into 0
3.986 * [backup-simplify]: Simplify (+ 0 0) into 0
3.986 * [backup-simplify]: Simplify (- 0) into 0
3.986 * [backup-simplify]: Simplify (+ 1 0) into 1
3.987 * [backup-simplify]: Simplify (+ (* (- lambda2) 0) (* 1 (cos (* 0.5 (+ phi1 phi2))))) into (cos (* 0.5 (+ phi1 phi2)))
3.987 * [backup-simplify]: Simplify (+ (* (* -1 (* lambda2 (cos (* 0.5 (+ phi1 phi2))))) (cos (* 0.5 (+ phi1 phi2)))) (* (cos (* 0.5 (+ phi1 phi2))) (* -1 (* lambda2 (cos (* 0.5 (+ phi1 phi2))))))) into (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2))))
3.987 * [backup-simplify]: Simplify (- 0) into 0
3.987 * [backup-simplify]: Simplify (+ 0 0) into 0
3.988 * [backup-simplify]: Simplify (- 0) into 0
3.988 * [backup-simplify]: Simplify (+ 0 0) into 0
3.988 * [backup-simplify]: Simplify (+ (* (- phi1 phi2) 0) (* 0 (- phi1 phi2))) into 0
3.988 * [backup-simplify]: Simplify (+ (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) 0) into (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2))))
3.989 * [backup-simplify]: Simplify (/ (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (sqrt (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2)))))) into (* -1 (* (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (sqrt (/ 1 (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2)))))))
3.989 * [taylor]: Taking taylor expansion of (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (- phi1 phi2)) in lambda1
3.989 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2))))) (* (- phi1 phi2) (- phi1 phi2))))
3.989 * [taylor]: Taking taylor expansion of (+ (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2))))) (* (- phi1 phi2) (- phi1 phi2))) in lambda1
3.989 * [taylor]: Taking taylor expansion of (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2))))) in lambda1
3.989 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) in lambda1
3.989 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in lambda1
3.989 * [taylor]: Taking taylor expansion of lambda1 in lambda1
3.989 * [backup-simplify]: Simplify 0 into 0
3.989 * [backup-simplify]: Simplify 1 into 1
3.989 * [taylor]: Taking taylor expansion of lambda2 in lambda1
3.989 * [backup-simplify]: Simplify lambda2 into lambda2
3.989 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda1
3.989 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda1
3.989 * [taylor]: Taking taylor expansion of 0.5 in lambda1
3.989 * [backup-simplify]: Simplify 0.5 into 0.5
3.989 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda1
3.989 * [taylor]: Taking taylor expansion of phi1 in lambda1
3.989 * [backup-simplify]: Simplify phi1 into phi1
3.989 * [taylor]: Taking taylor expansion of phi2 in lambda1
3.990 * [backup-simplify]: Simplify phi2 into phi2
3.990 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2)
3.990 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2))
3.990 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2)))
3.990 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2)))
3.990 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) in lambda1
3.990 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in lambda1
3.990 * [taylor]: Taking taylor expansion of lambda1 in lambda1
3.990 * [backup-simplify]: Simplify 0 into 0
3.990 * [backup-simplify]: Simplify 1 into 1
3.990 * [taylor]: Taking taylor expansion of lambda2 in lambda1
3.990 * [backup-simplify]: Simplify lambda2 into lambda2
3.990 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda1
3.990 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda1
3.990 * [taylor]: Taking taylor expansion of 0.5 in lambda1
3.990 * [backup-simplify]: Simplify 0.5 into 0.5
3.990 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda1
3.990 * [taylor]: Taking taylor expansion of phi1 in lambda1
3.990 * [backup-simplify]: Simplify phi1 into phi1
3.990 * [taylor]: Taking taylor expansion of phi2 in lambda1
3.990 * [backup-simplify]: Simplify phi2 into phi2
3.990 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2)
3.990 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2))
3.990 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2)))
3.990 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2)))
3.990 * [taylor]: Taking taylor expansion of (* (- phi1 phi2) (- phi1 phi2)) in lambda1
3.990 * [taylor]: Taking taylor expansion of (- phi1 phi2) in lambda1
3.990 * [taylor]: Taking taylor expansion of phi1 in lambda1
3.990 * [backup-simplify]: Simplify phi1 into phi1
3.990 * [taylor]: Taking taylor expansion of phi2 in lambda1
3.990 * [backup-simplify]: Simplify phi2 into phi2
3.990 * [taylor]: Taking taylor expansion of (- phi1 phi2) in lambda1
3.990 * [taylor]: Taking taylor expansion of phi1 in lambda1
3.990 * [backup-simplify]: Simplify phi1 into phi1
3.990 * [taylor]: Taking taylor expansion of phi2 in lambda1
3.990 * [backup-simplify]: Simplify phi2 into phi2
3.990 * [backup-simplify]: Simplify (- lambda2) into (- lambda2)
3.990 * [backup-simplify]: Simplify (+ 0 (- lambda2)) into (- lambda2)
3.991 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2)))
3.991 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0
3.991 * [backup-simplify]: Simplify (- 0) into 0
3.991 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2)))
3.991 * [backup-simplify]: Simplify (* (- lambda2) (cos (* 0.5 (+ phi1 phi2)))) into (* -1 (* lambda2 (cos (* 0.5 (+ phi1 phi2)))))
3.991 * [backup-simplify]: Simplify (- lambda2) into (- lambda2)
3.991 * [backup-simplify]: Simplify (+ 0 (- lambda2)) into (- lambda2)
3.991 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2)))
3.991 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0
3.992 * [backup-simplify]: Simplify (- 0) into 0
3.992 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2)))
3.992 * [backup-simplify]: Simplify (* (- lambda2) (cos (* 0.5 (+ phi1 phi2)))) into (* -1 (* lambda2 (cos (* 0.5 (+ phi1 phi2)))))
3.992 * [backup-simplify]: Simplify (* (* -1 (* lambda2 (cos (* 0.5 (+ phi1 phi2))))) (* -1 (* lambda2 (cos (* 0.5 (+ phi1 phi2)))))) into (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2))
3.992 * [backup-simplify]: Simplify (- phi2) into (- phi2)
3.992 * [backup-simplify]: Simplify (+ phi1 (- phi2)) into (- phi1 phi2)
3.992 * [backup-simplify]: Simplify (- phi2) into (- phi2)
3.992 * [backup-simplify]: Simplify (+ phi1 (- phi2)) into (- phi1 phi2)
3.992 * [backup-simplify]: Simplify (* (- phi1 phi2) (- phi1 phi2)) into (pow (- phi1 phi2) 2)
3.992 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (pow (- phi1 phi2) 2)) into (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2)))
3.993 * [backup-simplify]: Simplify (sqrt (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2)))) into (sqrt (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2))))
3.993 * [backup-simplify]: Simplify (+ 0) into 0
3.994 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (* 0 1)) into 0
3.994 * [backup-simplify]: Simplify (+ 0 0) into 0
3.994 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi1 phi2))) into 0
3.995 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
3.995 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi1 phi2))) 0) (* 0 0)) into 0
3.995 * [backup-simplify]: Simplify (- 0) into 0
3.995 * [backup-simplify]: Simplify (+ 0 0) into 0
3.996 * [backup-simplify]: Simplify (- 0) into 0
3.996 * [backup-simplify]: Simplify (+ 1 0) into 1
3.996 * [backup-simplify]: Simplify (+ (* (- lambda2) 0) (* 1 (cos (* 0.5 (+ phi1 phi2))))) into (cos (* 0.5 (+ phi1 phi2)))
3.997 * [backup-simplify]: Simplify (+ 0) into 0
3.997 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (* 0 1)) into 0
3.997 * [backup-simplify]: Simplify (+ 0 0) into 0
3.997 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi1 phi2))) into 0
3.998 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
3.998 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi1 phi2))) 0) (* 0 0)) into 0
3.998 * [backup-simplify]: Simplify (- 0) into 0
3.999 * [backup-simplify]: Simplify (+ 0 0) into 0
3.999 * [backup-simplify]: Simplify (- 0) into 0
3.999 * [backup-simplify]: Simplify (+ 1 0) into 1
3.999 * [backup-simplify]: Simplify (+ (* (- lambda2) 0) (* 1 (cos (* 0.5 (+ phi1 phi2))))) into (cos (* 0.5 (+ phi1 phi2)))
4.000 * [backup-simplify]: Simplify (+ (* (* -1 (* lambda2 (cos (* 0.5 (+ phi1 phi2))))) (cos (* 0.5 (+ phi1 phi2)))) (* (cos (* 0.5 (+ phi1 phi2))) (* -1 (* lambda2 (cos (* 0.5 (+ phi1 phi2))))))) into (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2))))
4.000 * [backup-simplify]: Simplify (- 0) into 0
4.000 * [backup-simplify]: Simplify (+ 0 0) into 0
4.000 * [backup-simplify]: Simplify (- 0) into 0
4.001 * [backup-simplify]: Simplify (+ 0 0) into 0
4.001 * [backup-simplify]: Simplify (+ (* (- phi1 phi2) 0) (* 0 (- phi1 phi2))) into 0
4.001 * [backup-simplify]: Simplify (+ (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) 0) into (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2))))
4.002 * [backup-simplify]: Simplify (/ (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (sqrt (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2)))))) into (* -1 (* (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (sqrt (/ 1 (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2)))))))
4.002 * [taylor]: Taking taylor expansion of (sqrt (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2)))) in lambda2
4.002 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2))) in lambda2
4.002 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) in lambda2
4.002 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2
4.002 * [taylor]: Taking taylor expansion of phi2 in lambda2
4.002 * [backup-simplify]: Simplify phi2 into phi2
4.002 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2))) in lambda2
4.002 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2
4.002 * [taylor]: Taking taylor expansion of phi1 in lambda2
4.002 * [backup-simplify]: Simplify phi1 into phi1
4.002 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in lambda2
4.002 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
4.002 * [taylor]: Taking taylor expansion of lambda2 in lambda2
4.002 * [backup-simplify]: Simplify 0 into 0
4.002 * [backup-simplify]: Simplify 1 into 1
4.002 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in lambda2
4.002 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda2
4.002 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda2
4.002 * [taylor]: Taking taylor expansion of 0.5 in lambda2
4.002 * [backup-simplify]: Simplify 0.5 into 0.5
4.002 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda2
4.002 * [taylor]: Taking taylor expansion of phi1 in lambda2
4.002 * [backup-simplify]: Simplify phi1 into phi1
4.002 * [taylor]: Taking taylor expansion of phi2 in lambda2
4.002 * [backup-simplify]: Simplify phi2 into phi2
4.002 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2)
4.002 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2))
4.002 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2)))
4.002 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2)))
4.003 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2)))
4.003 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0
4.003 * [backup-simplify]: Simplify (- 0) into 0
4.003 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2)))
4.003 * [taylor]: Taking taylor expansion of (* 2 (* phi1 phi2)) in lambda2
4.003 * [taylor]: Taking taylor expansion of 2 in lambda2
4.003 * [backup-simplify]: Simplify 2 into 2
4.003 * [taylor]: Taking taylor expansion of (* phi1 phi2) in lambda2
4.003 * [taylor]: Taking taylor expansion of phi1 in lambda2
4.003 * [backup-simplify]: Simplify phi1 into phi1
4.003 * [taylor]: Taking taylor expansion of phi2 in lambda2
4.003 * [backup-simplify]: Simplify phi2 into phi2
4.003 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
4.003 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
4.003 * [backup-simplify]: Simplify (+ (pow phi1 2) 0) into (pow phi1 2)
4.003 * [backup-simplify]: Simplify (+ (pow phi2 2) (pow phi1 2)) into (+ (pow phi2 2) (pow phi1 2))
4.004 * [backup-simplify]: Simplify (* phi1 phi2) into (* phi1 phi2)
4.004 * [backup-simplify]: Simplify (* 2 (* phi1 phi2)) into (* 2 (* phi1 phi2))
4.004 * [backup-simplify]: Simplify (- (* 2 (* phi1 phi2))) into (- (* 2 (* phi1 phi2)))
4.004 * [backup-simplify]: Simplify (+ (+ (pow phi2 2) (pow phi1 2)) (- (* 2 (* phi1 phi2)))) into (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))
4.004 * [backup-simplify]: Simplify (sqrt (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))) into (sqrt (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))
4.004 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0
4.004 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0
4.004 * [backup-simplify]: Simplify (+ 0 0) into 0
4.005 * [backup-simplify]: Simplify (+ 0 0) into 0
4.005 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi2)) into 0
4.005 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi1 phi2))) into 0
4.005 * [backup-simplify]: Simplify (- 0) into 0
4.006 * [backup-simplify]: Simplify (+ 0 0) into 0
4.006 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))))) into 0
4.006 * [taylor]: Taking taylor expansion of (sqrt (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))) in phi2
4.006 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))) in phi2
4.006 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (pow phi1 2)) in phi2
4.006 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2
4.006 * [taylor]: Taking taylor expansion of phi2 in phi2
4.006 * [backup-simplify]: Simplify 0 into 0
4.006 * [backup-simplify]: Simplify 1 into 1
4.006 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2
4.006 * [taylor]: Taking taylor expansion of phi1 in phi2
4.007 * [backup-simplify]: Simplify phi1 into phi1
4.007 * [taylor]: Taking taylor expansion of (* 2 (* phi1 phi2)) in phi2
4.007 * [taylor]: Taking taylor expansion of 2 in phi2
4.007 * [backup-simplify]: Simplify 2 into 2
4.007 * [taylor]: Taking taylor expansion of (* phi1 phi2) in phi2
4.007 * [taylor]: Taking taylor expansion of phi1 in phi2
4.007 * [backup-simplify]: Simplify phi1 into phi1
4.007 * [taylor]: Taking taylor expansion of phi2 in phi2
4.007 * [backup-simplify]: Simplify 0 into 0
4.007 * [backup-simplify]: Simplify 1 into 1
4.007 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
4.007 * [backup-simplify]: Simplify (+ 0 (pow phi1 2)) into (pow phi1 2)
4.007 * [backup-simplify]: Simplify (* phi1 0) into 0
4.008 * [backup-simplify]: Simplify (* 2 0) into 0
4.008 * [backup-simplify]: Simplify (- 0) into 0
4.008 * [backup-simplify]: Simplify (+ (pow phi1 2) 0) into (pow phi1 2)
4.008 * [backup-simplify]: Simplify (sqrt (pow phi1 2)) into phi1
4.008 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0
4.009 * [backup-simplify]: Simplify (+ 0 0) into 0
4.009 * [backup-simplify]: Simplify (+ (* phi1 1) (* 0 0)) into phi1
4.010 * [backup-simplify]: Simplify (+ (* 2 phi1) (* 0 0)) into (* 2 phi1)
4.010 * [backup-simplify]: Simplify (- (* 2 phi1)) into (- (* 2 phi1))
4.010 * [backup-simplify]: Simplify (+ 0 (- (* 2 phi1))) into (- (* 2 phi1))
4.010 * [backup-simplify]: Simplify (/ (- (* 2 phi1)) (* 2 (sqrt (pow phi1 2)))) into -1
4.010 * [taylor]: Taking taylor expansion of phi1 in phi1
4.010 * [backup-simplify]: Simplify 0 into 0
4.010 * [backup-simplify]: Simplify 1 into 1
4.010 * [backup-simplify]: Simplify 0 into 0
4.010 * [taylor]: Taking taylor expansion of (* -1 (* (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (sqrt (/ 1 (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2))))))) in lambda2
4.010 * [taylor]: Taking taylor expansion of -1 in lambda2
4.010 * [backup-simplify]: Simplify -1 into -1
4.010 * [taylor]: Taking taylor expansion of (* (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (sqrt (/ 1 (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2)))))) in lambda2
4.010 * [taylor]: Taking taylor expansion of (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in lambda2
4.010 * [taylor]: Taking taylor expansion of lambda2 in lambda2
4.011 * [backup-simplify]: Simplify 0 into 0
4.011 * [backup-simplify]: Simplify 1 into 1
4.011 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in lambda2
4.011 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda2
4.011 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda2
4.011 * [taylor]: Taking taylor expansion of 0.5 in lambda2
4.011 * [backup-simplify]: Simplify 0.5 into 0.5
4.011 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda2
4.011 * [taylor]: Taking taylor expansion of phi1 in lambda2
4.011 * [backup-simplify]: Simplify phi1 into phi1
4.011 * [taylor]: Taking taylor expansion of phi2 in lambda2
4.011 * [backup-simplify]: Simplify phi2 into phi2
4.011 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2)
4.011 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2))
4.011 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2)))
4.012 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2)))
4.012 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2)))
4.012 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0
4.012 * [backup-simplify]: Simplify (- 0) into 0
4.012 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2)))
4.013 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2))))) in lambda2
4.013 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2)))) in lambda2
4.013 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2))) in lambda2
4.013 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) in lambda2
4.013 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2
4.013 * [taylor]: Taking taylor expansion of phi2 in lambda2
4.013 * [backup-simplify]: Simplify phi2 into phi2
4.013 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2))) in lambda2
4.013 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2
4.013 * [taylor]: Taking taylor expansion of phi1 in lambda2
4.013 * [backup-simplify]: Simplify phi1 into phi1
4.013 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in lambda2
4.013 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
4.013 * [taylor]: Taking taylor expansion of lambda2 in lambda2
4.013 * [backup-simplify]: Simplify 0 into 0
4.013 * [backup-simplify]: Simplify 1 into 1
4.013 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in lambda2
4.013 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda2
4.013 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda2
4.013 * [taylor]: Taking taylor expansion of 0.5 in lambda2
4.013 * [backup-simplify]: Simplify 0.5 into 0.5
4.013 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda2
4.013 * [taylor]: Taking taylor expansion of phi1 in lambda2
4.013 * [backup-simplify]: Simplify phi1 into phi1
4.013 * [taylor]: Taking taylor expansion of phi2 in lambda2
4.013 * [backup-simplify]: Simplify phi2 into phi2
4.013 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2)
4.014 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2))
4.014 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2)))
4.014 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2)))
4.014 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2)))
4.014 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0
4.015 * [backup-simplify]: Simplify (- 0) into 0
4.015 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2)))
4.015 * [taylor]: Taking taylor expansion of (* 2 (* phi1 phi2)) in lambda2
4.015 * [taylor]: Taking taylor expansion of 2 in lambda2
4.015 * [backup-simplify]: Simplify 2 into 2
4.015 * [taylor]: Taking taylor expansion of (* phi1 phi2) in lambda2
4.015 * [taylor]: Taking taylor expansion of phi1 in lambda2
4.015 * [backup-simplify]: Simplify phi1 into phi1
4.015 * [taylor]: Taking taylor expansion of phi2 in lambda2
4.015 * [backup-simplify]: Simplify phi2 into phi2
4.015 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
4.015 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
4.015 * [backup-simplify]: Simplify (+ (pow phi1 2) 0) into (pow phi1 2)
4.016 * [backup-simplify]: Simplify (+ (pow phi2 2) (pow phi1 2)) into (+ (pow phi2 2) (pow phi1 2))
4.016 * [backup-simplify]: Simplify (* phi1 phi2) into (* phi1 phi2)
4.016 * [backup-simplify]: Simplify (* 2 (* phi1 phi2)) into (* 2 (* phi1 phi2))
4.016 * [backup-simplify]: Simplify (- (* 2 (* phi1 phi2))) into (- (* 2 (* phi1 phi2)))
4.016 * [backup-simplify]: Simplify (+ (+ (pow phi2 2) (pow phi1 2)) (- (* 2 (* phi1 phi2)))) into (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))
4.017 * [backup-simplify]: Simplify (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))) into (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))
4.017 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) into (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))))
4.017 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0
4.017 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0
4.018 * [backup-simplify]: Simplify (+ 0 0) into 0
4.018 * [backup-simplify]: Simplify (+ 0 0) into 0
4.018 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi2)) into 0
4.019 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi1 phi2))) into 0
4.019 * [backup-simplify]: Simplify (- 0) into 0
4.020 * [backup-simplify]: Simplify (+ 0 0) into 0
4.021 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))) (/ 0 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))))) into 0
4.021 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))))) into 0
4.021 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) (cos (* 0.5 (+ phi1 phi2)))) into (pow (cos (* 0.5 (+ phi1 phi2))) 2)
4.022 * [backup-simplify]: Simplify (* 0 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) into 0
4.022 * [backup-simplify]: Simplify (* 0 (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))))) into 0
4.023 * [backup-simplify]: Simplify (* -1 0) into 0
4.023 * [taylor]: Taking taylor expansion of 0 in phi2
4.023 * [backup-simplify]: Simplify 0 into 0
4.023 * [taylor]: Taking taylor expansion of 0 in phi1
4.023 * [backup-simplify]: Simplify 0 into 0
4.023 * [backup-simplify]: Simplify 0 into 0
4.023 * [taylor]: Taking taylor expansion of 0 in phi2
4.023 * [backup-simplify]: Simplify 0 into 0
4.023 * [taylor]: Taking taylor expansion of 0 in phi1
4.023 * [backup-simplify]: Simplify 0 into 0
4.023 * [backup-simplify]: Simplify 0 into 0
4.023 * [taylor]: Taking taylor expansion of -1 in phi1
4.023 * [backup-simplify]: Simplify -1 into -1
4.023 * [backup-simplify]: Simplify -1 into -1
4.023 * [backup-simplify]: Simplify 1 into 1
4.024 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
4.025 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (+ (* 0 0) (* 0 1))) into 0
4.026 * [backup-simplify]: Simplify (+ 0 0) into 0
4.026 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ phi1 phi2)))) into 0
4.027 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
4.028 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi1 phi2))) 0) (+ (* 0 0) (* 0 0))) into 0
4.028 * [backup-simplify]: Simplify (- 0) into 0
4.029 * [backup-simplify]: Simplify (+ 0 0) into 0
4.029 * [backup-simplify]: Simplify (- 0) into 0
4.029 * [backup-simplify]: Simplify (+ 0 0) into 0
4.030 * [backup-simplify]: Simplify (+ (* (- lambda2) 0) (+ (* 1 0) (* 0 (cos (* 0.5 (+ phi1 phi2)))))) into 0
4.030 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
4.031 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (+ (* 0 0) (* 0 1))) into 0
4.031 * [backup-simplify]: Simplify (+ 0 0) into 0
4.032 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ phi1 phi2)))) into 0
4.032 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
4.032 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi1 phi2))) 0) (+ (* 0 0) (* 0 0))) into 0
4.033 * [backup-simplify]: Simplify (- 0) into 0
4.033 * [backup-simplify]: Simplify (+ 0 0) into 0
4.033 * [backup-simplify]: Simplify (- 0) into 0
4.033 * [backup-simplify]: Simplify (+ 0 0) into 0
4.034 * [backup-simplify]: Simplify (+ (* (- lambda2) 0) (+ (* 1 0) (* 0 (cos (* 0.5 (+ phi1 phi2)))))) into 0
4.034 * [backup-simplify]: Simplify (+ (* (* -1 (* lambda2 (cos (* 0.5 (+ phi1 phi2))))) 0) (+ (* (cos (* 0.5 (+ phi1 phi2))) (cos (* 0.5 (+ phi1 phi2)))) (* 0 (* -1 (* lambda2 (cos (* 0.5 (+ phi1 phi2)))))))) into (pow (cos (* 0.5 (+ phi1 phi2))) 2)
4.034 * [backup-simplify]: Simplify (- 0) into 0
4.034 * [backup-simplify]: Simplify (+ 0 0) into 0
4.035 * [backup-simplify]: Simplify (- 0) into 0
4.035 * [backup-simplify]: Simplify (+ 0 0) into 0
4.035 * [backup-simplify]: Simplify (+ (* (- phi1 phi2) 0) (+ (* 0 0) (* 0 (- phi1 phi2)))) into 0
4.035 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ phi1 phi2))) 2) 0) into (pow (cos (* 0.5 (+ phi1 phi2))) 2)
4.037 * [backup-simplify]: Simplify (/ (- (pow (cos (* 0.5 (+ phi1 phi2))) 2) (pow (* -1 (* (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (sqrt (/ 1 (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2))))))) 2) (+)) (* 2 (sqrt (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2)))))) into (* 1/2 (* (- (pow (cos (* 0.5 (+ phi1 phi2))) 2) (/ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 4)) (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2))))) (sqrt (/ 1 (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2)))))))
4.037 * [taylor]: Taking taylor expansion of (* 1/2 (* (- (pow (cos (* 0.5 (+ phi1 phi2))) 2) (/ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 4)) (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2))))) (sqrt (/ 1 (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2))))))) in lambda2
4.037 * [taylor]: Taking taylor expansion of 1/2 in lambda2
4.037 * [backup-simplify]: Simplify 1/2 into 1/2
4.037 * [taylor]: Taking taylor expansion of (* (- (pow (cos (* 0.5 (+ phi1 phi2))) 2) (/ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 4)) (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2))))) (sqrt (/ 1 (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2)))))) in lambda2
4.037 * [taylor]: Taking taylor expansion of (- (pow (cos (* 0.5 (+ phi1 phi2))) 2) (/ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 4)) (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2))))) in lambda2
4.038 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in lambda2
4.038 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda2
4.038 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda2
4.038 * [taylor]: Taking taylor expansion of 0.5 in lambda2
4.038 * [backup-simplify]: Simplify 0.5 into 0.5
4.038 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda2
4.038 * [taylor]: Taking taylor expansion of phi1 in lambda2
4.038 * [backup-simplify]: Simplify phi1 into phi1
4.038 * [taylor]: Taking taylor expansion of phi2 in lambda2
4.038 * [backup-simplify]: Simplify phi2 into phi2
4.038 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2)
4.038 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2))
4.038 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2)))
4.038 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2)))
4.038 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2)))
4.038 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0
4.038 * [backup-simplify]: Simplify (- 0) into 0
4.038 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2)))
4.038 * [taylor]: Taking taylor expansion of (/ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 4)) (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2)))) in lambda2
4.038 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 4)) in lambda2
4.038 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
4.038 * [taylor]: Taking taylor expansion of lambda2 in lambda2
4.038 * [backup-simplify]: Simplify 0 into 0
4.039 * [backup-simplify]: Simplify 1 into 1
4.039 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 4) in lambda2
4.039 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda2
4.039 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda2
4.039 * [taylor]: Taking taylor expansion of 0.5 in lambda2
4.039 * [backup-simplify]: Simplify 0.5 into 0.5
4.039 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda2
4.039 * [taylor]: Taking taylor expansion of phi1 in lambda2
4.039 * [backup-simplify]: Simplify phi1 into phi1
4.039 * [taylor]: Taking taylor expansion of phi2 in lambda2
4.039 * [backup-simplify]: Simplify phi2 into phi2
4.039 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2)
4.039 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2))
4.039 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2)))
4.039 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2)))
4.039 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2)))
4.039 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0
4.039 * [backup-simplify]: Simplify (- 0) into 0
4.039 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2)))
4.039 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2))) in lambda2
4.039 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) in lambda2
4.039 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2
4.039 * [taylor]: Taking taylor expansion of phi2 in lambda2
4.039 * [backup-simplify]: Simplify phi2 into phi2
4.039 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2))) in lambda2
4.040 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2
4.040 * [taylor]: Taking taylor expansion of phi1 in lambda2
4.040 * [backup-simplify]: Simplify phi1 into phi1
4.040 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in lambda2
4.040 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
4.040 * [taylor]: Taking taylor expansion of lambda2 in lambda2
4.040 * [backup-simplify]: Simplify 0 into 0
4.040 * [backup-simplify]: Simplify 1 into 1
4.040 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in lambda2
4.040 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda2
4.040 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda2
4.040 * [taylor]: Taking taylor expansion of 0.5 in lambda2
4.040 * [backup-simplify]: Simplify 0.5 into 0.5
4.040 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda2
4.040 * [taylor]: Taking taylor expansion of phi1 in lambda2
4.040 * [backup-simplify]: Simplify phi1 into phi1
4.040 * [taylor]: Taking taylor expansion of phi2 in lambda2
4.040 * [backup-simplify]: Simplify phi2 into phi2
4.040 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2)
4.040 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2))
4.040 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2)))
4.040 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2)))
4.040 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2)))
4.040 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0
4.040 * [backup-simplify]: Simplify (- 0) into 0
4.040 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2)))
4.040 * [taylor]: Taking taylor expansion of (* 2 (* phi1 phi2)) in lambda2
4.041 * [taylor]: Taking taylor expansion of 2 in lambda2
4.041 * [backup-simplify]: Simplify 2 into 2
4.041 * [taylor]: Taking taylor expansion of (* phi1 phi2) in lambda2
4.041 * [taylor]: Taking taylor expansion of phi1 in lambda2
4.041 * [backup-simplify]: Simplify phi1 into phi1
4.041 * [taylor]: Taking taylor expansion of phi2 in lambda2
4.041 * [backup-simplify]: Simplify phi2 into phi2
4.041 * [backup-simplify]: Simplify (* 1 1) into 1
4.041 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) (cos (* 0.5 (+ phi1 phi2)))) into (pow (cos (* 0.5 (+ phi1 phi2))) 2)
4.041 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 (+ phi1 phi2))) 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) into (pow (cos (* 0.5 (+ phi1 phi2))) 4)
4.041 * [backup-simplify]: Simplify (* 1 (pow (cos (* 0.5 (+ phi1 phi2))) 4)) into (pow (cos (* 0.5 (+ phi1 phi2))) 4)
4.041 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
4.042 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
4.042 * [backup-simplify]: Simplify (+ (pow phi1 2) 0) into (pow phi1 2)
4.042 * [backup-simplify]: Simplify (+ (pow phi2 2) (pow phi1 2)) into (+ (pow phi2 2) (pow phi1 2))
4.042 * [backup-simplify]: Simplify (* phi1 phi2) into (* phi1 phi2)
4.042 * [backup-simplify]: Simplify (* 2 (* phi1 phi2)) into (* 2 (* phi1 phi2))
4.042 * [backup-simplify]: Simplify (- (* 2 (* phi1 phi2))) into (- (* 2 (* phi1 phi2)))
4.042 * [backup-simplify]: Simplify (+ (+ (pow phi2 2) (pow phi1 2)) (- (* 2 (* phi1 phi2)))) into (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))
4.042 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ phi1 phi2))) 4) (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))) into (/ (pow (cos (* 0.5 (+ phi1 phi2))) 4) (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))
4.043 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2))))) in lambda2
4.043 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2)))) in lambda2
4.043 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2))) in lambda2
4.043 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) in lambda2
4.043 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2
4.043 * [taylor]: Taking taylor expansion of phi2 in lambda2
4.043 * [backup-simplify]: Simplify phi2 into phi2
4.043 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2))) in lambda2
4.043 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2
4.043 * [taylor]: Taking taylor expansion of phi1 in lambda2
4.043 * [backup-simplify]: Simplify phi1 into phi1
4.043 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in lambda2
4.043 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
4.043 * [taylor]: Taking taylor expansion of lambda2 in lambda2
4.043 * [backup-simplify]: Simplify 0 into 0
4.043 * [backup-simplify]: Simplify 1 into 1
4.043 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in lambda2
4.043 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda2
4.043 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda2
4.043 * [taylor]: Taking taylor expansion of 0.5 in lambda2
4.043 * [backup-simplify]: Simplify 0.5 into 0.5
4.043 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda2
4.043 * [taylor]: Taking taylor expansion of phi1 in lambda2
4.043 * [backup-simplify]: Simplify phi1 into phi1
4.043 * [taylor]: Taking taylor expansion of phi2 in lambda2
4.043 * [backup-simplify]: Simplify phi2 into phi2
4.043 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2)
4.043 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2))
4.043 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2)))
4.043 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2)))
4.043 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2)))
4.043 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0
4.044 * [backup-simplify]: Simplify (- 0) into 0
4.044 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2)))
4.044 * [taylor]: Taking taylor expansion of (* 2 (* phi1 phi2)) in lambda2
4.044 * [taylor]: Taking taylor expansion of 2 in lambda2
4.044 * [backup-simplify]: Simplify 2 into 2
4.044 * [taylor]: Taking taylor expansion of (* phi1 phi2) in lambda2
4.044 * [taylor]: Taking taylor expansion of phi1 in lambda2
4.044 * [backup-simplify]: Simplify phi1 into phi1
4.044 * [taylor]: Taking taylor expansion of phi2 in lambda2
4.044 * [backup-simplify]: Simplify phi2 into phi2
4.044 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
4.044 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
4.044 * [backup-simplify]: Simplify (+ (pow phi1 2) 0) into (pow phi1 2)
4.044 * [backup-simplify]: Simplify (+ (pow phi2 2) (pow phi1 2)) into (+ (pow phi2 2) (pow phi1 2))
4.044 * [backup-simplify]: Simplify (* phi1 phi2) into (* phi1 phi2)
4.044 * [backup-simplify]: Simplify (* 2 (* phi1 phi2)) into (* 2 (* phi1 phi2))
4.044 * [backup-simplify]: Simplify (- (* 2 (* phi1 phi2))) into (- (* 2 (* phi1 phi2)))
4.045 * [backup-simplify]: Simplify (+ (+ (pow phi2 2) (pow phi1 2)) (- (* 2 (* phi1 phi2)))) into (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))
4.045 * [backup-simplify]: Simplify (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))) into (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))
4.045 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) into (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))))
4.045 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0
4.045 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0
4.046 * [backup-simplify]: Simplify (+ 0 0) into 0
4.046 * [backup-simplify]: Simplify (+ 0 0) into 0
4.046 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi2)) into 0
4.046 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi1 phi2))) into 0
4.047 * [backup-simplify]: Simplify (- 0) into 0
4.047 * [backup-simplify]: Simplify (+ 0 0) into 0
4.047 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))) (/ 0 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))))) into 0
4.048 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))))) into 0
4.048 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) (cos (* 0.5 (+ phi1 phi2)))) into (pow (cos (* 0.5 (+ phi1 phi2))) 2)
4.048 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ phi1 phi2))) 2) 0) into (pow (cos (* 0.5 (+ phi1 phi2))) 2)
4.048 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 (+ phi1 phi2))) 2) (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))))) into (* (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) (pow (cos (* 0.5 (+ phi1 phi2))) 2))
4.049 * [backup-simplify]: Simplify (* 1/2 (* (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) (pow (cos (* 0.5 (+ phi1 phi2))) 2))) into (* 1/2 (* (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))
4.049 * [taylor]: Taking taylor expansion of (* 1/2 (* (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) (pow (cos (* 0.5 (+ phi1 phi2))) 2))) in phi2
4.049 * [taylor]: Taking taylor expansion of 1/2 in phi2
4.049 * [backup-simplify]: Simplify 1/2 into 1/2
4.049 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in phi2
4.049 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) in phi2
4.049 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))) in phi2
4.049 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))) in phi2
4.049 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (pow phi1 2)) in phi2
4.049 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2
4.049 * [taylor]: Taking taylor expansion of phi2 in phi2
4.049 * [backup-simplify]: Simplify 0 into 0
4.049 * [backup-simplify]: Simplify 1 into 1
4.049 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2
4.049 * [taylor]: Taking taylor expansion of phi1 in phi2
4.049 * [backup-simplify]: Simplify phi1 into phi1
4.049 * [taylor]: Taking taylor expansion of (* 2 (* phi1 phi2)) in phi2
4.049 * [taylor]: Taking taylor expansion of 2 in phi2
4.049 * [backup-simplify]: Simplify 2 into 2
4.049 * [taylor]: Taking taylor expansion of (* phi1 phi2) in phi2
4.049 * [taylor]: Taking taylor expansion of phi1 in phi2
4.049 * [backup-simplify]: Simplify phi1 into phi1
4.049 * [taylor]: Taking taylor expansion of phi2 in phi2
4.049 * [backup-simplify]: Simplify 0 into 0
4.049 * [backup-simplify]: Simplify 1 into 1
4.049 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
4.049 * [backup-simplify]: Simplify (+ 0 (pow phi1 2)) into (pow phi1 2)
4.049 * [backup-simplify]: Simplify (* phi1 0) into 0
4.050 * [backup-simplify]: Simplify (* 2 0) into 0
4.050 * [backup-simplify]: Simplify (- 0) into 0
4.050 * [backup-simplify]: Simplify (+ (pow phi1 2) 0) into (pow phi1 2)
4.050 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2))
4.050 * [backup-simplify]: Simplify (sqrt (/ 1 (pow phi1 2))) into (/ 1 phi1)
4.050 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0
4.051 * [backup-simplify]: Simplify (+ 0 0) into 0
4.051 * [backup-simplify]: Simplify (+ (* phi1 1) (* 0 0)) into phi1
4.051 * [backup-simplify]: Simplify (+ (* 2 phi1) (* 0 0)) into (* 2 phi1)
4.051 * [backup-simplify]: Simplify (- (* 2 phi1)) into (- (* 2 phi1))
4.052 * [backup-simplify]: Simplify (+ 0 (- (* 2 phi1))) into (- (* 2 phi1))
4.052 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi1 2)) (/ (- (* 2 phi1)) (pow phi1 2))))) into (* 2 (/ 1 (pow phi1 3)))
4.052 * [backup-simplify]: Simplify (/ (* 2 (/ 1 (pow phi1 3))) (* 2 (sqrt (/ 1 (pow phi1 2))))) into (/ 1 (pow phi1 2))
4.052 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in phi2
4.052 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in phi2
4.052 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in phi2
4.052 * [taylor]: Taking taylor expansion of 0.5 in phi2
4.052 * [backup-simplify]: Simplify 0.5 into 0.5
4.052 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in phi2
4.052 * [taylor]: Taking taylor expansion of phi1 in phi2
4.052 * [backup-simplify]: Simplify phi1 into phi1
4.052 * [taylor]: Taking taylor expansion of phi2 in phi2
4.052 * [backup-simplify]: Simplify 0 into 0
4.052 * [backup-simplify]: Simplify 1 into 1
4.052 * [backup-simplify]: Simplify (+ phi1 0) into phi1
4.052 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
4.052 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
4.053 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
4.053 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
4.053 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
4.053 * [backup-simplify]: Simplify (- 0) into 0
4.053 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
4.053 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2)
4.053 * [backup-simplify]: Simplify (* (/ 1 phi1) (pow (cos (* 0.5 phi1)) 2)) into (/ (pow (cos (* 0.5 phi1)) 2) phi1)
4.053 * [backup-simplify]: Simplify (* 1/2 (/ (pow (cos (* 0.5 phi1)) 2) phi1)) into (* 1/2 (/ (pow (cos (* 0.5 phi1)) 2) phi1))
4.053 * [taylor]: Taking taylor expansion of (* 1/2 (/ (pow (cos (* 0.5 phi1)) 2) phi1)) in phi1
4.053 * [taylor]: Taking taylor expansion of 1/2 in phi1
4.054 * [backup-simplify]: Simplify 1/2 into 1/2
4.054 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 phi1)) 2) phi1) in phi1
4.054 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1
4.054 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1
4.054 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
4.054 * [taylor]: Taking taylor expansion of 0.5 in phi1
4.054 * [backup-simplify]: Simplify 0.5 into 0.5
4.054 * [taylor]: Taking taylor expansion of phi1 in phi1
4.054 * [backup-simplify]: Simplify 0 into 0
4.054 * [backup-simplify]: Simplify 1 into 1
4.054 * [backup-simplify]: Simplify (* 0.5 0) into 0
4.055 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
4.055 * [taylor]: Taking taylor expansion of phi1 in phi1
4.055 * [backup-simplify]: Simplify 0 into 0
4.055 * [backup-simplify]: Simplify 1 into 1
4.055 * [backup-simplify]: Simplify (* 1 1) into 1
4.055 * [backup-simplify]: Simplify (/ 1 1) into 1
4.056 * [backup-simplify]: Simplify (+ 0) into 0
4.056 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
4.057 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* 1 (/ 0 1)))) into 0
4.057 * [backup-simplify]: Simplify (+ (* 1/2 0) (* 0 1)) into 0
4.057 * [backup-simplify]: Simplify 0 into 0
4.057 * [backup-simplify]: Simplify (+ 0) into 0
4.058 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (* 0 1)) into 0
4.058 * [backup-simplify]: Simplify (+ 0 0) into 0
4.059 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi1 phi2))) into 0
4.060 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
4.060 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi1 phi2))) 0) (* 0 0)) into 0
4.061 * [backup-simplify]: Simplify (- 0) into 0
4.061 * [backup-simplify]: Simplify (+ 0 0) into 0
4.061 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (* 0 (cos (* 0.5 (+ phi1 phi2))))) into 0
4.062 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))) into (pow (cos (* 0.5 (+ phi1 phi2))) 2)
4.063 * [backup-simplify]: Simplify (+ (* 0 0) (* (pow (cos (* 0.5 (+ phi1 phi2))) 2) (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))))) into (* (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) (pow (cos (* 0.5 (+ phi1 phi2))) 2))
4.065 * [backup-simplify]: Simplify (+ (* -1 (* (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) (pow (cos (* 0.5 (+ phi1 phi2))) 2))) (* 0 0)) into (- (* (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))
4.065 * [taylor]: Taking taylor expansion of (- (* (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) (pow (cos (* 0.5 (+ phi1 phi2))) 2))) in phi2
4.065 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in phi2
4.065 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) in phi2
4.065 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))) in phi2
4.065 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))) in phi2
4.065 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (pow phi1 2)) in phi2
4.065 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2
4.065 * [taylor]: Taking taylor expansion of phi2 in phi2
4.065 * [backup-simplify]: Simplify 0 into 0
4.065 * [backup-simplify]: Simplify 1 into 1
4.065 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2
4.065 * [taylor]: Taking taylor expansion of phi1 in phi2
4.065 * [backup-simplify]: Simplify phi1 into phi1
4.065 * [taylor]: Taking taylor expansion of (* 2 (* phi1 phi2)) in phi2
4.065 * [taylor]: Taking taylor expansion of 2 in phi2
4.065 * [backup-simplify]: Simplify 2 into 2
4.065 * [taylor]: Taking taylor expansion of (* phi1 phi2) in phi2
4.065 * [taylor]: Taking taylor expansion of phi1 in phi2
4.065 * [backup-simplify]: Simplify phi1 into phi1
4.065 * [taylor]: Taking taylor expansion of phi2 in phi2
4.065 * [backup-simplify]: Simplify 0 into 0
4.065 * [backup-simplify]: Simplify 1 into 1
4.065 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
4.065 * [backup-simplify]: Simplify (+ 0 (pow phi1 2)) into (pow phi1 2)
4.066 * [backup-simplify]: Simplify (* phi1 0) into 0
4.066 * [backup-simplify]: Simplify (* 2 0) into 0
4.066 * [backup-simplify]: Simplify (- 0) into 0
4.066 * [backup-simplify]: Simplify (+ (pow phi1 2) 0) into (pow phi1 2)
4.066 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2))
4.066 * [backup-simplify]: Simplify (sqrt (/ 1 (pow phi1 2))) into (/ 1 phi1)
4.067 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0
4.067 * [backup-simplify]: Simplify (+ 0 0) into 0
4.067 * [backup-simplify]: Simplify (+ (* phi1 1) (* 0 0)) into phi1
4.067 * [backup-simplify]: Simplify (+ (* 2 phi1) (* 0 0)) into (* 2 phi1)
4.067 * [backup-simplify]: Simplify (- (* 2 phi1)) into (- (* 2 phi1))
4.068 * [backup-simplify]: Simplify (+ 0 (- (* 2 phi1))) into (- (* 2 phi1))
4.068 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi1 2)) (/ (- (* 2 phi1)) (pow phi1 2))))) into (* 2 (/ 1 (pow phi1 3)))
4.068 * [backup-simplify]: Simplify (/ (* 2 (/ 1 (pow phi1 3))) (* 2 (sqrt (/ 1 (pow phi1 2))))) into (/ 1 (pow phi1 2))
4.068 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in phi2
4.068 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in phi2
4.068 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in phi2
4.068 * [taylor]: Taking taylor expansion of 0.5 in phi2
4.068 * [backup-simplify]: Simplify 0.5 into 0.5
4.068 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in phi2
4.068 * [taylor]: Taking taylor expansion of phi1 in phi2
4.068 * [backup-simplify]: Simplify phi1 into phi1
4.068 * [taylor]: Taking taylor expansion of phi2 in phi2
4.068 * [backup-simplify]: Simplify 0 into 0
4.068 * [backup-simplify]: Simplify 1 into 1
4.068 * [backup-simplify]: Simplify (+ phi1 0) into phi1
4.068 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
4.068 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
4.068 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
4.068 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
4.069 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
4.069 * [backup-simplify]: Simplify (- 0) into 0
4.069 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
4.069 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2)
4.069 * [backup-simplify]: Simplify (* (/ 1 phi1) (pow (cos (* 0.5 phi1)) 2)) into (/ (pow (cos (* 0.5 phi1)) 2) phi1)
4.069 * [backup-simplify]: Simplify (- (/ (pow (cos (* 0.5 phi1)) 2) phi1)) into (- (/ (pow (cos (* 0.5 phi1)) 2) phi1))
4.069 * [taylor]: Taking taylor expansion of (- (/ (pow (cos (* 0.5 phi1)) 2) phi1)) in phi1
4.069 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 phi1)) 2) phi1) in phi1
4.069 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1
4.069 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1
4.069 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
4.069 * [taylor]: Taking taylor expansion of 0.5 in phi1
4.070 * [backup-simplify]: Simplify 0.5 into 0.5
4.070 * [taylor]: Taking taylor expansion of phi1 in phi1
4.070 * [backup-simplify]: Simplify 0 into 0
4.070 * [backup-simplify]: Simplify 1 into 1
4.070 * [backup-simplify]: Simplify (* 0.5 0) into 0
4.071 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
4.071 * [taylor]: Taking taylor expansion of phi1 in phi1
4.071 * [backup-simplify]: Simplify 0 into 0
4.071 * [backup-simplify]: Simplify 1 into 1
4.071 * [backup-simplify]: Simplify (* 1 1) into 1
4.072 * [backup-simplify]: Simplify (/ 1 1) into 1
4.072 * [backup-simplify]: Simplify (+ 0) into 0
4.072 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
4.073 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* 1 (/ 0 1)))) into 0
4.073 * [backup-simplify]: Simplify (- 0) into 0
4.073 * [backup-simplify]: Simplify 0 into 0
4.074 * [backup-simplify]: Simplify (+ (* phi2 0) (+ (* 0 0) (* 0 phi2))) into 0
4.074 * [backup-simplify]: Simplify (+ (* phi1 0) (+ (* 0 0) (* 0 phi1))) into 0
4.074 * [backup-simplify]: Simplify (* 1 1) into 1
4.074 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) (cos (* 0.5 (+ phi1 phi2)))) into (pow (cos (* 0.5 (+ phi1 phi2))) 2)
4.074 * [backup-simplify]: Simplify (* 1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) into (pow (cos (* 0.5 (+ phi1 phi2))) 2)
4.075 * [backup-simplify]: Simplify (+ 0 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) into (pow (cos (* 0.5 (+ phi1 phi2))) 2)
4.075 * [backup-simplify]: Simplify (+ 0 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) into (pow (cos (* 0.5 (+ phi1 phi2))) 2)
4.075 * [backup-simplify]: Simplify (+ (* phi1 0) (+ (* 0 0) (* 0 phi2))) into 0
4.076 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (* phi1 phi2)))) into 0
4.076 * [backup-simplify]: Simplify (- 0) into 0
4.076 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ phi1 phi2))) 2) 0) into (pow (cos (* 0.5 (+ phi1 phi2))) 2)
4.077 * [backup-simplify]: Simplify (/ (- (pow (cos (* 0.5 (+ phi1 phi2))) 2) (pow 0 2) (+)) (* 2 (sqrt (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))))) into (* 1/2 (* (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))
4.077 * [taylor]: Taking taylor expansion of (* 1/2 (* (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) (pow (cos (* 0.5 (+ phi1 phi2))) 2))) in phi2
4.077 * [taylor]: Taking taylor expansion of 1/2 in phi2
4.077 * [backup-simplify]: Simplify 1/2 into 1/2
4.077 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in phi2
4.077 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) in phi2
4.077 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))) in phi2
4.077 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))) in phi2
4.077 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (pow phi1 2)) in phi2
4.077 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2
4.077 * [taylor]: Taking taylor expansion of phi2 in phi2
4.077 * [backup-simplify]: Simplify 0 into 0
4.077 * [backup-simplify]: Simplify 1 into 1
4.077 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2
4.077 * [taylor]: Taking taylor expansion of phi1 in phi2
4.077 * [backup-simplify]: Simplify phi1 into phi1
4.077 * [taylor]: Taking taylor expansion of (* 2 (* phi1 phi2)) in phi2
4.077 * [taylor]: Taking taylor expansion of 2 in phi2
4.078 * [backup-simplify]: Simplify 2 into 2
4.078 * [taylor]: Taking taylor expansion of (* phi1 phi2) in phi2
4.078 * [taylor]: Taking taylor expansion of phi1 in phi2
4.078 * [backup-simplify]: Simplify phi1 into phi1
4.078 * [taylor]: Taking taylor expansion of phi2 in phi2
4.078 * [backup-simplify]: Simplify 0 into 0
4.078 * [backup-simplify]: Simplify 1 into 1
4.078 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
4.078 * [backup-simplify]: Simplify (+ 0 (pow phi1 2)) into (pow phi1 2)
4.078 * [backup-simplify]: Simplify (* phi1 0) into 0
4.078 * [backup-simplify]: Simplify (* 2 0) into 0
4.078 * [backup-simplify]: Simplify (- 0) into 0
4.078 * [backup-simplify]: Simplify (+ (pow phi1 2) 0) into (pow phi1 2)
4.079 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2))
4.079 * [backup-simplify]: Simplify (sqrt (/ 1 (pow phi1 2))) into (/ 1 phi1)
4.079 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0
4.079 * [backup-simplify]: Simplify (+ 0 0) into 0
4.079 * [backup-simplify]: Simplify (+ (* phi1 1) (* 0 0)) into phi1
4.079 * [backup-simplify]: Simplify (+ (* 2 phi1) (* 0 0)) into (* 2 phi1)
4.080 * [backup-simplify]: Simplify (- (* 2 phi1)) into (- (* 2 phi1))
4.080 * [backup-simplify]: Simplify (+ 0 (- (* 2 phi1))) into (- (* 2 phi1))
4.080 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi1 2)) (/ (- (* 2 phi1)) (pow phi1 2))))) into (* 2 (/ 1 (pow phi1 3)))
4.080 * [backup-simplify]: Simplify (/ (* 2 (/ 1 (pow phi1 3))) (* 2 (sqrt (/ 1 (pow phi1 2))))) into (/ 1 (pow phi1 2))
4.080 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in phi2
4.080 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in phi2
4.080 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in phi2
4.080 * [taylor]: Taking taylor expansion of 0.5 in phi2
4.080 * [backup-simplify]: Simplify 0.5 into 0.5
4.080 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in phi2
4.080 * [taylor]: Taking taylor expansion of phi1 in phi2
4.080 * [backup-simplify]: Simplify phi1 into phi1
4.080 * [taylor]: Taking taylor expansion of phi2 in phi2
4.080 * [backup-simplify]: Simplify 0 into 0
4.080 * [backup-simplify]: Simplify 1 into 1
4.080 * [backup-simplify]: Simplify (+ phi1 0) into phi1
4.080 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
4.080 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
4.080 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
4.080 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
4.081 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
4.081 * [backup-simplify]: Simplify (- 0) into 0
4.081 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
4.081 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2)
4.081 * [backup-simplify]: Simplify (* (/ 1 phi1) (pow (cos (* 0.5 phi1)) 2)) into (/ (pow (cos (* 0.5 phi1)) 2) phi1)
4.081 * [backup-simplify]: Simplify (* 1/2 (/ (pow (cos (* 0.5 phi1)) 2) phi1)) into (* 1/2 (/ (pow (cos (* 0.5 phi1)) 2) phi1))
4.081 * [taylor]: Taking taylor expansion of (* 1/2 (/ (pow (cos (* 0.5 phi1)) 2) phi1)) in phi1
4.081 * [taylor]: Taking taylor expansion of 1/2 in phi1
4.081 * [backup-simplify]: Simplify 1/2 into 1/2
4.081 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 phi1)) 2) phi1) in phi1
4.081 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1
4.081 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1
4.081 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
4.081 * [taylor]: Taking taylor expansion of 0.5 in phi1
4.081 * [backup-simplify]: Simplify 0.5 into 0.5
4.082 * [taylor]: Taking taylor expansion of phi1 in phi1
4.082 * [backup-simplify]: Simplify 0 into 0
4.082 * [backup-simplify]: Simplify 1 into 1
4.082 * [backup-simplify]: Simplify (* 0.5 0) into 0
4.083 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
4.083 * [taylor]: Taking taylor expansion of phi1 in phi1
4.083 * [backup-simplify]: Simplify 0 into 0
4.083 * [backup-simplify]: Simplify 1 into 1
4.083 * [backup-simplify]: Simplify (* 1 1) into 1
4.083 * [backup-simplify]: Simplify (/ 1 1) into 1
4.084 * [backup-simplify]: Simplify (+ 0) into 0
4.084 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
4.085 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* 1 (/ 0 1)))) into 0
4.085 * [backup-simplify]: Simplify (+ (* 1/2 0) (* 0 1)) into 0
4.085 * [backup-simplify]: Simplify 0 into 0
4.085 * [taylor]: Taking taylor expansion of 0 in phi1
4.085 * [backup-simplify]: Simplify 0 into 0
4.085 * [backup-simplify]: Simplify 0 into 0
4.085 * [taylor]: Taking taylor expansion of 0 in phi1
4.085 * [backup-simplify]: Simplify 0 into 0
4.085 * [backup-simplify]: Simplify 0 into 0
4.085 * [backup-simplify]: Simplify (* 1 1) into 1
4.086 * [backup-simplify]: Simplify (+ (* phi1 0) (+ (* 0 0) (* 0 phi1))) into 0
4.086 * [backup-simplify]: Simplify (+ 1 0) into 1
4.090 * [backup-simplify]: Simplify (+ (* phi1 0) (+ (* 0 1) (* 0 0))) into 0
4.092 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 phi1) (* 0 0))) into 0
4.092 * [backup-simplify]: Simplify (- 0) into 0
4.092 * [backup-simplify]: Simplify (+ 1 0) into 1
4.093 * [backup-simplify]: Simplify (/ (- 1 (pow -1 2) (+)) (* 2 phi1)) into 0
4.093 * [taylor]: Taking taylor expansion of 0 in phi1
4.093 * [backup-simplify]: Simplify 0 into 0
4.093 * [backup-simplify]: Simplify 0 into 0
4.093 * [backup-simplify]: Simplify (+ (* 1 (* phi1 (* 1 (* 1 1)))) (* -1 (* 1 (* phi2 (* 1 1))))) into (- phi1 phi2)
4.094 * [backup-simplify]: Simplify (hypot (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (/ (+ (/ 1 phi2) (/ 1 phi1)) 2.0))) (- (/ 1 phi1) (/ 1 phi2))) into (hypot (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (- (/ 1 phi1) (/ 1 phi2)))
4.094 * [approximate]: Taking taylor expansion of (hypot (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (- (/ 1 phi1) (/ 1 phi2))) in (lambda1 lambda2 phi2 phi1) around 0
4.094 * [taylor]: Taking taylor expansion of (hypot (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (- (/ 1 phi1) (/ 1 phi2))) in phi1
4.094 * [taylor]: Rewrote expression to (sqrt (+ (* (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2)))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2)))))
4.094 * [taylor]: Taking taylor expansion of (+ (* (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2)))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2)))) in phi1
4.094 * [taylor]: Taking taylor expansion of (* (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2)))) in phi1
4.094 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) in phi1
4.094 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
4.094 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
4.094 * [taylor]: Taking taylor expansion of 0.5 in phi1
4.094 * [backup-simplify]: Simplify 0.5 into 0.5
4.094 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
4.094 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
4.094 * [taylor]: Taking taylor expansion of phi1 in phi1
4.094 * [backup-simplify]: Simplify 0 into 0
4.094 * [backup-simplify]: Simplify 1 into 1
4.095 * [backup-simplify]: Simplify (/ 1 1) into 1
4.095 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
4.095 * [taylor]: Taking taylor expansion of phi2 in phi1
4.095 * [backup-simplify]: Simplify phi2 into phi2
4.095 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
4.095 * [backup-simplify]: Simplify (+ 1 0) into 1
4.095 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
4.095 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
4.095 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in phi1
4.095 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in phi1
4.095 * [taylor]: Taking taylor expansion of lambda1 in phi1
4.096 * [backup-simplify]: Simplify lambda1 into lambda1
4.096 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1)
4.096 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in phi1
4.096 * [taylor]: Taking taylor expansion of lambda2 in phi1
4.096 * [backup-simplify]: Simplify lambda2 into lambda2
4.096 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
4.096 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) in phi1
4.096 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
4.096 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
4.096 * [taylor]: Taking taylor expansion of 0.5 in phi1
4.096 * [backup-simplify]: Simplify 0.5 into 0.5
4.096 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
4.096 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
4.096 * [taylor]: Taking taylor expansion of phi1 in phi1
4.096 * [backup-simplify]: Simplify 0 into 0
4.096 * [backup-simplify]: Simplify 1 into 1
4.096 * [backup-simplify]: Simplify (/ 1 1) into 1
4.096 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
4.096 * [taylor]: Taking taylor expansion of phi2 in phi1
4.096 * [backup-simplify]: Simplify phi2 into phi2
4.096 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
4.096 * [backup-simplify]: Simplify (+ 1 0) into 1
4.097 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
4.097 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
4.097 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in phi1
4.097 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in phi1
4.097 * [taylor]: Taking taylor expansion of lambda1 in phi1
4.097 * [backup-simplify]: Simplify lambda1 into lambda1
4.097 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1)
4.097 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in phi1
4.097 * [taylor]: Taking taylor expansion of lambda2 in phi1
4.097 * [backup-simplify]: Simplify lambda2 into lambda2
4.097 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
4.097 * [taylor]: Taking taylor expansion of (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2))) in phi1
4.097 * [taylor]: Taking taylor expansion of (- (/ 1 phi1) (/ 1 phi2)) in phi1
4.097 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
4.097 * [taylor]: Taking taylor expansion of phi1 in phi1
4.097 * [backup-simplify]: Simplify 0 into 0
4.097 * [backup-simplify]: Simplify 1 into 1
4.098 * [backup-simplify]: Simplify (/ 1 1) into 1
4.098 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
4.098 * [taylor]: Taking taylor expansion of phi2 in phi1
4.098 * [backup-simplify]: Simplify phi2 into phi2
4.098 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
4.098 * [taylor]: Taking taylor expansion of (- (/ 1 phi1) (/ 1 phi2)) in phi1
4.098 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
4.098 * [taylor]: Taking taylor expansion of phi1 in phi1
4.098 * [backup-simplify]: Simplify 0 into 0
4.098 * [backup-simplify]: Simplify 1 into 1
4.098 * [backup-simplify]: Simplify (/ 1 1) into 1
4.098 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
4.098 * [taylor]: Taking taylor expansion of phi2 in phi1
4.098 * [backup-simplify]: Simplify phi2 into phi2
4.098 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
4.099 * [backup-simplify]: Simplify (+ 1 0) into 1
4.099 * [backup-simplify]: Simplify (+ 1 0) into 1
4.099 * [backup-simplify]: Simplify (* 1 1) into 1
4.100 * [backup-simplify]: Simplify (+ 0 1) into 1
4.100 * [backup-simplify]: Simplify (sqrt 1) into 1
4.101 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
4.101 * [backup-simplify]: Simplify (- (/ 1 phi2)) into (- (/ 1 phi2))
4.101 * [backup-simplify]: Simplify (+ 0 (- (/ 1 phi2))) into (- (/ 1 phi2))
4.102 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
4.102 * [backup-simplify]: Simplify (- (/ 1 phi2)) into (- (/ 1 phi2))
4.102 * [backup-simplify]: Simplify (+ 0 (- (/ 1 phi2))) into (- (/ 1 phi2))
4.103 * [backup-simplify]: Simplify (+ (* 1 (- (/ 1 phi2))) (* (- (/ 1 phi2)) 1)) into (- (* 2 (/ 1 phi2)))
4.103 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2)))
4.104 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi2))) (* 2 (sqrt 1))) into (/ -1 phi2)
4.104 * [taylor]: Taking taylor expansion of (hypot (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (- (/ 1 phi1) (/ 1 phi2))) in phi2
4.104 * [taylor]: Rewrote expression to (sqrt (+ (* (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2)))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2)))))
4.104 * [taylor]: Taking taylor expansion of (+ (* (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2)))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2)))) in phi2
4.104 * [taylor]: Taking taylor expansion of (* (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2)))) in phi2
4.104 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) in phi2
4.104 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
4.104 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
4.104 * [taylor]: Taking taylor expansion of 0.5 in phi2
4.104 * [backup-simplify]: Simplify 0.5 into 0.5
4.104 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
4.104 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
4.104 * [taylor]: Taking taylor expansion of phi1 in phi2
4.105 * [backup-simplify]: Simplify phi1 into phi1
4.105 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
4.105 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
4.105 * [taylor]: Taking taylor expansion of phi2 in phi2
4.105 * [backup-simplify]: Simplify 0 into 0
4.105 * [backup-simplify]: Simplify 1 into 1
4.105 * [backup-simplify]: Simplify (/ 1 1) into 1
4.106 * [backup-simplify]: Simplify (+ 0 1) into 1
4.106 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
4.107 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
4.107 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in phi2
4.107 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in phi2
4.107 * [taylor]: Taking taylor expansion of lambda1 in phi2
4.107 * [backup-simplify]: Simplify lambda1 into lambda1
4.107 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1)
4.107 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in phi2
4.107 * [taylor]: Taking taylor expansion of lambda2 in phi2
4.107 * [backup-simplify]: Simplify lambda2 into lambda2
4.107 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
4.107 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) in phi2
4.107 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
4.107 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
4.107 * [taylor]: Taking taylor expansion of 0.5 in phi2
4.107 * [backup-simplify]: Simplify 0.5 into 0.5
4.107 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
4.107 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
4.107 * [taylor]: Taking taylor expansion of phi1 in phi2
4.107 * [backup-simplify]: Simplify phi1 into phi1
4.107 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
4.107 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
4.107 * [taylor]: Taking taylor expansion of phi2 in phi2
4.107 * [backup-simplify]: Simplify 0 into 0
4.107 * [backup-simplify]: Simplify 1 into 1
4.108 * [backup-simplify]: Simplify (/ 1 1) into 1
4.108 * [backup-simplify]: Simplify (+ 0 1) into 1
4.109 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
4.109 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
4.109 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in phi2
4.109 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in phi2
4.109 * [taylor]: Taking taylor expansion of lambda1 in phi2
4.109 * [backup-simplify]: Simplify lambda1 into lambda1
4.109 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1)
4.109 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in phi2
4.109 * [taylor]: Taking taylor expansion of lambda2 in phi2
4.109 * [backup-simplify]: Simplify lambda2 into lambda2
4.109 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
4.109 * [taylor]: Taking taylor expansion of (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2))) in phi2
4.109 * [taylor]: Taking taylor expansion of (- (/ 1 phi1) (/ 1 phi2)) in phi2
4.109 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
4.109 * [taylor]: Taking taylor expansion of phi1 in phi2
4.110 * [backup-simplify]: Simplify phi1 into phi1
4.110 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
4.110 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
4.110 * [taylor]: Taking taylor expansion of phi2 in phi2
4.110 * [backup-simplify]: Simplify 0 into 0
4.110 * [backup-simplify]: Simplify 1 into 1
4.110 * [backup-simplify]: Simplify (/ 1 1) into 1
4.110 * [taylor]: Taking taylor expansion of (- (/ 1 phi1) (/ 1 phi2)) in phi2
4.110 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
4.110 * [taylor]: Taking taylor expansion of phi1 in phi2
4.110 * [backup-simplify]: Simplify phi1 into phi1
4.110 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
4.110 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
4.110 * [taylor]: Taking taylor expansion of phi2 in phi2
4.110 * [backup-simplify]: Simplify 0 into 0
4.110 * [backup-simplify]: Simplify 1 into 1
4.111 * [backup-simplify]: Simplify (/ 1 1) into 1
4.112 * [backup-simplify]: Simplify (- 1) into -1
4.112 * [backup-simplify]: Simplify (+ 0 -1) into -1
4.113 * [backup-simplify]: Simplify (- 1) into -1
4.113 * [backup-simplify]: Simplify (+ 0 -1) into -1
4.113 * [backup-simplify]: Simplify (* -1 -1) into 1
4.114 * [backup-simplify]: Simplify (+ 0 1) into 1
4.114 * [backup-simplify]: Simplify (sqrt 1) into 1
4.115 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
4.116 * [backup-simplify]: Simplify (- 0) into 0
4.116 * [backup-simplify]: Simplify (+ (/ 1 phi1) 0) into (/ 1 phi1)
4.116 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
4.117 * [backup-simplify]: Simplify (- 0) into 0
4.117 * [backup-simplify]: Simplify (+ (/ 1 phi1) 0) into (/ 1 phi1)
4.117 * [backup-simplify]: Simplify (+ (* -1 (/ 1 phi1)) (* (/ 1 phi1) -1)) into (- (* 2 (/ 1 phi1)))
4.117 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi1)))) into (- (* 2 (/ 1 phi1)))
4.118 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi1))) (* 2 (sqrt 1))) into (/ -1 phi1)
4.118 * [taylor]: Taking taylor expansion of (hypot (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (- (/ 1 phi1) (/ 1 phi2))) in lambda2
4.118 * [taylor]: Rewrote expression to (sqrt (+ (* (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2)))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2)))))
4.118 * [taylor]: Taking taylor expansion of (+ (* (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2)))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2)))) in lambda2
4.118 * [taylor]: Taking taylor expansion of (* (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2)))) in lambda2
4.118 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) in lambda2
4.118 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2
4.118 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2
4.119 * [taylor]: Taking taylor expansion of 0.5 in lambda2
4.119 * [backup-simplify]: Simplify 0.5 into 0.5
4.119 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2
4.119 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
4.119 * [taylor]: Taking taylor expansion of phi1 in lambda2
4.119 * [backup-simplify]: Simplify phi1 into phi1
4.119 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
4.119 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
4.119 * [taylor]: Taking taylor expansion of phi2 in lambda2
4.119 * [backup-simplify]: Simplify phi2 into phi2
4.119 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
4.119 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
4.119 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))
4.119 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
4.120 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
4.120 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in lambda2
4.120 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda2
4.120 * [taylor]: Taking taylor expansion of lambda1 in lambda2
4.120 * [backup-simplify]: Simplify lambda1 into lambda1
4.120 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1)
4.120 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda2
4.120 * [taylor]: Taking taylor expansion of lambda2 in lambda2
4.120 * [backup-simplify]: Simplify 0 into 0
4.120 * [backup-simplify]: Simplify 1 into 1
4.120 * [backup-simplify]: Simplify (/ 1 1) into 1
4.121 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) in lambda2
4.121 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2
4.121 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2
4.121 * [taylor]: Taking taylor expansion of 0.5 in lambda2
4.121 * [backup-simplify]: Simplify 0.5 into 0.5
4.121 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2
4.121 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
4.121 * [taylor]: Taking taylor expansion of phi1 in lambda2
4.121 * [backup-simplify]: Simplify phi1 into phi1
4.121 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
4.121 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
4.121 * [taylor]: Taking taylor expansion of phi2 in lambda2
4.121 * [backup-simplify]: Simplify phi2 into phi2
4.121 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
4.121 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
4.121 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))
4.121 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
4.122 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
4.122 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in lambda2
4.122 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda2
4.122 * [taylor]: Taking taylor expansion of lambda1 in lambda2
4.122 * [backup-simplify]: Simplify lambda1 into lambda1
4.122 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1)
4.122 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda2
4.122 * [taylor]: Taking taylor expansion of lambda2 in lambda2
4.122 * [backup-simplify]: Simplify 0 into 0
4.122 * [backup-simplify]: Simplify 1 into 1
4.122 * [backup-simplify]: Simplify (/ 1 1) into 1
4.122 * [taylor]: Taking taylor expansion of (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2))) in lambda2
4.122 * [taylor]: Taking taylor expansion of (- (/ 1 phi1) (/ 1 phi2)) in lambda2
4.123 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
4.123 * [taylor]: Taking taylor expansion of phi1 in lambda2
4.123 * [backup-simplify]: Simplify phi1 into phi1
4.123 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
4.123 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
4.123 * [taylor]: Taking taylor expansion of phi2 in lambda2
4.123 * [backup-simplify]: Simplify phi2 into phi2
4.123 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
4.123 * [taylor]: Taking taylor expansion of (- (/ 1 phi1) (/ 1 phi2)) in lambda2
4.123 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
4.123 * [taylor]: Taking taylor expansion of phi1 in lambda2
4.123 * [backup-simplify]: Simplify phi1 into phi1
4.123 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
4.123 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
4.123 * [taylor]: Taking taylor expansion of phi2 in lambda2
4.123 * [backup-simplify]: Simplify phi2 into phi2
4.123 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
4.123 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
4.123 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
4.124 * [backup-simplify]: Simplify (- 0) into 0
4.124 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
4.125 * [backup-simplify]: Simplify (- 1) into -1
4.125 * [backup-simplify]: Simplify (+ 0 -1) into -1
4.125 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) -1) into (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
4.126 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
4.126 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
4.126 * [backup-simplify]: Simplify (- 0) into 0
4.126 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
4.127 * [backup-simplify]: Simplify (- 1) into -1
4.127 * [backup-simplify]: Simplify (+ 0 -1) into -1
4.127 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) -1) into (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
4.128 * [backup-simplify]: Simplify (* (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
4.128 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
4.128 * [backup-simplify]: Simplify (sqrt (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
4.129 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
4.130 * [backup-simplify]: Simplify (- 0) into 0
4.130 * [backup-simplify]: Simplify (+ (/ 1 lambda1) 0) into (/ 1 lambda1)
4.130 * [backup-simplify]: Simplify (+ 0) into 0
4.131 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
4.131 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
4.131 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
4.131 * [backup-simplify]: Simplify (+ 0 0) into 0
4.132 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
4.133 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
4.133 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
4.134 * [backup-simplify]: Simplify (- 0) into 0
4.134 * [backup-simplify]: Simplify (+ 0 0) into 0
4.135 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (/ 1 lambda1)) (* 0 -1)) into (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1)
4.135 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
4.136 * [backup-simplify]: Simplify (- 0) into 0
4.136 * [backup-simplify]: Simplify (+ (/ 1 lambda1) 0) into (/ 1 lambda1)
4.136 * [backup-simplify]: Simplify (+ 0) into 0
4.137 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
4.137 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
4.137 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
4.137 * [backup-simplify]: Simplify (+ 0 0) into 0
4.138 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
4.139 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
4.139 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
4.139 * [backup-simplify]: Simplify (- 0) into 0
4.140 * [backup-simplify]: Simplify (+ 0 0) into 0
4.140 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (/ 1 lambda1)) (* 0 -1)) into (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1)
4.141 * [backup-simplify]: Simplify (+ (* (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1)) (* (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1) (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))
4.142 * [backup-simplify]: Simplify (+ (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) 0) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))
4.143 * [backup-simplify]: Simplify (/ (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) (* 2 (sqrt (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)))) into (* -1 (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1))
4.143 * [taylor]: Taking taylor expansion of (hypot (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (- (/ 1 phi1) (/ 1 phi2))) in lambda1
4.143 * [taylor]: Rewrote expression to (sqrt (+ (* (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2)))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2)))))
4.143 * [taylor]: Taking taylor expansion of (+ (* (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2)))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2)))) in lambda1
4.143 * [taylor]: Taking taylor expansion of (* (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2)))) in lambda1
4.143 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) in lambda1
4.143 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1
4.143 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1
4.143 * [taylor]: Taking taylor expansion of 0.5 in lambda1
4.143 * [backup-simplify]: Simplify 0.5 into 0.5
4.143 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1
4.143 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
4.143 * [taylor]: Taking taylor expansion of phi1 in lambda1
4.143 * [backup-simplify]: Simplify phi1 into phi1
4.143 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
4.143 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
4.143 * [taylor]: Taking taylor expansion of phi2 in lambda1
4.143 * [backup-simplify]: Simplify phi2 into phi2
4.143 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
4.144 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
4.144 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))
4.144 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
4.144 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
4.144 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in lambda1
4.144 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1
4.144 * [taylor]: Taking taylor expansion of lambda1 in lambda1
4.144 * [backup-simplify]: Simplify 0 into 0
4.144 * [backup-simplify]: Simplify 1 into 1
4.145 * [backup-simplify]: Simplify (/ 1 1) into 1
4.145 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda1
4.145 * [taylor]: Taking taylor expansion of lambda2 in lambda1
4.145 * [backup-simplify]: Simplify lambda2 into lambda2
4.145 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
4.145 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) in lambda1
4.145 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1
4.145 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1
4.145 * [taylor]: Taking taylor expansion of 0.5 in lambda1
4.145 * [backup-simplify]: Simplify 0.5 into 0.5
4.145 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1
4.145 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
4.145 * [taylor]: Taking taylor expansion of phi1 in lambda1
4.145 * [backup-simplify]: Simplify phi1 into phi1
4.145 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
4.145 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
4.145 * [taylor]: Taking taylor expansion of phi2 in lambda1
4.145 * [backup-simplify]: Simplify phi2 into phi2
4.145 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
4.145 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
4.146 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))
4.146 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
4.146 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
4.146 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in lambda1
4.146 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1
4.146 * [taylor]: Taking taylor expansion of lambda1 in lambda1
4.146 * [backup-simplify]: Simplify 0 into 0
4.146 * [backup-simplify]: Simplify 1 into 1
4.146 * [backup-simplify]: Simplify (/ 1 1) into 1
4.146 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda1
4.146 * [taylor]: Taking taylor expansion of lambda2 in lambda1
4.146 * [backup-simplify]: Simplify lambda2 into lambda2
4.147 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
4.147 * [taylor]: Taking taylor expansion of (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2))) in lambda1
4.147 * [taylor]: Taking taylor expansion of (- (/ 1 phi1) (/ 1 phi2)) in lambda1
4.147 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
4.147 * [taylor]: Taking taylor expansion of phi1 in lambda1
4.147 * [backup-simplify]: Simplify phi1 into phi1
4.147 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
4.147 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
4.147 * [taylor]: Taking taylor expansion of phi2 in lambda1
4.147 * [backup-simplify]: Simplify phi2 into phi2
4.147 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
4.147 * [taylor]: Taking taylor expansion of (- (/ 1 phi1) (/ 1 phi2)) in lambda1
4.147 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
4.147 * [taylor]: Taking taylor expansion of phi1 in lambda1
4.147 * [backup-simplify]: Simplify phi1 into phi1
4.147 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
4.147 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
4.147 * [taylor]: Taking taylor expansion of phi2 in lambda1
4.147 * [backup-simplify]: Simplify phi2 into phi2
4.147 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
4.147 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
4.147 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
4.148 * [backup-simplify]: Simplify (- 0) into 0
4.148 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
4.148 * [backup-simplify]: Simplify (+ 1 0) into 1
4.149 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
4.149 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
4.149 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
4.149 * [backup-simplify]: Simplify (- 0) into 0
4.150 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
4.150 * [backup-simplify]: Simplify (+ 1 0) into 1
4.150 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
4.151 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
4.151 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
4.151 * [backup-simplify]: Simplify (sqrt (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
4.152 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
4.152 * [backup-simplify]: Simplify (- (/ 1 lambda2)) into (- (/ 1 lambda2))
4.152 * [backup-simplify]: Simplify (+ 0 (- (/ 1 lambda2))) into (- (/ 1 lambda2))
4.153 * [backup-simplify]: Simplify (+ 0) into 0
4.153 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
4.153 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
4.154 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
4.154 * [backup-simplify]: Simplify (+ 0 0) into 0
4.154 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
4.155 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
4.156 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
4.156 * [backup-simplify]: Simplify (- 0) into 0
4.156 * [backup-simplify]: Simplify (+ 0 0) into 0
4.157 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda2))) (* 0 1)) into (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2))
4.158 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
4.158 * [backup-simplify]: Simplify (- (/ 1 lambda2)) into (- (/ 1 lambda2))
4.158 * [backup-simplify]: Simplify (+ 0 (- (/ 1 lambda2))) into (- (/ 1 lambda2))
4.158 * [backup-simplify]: Simplify (+ 0) into 0
4.159 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
4.159 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
4.159 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
4.160 * [backup-simplify]: Simplify (+ 0 0) into 0
4.160 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
4.161 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
4.161 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
4.162 * [backup-simplify]: Simplify (- 0) into 0
4.162 * [backup-simplify]: Simplify (+ 0 0) into 0
4.163 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda2))) (* 0 1)) into (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2))
4.164 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2))) (* (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))
4.164 * [backup-simplify]: Simplify (+ (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 0) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))
4.165 * [backup-simplify]: Simplify (/ (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) (* 2 (sqrt (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)))) into (* -1 (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2))
4.165 * [taylor]: Taking taylor expansion of (hypot (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (- (/ 1 phi1) (/ 1 phi2))) in lambda1
4.165 * [taylor]: Rewrote expression to (sqrt (+ (* (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2)))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2)))))
4.165 * [taylor]: Taking taylor expansion of (+ (* (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2)))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2)))) in lambda1
4.165 * [taylor]: Taking taylor expansion of (* (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2)))) in lambda1
4.165 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) in lambda1
4.165 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1
4.165 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1
4.165 * [taylor]: Taking taylor expansion of 0.5 in lambda1
4.165 * [backup-simplify]: Simplify 0.5 into 0.5
4.165 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1
4.166 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
4.166 * [taylor]: Taking taylor expansion of phi1 in lambda1
4.166 * [backup-simplify]: Simplify phi1 into phi1
4.166 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
4.166 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
4.166 * [taylor]: Taking taylor expansion of phi2 in lambda1
4.166 * [backup-simplify]: Simplify phi2 into phi2
4.166 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
4.166 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
4.166 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))
4.166 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
4.166 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
4.166 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in lambda1
4.166 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1
4.166 * [taylor]: Taking taylor expansion of lambda1 in lambda1
4.166 * [backup-simplify]: Simplify 0 into 0
4.167 * [backup-simplify]: Simplify 1 into 1
4.167 * [backup-simplify]: Simplify (/ 1 1) into 1
4.167 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda1
4.167 * [taylor]: Taking taylor expansion of lambda2 in lambda1
4.167 * [backup-simplify]: Simplify lambda2 into lambda2
4.167 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
4.167 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) in lambda1
4.167 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1
4.167 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1
4.167 * [taylor]: Taking taylor expansion of 0.5 in lambda1
4.167 * [backup-simplify]: Simplify 0.5 into 0.5
4.167 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1
4.167 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
4.167 * [taylor]: Taking taylor expansion of phi1 in lambda1
4.168 * [backup-simplify]: Simplify phi1 into phi1
4.168 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
4.168 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
4.168 * [taylor]: Taking taylor expansion of phi2 in lambda1
4.168 * [backup-simplify]: Simplify phi2 into phi2
4.168 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
4.168 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
4.168 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))
4.168 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
4.168 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
4.168 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in lambda1
4.168 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1
4.168 * [taylor]: Taking taylor expansion of lambda1 in lambda1
4.168 * [backup-simplify]: Simplify 0 into 0
4.168 * [backup-simplify]: Simplify 1 into 1
4.169 * [backup-simplify]: Simplify (/ 1 1) into 1
4.169 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda1
4.169 * [taylor]: Taking taylor expansion of lambda2 in lambda1
4.169 * [backup-simplify]: Simplify lambda2 into lambda2
4.169 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
4.169 * [taylor]: Taking taylor expansion of (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2))) in lambda1
4.169 * [taylor]: Taking taylor expansion of (- (/ 1 phi1) (/ 1 phi2)) in lambda1
4.169 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
4.169 * [taylor]: Taking taylor expansion of phi1 in lambda1
4.169 * [backup-simplify]: Simplify phi1 into phi1
4.169 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
4.169 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
4.169 * [taylor]: Taking taylor expansion of phi2 in lambda1
4.169 * [backup-simplify]: Simplify phi2 into phi2
4.169 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
4.169 * [taylor]: Taking taylor expansion of (- (/ 1 phi1) (/ 1 phi2)) in lambda1
4.169 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
4.169 * [taylor]: Taking taylor expansion of phi1 in lambda1
4.169 * [backup-simplify]: Simplify phi1 into phi1
4.170 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
4.170 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
4.170 * [taylor]: Taking taylor expansion of phi2 in lambda1
4.170 * [backup-simplify]: Simplify phi2 into phi2
4.170 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
4.170 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
4.170 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
4.170 * [backup-simplify]: Simplify (- 0) into 0
4.171 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
4.171 * [backup-simplify]: Simplify (+ 1 0) into 1
4.171 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
4.172 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
4.172 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
4.172 * [backup-simplify]: Simplify (- 0) into 0
4.172 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
4.173 * [backup-simplify]: Simplify (+ 1 0) into 1
4.173 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
4.174 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
4.174 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
4.174 * [backup-simplify]: Simplify (sqrt (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
4.175 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
4.175 * [backup-simplify]: Simplify (- (/ 1 lambda2)) into (- (/ 1 lambda2))
4.175 * [backup-simplify]: Simplify (+ 0 (- (/ 1 lambda2))) into (- (/ 1 lambda2))
4.175 * [backup-simplify]: Simplify (+ 0) into 0
4.176 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
4.176 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
4.176 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
4.177 * [backup-simplify]: Simplify (+ 0 0) into 0
4.177 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
4.178 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
4.178 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
4.179 * [backup-simplify]: Simplify (- 0) into 0
4.179 * [backup-simplify]: Simplify (+ 0 0) into 0
4.180 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda2))) (* 0 1)) into (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2))
4.181 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
4.181 * [backup-simplify]: Simplify (- (/ 1 lambda2)) into (- (/ 1 lambda2))
4.181 * [backup-simplify]: Simplify (+ 0 (- (/ 1 lambda2))) into (- (/ 1 lambda2))
4.181 * [backup-simplify]: Simplify (+ 0) into 0
4.182 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
4.182 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
4.182 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
4.182 * [backup-simplify]: Simplify (+ 0 0) into 0
4.183 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
4.184 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
4.184 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
4.185 * [backup-simplify]: Simplify (- 0) into 0
4.185 * [backup-simplify]: Simplify (+ 0 0) into 0
4.186 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda2))) (* 0 1)) into (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2))
4.186 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2))) (* (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))
4.187 * [backup-simplify]: Simplify (+ (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 0) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))
4.188 * [backup-simplify]: Simplify (/ (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) (* 2 (sqrt (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)))) into (* -1 (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2))
4.188 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2
4.188 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2
4.188 * [taylor]: Taking taylor expansion of 0.5 in lambda2
4.188 * [backup-simplify]: Simplify 0.5 into 0.5
4.188 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2
4.188 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
4.188 * [taylor]: Taking taylor expansion of phi1 in lambda2
4.188 * [backup-simplify]: Simplify phi1 into phi1
4.188 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
4.188 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
4.188 * [taylor]: Taking taylor expansion of phi2 in lambda2
4.188 * [backup-simplify]: Simplify phi2 into phi2
4.188 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
4.188 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
4.189 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))
4.189 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
4.189 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
4.189 * [taylor]: Taking taylor expansion of (* -1 (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) in lambda2
4.189 * [taylor]: Taking taylor expansion of -1 in lambda2
4.189 * [backup-simplify]: Simplify -1 into -1
4.189 * [taylor]: Taking taylor expansion of (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2) in lambda2
4.189 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2
4.189 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2
4.189 * [taylor]: Taking taylor expansion of 0.5 in lambda2
4.189 * [backup-simplify]: Simplify 0.5 into 0.5
4.189 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2
4.189 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
4.189 * [taylor]: Taking taylor expansion of phi1 in lambda2
4.189 * [backup-simplify]: Simplify phi1 into phi1
4.189 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
4.189 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
4.189 * [taylor]: Taking taylor expansion of phi2 in lambda2
4.189 * [backup-simplify]: Simplify phi2 into phi2
4.189 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
4.190 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
4.190 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))
4.190 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
4.190 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
4.190 * [taylor]: Taking taylor expansion of lambda2 in lambda2
4.190 * [backup-simplify]: Simplify 0 into 0
4.190 * [backup-simplify]: Simplify 1 into 1
4.190 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
4.190 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
4.191 * [backup-simplify]: Simplify (- 0) into 0
4.191 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
4.191 * [backup-simplify]: Simplify (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
4.192 * [backup-simplify]: Simplify (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
4.192 * [taylor]: Taking taylor expansion of (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2
4.192 * [taylor]: Taking taylor expansion of -1 in phi2
4.192 * [backup-simplify]: Simplify -1 into -1
4.192 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
4.192 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
4.192 * [taylor]: Taking taylor expansion of 0.5 in phi2
4.192 * [backup-simplify]: Simplify 0.5 into 0.5
4.192 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
4.192 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
4.192 * [taylor]: Taking taylor expansion of phi1 in phi2
4.192 * [backup-simplify]: Simplify phi1 into phi1
4.192 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
4.192 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
4.192 * [taylor]: Taking taylor expansion of phi2 in phi2
4.192 * [backup-simplify]: Simplify 0 into 0
4.192 * [backup-simplify]: Simplify 1 into 1
4.192 * [backup-simplify]: Simplify (/ 1 1) into 1
4.193 * [backup-simplify]: Simplify (+ 0 1) into 1
4.193 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
4.194 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
4.194 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
4.194 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
4.194 * [backup-simplify]: Simplify (- 0) into 0
4.194 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
4.195 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
4.195 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
4.195 * [taylor]: Taking taylor expansion of 0.5 in phi2
4.195 * [backup-simplify]: Simplify 0.5 into 0.5
4.195 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
4.195 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
4.195 * [taylor]: Taking taylor expansion of phi1 in phi2
4.195 * [backup-simplify]: Simplify phi1 into phi1
4.195 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
4.195 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
4.195 * [taylor]: Taking taylor expansion of phi2 in phi2
4.195 * [backup-simplify]: Simplify 0 into 0
4.195 * [backup-simplify]: Simplify 1 into 1
4.195 * [backup-simplify]: Simplify (/ 1 1) into 1
4.196 * [backup-simplify]: Simplify (+ 0 1) into 1
4.196 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
4.196 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
4.197 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)))) into 0
4.197 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)))) into 0
4.198 * [backup-simplify]: Simplify (- 0) into 0
4.198 * [backup-simplify]: Simplify (+ 0 0) into 0
4.199 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
4.200 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0
4.200 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
4.200 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
4.200 * [backup-simplify]: Simplify (+ 0 0) into 0
4.201 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0
4.202 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
4.203 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0
4.203 * [backup-simplify]: Simplify (- 0) into 0
4.203 * [backup-simplify]: Simplify (+ 0 0) into 0
4.204 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 (- (/ 1 lambda2))) (* 0 1))) into 0
4.205 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)))) into 0
4.205 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)))) into 0
4.205 * [backup-simplify]: Simplify (- 0) into 0
4.206 * [backup-simplify]: Simplify (+ 0 0) into 0
4.206 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
4.207 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0
4.207 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
4.208 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
4.208 * [backup-simplify]: Simplify (+ 0 0) into 0
4.209 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0
4.210 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
4.210 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0
4.211 * [backup-simplify]: Simplify (- 0) into 0
4.211 * [backup-simplify]: Simplify (+ 0 0) into 0
4.212 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 (- (/ 1 lambda2))) (* 0 1))) into 0
4.213 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2))) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2))
4.213 * [backup-simplify]: Simplify (- (/ 1 phi2)) into (- (/ 1 phi2))
4.213 * [backup-simplify]: Simplify (+ (/ 1 phi1) (- (/ 1 phi2))) into (- (/ 1 phi1) (/ 1 phi2))
4.213 * [backup-simplify]: Simplify (- (/ 1 phi2)) into (- (/ 1 phi2))
4.213 * [backup-simplify]: Simplify (+ (/ 1 phi1) (- (/ 1 phi2))) into (- (/ 1 phi1) (/ 1 phi2))
4.213 * [backup-simplify]: Simplify (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2))) into (pow (- (/ 1 phi1) (/ 1 phi2)) 2)
4.214 * [backup-simplify]: Simplify (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (pow (- (/ 1 phi1) (/ 1 phi2)) 2)) into (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2)))) (* 2 (/ 1 (* phi1 phi2))))
4.216 * [backup-simplify]: Simplify (/ (- (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2)))) (* 2 (/ 1 (* phi1 phi2)))) (pow (* -1 (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) 2) (+)) (* 2 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (* 1/2 (/ (- (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))
4.216 * [taylor]: Taking taylor expansion of (* 1/2 (/ (- (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in lambda2
4.216 * [taylor]: Taking taylor expansion of 1/2 in lambda2
4.216 * [backup-simplify]: Simplify 1/2 into 1/2
4.216 * [taylor]: Taking taylor expansion of (/ (- (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda2
4.217 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))) (* 2 (/ 1 (* phi1 phi2)))) in lambda2
4.217 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))) in lambda2
4.217 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda2
4.217 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2
4.217 * [taylor]: Taking taylor expansion of phi1 in lambda2
4.217 * [backup-simplify]: Simplify phi1 into phi1
4.217 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
4.217 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2))
4.217 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda2
4.217 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2
4.217 * [taylor]: Taking taylor expansion of phi2 in lambda2
4.217 * [backup-simplify]: Simplify phi2 into phi2
4.217 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
4.217 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2))
4.217 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi1 phi2))) in lambda2
4.217 * [taylor]: Taking taylor expansion of 2 in lambda2
4.217 * [backup-simplify]: Simplify 2 into 2
4.217 * [taylor]: Taking taylor expansion of (/ 1 (* phi1 phi2)) in lambda2
4.217 * [taylor]: Taking taylor expansion of (* phi1 phi2) in lambda2
4.217 * [taylor]: Taking taylor expansion of phi1 in lambda2
4.217 * [backup-simplify]: Simplify phi1 into phi1
4.217 * [taylor]: Taking taylor expansion of phi2 in lambda2
4.217 * [backup-simplify]: Simplify phi2 into phi2
4.218 * [backup-simplify]: Simplify (* phi1 phi2) into (* phi1 phi2)
4.218 * [backup-simplify]: Simplify (/ 1 (* phi1 phi2)) into (/ 1 (* phi1 phi2))
4.218 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2
4.218 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2
4.218 * [taylor]: Taking taylor expansion of 0.5 in lambda2
4.218 * [backup-simplify]: Simplify 0.5 into 0.5
4.218 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2
4.218 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
4.218 * [taylor]: Taking taylor expansion of phi1 in lambda2
4.218 * [backup-simplify]: Simplify phi1 into phi1
4.218 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
4.218 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
4.218 * [taylor]: Taking taylor expansion of phi2 in lambda2
4.218 * [backup-simplify]: Simplify phi2 into phi2
4.218 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
4.218 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
4.218 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))
4.218 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
4.219 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
4.219 * [backup-simplify]: Simplify (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))) into (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2)))
4.219 * [backup-simplify]: Simplify (* 2 (/ 1 (* phi1 phi2))) into (/ 2 (* phi1 phi2))
4.219 * [backup-simplify]: Simplify (- (/ 2 (* phi1 phi2))) into (- (* 2 (/ 1 (* phi1 phi2))))
4.220 * [backup-simplify]: Simplify (+ (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (- (* 2 (/ 1 (* phi1 phi2))))) into (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2))))
4.220 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
4.220 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
4.221 * [backup-simplify]: Simplify (- 0) into 0
4.221 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
4.221 * [backup-simplify]: Simplify (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
4.222 * [backup-simplify]: Simplify (+ 0) into 0
4.223 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
4.223 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
4.223 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
4.224 * [backup-simplify]: Simplify (+ 0 0) into 0
4.224 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
4.225 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
4.225 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
4.226 * [backup-simplify]: Simplify (- 0) into 0
4.226 * [backup-simplify]: Simplify (+ 0 0) into 0
4.227 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (/ 0 1)))) into 0
4.228 * [backup-simplify]: Simplify (+ (* -1 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0
4.228 * [taylor]: Taking taylor expansion of 0 in phi2
4.228 * [backup-simplify]: Simplify 0 into 0
4.228 * [backup-simplify]: Simplify (+ 0) into 0
4.229 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
4.229 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
4.229 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
4.229 * [backup-simplify]: Simplify (+ 0 0) into 0
4.230 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
4.231 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
4.231 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
4.232 * [backup-simplify]: Simplify (- 0) into 0
4.232 * [backup-simplify]: Simplify (+ 0 0) into 0
4.232 * [taylor]: Taking taylor expansion of 0 in phi2
4.232 * [backup-simplify]: Simplify 0 into 0
4.232 * [backup-simplify]: Simplify (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
4.232 * [taylor]: Taking taylor expansion of (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi1
4.232 * [taylor]: Taking taylor expansion of -1 in phi1
4.232 * [backup-simplify]: Simplify -1 into -1
4.232 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
4.232 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
4.232 * [taylor]: Taking taylor expansion of 0.5 in phi1
4.233 * [backup-simplify]: Simplify 0.5 into 0.5
4.233 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
4.233 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
4.233 * [taylor]: Taking taylor expansion of phi1 in phi1
4.233 * [backup-simplify]: Simplify 0 into 0
4.233 * [backup-simplify]: Simplify 1 into 1
4.233 * [backup-simplify]: Simplify (/ 1 1) into 1
4.233 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
4.233 * [taylor]: Taking taylor expansion of phi2 in phi1
4.233 * [backup-simplify]: Simplify phi2 into phi2
4.233 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
4.234 * [backup-simplify]: Simplify (+ 1 0) into 1
4.234 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
4.234 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
4.234 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
4.234 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
4.234 * [taylor]: Taking taylor expansion of 0.5 in phi1
4.234 * [backup-simplify]: Simplify 0.5 into 0.5
4.234 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
4.234 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
4.234 * [taylor]: Taking taylor expansion of phi1 in phi1
4.234 * [backup-simplify]: Simplify 0 into 0
4.235 * [backup-simplify]: Simplify 1 into 1
4.235 * [backup-simplify]: Simplify (/ 1 1) into 1
4.235 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
4.235 * [taylor]: Taking taylor expansion of phi2 in phi1
4.235 * [backup-simplify]: Simplify phi2 into phi2
4.235 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
4.236 * [backup-simplify]: Simplify (+ 1 0) into 1
4.236 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
4.236 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
4.237 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)) (* 0 (/ 0 1)))) into 0
4.237 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)) (* 0 (/ 0 lambda2)))) into 0
4.238 * [backup-simplify]: Simplify (- 0) into 0
4.238 * [backup-simplify]: Simplify (+ 0 0) into 0
4.239 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0
4.240 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0
4.240 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
4.241 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
4.247 * [backup-simplify]: Simplify (+ 0 0) into 0
4.248 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0
4.249 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0
4.250 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0
4.250 * [backup-simplify]: Simplify (- 0) into 0
4.251 * [backup-simplify]: Simplify (+ 0 0) into 0
4.251 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 (- (/ 1 lambda2))) (* 0 1)))) into 0
4.252 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)) (* 0 (/ 0 1)))) into 0
4.252 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)) (* 0 (/ 0 lambda2)))) into 0
4.252 * [backup-simplify]: Simplify (- 0) into 0
4.253 * [backup-simplify]: Simplify (+ 0 0) into 0
4.253 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0
4.254 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0
4.254 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
4.254 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
4.254 * [backup-simplify]: Simplify (+ 0 0) into 0
4.255 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0
4.256 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0
4.257 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0
4.257 * [backup-simplify]: Simplify (- 0) into 0
4.257 * [backup-simplify]: Simplify (+ 0 0) into 0
4.258 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 (- (/ 1 lambda2))) (* 0 1)))) into 0
4.259 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) 0) (+ (* 0 (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2))) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into 0
4.259 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
4.259 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
4.259 * [backup-simplify]: Simplify (- 0) into 0
4.259 * [backup-simplify]: Simplify (+ 0 0) into 0
4.259 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
4.259 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
4.260 * [backup-simplify]: Simplify (- 0) into 0
4.260 * [backup-simplify]: Simplify (+ 0 0) into 0
4.260 * [backup-simplify]: Simplify (+ (* (- (/ 1 phi1) (/ 1 phi2)) 0) (* 0 (- (/ 1 phi1) (/ 1 phi2)))) into 0
4.260 * [backup-simplify]: Simplify (+ 0 0) into 0
4.261 * [backup-simplify]: Simplify (/ (- 0 (+ (* 2 (* (* -1 (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) (* 1/2 (/ (- (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))))) (* 2 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (* 1/2 (/ (- (+ (/ 1 (* lambda2 (pow phi2 2))) (/ 1 (* lambda2 (pow phi1 2)))) (* 2 (/ 1 (* lambda2 (* phi1 phi2))))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))
4.261 * [taylor]: Taking taylor expansion of (* 1/2 (/ (- (+ (/ 1 (* lambda2 (pow phi2 2))) (/ 1 (* lambda2 (pow phi1 2)))) (* 2 (/ 1 (* lambda2 (* phi1 phi2))))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in lambda2
4.261 * [taylor]: Taking taylor expansion of 1/2 in lambda2
4.261 * [backup-simplify]: Simplify 1/2 into 1/2
4.261 * [taylor]: Taking taylor expansion of (/ (- (+ (/ 1 (* lambda2 (pow phi2 2))) (/ 1 (* lambda2 (pow phi1 2)))) (* 2 (/ 1 (* lambda2 (* phi1 phi2))))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda2
4.261 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (* lambda2 (pow phi2 2))) (/ 1 (* lambda2 (pow phi1 2)))) (* 2 (/ 1 (* lambda2 (* phi1 phi2))))) in lambda2
4.261 * [taylor]: Taking taylor expansion of (+ (/ 1 (* lambda2 (pow phi2 2))) (/ 1 (* lambda2 (pow phi1 2)))) in lambda2
4.261 * [taylor]: Taking taylor expansion of (/ 1 (* lambda2 (pow phi2 2))) in lambda2
4.262 * [taylor]: Taking taylor expansion of (* lambda2 (pow phi2 2)) in lambda2
4.262 * [taylor]: Taking taylor expansion of lambda2 in lambda2
4.262 * [backup-simplify]: Simplify 0 into 0
4.262 * [backup-simplify]: Simplify 1 into 1
4.262 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2
4.262 * [taylor]: Taking taylor expansion of phi2 in lambda2
4.262 * [backup-simplify]: Simplify phi2 into phi2
4.262 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
4.262 * [backup-simplify]: Simplify (* 0 (pow phi2 2)) into 0
4.262 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0
4.262 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow phi2 2))) into (pow phi2 2)
4.262 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2))
4.262 * [taylor]: Taking taylor expansion of (/ 1 (* lambda2 (pow phi1 2))) in lambda2
4.262 * [taylor]: Taking taylor expansion of (* lambda2 (pow phi1 2)) in lambda2
4.262 * [taylor]: Taking taylor expansion of lambda2 in lambda2
4.262 * [backup-simplify]: Simplify 0 into 0
4.262 * [backup-simplify]: Simplify 1 into 1
4.262 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2
4.262 * [taylor]: Taking taylor expansion of phi1 in lambda2
4.262 * [backup-simplify]: Simplify phi1 into phi1
4.263 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
4.263 * [backup-simplify]: Simplify (* 0 (pow phi1 2)) into 0
4.263 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0
4.263 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow phi1 2))) into (pow phi1 2)
4.263 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2))
4.263 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* lambda2 (* phi1 phi2)))) in lambda2
4.263 * [taylor]: Taking taylor expansion of 2 in lambda2
4.263 * [backup-simplify]: Simplify 2 into 2
4.263 * [taylor]: Taking taylor expansion of (/ 1 (* lambda2 (* phi1 phi2))) in lambda2
4.263 * [taylor]: Taking taylor expansion of (* lambda2 (* phi1 phi2)) in lambda2
4.263 * [taylor]: Taking taylor expansion of lambda2 in lambda2
4.263 * [backup-simplify]: Simplify 0 into 0
4.263 * [backup-simplify]: Simplify 1 into 1
4.263 * [taylor]: Taking taylor expansion of (* phi1 phi2) in lambda2
4.263 * [taylor]: Taking taylor expansion of phi1 in lambda2
4.263 * [backup-simplify]: Simplify phi1 into phi1
4.263 * [taylor]: Taking taylor expansion of phi2 in lambda2
4.263 * [backup-simplify]: Simplify phi2 into phi2
4.263 * [backup-simplify]: Simplify (* phi1 phi2) into (* phi1 phi2)
4.263 * [backup-simplify]: Simplify (* 0 (* phi1 phi2)) into 0
4.263 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi2)) into 0
4.264 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* phi1 phi2))) into (* phi1 phi2)
4.264 * [backup-simplify]: Simplify (/ 1 (* phi1 phi2)) into (/ 1 (* phi1 phi2))
4.264 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2
4.264 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2
4.264 * [taylor]: Taking taylor expansion of 0.5 in lambda2
4.264 * [backup-simplify]: Simplify 0.5 into 0.5
4.264 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2
4.264 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
4.264 * [taylor]: Taking taylor expansion of phi1 in lambda2
4.264 * [backup-simplify]: Simplify phi1 into phi1
4.264 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
4.264 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
4.264 * [taylor]: Taking taylor expansion of phi2 in lambda2
4.264 * [backup-simplify]: Simplify phi2 into phi2
4.264 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
4.264 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
4.264 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))
4.264 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
4.264 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
4.265 * [backup-simplify]: Simplify (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) into (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2)))
4.265 * [backup-simplify]: Simplify (* 2 (/ 1 (* phi1 phi2))) into (/ 2 (* phi1 phi2))
4.265 * [backup-simplify]: Simplify (- (/ 2 (* phi1 phi2))) into (- (* 2 (/ 1 (* phi1 phi2))))
4.265 * [backup-simplify]: Simplify (+ (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (- (* 2 (/ 1 (* phi1 phi2))))) into (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2))))
4.265 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
4.265 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
4.266 * [backup-simplify]: Simplify (- 0) into 0
4.266 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
4.266 * [backup-simplify]: Simplify (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
4.266 * [backup-simplify]: Simplify (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))
4.266 * [taylor]: Taking taylor expansion of (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi2
4.266 * [taylor]: Taking taylor expansion of 1/2 in phi2
4.266 * [backup-simplify]: Simplify 1/2 into 1/2
4.267 * [taylor]: Taking taylor expansion of (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2
4.267 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) in phi2
4.267 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) in phi2
4.267 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi2
4.267 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2
4.267 * [taylor]: Taking taylor expansion of phi2 in phi2
4.267 * [backup-simplify]: Simplify 0 into 0
4.267 * [backup-simplify]: Simplify 1 into 1
4.267 * [backup-simplify]: Simplify (* 1 1) into 1
4.267 * [backup-simplify]: Simplify (/ 1 1) into 1
4.267 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi2
4.267 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2
4.267 * [taylor]: Taking taylor expansion of phi1 in phi2
4.267 * [backup-simplify]: Simplify phi1 into phi1
4.267 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
4.267 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2))
4.267 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi1 phi2))) in phi2
4.267 * [taylor]: Taking taylor expansion of 2 in phi2
4.267 * [backup-simplify]: Simplify 2 into 2
4.267 * [taylor]: Taking taylor expansion of (/ 1 (* phi1 phi2)) in phi2
4.267 * [taylor]: Taking taylor expansion of (* phi1 phi2) in phi2
4.268 * [taylor]: Taking taylor expansion of phi1 in phi2
4.268 * [backup-simplify]: Simplify phi1 into phi1
4.268 * [taylor]: Taking taylor expansion of phi2 in phi2
4.268 * [backup-simplify]: Simplify 0 into 0
4.268 * [backup-simplify]: Simplify 1 into 1
4.268 * [backup-simplify]: Simplify (* phi1 0) into 0
4.268 * [backup-simplify]: Simplify (+ (* phi1 1) (* 0 0)) into phi1
4.268 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
4.268 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
4.268 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
4.268 * [taylor]: Taking taylor expansion of 0.5 in phi2
4.268 * [backup-simplify]: Simplify 0.5 into 0.5
4.268 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
4.268 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
4.268 * [taylor]: Taking taylor expansion of phi1 in phi2
4.268 * [backup-simplify]: Simplify phi1 into phi1
4.268 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
4.268 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
4.268 * [taylor]: Taking taylor expansion of phi2 in phi2
4.268 * [backup-simplify]: Simplify 0 into 0
4.268 * [backup-simplify]: Simplify 1 into 1
4.268 * [backup-simplify]: Simplify (/ 1 1) into 1
4.269 * [backup-simplify]: Simplify (+ 0 1) into 1
4.269 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
4.269 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
4.269 * [backup-simplify]: Simplify (+ 1 0) into 1
4.270 * [backup-simplify]: Simplify (+ 1 0) into 1
4.270 * [backup-simplify]: Simplify (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
4.270 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
4.271 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
4.271 * [backup-simplify]: Simplify (+ 0 0) into 0
4.271 * [backup-simplify]: Simplify (* 2 (/ 1 phi1)) into (/ 2 phi1)
4.271 * [backup-simplify]: Simplify (- (/ 2 phi1)) into (- (* 2 (/ 1 phi1)))
4.271 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi1)))) into (- (* 2 (/ 1 phi1)))
4.271 * [backup-simplify]: Simplify (- (/ (- (* 2 (/ 1 phi1))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (+ (* (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (/ 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into (- (* 2 (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi1))))
4.272 * [backup-simplify]: Simplify (+ (* 1/2 (- (* 2 (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi1))))) (* 0 (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into (- (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi1)))
4.272 * [taylor]: Taking taylor expansion of (- (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi1))) in phi1
4.272 * [taylor]: Taking taylor expansion of (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi1)) in phi1
4.272 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi1) in phi1
4.273 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
4.273 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
4.273 * [taylor]: Taking taylor expansion of 0.5 in phi1
4.273 * [backup-simplify]: Simplify 0.5 into 0.5
4.273 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
4.273 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
4.273 * [taylor]: Taking taylor expansion of phi1 in phi1
4.273 * [backup-simplify]: Simplify 0 into 0
4.273 * [backup-simplify]: Simplify 1 into 1
4.274 * [backup-simplify]: Simplify (/ 1 1) into 1
4.274 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
4.274 * [taylor]: Taking taylor expansion of phi2 in phi1
4.274 * [backup-simplify]: Simplify phi2 into phi2
4.274 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
4.274 * [backup-simplify]: Simplify (+ 1 0) into 1
4.274 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
4.275 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
4.275 * [taylor]: Taking taylor expansion of phi1 in phi1
4.275 * [backup-simplify]: Simplify 0 into 0
4.275 * [backup-simplify]: Simplify 1 into 1
4.275 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
4.275 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) (* 0 0)) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
4.275 * [backup-simplify]: Simplify (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
4.275 * [backup-simplify]: Simplify (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))
4.276 * [backup-simplify]: Simplify (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))
4.276 * [backup-simplify]: Simplify (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))
4.276 * [taylor]: Taking taylor expansion of (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi2
4.276 * [taylor]: Taking taylor expansion of 1/2 in phi2
4.276 * [backup-simplify]: Simplify 1/2 into 1/2
4.276 * [taylor]: Taking taylor expansion of (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2
4.276 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) in phi2
4.276 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) in phi2
4.276 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi2
4.276 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2
4.276 * [taylor]: Taking taylor expansion of phi2 in phi2
4.276 * [backup-simplify]: Simplify 0 into 0
4.276 * [backup-simplify]: Simplify 1 into 1
4.277 * [backup-simplify]: Simplify (* 1 1) into 1
4.277 * [backup-simplify]: Simplify (/ 1 1) into 1
4.277 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi2
4.277 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2
4.277 * [taylor]: Taking taylor expansion of phi1 in phi2
4.277 * [backup-simplify]: Simplify phi1 into phi1
4.277 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
4.277 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2))
4.277 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi1 phi2))) in phi2
4.277 * [taylor]: Taking taylor expansion of 2 in phi2
4.277 * [backup-simplify]: Simplify 2 into 2
4.277 * [taylor]: Taking taylor expansion of (/ 1 (* phi1 phi2)) in phi2
4.277 * [taylor]: Taking taylor expansion of (* phi1 phi2) in phi2
4.277 * [taylor]: Taking taylor expansion of phi1 in phi2
4.277 * [backup-simplify]: Simplify phi1 into phi1
4.277 * [taylor]: Taking taylor expansion of phi2 in phi2
4.277 * [backup-simplify]: Simplify 0 into 0
4.277 * [backup-simplify]: Simplify 1 into 1
4.277 * [backup-simplify]: Simplify (* phi1 0) into 0
4.278 * [backup-simplify]: Simplify (+ (* phi1 1) (* 0 0)) into phi1
4.278 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
4.278 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
4.278 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
4.278 * [taylor]: Taking taylor expansion of 0.5 in phi2
4.278 * [backup-simplify]: Simplify 0.5 into 0.5
4.278 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
4.278 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
4.278 * [taylor]: Taking taylor expansion of phi1 in phi2
4.278 * [backup-simplify]: Simplify phi1 into phi1
4.278 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
4.278 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
4.278 * [taylor]: Taking taylor expansion of phi2 in phi2
4.278 * [backup-simplify]: Simplify 0 into 0
4.278 * [backup-simplify]: Simplify 1 into 1
4.278 * [backup-simplify]: Simplify (/ 1 1) into 1
4.278 * [backup-simplify]: Simplify (+ 0 1) into 1
4.279 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
4.279 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
4.279 * [backup-simplify]: Simplify (+ 1 0) into 1
4.279 * [backup-simplify]: Simplify (+ 1 0) into 1
4.280 * [backup-simplify]: Simplify (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
4.280 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
4.280 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
4.281 * [backup-simplify]: Simplify (+ 0 0) into 0
4.281 * [backup-simplify]: Simplify (* 2 (/ 1 phi1)) into (/ 2 phi1)
4.281 * [backup-simplify]: Simplify (- (/ 2 phi1)) into (- (* 2 (/ 1 phi1)))
4.281 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi1)))) into (- (* 2 (/ 1 phi1)))
4.281 * [backup-simplify]: Simplify (- (/ (- (* 2 (/ 1 phi1))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (+ (* (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (/ 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into (- (* 2 (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi1))))
4.281 * [backup-simplify]: Simplify (+ (* 1/2 (- (* 2 (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi1))))) (* 0 (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into (- (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi1)))
4.281 * [taylor]: Taking taylor expansion of (- (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi1))) in phi1
4.281 * [taylor]: Taking taylor expansion of (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi1)) in phi1
4.281 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi1) in phi1
4.282 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
4.282 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
4.282 * [taylor]: Taking taylor expansion of 0.5 in phi1
4.282 * [backup-simplify]: Simplify 0.5 into 0.5
4.282 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
4.282 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
4.282 * [taylor]: Taking taylor expansion of phi1 in phi1
4.282 * [backup-simplify]: Simplify 0 into 0
4.282 * [backup-simplify]: Simplify 1 into 1
4.282 * [backup-simplify]: Simplify (/ 1 1) into 1
4.282 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
4.282 * [taylor]: Taking taylor expansion of phi2 in phi1
4.282 * [backup-simplify]: Simplify phi2 into phi2
4.282 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
4.282 * [backup-simplify]: Simplify (+ 1 0) into 1
4.283 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
4.283 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
4.283 * [taylor]: Taking taylor expansion of phi1 in phi1
4.283 * [backup-simplify]: Simplify 0 into 0
4.283 * [backup-simplify]: Simplify 1 into 1
4.283 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
4.283 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) (* 0 0)) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
4.283 * [backup-simplify]: Simplify (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
4.283 * [backup-simplify]: Simplify (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))
4.284 * [backup-simplify]: Simplify (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))
4.284 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
4.285 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0
4.285 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
4.285 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
4.285 * [backup-simplify]: Simplify (+ 0 0) into 0
4.286 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0
4.286 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
4.286 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0
4.287 * [backup-simplify]: Simplify (- 0) into 0
4.287 * [backup-simplify]: Simplify (+ 0 0) into 0
4.288 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (/ 0 1)) (* 0 (/ 0 1)))) into 0
4.288 * [backup-simplify]: Simplify (+ (* -1 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0
4.288 * [taylor]: Taking taylor expansion of 0 in phi2
4.289 * [backup-simplify]: Simplify 0 into 0
4.289 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
4.290 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0
4.290 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
4.290 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
4.290 * [backup-simplify]: Simplify (+ 0 0) into 0
4.291 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0
4.291 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
4.291 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0
4.292 * [backup-simplify]: Simplify (- 0) into 0
4.292 * [backup-simplify]: Simplify (+ 0 0) into 0
4.292 * [taylor]: Taking taylor expansion of 0 in phi2
4.292 * [backup-simplify]: Simplify 0 into 0
4.292 * [taylor]: Taking taylor expansion of 0 in phi1
4.292 * [backup-simplify]: Simplify 0 into 0
4.292 * [taylor]: Taking taylor expansion of 0 in phi1
4.292 * [backup-simplify]: Simplify 0 into 0
4.292 * [backup-simplify]: Simplify (+ (* -1 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0
4.292 * [taylor]: Taking taylor expansion of 0 in phi1
4.292 * [backup-simplify]: Simplify 0 into 0
4.293 * [taylor]: Taking taylor expansion of 0 in phi1
4.293 * [backup-simplify]: Simplify 0 into 0
4.293 * [backup-simplify]: Simplify (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
4.293 * [backup-simplify]: Simplify (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
4.294 * [backup-simplify]: Simplify (+ (* (* -1 (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2)))))) (* 1 (* 1 (* (/ 1 (/ 1 lambda2)) 1)))) (+ (* (- (/ 1 (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2))))))) (* (/ 1 (/ 1 phi1)) (* (/ 1 (/ 1 phi2)) (* 1 (/ 1 lambda1))))) (* (- (/ 1 (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2))))))) (* (/ 1 (/ 1 phi1)) (* (/ 1 (/ 1 phi2)) (* (/ 1 (/ 1 lambda2)) (pow (/ 1 lambda1) 2))))))) into (- (+ (/ (* phi1 phi2) (* (cos (* 0.5 (+ phi1 phi2))) lambda1)) (+ (* lambda2 (cos (* 0.5 (+ phi1 phi2)))) (/ (* lambda2 (* phi1 phi2)) (* (cos (* 0.5 (+ phi1 phi2))) (pow lambda1 2))))))
4.294 * [backup-simplify]: Simplify (hypot (* (- (/ 1 (- lambda1)) (/ 1 (- lambda2))) (cos (/ (+ (/ 1 (- phi2)) (/ 1 (- phi1))) 2.0))) (- (/ 1 (- phi1)) (/ 1 (- phi2)))) into (hypot (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi2) (/ 1 phi1)))
4.294 * [approximate]: Taking taylor expansion of (hypot (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi2) (/ 1 phi1))) in (lambda1 lambda2 phi2 phi1) around 0
4.294 * [taylor]: Taking taylor expansion of (hypot (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi2) (/ 1 phi1))) in phi1
4.294 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1)))))
4.294 * [taylor]: Taking taylor expansion of (+ (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1)))) in phi1
4.294 * [taylor]: Taking taylor expansion of (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi1
4.294 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi1
4.294 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in phi1
4.294 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in phi1
4.294 * [taylor]: Taking taylor expansion of lambda2 in phi1
4.294 * [backup-simplify]: Simplify lambda2 into lambda2
4.294 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
4.294 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in phi1
4.294 * [taylor]: Taking taylor expansion of lambda1 in phi1
4.295 * [backup-simplify]: Simplify lambda1 into lambda1
4.295 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1)
4.295 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
4.295 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
4.295 * [taylor]: Taking taylor expansion of -0.5 in phi1
4.295 * [backup-simplify]: Simplify -0.5 into -0.5
4.295 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
4.295 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
4.295 * [taylor]: Taking taylor expansion of phi1 in phi1
4.295 * [backup-simplify]: Simplify 0 into 0
4.295 * [backup-simplify]: Simplify 1 into 1
4.295 * [backup-simplify]: Simplify (/ 1 1) into 1
4.295 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
4.295 * [taylor]: Taking taylor expansion of phi2 in phi1
4.295 * [backup-simplify]: Simplify phi2 into phi2
4.295 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
4.295 * [backup-simplify]: Simplify (+ 1 0) into 1
4.296 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
4.296 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
4.296 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi1
4.296 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in phi1
4.296 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in phi1
4.296 * [taylor]: Taking taylor expansion of lambda2 in phi1
4.296 * [backup-simplify]: Simplify lambda2 into lambda2
4.296 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
4.296 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in phi1
4.296 * [taylor]: Taking taylor expansion of lambda1 in phi1
4.296 * [backup-simplify]: Simplify lambda1 into lambda1
4.296 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1)
4.296 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
4.296 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
4.296 * [taylor]: Taking taylor expansion of -0.5 in phi1
4.296 * [backup-simplify]: Simplify -0.5 into -0.5
4.296 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
4.296 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
4.296 * [taylor]: Taking taylor expansion of phi1 in phi1
4.296 * [backup-simplify]: Simplify 0 into 0
4.296 * [backup-simplify]: Simplify 1 into 1
4.296 * [backup-simplify]: Simplify (/ 1 1) into 1
4.297 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
4.297 * [taylor]: Taking taylor expansion of phi2 in phi1
4.297 * [backup-simplify]: Simplify phi2 into phi2
4.297 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
4.297 * [backup-simplify]: Simplify (+ 1 0) into 1
4.297 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
4.297 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
4.297 * [taylor]: Taking taylor expansion of (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1))) in phi1
4.297 * [taylor]: Taking taylor expansion of (- (/ 1 phi2) (/ 1 phi1)) in phi1
4.297 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
4.297 * [taylor]: Taking taylor expansion of phi2 in phi1
4.297 * [backup-simplify]: Simplify phi2 into phi2
4.297 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
4.297 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
4.298 * [taylor]: Taking taylor expansion of phi1 in phi1
4.298 * [backup-simplify]: Simplify 0 into 0
4.298 * [backup-simplify]: Simplify 1 into 1
4.298 * [backup-simplify]: Simplify (/ 1 1) into 1
4.298 * [taylor]: Taking taylor expansion of (- (/ 1 phi2) (/ 1 phi1)) in phi1
4.298 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
4.298 * [taylor]: Taking taylor expansion of phi2 in phi1
4.298 * [backup-simplify]: Simplify phi2 into phi2
4.298 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
4.298 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
4.298 * [taylor]: Taking taylor expansion of phi1 in phi1
4.298 * [backup-simplify]: Simplify 0 into 0
4.298 * [backup-simplify]: Simplify 1 into 1
4.298 * [backup-simplify]: Simplify (/ 1 1) into 1
4.298 * [backup-simplify]: Simplify (- 1) into -1
4.299 * [backup-simplify]: Simplify (+ 0 -1) into -1
4.299 * [backup-simplify]: Simplify (- 1) into -1
4.299 * [backup-simplify]: Simplify (+ 0 -1) into -1
4.300 * [backup-simplify]: Simplify (* -1 -1) into 1
4.300 * [backup-simplify]: Simplify (+ 0 1) into 1
4.300 * [backup-simplify]: Simplify (sqrt 1) into 1
4.301 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
4.301 * [backup-simplify]: Simplify (- 0) into 0
4.301 * [backup-simplify]: Simplify (+ (/ 1 phi2) 0) into (/ 1 phi2)
4.301 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
4.302 * [backup-simplify]: Simplify (- 0) into 0
4.302 * [backup-simplify]: Simplify (+ (/ 1 phi2) 0) into (/ 1 phi2)
4.302 * [backup-simplify]: Simplify (+ (* -1 (/ 1 phi2)) (* (/ 1 phi2) -1)) into (- (* 2 (/ 1 phi2)))
4.302 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2)))
4.302 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi2))) (* 2 (sqrt 1))) into (/ -1 phi2)
4.302 * [taylor]: Taking taylor expansion of (hypot (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi2) (/ 1 phi1))) in phi2
4.302 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1)))))
4.303 * [taylor]: Taking taylor expansion of (+ (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1)))) in phi2
4.303 * [taylor]: Taking taylor expansion of (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi2
4.303 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2
4.303 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in phi2
4.303 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in phi2
4.303 * [taylor]: Taking taylor expansion of lambda2 in phi2
4.303 * [backup-simplify]: Simplify lambda2 into lambda2
4.303 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
4.303 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in phi2
4.303 * [taylor]: Taking taylor expansion of lambda1 in phi2
4.303 * [backup-simplify]: Simplify lambda1 into lambda1
4.303 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1)
4.303 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
4.303 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
4.303 * [taylor]: Taking taylor expansion of -0.5 in phi2
4.303 * [backup-simplify]: Simplify -0.5 into -0.5
4.303 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
4.303 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
4.303 * [taylor]: Taking taylor expansion of phi1 in phi2
4.303 * [backup-simplify]: Simplify phi1 into phi1
4.303 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
4.303 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
4.303 * [taylor]: Taking taylor expansion of phi2 in phi2
4.303 * [backup-simplify]: Simplify 0 into 0
4.303 * [backup-simplify]: Simplify 1 into 1
4.303 * [backup-simplify]: Simplify (/ 1 1) into 1
4.304 * [backup-simplify]: Simplify (+ 0 1) into 1
4.304 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
4.304 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
4.304 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2
4.304 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in phi2
4.304 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in phi2
4.304 * [taylor]: Taking taylor expansion of lambda2 in phi2
4.304 * [backup-simplify]: Simplify lambda2 into lambda2
4.304 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
4.304 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in phi2
4.304 * [taylor]: Taking taylor expansion of lambda1 in phi2
4.304 * [backup-simplify]: Simplify lambda1 into lambda1
4.304 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1)
4.304 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
4.304 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
4.304 * [taylor]: Taking taylor expansion of -0.5 in phi2
4.304 * [backup-simplify]: Simplify -0.5 into -0.5
4.304 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
4.304 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
4.304 * [taylor]: Taking taylor expansion of phi1 in phi2
4.304 * [backup-simplify]: Simplify phi1 into phi1
4.304 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
4.304 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
4.304 * [taylor]: Taking taylor expansion of phi2 in phi2
4.304 * [backup-simplify]: Simplify 0 into 0
4.304 * [backup-simplify]: Simplify 1 into 1
4.305 * [backup-simplify]: Simplify (/ 1 1) into 1
4.305 * [backup-simplify]: Simplify (+ 0 1) into 1
4.305 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
4.305 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
4.305 * [taylor]: Taking taylor expansion of (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1))) in phi2
4.305 * [taylor]: Taking taylor expansion of (- (/ 1 phi2) (/ 1 phi1)) in phi2
4.305 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
4.305 * [taylor]: Taking taylor expansion of phi2 in phi2
4.305 * [backup-simplify]: Simplify 0 into 0
4.305 * [backup-simplify]: Simplify 1 into 1
4.306 * [backup-simplify]: Simplify (/ 1 1) into 1
4.306 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
4.306 * [taylor]: Taking taylor expansion of phi1 in phi2
4.306 * [backup-simplify]: Simplify phi1 into phi1
4.306 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
4.306 * [taylor]: Taking taylor expansion of (- (/ 1 phi2) (/ 1 phi1)) in phi2
4.306 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
4.306 * [taylor]: Taking taylor expansion of phi2 in phi2
4.306 * [backup-simplify]: Simplify 0 into 0
4.306 * [backup-simplify]: Simplify 1 into 1
4.306 * [backup-simplify]: Simplify (/ 1 1) into 1
4.306 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
4.306 * [taylor]: Taking taylor expansion of phi1 in phi2
4.306 * [backup-simplify]: Simplify phi1 into phi1
4.306 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
4.306 * [backup-simplify]: Simplify (+ 1 0) into 1
4.307 * [backup-simplify]: Simplify (+ 1 0) into 1
4.307 * [backup-simplify]: Simplify (* 1 1) into 1
4.307 * [backup-simplify]: Simplify (+ 0 1) into 1
4.307 * [backup-simplify]: Simplify (sqrt 1) into 1
4.308 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
4.308 * [backup-simplify]: Simplify (- (/ 1 phi1)) into (- (/ 1 phi1))
4.308 * [backup-simplify]: Simplify (+ 0 (- (/ 1 phi1))) into (- (/ 1 phi1))
4.308 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
4.308 * [backup-simplify]: Simplify (- (/ 1 phi1)) into (- (/ 1 phi1))
4.309 * [backup-simplify]: Simplify (+ 0 (- (/ 1 phi1))) into (- (/ 1 phi1))
4.309 * [backup-simplify]: Simplify (+ (* 1 (- (/ 1 phi1))) (* (- (/ 1 phi1)) 1)) into (- (* 2 (/ 1 phi1)))
4.309 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi1)))) into (- (* 2 (/ 1 phi1)))
4.309 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi1))) (* 2 (sqrt 1))) into (/ -1 phi1)
4.309 * [taylor]: Taking taylor expansion of (hypot (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi2) (/ 1 phi1))) in lambda2
4.309 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1)))))
4.309 * [taylor]: Taking taylor expansion of (+ (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1)))) in lambda2
4.309 * [taylor]: Taking taylor expansion of (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in lambda2
4.309 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda2
4.309 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in lambda2
4.309 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda2
4.309 * [taylor]: Taking taylor expansion of lambda2 in lambda2
4.309 * [backup-simplify]: Simplify 0 into 0
4.309 * [backup-simplify]: Simplify 1 into 1
4.310 * [backup-simplify]: Simplify (/ 1 1) into 1
4.310 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda2
4.310 * [taylor]: Taking taylor expansion of lambda1 in lambda2
4.310 * [backup-simplify]: Simplify lambda1 into lambda1
4.310 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1)
4.310 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2
4.310 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2
4.310 * [taylor]: Taking taylor expansion of -0.5 in lambda2
4.310 * [backup-simplify]: Simplify -0.5 into -0.5
4.310 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2
4.310 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
4.310 * [taylor]: Taking taylor expansion of phi1 in lambda2
4.310 * [backup-simplify]: Simplify phi1 into phi1
4.310 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
4.310 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
4.310 * [taylor]: Taking taylor expansion of phi2 in lambda2
4.310 * [backup-simplify]: Simplify phi2 into phi2
4.310 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
4.310 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
4.310 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))
4.310 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
4.310 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
4.310 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda2
4.310 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in lambda2
4.311 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda2
4.311 * [taylor]: Taking taylor expansion of lambda2 in lambda2
4.311 * [backup-simplify]: Simplify 0 into 0
4.311 * [backup-simplify]: Simplify 1 into 1
4.311 * [backup-simplify]: Simplify (/ 1 1) into 1
4.311 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda2
4.311 * [taylor]: Taking taylor expansion of lambda1 in lambda2
4.311 * [backup-simplify]: Simplify lambda1 into lambda1
4.311 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1)
4.311 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2
4.311 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2
4.311 * [taylor]: Taking taylor expansion of -0.5 in lambda2
4.311 * [backup-simplify]: Simplify -0.5 into -0.5
4.311 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2
4.311 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
4.311 * [taylor]: Taking taylor expansion of phi1 in lambda2
4.311 * [backup-simplify]: Simplify phi1 into phi1
4.311 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
4.311 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
4.311 * [taylor]: Taking taylor expansion of phi2 in lambda2
4.311 * [backup-simplify]: Simplify phi2 into phi2
4.311 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
4.311 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
4.311 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))
4.311 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
4.312 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
4.312 * [taylor]: Taking taylor expansion of (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1))) in lambda2
4.312 * [taylor]: Taking taylor expansion of (- (/ 1 phi2) (/ 1 phi1)) in lambda2
4.312 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
4.312 * [taylor]: Taking taylor expansion of phi2 in lambda2
4.312 * [backup-simplify]: Simplify phi2 into phi2
4.312 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
4.312 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
4.312 * [taylor]: Taking taylor expansion of phi1 in lambda2
4.312 * [backup-simplify]: Simplify phi1 into phi1
4.312 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
4.312 * [taylor]: Taking taylor expansion of (- (/ 1 phi2) (/ 1 phi1)) in lambda2
4.312 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
4.312 * [taylor]: Taking taylor expansion of phi2 in lambda2
4.312 * [backup-simplify]: Simplify phi2 into phi2
4.312 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
4.312 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
4.312 * [taylor]: Taking taylor expansion of phi1 in lambda2
4.312 * [backup-simplify]: Simplify phi1 into phi1
4.312 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
4.312 * [backup-simplify]: Simplify (+ 1 0) into 1
4.313 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
4.313 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
4.313 * [backup-simplify]: Simplify (- 0) into 0
4.313 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
4.313 * [backup-simplify]: Simplify (* 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
4.313 * [backup-simplify]: Simplify (+ 1 0) into 1
4.314 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
4.314 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
4.314 * [backup-simplify]: Simplify (- 0) into 0
4.314 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
4.314 * [backup-simplify]: Simplify (* 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
4.314 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
4.315 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
4.315 * [backup-simplify]: Simplify (sqrt (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
4.315 * [backup-simplify]: Simplify (+ 0) into 0
4.315 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
4.316 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
4.316 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
4.316 * [backup-simplify]: Simplify (+ 0 0) into 0
4.316 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
4.317 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
4.317 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
4.317 * [backup-simplify]: Simplify (- 0) into 0
4.317 * [backup-simplify]: Simplify (+ 0 0) into 0
4.318 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
4.318 * [backup-simplify]: Simplify (- (/ 1 lambda1)) into (- (/ 1 lambda1))
4.318 * [backup-simplify]: Simplify (+ 0 (- (/ 1 lambda1))) into (- (/ 1 lambda1))
4.318 * [backup-simplify]: Simplify (+ (* 1 0) (* (- (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1))
4.319 * [backup-simplify]: Simplify (+ 0) into 0
4.319 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
4.319 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
4.319 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
4.319 * [backup-simplify]: Simplify (+ 0 0) into 0
4.320 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
4.320 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
4.321 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
4.321 * [backup-simplify]: Simplify (- 0) into 0
4.321 * [backup-simplify]: Simplify (+ 0 0) into 0
4.322 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
4.322 * [backup-simplify]: Simplify (- (/ 1 lambda1)) into (- (/ 1 lambda1))
4.322 * [backup-simplify]: Simplify (+ 0 (- (/ 1 lambda1))) into (- (/ 1 lambda1))
4.322 * [backup-simplify]: Simplify (+ (* 1 0) (* (- (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1))
4.323 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1))) (* (- (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))
4.323 * [backup-simplify]: Simplify (+ (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) 0) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))
4.323 * [backup-simplify]: Simplify (/ (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) (* 2 (sqrt (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)))) into (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1))
4.323 * [taylor]: Taking taylor expansion of (hypot (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi2) (/ 1 phi1))) in lambda1
4.323 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1)))))
4.324 * [taylor]: Taking taylor expansion of (+ (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1)))) in lambda1
4.324 * [taylor]: Taking taylor expansion of (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in lambda1
4.324 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda1
4.324 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in lambda1
4.324 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda1
4.324 * [taylor]: Taking taylor expansion of lambda2 in lambda1
4.324 * [backup-simplify]: Simplify lambda2 into lambda2
4.324 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
4.324 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1
4.324 * [taylor]: Taking taylor expansion of lambda1 in lambda1
4.324 * [backup-simplify]: Simplify 0 into 0
4.324 * [backup-simplify]: Simplify 1 into 1
4.324 * [backup-simplify]: Simplify (/ 1 1) into 1
4.324 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1
4.324 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1
4.324 * [taylor]: Taking taylor expansion of -0.5 in lambda1
4.324 * [backup-simplify]: Simplify -0.5 into -0.5
4.324 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1
4.324 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
4.324 * [taylor]: Taking taylor expansion of phi1 in lambda1
4.324 * [backup-simplify]: Simplify phi1 into phi1
4.324 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
4.324 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
4.324 * [taylor]: Taking taylor expansion of phi2 in lambda1
4.324 * [backup-simplify]: Simplify phi2 into phi2
4.324 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
4.324 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
4.324 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))
4.325 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
4.325 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
4.325 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda1
4.325 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in lambda1
4.325 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda1
4.325 * [taylor]: Taking taylor expansion of lambda2 in lambda1
4.325 * [backup-simplify]: Simplify lambda2 into lambda2
4.325 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
4.325 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1
4.325 * [taylor]: Taking taylor expansion of lambda1 in lambda1
4.325 * [backup-simplify]: Simplify 0 into 0
4.325 * [backup-simplify]: Simplify 1 into 1
4.325 * [backup-simplify]: Simplify (/ 1 1) into 1
4.325 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1
4.325 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1
4.325 * [taylor]: Taking taylor expansion of -0.5 in lambda1
4.325 * [backup-simplify]: Simplify -0.5 into -0.5
4.325 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1
4.325 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
4.325 * [taylor]: Taking taylor expansion of phi1 in lambda1
4.325 * [backup-simplify]: Simplify phi1 into phi1
4.325 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
4.325 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
4.325 * [taylor]: Taking taylor expansion of phi2 in lambda1
4.325 * [backup-simplify]: Simplify phi2 into phi2
4.325 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
4.325 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
4.326 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))
4.326 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
4.326 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
4.326 * [taylor]: Taking taylor expansion of (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1))) in lambda1
4.326 * [taylor]: Taking taylor expansion of (- (/ 1 phi2) (/ 1 phi1)) in lambda1
4.326 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
4.326 * [taylor]: Taking taylor expansion of phi2 in lambda1
4.326 * [backup-simplify]: Simplify phi2 into phi2
4.326 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
4.326 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
4.326 * [taylor]: Taking taylor expansion of phi1 in lambda1
4.326 * [backup-simplify]: Simplify phi1 into phi1
4.326 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
4.326 * [taylor]: Taking taylor expansion of (- (/ 1 phi2) (/ 1 phi1)) in lambda1
4.326 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
4.326 * [taylor]: Taking taylor expansion of phi2 in lambda1
4.326 * [backup-simplify]: Simplify phi2 into phi2
4.326 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
4.326 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
4.326 * [taylor]: Taking taylor expansion of phi1 in lambda1
4.326 * [backup-simplify]: Simplify phi1 into phi1
4.326 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
4.326 * [backup-simplify]: Simplify (- 1) into -1
4.327 * [backup-simplify]: Simplify (+ 0 -1) into -1
4.327 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
4.327 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
4.327 * [backup-simplify]: Simplify (- 0) into 0
4.327 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
4.327 * [backup-simplify]: Simplify (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
4.328 * [backup-simplify]: Simplify (- 1) into -1
4.328 * [backup-simplify]: Simplify (+ 0 -1) into -1
4.328 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
4.328 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
4.328 * [backup-simplify]: Simplify (- 0) into 0
4.329 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
4.329 * [backup-simplify]: Simplify (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
4.329 * [backup-simplify]: Simplify (* (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
4.329 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
4.329 * [backup-simplify]: Simplify (sqrt (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
4.330 * [backup-simplify]: Simplify (+ 0) into 0
4.330 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
4.330 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
4.330 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
4.330 * [backup-simplify]: Simplify (+ 0 0) into 0
4.331 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
4.331 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
4.331 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
4.332 * [backup-simplify]: Simplify (- 0) into 0
4.332 * [backup-simplify]: Simplify (+ 0 0) into 0
4.332 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
4.333 * [backup-simplify]: Simplify (- 0) into 0
4.333 * [backup-simplify]: Simplify (+ (/ 1 lambda2) 0) into (/ 1 lambda2)
4.333 * [backup-simplify]: Simplify (+ (* -1 0) (* (/ 1 lambda2) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)
4.333 * [backup-simplify]: Simplify (+ 0) into 0
4.334 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
4.334 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
4.334 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
4.334 * [backup-simplify]: Simplify (+ 0 0) into 0
4.335 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
4.335 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
4.335 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
4.336 * [backup-simplify]: Simplify (- 0) into 0
4.336 * [backup-simplify]: Simplify (+ 0 0) into 0
4.336 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
4.337 * [backup-simplify]: Simplify (- 0) into 0
4.337 * [backup-simplify]: Simplify (+ (/ 1 lambda2) 0) into (/ 1 lambda2)
4.337 * [backup-simplify]: Simplify (+ (* -1 0) (* (/ 1 lambda2) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)
4.337 * [backup-simplify]: Simplify (+ (* (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) (* (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2) (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))
4.338 * [backup-simplify]: Simplify (+ (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 0) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))
4.338 * [backup-simplify]: Simplify (/ (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) (* 2 (sqrt (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)))) into (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2))
4.338 * [taylor]: Taking taylor expansion of (hypot (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi2) (/ 1 phi1))) in lambda1
4.338 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1)))))
4.338 * [taylor]: Taking taylor expansion of (+ (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1)))) in lambda1
4.338 * [taylor]: Taking taylor expansion of (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in lambda1
4.338 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda1
4.338 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in lambda1
4.339 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda1
4.339 * [taylor]: Taking taylor expansion of lambda2 in lambda1
4.339 * [backup-simplify]: Simplify lambda2 into lambda2
4.339 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
4.339 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1
4.339 * [taylor]: Taking taylor expansion of lambda1 in lambda1
4.339 * [backup-simplify]: Simplify 0 into 0
4.339 * [backup-simplify]: Simplify 1 into 1
4.339 * [backup-simplify]: Simplify (/ 1 1) into 1
4.339 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1
4.339 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1
4.339 * [taylor]: Taking taylor expansion of -0.5 in lambda1
4.339 * [backup-simplify]: Simplify -0.5 into -0.5
4.339 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1
4.339 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
4.339 * [taylor]: Taking taylor expansion of phi1 in lambda1
4.340 * [backup-simplify]: Simplify phi1 into phi1
4.340 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
4.340 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
4.340 * [taylor]: Taking taylor expansion of phi2 in lambda1
4.340 * [backup-simplify]: Simplify phi2 into phi2
4.340 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
4.340 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
4.340 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))
4.340 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
4.340 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
4.340 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda1
4.340 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in lambda1
4.340 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda1
4.340 * [taylor]: Taking taylor expansion of lambda2 in lambda1
4.340 * [backup-simplify]: Simplify lambda2 into lambda2
4.340 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
4.340 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1
4.340 * [taylor]: Taking taylor expansion of lambda1 in lambda1
4.340 * [backup-simplify]: Simplify 0 into 0
4.340 * [backup-simplify]: Simplify 1 into 1
4.340 * [backup-simplify]: Simplify (/ 1 1) into 1
4.340 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1
4.340 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1
4.340 * [taylor]: Taking taylor expansion of -0.5 in lambda1
4.340 * [backup-simplify]: Simplify -0.5 into -0.5
4.341 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1
4.341 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
4.341 * [taylor]: Taking taylor expansion of phi1 in lambda1
4.341 * [backup-simplify]: Simplify phi1 into phi1
4.341 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
4.341 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
4.341 * [taylor]: Taking taylor expansion of phi2 in lambda1
4.341 * [backup-simplify]: Simplify phi2 into phi2
4.341 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
4.341 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
4.341 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))
4.341 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
4.341 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
4.341 * [taylor]: Taking taylor expansion of (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1))) in lambda1
4.341 * [taylor]: Taking taylor expansion of (- (/ 1 phi2) (/ 1 phi1)) in lambda1
4.341 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
4.341 * [taylor]: Taking taylor expansion of phi2 in lambda1
4.341 * [backup-simplify]: Simplify phi2 into phi2
4.341 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
4.341 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
4.341 * [taylor]: Taking taylor expansion of phi1 in lambda1
4.341 * [backup-simplify]: Simplify phi1 into phi1
4.341 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
4.341 * [taylor]: Taking taylor expansion of (- (/ 1 phi2) (/ 1 phi1)) in lambda1
4.341 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
4.341 * [taylor]: Taking taylor expansion of phi2 in lambda1
4.341 * [backup-simplify]: Simplify phi2 into phi2
4.341 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
4.341 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
4.341 * [taylor]: Taking taylor expansion of phi1 in lambda1
4.341 * [backup-simplify]: Simplify phi1 into phi1
4.341 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
4.342 * [backup-simplify]: Simplify (- 1) into -1
4.342 * [backup-simplify]: Simplify (+ 0 -1) into -1
4.342 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
4.342 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
4.342 * [backup-simplify]: Simplify (- 0) into 0
4.343 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
4.343 * [backup-simplify]: Simplify (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
4.343 * [backup-simplify]: Simplify (- 1) into -1
4.343 * [backup-simplify]: Simplify (+ 0 -1) into -1
4.343 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
4.343 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
4.344 * [backup-simplify]: Simplify (- 0) into 0
4.344 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
4.344 * [backup-simplify]: Simplify (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
4.344 * [backup-simplify]: Simplify (* (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
4.344 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
4.344 * [backup-simplify]: Simplify (sqrt (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
4.348 * [backup-simplify]: Simplify (+ 0) into 0
4.349 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
4.349 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
4.349 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
4.349 * [backup-simplify]: Simplify (+ 0 0) into 0
4.349 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
4.350 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
4.350 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
4.350 * [backup-simplify]: Simplify (- 0) into 0
4.351 * [backup-simplify]: Simplify (+ 0 0) into 0
4.351 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
4.351 * [backup-simplify]: Simplify (- 0) into 0
4.351 * [backup-simplify]: Simplify (+ (/ 1 lambda2) 0) into (/ 1 lambda2)
4.352 * [backup-simplify]: Simplify (+ (* -1 0) (* (/ 1 lambda2) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)
4.352 * [backup-simplify]: Simplify (+ 0) into 0
4.352 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
4.353 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
4.353 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
4.353 * [backup-simplify]: Simplify (+ 0 0) into 0
4.353 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
4.354 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
4.354 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
4.354 * [backup-simplify]: Simplify (- 0) into 0
4.354 * [backup-simplify]: Simplify (+ 0 0) into 0
4.355 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
4.355 * [backup-simplify]: Simplify (- 0) into 0
4.355 * [backup-simplify]: Simplify (+ (/ 1 lambda2) 0) into (/ 1 lambda2)
4.356 * [backup-simplify]: Simplify (+ (* -1 0) (* (/ 1 lambda2) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)
4.356 * [backup-simplify]: Simplify (+ (* (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) (* (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2) (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))
4.356 * [backup-simplify]: Simplify (+ (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 0) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))
4.357 * [backup-simplify]: Simplify (/ (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) (* 2 (sqrt (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)))) into (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2))
4.357 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2
4.357 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2
4.357 * [taylor]: Taking taylor expansion of -0.5 in lambda2
4.357 * [backup-simplify]: Simplify -0.5 into -0.5
4.357 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2
4.357 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
4.357 * [taylor]: Taking taylor expansion of phi1 in lambda2
4.357 * [backup-simplify]: Simplify phi1 into phi1
4.357 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
4.357 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
4.357 * [taylor]: Taking taylor expansion of phi2 in lambda2
4.357 * [backup-simplify]: Simplify phi2 into phi2
4.357 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
4.357 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
4.357 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))
4.358 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
4.358 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
4.358 * [taylor]: Taking taylor expansion of (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) in lambda2
4.358 * [taylor]: Taking taylor expansion of -1 in lambda2
4.358 * [backup-simplify]: Simplify -1 into -1
4.358 * [taylor]: Taking taylor expansion of (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2) in lambda2
4.358 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2
4.358 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2
4.358 * [taylor]: Taking taylor expansion of -0.5 in lambda2
4.358 * [backup-simplify]: Simplify -0.5 into -0.5
4.358 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2
4.358 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
4.358 * [taylor]: Taking taylor expansion of phi1 in lambda2
4.358 * [backup-simplify]: Simplify phi1 into phi1
4.358 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
4.358 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
4.358 * [taylor]: Taking taylor expansion of phi2 in lambda2
4.358 * [backup-simplify]: Simplify phi2 into phi2
4.358 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
4.358 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
4.359 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))
4.359 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
4.359 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
4.359 * [taylor]: Taking taylor expansion of lambda2 in lambda2
4.359 * [backup-simplify]: Simplify 0 into 0
4.359 * [backup-simplify]: Simplify 1 into 1
4.359 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
4.359 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
4.360 * [backup-simplify]: Simplify (- 0) into 0
4.360 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
4.360 * [backup-simplify]: Simplify (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
4.360 * [backup-simplify]: Simplify (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
4.360 * [taylor]: Taking taylor expansion of (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2
4.360 * [taylor]: Taking taylor expansion of -1 in phi2
4.360 * [backup-simplify]: Simplify -1 into -1
4.360 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
4.361 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
4.361 * [taylor]: Taking taylor expansion of -0.5 in phi2
4.361 * [backup-simplify]: Simplify -0.5 into -0.5
4.361 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
4.361 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
4.361 * [taylor]: Taking taylor expansion of phi1 in phi2
4.361 * [backup-simplify]: Simplify phi1 into phi1
4.361 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
4.361 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
4.361 * [taylor]: Taking taylor expansion of phi2 in phi2
4.361 * [backup-simplify]: Simplify 0 into 0
4.361 * [backup-simplify]: Simplify 1 into 1
4.361 * [backup-simplify]: Simplify (/ 1 1) into 1
4.362 * [backup-simplify]: Simplify (+ 0 1) into 1
4.362 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
4.362 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
4.362 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
4.363 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
4.363 * [backup-simplify]: Simplify (- 0) into 0
4.363 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
4.363 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
4.363 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
4.363 * [taylor]: Taking taylor expansion of -0.5 in phi2
4.363 * [backup-simplify]: Simplify -0.5 into -0.5
4.363 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
4.363 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
4.363 * [taylor]: Taking taylor expansion of phi1 in phi2
4.363 * [backup-simplify]: Simplify phi1 into phi1
4.363 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
4.364 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
4.364 * [taylor]: Taking taylor expansion of phi2 in phi2
4.364 * [backup-simplify]: Simplify 0 into 0
4.364 * [backup-simplify]: Simplify 1 into 1
4.364 * [backup-simplify]: Simplify (/ 1 1) into 1
4.364 * [backup-simplify]: Simplify (+ 0 1) into 1
4.365 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
4.365 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
4.366 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
4.367 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0
4.367 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
4.367 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
4.367 * [backup-simplify]: Simplify (+ 0 0) into 0
4.368 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0
4.369 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
4.370 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0
4.370 * [backup-simplify]: Simplify (- 0) into 0
4.370 * [backup-simplify]: Simplify (+ 0 0) into 0
4.370 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)))) into 0
4.371 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)))) into 0
4.372 * [backup-simplify]: Simplify (- 0) into 0
4.372 * [backup-simplify]: Simplify (+ 0 0) into 0
4.373 * [backup-simplify]: Simplify (+ (* -1 0) (+ (* (/ 1 lambda2) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0
4.374 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
4.374 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0
4.375 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
4.375 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
4.375 * [backup-simplify]: Simplify (+ 0 0) into 0
4.376 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0
4.377 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
4.377 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0
4.378 * [backup-simplify]: Simplify (- 0) into 0
4.378 * [backup-simplify]: Simplify (+ 0 0) into 0
4.378 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)))) into 0
4.379 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)))) into 0
4.379 * [backup-simplify]: Simplify (- 0) into 0
4.380 * [backup-simplify]: Simplify (+ 0 0) into 0
4.380 * [backup-simplify]: Simplify (+ (* -1 0) (+ (* (/ 1 lambda2) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0
4.381 * [backup-simplify]: Simplify (+ (* (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 0) (+ (* (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2) (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) (* 0 (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2))
4.382 * [backup-simplify]: Simplify (- (/ 1 phi1)) into (- (/ 1 phi1))
4.382 * [backup-simplify]: Simplify (+ (/ 1 phi2) (- (/ 1 phi1))) into (- (/ 1 phi2) (/ 1 phi1))
4.382 * [backup-simplify]: Simplify (- (/ 1 phi1)) into (- (/ 1 phi1))
4.382 * [backup-simplify]: Simplify (+ (/ 1 phi2) (- (/ 1 phi1))) into (- (/ 1 phi2) (/ 1 phi1))
4.382 * [backup-simplify]: Simplify (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1))) into (pow (- (/ 1 phi2) (/ 1 phi1)) 2)
4.383 * [backup-simplify]: Simplify (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (pow (- (/ 1 phi2) (/ 1 phi1)) 2)) into (- (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2)))) (* 2 (/ 1 (* phi1 phi2))))
4.385 * [backup-simplify]: Simplify (/ (- (- (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2)))) (* 2 (/ 1 (* phi1 phi2)))) (pow (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) 2) (+)) (* 2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))
4.385 * [taylor]: Taking taylor expansion of (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in lambda2
4.385 * [taylor]: Taking taylor expansion of 1/2 in lambda2
4.385 * [backup-simplify]: Simplify 1/2 into 1/2
4.386 * [taylor]: Taking taylor expansion of (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda2
4.386 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) in lambda2
4.386 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) in lambda2
4.386 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda2
4.386 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2
4.386 * [taylor]: Taking taylor expansion of phi2 in lambda2
4.386 * [backup-simplify]: Simplify phi2 into phi2
4.386 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
4.386 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2))
4.386 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda2
4.386 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2
4.386 * [taylor]: Taking taylor expansion of phi1 in lambda2
4.386 * [backup-simplify]: Simplify phi1 into phi1
4.386 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
4.386 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2))
4.386 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi1 phi2))) in lambda2
4.386 * [taylor]: Taking taylor expansion of 2 in lambda2
4.387 * [backup-simplify]: Simplify 2 into 2
4.387 * [taylor]: Taking taylor expansion of (/ 1 (* phi1 phi2)) in lambda2
4.387 * [taylor]: Taking taylor expansion of (* phi1 phi2) in lambda2
4.387 * [taylor]: Taking taylor expansion of phi1 in lambda2
4.387 * [backup-simplify]: Simplify phi1 into phi1
4.387 * [taylor]: Taking taylor expansion of phi2 in lambda2
4.387 * [backup-simplify]: Simplify phi2 into phi2
4.387 * [backup-simplify]: Simplify (* phi1 phi2) into (* phi1 phi2)
4.387 * [backup-simplify]: Simplify (/ 1 (* phi1 phi2)) into (/ 1 (* phi1 phi2))
4.387 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2
4.387 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2
4.387 * [taylor]: Taking taylor expansion of -0.5 in lambda2
4.387 * [backup-simplify]: Simplify -0.5 into -0.5
4.387 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2
4.387 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
4.387 * [taylor]: Taking taylor expansion of phi1 in lambda2
4.387 * [backup-simplify]: Simplify phi1 into phi1
4.387 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
4.387 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
4.387 * [taylor]: Taking taylor expansion of phi2 in lambda2
4.388 * [backup-simplify]: Simplify phi2 into phi2
4.388 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
4.388 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
4.388 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))
4.388 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
4.388 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
4.389 * [backup-simplify]: Simplify (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) into (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2)))
4.389 * [backup-simplify]: Simplify (* 2 (/ 1 (* phi1 phi2))) into (/ 2 (* phi1 phi2))
4.389 * [backup-simplify]: Simplify (- (/ 2 (* phi1 phi2))) into (- (* 2 (/ 1 (* phi1 phi2))))
4.390 * [backup-simplify]: Simplify (+ (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (- (* 2 (/ 1 (* phi1 phi2))))) into (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2))))
4.390 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
4.390 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
4.391 * [backup-simplify]: Simplify (- 0) into 0
4.391 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
4.391 * [backup-simplify]: Simplify (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
4.392 * [backup-simplify]: Simplify (+ 0) into 0
4.393 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
4.393 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
4.393 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
4.393 * [backup-simplify]: Simplify (+ 0 0) into 0
4.394 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
4.395 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
4.395 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
4.396 * [backup-simplify]: Simplify (- 0) into 0
4.396 * [backup-simplify]: Simplify (+ 0 0) into 0
4.397 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (/ 0 1)))) into 0
4.398 * [backup-simplify]: Simplify (+ (* -1 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0
4.398 * [taylor]: Taking taylor expansion of 0 in phi2
4.398 * [backup-simplify]: Simplify 0 into 0
4.398 * [backup-simplify]: Simplify (+ 0) into 0
4.399 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
4.399 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
4.399 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
4.400 * [backup-simplify]: Simplify (+ 0 0) into 0
4.400 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
4.401 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
4.401 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
4.402 * [backup-simplify]: Simplify (- 0) into 0
4.402 * [backup-simplify]: Simplify (+ 0 0) into 0
4.402 * [taylor]: Taking taylor expansion of 0 in phi2
4.402 * [backup-simplify]: Simplify 0 into 0
4.403 * [backup-simplify]: Simplify (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
4.403 * [taylor]: Taking taylor expansion of (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi1
4.403 * [taylor]: Taking taylor expansion of -1 in phi1
4.403 * [backup-simplify]: Simplify -1 into -1
4.403 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
4.403 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
4.403 * [taylor]: Taking taylor expansion of -0.5 in phi1
4.403 * [backup-simplify]: Simplify -0.5 into -0.5
4.403 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
4.403 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
4.403 * [taylor]: Taking taylor expansion of phi1 in phi1
4.403 * [backup-simplify]: Simplify 0 into 0
4.403 * [backup-simplify]: Simplify 1 into 1
4.403 * [backup-simplify]: Simplify (/ 1 1) into 1
4.403 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
4.403 * [taylor]: Taking taylor expansion of phi2 in phi1
4.403 * [backup-simplify]: Simplify phi2 into phi2
4.403 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
4.404 * [backup-simplify]: Simplify (+ 1 0) into 1
4.404 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
4.405 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
4.405 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
4.405 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
4.405 * [taylor]: Taking taylor expansion of -0.5 in phi1
4.405 * [backup-simplify]: Simplify -0.5 into -0.5
4.405 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
4.405 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
4.405 * [taylor]: Taking taylor expansion of phi1 in phi1
4.405 * [backup-simplify]: Simplify 0 into 0
4.405 * [backup-simplify]: Simplify 1 into 1
4.405 * [backup-simplify]: Simplify (/ 1 1) into 1
4.405 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
4.405 * [taylor]: Taking taylor expansion of phi2 in phi1
4.405 * [backup-simplify]: Simplify phi2 into phi2
4.405 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
4.406 * [backup-simplify]: Simplify (+ 1 0) into 1
4.406 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
4.406 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
4.407 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0
4.408 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0
4.409 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
4.409 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
4.409 * [backup-simplify]: Simplify (+ 0 0) into 0
4.411 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0
4.412 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0
4.413 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0
4.413 * [backup-simplify]: Simplify (- 0) into 0
4.414 * [backup-simplify]: Simplify (+ 0 0) into 0
4.414 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)) (* 0 (/ 0 lambda2)))) into 0
4.415 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)) (* 0 (/ 0 1)))) into 0
4.415 * [backup-simplify]: Simplify (- 0) into 0
4.416 * [backup-simplify]: Simplify (+ 0 0) into 0
4.417 * [backup-simplify]: Simplify (+ (* -1 0) (+ (* (/ 1 lambda2) 0) (+ (* 0 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into 0
4.418 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0
4.419 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0
4.419 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
4.419 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
4.419 * [backup-simplify]: Simplify (+ 0 0) into 0
4.421 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0
4.422 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0
4.423 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0
4.423 * [backup-simplify]: Simplify (- 0) into 0
4.424 * [backup-simplify]: Simplify (+ 0 0) into 0
4.424 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)) (* 0 (/ 0 lambda2)))) into 0
4.425 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)) (* 0 (/ 0 1)))) into 0
4.425 * [backup-simplify]: Simplify (- 0) into 0
4.426 * [backup-simplify]: Simplify (+ 0 0) into 0
4.427 * [backup-simplify]: Simplify (+ (* -1 0) (+ (* (/ 1 lambda2) 0) (+ (* 0 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into 0
4.428 * [backup-simplify]: Simplify (+ (* (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 0) (+ (* (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2) 0) (+ (* 0 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) (* 0 (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))) into 0
4.428 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
4.428 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
4.428 * [backup-simplify]: Simplify (- 0) into 0
4.429 * [backup-simplify]: Simplify (+ 0 0) into 0
4.429 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
4.429 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
4.429 * [backup-simplify]: Simplify (- 0) into 0
4.430 * [backup-simplify]: Simplify (+ 0 0) into 0
4.430 * [backup-simplify]: Simplify (+ (* (- (/ 1 phi2) (/ 1 phi1)) 0) (* 0 (- (/ 1 phi2) (/ 1 phi1)))) into 0
4.430 * [backup-simplify]: Simplify (+ 0 0) into 0
4.432 * [backup-simplify]: Simplify (/ (- 0 (+ (* 2 (* (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))))) (* 2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (* 1/2 (/ (- (+ (/ 1 (* lambda2 (pow phi2 2))) (/ 1 (* lambda2 (pow phi1 2)))) (* 2 (/ 1 (* lambda2 (* phi1 phi2))))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))
4.432 * [taylor]: Taking taylor expansion of (* 1/2 (/ (- (+ (/ 1 (* lambda2 (pow phi2 2))) (/ 1 (* lambda2 (pow phi1 2)))) (* 2 (/ 1 (* lambda2 (* phi1 phi2))))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in lambda2
4.432 * [taylor]: Taking taylor expansion of 1/2 in lambda2
4.432 * [backup-simplify]: Simplify 1/2 into 1/2
4.432 * [taylor]: Taking taylor expansion of (/ (- (+ (/ 1 (* lambda2 (pow phi2 2))) (/ 1 (* lambda2 (pow phi1 2)))) (* 2 (/ 1 (* lambda2 (* phi1 phi2))))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda2
4.432 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (* lambda2 (pow phi2 2))) (/ 1 (* lambda2 (pow phi1 2)))) (* 2 (/ 1 (* lambda2 (* phi1 phi2))))) in lambda2
4.432 * [taylor]: Taking taylor expansion of (+ (/ 1 (* lambda2 (pow phi2 2))) (/ 1 (* lambda2 (pow phi1 2)))) in lambda2
4.432 * [taylor]: Taking taylor expansion of (/ 1 (* lambda2 (pow phi2 2))) in lambda2
4.432 * [taylor]: Taking taylor expansion of (* lambda2 (pow phi2 2)) in lambda2
4.432 * [taylor]: Taking taylor expansion of lambda2 in lambda2
4.432 * [backup-simplify]: Simplify 0 into 0
4.432 * [backup-simplify]: Simplify 1 into 1
4.432 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2
4.432 * [taylor]: Taking taylor expansion of phi2 in lambda2
4.432 * [backup-simplify]: Simplify phi2 into phi2
4.432 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
4.433 * [backup-simplify]: Simplify (* 0 (pow phi2 2)) into 0
4.433 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0
4.433 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow phi2 2))) into (pow phi2 2)
4.433 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2))
4.433 * [taylor]: Taking taylor expansion of (/ 1 (* lambda2 (pow phi1 2))) in lambda2
4.433 * [taylor]: Taking taylor expansion of (* lambda2 (pow phi1 2)) in lambda2
4.434 * [taylor]: Taking taylor expansion of lambda2 in lambda2
4.434 * [backup-simplify]: Simplify 0 into 0
4.434 * [backup-simplify]: Simplify 1 into 1
4.434 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2
4.434 * [taylor]: Taking taylor expansion of phi1 in lambda2
4.434 * [backup-simplify]: Simplify phi1 into phi1
4.434 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
4.434 * [backup-simplify]: Simplify (* 0 (pow phi1 2)) into 0
4.434 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0
4.435 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow phi1 2))) into (pow phi1 2)
4.435 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2))
4.435 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* lambda2 (* phi1 phi2)))) in lambda2
4.435 * [taylor]: Taking taylor expansion of 2 in lambda2
4.435 * [backup-simplify]: Simplify 2 into 2
4.435 * [taylor]: Taking taylor expansion of (/ 1 (* lambda2 (* phi1 phi2))) in lambda2
4.435 * [taylor]: Taking taylor expansion of (* lambda2 (* phi1 phi2)) in lambda2
4.435 * [taylor]: Taking taylor expansion of lambda2 in lambda2
4.435 * [backup-simplify]: Simplify 0 into 0
4.435 * [backup-simplify]: Simplify 1 into 1
4.435 * [taylor]: Taking taylor expansion of (* phi1 phi2) in lambda2
4.435 * [taylor]: Taking taylor expansion of phi1 in lambda2
4.435 * [backup-simplify]: Simplify phi1 into phi1
4.435 * [taylor]: Taking taylor expansion of phi2 in lambda2
4.435 * [backup-simplify]: Simplify phi2 into phi2
4.435 * [backup-simplify]: Simplify (* phi1 phi2) into (* phi1 phi2)
4.435 * [backup-simplify]: Simplify (* 0 (* phi1 phi2)) into 0
4.435 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi2)) into 0
4.436 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* phi1 phi2))) into (* phi1 phi2)
4.436 * [backup-simplify]: Simplify (/ 1 (* phi1 phi2)) into (/ 1 (* phi1 phi2))
4.436 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2
4.436 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2
4.436 * [taylor]: Taking taylor expansion of -0.5 in lambda2
4.436 * [backup-simplify]: Simplify -0.5 into -0.5
4.436 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2
4.436 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
4.436 * [taylor]: Taking taylor expansion of phi1 in lambda2
4.436 * [backup-simplify]: Simplify phi1 into phi1
4.436 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
4.436 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
4.436 * [taylor]: Taking taylor expansion of phi2 in lambda2
4.436 * [backup-simplify]: Simplify phi2 into phi2
4.436 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
4.436 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
4.437 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))
4.437 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
4.437 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
4.437 * [backup-simplify]: Simplify (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) into (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2)))
4.437 * [backup-simplify]: Simplify (* 2 (/ 1 (* phi1 phi2))) into (/ 2 (* phi1 phi2))
4.437 * [backup-simplify]: Simplify (- (/ 2 (* phi1 phi2))) into (- (* 2 (/ 1 (* phi1 phi2))))
4.438 * [backup-simplify]: Simplify (+ (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (- (* 2 (/ 1 (* phi1 phi2))))) into (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2))))
4.438 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
4.438 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
4.439 * [backup-simplify]: Simplify (- 0) into 0
4.439 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
4.440 * [backup-simplify]: Simplify (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
4.440 * [backup-simplify]: Simplify (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))
4.440 * [taylor]: Taking taylor expansion of (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi2
4.440 * [taylor]: Taking taylor expansion of 1/2 in phi2
4.440 * [backup-simplify]: Simplify 1/2 into 1/2
4.440 * [taylor]: Taking taylor expansion of (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2
4.441 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) in phi2
4.441 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) in phi2
4.441 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi2
4.441 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2
4.441 * [taylor]: Taking taylor expansion of phi2 in phi2
4.441 * [backup-simplify]: Simplify 0 into 0
4.441 * [backup-simplify]: Simplify 1 into 1
4.441 * [backup-simplify]: Simplify (* 1 1) into 1
4.442 * [backup-simplify]: Simplify (/ 1 1) into 1
4.442 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi2
4.442 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2
4.442 * [taylor]: Taking taylor expansion of phi1 in phi2
4.442 * [backup-simplify]: Simplify phi1 into phi1
4.442 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
4.442 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2))
4.442 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi1 phi2))) in phi2
4.442 * [taylor]: Taking taylor expansion of 2 in phi2
4.442 * [backup-simplify]: Simplify 2 into 2
4.442 * [taylor]: Taking taylor expansion of (/ 1 (* phi1 phi2)) in phi2
4.442 * [taylor]: Taking taylor expansion of (* phi1 phi2) in phi2
4.442 * [taylor]: Taking taylor expansion of phi1 in phi2
4.442 * [backup-simplify]: Simplify phi1 into phi1
4.442 * [taylor]: Taking taylor expansion of phi2 in phi2
4.442 * [backup-simplify]: Simplify 0 into 0
4.443 * [backup-simplify]: Simplify 1 into 1
4.443 * [backup-simplify]: Simplify (* phi1 0) into 0
4.443 * [backup-simplify]: Simplify (+ (* phi1 1) (* 0 0)) into phi1
4.443 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
4.443 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
4.443 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
4.443 * [taylor]: Taking taylor expansion of -0.5 in phi2
4.443 * [backup-simplify]: Simplify -0.5 into -0.5
4.444 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
4.444 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
4.444 * [taylor]: Taking taylor expansion of phi1 in phi2
4.444 * [backup-simplify]: Simplify phi1 into phi1
4.444 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
4.444 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
4.444 * [taylor]: Taking taylor expansion of phi2 in phi2
4.444 * [backup-simplify]: Simplify 0 into 0
4.444 * [backup-simplify]: Simplify 1 into 1
4.444 * [backup-simplify]: Simplify (/ 1 1) into 1
4.445 * [backup-simplify]: Simplify (+ 0 1) into 1
4.445 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
4.445 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
4.446 * [backup-simplify]: Simplify (+ 1 0) into 1
4.446 * [backup-simplify]: Simplify (+ 1 0) into 1
4.446 * [backup-simplify]: Simplify (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
4.446 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
4.447 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
4.447 * [backup-simplify]: Simplify (+ 0 0) into 0
4.447 * [backup-simplify]: Simplify (* 2 (/ 1 phi1)) into (/ 2 phi1)
4.447 * [backup-simplify]: Simplify (- (/ 2 phi1)) into (- (* 2 (/ 1 phi1)))
4.447 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi1)))) into (- (* 2 (/ 1 phi1)))
4.448 * [backup-simplify]: Simplify (- (/ (- (* 2 (/ 1 phi1))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (+ (* (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (/ 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into (- (* 2 (/ 1 (* phi1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))
4.448 * [backup-simplify]: Simplify (+ (* 1/2 (- (* 2 (/ 1 (* phi1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))) (* 0 (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into (- (/ 1 (* phi1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))
4.448 * [taylor]: Taking taylor expansion of (- (/ 1 (* phi1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) in phi1
4.448 * [taylor]: Taking taylor expansion of (/ 1 (* phi1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi1
4.448 * [taylor]: Taking taylor expansion of (* phi1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi1
4.448 * [taylor]: Taking taylor expansion of phi1 in phi1
4.448 * [backup-simplify]: Simplify 0 into 0
4.448 * [backup-simplify]: Simplify 1 into 1
4.448 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
4.448 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
4.448 * [taylor]: Taking taylor expansion of -0.5 in phi1
4.448 * [backup-simplify]: Simplify -0.5 into -0.5
4.448 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
4.448 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
4.448 * [taylor]: Taking taylor expansion of phi1 in phi1
4.448 * [backup-simplify]: Simplify 0 into 0
4.448 * [backup-simplify]: Simplify 1 into 1
4.448 * [backup-simplify]: Simplify (/ 1 1) into 1
4.448 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
4.448 * [taylor]: Taking taylor expansion of phi2 in phi1
4.448 * [backup-simplify]: Simplify phi2 into phi2
4.448 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
4.449 * [backup-simplify]: Simplify (+ 1 0) into 1
4.449 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
4.449 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
4.449 * [backup-simplify]: Simplify (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into 0
4.450 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
4.450 * [backup-simplify]: Simplify (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
4.450 * [backup-simplify]: Simplify (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))
4.450 * [backup-simplify]: Simplify (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))
4.450 * [backup-simplify]: Simplify (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))
4.450 * [taylor]: Taking taylor expansion of (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi2
4.450 * [taylor]: Taking taylor expansion of 1/2 in phi2
4.450 * [backup-simplify]: Simplify 1/2 into 1/2
4.451 * [taylor]: Taking taylor expansion of (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2
4.451 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) in phi2
4.451 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) in phi2
4.451 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi2
4.451 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2
4.451 * [taylor]: Taking taylor expansion of phi2 in phi2
4.451 * [backup-simplify]: Simplify 0 into 0
4.451 * [backup-simplify]: Simplify 1 into 1
4.451 * [backup-simplify]: Simplify (* 1 1) into 1
4.451 * [backup-simplify]: Simplify (/ 1 1) into 1
4.451 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi2
4.451 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2
4.451 * [taylor]: Taking taylor expansion of phi1 in phi2
4.451 * [backup-simplify]: Simplify phi1 into phi1
4.451 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
4.451 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2))
4.451 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi1 phi2))) in phi2
4.451 * [taylor]: Taking taylor expansion of 2 in phi2
4.451 * [backup-simplify]: Simplify 2 into 2
4.451 * [taylor]: Taking taylor expansion of (/ 1 (* phi1 phi2)) in phi2
4.451 * [taylor]: Taking taylor expansion of (* phi1 phi2) in phi2
4.451 * [taylor]: Taking taylor expansion of phi1 in phi2
4.451 * [backup-simplify]: Simplify phi1 into phi1
4.451 * [taylor]: Taking taylor expansion of phi2 in phi2
4.451 * [backup-simplify]: Simplify 0 into 0
4.451 * [backup-simplify]: Simplify 1 into 1
4.452 * [backup-simplify]: Simplify (* phi1 0) into 0
4.452 * [backup-simplify]: Simplify (+ (* phi1 1) (* 0 0)) into phi1
4.452 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
4.452 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
4.452 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
4.452 * [taylor]: Taking taylor expansion of -0.5 in phi2
4.452 * [backup-simplify]: Simplify -0.5 into -0.5
4.452 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
4.452 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
4.452 * [taylor]: Taking taylor expansion of phi1 in phi2
4.452 * [backup-simplify]: Simplify phi1 into phi1
4.452 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
4.452 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
4.452 * [taylor]: Taking taylor expansion of phi2 in phi2
4.452 * [backup-simplify]: Simplify 0 into 0
4.452 * [backup-simplify]: Simplify 1 into 1
4.452 * [backup-simplify]: Simplify (/ 1 1) into 1
4.453 * [backup-simplify]: Simplify (+ 0 1) into 1
4.453 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
4.453 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
4.453 * [backup-simplify]: Simplify (+ 1 0) into 1
4.453 * [backup-simplify]: Simplify (+ 1 0) into 1
4.454 * [backup-simplify]: Simplify (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
4.454 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
4.455 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
4.455 * [backup-simplify]: Simplify (+ 0 0) into 0
4.455 * [backup-simplify]: Simplify (* 2 (/ 1 phi1)) into (/ 2 phi1)
4.455 * [backup-simplify]: Simplify (- (/ 2 phi1)) into (- (* 2 (/ 1 phi1)))
4.455 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi1)))) into (- (* 2 (/ 1 phi1)))
4.455 * [backup-simplify]: Simplify (- (/ (- (* 2 (/ 1 phi1))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (+ (* (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (/ 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into (- (* 2 (/ 1 (* phi1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))
4.456 * [backup-simplify]: Simplify (+ (* 1/2 (- (* 2 (/ 1 (* phi1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))) (* 0 (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into (- (/ 1 (* phi1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))
4.456 * [taylor]: Taking taylor expansion of (- (/ 1 (* phi1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) in phi1
4.456 * [taylor]: Taking taylor expansion of (/ 1 (* phi1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi1
4.456 * [taylor]: Taking taylor expansion of (* phi1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi1
4.456 * [taylor]: Taking taylor expansion of phi1 in phi1
4.456 * [backup-simplify]: Simplify 0 into 0
4.456 * [backup-simplify]: Simplify 1 into 1
4.456 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
4.456 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
4.456 * [taylor]: Taking taylor expansion of -0.5 in phi1
4.456 * [backup-simplify]: Simplify -0.5 into -0.5
4.456 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
4.456 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
4.456 * [taylor]: Taking taylor expansion of phi1 in phi1
4.456 * [backup-simplify]: Simplify 0 into 0
4.456 * [backup-simplify]: Simplify 1 into 1
4.456 * [backup-simplify]: Simplify (/ 1 1) into 1
4.456 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
4.456 * [taylor]: Taking taylor expansion of phi2 in phi1
4.456 * [backup-simplify]: Simplify phi2 into phi2
4.456 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
4.457 * [backup-simplify]: Simplify (+ 1 0) into 1
4.457 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
4.457 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
4.457 * [backup-simplify]: Simplify (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into 0
4.457 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
4.458 * [backup-simplify]: Simplify (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
4.458 * [backup-simplify]: Simplify (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))
4.458 * [backup-simplify]: Simplify (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))
4.458 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
4.459 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0
4.459 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
4.459 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
4.459 * [backup-simplify]: Simplify (+ 0 0) into 0
4.460 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0
4.460 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
4.461 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0
4.461 * [backup-simplify]: Simplify (- 0) into 0
4.461 * [backup-simplify]: Simplify (+ 0 0) into 0
4.462 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (/ 0 1)) (* 0 (/ 0 1)))) into 0
4.463 * [backup-simplify]: Simplify (+ (* -1 0) (+ (* 0 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0
4.463 * [taylor]: Taking taylor expansion of 0 in phi2
4.463 * [backup-simplify]: Simplify 0 into 0
4.463 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
4.464 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0
4.464 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
4.464 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
4.464 * [backup-simplify]: Simplify (+ 0 0) into 0
4.465 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0
4.465 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
4.466 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0
4.466 * [backup-simplify]: Simplify (- 0) into 0
4.466 * [backup-simplify]: Simplify (+ 0 0) into 0
4.466 * [taylor]: Taking taylor expansion of 0 in phi2
4.466 * [backup-simplify]: Simplify 0 into 0
4.466 * [taylor]: Taking taylor expansion of 0 in phi1
4.466 * [backup-simplify]: Simplify 0 into 0
4.466 * [taylor]: Taking taylor expansion of 0 in phi1
4.466 * [backup-simplify]: Simplify 0 into 0
4.467 * [backup-simplify]: Simplify (+ (* -1 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0
4.467 * [taylor]: Taking taylor expansion of 0 in phi1
4.467 * [backup-simplify]: Simplify 0 into 0
4.467 * [taylor]: Taking taylor expansion of 0 in phi1
4.467 * [backup-simplify]: Simplify 0 into 0
4.467 * [backup-simplify]: Simplify (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
4.467 * [backup-simplify]: Simplify (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
4.468 * [backup-simplify]: Simplify (+ (* (* -1 (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2))))))) (* 1 (* 1 (* (/ 1 (/ 1 (- lambda2))) 1)))) (+ (* (- (/ 1 (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2)))))))) (* (/ 1 (/ 1 (- phi1))) (* (/ 1 (/ 1 (- phi2))) (* 1 (/ 1 (- lambda1)))))) (* (- (/ 1 (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2)))))))) (* (/ 1 (/ 1 (- phi1))) (* (/ 1 (/ 1 (- phi2))) (* (/ 1 (/ 1 (- lambda2))) (pow (/ 1 (- lambda1)) 2))))))) into (+ (* lambda2 (cos (* 0.5 (+ phi1 phi2)))) (+ (/ (* lambda2 (* phi1 phi2)) (* (pow lambda1 2) (cos (* 0.5 (+ phi1 phi2))))) (/ (* phi1 phi2) (* lambda1 (cos (* 0.5 (+ phi1 phi2)))))))
4.468 * * * [progress]: simplifying candidates
4.469 * [simplify]: Simplifying:
  (expm1 (cos (/ (+ phi2 phi1) 2.0)))
  (log1p (cos (/ (+ phi2 phi1) 2.0)))
  (log (cos (/ (+ phi2 phi1) 2.0)))
  (exp (cos (/ (+ phi2 phi1) 2.0)))
  (* (cbrt (cos (/ (+ phi2 phi1) 2.0))) (cbrt (cos (/ (+ phi2 phi1) 2.0))))
  (cbrt (cos (/ (+ phi2 phi1) 2.0)))
  (* (* (cos (/ (+ phi2 phi1) 2.0)) (cos (/ (+ phi2 phi1) 2.0))) (cos (/ (+ phi2 phi1) 2.0)))
  (sqrt (cos (/ (+ phi2 phi1) 2.0)))
  (sqrt (cos (/ (+ phi2 phi1) 2.0)))
  (expm1 (* (- lambda1 lambda2) (cos (/ (+ phi2 phi1) 2.0))))
  (log1p (* (- lambda1 lambda2) (cos (/ (+ phi2 phi1) 2.0))))
  (* (- lambda1 lambda2) (cos (/ (+ phi2 phi1) 2.0)))
  (+ (log (- lambda1 lambda2)) (log (cos (/ (+ phi2 phi1) 2.0))))
  (log (* (- lambda1 lambda2) (cos (/ (+ phi2 phi1) 2.0))))
  (exp (* (- lambda1 lambda2) (cos (/ (+ phi2 phi1) 2.0))))
  (* (* (* (- lambda1 lambda2) (- lambda1 lambda2)) (- lambda1 lambda2)) (* (* (cos (/ (+ phi2 phi1) 2.0)) (cos (/ (+ phi2 phi1) 2.0))) (cos (/ (+ phi2 phi1) 2.0))))
  (* (cbrt (* (- lambda1 lambda2) (cos (/ (+ phi2 phi1) 2.0)))) (cbrt (* (- lambda1 lambda2) (cos (/ (+ phi2 phi1) 2.0)))))
  (cbrt (* (- lambda1 lambda2) (cos (/ (+ phi2 phi1) 2.0))))
  (* (* (* (- lambda1 lambda2) (cos (/ (+ phi2 phi1) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi2 phi1) 2.0)))) (* (- lambda1 lambda2) (cos (/ (+ phi2 phi1) 2.0))))
  (sqrt (* (- lambda1 lambda2) (cos (/ (+ phi2 phi1) 2.0))))
  (sqrt (* (- lambda1 lambda2) (cos (/ (+ phi2 phi1) 2.0))))
  (* (sqrt (- lambda1 lambda2)) (sqrt (cos (/ (+ phi2 phi1) 2.0))))
  (* (sqrt (- lambda1 lambda2)) (sqrt (cos (/ (+ phi2 phi1) 2.0))))
  (* (- lambda1 lambda2) (* (cbrt (cos (/ (+ phi2 phi1) 2.0))) (cbrt (cos (/ (+ phi2 phi1) 2.0)))))
  (* (- lambda1 lambda2) (sqrt (cos (/ (+ phi2 phi1) 2.0))))
  (* (- lambda1 lambda2) 1)
  (* (cbrt (- lambda1 lambda2)) (cos (/ (+ phi2 phi1) 2.0)))
  (* (sqrt (- lambda1 lambda2)) (cos (/ (+ phi2 phi1) 2.0)))
  (* (- lambda1 lambda2) (cos (/ (+ phi2 phi1) 2.0)))
  (* (- (sqrt lambda1) (sqrt lambda2)) (cos (/ (+ phi2 phi1) 2.0)))
  (* (- lambda1 lambda2) (cos (/ (+ phi2 phi1) 2.0)))
  (* (- (pow lambda1 3) (pow lambda2 3)) (cos (/ (+ phi2 phi1) 2.0)))
  (* (- (* lambda1 lambda1) (* lambda2 lambda2)) (cos (/ (+ phi2 phi1) 2.0)))
  (expm1 (* (hypot (* (- lambda1 lambda2) (cos (/ (+ phi2 phi1) 2.0))) (- phi1 phi2)) R))
  (log1p (* (hypot (* (- lambda1 lambda2) (cos (/ (+ phi2 phi1) 2.0))) (- phi1 phi2)) R))
  (* (hypot (* (- lambda1 lambda2) (cos (/ (+ phi2 phi1) 2.0))) (- phi1 phi2)) R)
  (+ (log (hypot (* (- lambda1 lambda2) (cos (/ (+ phi2 phi1) 2.0))) (- phi1 phi2))) (log R))
  (log (* (hypot (* (- lambda1 lambda2) (cos (/ (+ phi2 phi1) 2.0))) (- phi1 phi2)) R))
  (exp (* (hypot (* (- lambda1 lambda2) (cos (/ (+ phi2 phi1) 2.0))) (- phi1 phi2)) R))
  (* (* (* (hypot (* (- lambda1 lambda2) (cos (/ (+ phi2 phi1) 2.0))) (- phi1 phi2)) (hypot (* (- lambda1 lambda2) (cos (/ (+ phi2 phi1) 2.0))) (- phi1 phi2))) (hypot (* (- lambda1 lambda2) (cos (/ (+ phi2 phi1) 2.0))) (- phi1 phi2))) (* (* R R) R))
  (* (cbrt (* (hypot (* (- lambda1 lambda2) (cos (/ (+ phi2 phi1) 2.0))) (- phi1 phi2)) R)) (cbrt (* (hypot (* (- lambda1 lambda2) (cos (/ (+ phi2 phi1) 2.0))) (- phi1 phi2)) R)))
  (cbrt (* (hypot (* (- lambda1 lambda2) (cos (/ (+ phi2 phi1) 2.0))) (- phi1 phi2)) R))
  (* (* (* (hypot (* (- lambda1 lambda2) (cos (/ (+ phi2 phi1) 2.0))) (- phi1 phi2)) R) (* (hypot (* (- lambda1 lambda2) (cos (/ (+ phi2 phi1) 2.0))) (- phi1 phi2)) R)) (* (hypot (* (- lambda1 lambda2) (cos (/ (+ phi2 phi1) 2.0))) (- phi1 phi2)) R))
  (sqrt (* (hypot (* (- lambda1 lambda2) (cos (/ (+ phi2 phi1) 2.0))) (- phi1 phi2)) R))
  (sqrt (* (hypot (* (- lambda1 lambda2) (cos (/ (+ phi2 phi1) 2.0))) (- phi1 phi2)) R))
  (* (sqrt (hypot (* (- lambda1 lambda2) (cos (/ (+ phi2 phi1) 2.0))) (- phi1 phi2))) (sqrt R))
  (* (sqrt (hypot (* (- lambda1 lambda2) (cos (/ (+ phi2 phi1) 2.0))) (- phi1 phi2))) (sqrt R))
  (* (hypot (* (- lambda1 lambda2) (cos (/ (+ phi2 phi1) 2.0))) (- phi1 phi2)) (* (cbrt R) (cbrt R)))
  (* (hypot (* (- lambda1 lambda2) (cos (/ (+ phi2 phi1) 2.0))) (- phi1 phi2)) (sqrt R))
  (* (hypot (* (- lambda1 lambda2) (cos (/ (+ phi2 phi1) 2.0))) (- phi1 phi2)) 1)
  (* (cbrt (hypot (* (- lambda1 lambda2) (cos (/ (+ phi2 phi1) 2.0))) (- phi1 phi2))) R)
  (* (sqrt (hypot (* (- lambda1 lambda2) (cos (/ (+ phi2 phi1) 2.0))) (- phi1 phi2))) R)
  (* (hypot (* (- lambda1 lambda2) (cos (/ (+ phi2 phi1) 2.0))) (- phi1 phi2)) R)
  (expm1 (hypot (* (- lambda1 lambda2) (cos (/ (+ phi2 phi1) 2.0))) (- phi1 phi2)))
  (log1p (hypot (* (- lambda1 lambda2) (cos (/ (+ phi2 phi1) 2.0))) (- phi1 phi2)))
  (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi2 phi1) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi2 phi1) 2.0)))) (* (- phi1 phi2) (- phi1 phi2)))
  (log (hypot (* (- lambda1 lambda2) (cos (/ (+ phi2 phi1) 2.0))) (- phi1 phi2)))
  (exp (hypot (* (- lambda1 lambda2) (cos (/ (+ phi2 phi1) 2.0))) (- phi1 phi2)))
  (* (cbrt (hypot (* (- lambda1 lambda2) (cos (/ (+ phi2 phi1) 2.0))) (- phi1 phi2))) (cbrt (hypot (* (- lambda1 lambda2) (cos (/ (+ phi2 phi1) 2.0))) (- phi1 phi2))))
  (cbrt (hypot (* (- lambda1 lambda2) (cos (/ (+ phi2 phi1) 2.0))) (- phi1 phi2)))
  (* (* (hypot (* (- lambda1 lambda2) (cos (/ (+ phi2 phi1) 2.0))) (- phi1 phi2)) (hypot (* (- lambda1 lambda2) (cos (/ (+ phi2 phi1) 2.0))) (- phi1 phi2))) (hypot (* (- lambda1 lambda2) (cos (/ (+ phi2 phi1) 2.0))) (- phi1 phi2)))
  (sqrt (hypot (* (- lambda1 lambda2) (cos (/ (+ phi2 phi1) 2.0))) (- phi1 phi2)))
  (sqrt (hypot (* (- lambda1 lambda2) (cos (/ (+ phi2 phi1) 2.0))) (- phi1 phi2)))
  (- 1 (+ (* 0.25 (* phi1 phi2)) (* 0.125 (pow phi2 2))))
  (cos (* 0.5 (+ phi1 phi2)))
  (cos (* 0.5 (+ phi1 phi2)))
  (- lambda1 lambda2)
  (- (* lambda1 (cos (* 0.5 (+ phi1 phi2)))) (* lambda2 (cos (* 0.5 (+ phi1 phi2)))))
  (- (* lambda1 (cos (* 0.5 (+ phi1 phi2)))) (* lambda2 (cos (* 0.5 (+ phi1 phi2)))))
  0
  (- (+ (/ (* R (* lambda2 (* phi1 phi2))) (* (cos (* 0.5 (+ phi1 phi2))) (pow lambda1 2))) (+ (/ (* R (* phi1 phi2)) (* (cos (* 0.5 (+ phi1 phi2))) lambda1)) (* R (* lambda2 (cos (* 0.5 (+ phi1 phi2))))))))
  (+ (/ (* phi1 (* R phi2)) (* lambda1 (cos (* 0.5 (+ phi1 phi2))))) (+ (/ (* phi1 (* lambda2 (* R phi2))) (* (pow lambda1 2) (cos (* 0.5 (+ phi1 phi2))))) (* lambda2 (* (cos (* 0.5 (+ phi1 phi2))) R))))
  (- phi1 phi2)
  (- (+ (/ (* phi1 phi2) (* (cos (* 0.5 (+ phi1 phi2))) lambda1)) (+ (* lambda2 (cos (* 0.5 (+ phi1 phi2)))) (/ (* lambda2 (* phi1 phi2)) (* (cos (* 0.5 (+ phi1 phi2))) (pow lambda1 2))))))
  (+ (* lambda2 (cos (* 0.5 (+ phi1 phi2)))) (+ (/ (* lambda2 (* phi1 phi2)) (* (pow lambda1 2) (cos (* 0.5 (+ phi1 phi2))))) (/ (* phi1 phi2) (* lambda1 (cos (* 0.5 (+ phi1 phi2)))))))
4.471 * * [simplify]: iteration 0: 142 enodes
4.503 * * [simplify]: iteration 1: 359 enodes
4.617 * * [simplify]: iteration 2: 1093 enodes
5.293 * * [simplify]: iteration 3: 4293 enodes
6.246 * * [simplify]: iteration complete: 5000 enodes
6.246 * * [simplify]: Extracting #0: cost 59 inf + 0
6.249 * * [simplify]: Extracting #1: cost 563 inf + 1
6.260 * * [simplify]: Extracting #2: cost 1105 inf + 3662
6.281 * * [simplify]: Extracting #3: cost 1007 inf + 35467
6.315 * * [simplify]: Extracting #4: cost 809 inf + 64199
6.361 * * [simplify]: Extracting #5: cost 422 inf + 160087
6.465 * * [simplify]: Extracting #6: cost 85 inf + 257859
6.618 * * [simplify]: Extracting #7: cost 1 inf + 292547
6.717 * * [simplify]: Extracting #8: cost 0 inf + 293029
6.835 * [simplify]: Simplified to:
  (expm1 (cos (/ (+ phi1 phi2) 2.0)))
  (log1p (cos (/ (+ phi1 phi2) 2.0)))
  (log (cos (/ (+ phi1 phi2) 2.0)))
  (exp (cos (/ (+ phi1 phi2) 2.0)))
  (* (cbrt (cos (/ (+ phi1 phi2) 2.0))) (cbrt (cos (/ (+ phi1 phi2) 2.0))))
  (cbrt (cos (/ (+ phi1 phi2) 2.0)))
  (* (cos (/ (+ phi1 phi2) 2.0)) (* (cos (/ (+ phi1 phi2) 2.0)) (cos (/ (+ phi1 phi2) 2.0))))
  (sqrt (cos (/ (+ phi1 phi2) 2.0)))
  (sqrt (cos (/ (+ phi1 phi2) 2.0)))
  (expm1 (* (cos (/ (+ phi1 phi2) 2.0)) (- lambda1 lambda2)))
  (log1p (* (cos (/ (+ phi1 phi2) 2.0)) (- lambda1 lambda2)))
  (* (cos (/ (+ phi1 phi2) 2.0)) (- lambda1 lambda2))
  (log (* (cos (/ (+ phi1 phi2) 2.0)) (- lambda1 lambda2)))
  (log (* (cos (/ (+ phi1 phi2) 2.0)) (- lambda1 lambda2)))
  (exp (* (cos (/ (+ phi1 phi2) 2.0)) (- lambda1 lambda2)))
  (* (* (* (cos (/ (+ phi1 phi2) 2.0)) (- lambda1 lambda2)) (* (cos (/ (+ phi1 phi2) 2.0)) (- lambda1 lambda2))) (* (cos (/ (+ phi1 phi2) 2.0)) (- lambda1 lambda2)))
  (* (cbrt (* (cos (/ (+ phi1 phi2) 2.0)) (- lambda1 lambda2))) (cbrt (* (cos (/ (+ phi1 phi2) 2.0)) (- lambda1 lambda2))))
  (cbrt (* (cos (/ (+ phi1 phi2) 2.0)) (- lambda1 lambda2)))
  (* (* (* (cos (/ (+ phi1 phi2) 2.0)) (- lambda1 lambda2)) (* (cos (/ (+ phi1 phi2) 2.0)) (- lambda1 lambda2))) (* (cos (/ (+ phi1 phi2) 2.0)) (- lambda1 lambda2)))
  (sqrt (* (cos (/ (+ phi1 phi2) 2.0)) (- lambda1 lambda2)))
  (sqrt (* (cos (/ (+ phi1 phi2) 2.0)) (- lambda1 lambda2)))
  (* (sqrt (cos (/ (+ phi1 phi2) 2.0))) (sqrt (- lambda1 lambda2)))
  (* (sqrt (cos (/ (+ phi1 phi2) 2.0))) (sqrt (- lambda1 lambda2)))
  (* (* (cbrt (cos (/ (+ phi1 phi2) 2.0))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))) (- lambda1 lambda2))
  (* (- lambda1 lambda2) (sqrt (cos (/ (+ phi1 phi2) 2.0))))
  (- lambda1 lambda2)
  (* (cos (/ (+ phi1 phi2) 2.0)) (cbrt (- lambda1 lambda2)))
  (* (sqrt (- lambda1 lambda2)) (cos (/ (+ phi1 phi2) 2.0)))
  (* (cos (/ (+ phi1 phi2) 2.0)) (- lambda1 lambda2))
  (* (- (sqrt lambda1) (sqrt lambda2)) (cos (/ (+ phi1 phi2) 2.0)))
  (* (cos (/ (+ phi1 phi2) 2.0)) (- lambda1 lambda2))
  (* (- (* (* lambda1 lambda1) lambda1) (* lambda2 (* lambda2 lambda2))) (cos (/ (+ phi1 phi2) 2.0)))
  (* (* (+ lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (- lambda1 lambda2))
  (expm1 (* (hypot (* (cos (/ (+ phi1 phi2) 2.0)) (- lambda1 lambda2)) (- phi1 phi2)) R))
  (log1p (* (hypot (* (cos (/ (+ phi1 phi2) 2.0)) (- lambda1 lambda2)) (- phi1 phi2)) R))
  (* (hypot (* (cos (/ (+ phi1 phi2) 2.0)) (- lambda1 lambda2)) (- phi1 phi2)) R)
  (log (* (hypot (* (cos (/ (+ phi1 phi2) 2.0)) (- lambda1 lambda2)) (- phi1 phi2)) R))
  (log (* (hypot (* (cos (/ (+ phi1 phi2) 2.0)) (- lambda1 lambda2)) (- phi1 phi2)) R))
  (exp (* (hypot (* (cos (/ (+ phi1 phi2) 2.0)) (- lambda1 lambda2)) (- phi1 phi2)) R))
  (* (* (hypot (* (cos (/ (+ phi1 phi2) 2.0)) (- lambda1 lambda2)) (- phi1 phi2)) R) (* (* (hypot (* (cos (/ (+ phi1 phi2) 2.0)) (- lambda1 lambda2)) (- phi1 phi2)) R) (* (hypot (* (cos (/ (+ phi1 phi2) 2.0)) (- lambda1 lambda2)) (- phi1 phi2)) R)))
  (* (cbrt (* (hypot (* (cos (/ (+ phi1 phi2) 2.0)) (- lambda1 lambda2)) (- phi1 phi2)) R)) (cbrt (* (hypot (* (cos (/ (+ phi1 phi2) 2.0)) (- lambda1 lambda2)) (- phi1 phi2)) R)))
  (cbrt (* (hypot (* (cos (/ (+ phi1 phi2) 2.0)) (- lambda1 lambda2)) (- phi1 phi2)) R))
  (* (* (hypot (* (cos (/ (+ phi1 phi2) 2.0)) (- lambda1 lambda2)) (- phi1 phi2)) R) (* (* (hypot (* (cos (/ (+ phi1 phi2) 2.0)) (- lambda1 lambda2)) (- phi1 phi2)) R) (* (hypot (* (cos (/ (+ phi1 phi2) 2.0)) (- lambda1 lambda2)) (- phi1 phi2)) R)))
  (sqrt (* (hypot (* (cos (/ (+ phi1 phi2) 2.0)) (- lambda1 lambda2)) (- phi1 phi2)) R))
  (sqrt (* (hypot (* (cos (/ (+ phi1 phi2) 2.0)) (- lambda1 lambda2)) (- phi1 phi2)) R))
  (* (sqrt (hypot (* (cos (/ (+ phi1 phi2) 2.0)) (- lambda1 lambda2)) (- phi1 phi2))) (sqrt R))
  (* (sqrt (hypot (* (cos (/ (+ phi1 phi2) 2.0)) (- lambda1 lambda2)) (- phi1 phi2))) (sqrt R))
  (* (* (cbrt R) (cbrt R)) (hypot (* (cos (/ (+ phi1 phi2) 2.0)) (- lambda1 lambda2)) (- phi1 phi2)))
  (* (hypot (* (cos (/ (+ phi1 phi2) 2.0)) (- lambda1 lambda2)) (- phi1 phi2)) (sqrt R))
  (hypot (* (cos (/ (+ phi1 phi2) 2.0)) (- lambda1 lambda2)) (- phi1 phi2))
  (* (cbrt (hypot (* (cos (/ (+ phi1 phi2) 2.0)) (- lambda1 lambda2)) (- phi1 phi2))) R)
  (* R (sqrt (hypot (* (cos (/ (+ phi1 phi2) 2.0)) (- lambda1 lambda2)) (- phi1 phi2))))
  (* (hypot (* (cos (/ (+ phi1 phi2) 2.0)) (- lambda1 lambda2)) (- phi1 phi2)) R)
  (expm1 (hypot (* (cos (/ (+ phi1 phi2) 2.0)) (- lambda1 lambda2)) (- phi1 phi2)))
  (log1p (hypot (* (cos (/ (+ phi1 phi2) 2.0)) (- lambda1 lambda2)) (- phi1 phi2)))
  (fma (- phi1 phi2) (- phi1 phi2) (* (* (cos (/ (+ phi1 phi2) 2.0)) (- lambda1 lambda2)) (* (cos (/ (+ phi1 phi2) 2.0)) (- lambda1 lambda2))))
  (log (hypot (* (cos (/ (+ phi1 phi2) 2.0)) (- lambda1 lambda2)) (- phi1 phi2)))
  (exp (hypot (* (cos (/ (+ phi1 phi2) 2.0)) (- lambda1 lambda2)) (- phi1 phi2)))
  (* (cbrt (hypot (* (cos (/ (+ phi1 phi2) 2.0)) (- lambda1 lambda2)) (- phi1 phi2))) (cbrt (hypot (* (cos (/ (+ phi1 phi2) 2.0)) (- lambda1 lambda2)) (- phi1 phi2))))
  (cbrt (hypot (* (cos (/ (+ phi1 phi2) 2.0)) (- lambda1 lambda2)) (- phi1 phi2)))
  (* (* (hypot (* (cos (/ (+ phi1 phi2) 2.0)) (- lambda1 lambda2)) (- phi1 phi2)) (hypot (* (cos (/ (+ phi1 phi2) 2.0)) (- lambda1 lambda2)) (- phi1 phi2))) (hypot (* (cos (/ (+ phi1 phi2) 2.0)) (- lambda1 lambda2)) (- phi1 phi2)))
  (sqrt (hypot (* (cos (/ (+ phi1 phi2) 2.0)) (- lambda1 lambda2)) (- phi1 phi2)))
  (sqrt (hypot (* (cos (/ (+ phi1 phi2) 2.0)) (- lambda1 lambda2)) (- phi1 phi2)))
  (- 1 (* phi2 (fma phi2 0.125 (* phi1 0.25))))
  (cos (* 0.5 (+ phi1 phi2)))
  (cos (* 0.5 (+ phi1 phi2)))
  (- lambda1 lambda2)
  (* (cos (* 0.5 (+ phi1 phi2))) (- lambda1 lambda2))
  (* (cos (* 0.5 (+ phi1 phi2))) (- lambda1 lambda2))
  0
  (- (fma (/ R (cos (* 0.5 (+ phi1 phi2)))) (fma (/ (* phi2 phi1) lambda1) (/ lambda2 lambda1) (/ (* phi2 phi1) lambda1)) (* (cos (* 0.5 (+ phi1 phi2))) (* R lambda2))))
  (fma (/ R (cos (* 0.5 (+ phi1 phi2)))) (fma (/ (* phi2 phi1) lambda1) (/ lambda2 lambda1) (/ (* phi2 phi1) lambda1)) (* (cos (* 0.5 (+ phi1 phi2))) (* R lambda2)))
  (- phi1 phi2)
  (- (fma (* (/ phi2 (cos (* 0.5 (+ phi1 phi2)))) phi1) (/ (/ lambda2 lambda1) lambda1) (fma (/ phi1 lambda1) (/ phi2 (cos (* 0.5 (+ phi1 phi2)))) (* lambda2 (cos (* 0.5 (+ phi1 phi2)))))))
  (fma (* (/ phi2 (cos (* 0.5 (+ phi1 phi2)))) phi1) (/ (/ lambda2 lambda1) lambda1) (fma (/ phi1 lambda1) (/ phi2 (cos (* 0.5 (+ phi1 phi2)))) (* lambda2 (cos (* 0.5 (+ phi1 phi2))))))
6.844 * * * [progress]: adding candidates to table
7.448 * * [progress]: iteration 2 / 4
7.448 * * * [progress]: picking best candidate
7.553 * * * * [pick]: Picked  #<alt (λ (R lambda1 lambda2 phi1 phi2) (* (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (- phi1 phi2)) R))>
7.553 * * * [progress]: localizing error
7.588 * * * [progress]: generating rewritten candidates
7.588 * * * * [progress]: [ 1 / 4 ] rewriting at (2 1 1 2)
7.596 * * * * [progress]: [ 2 / 4 ] rewriting at (2 1 1)
7.659 * * * * [progress]: [ 3 / 4 ] rewriting at (2)
7.671 * * * * [progress]: [ 4 / 4 ] rewriting at (2 1)
7.674 * * * [progress]: generating series expansions
7.674 * * * * [progress]: [ 1 / 4 ] generating series at (2 1 1 2)
7.674 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2)))
7.674 * [approximate]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in (phi1 phi2) around 0
7.674 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in phi2
7.674 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in phi2
7.674 * [taylor]: Taking taylor expansion of 0.5 in phi2
7.674 * [backup-simplify]: Simplify 0.5 into 0.5
7.674 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in phi2
7.674 * [taylor]: Taking taylor expansion of phi1 in phi2
7.674 * [backup-simplify]: Simplify phi1 into phi1
7.674 * [taylor]: Taking taylor expansion of phi2 in phi2
7.674 * [backup-simplify]: Simplify 0 into 0
7.674 * [backup-simplify]: Simplify 1 into 1
7.674 * [backup-simplify]: Simplify (+ phi1 0) into phi1
7.675 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
7.675 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
7.675 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
7.675 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in phi1
7.675 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in phi1
7.675 * [taylor]: Taking taylor expansion of 0.5 in phi1
7.675 * [backup-simplify]: Simplify 0.5 into 0.5
7.675 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in phi1
7.675 * [taylor]: Taking taylor expansion of phi1 in phi1
7.675 * [backup-simplify]: Simplify 0 into 0
7.675 * [backup-simplify]: Simplify 1 into 1
7.675 * [taylor]: Taking taylor expansion of phi2 in phi1
7.675 * [backup-simplify]: Simplify phi2 into phi2
7.675 * [backup-simplify]: Simplify (+ 0 phi2) into phi2
7.675 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
7.675 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
7.675 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
7.675 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in phi1
7.675 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in phi1
7.675 * [taylor]: Taking taylor expansion of 0.5 in phi1
7.675 * [backup-simplify]: Simplify 0.5 into 0.5
7.675 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in phi1
7.675 * [taylor]: Taking taylor expansion of phi1 in phi1
7.675 * [backup-simplify]: Simplify 0 into 0
7.676 * [backup-simplify]: Simplify 1 into 1
7.676 * [taylor]: Taking taylor expansion of phi2 in phi1
7.676 * [backup-simplify]: Simplify phi2 into phi2
7.676 * [backup-simplify]: Simplify (+ 0 phi2) into phi2
7.676 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
7.676 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
7.676 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
7.676 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2))
7.676 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0
7.677 * [backup-simplify]: Simplify (- 0) into 0
7.677 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2))
7.677 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2
7.677 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2
7.677 * [taylor]: Taking taylor expansion of 0.5 in phi2
7.677 * [backup-simplify]: Simplify 0.5 into 0.5
7.677 * [taylor]: Taking taylor expansion of phi2 in phi2
7.677 * [backup-simplify]: Simplify 0 into 0
7.677 * [backup-simplify]: Simplify 1 into 1
7.678 * [backup-simplify]: Simplify (* 0.5 0) into 0
7.679 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
7.679 * [backup-simplify]: Simplify 1 into 1
7.680 * [backup-simplify]: Simplify (+ 0) into 0
7.680 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0
7.681 * [backup-simplify]: Simplify (+ 1 0) into 1
7.681 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi2)) into 0.5
7.684 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5
7.684 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi2)))
7.685 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi2)))) into (- (* 0.5 (sin (* 0.5 phi2))))
7.685 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi2))))) into (- (* 0.5 (sin (* 0.5 phi2))))
7.685 * [taylor]: Taking taylor expansion of (- (* 0.5 (sin (* 0.5 phi2)))) in phi2
7.685 * [taylor]: Taking taylor expansion of (* 0.5 (sin (* 0.5 phi2))) in phi2
7.685 * [taylor]: Taking taylor expansion of 0.5 in phi2
7.685 * [backup-simplify]: Simplify 0.5 into 0.5
7.685 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2
7.685 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2
7.685 * [taylor]: Taking taylor expansion of 0.5 in phi2
7.685 * [backup-simplify]: Simplify 0.5 into 0.5
7.685 * [taylor]: Taking taylor expansion of phi2 in phi2
7.685 * [backup-simplify]: Simplify 0 into 0
7.685 * [backup-simplify]: Simplify 1 into 1
7.686 * [backup-simplify]: Simplify (* 0.5 0) into 0
7.687 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
7.687 * [backup-simplify]: Simplify (* 0.5 0) into 0
7.688 * [backup-simplify]: Simplify (- 0) into 0
7.688 * [backup-simplify]: Simplify 0 into 0
7.688 * [backup-simplify]: Simplify (+ 0) into 0
7.688 * [backup-simplify]: Simplify 0 into 0
7.691 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125)
7.692 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) (- 0.125)) (+ (* 0 0) (* 0 1))) into (- (* 0.125 (cos (* 0.5 phi2))))
7.693 * [backup-simplify]: Simplify (+ 0 0) into 0
7.694 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 1) (* 0 phi2))) into 0
7.694 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
7.695 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (+ (* 0 0.5) (* 0 0))) into 0
7.696 * [backup-simplify]: Simplify (- 0) into 0
7.696 * [backup-simplify]: Simplify (+ (- (* 0.125 (cos (* 0.5 phi2)))) 0) into (- (* 0.125 (cos (* 0.5 phi2))))
7.696 * [taylor]: Taking taylor expansion of (- (* 0.125 (cos (* 0.5 phi2)))) in phi2
7.696 * [taylor]: Taking taylor expansion of (* 0.125 (cos (* 0.5 phi2))) in phi2
7.696 * [taylor]: Taking taylor expansion of 0.125 in phi2
7.696 * [backup-simplify]: Simplify 0.125 into 0.125
7.696 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2
7.696 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2
7.696 * [taylor]: Taking taylor expansion of 0.5 in phi2
7.696 * [backup-simplify]: Simplify 0.5 into 0.5
7.696 * [taylor]: Taking taylor expansion of phi2 in phi2
7.696 * [backup-simplify]: Simplify 0 into 0
7.696 * [backup-simplify]: Simplify 1 into 1
7.697 * [backup-simplify]: Simplify (* 0.5 0) into 0
7.698 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
7.698 * [backup-simplify]: Simplify (* 0.125 1) into 0.125
7.699 * [backup-simplify]: Simplify (- 0.125) into (- 0.125)
7.699 * [backup-simplify]: Simplify (- 0.125) into (- 0.125)
7.702 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5
7.703 * [backup-simplify]: Simplify (+ (* 0.5 0.5) (* 0 0)) into 0.25
7.703 * [backup-simplify]: Simplify (- 0.25) into (- 0.25)
7.704 * [backup-simplify]: Simplify (- 0.25) into (- 0.25)
7.705 * [backup-simplify]: Simplify (+ (* (- 0.25) (* phi2 phi1)) (+ (* (- 0.125) (pow (* 1 phi1) 2)) 1)) into (- 1 (+ (* 0.25 (* phi1 phi2)) (* 0.125 (pow phi1 2))))
7.705 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
7.705 * [approximate]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in (phi1 phi2) around 0
7.705 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
7.705 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
7.705 * [taylor]: Taking taylor expansion of 0.5 in phi2
7.705 * [backup-simplify]: Simplify 0.5 into 0.5
7.705 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
7.706 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
7.706 * [taylor]: Taking taylor expansion of phi1 in phi2
7.706 * [backup-simplify]: Simplify phi1 into phi1
7.706 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
7.706 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
7.706 * [taylor]: Taking taylor expansion of phi2 in phi2
7.706 * [backup-simplify]: Simplify 0 into 0
7.706 * [backup-simplify]: Simplify 1 into 1
7.706 * [backup-simplify]: Simplify (/ 1 1) into 1
7.707 * [backup-simplify]: Simplify (+ 0 1) into 1
7.707 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
7.707 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
7.707 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
7.707 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
7.707 * [taylor]: Taking taylor expansion of 0.5 in phi1
7.707 * [backup-simplify]: Simplify 0.5 into 0.5
7.707 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
7.707 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
7.707 * [taylor]: Taking taylor expansion of phi1 in phi1
7.707 * [backup-simplify]: Simplify 0 into 0
7.708 * [backup-simplify]: Simplify 1 into 1
7.708 * [backup-simplify]: Simplify (/ 1 1) into 1
7.708 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
7.708 * [taylor]: Taking taylor expansion of phi2 in phi1
7.708 * [backup-simplify]: Simplify phi2 into phi2
7.708 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
7.709 * [backup-simplify]: Simplify (+ 1 0) into 1
7.709 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
7.709 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
7.709 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
7.709 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
7.709 * [taylor]: Taking taylor expansion of 0.5 in phi1
7.709 * [backup-simplify]: Simplify 0.5 into 0.5
7.709 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
7.709 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
7.709 * [taylor]: Taking taylor expansion of phi1 in phi1
7.709 * [backup-simplify]: Simplify 0 into 0
7.709 * [backup-simplify]: Simplify 1 into 1
7.710 * [backup-simplify]: Simplify (/ 1 1) into 1
7.710 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
7.710 * [taylor]: Taking taylor expansion of phi2 in phi1
7.710 * [backup-simplify]: Simplify phi2 into phi2
7.710 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
7.710 * [backup-simplify]: Simplify (+ 1 0) into 1
7.711 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
7.711 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
7.711 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
7.711 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
7.711 * [taylor]: Taking taylor expansion of 0.5 in phi2
7.711 * [backup-simplify]: Simplify 0.5 into 0.5
7.711 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
7.711 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
7.711 * [taylor]: Taking taylor expansion of phi1 in phi2
7.711 * [backup-simplify]: Simplify phi1 into phi1
7.711 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
7.711 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
7.712 * [taylor]: Taking taylor expansion of phi2 in phi2
7.712 * [backup-simplify]: Simplify 0 into 0
7.712 * [backup-simplify]: Simplify 1 into 1
7.712 * [backup-simplify]: Simplify (/ 1 1) into 1
7.713 * [backup-simplify]: Simplify (+ 0 1) into 1
7.713 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
7.713 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
7.714 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
7.714 * [taylor]: Taking taylor expansion of 0 in phi2
7.714 * [backup-simplify]: Simplify 0 into 0
7.714 * [backup-simplify]: Simplify 0 into 0
7.714 * [backup-simplify]: Simplify 0 into 0
7.714 * [taylor]: Taking taylor expansion of 0 in phi2
7.714 * [backup-simplify]: Simplify 0 into 0
7.714 * [backup-simplify]: Simplify 0 into 0
7.714 * [backup-simplify]: Simplify 0 into 0
7.714 * [backup-simplify]: Simplify 0 into 0
7.714 * [taylor]: Taking taylor expansion of 0 in phi2
7.714 * [backup-simplify]: Simplify 0 into 0
7.714 * [backup-simplify]: Simplify 0 into 0
7.714 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2))))) into (cos (* 0.5 (+ phi1 phi2)))
7.714 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 (- phi1)) (/ 1 (- phi2))))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
7.714 * [approximate]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in (phi1 phi2) around 0
7.715 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
7.715 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
7.715 * [taylor]: Taking taylor expansion of -0.5 in phi2
7.715 * [backup-simplify]: Simplify -0.5 into -0.5
7.715 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
7.715 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
7.715 * [taylor]: Taking taylor expansion of phi1 in phi2
7.715 * [backup-simplify]: Simplify phi1 into phi1
7.715 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
7.715 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
7.715 * [taylor]: Taking taylor expansion of phi2 in phi2
7.715 * [backup-simplify]: Simplify 0 into 0
7.715 * [backup-simplify]: Simplify 1 into 1
7.715 * [backup-simplify]: Simplify (/ 1 1) into 1
7.716 * [backup-simplify]: Simplify (+ 0 1) into 1
7.716 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
7.716 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
7.716 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
7.716 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
7.717 * [taylor]: Taking taylor expansion of -0.5 in phi1
7.717 * [backup-simplify]: Simplify -0.5 into -0.5
7.717 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
7.717 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
7.717 * [taylor]: Taking taylor expansion of phi1 in phi1
7.717 * [backup-simplify]: Simplify 0 into 0
7.717 * [backup-simplify]: Simplify 1 into 1
7.717 * [backup-simplify]: Simplify (/ 1 1) into 1
7.717 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
7.717 * [taylor]: Taking taylor expansion of phi2 in phi1
7.717 * [backup-simplify]: Simplify phi2 into phi2
7.717 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
7.718 * [backup-simplify]: Simplify (+ 1 0) into 1
7.718 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
7.719 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
7.719 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
7.719 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
7.719 * [taylor]: Taking taylor expansion of -0.5 in phi1
7.719 * [backup-simplify]: Simplify -0.5 into -0.5
7.719 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
7.719 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
7.719 * [taylor]: Taking taylor expansion of phi1 in phi1
7.719 * [backup-simplify]: Simplify 0 into 0
7.719 * [backup-simplify]: Simplify 1 into 1
7.719 * [backup-simplify]: Simplify (/ 1 1) into 1
7.719 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
7.719 * [taylor]: Taking taylor expansion of phi2 in phi1
7.719 * [backup-simplify]: Simplify phi2 into phi2
7.719 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
7.720 * [backup-simplify]: Simplify (+ 1 0) into 1
7.720 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
7.720 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
7.721 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
7.721 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
7.721 * [taylor]: Taking taylor expansion of -0.5 in phi2
7.721 * [backup-simplify]: Simplify -0.5 into -0.5
7.721 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
7.721 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
7.721 * [taylor]: Taking taylor expansion of phi1 in phi2
7.721 * [backup-simplify]: Simplify phi1 into phi1
7.721 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
7.721 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
7.721 * [taylor]: Taking taylor expansion of phi2 in phi2
7.721 * [backup-simplify]: Simplify 0 into 0
7.721 * [backup-simplify]: Simplify 1 into 1
7.721 * [backup-simplify]: Simplify (/ 1 1) into 1
7.722 * [backup-simplify]: Simplify (+ 0 1) into 1
7.722 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
7.722 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
7.723 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
7.723 * [taylor]: Taking taylor expansion of 0 in phi2
7.723 * [backup-simplify]: Simplify 0 into 0
7.723 * [backup-simplify]: Simplify 0 into 0
7.723 * [backup-simplify]: Simplify 0 into 0
7.723 * [taylor]: Taking taylor expansion of 0 in phi2
7.723 * [backup-simplify]: Simplify 0 into 0
7.723 * [backup-simplify]: Simplify 0 into 0
7.723 * [backup-simplify]: Simplify 0 into 0
7.723 * [backup-simplify]: Simplify 0 into 0
7.723 * [taylor]: Taking taylor expansion of 0 in phi2
7.723 * [backup-simplify]: Simplify 0 into 0
7.723 * [backup-simplify]: Simplify 0 into 0
7.723 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2)))))) into (cos (* 0.5 (+ phi1 phi2)))
7.723 * * * * [progress]: [ 2 / 4 ] generating series at (2 1 1)
7.724 * [backup-simplify]: Simplify (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) into (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2))))
7.724 * [approximate]: Taking taylor expansion of (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) in (lambda1 lambda2 phi1 phi2) around 0
7.724 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) in phi2
7.724 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in phi2
7.724 * [taylor]: Taking taylor expansion of lambda1 in phi2
7.724 * [backup-simplify]: Simplify lambda1 into lambda1
7.724 * [taylor]: Taking taylor expansion of lambda2 in phi2
7.724 * [backup-simplify]: Simplify lambda2 into lambda2
7.724 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in phi2
7.724 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in phi2
7.724 * [taylor]: Taking taylor expansion of 0.5 in phi2
7.724 * [backup-simplify]: Simplify 0.5 into 0.5
7.724 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in phi2
7.724 * [taylor]: Taking taylor expansion of phi1 in phi2
7.724 * [backup-simplify]: Simplify phi1 into phi1
7.724 * [taylor]: Taking taylor expansion of phi2 in phi2
7.724 * [backup-simplify]: Simplify 0 into 0
7.724 * [backup-simplify]: Simplify 1 into 1
7.724 * [backup-simplify]: Simplify (+ phi1 0) into phi1
7.724 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
7.724 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
7.724 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
7.724 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) in phi1
7.724 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in phi1
7.724 * [taylor]: Taking taylor expansion of lambda1 in phi1
7.724 * [backup-simplify]: Simplify lambda1 into lambda1
7.724 * [taylor]: Taking taylor expansion of lambda2 in phi1
7.724 * [backup-simplify]: Simplify lambda2 into lambda2
7.724 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in phi1
7.724 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in phi1
7.725 * [taylor]: Taking taylor expansion of 0.5 in phi1
7.725 * [backup-simplify]: Simplify 0.5 into 0.5
7.725 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in phi1
7.725 * [taylor]: Taking taylor expansion of phi1 in phi1
7.725 * [backup-simplify]: Simplify 0 into 0
7.725 * [backup-simplify]: Simplify 1 into 1
7.725 * [taylor]: Taking taylor expansion of phi2 in phi1
7.725 * [backup-simplify]: Simplify phi2 into phi2
7.725 * [backup-simplify]: Simplify (+ 0 phi2) into phi2
7.725 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
7.725 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
7.725 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
7.725 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) in lambda2
7.725 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in lambda2
7.725 * [taylor]: Taking taylor expansion of lambda1 in lambda2
7.725 * [backup-simplify]: Simplify lambda1 into lambda1
7.725 * [taylor]: Taking taylor expansion of lambda2 in lambda2
7.725 * [backup-simplify]: Simplify 0 into 0
7.725 * [backup-simplify]: Simplify 1 into 1
7.725 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda2
7.725 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda2
7.725 * [taylor]: Taking taylor expansion of 0.5 in lambda2
7.725 * [backup-simplify]: Simplify 0.5 into 0.5
7.725 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda2
7.725 * [taylor]: Taking taylor expansion of phi1 in lambda2
7.725 * [backup-simplify]: Simplify phi1 into phi1
7.725 * [taylor]: Taking taylor expansion of phi2 in lambda2
7.725 * [backup-simplify]: Simplify phi2 into phi2
7.725 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2)
7.726 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2))
7.726 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2)))
7.726 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2)))
7.726 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) in lambda1
7.726 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in lambda1
7.726 * [taylor]: Taking taylor expansion of lambda1 in lambda1
7.726 * [backup-simplify]: Simplify 0 into 0
7.726 * [backup-simplify]: Simplify 1 into 1
7.726 * [taylor]: Taking taylor expansion of lambda2 in lambda1
7.726 * [backup-simplify]: Simplify lambda2 into lambda2
7.726 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda1
7.726 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda1
7.726 * [taylor]: Taking taylor expansion of 0.5 in lambda1
7.726 * [backup-simplify]: Simplify 0.5 into 0.5
7.726 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda1
7.726 * [taylor]: Taking taylor expansion of phi1 in lambda1
7.726 * [backup-simplify]: Simplify phi1 into phi1
7.726 * [taylor]: Taking taylor expansion of phi2 in lambda1
7.726 * [backup-simplify]: Simplify phi2 into phi2
7.726 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2)
7.726 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2))
7.726 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2)))
7.727 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2)))
7.727 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) in lambda1
7.727 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in lambda1
7.727 * [taylor]: Taking taylor expansion of lambda1 in lambda1
7.727 * [backup-simplify]: Simplify 0 into 0
7.727 * [backup-simplify]: Simplify 1 into 1
7.727 * [taylor]: Taking taylor expansion of lambda2 in lambda1
7.727 * [backup-simplify]: Simplify lambda2 into lambda2
7.727 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda1
7.727 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda1
7.727 * [taylor]: Taking taylor expansion of 0.5 in lambda1
7.727 * [backup-simplify]: Simplify 0.5 into 0.5
7.727 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda1
7.727 * [taylor]: Taking taylor expansion of phi1 in lambda1
7.727 * [backup-simplify]: Simplify phi1 into phi1
7.727 * [taylor]: Taking taylor expansion of phi2 in lambda1
7.727 * [backup-simplify]: Simplify phi2 into phi2
7.727 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2)
7.727 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2))
7.727 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2)))
7.727 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2)))
7.727 * [backup-simplify]: Simplify (- lambda2) into (- lambda2)
7.727 * [backup-simplify]: Simplify (+ 0 (- lambda2)) into (- lambda2)
7.728 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2)))
7.728 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0
7.728 * [backup-simplify]: Simplify (- 0) into 0
7.728 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2)))
7.729 * [backup-simplify]: Simplify (* (- lambda2) (cos (* 0.5 (+ phi1 phi2)))) into (* -1 (* lambda2 (cos (* 0.5 (+ phi1 phi2)))))
7.729 * [taylor]: Taking taylor expansion of (* -1 (* lambda2 (cos (* 0.5 (+ phi1 phi2))))) in lambda2
7.729 * [taylor]: Taking taylor expansion of -1 in lambda2
7.729 * [backup-simplify]: Simplify -1 into -1
7.729 * [taylor]: Taking taylor expansion of (* lambda2 (cos (* 0.5 (+ phi1 phi2)))) in lambda2
7.729 * [taylor]: Taking taylor expansion of lambda2 in lambda2
7.729 * [backup-simplify]: Simplify 0 into 0
7.729 * [backup-simplify]: Simplify 1 into 1
7.729 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda2
7.729 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda2
7.729 * [taylor]: Taking taylor expansion of 0.5 in lambda2
7.729 * [backup-simplify]: Simplify 0.5 into 0.5
7.729 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda2
7.729 * [taylor]: Taking taylor expansion of phi1 in lambda2
7.729 * [backup-simplify]: Simplify phi1 into phi1
7.729 * [taylor]: Taking taylor expansion of phi2 in lambda2
7.729 * [backup-simplify]: Simplify phi2 into phi2
7.729 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2)
7.729 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2))
7.729 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2)))
7.729 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2)))
7.729 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2)))
7.730 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0
7.730 * [backup-simplify]: Simplify (- 0) into 0
7.730 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2)))
7.730 * [backup-simplify]: Simplify (* 0 (cos (* 0.5 (+ phi1 phi2)))) into 0
7.731 * [backup-simplify]: Simplify (* -1 0) into 0
7.731 * [taylor]: Taking taylor expansion of 0 in phi1
7.731 * [backup-simplify]: Simplify 0 into 0
7.731 * [taylor]: Taking taylor expansion of 0 in phi2
7.731 * [backup-simplify]: Simplify 0 into 0
7.731 * [backup-simplify]: Simplify 0 into 0
7.731 * [backup-simplify]: Simplify (+ 0) into 0
7.732 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (* 0 1)) into 0
7.732 * [backup-simplify]: Simplify (+ 0 0) into 0
7.733 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi1 phi2))) into 0
7.734 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
7.734 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi1 phi2))) 0) (* 0 0)) into 0
7.734 * [backup-simplify]: Simplify (- 0) into 0
7.735 * [backup-simplify]: Simplify (+ 0 0) into 0
7.735 * [backup-simplify]: Simplify (- 0) into 0
7.736 * [backup-simplify]: Simplify (+ 1 0) into 1
7.736 * [backup-simplify]: Simplify (+ (* (- lambda2) 0) (* 1 (cos (* 0.5 (+ phi1 phi2))))) into (cos (* 0.5 (+ phi1 phi2)))
7.736 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda2
7.736 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda2
7.736 * [taylor]: Taking taylor expansion of 0.5 in lambda2
7.736 * [backup-simplify]: Simplify 0.5 into 0.5
7.736 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda2
7.736 * [taylor]: Taking taylor expansion of phi1 in lambda2
7.736 * [backup-simplify]: Simplify phi1 into phi1
7.736 * [taylor]: Taking taylor expansion of phi2 in lambda2
7.736 * [backup-simplify]: Simplify phi2 into phi2
7.736 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2)
7.736 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2))
7.736 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2)))
7.736 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2)))
7.737 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2)))
7.737 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0
7.737 * [backup-simplify]: Simplify (- 0) into 0
7.737 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2)))
7.737 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in phi1
7.737 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in phi1
7.737 * [taylor]: Taking taylor expansion of 0.5 in phi1
7.737 * [backup-simplify]: Simplify 0.5 into 0.5
7.737 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in phi1
7.737 * [taylor]: Taking taylor expansion of phi1 in phi1
7.738 * [backup-simplify]: Simplify 0 into 0
7.738 * [backup-simplify]: Simplify 1 into 1
7.738 * [taylor]: Taking taylor expansion of phi2 in phi1
7.738 * [backup-simplify]: Simplify phi2 into phi2
7.738 * [backup-simplify]: Simplify (+ 0 phi2) into phi2
7.738 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
7.738 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
7.738 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
7.738 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2))
7.738 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0
7.738 * [backup-simplify]: Simplify (- 0) into 0
7.739 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2))
7.739 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2
7.739 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2
7.739 * [taylor]: Taking taylor expansion of 0.5 in phi2
7.739 * [backup-simplify]: Simplify 0.5 into 0.5
7.739 * [taylor]: Taking taylor expansion of phi2 in phi2
7.739 * [backup-simplify]: Simplify 0 into 0
7.739 * [backup-simplify]: Simplify 1 into 1
7.739 * [backup-simplify]: Simplify (* 0.5 0) into 0
7.741 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
7.741 * [backup-simplify]: Simplify 1 into 1
7.741 * [backup-simplify]: Simplify (+ 0) into 0
7.742 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (* 0 1)) into 0
7.742 * [backup-simplify]: Simplify (+ 0 0) into 0
7.743 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi1 phi2))) into 0
7.743 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
7.744 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi1 phi2))) 0) (* 0 0)) into 0
7.744 * [backup-simplify]: Simplify (- 0) into 0
7.744 * [backup-simplify]: Simplify (+ 0 0) into 0
7.745 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (cos (* 0.5 (+ phi1 phi2))))) into (cos (* 0.5 (+ phi1 phi2)))
7.745 * [backup-simplify]: Simplify (+ (* -1 (cos (* 0.5 (+ phi1 phi2)))) (* 0 0)) into (- (cos (* 0.5 (+ phi1 phi2))))
7.745 * [taylor]: Taking taylor expansion of (- (cos (* 0.5 (+ phi1 phi2)))) in phi1
7.746 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in phi1
7.746 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in phi1
7.746 * [taylor]: Taking taylor expansion of 0.5 in phi1
7.746 * [backup-simplify]: Simplify 0.5 into 0.5
7.746 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in phi1
7.746 * [taylor]: Taking taylor expansion of phi1 in phi1
7.746 * [backup-simplify]: Simplify 0 into 0
7.746 * [backup-simplify]: Simplify 1 into 1
7.746 * [taylor]: Taking taylor expansion of phi2 in phi1
7.746 * [backup-simplify]: Simplify phi2 into phi2
7.746 * [backup-simplify]: Simplify (+ 0 phi2) into phi2
7.746 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
7.746 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
7.746 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
7.746 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2))
7.746 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0
7.747 * [backup-simplify]: Simplify (- 0) into 0
7.747 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2))
7.747 * [backup-simplify]: Simplify (- (cos (* 0.5 phi2))) into (- (cos (* 0.5 phi2)))
7.747 * [taylor]: Taking taylor expansion of (- (cos (* 0.5 phi2))) in phi2
7.747 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2
7.747 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2
7.747 * [taylor]: Taking taylor expansion of 0.5 in phi2
7.747 * [backup-simplify]: Simplify 0.5 into 0.5
7.747 * [taylor]: Taking taylor expansion of phi2 in phi2
7.747 * [backup-simplify]: Simplify 0 into 0
7.747 * [backup-simplify]: Simplify 1 into 1
7.747 * [backup-simplify]: Simplify (* 0.5 0) into 0
7.749 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
7.749 * [backup-simplify]: Simplify (- 1) into -1
7.749 * [backup-simplify]: Simplify -1 into -1
7.749 * [taylor]: Taking taylor expansion of 0 in phi2
7.749 * [backup-simplify]: Simplify 0 into 0
7.749 * [backup-simplify]: Simplify 0 into 0
7.749 * [backup-simplify]: Simplify 0 into 0
7.750 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
7.751 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (+ (* 0 0) (* 0 1))) into 0
7.752 * [backup-simplify]: Simplify (+ 0 0) into 0
7.752 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ phi1 phi2)))) into 0
7.753 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
7.754 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi1 phi2))) 0) (+ (* 0 0) (* 0 0))) into 0
7.754 * [backup-simplify]: Simplify (- 0) into 0
7.755 * [backup-simplify]: Simplify (+ 0 0) into 0
7.755 * [backup-simplify]: Simplify (- 0) into 0
7.755 * [backup-simplify]: Simplify (+ 0 0) into 0
7.756 * [backup-simplify]: Simplify (+ (* (- lambda2) 0) (+ (* 1 0) (* 0 (cos (* 0.5 (+ phi1 phi2)))))) into 0
7.756 * [taylor]: Taking taylor expansion of 0 in lambda2
7.756 * [backup-simplify]: Simplify 0 into 0
7.756 * [taylor]: Taking taylor expansion of 0 in phi1
7.756 * [backup-simplify]: Simplify 0 into 0
7.756 * [taylor]: Taking taylor expansion of 0 in phi2
7.756 * [backup-simplify]: Simplify 0 into 0
7.756 * [backup-simplify]: Simplify 0 into 0
7.757 * [backup-simplify]: Simplify (+ 0) into 0
7.757 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (* 0 1)) into 0
7.758 * [backup-simplify]: Simplify (+ 0 0) into 0
7.758 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi1 phi2))) into 0
7.759 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
7.759 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi1 phi2))) 0) (* 0 0)) into 0
7.760 * [backup-simplify]: Simplify (- 0) into 0
7.760 * [backup-simplify]: Simplify (+ 0 0) into 0
7.760 * [taylor]: Taking taylor expansion of 0 in phi1
7.760 * [backup-simplify]: Simplify 0 into 0
7.760 * [taylor]: Taking taylor expansion of 0 in phi2
7.760 * [backup-simplify]: Simplify 0 into 0
7.760 * [backup-simplify]: Simplify 0 into 0
7.761 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
7.762 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (+ (* 0 0) (* 0 1))) into 0
7.762 * [backup-simplify]: Simplify (+ 0 0) into 0
7.768 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ phi1 phi2)))) into 0
7.769 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
7.769 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi1 phi2))) 0) (+ (* 0 0) (* 0 0))) into 0
7.769 * [backup-simplify]: Simplify (- 0) into 0
7.770 * [backup-simplify]: Simplify (+ 0 0) into 0
7.771 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 (cos (* 0.5 (+ phi1 phi2)))))) into 0
7.772 * [backup-simplify]: Simplify (+ (* -1 0) (+ (* 0 (cos (* 0.5 (+ phi1 phi2)))) (* 0 0))) into 0
7.772 * [taylor]: Taking taylor expansion of 0 in phi1
7.772 * [backup-simplify]: Simplify 0 into 0
7.772 * [taylor]: Taking taylor expansion of 0 in phi2
7.772 * [backup-simplify]: Simplify 0 into 0
7.772 * [backup-simplify]: Simplify 0 into 0
7.772 * [backup-simplify]: Simplify (+ 0) into 0
7.773 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0
7.773 * [backup-simplify]: Simplify (+ 1 0) into 1
7.774 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi2)) into 0.5
7.775 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5
7.775 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi2)))
7.775 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi2)))) into (- (* 0.5 (sin (* 0.5 phi2))))
7.775 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi2))))) into (- (* 0.5 (sin (* 0.5 phi2))))
7.775 * [taylor]: Taking taylor expansion of (- (* 0.5 (sin (* 0.5 phi2)))) in phi2
7.775 * [taylor]: Taking taylor expansion of (* 0.5 (sin (* 0.5 phi2))) in phi2
7.775 * [taylor]: Taking taylor expansion of 0.5 in phi2
7.776 * [backup-simplify]: Simplify 0.5 into 0.5
7.776 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2
7.776 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2
7.776 * [taylor]: Taking taylor expansion of 0.5 in phi2
7.776 * [backup-simplify]: Simplify 0.5 into 0.5
7.776 * [taylor]: Taking taylor expansion of phi2 in phi2
7.776 * [backup-simplify]: Simplify 0 into 0
7.776 * [backup-simplify]: Simplify 1 into 1
7.776 * [backup-simplify]: Simplify (* 0.5 0) into 0
7.777 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
7.777 * [backup-simplify]: Simplify (* 0.5 0) into 0
7.777 * [backup-simplify]: Simplify (- 0) into 0
7.777 * [backup-simplify]: Simplify 0 into 0
7.777 * [backup-simplify]: Simplify (+ (* -1 (* 1 (* 1 (* lambda2 1)))) (* 1 (* 1 (* 1 (* 1 lambda1))))) into (- lambda1 lambda2)
7.778 * [backup-simplify]: Simplify (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2)))
7.778 * [approximate]: Taking taylor expansion of (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) in (lambda1 lambda2 phi1 phi2) around 0
7.778 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) in phi2
7.778 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
7.778 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
7.778 * [taylor]: Taking taylor expansion of 0.5 in phi2
7.778 * [backup-simplify]: Simplify 0.5 into 0.5
7.778 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
7.778 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
7.778 * [taylor]: Taking taylor expansion of phi1 in phi2
7.778 * [backup-simplify]: Simplify phi1 into phi1
7.778 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
7.778 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
7.778 * [taylor]: Taking taylor expansion of phi2 in phi2
7.778 * [backup-simplify]: Simplify 0 into 0
7.778 * [backup-simplify]: Simplify 1 into 1
7.778 * [backup-simplify]: Simplify (/ 1 1) into 1
7.778 * [backup-simplify]: Simplify (+ 0 1) into 1
7.779 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
7.779 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
7.779 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in phi2
7.779 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in phi2
7.779 * [taylor]: Taking taylor expansion of lambda1 in phi2
7.779 * [backup-simplify]: Simplify lambda1 into lambda1
7.779 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1)
7.779 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in phi2
7.779 * [taylor]: Taking taylor expansion of lambda2 in phi2
7.779 * [backup-simplify]: Simplify lambda2 into lambda2
7.779 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
7.779 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) in phi1
7.779 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
7.779 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
7.779 * [taylor]: Taking taylor expansion of 0.5 in phi1
7.779 * [backup-simplify]: Simplify 0.5 into 0.5
7.779 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
7.779 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
7.779 * [taylor]: Taking taylor expansion of phi1 in phi1
7.779 * [backup-simplify]: Simplify 0 into 0
7.779 * [backup-simplify]: Simplify 1 into 1
7.779 * [backup-simplify]: Simplify (/ 1 1) into 1
7.779 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
7.779 * [taylor]: Taking taylor expansion of phi2 in phi1
7.779 * [backup-simplify]: Simplify phi2 into phi2
7.779 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
7.780 * [backup-simplify]: Simplify (+ 1 0) into 1
7.780 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
7.780 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
7.780 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in phi1
7.780 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in phi1
7.780 * [taylor]: Taking taylor expansion of lambda1 in phi1
7.780 * [backup-simplify]: Simplify lambda1 into lambda1
7.780 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1)
7.780 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in phi1
7.780 * [taylor]: Taking taylor expansion of lambda2 in phi1
7.780 * [backup-simplify]: Simplify lambda2 into lambda2
7.780 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
7.780 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) in lambda2
7.780 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2
7.780 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2
7.780 * [taylor]: Taking taylor expansion of 0.5 in lambda2
7.780 * [backup-simplify]: Simplify 0.5 into 0.5
7.780 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2
7.780 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
7.780 * [taylor]: Taking taylor expansion of phi1 in lambda2
7.780 * [backup-simplify]: Simplify phi1 into phi1
7.780 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
7.780 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
7.781 * [taylor]: Taking taylor expansion of phi2 in lambda2
7.781 * [backup-simplify]: Simplify phi2 into phi2
7.781 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
7.781 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
7.781 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))
7.781 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
7.781 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
7.781 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in lambda2
7.781 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda2
7.781 * [taylor]: Taking taylor expansion of lambda1 in lambda2
7.781 * [backup-simplify]: Simplify lambda1 into lambda1
7.781 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1)
7.781 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda2
7.781 * [taylor]: Taking taylor expansion of lambda2 in lambda2
7.781 * [backup-simplify]: Simplify 0 into 0
7.781 * [backup-simplify]: Simplify 1 into 1
7.781 * [backup-simplify]: Simplify (/ 1 1) into 1
7.781 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) in lambda1
7.781 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1
7.781 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1
7.781 * [taylor]: Taking taylor expansion of 0.5 in lambda1
7.781 * [backup-simplify]: Simplify 0.5 into 0.5
7.781 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1
7.781 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
7.781 * [taylor]: Taking taylor expansion of phi1 in lambda1
7.781 * [backup-simplify]: Simplify phi1 into phi1
7.782 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
7.782 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
7.782 * [taylor]: Taking taylor expansion of phi2 in lambda1
7.782 * [backup-simplify]: Simplify phi2 into phi2
7.782 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
7.782 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
7.782 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))
7.782 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
7.782 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
7.782 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in lambda1
7.782 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1
7.782 * [taylor]: Taking taylor expansion of lambda1 in lambda1
7.782 * [backup-simplify]: Simplify 0 into 0
7.782 * [backup-simplify]: Simplify 1 into 1
7.782 * [backup-simplify]: Simplify (/ 1 1) into 1
7.782 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda1
7.782 * [taylor]: Taking taylor expansion of lambda2 in lambda1
7.782 * [backup-simplify]: Simplify lambda2 into lambda2
7.782 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
7.782 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) in lambda1
7.782 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1
7.782 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1
7.782 * [taylor]: Taking taylor expansion of 0.5 in lambda1
7.782 * [backup-simplify]: Simplify 0.5 into 0.5
7.782 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1
7.782 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
7.782 * [taylor]: Taking taylor expansion of phi1 in lambda1
7.783 * [backup-simplify]: Simplify phi1 into phi1
7.783 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
7.783 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
7.783 * [taylor]: Taking taylor expansion of phi2 in lambda1
7.783 * [backup-simplify]: Simplify phi2 into phi2
7.783 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
7.783 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
7.783 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))
7.783 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
7.783 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
7.783 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in lambda1
7.783 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1
7.783 * [taylor]: Taking taylor expansion of lambda1 in lambda1
7.783 * [backup-simplify]: Simplify 0 into 0
7.783 * [backup-simplify]: Simplify 1 into 1
7.783 * [backup-simplify]: Simplify (/ 1 1) into 1
7.783 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda1
7.783 * [taylor]: Taking taylor expansion of lambda2 in lambda1
7.783 * [backup-simplify]: Simplify lambda2 into lambda2
7.783 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
7.784 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
7.784 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
7.784 * [backup-simplify]: Simplify (- 0) into 0
7.784 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
7.784 * [backup-simplify]: Simplify (+ 1 0) into 1
7.784 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
7.784 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2
7.784 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2
7.784 * [taylor]: Taking taylor expansion of 0.5 in lambda2
7.784 * [backup-simplify]: Simplify 0.5 into 0.5
7.784 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2
7.784 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
7.785 * [taylor]: Taking taylor expansion of phi1 in lambda2
7.785 * [backup-simplify]: Simplify phi1 into phi1
7.785 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
7.785 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
7.785 * [taylor]: Taking taylor expansion of phi2 in lambda2
7.785 * [backup-simplify]: Simplify phi2 into phi2
7.785 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
7.785 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
7.785 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))
7.785 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
7.785 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
7.785 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
7.785 * [backup-simplify]: Simplify (- (/ 1 lambda2)) into (- (/ 1 lambda2))
7.786 * [backup-simplify]: Simplify (+ 0 (- (/ 1 lambda2))) into (- (/ 1 lambda2))
7.786 * [backup-simplify]: Simplify (+ 0) into 0
7.786 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
7.786 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
7.786 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
7.787 * [backup-simplify]: Simplify (+ 0 0) into 0
7.787 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
7.787 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
7.788 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
7.788 * [backup-simplify]: Simplify (- 0) into 0
7.788 * [backup-simplify]: Simplify (+ 0 0) into 0
7.789 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda2))) (* 0 1)) into (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2))
7.789 * [taylor]: Taking taylor expansion of (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) in lambda2
7.789 * [taylor]: Taking taylor expansion of (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2) in lambda2
7.789 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2
7.789 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2
7.789 * [taylor]: Taking taylor expansion of 0.5 in lambda2
7.789 * [backup-simplify]: Simplify 0.5 into 0.5
7.789 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2
7.789 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
7.789 * [taylor]: Taking taylor expansion of phi1 in lambda2
7.789 * [backup-simplify]: Simplify phi1 into phi1
7.789 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
7.789 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
7.789 * [taylor]: Taking taylor expansion of phi2 in lambda2
7.789 * [backup-simplify]: Simplify phi2 into phi2
7.789 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
7.789 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
7.789 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))
7.789 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
7.789 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
7.789 * [taylor]: Taking taylor expansion of lambda2 in lambda2
7.789 * [backup-simplify]: Simplify 0 into 0
7.789 * [backup-simplify]: Simplify 1 into 1
7.789 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
7.789 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
7.790 * [backup-simplify]: Simplify (- 0) into 0
7.790 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
7.790 * [backup-simplify]: Simplify (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
7.790 * [backup-simplify]: Simplify (- (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (- (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
7.790 * [taylor]: Taking taylor expansion of (- (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi1
7.790 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
7.790 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
7.790 * [taylor]: Taking taylor expansion of 0.5 in phi1
7.790 * [backup-simplify]: Simplify 0.5 into 0.5
7.790 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
7.790 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
7.790 * [taylor]: Taking taylor expansion of phi1 in phi1
7.790 * [backup-simplify]: Simplify 0 into 0
7.790 * [backup-simplify]: Simplify 1 into 1
7.790 * [backup-simplify]: Simplify (/ 1 1) into 1
7.790 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
7.791 * [taylor]: Taking taylor expansion of phi2 in phi1
7.791 * [backup-simplify]: Simplify phi2 into phi2
7.791 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
7.791 * [backup-simplify]: Simplify (+ 1 0) into 1
7.791 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
7.791 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
7.791 * [backup-simplify]: Simplify (- (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (- (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
7.791 * [taylor]: Taking taylor expansion of (- (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2
7.791 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
7.791 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
7.791 * [taylor]: Taking taylor expansion of 0.5 in phi2
7.791 * [backup-simplify]: Simplify 0.5 into 0.5
7.791 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
7.791 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
7.791 * [taylor]: Taking taylor expansion of phi1 in phi2
7.791 * [backup-simplify]: Simplify phi1 into phi1
7.792 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
7.792 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
7.792 * [taylor]: Taking taylor expansion of phi2 in phi2
7.792 * [backup-simplify]: Simplify 0 into 0
7.792 * [backup-simplify]: Simplify 1 into 1
7.792 * [backup-simplify]: Simplify (/ 1 1) into 1
7.792 * [backup-simplify]: Simplify (+ 0 1) into 1
7.792 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
7.792 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
7.793 * [backup-simplify]: Simplify (- (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (- (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
7.793 * [backup-simplify]: Simplify (- (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (- (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
7.793 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
7.793 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
7.793 * [backup-simplify]: Simplify (- 0) into 0
7.793 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
7.793 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
7.793 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
7.793 * [taylor]: Taking taylor expansion of 0.5 in phi1
7.793 * [backup-simplify]: Simplify 0.5 into 0.5
7.793 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
7.793 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
7.793 * [taylor]: Taking taylor expansion of phi1 in phi1
7.793 * [backup-simplify]: Simplify 0 into 0
7.793 * [backup-simplify]: Simplify 1 into 1
7.794 * [backup-simplify]: Simplify (/ 1 1) into 1
7.794 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
7.794 * [taylor]: Taking taylor expansion of phi2 in phi1
7.794 * [backup-simplify]: Simplify phi2 into phi2
7.794 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
7.794 * [backup-simplify]: Simplify (+ 1 0) into 1
7.794 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
7.794 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
7.794 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
7.794 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
7.794 * [taylor]: Taking taylor expansion of 0.5 in phi2
7.795 * [backup-simplify]: Simplify 0.5 into 0.5
7.795 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
7.795 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
7.795 * [taylor]: Taking taylor expansion of phi1 in phi2
7.795 * [backup-simplify]: Simplify phi1 into phi1
7.795 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
7.795 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
7.795 * [taylor]: Taking taylor expansion of phi2 in phi2
7.795 * [backup-simplify]: Simplify 0 into 0
7.795 * [backup-simplify]: Simplify 1 into 1
7.795 * [backup-simplify]: Simplify (/ 1 1) into 1
7.795 * [backup-simplify]: Simplify (+ 0 1) into 1
7.795 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
7.796 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
7.796 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
7.796 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)))) into 0
7.796 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)))) into 0
7.797 * [backup-simplify]: Simplify (- 0) into 0
7.797 * [backup-simplify]: Simplify (+ 0 0) into 0
7.797 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
7.798 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0
7.798 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
7.798 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
7.798 * [backup-simplify]: Simplify (+ 0 0) into 0
7.799 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0
7.799 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
7.800 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0
7.800 * [backup-simplify]: Simplify (- 0) into 0
7.800 * [backup-simplify]: Simplify (+ 0 0) into 0
7.801 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 (- (/ 1 lambda2))) (* 0 1))) into 0
7.801 * [taylor]: Taking taylor expansion of 0 in lambda2
7.801 * [backup-simplify]: Simplify 0 into 0
7.801 * [backup-simplify]: Simplify (+ 0) into 0
7.802 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
7.802 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
7.802 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
7.802 * [backup-simplify]: Simplify (+ 0 0) into 0
7.803 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
7.803 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
7.803 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
7.804 * [backup-simplify]: Simplify (- 0) into 0
7.804 * [backup-simplify]: Simplify (+ 0 0) into 0
7.804 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (/ 0 1)))) into 0
7.805 * [backup-simplify]: Simplify (- 0) into 0
7.805 * [taylor]: Taking taylor expansion of 0 in phi1
7.805 * [backup-simplify]: Simplify 0 into 0
7.805 * [taylor]: Taking taylor expansion of 0 in phi2
7.805 * [backup-simplify]: Simplify 0 into 0
7.805 * [backup-simplify]: Simplify 0 into 0
7.805 * [backup-simplify]: Simplify (+ 0) into 0
7.805 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
7.806 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
7.806 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
7.806 * [backup-simplify]: Simplify (+ 0 0) into 0
7.806 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
7.807 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
7.807 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
7.807 * [backup-simplify]: Simplify (- 0) into 0
7.807 * [backup-simplify]: Simplify (+ 0 0) into 0
7.807 * [taylor]: Taking taylor expansion of 0 in phi1
7.807 * [backup-simplify]: Simplify 0 into 0
7.807 * [taylor]: Taking taylor expansion of 0 in phi2
7.807 * [backup-simplify]: Simplify 0 into 0
7.808 * [backup-simplify]: Simplify 0 into 0
7.808 * [backup-simplify]: Simplify (- 0) into 0
7.808 * [taylor]: Taking taylor expansion of 0 in phi2
7.808 * [backup-simplify]: Simplify 0 into 0
7.808 * [backup-simplify]: Simplify 0 into 0
7.808 * [taylor]: Taking taylor expansion of 0 in phi2
7.808 * [backup-simplify]: Simplify 0 into 0
7.808 * [backup-simplify]: Simplify 0 into 0
7.808 * [backup-simplify]: Simplify (- 0) into 0
7.808 * [backup-simplify]: Simplify 0 into 0
7.808 * [backup-simplify]: Simplify 0 into 0
7.809 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2))))) (* 1 (* 1 (* 1 (/ 1 (/ 1 lambda1)))))) (* (- (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2)))))) (* 1 (* 1 (* (/ 1 (/ 1 lambda2)) 1))))) into (- (* lambda1 (cos (* 0.5 (+ phi1 phi2)))) (* lambda2 (cos (* 0.5 (+ phi1 phi2)))))
7.809 * [backup-simplify]: Simplify (* (- (/ 1 (- lambda1)) (/ 1 (- lambda2))) (cos (* 0.5 (+ (/ 1 (- phi1)) (/ 1 (- phi2)))))) into (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
7.809 * [approximate]: Taking taylor expansion of (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in (lambda1 lambda2 phi1 phi2) around 0
7.809 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2
7.809 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in phi2
7.809 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in phi2
7.809 * [taylor]: Taking taylor expansion of lambda2 in phi2
7.809 * [backup-simplify]: Simplify lambda2 into lambda2
7.809 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
7.809 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in phi2
7.809 * [taylor]: Taking taylor expansion of lambda1 in phi2
7.809 * [backup-simplify]: Simplify lambda1 into lambda1
7.809 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1)
7.809 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
7.809 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
7.809 * [taylor]: Taking taylor expansion of -0.5 in phi2
7.809 * [backup-simplify]: Simplify -0.5 into -0.5
7.809 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
7.809 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
7.809 * [taylor]: Taking taylor expansion of phi1 in phi2
7.809 * [backup-simplify]: Simplify phi1 into phi1
7.809 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
7.809 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
7.809 * [taylor]: Taking taylor expansion of phi2 in phi2
7.809 * [backup-simplify]: Simplify 0 into 0
7.809 * [backup-simplify]: Simplify 1 into 1
7.809 * [backup-simplify]: Simplify (/ 1 1) into 1
7.810 * [backup-simplify]: Simplify (+ 0 1) into 1
7.810 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
7.810 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
7.810 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi1
7.810 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in phi1
7.810 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in phi1
7.810 * [taylor]: Taking taylor expansion of lambda2 in phi1
7.810 * [backup-simplify]: Simplify lambda2 into lambda2
7.810 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
7.810 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in phi1
7.810 * [taylor]: Taking taylor expansion of lambda1 in phi1
7.810 * [backup-simplify]: Simplify lambda1 into lambda1
7.810 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1)
7.810 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
7.810 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
7.810 * [taylor]: Taking taylor expansion of -0.5 in phi1
7.810 * [backup-simplify]: Simplify -0.5 into -0.5
7.810 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
7.810 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
7.810 * [taylor]: Taking taylor expansion of phi1 in phi1
7.810 * [backup-simplify]: Simplify 0 into 0
7.810 * [backup-simplify]: Simplify 1 into 1
7.811 * [backup-simplify]: Simplify (/ 1 1) into 1
7.811 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
7.811 * [taylor]: Taking taylor expansion of phi2 in phi1
7.811 * [backup-simplify]: Simplify phi2 into phi2
7.811 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
7.811 * [backup-simplify]: Simplify (+ 1 0) into 1
7.811 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
7.811 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
7.812 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda2
7.812 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in lambda2
7.812 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda2
7.812 * [taylor]: Taking taylor expansion of lambda2 in lambda2
7.812 * [backup-simplify]: Simplify 0 into 0
7.812 * [backup-simplify]: Simplify 1 into 1
7.812 * [backup-simplify]: Simplify (/ 1 1) into 1
7.812 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda2
7.812 * [taylor]: Taking taylor expansion of lambda1 in lambda2
7.812 * [backup-simplify]: Simplify lambda1 into lambda1
7.812 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1)
7.812 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2
7.812 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2
7.812 * [taylor]: Taking taylor expansion of -0.5 in lambda2
7.812 * [backup-simplify]: Simplify -0.5 into -0.5
7.812 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2
7.812 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
7.812 * [taylor]: Taking taylor expansion of phi1 in lambda2
7.812 * [backup-simplify]: Simplify phi1 into phi1
7.812 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
7.812 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
7.812 * [taylor]: Taking taylor expansion of phi2 in lambda2
7.812 * [backup-simplify]: Simplify phi2 into phi2
7.812 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
7.812 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
7.812 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))
7.812 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
7.813 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
7.813 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda1
7.813 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in lambda1
7.813 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda1
7.813 * [taylor]: Taking taylor expansion of lambda2 in lambda1
7.813 * [backup-simplify]: Simplify lambda2 into lambda2
7.813 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
7.813 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1
7.813 * [taylor]: Taking taylor expansion of lambda1 in lambda1
7.813 * [backup-simplify]: Simplify 0 into 0
7.813 * [backup-simplify]: Simplify 1 into 1
7.813 * [backup-simplify]: Simplify (/ 1 1) into 1
7.813 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1
7.813 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1
7.813 * [taylor]: Taking taylor expansion of -0.5 in lambda1
7.813 * [backup-simplify]: Simplify -0.5 into -0.5
7.813 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1
7.813 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
7.813 * [taylor]: Taking taylor expansion of phi1 in lambda1
7.813 * [backup-simplify]: Simplify phi1 into phi1
7.813 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
7.813 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
7.813 * [taylor]: Taking taylor expansion of phi2 in lambda1
7.813 * [backup-simplify]: Simplify phi2 into phi2
7.813 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
7.813 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
7.814 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))
7.814 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
7.814 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
7.814 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda1
7.814 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in lambda1
7.814 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda1
7.814 * [taylor]: Taking taylor expansion of lambda2 in lambda1
7.814 * [backup-simplify]: Simplify lambda2 into lambda2
7.814 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
7.814 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1
7.814 * [taylor]: Taking taylor expansion of lambda1 in lambda1
7.814 * [backup-simplify]: Simplify 0 into 0
7.814 * [backup-simplify]: Simplify 1 into 1
7.814 * [backup-simplify]: Simplify (/ 1 1) into 1
7.814 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1
7.814 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1
7.814 * [taylor]: Taking taylor expansion of -0.5 in lambda1
7.814 * [backup-simplify]: Simplify -0.5 into -0.5
7.814 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1
7.814 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
7.814 * [taylor]: Taking taylor expansion of phi1 in lambda1
7.814 * [backup-simplify]: Simplify phi1 into phi1
7.814 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
7.814 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
7.814 * [taylor]: Taking taylor expansion of phi2 in lambda1
7.814 * [backup-simplify]: Simplify phi2 into phi2
7.814 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
7.815 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
7.815 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))
7.815 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
7.815 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
7.815 * [backup-simplify]: Simplify (- 1) into -1
7.815 * [backup-simplify]: Simplify (+ 0 -1) into -1
7.815 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
7.816 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
7.816 * [backup-simplify]: Simplify (- 0) into 0
7.816 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
7.816 * [backup-simplify]: Simplify (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
7.816 * [taylor]: Taking taylor expansion of (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda2
7.816 * [taylor]: Taking taylor expansion of -1 in lambda2
7.816 * [backup-simplify]: Simplify -1 into -1
7.816 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2
7.816 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2
7.816 * [taylor]: Taking taylor expansion of -0.5 in lambda2
7.816 * [backup-simplify]: Simplify -0.5 into -0.5
7.816 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2
7.816 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
7.816 * [taylor]: Taking taylor expansion of phi1 in lambda2
7.816 * [backup-simplify]: Simplify phi1 into phi1
7.816 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
7.816 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
7.816 * [taylor]: Taking taylor expansion of phi2 in lambda2
7.816 * [backup-simplify]: Simplify phi2 into phi2
7.816 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
7.816 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
7.816 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))
7.817 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
7.817 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
7.817 * [backup-simplify]: Simplify (+ 0) into 0
7.817 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
7.817 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
7.818 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
7.818 * [backup-simplify]: Simplify (+ 0 0) into 0
7.819 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
7.819 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
7.820 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
7.820 * [backup-simplify]: Simplify (- 0) into 0
7.821 * [backup-simplify]: Simplify (+ 0 0) into 0
7.821 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
7.822 * [backup-simplify]: Simplify (- 0) into 0
7.822 * [backup-simplify]: Simplify (+ (/ 1 lambda2) 0) into (/ 1 lambda2)
7.822 * [backup-simplify]: Simplify (+ (* -1 0) (* (/ 1 lambda2) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)
7.822 * [taylor]: Taking taylor expansion of (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2) in lambda2
7.822 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2
7.822 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2
7.822 * [taylor]: Taking taylor expansion of -0.5 in lambda2
7.823 * [backup-simplify]: Simplify -0.5 into -0.5
7.823 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2
7.823 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
7.823 * [taylor]: Taking taylor expansion of phi1 in lambda2
7.823 * [backup-simplify]: Simplify phi1 into phi1
7.823 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
7.823 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
7.823 * [taylor]: Taking taylor expansion of phi2 in lambda2
7.823 * [backup-simplify]: Simplify phi2 into phi2
7.823 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
7.823 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
7.823 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))
7.823 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
7.823 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
7.823 * [taylor]: Taking taylor expansion of lambda2 in lambda2
7.823 * [backup-simplify]: Simplify 0 into 0
7.823 * [backup-simplify]: Simplify 1 into 1
7.824 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
7.824 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
7.824 * [backup-simplify]: Simplify (- 0) into 0
7.824 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
7.825 * [backup-simplify]: Simplify (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
7.825 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
7.825 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
7.825 * [taylor]: Taking taylor expansion of -0.5 in phi1
7.825 * [backup-simplify]: Simplify -0.5 into -0.5
7.825 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
7.825 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
7.825 * [taylor]: Taking taylor expansion of phi1 in phi1
7.825 * [backup-simplify]: Simplify 0 into 0
7.825 * [backup-simplify]: Simplify 1 into 1
7.825 * [backup-simplify]: Simplify (/ 1 1) into 1
7.825 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
7.825 * [taylor]: Taking taylor expansion of phi2 in phi1
7.825 * [backup-simplify]: Simplify phi2 into phi2
7.825 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
7.826 * [backup-simplify]: Simplify (+ 1 0) into 1
7.826 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
7.826 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
7.826 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
7.826 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
7.826 * [taylor]: Taking taylor expansion of -0.5 in phi2
7.826 * [backup-simplify]: Simplify -0.5 into -0.5
7.826 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
7.826 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
7.826 * [taylor]: Taking taylor expansion of phi1 in phi2
7.827 * [backup-simplify]: Simplify phi1 into phi1
7.827 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
7.827 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
7.827 * [taylor]: Taking taylor expansion of phi2 in phi2
7.827 * [backup-simplify]: Simplify 0 into 0
7.827 * [backup-simplify]: Simplify 1 into 1
7.827 * [backup-simplify]: Simplify (/ 1 1) into 1
7.827 * [backup-simplify]: Simplify (+ 0 1) into 1
7.828 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
7.828 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
7.828 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
7.828 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
7.829 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
7.829 * [backup-simplify]: Simplify (- 0) into 0
7.829 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
7.829 * [backup-simplify]: Simplify (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
7.829 * [taylor]: Taking taylor expansion of (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi1
7.829 * [taylor]: Taking taylor expansion of -1 in phi1
7.829 * [backup-simplify]: Simplify -1 into -1
7.829 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
7.829 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
7.829 * [taylor]: Taking taylor expansion of -0.5 in phi1
7.829 * [backup-simplify]: Simplify -0.5 into -0.5
7.830 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
7.830 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
7.830 * [taylor]: Taking taylor expansion of phi1 in phi1
7.830 * [backup-simplify]: Simplify 0 into 0
7.830 * [backup-simplify]: Simplify 1 into 1
7.830 * [backup-simplify]: Simplify (/ 1 1) into 1
7.830 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
7.830 * [taylor]: Taking taylor expansion of phi2 in phi1
7.830 * [backup-simplify]: Simplify phi2 into phi2
7.830 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
7.831 * [backup-simplify]: Simplify (+ 1 0) into 1
7.831 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
7.831 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
7.831 * [backup-simplify]: Simplify (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
7.831 * [taylor]: Taking taylor expansion of (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2
7.831 * [taylor]: Taking taylor expansion of -1 in phi2
7.831 * [backup-simplify]: Simplify -1 into -1
7.831 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
7.831 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
7.831 * [taylor]: Taking taylor expansion of -0.5 in phi2
7.831 * [backup-simplify]: Simplify -0.5 into -0.5
7.832 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
7.832 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
7.832 * [taylor]: Taking taylor expansion of phi1 in phi2
7.832 * [backup-simplify]: Simplify phi1 into phi1
7.832 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
7.832 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
7.832 * [taylor]: Taking taylor expansion of phi2 in phi2
7.832 * [backup-simplify]: Simplify 0 into 0
7.832 * [backup-simplify]: Simplify 1 into 1
7.832 * [backup-simplify]: Simplify (/ 1 1) into 1
7.832 * [backup-simplify]: Simplify (+ 0 1) into 1
7.833 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
7.833 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
7.833 * [backup-simplify]: Simplify (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
7.833 * [backup-simplify]: Simplify (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
7.834 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
7.835 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0
7.835 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
7.835 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
7.836 * [backup-simplify]: Simplify (+ 0 0) into 0
7.837 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0
7.837 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
7.838 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0
7.838 * [backup-simplify]: Simplify (- 0) into 0
7.839 * [backup-simplify]: Simplify (+ 0 0) into 0
7.839 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)))) into 0
7.840 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)))) into 0
7.840 * [backup-simplify]: Simplify (- 0) into 0
7.840 * [backup-simplify]: Simplify (+ 0 0) into 0
7.841 * [backup-simplify]: Simplify (+ (* -1 0) (+ (* (/ 1 lambda2) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0
7.841 * [taylor]: Taking taylor expansion of 0 in lambda2
7.841 * [backup-simplify]: Simplify 0 into 0
7.841 * [backup-simplify]: Simplify (+ 0) into 0
7.842 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
7.842 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
7.842 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
7.843 * [backup-simplify]: Simplify (+ 0 0) into 0
7.843 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
7.844 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
7.844 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
7.845 * [backup-simplify]: Simplify (- 0) into 0
7.845 * [backup-simplify]: Simplify (+ 0 0) into 0
7.846 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (/ 0 1)))) into 0
7.846 * [taylor]: Taking taylor expansion of 0 in phi1
7.846 * [backup-simplify]: Simplify 0 into 0
7.846 * [taylor]: Taking taylor expansion of 0 in phi2
7.846 * [backup-simplify]: Simplify 0 into 0
7.846 * [backup-simplify]: Simplify 0 into 0
7.847 * [backup-simplify]: Simplify (+ 0) into 0
7.847 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
7.847 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
7.847 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
7.848 * [backup-simplify]: Simplify (+ 0 0) into 0
7.848 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
7.849 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
7.850 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
7.850 * [backup-simplify]: Simplify (- 0) into 0
7.850 * [backup-simplify]: Simplify (+ 0 0) into 0
7.851 * [backup-simplify]: Simplify (+ (* -1 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0
7.851 * [taylor]: Taking taylor expansion of 0 in phi1
7.851 * [backup-simplify]: Simplify 0 into 0
7.851 * [taylor]: Taking taylor expansion of 0 in phi2
7.851 * [backup-simplify]: Simplify 0 into 0
7.851 * [backup-simplify]: Simplify 0 into 0
7.851 * [taylor]: Taking taylor expansion of 0 in phi2
7.851 * [backup-simplify]: Simplify 0 into 0
7.851 * [backup-simplify]: Simplify 0 into 0
7.852 * [backup-simplify]: Simplify (+ (* -1 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0
7.852 * [taylor]: Taking taylor expansion of 0 in phi2
7.852 * [backup-simplify]: Simplify 0 into 0
7.852 * [backup-simplify]: Simplify 0 into 0
7.852 * [backup-simplify]: Simplify 0 into 0
7.853 * [backup-simplify]: Simplify (+ (* -1 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0
7.853 * [backup-simplify]: Simplify 0 into 0
7.853 * [backup-simplify]: Simplify (+ (* (* -1 (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2))))))) (* 1 (* 1 (* 1 (/ 1 (/ 1 (- lambda1))))))) (* (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2)))))) (* 1 (* 1 (* (/ 1 (/ 1 (- lambda2))) 1))))) into (- (* lambda1 (cos (* 0.5 (+ phi1 phi2)))) (* lambda2 (cos (* 0.5 (+ phi1 phi2)))))
7.854 * * * * [progress]: [ 3 / 4 ] generating series at (2)
7.854 * [backup-simplify]: Simplify (* (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (- phi1 phi2)) R) into (* R (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (- phi1 phi2)))
7.854 * [approximate]: Taking taylor expansion of (* R (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (- phi1 phi2))) in (lambda1 lambda2 phi1 phi2 R) around 0
7.854 * [taylor]: Taking taylor expansion of (* R (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (- phi1 phi2))) in R
7.854 * [taylor]: Taking taylor expansion of R in R
7.854 * [backup-simplify]: Simplify 0 into 0
7.854 * [backup-simplify]: Simplify 1 into 1
7.854 * [taylor]: Taking taylor expansion of (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (- phi1 phi2)) in R
7.854 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2))))) (* (- phi1 phi2) (- phi1 phi2))))
7.854 * [taylor]: Taking taylor expansion of (+ (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2))))) (* (- phi1 phi2) (- phi1 phi2))) in R
7.854 * [taylor]: Taking taylor expansion of (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2))))) in R
7.854 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) in R
7.854 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in R
7.854 * [taylor]: Taking taylor expansion of lambda1 in R
7.854 * [backup-simplify]: Simplify lambda1 into lambda1
7.854 * [taylor]: Taking taylor expansion of lambda2 in R
7.854 * [backup-simplify]: Simplify lambda2 into lambda2
7.854 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in R
7.854 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in R
7.855 * [taylor]: Taking taylor expansion of 0.5 in R
7.855 * [backup-simplify]: Simplify 0.5 into 0.5
7.855 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in R
7.855 * [taylor]: Taking taylor expansion of phi1 in R
7.855 * [backup-simplify]: Simplify phi1 into phi1
7.855 * [taylor]: Taking taylor expansion of phi2 in R
7.855 * [backup-simplify]: Simplify phi2 into phi2
7.855 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2)
7.855 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2))
7.855 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2)))
7.855 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2)))
7.855 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) in R
7.855 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in R
7.855 * [taylor]: Taking taylor expansion of lambda1 in R
7.855 * [backup-simplify]: Simplify lambda1 into lambda1
7.855 * [taylor]: Taking taylor expansion of lambda2 in R
7.855 * [backup-simplify]: Simplify lambda2 into lambda2
7.855 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in R
7.855 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in R
7.855 * [taylor]: Taking taylor expansion of 0.5 in R
7.855 * [backup-simplify]: Simplify 0.5 into 0.5
7.855 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in R
7.855 * [taylor]: Taking taylor expansion of phi1 in R
7.855 * [backup-simplify]: Simplify phi1 into phi1
7.855 * [taylor]: Taking taylor expansion of phi2 in R
7.855 * [backup-simplify]: Simplify phi2 into phi2
7.855 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2)
7.856 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2))
7.856 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2)))
7.856 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2)))
7.856 * [taylor]: Taking taylor expansion of (* (- phi1 phi2) (- phi1 phi2)) in R
7.856 * [taylor]: Taking taylor expansion of (- phi1 phi2) in R
7.856 * [taylor]: Taking taylor expansion of phi1 in R
7.856 * [backup-simplify]: Simplify phi1 into phi1
7.856 * [taylor]: Taking taylor expansion of phi2 in R
7.856 * [backup-simplify]: Simplify phi2 into phi2
7.856 * [taylor]: Taking taylor expansion of (- phi1 phi2) in R
7.856 * [taylor]: Taking taylor expansion of phi1 in R
7.856 * [backup-simplify]: Simplify phi1 into phi1
7.856 * [taylor]: Taking taylor expansion of phi2 in R
7.856 * [backup-simplify]: Simplify phi2 into phi2
7.856 * [backup-simplify]: Simplify (- lambda2) into (- lambda2)
7.856 * [backup-simplify]: Simplify (+ lambda1 (- lambda2)) into (- lambda1 lambda2)
7.856 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2)))
7.856 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0
7.857 * [backup-simplify]: Simplify (- 0) into 0
7.857 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2)))
7.857 * [backup-simplify]: Simplify (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) into (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2))))
7.857 * [backup-simplify]: Simplify (- lambda2) into (- lambda2)
7.857 * [backup-simplify]: Simplify (+ lambda1 (- lambda2)) into (- lambda1 lambda2)
7.857 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2)))
7.857 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0
7.858 * [backup-simplify]: Simplify (- 0) into 0
7.858 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2)))
7.858 * [backup-simplify]: Simplify (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) into (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2))))
7.858 * [backup-simplify]: Simplify (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2))))) into (* (pow (- lambda1 lambda2) 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2))
7.858 * [backup-simplify]: Simplify (- phi2) into (- phi2)
7.858 * [backup-simplify]: Simplify (+ phi1 (- phi2)) into (- phi1 phi2)
7.858 * [backup-simplify]: Simplify (- phi2) into (- phi2)
7.858 * [backup-simplify]: Simplify (+ phi1 (- phi2)) into (- phi1 phi2)
7.858 * [backup-simplify]: Simplify (* (- phi1 phi2) (- phi1 phi2)) into (pow (- phi1 phi2) 2)
7.859 * [backup-simplify]: Simplify (+ (* (pow (- lambda1 lambda2) 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (pow (- phi1 phi2) 2)) into (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2)))) (+ (* 2 (* phi1 phi2)) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))))))
7.860 * [backup-simplify]: Simplify (sqrt (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2)))) (+ (* 2 (* phi1 phi2)) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))))))) into (sqrt (- (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (+ (pow phi2 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2))))) (+ (* 2 (* phi1 phi2)) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))))))
7.860 * [backup-simplify]: Simplify (+ 0) into 0
7.860 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (* 0 1)) into 0
7.861 * [backup-simplify]: Simplify (+ 0 0) into 0
7.861 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi1 phi2))) into 0
7.861 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
7.862 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi1 phi2))) 0) (* 0 0)) into 0
7.862 * [backup-simplify]: Simplify (- 0) into 0
7.862 * [backup-simplify]: Simplify (+ 0 0) into 0
7.862 * [backup-simplify]: Simplify (- 0) into 0
7.863 * [backup-simplify]: Simplify (+ 0 0) into 0
7.863 * [backup-simplify]: Simplify (+ (* (- lambda1 lambda2) 0) (* 0 (cos (* 0.5 (+ phi1 phi2))))) into 0
7.863 * [backup-simplify]: Simplify (+ 0) into 0
7.863 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (* 0 1)) into 0
7.864 * [backup-simplify]: Simplify (+ 0 0) into 0
7.864 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi1 phi2))) into 0
7.864 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
7.865 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi1 phi2))) 0) (* 0 0)) into 0
7.865 * [backup-simplify]: Simplify (- 0) into 0
7.865 * [backup-simplify]: Simplify (+ 0 0) into 0
7.865 * [backup-simplify]: Simplify (- 0) into 0
7.866 * [backup-simplify]: Simplify (+ 0 0) into 0
7.866 * [backup-simplify]: Simplify (+ (* (- lambda1 lambda2) 0) (* 0 (cos (* 0.5 (+ phi1 phi2))))) into 0
7.866 * [backup-simplify]: Simplify (+ (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) 0) (* 0 (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))))) into 0
7.866 * [backup-simplify]: Simplify (- 0) into 0
7.866 * [backup-simplify]: Simplify (+ 0 0) into 0
7.867 * [backup-simplify]: Simplify (- 0) into 0
7.867 * [backup-simplify]: Simplify (+ 0 0) into 0
7.867 * [backup-simplify]: Simplify (+ (* (- phi1 phi2) 0) (* 0 (- phi1 phi2))) into 0
7.867 * [backup-simplify]: Simplify (+ 0 0) into 0
7.868 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2)))) (+ (* 2 (* phi1 phi2)) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))))))))) into 0
7.868 * [taylor]: Taking taylor expansion of (* R (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (- phi1 phi2))) in phi2
7.869 * [taylor]: Taking taylor expansion of R in phi2
7.869 * [backup-simplify]: Simplify R into R
7.869 * [taylor]: Taking taylor expansion of (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (- phi1 phi2)) in phi2
7.869 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2))))) (* (- phi1 phi2) (- phi1 phi2))))
7.869 * [taylor]: Taking taylor expansion of (+ (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2))))) (* (- phi1 phi2) (- phi1 phi2))) in phi2
7.869 * [taylor]: Taking taylor expansion of (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2))))) in phi2
7.869 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) in phi2
7.869 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in phi2
7.869 * [taylor]: Taking taylor expansion of lambda1 in phi2
7.869 * [backup-simplify]: Simplify lambda1 into lambda1
7.869 * [taylor]: Taking taylor expansion of lambda2 in phi2
7.869 * [backup-simplify]: Simplify lambda2 into lambda2
7.869 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in phi2
7.869 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in phi2
7.869 * [taylor]: Taking taylor expansion of 0.5 in phi2
7.869 * [backup-simplify]: Simplify 0.5 into 0.5
7.869 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in phi2
7.869 * [taylor]: Taking taylor expansion of phi1 in phi2
7.869 * [backup-simplify]: Simplify phi1 into phi1
7.869 * [taylor]: Taking taylor expansion of phi2 in phi2
7.869 * [backup-simplify]: Simplify 0 into 0
7.869 * [backup-simplify]: Simplify 1 into 1
7.869 * [backup-simplify]: Simplify (+ phi1 0) into phi1
7.869 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
7.869 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
7.869 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
7.869 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) in phi2
7.869 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in phi2
7.869 * [taylor]: Taking taylor expansion of lambda1 in phi2
7.869 * [backup-simplify]: Simplify lambda1 into lambda1
7.869 * [taylor]: Taking taylor expansion of lambda2 in phi2
7.869 * [backup-simplify]: Simplify lambda2 into lambda2
7.869 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in phi2
7.869 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in phi2
7.869 * [taylor]: Taking taylor expansion of 0.5 in phi2
7.869 * [backup-simplify]: Simplify 0.5 into 0.5
7.869 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in phi2
7.869 * [taylor]: Taking taylor expansion of phi1 in phi2
7.869 * [backup-simplify]: Simplify phi1 into phi1
7.869 * [taylor]: Taking taylor expansion of phi2 in phi2
7.869 * [backup-simplify]: Simplify 0 into 0
7.869 * [backup-simplify]: Simplify 1 into 1
7.869 * [backup-simplify]: Simplify (+ phi1 0) into phi1
7.869 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
7.869 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
7.870 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
7.870 * [taylor]: Taking taylor expansion of (* (- phi1 phi2) (- phi1 phi2)) in phi2
7.870 * [taylor]: Taking taylor expansion of (- phi1 phi2) in phi2
7.870 * [taylor]: Taking taylor expansion of phi1 in phi2
7.870 * [backup-simplify]: Simplify phi1 into phi1
7.870 * [taylor]: Taking taylor expansion of phi2 in phi2
7.870 * [backup-simplify]: Simplify 0 into 0
7.870 * [backup-simplify]: Simplify 1 into 1
7.870 * [taylor]: Taking taylor expansion of (- phi1 phi2) in phi2
7.870 * [taylor]: Taking taylor expansion of phi1 in phi2
7.870 * [backup-simplify]: Simplify phi1 into phi1
7.870 * [taylor]: Taking taylor expansion of phi2 in phi2
7.870 * [backup-simplify]: Simplify 0 into 0
7.870 * [backup-simplify]: Simplify 1 into 1
7.870 * [backup-simplify]: Simplify (- lambda2) into (- lambda2)
7.870 * [backup-simplify]: Simplify (+ lambda1 (- lambda2)) into (- lambda1 lambda2)
7.870 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
7.870 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
7.870 * [backup-simplify]: Simplify (- 0) into 0
7.870 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
7.870 * [backup-simplify]: Simplify (* (- lambda1 lambda2) (cos (* 0.5 phi1))) into (* (- lambda1 lambda2) (cos (* 0.5 phi1)))
7.870 * [backup-simplify]: Simplify (- lambda2) into (- lambda2)
7.870 * [backup-simplify]: Simplify (+ lambda1 (- lambda2)) into (- lambda1 lambda2)
7.870 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
7.871 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
7.871 * [backup-simplify]: Simplify (- 0) into 0
7.871 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
7.871 * [backup-simplify]: Simplify (* (- lambda1 lambda2) (cos (* 0.5 phi1))) into (* (- lambda1 lambda2) (cos (* 0.5 phi1)))
7.871 * [backup-simplify]: Simplify (* (* (- lambda1 lambda2) (cos (* 0.5 phi1))) (* (- lambda1 lambda2) (cos (* 0.5 phi1)))) into (* (pow (- lambda1 lambda2) 2) (pow (cos (* 0.5 phi1)) 2))
7.871 * [backup-simplify]: Simplify (- 0) into 0
7.871 * [backup-simplify]: Simplify (+ phi1 0) into phi1
7.872 * [backup-simplify]: Simplify (- 0) into 0
7.872 * [backup-simplify]: Simplify (+ phi1 0) into phi1
7.872 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
7.872 * [backup-simplify]: Simplify (+ (* (pow (- lambda1 lambda2) 2) (pow (cos (* 0.5 phi1)) 2)) (pow phi1 2)) into (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (+ (* (pow lambda2 2) (pow (cos (* 0.5 phi1)) 2)) (pow phi1 2))) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi1)) 2)))))
7.873 * [backup-simplify]: Simplify (sqrt (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (+ (* (pow lambda2 2) (pow (cos (* 0.5 phi1)) 2)) (pow phi1 2))) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi1)) 2)))))) into (sqrt (- (+ (* (pow lambda1 2) (pow (cos (* 0.5 phi1)) 2)) (+ (* (pow lambda2 2) (pow (cos (* 0.5 phi1)) 2)) (pow phi1 2))) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi1)) 2))))))
7.873 * [backup-simplify]: Simplify (+ 0) into 0
7.873 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0
7.874 * [backup-simplify]: Simplify (+ 0 1) into 1
7.874 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi1)) into 0.5
7.875 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5
7.876 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1)))
7.876 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1))))
7.876 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1))))
7.876 * [backup-simplify]: Simplify (- 0) into 0
7.876 * [backup-simplify]: Simplify (+ 0 0) into 0
7.876 * [backup-simplify]: Simplify (+ (* (- lambda1 lambda2) (- (* 0.5 (sin (* 0.5 phi1))))) (* 0 (cos (* 0.5 phi1)))) into (- (* 0.5 (* lambda2 (sin (* 0.5 phi1)))) (* 0.5 (* lambda1 (sin (* 0.5 phi1)))))
7.880 * [backup-simplify]: Simplify (+ 0) into 0
7.880 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0
7.880 * [backup-simplify]: Simplify (+ 0 1) into 1
7.881 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi1)) into 0.5
7.882 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5
7.882 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1)))
7.882 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1))))
7.883 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1))))
7.883 * [backup-simplify]: Simplify (- 0) into 0
7.883 * [backup-simplify]: Simplify (+ 0 0) into 0
7.883 * [backup-simplify]: Simplify (+ (* (- lambda1 lambda2) (- (* 0.5 (sin (* 0.5 phi1))))) (* 0 (cos (* 0.5 phi1)))) into (- (* 0.5 (* lambda2 (sin (* 0.5 phi1)))) (* 0.5 (* lambda1 (sin (* 0.5 phi1)))))
7.884 * [backup-simplify]: Simplify (+ (* (* (- lambda1 lambda2) (cos (* 0.5 phi1))) (- (* 0.5 (* lambda2 (sin (* 0.5 phi1)))) (* 0.5 (* lambda1 (sin (* 0.5 phi1)))))) (* (- (* 0.5 (* lambda2 (sin (* 0.5 phi1)))) (* 0.5 (* lambda1 (sin (* 0.5 phi1))))) (* (- lambda1 lambda2) (cos (* 0.5 phi1))))) into (- (+ (* 0.5 (* lambda1 (* lambda2 (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1)))))) (+ (* 0.5 (* lambda2 (* (cos (* 0.5 phi1)) (* lambda1 (sin (* 0.5 phi1)))))) (* 1.0 (* lambda2 (* (sin (* 0.5 phi1)) (* lambda1 (cos (* 0.5 phi1)))))))) (+ (* 0.5 (* (pow lambda2 2) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) (+ (* 0.5 (* (pow lambda2 2) (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1))))) (* 1.0 (* (sin (* 0.5 phi1)) (* (pow lambda1 2) (cos (* 0.5 phi1))))))))
7.884 * [backup-simplify]: Simplify (- 1) into -1
7.884 * [backup-simplify]: Simplify (+ 0 -1) into -1
7.885 * [backup-simplify]: Simplify (- 1) into -1
7.885 * [backup-simplify]: Simplify (+ 0 -1) into -1
7.885 * [backup-simplify]: Simplify (+ (* phi1 -1) (* -1 phi1)) into (- (* 2 phi1))
7.887 * [backup-simplify]: Simplify (+ (- (+ (* 0.5 (* lambda1 (* lambda2 (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1)))))) (+ (* 0.5 (* lambda2 (* (cos (* 0.5 phi1)) (* lambda1 (sin (* 0.5 phi1)))))) (* 1.0 (* lambda2 (* (sin (* 0.5 phi1)) (* lambda1 (cos (* 0.5 phi1)))))))) (+ (* 0.5 (* (pow lambda2 2) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) (+ (* 0.5 (* (pow lambda2 2) (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1))))) (* 1.0 (* (sin (* 0.5 phi1)) (* (pow lambda1 2) (cos (* 0.5 phi1)))))))) (- (* 2 phi1))) into (- (+ (* 1.5 (* lambda1 (* lambda2 (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1)))))) (* 0.5 (* lambda1 (* lambda2 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))) (+ (* 1.0 (* (pow lambda2 2) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (pow lambda1 2) (sin (* 0.5 phi1))))) (* 2 phi1))))
7.888 * [backup-simplify]: Simplify (/ (- (+ (* 1.5 (* lambda1 (* lambda2 (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1)))))) (* 0.5 (* lambda1 (* lambda2 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))) (+ (* 1.0 (* (pow lambda2 2) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (pow lambda1 2) (sin (* 0.5 phi1))))) (* 2 phi1)))) (* 2 (sqrt (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (+ (* (pow lambda2 2) (pow (cos (* 0.5 phi1)) 2)) (pow phi1 2))) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi1)) 2)))))))) into (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow lambda1 2) (pow (cos (* 0.5 phi1)) 2)) (+ (* (pow lambda2 2) (pow (cos (* 0.5 phi1)) 2)) (pow phi1 2))) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi1)) 2))))))) (- (+ (* 1.5 (* lambda1 (* lambda2 (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1)))))) (* 0.5 (* lambda1 (* lambda2 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))) (+ (* 2 phi1) (+ (* 1.0 (* (pow lambda2 2) (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1))))) (* 1.0 (* (cos (* 0.5 phi1)) (* (pow lambda1 2) (sin (* 0.5 phi1))))))))))
7.888 * [taylor]: Taking taylor expansion of (* R (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (- phi1 phi2))) in phi1
7.888 * [taylor]: Taking taylor expansion of R in phi1
7.888 * [backup-simplify]: Simplify R into R
7.888 * [taylor]: Taking taylor expansion of (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (- phi1 phi2)) in phi1
7.889 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2))))) (* (- phi1 phi2) (- phi1 phi2))))
7.889 * [taylor]: Taking taylor expansion of (+ (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2))))) (* (- phi1 phi2) (- phi1 phi2))) in phi1
7.889 * [taylor]: Taking taylor expansion of (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2))))) in phi1
7.889 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) in phi1
7.889 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in phi1
7.889 * [taylor]: Taking taylor expansion of lambda1 in phi1
7.889 * [backup-simplify]: Simplify lambda1 into lambda1
7.889 * [taylor]: Taking taylor expansion of lambda2 in phi1
7.889 * [backup-simplify]: Simplify lambda2 into lambda2
7.889 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in phi1
7.889 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in phi1
7.889 * [taylor]: Taking taylor expansion of 0.5 in phi1
7.889 * [backup-simplify]: Simplify 0.5 into 0.5
7.889 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in phi1
7.889 * [taylor]: Taking taylor expansion of phi1 in phi1
7.889 * [backup-simplify]: Simplify 0 into 0
7.889 * [backup-simplify]: Simplify 1 into 1
7.889 * [taylor]: Taking taylor expansion of phi2 in phi1
7.889 * [backup-simplify]: Simplify phi2 into phi2
7.889 * [backup-simplify]: Simplify (+ 0 phi2) into phi2
7.889 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
7.889 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
7.889 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
7.889 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) in phi1
7.889 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in phi1
7.889 * [taylor]: Taking taylor expansion of lambda1 in phi1
7.889 * [backup-simplify]: Simplify lambda1 into lambda1
7.889 * [taylor]: Taking taylor expansion of lambda2 in phi1
7.889 * [backup-simplify]: Simplify lambda2 into lambda2
7.889 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in phi1
7.889 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in phi1
7.889 * [taylor]: Taking taylor expansion of 0.5 in phi1
7.889 * [backup-simplify]: Simplify 0.5 into 0.5
7.889 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in phi1
7.889 * [taylor]: Taking taylor expansion of phi1 in phi1
7.889 * [backup-simplify]: Simplify 0 into 0
7.889 * [backup-simplify]: Simplify 1 into 1
7.889 * [taylor]: Taking taylor expansion of phi2 in phi1
7.889 * [backup-simplify]: Simplify phi2 into phi2
7.889 * [backup-simplify]: Simplify (+ 0 phi2) into phi2
7.889 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
7.889 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
7.890 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
7.890 * [taylor]: Taking taylor expansion of (* (- phi1 phi2) (- phi1 phi2)) in phi1
7.890 * [taylor]: Taking taylor expansion of (- phi1 phi2) in phi1
7.890 * [taylor]: Taking taylor expansion of phi1 in phi1
7.890 * [backup-simplify]: Simplify 0 into 0
7.890 * [backup-simplify]: Simplify 1 into 1
7.890 * [taylor]: Taking taylor expansion of phi2 in phi1
7.890 * [backup-simplify]: Simplify phi2 into phi2
7.890 * [taylor]: Taking taylor expansion of (- phi1 phi2) in phi1
7.890 * [taylor]: Taking taylor expansion of phi1 in phi1
7.890 * [backup-simplify]: Simplify 0 into 0
7.890 * [backup-simplify]: Simplify 1 into 1
7.890 * [taylor]: Taking taylor expansion of phi2 in phi1
7.890 * [backup-simplify]: Simplify phi2 into phi2
7.890 * [backup-simplify]: Simplify (- lambda2) into (- lambda2)
7.890 * [backup-simplify]: Simplify (+ lambda1 (- lambda2)) into (- lambda1 lambda2)
7.890 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2))
7.890 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0
7.890 * [backup-simplify]: Simplify (- 0) into 0
7.890 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2))
7.890 * [backup-simplify]: Simplify (* (- lambda1 lambda2) (cos (* 0.5 phi2))) into (* (- lambda1 lambda2) (cos (* 0.5 phi2)))
7.890 * [backup-simplify]: Simplify (- lambda2) into (- lambda2)
7.890 * [backup-simplify]: Simplify (+ lambda1 (- lambda2)) into (- lambda1 lambda2)
7.891 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2))
7.891 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0
7.891 * [backup-simplify]: Simplify (- 0) into 0
7.891 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2))
7.891 * [backup-simplify]: Simplify (* (- lambda1 lambda2) (cos (* 0.5 phi2))) into (* (- lambda1 lambda2) (cos (* 0.5 phi2)))
7.891 * [backup-simplify]: Simplify (* (* (- lambda1 lambda2) (cos (* 0.5 phi2))) (* (- lambda1 lambda2) (cos (* 0.5 phi2)))) into (* (pow (- lambda1 lambda2) 2) (pow (cos (* 0.5 phi2)) 2))
7.891 * [backup-simplify]: Simplify (- phi2) into (- phi2)
7.891 * [backup-simplify]: Simplify (+ 0 (- phi2)) into (- phi2)
7.891 * [backup-simplify]: Simplify (- phi2) into (- phi2)
7.891 * [backup-simplify]: Simplify (+ 0 (- phi2)) into (- phi2)
7.891 * [backup-simplify]: Simplify (* (- phi2) (- phi2)) into (pow phi2 2)
7.892 * [backup-simplify]: Simplify (+ (* (pow (- lambda1 lambda2) 2) (pow (cos (* 0.5 phi2)) 2)) (pow phi2 2)) into (- (+ (pow phi2 2) (+ (* (pow lambda1 2) (pow (cos (* 0.5 phi2)) 2)) (* (pow lambda2 2) (pow (cos (* 0.5 phi2)) 2)))) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi2)) 2)))))
7.892 * [backup-simplify]: Simplify (sqrt (- (+ (pow phi2 2) (+ (* (pow lambda1 2) (pow (cos (* 0.5 phi2)) 2)) (* (pow lambda2 2) (pow (cos (* 0.5 phi2)) 2)))) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi2)) 2)))))) into (sqrt (- (+ (pow phi2 2) (+ (* (pow lambda1 2) (pow (cos (* 0.5 phi2)) 2)) (* (pow lambda2 2) (pow (cos (* 0.5 phi2)) 2)))) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi2)) 2))))))
7.893 * [backup-simplify]: Simplify (+ 0) into 0
7.893 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0
7.893 * [backup-simplify]: Simplify (+ 1 0) into 1
7.894 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi2)) into 0.5
7.895 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5
7.895 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi2)))
7.896 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi2)))) into (- (* 0.5 (sin (* 0.5 phi2))))
7.896 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi2))))) into (- (* 0.5 (sin (* 0.5 phi2))))
7.896 * [backup-simplify]: Simplify (- 0) into 0
7.896 * [backup-simplify]: Simplify (+ 0 0) into 0
7.896 * [backup-simplify]: Simplify (+ (* (- lambda1 lambda2) (- (* 0.5 (sin (* 0.5 phi2))))) (* 0 (cos (* 0.5 phi2)))) into (- (* 0.5 (* lambda2 (sin (* 0.5 phi2)))) (* 0.5 (* lambda1 (sin (* 0.5 phi2)))))
7.897 * [backup-simplify]: Simplify (+ 0) into 0
7.897 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0
7.897 * [backup-simplify]: Simplify (+ 1 0) into 1
7.897 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi2)) into 0.5
7.899 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5
7.899 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi2)))
7.899 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi2)))) into (- (* 0.5 (sin (* 0.5 phi2))))
7.899 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi2))))) into (- (* 0.5 (sin (* 0.5 phi2))))
7.899 * [backup-simplify]: Simplify (- 0) into 0
7.900 * [backup-simplify]: Simplify (+ 0 0) into 0
7.900 * [backup-simplify]: Simplify (+ (* (- lambda1 lambda2) (- (* 0.5 (sin (* 0.5 phi2))))) (* 0 (cos (* 0.5 phi2)))) into (- (* 0.5 (* lambda2 (sin (* 0.5 phi2)))) (* 0.5 (* lambda1 (sin (* 0.5 phi2)))))
7.900 * [backup-simplify]: Simplify (+ (* (* (- lambda1 lambda2) (cos (* 0.5 phi2))) (- (* 0.5 (* lambda2 (sin (* 0.5 phi2)))) (* 0.5 (* lambda1 (sin (* 0.5 phi2)))))) (* (- (* 0.5 (* lambda2 (sin (* 0.5 phi2)))) (* 0.5 (* lambda1 (sin (* 0.5 phi2))))) (* (- lambda1 lambda2) (cos (* 0.5 phi2))))) into (- (* 2.0 (* lambda2 (* lambda1 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))) (+ (* 1.0 (* (pow lambda2 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))) (* 1.0 (* (pow lambda1 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))))
7.901 * [backup-simplify]: Simplify (- 0) into 0
7.901 * [backup-simplify]: Simplify (+ 1 0) into 1
7.901 * [backup-simplify]: Simplify (- 0) into 0
7.901 * [backup-simplify]: Simplify (+ 1 0) into 1
7.902 * [backup-simplify]: Simplify (+ (* (- phi2) 1) (* 1 (- phi2))) into (- (* 2 phi2))
7.902 * [backup-simplify]: Simplify (+ (- (* 2.0 (* lambda2 (* lambda1 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))) (+ (* 1.0 (* (pow lambda2 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))) (* 1.0 (* (pow lambda1 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))))) (- (* 2 phi2))) into (- (* 2.0 (* lambda2 (* lambda1 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))) (+ (* 1.0 (* (pow lambda2 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))) (+ (* 1.0 (* (pow lambda1 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))) (* 2 phi2))))
7.904 * [backup-simplify]: Simplify (/ (- (* 2.0 (* lambda2 (* lambda1 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))) (+ (* 1.0 (* (pow lambda2 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))) (+ (* 1.0 (* (pow lambda1 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))) (* 2 phi2)))) (* 2 (sqrt (- (+ (pow phi2 2) (+ (* (pow lambda1 2) (pow (cos (* 0.5 phi2)) 2)) (* (pow lambda2 2) (pow (cos (* 0.5 phi2)) 2)))) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi2)) 2)))))))) into (* 1/2 (* (sqrt (/ 1 (- (+ (pow phi2 2) (+ (* (pow lambda1 2) (pow (cos (* 0.5 phi2)) 2)) (* (pow lambda2 2) (pow (cos (* 0.5 phi2)) 2)))) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi2)) 2))))))) (- (* 2.0 (* lambda2 (* lambda1 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))) (+ (* 1.0 (* (pow lambda2 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))) (+ (* 1.0 (* (pow lambda1 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))) (* 2 phi2))))))
7.904 * [taylor]: Taking taylor expansion of (* R (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (- phi1 phi2))) in lambda2
7.904 * [taylor]: Taking taylor expansion of R in lambda2
7.904 * [backup-simplify]: Simplify R into R
7.904 * [taylor]: Taking taylor expansion of (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (- phi1 phi2)) in lambda2
7.904 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2))))) (* (- phi1 phi2) (- phi1 phi2))))
7.904 * [taylor]: Taking taylor expansion of (+ (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2))))) (* (- phi1 phi2) (- phi1 phi2))) in lambda2
7.904 * [taylor]: Taking taylor expansion of (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2))))) in lambda2
7.904 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) in lambda2
7.904 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in lambda2
7.904 * [taylor]: Taking taylor expansion of lambda1 in lambda2
7.904 * [backup-simplify]: Simplify lambda1 into lambda1
7.904 * [taylor]: Taking taylor expansion of lambda2 in lambda2
7.904 * [backup-simplify]: Simplify 0 into 0
7.904 * [backup-simplify]: Simplify 1 into 1
7.904 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda2
7.904 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda2
7.904 * [taylor]: Taking taylor expansion of 0.5 in lambda2
7.904 * [backup-simplify]: Simplify 0.5 into 0.5
7.904 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda2
7.904 * [taylor]: Taking taylor expansion of phi1 in lambda2
7.904 * [backup-simplify]: Simplify phi1 into phi1
7.904 * [taylor]: Taking taylor expansion of phi2 in lambda2
7.904 * [backup-simplify]: Simplify phi2 into phi2
7.904 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2)
7.904 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2))
7.905 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2)))
7.905 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2)))
7.905 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) in lambda2
7.905 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in lambda2
7.905 * [taylor]: Taking taylor expansion of lambda1 in lambda2
7.905 * [backup-simplify]: Simplify lambda1 into lambda1
7.905 * [taylor]: Taking taylor expansion of lambda2 in lambda2
7.905 * [backup-simplify]: Simplify 0 into 0
7.905 * [backup-simplify]: Simplify 1 into 1
7.905 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda2
7.905 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda2
7.905 * [taylor]: Taking taylor expansion of 0.5 in lambda2
7.905 * [backup-simplify]: Simplify 0.5 into 0.5
7.905 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda2
7.905 * [taylor]: Taking taylor expansion of phi1 in lambda2
7.905 * [backup-simplify]: Simplify phi1 into phi1
7.905 * [taylor]: Taking taylor expansion of phi2 in lambda2
7.905 * [backup-simplify]: Simplify phi2 into phi2
7.905 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2)
7.905 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2))
7.905 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2)))
7.905 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2)))
7.905 * [taylor]: Taking taylor expansion of (* (- phi1 phi2) (- phi1 phi2)) in lambda2
7.905 * [taylor]: Taking taylor expansion of (- phi1 phi2) in lambda2
7.905 * [taylor]: Taking taylor expansion of phi1 in lambda2
7.905 * [backup-simplify]: Simplify phi1 into phi1
7.905 * [taylor]: Taking taylor expansion of phi2 in lambda2
7.905 * [backup-simplify]: Simplify phi2 into phi2
7.905 * [taylor]: Taking taylor expansion of (- phi1 phi2) in lambda2
7.905 * [taylor]: Taking taylor expansion of phi1 in lambda2
7.905 * [backup-simplify]: Simplify phi1 into phi1
7.905 * [taylor]: Taking taylor expansion of phi2 in lambda2
7.905 * [backup-simplify]: Simplify phi2 into phi2
7.906 * [backup-simplify]: Simplify (- 0) into 0
7.906 * [backup-simplify]: Simplify (+ lambda1 0) into lambda1
7.906 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2)))
7.906 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0
7.906 * [backup-simplify]: Simplify (- 0) into 0
7.906 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2)))
7.906 * [backup-simplify]: Simplify (* lambda1 (cos (* 0.5 (+ phi1 phi2)))) into (* lambda1 (cos (* 0.5 (+ phi1 phi2))))
7.906 * [backup-simplify]: Simplify (- 0) into 0
7.906 * [backup-simplify]: Simplify (+ lambda1 0) into lambda1
7.907 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2)))
7.907 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0
7.907 * [backup-simplify]: Simplify (- 0) into 0
7.907 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2)))
7.907 * [backup-simplify]: Simplify (* lambda1 (cos (* 0.5 (+ phi1 phi2)))) into (* lambda1 (cos (* 0.5 (+ phi1 phi2))))
7.907 * [backup-simplify]: Simplify (* (* lambda1 (cos (* 0.5 (+ phi1 phi2)))) (* lambda1 (cos (* 0.5 (+ phi1 phi2))))) into (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2))
7.907 * [backup-simplify]: Simplify (- phi2) into (- phi2)
7.907 * [backup-simplify]: Simplify (+ phi1 (- phi2)) into (- phi1 phi2)
7.907 * [backup-simplify]: Simplify (- phi2) into (- phi2)
7.907 * [backup-simplify]: Simplify (+ phi1 (- phi2)) into (- phi1 phi2)
7.907 * [backup-simplify]: Simplify (* (- phi1 phi2) (- phi1 phi2)) into (pow (- phi1 phi2) 2)
7.908 * [backup-simplify]: Simplify (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (pow (- phi1 phi2) 2)) into (- (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2))) (* 2 (* phi1 phi2)))
7.908 * [backup-simplify]: Simplify (sqrt (- (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2))) (* 2 (* phi1 phi2)))) into (sqrt (- (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2))) (* 2 (* phi1 phi2))))
7.908 * [backup-simplify]: Simplify (+ 0) into 0
7.909 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (* 0 1)) into 0
7.909 * [backup-simplify]: Simplify (+ 0 0) into 0
7.909 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi1 phi2))) into 0
7.910 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
7.910 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi1 phi2))) 0) (* 0 0)) into 0
7.910 * [backup-simplify]: Simplify (- 0) into 0
7.911 * [backup-simplify]: Simplify (+ 0 0) into 0
7.911 * [backup-simplify]: Simplify (- 1) into -1
7.911 * [backup-simplify]: Simplify (+ 0 -1) into -1
7.911 * [backup-simplify]: Simplify (+ (* lambda1 0) (* -1 (cos (* 0.5 (+ phi1 phi2))))) into (- (cos (* 0.5 (+ phi1 phi2))))
7.911 * [backup-simplify]: Simplify (+ 0) into 0
7.912 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (* 0 1)) into 0
7.912 * [backup-simplify]: Simplify (+ 0 0) into 0
7.912 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi1 phi2))) into 0
7.913 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
7.913 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi1 phi2))) 0) (* 0 0)) into 0
7.913 * [backup-simplify]: Simplify (- 0) into 0
7.914 * [backup-simplify]: Simplify (+ 0 0) into 0
7.914 * [backup-simplify]: Simplify (- 1) into -1
7.915 * [backup-simplify]: Simplify (+ 0 -1) into -1
7.915 * [backup-simplify]: Simplify (+ (* lambda1 0) (* -1 (cos (* 0.5 (+ phi1 phi2))))) into (- (cos (* 0.5 (+ phi1 phi2))))
7.916 * [backup-simplify]: Simplify (+ (* (* lambda1 (cos (* 0.5 (+ phi1 phi2)))) (- (cos (* 0.5 (+ phi1 phi2))))) (* (- (cos (* 0.5 (+ phi1 phi2)))) (* lambda1 (cos (* 0.5 (+ phi1 phi2)))))) into (- (* 2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))))
7.916 * [backup-simplify]: Simplify (- 0) into 0
7.916 * [backup-simplify]: Simplify (+ 0 0) into 0
7.917 * [backup-simplify]: Simplify (- 0) into 0
7.917 * [backup-simplify]: Simplify (+ 0 0) into 0
7.917 * [backup-simplify]: Simplify (+ (* (- phi1 phi2) 0) (* 0 (- phi1 phi2))) into 0
7.918 * [backup-simplify]: Simplify (+ (- (* 2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) 0) into (- (* 2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))))
7.919 * [backup-simplify]: Simplify (/ (- (* 2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (sqrt (- (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2))) (* 2 (* phi1 phi2)))))) into (* -1 (* (sqrt (/ 1 (- (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2))) (* 2 (* phi1 phi2))))) (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))))
7.919 * [taylor]: Taking taylor expansion of (* R (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (- phi1 phi2))) in lambda1
7.919 * [taylor]: Taking taylor expansion of R in lambda1
7.919 * [backup-simplify]: Simplify R into R
7.919 * [taylor]: Taking taylor expansion of (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (- phi1 phi2)) in lambda1
7.919 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2))))) (* (- phi1 phi2) (- phi1 phi2))))
7.919 * [taylor]: Taking taylor expansion of (+ (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2))))) (* (- phi1 phi2) (- phi1 phi2))) in lambda1
7.919 * [taylor]: Taking taylor expansion of (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2))))) in lambda1
7.920 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) in lambda1
7.920 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in lambda1
7.920 * [taylor]: Taking taylor expansion of lambda1 in lambda1
7.920 * [backup-simplify]: Simplify 0 into 0
7.920 * [backup-simplify]: Simplify 1 into 1
7.920 * [taylor]: Taking taylor expansion of lambda2 in lambda1
7.920 * [backup-simplify]: Simplify lambda2 into lambda2
7.920 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda1
7.920 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda1
7.920 * [taylor]: Taking taylor expansion of 0.5 in lambda1
7.920 * [backup-simplify]: Simplify 0.5 into 0.5
7.920 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda1
7.920 * [taylor]: Taking taylor expansion of phi1 in lambda1
7.920 * [backup-simplify]: Simplify phi1 into phi1
7.920 * [taylor]: Taking taylor expansion of phi2 in lambda1
7.920 * [backup-simplify]: Simplify phi2 into phi2
7.920 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2)
7.920 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2))
7.920 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2)))
7.920 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2)))
7.920 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) in lambda1
7.920 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in lambda1
7.920 * [taylor]: Taking taylor expansion of lambda1 in lambda1
7.920 * [backup-simplify]: Simplify 0 into 0
7.920 * [backup-simplify]: Simplify 1 into 1
7.920 * [taylor]: Taking taylor expansion of lambda2 in lambda1
7.920 * [backup-simplify]: Simplify lambda2 into lambda2
7.920 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda1
7.921 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda1
7.921 * [taylor]: Taking taylor expansion of 0.5 in lambda1
7.921 * [backup-simplify]: Simplify 0.5 into 0.5
7.921 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda1
7.921 * [taylor]: Taking taylor expansion of phi1 in lambda1
7.921 * [backup-simplify]: Simplify phi1 into phi1
7.921 * [taylor]: Taking taylor expansion of phi2 in lambda1
7.921 * [backup-simplify]: Simplify phi2 into phi2
7.921 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2)
7.921 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2))
7.921 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2)))
7.921 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2)))
7.921 * [taylor]: Taking taylor expansion of (* (- phi1 phi2) (- phi1 phi2)) in lambda1
7.921 * [taylor]: Taking taylor expansion of (- phi1 phi2) in lambda1
7.921 * [taylor]: Taking taylor expansion of phi1 in lambda1
7.921 * [backup-simplify]: Simplify phi1 into phi1
7.921 * [taylor]: Taking taylor expansion of phi2 in lambda1
7.921 * [backup-simplify]: Simplify phi2 into phi2
7.921 * [taylor]: Taking taylor expansion of (- phi1 phi2) in lambda1
7.921 * [taylor]: Taking taylor expansion of phi1 in lambda1
7.921 * [backup-simplify]: Simplify phi1 into phi1
7.921 * [taylor]: Taking taylor expansion of phi2 in lambda1
7.921 * [backup-simplify]: Simplify phi2 into phi2
7.921 * [backup-simplify]: Simplify (- lambda2) into (- lambda2)
7.921 * [backup-simplify]: Simplify (+ 0 (- lambda2)) into (- lambda2)
7.922 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2)))
7.922 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0
7.922 * [backup-simplify]: Simplify (- 0) into 0
7.922 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2)))
7.922 * [backup-simplify]: Simplify (* (- lambda2) (cos (* 0.5 (+ phi1 phi2)))) into (* -1 (* lambda2 (cos (* 0.5 (+ phi1 phi2)))))
7.922 * [backup-simplify]: Simplify (- lambda2) into (- lambda2)
7.922 * [backup-simplify]: Simplify (+ 0 (- lambda2)) into (- lambda2)
7.923 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2)))
7.923 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0
7.923 * [backup-simplify]: Simplify (- 0) into 0
7.923 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2)))
7.923 * [backup-simplify]: Simplify (* (- lambda2) (cos (* 0.5 (+ phi1 phi2)))) into (* -1 (* lambda2 (cos (* 0.5 (+ phi1 phi2)))))
7.924 * [backup-simplify]: Simplify (* (* -1 (* lambda2 (cos (* 0.5 (+ phi1 phi2))))) (* -1 (* lambda2 (cos (* 0.5 (+ phi1 phi2)))))) into (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2))
7.924 * [backup-simplify]: Simplify (- phi2) into (- phi2)
7.924 * [backup-simplify]: Simplify (+ phi1 (- phi2)) into (- phi1 phi2)
7.924 * [backup-simplify]: Simplify (- phi2) into (- phi2)
7.924 * [backup-simplify]: Simplify (+ phi1 (- phi2)) into (- phi1 phi2)
7.924 * [backup-simplify]: Simplify (* (- phi1 phi2) (- phi1 phi2)) into (pow (- phi1 phi2) 2)
7.925 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (pow (- phi1 phi2) 2)) into (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2)))
7.926 * [backup-simplify]: Simplify (sqrt (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2)))) into (sqrt (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2))))
7.926 * [backup-simplify]: Simplify (+ 0) into 0
7.927 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (* 0 1)) into 0
7.927 * [backup-simplify]: Simplify (+ 0 0) into 0
7.928 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi1 phi2))) into 0
7.928 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
7.929 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi1 phi2))) 0) (* 0 0)) into 0
7.929 * [backup-simplify]: Simplify (- 0) into 0
7.929 * [backup-simplify]: Simplify (+ 0 0) into 0
7.930 * [backup-simplify]: Simplify (- 0) into 0
7.930 * [backup-simplify]: Simplify (+ 1 0) into 1
7.931 * [backup-simplify]: Simplify (+ (* (- lambda2) 0) (* 1 (cos (* 0.5 (+ phi1 phi2))))) into (cos (* 0.5 (+ phi1 phi2)))
7.931 * [backup-simplify]: Simplify (+ 0) into 0
7.931 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (* 0 1)) into 0
7.932 * [backup-simplify]: Simplify (+ 0 0) into 0
7.932 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi1 phi2))) into 0
7.933 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
7.934 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi1 phi2))) 0) (* 0 0)) into 0
7.934 * [backup-simplify]: Simplify (- 0) into 0
7.934 * [backup-simplify]: Simplify (+ 0 0) into 0
7.935 * [backup-simplify]: Simplify (- 0) into 0
7.935 * [backup-simplify]: Simplify (+ 1 0) into 1
7.935 * [backup-simplify]: Simplify (+ (* (- lambda2) 0) (* 1 (cos (* 0.5 (+ phi1 phi2))))) into (cos (* 0.5 (+ phi1 phi2)))
7.936 * [backup-simplify]: Simplify (+ (* (* -1 (* lambda2 (cos (* 0.5 (+ phi1 phi2))))) (cos (* 0.5 (+ phi1 phi2)))) (* (cos (* 0.5 (+ phi1 phi2))) (* -1 (* lambda2 (cos (* 0.5 (+ phi1 phi2))))))) into (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2))))
7.936 * [backup-simplify]: Simplify (- 0) into 0
7.937 * [backup-simplify]: Simplify (+ 0 0) into 0
7.937 * [backup-simplify]: Simplify (- 0) into 0
7.938 * [backup-simplify]: Simplify (+ 0 0) into 0
7.938 * [backup-simplify]: Simplify (+ (* (- phi1 phi2) 0) (* 0 (- phi1 phi2))) into 0
7.938 * [backup-simplify]: Simplify (+ (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) 0) into (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2))))
7.940 * [backup-simplify]: Simplify (/ (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (sqrt (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2)))))) into (* -1 (* (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (sqrt (/ 1 (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2)))))))
7.940 * [taylor]: Taking taylor expansion of (* R (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (- phi1 phi2))) in lambda1
7.940 * [taylor]: Taking taylor expansion of R in lambda1
7.940 * [backup-simplify]: Simplify R into R
7.940 * [taylor]: Taking taylor expansion of (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (- phi1 phi2)) in lambda1
7.940 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2))))) (* (- phi1 phi2) (- phi1 phi2))))
7.940 * [taylor]: Taking taylor expansion of (+ (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2))))) (* (- phi1 phi2) (- phi1 phi2))) in lambda1
7.940 * [taylor]: Taking taylor expansion of (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2))))) in lambda1
7.940 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) in lambda1
7.940 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in lambda1
7.940 * [taylor]: Taking taylor expansion of lambda1 in lambda1
7.940 * [backup-simplify]: Simplify 0 into 0
7.940 * [backup-simplify]: Simplify 1 into 1
7.940 * [taylor]: Taking taylor expansion of lambda2 in lambda1
7.940 * [backup-simplify]: Simplify lambda2 into lambda2
7.940 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda1
7.940 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda1
7.940 * [taylor]: Taking taylor expansion of 0.5 in lambda1
7.940 * [backup-simplify]: Simplify 0.5 into 0.5
7.940 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda1
7.940 * [taylor]: Taking taylor expansion of phi1 in lambda1
7.940 * [backup-simplify]: Simplify phi1 into phi1
7.940 * [taylor]: Taking taylor expansion of phi2 in lambda1
7.940 * [backup-simplify]: Simplify phi2 into phi2
7.941 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2)
7.941 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2))
7.941 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2)))
7.941 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2)))
7.941 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) in lambda1
7.941 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in lambda1
7.941 * [taylor]: Taking taylor expansion of lambda1 in lambda1
7.941 * [backup-simplify]: Simplify 0 into 0
7.941 * [backup-simplify]: Simplify 1 into 1
7.941 * [taylor]: Taking taylor expansion of lambda2 in lambda1
7.941 * [backup-simplify]: Simplify lambda2 into lambda2
7.941 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda1
7.941 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda1
7.941 * [taylor]: Taking taylor expansion of 0.5 in lambda1
7.941 * [backup-simplify]: Simplify 0.5 into 0.5
7.941 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda1
7.941 * [taylor]: Taking taylor expansion of phi1 in lambda1
7.941 * [backup-simplify]: Simplify phi1 into phi1
7.941 * [taylor]: Taking taylor expansion of phi2 in lambda1
7.941 * [backup-simplify]: Simplify phi2 into phi2
7.941 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2)
7.941 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2))
7.941 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2)))
7.941 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2)))
7.941 * [taylor]: Taking taylor expansion of (* (- phi1 phi2) (- phi1 phi2)) in lambda1
7.942 * [taylor]: Taking taylor expansion of (- phi1 phi2) in lambda1
7.942 * [taylor]: Taking taylor expansion of phi1 in lambda1
7.942 * [backup-simplify]: Simplify phi1 into phi1
7.942 * [taylor]: Taking taylor expansion of phi2 in lambda1
7.942 * [backup-simplify]: Simplify phi2 into phi2
7.942 * [taylor]: Taking taylor expansion of (- phi1 phi2) in lambda1
7.942 * [taylor]: Taking taylor expansion of phi1 in lambda1
7.942 * [backup-simplify]: Simplify phi1 into phi1
7.942 * [taylor]: Taking taylor expansion of phi2 in lambda1
7.942 * [backup-simplify]: Simplify phi2 into phi2
7.942 * [backup-simplify]: Simplify (- lambda2) into (- lambda2)
7.942 * [backup-simplify]: Simplify (+ 0 (- lambda2)) into (- lambda2)
7.942 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2)))
7.942 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0
7.942 * [backup-simplify]: Simplify (- 0) into 0
7.942 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2)))
7.942 * [backup-simplify]: Simplify (* (- lambda2) (cos (* 0.5 (+ phi1 phi2)))) into (* -1 (* lambda2 (cos (* 0.5 (+ phi1 phi2)))))
7.942 * [backup-simplify]: Simplify (- lambda2) into (- lambda2)
7.942 * [backup-simplify]: Simplify (+ 0 (- lambda2)) into (- lambda2)
7.943 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2)))
7.943 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0
7.943 * [backup-simplify]: Simplify (- 0) into 0
7.943 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2)))
7.943 * [backup-simplify]: Simplify (* (- lambda2) (cos (* 0.5 (+ phi1 phi2)))) into (* -1 (* lambda2 (cos (* 0.5 (+ phi1 phi2)))))
7.943 * [backup-simplify]: Simplify (* (* -1 (* lambda2 (cos (* 0.5 (+ phi1 phi2))))) (* -1 (* lambda2 (cos (* 0.5 (+ phi1 phi2)))))) into (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2))
7.943 * [backup-simplify]: Simplify (- phi2) into (- phi2)
7.943 * [backup-simplify]: Simplify (+ phi1 (- phi2)) into (- phi1 phi2)
7.943 * [backup-simplify]: Simplify (- phi2) into (- phi2)
7.943 * [backup-simplify]: Simplify (+ phi1 (- phi2)) into (- phi1 phi2)
7.943 * [backup-simplify]: Simplify (* (- phi1 phi2) (- phi1 phi2)) into (pow (- phi1 phi2) 2)
7.944 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (pow (- phi1 phi2) 2)) into (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2)))
7.944 * [backup-simplify]: Simplify (sqrt (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2)))) into (sqrt (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2))))
7.945 * [backup-simplify]: Simplify (+ 0) into 0
7.945 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (* 0 1)) into 0
7.945 * [backup-simplify]: Simplify (+ 0 0) into 0
7.946 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi1 phi2))) into 0
7.946 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
7.946 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi1 phi2))) 0) (* 0 0)) into 0
7.947 * [backup-simplify]: Simplify (- 0) into 0
7.947 * [backup-simplify]: Simplify (+ 0 0) into 0
7.947 * [backup-simplify]: Simplify (- 0) into 0
7.947 * [backup-simplify]: Simplify (+ 1 0) into 1
7.947 * [backup-simplify]: Simplify (+ (* (- lambda2) 0) (* 1 (cos (* 0.5 (+ phi1 phi2))))) into (cos (* 0.5 (+ phi1 phi2)))
7.948 * [backup-simplify]: Simplify (+ 0) into 0
7.948 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (* 0 1)) into 0
7.948 * [backup-simplify]: Simplify (+ 0 0) into 0
7.949 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi1 phi2))) into 0
7.949 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
7.949 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi1 phi2))) 0) (* 0 0)) into 0
7.950 * [backup-simplify]: Simplify (- 0) into 0
7.950 * [backup-simplify]: Simplify (+ 0 0) into 0
7.950 * [backup-simplify]: Simplify (- 0) into 0
7.950 * [backup-simplify]: Simplify (+ 1 0) into 1
7.950 * [backup-simplify]: Simplify (+ (* (- lambda2) 0) (* 1 (cos (* 0.5 (+ phi1 phi2))))) into (cos (* 0.5 (+ phi1 phi2)))
7.951 * [backup-simplify]: Simplify (+ (* (* -1 (* lambda2 (cos (* 0.5 (+ phi1 phi2))))) (cos (* 0.5 (+ phi1 phi2)))) (* (cos (* 0.5 (+ phi1 phi2))) (* -1 (* lambda2 (cos (* 0.5 (+ phi1 phi2))))))) into (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2))))
7.951 * [backup-simplify]: Simplify (- 0) into 0
7.951 * [backup-simplify]: Simplify (+ 0 0) into 0
7.952 * [backup-simplify]: Simplify (- 0) into 0
7.952 * [backup-simplify]: Simplify (+ 0 0) into 0
7.952 * [backup-simplify]: Simplify (+ (* (- phi1 phi2) 0) (* 0 (- phi1 phi2))) into 0
7.952 * [backup-simplify]: Simplify (+ (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) 0) into (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2))))
7.953 * [backup-simplify]: Simplify (/ (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (sqrt (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2)))))) into (* -1 (* (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (sqrt (/ 1 (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2)))))))
7.954 * [backup-simplify]: Simplify (* R (sqrt (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2))))) into (* (sqrt (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2)))) R)
7.954 * [taylor]: Taking taylor expansion of (* (sqrt (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2)))) R) in lambda2
7.954 * [taylor]: Taking taylor expansion of (sqrt (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2)))) in lambda2
7.954 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2))) in lambda2
7.954 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) in lambda2
7.954 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2
7.954 * [taylor]: Taking taylor expansion of phi2 in lambda2
7.954 * [backup-simplify]: Simplify phi2 into phi2
7.954 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2))) in lambda2
7.954 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2
7.954 * [taylor]: Taking taylor expansion of phi1 in lambda2
7.954 * [backup-simplify]: Simplify phi1 into phi1
7.954 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in lambda2
7.954 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
7.954 * [taylor]: Taking taylor expansion of lambda2 in lambda2
7.954 * [backup-simplify]: Simplify 0 into 0
7.954 * [backup-simplify]: Simplify 1 into 1
7.954 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in lambda2
7.954 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda2
7.954 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda2
7.954 * [taylor]: Taking taylor expansion of 0.5 in lambda2
7.954 * [backup-simplify]: Simplify 0.5 into 0.5
7.954 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda2
7.954 * [taylor]: Taking taylor expansion of phi1 in lambda2
7.954 * [backup-simplify]: Simplify phi1 into phi1
7.954 * [taylor]: Taking taylor expansion of phi2 in lambda2
7.954 * [backup-simplify]: Simplify phi2 into phi2
7.954 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2)
7.954 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2))
7.954 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2)))
7.954 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2)))
7.954 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2)))
7.955 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0
7.955 * [backup-simplify]: Simplify (- 0) into 0
7.955 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2)))
7.955 * [taylor]: Taking taylor expansion of (* 2 (* phi1 phi2)) in lambda2
7.955 * [taylor]: Taking taylor expansion of 2 in lambda2
7.955 * [backup-simplify]: Simplify 2 into 2
7.955 * [taylor]: Taking taylor expansion of (* phi1 phi2) in lambda2
7.955 * [taylor]: Taking taylor expansion of phi1 in lambda2
7.955 * [backup-simplify]: Simplify phi1 into phi1
7.955 * [taylor]: Taking taylor expansion of phi2 in lambda2
7.955 * [backup-simplify]: Simplify phi2 into phi2
7.955 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
7.955 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
7.955 * [backup-simplify]: Simplify (+ (pow phi1 2) 0) into (pow phi1 2)
7.955 * [backup-simplify]: Simplify (+ (pow phi2 2) (pow phi1 2)) into (+ (pow phi2 2) (pow phi1 2))
7.955 * [backup-simplify]: Simplify (* phi1 phi2) into (* phi1 phi2)
7.955 * [backup-simplify]: Simplify (* 2 (* phi1 phi2)) into (* 2 (* phi1 phi2))
7.956 * [backup-simplify]: Simplify (- (* 2 (* phi1 phi2))) into (- (* 2 (* phi1 phi2)))
7.956 * [backup-simplify]: Simplify (+ (+ (pow phi2 2) (pow phi1 2)) (- (* 2 (* phi1 phi2)))) into (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))
7.956 * [backup-simplify]: Simplify (sqrt (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))) into (sqrt (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))
7.956 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0
7.956 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0
7.956 * [backup-simplify]: Simplify (+ 0 0) into 0
7.957 * [backup-simplify]: Simplify (+ 0 0) into 0
7.957 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi2)) into 0
7.957 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi1 phi2))) into 0
7.957 * [backup-simplify]: Simplify (- 0) into 0
7.957 * [backup-simplify]: Simplify (+ 0 0) into 0
7.958 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))))) into 0
7.958 * [taylor]: Taking taylor expansion of R in lambda2
7.958 * [backup-simplify]: Simplify R into R
7.958 * [backup-simplify]: Simplify (* (sqrt (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))) R) into (* (sqrt (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))) R)
7.958 * [taylor]: Taking taylor expansion of (* (sqrt (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))) R) in phi1
7.958 * [taylor]: Taking taylor expansion of (sqrt (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))) in phi1
7.958 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))) in phi1
7.958 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (pow phi1 2)) in phi1
7.958 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1
7.958 * [taylor]: Taking taylor expansion of phi2 in phi1
7.958 * [backup-simplify]: Simplify phi2 into phi2
7.958 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1
7.958 * [taylor]: Taking taylor expansion of phi1 in phi1
7.958 * [backup-simplify]: Simplify 0 into 0
7.958 * [backup-simplify]: Simplify 1 into 1
7.958 * [taylor]: Taking taylor expansion of (* 2 (* phi1 phi2)) in phi1
7.958 * [taylor]: Taking taylor expansion of 2 in phi1
7.958 * [backup-simplify]: Simplify 2 into 2
7.958 * [taylor]: Taking taylor expansion of (* phi1 phi2) in phi1
7.958 * [taylor]: Taking taylor expansion of phi1 in phi1
7.958 * [backup-simplify]: Simplify 0 into 0
7.958 * [backup-simplify]: Simplify 1 into 1
7.958 * [taylor]: Taking taylor expansion of phi2 in phi1
7.958 * [backup-simplify]: Simplify phi2 into phi2
7.958 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
7.958 * [backup-simplify]: Simplify (+ (pow phi2 2) 0) into (pow phi2 2)
7.959 * [backup-simplify]: Simplify (* 0 phi2) into 0
7.959 * [backup-simplify]: Simplify (* 2 0) into 0
7.959 * [backup-simplify]: Simplify (- 0) into 0
7.959 * [backup-simplify]: Simplify (+ (pow phi2 2) 0) into (pow phi2 2)
7.959 * [backup-simplify]: Simplify (sqrt (pow phi2 2)) into phi2
7.959 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0
7.960 * [backup-simplify]: Simplify (+ 0 0) into 0
7.960 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi2)) into phi2
7.960 * [backup-simplify]: Simplify (+ (* 2 phi2) (* 0 0)) into (* 2 phi2)
7.960 * [backup-simplify]: Simplify (- (* 2 phi2)) into (- (* 2 phi2))
7.960 * [backup-simplify]: Simplify (+ 0 (- (* 2 phi2))) into (- (* 2 phi2))
7.960 * [backup-simplify]: Simplify (/ (- (* 2 phi2)) (* 2 (sqrt (pow phi2 2)))) into -1
7.960 * [taylor]: Taking taylor expansion of R in phi1
7.960 * [backup-simplify]: Simplify R into R
7.960 * [backup-simplify]: Simplify (* phi2 R) into (* R phi2)
7.960 * [taylor]: Taking taylor expansion of (* R phi2) in phi2
7.960 * [taylor]: Taking taylor expansion of R in phi2
7.960 * [backup-simplify]: Simplify R into R
7.961 * [taylor]: Taking taylor expansion of phi2 in phi2
7.961 * [backup-simplify]: Simplify 0 into 0
7.961 * [backup-simplify]: Simplify 1 into 1
7.961 * [backup-simplify]: Simplify (* R 0) into 0
7.961 * [taylor]: Taking taylor expansion of 0 in R
7.961 * [backup-simplify]: Simplify 0 into 0
7.961 * [backup-simplify]: Simplify 0 into 0
7.962 * [backup-simplify]: Simplify (+ (* R (* -1 (* (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (sqrt (/ 1 (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2)))))))) (* 0 (sqrt (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2)))))) into (- (* (* lambda2 (* (pow (cos (* 0.5 (+ phi1 phi2))) 2) R)) (sqrt (/ 1 (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2)))))))
7.962 * [taylor]: Taking taylor expansion of (- (* (* lambda2 (* (pow (cos (* 0.5 (+ phi1 phi2))) 2) R)) (sqrt (/ 1 (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2))))))) in lambda2
7.962 * [taylor]: Taking taylor expansion of (* (* lambda2 (* (pow (cos (* 0.5 (+ phi1 phi2))) 2) R)) (sqrt (/ 1 (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2)))))) in lambda2
7.962 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (cos (* 0.5 (+ phi1 phi2))) 2) R)) in lambda2
7.962 * [taylor]: Taking taylor expansion of lambda2 in lambda2
7.962 * [backup-simplify]: Simplify 0 into 0
7.962 * [backup-simplify]: Simplify 1 into 1
7.962 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi1 phi2))) 2) R) in lambda2
7.962 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in lambda2
7.962 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda2
7.962 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda2
7.962 * [taylor]: Taking taylor expansion of 0.5 in lambda2
7.962 * [backup-simplify]: Simplify 0.5 into 0.5
7.962 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda2
7.962 * [taylor]: Taking taylor expansion of phi1 in lambda2
7.962 * [backup-simplify]: Simplify phi1 into phi1
7.962 * [taylor]: Taking taylor expansion of phi2 in lambda2
7.962 * [backup-simplify]: Simplify phi2 into phi2
7.962 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2)
7.963 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2))
7.963 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2)))
7.963 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2)))
7.963 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2)))
7.963 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0
7.963 * [backup-simplify]: Simplify (- 0) into 0
7.963 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2)))
7.963 * [taylor]: Taking taylor expansion of R in lambda2
7.963 * [backup-simplify]: Simplify R into R
7.963 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2))))) in lambda2
7.963 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2)))) in lambda2
7.963 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2))) in lambda2
7.963 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) in lambda2
7.963 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2
7.963 * [taylor]: Taking taylor expansion of phi2 in lambda2
7.963 * [backup-simplify]: Simplify phi2 into phi2
7.963 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2))) in lambda2
7.963 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2
7.963 * [taylor]: Taking taylor expansion of phi1 in lambda2
7.963 * [backup-simplify]: Simplify phi1 into phi1
7.963 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in lambda2
7.964 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
7.964 * [taylor]: Taking taylor expansion of lambda2 in lambda2
7.964 * [backup-simplify]: Simplify 0 into 0
7.964 * [backup-simplify]: Simplify 1 into 1
7.964 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in lambda2
7.964 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda2
7.964 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda2
7.964 * [taylor]: Taking taylor expansion of 0.5 in lambda2
7.964 * [backup-simplify]: Simplify 0.5 into 0.5
7.964 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda2
7.964 * [taylor]: Taking taylor expansion of phi1 in lambda2
7.964 * [backup-simplify]: Simplify phi1 into phi1
7.964 * [taylor]: Taking taylor expansion of phi2 in lambda2
7.964 * [backup-simplify]: Simplify phi2 into phi2
7.964 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2)
7.964 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2))
7.964 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2)))
7.964 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2)))
7.964 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2)))
7.964 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0
7.965 * [backup-simplify]: Simplify (- 0) into 0
7.965 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2)))
7.965 * [taylor]: Taking taylor expansion of (* 2 (* phi1 phi2)) in lambda2
7.965 * [taylor]: Taking taylor expansion of 2 in lambda2
7.965 * [backup-simplify]: Simplify 2 into 2
7.965 * [taylor]: Taking taylor expansion of (* phi1 phi2) in lambda2
7.965 * [taylor]: Taking taylor expansion of phi1 in lambda2
7.965 * [backup-simplify]: Simplify phi1 into phi1
7.965 * [taylor]: Taking taylor expansion of phi2 in lambda2
7.965 * [backup-simplify]: Simplify phi2 into phi2
7.965 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
7.965 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
7.965 * [backup-simplify]: Simplify (+ (pow phi1 2) 0) into (pow phi1 2)
7.965 * [backup-simplify]: Simplify (+ (pow phi2 2) (pow phi1 2)) into (+ (pow phi2 2) (pow phi1 2))
7.965 * [backup-simplify]: Simplify (* phi1 phi2) into (* phi1 phi2)
7.965 * [backup-simplify]: Simplify (* 2 (* phi1 phi2)) into (* 2 (* phi1 phi2))
7.965 * [backup-simplify]: Simplify (- (* 2 (* phi1 phi2))) into (- (* 2 (* phi1 phi2)))
7.965 * [backup-simplify]: Simplify (+ (+ (pow phi2 2) (pow phi1 2)) (- (* 2 (* phi1 phi2)))) into (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))
7.966 * [backup-simplify]: Simplify (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))) into (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))
7.966 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) into (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))))
7.966 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0
7.966 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0
7.966 * [backup-simplify]: Simplify (+ 0 0) into 0
7.967 * [backup-simplify]: Simplify (+ 0 0) into 0
7.967 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi2)) into 0
7.967 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi1 phi2))) into 0
7.967 * [backup-simplify]: Simplify (- 0) into 0
7.967 * [backup-simplify]: Simplify (+ 0 0) into 0
7.968 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))) (/ 0 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))))) into 0
7.968 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))))) into 0
7.968 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) (cos (* 0.5 (+ phi1 phi2)))) into (pow (cos (* 0.5 (+ phi1 phi2))) 2)
7.968 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 (+ phi1 phi2))) 2) R) into (* R (pow (cos (* 0.5 (+ phi1 phi2))) 2))
7.969 * [backup-simplify]: Simplify (* 0 (* R (pow (cos (* 0.5 (+ phi1 phi2))) 2))) into 0
7.969 * [backup-simplify]: Simplify (* 0 (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))))) into 0
7.969 * [backup-simplify]: Simplify (- 0) into 0
7.969 * [taylor]: Taking taylor expansion of 0 in phi1
7.969 * [backup-simplify]: Simplify 0 into 0
7.969 * [taylor]: Taking taylor expansion of 0 in phi2
7.969 * [backup-simplify]: Simplify 0 into 0
7.969 * [taylor]: Taking taylor expansion of 0 in R
7.969 * [backup-simplify]: Simplify 0 into 0
7.969 * [backup-simplify]: Simplify 0 into 0
7.969 * [backup-simplify]: Simplify (+ (* (sqrt (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))) 0) (* 0 R)) into 0
7.969 * [taylor]: Taking taylor expansion of 0 in phi1
7.970 * [backup-simplify]: Simplify 0 into 0
7.970 * [taylor]: Taking taylor expansion of 0 in phi2
7.970 * [backup-simplify]: Simplify 0 into 0
7.970 * [taylor]: Taking taylor expansion of 0 in R
7.970 * [backup-simplify]: Simplify 0 into 0
7.970 * [backup-simplify]: Simplify 0 into 0
7.970 * [backup-simplify]: Simplify (+ (* phi2 0) (* -1 R)) into (- R)
7.970 * [taylor]: Taking taylor expansion of (- R) in phi2
7.970 * [taylor]: Taking taylor expansion of R in phi2
7.970 * [backup-simplify]: Simplify R into R
7.970 * [backup-simplify]: Simplify (- R) into (- R)
7.970 * [taylor]: Taking taylor expansion of (- R) in R
7.970 * [taylor]: Taking taylor expansion of R in R
7.970 * [backup-simplify]: Simplify 0 into 0
7.970 * [backup-simplify]: Simplify 1 into 1
7.970 * [backup-simplify]: Simplify (- 0) into 0
7.970 * [backup-simplify]: Simplify 0 into 0
7.970 * [backup-simplify]: Simplify (+ (* R 1) (* 0 0)) into R
7.970 * [taylor]: Taking taylor expansion of R in R
7.970 * [backup-simplify]: Simplify 0 into 0
7.970 * [backup-simplify]: Simplify 1 into 1
7.970 * [backup-simplify]: Simplify 0 into 0
7.970 * [backup-simplify]: Simplify 0 into 0
7.971 * [backup-simplify]: Simplify 0 into 0
7.971 * [backup-simplify]: Simplify (* (hypot (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi1) (/ 1 phi2))) (/ 1 R)) into (/ (hypot (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (- (/ 1 phi1) (/ 1 phi2))) R)
7.971 * [approximate]: Taking taylor expansion of (/ (hypot (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (- (/ 1 phi1) (/ 1 phi2))) R) in (lambda1 lambda2 phi1 phi2 R) around 0
7.971 * [taylor]: Taking taylor expansion of (/ (hypot (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (- (/ 1 phi1) (/ 1 phi2))) R) in R
7.971 * [taylor]: Taking taylor expansion of (hypot (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (- (/ 1 phi1) (/ 1 phi2))) in R
7.971 * [taylor]: Rewrote expression to (sqrt (+ (* (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2)))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2)))))
7.971 * [taylor]: Taking taylor expansion of (+ (* (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2)))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2)))) in R
7.971 * [taylor]: Taking taylor expansion of (* (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2)))) in R
7.971 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) in R
7.971 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in R
7.971 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in R
7.971 * [taylor]: Taking taylor expansion of 0.5 in R
7.971 * [backup-simplify]: Simplify 0.5 into 0.5
7.971 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in R
7.971 * [taylor]: Taking taylor expansion of (/ 1 phi1) in R
7.971 * [taylor]: Taking taylor expansion of phi1 in R
7.971 * [backup-simplify]: Simplify phi1 into phi1
7.971 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
7.971 * [taylor]: Taking taylor expansion of (/ 1 phi2) in R
7.971 * [taylor]: Taking taylor expansion of phi2 in R
7.971 * [backup-simplify]: Simplify phi2 into phi2
7.971 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
7.971 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
7.971 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))
7.972 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
7.972 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
7.972 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in R
7.972 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in R
7.972 * [taylor]: Taking taylor expansion of lambda1 in R
7.972 * [backup-simplify]: Simplify lambda1 into lambda1
7.972 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1)
7.972 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in R
7.972 * [taylor]: Taking taylor expansion of lambda2 in R
7.972 * [backup-simplify]: Simplify lambda2 into lambda2
7.972 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
7.972 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) in R
7.972 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in R
7.972 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in R
7.972 * [taylor]: Taking taylor expansion of 0.5 in R
7.972 * [backup-simplify]: Simplify 0.5 into 0.5
7.972 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in R
7.972 * [taylor]: Taking taylor expansion of (/ 1 phi1) in R
7.972 * [taylor]: Taking taylor expansion of phi1 in R
7.972 * [backup-simplify]: Simplify phi1 into phi1
7.972 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
7.972 * [taylor]: Taking taylor expansion of (/ 1 phi2) in R
7.972 * [taylor]: Taking taylor expansion of phi2 in R
7.972 * [backup-simplify]: Simplify phi2 into phi2
7.972 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
7.972 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
7.972 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))
7.972 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
7.972 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
7.972 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in R
7.972 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in R
7.972 * [taylor]: Taking taylor expansion of lambda1 in R
7.972 * [backup-simplify]: Simplify lambda1 into lambda1
7.973 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1)
7.973 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in R
7.973 * [taylor]: Taking taylor expansion of lambda2 in R
7.973 * [backup-simplify]: Simplify lambda2 into lambda2
7.973 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
7.973 * [taylor]: Taking taylor expansion of (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2))) in R
7.973 * [taylor]: Taking taylor expansion of (- (/ 1 phi1) (/ 1 phi2)) in R
7.973 * [taylor]: Taking taylor expansion of (/ 1 phi1) in R
7.973 * [taylor]: Taking taylor expansion of phi1 in R
7.973 * [backup-simplify]: Simplify phi1 into phi1
7.973 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
7.973 * [taylor]: Taking taylor expansion of (/ 1 phi2) in R
7.973 * [taylor]: Taking taylor expansion of phi2 in R
7.973 * [backup-simplify]: Simplify phi2 into phi2
7.973 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
7.973 * [taylor]: Taking taylor expansion of (- (/ 1 phi1) (/ 1 phi2)) in R
7.973 * [taylor]: Taking taylor expansion of (/ 1 phi1) in R
7.973 * [taylor]: Taking taylor expansion of phi1 in R
7.973 * [backup-simplify]: Simplify phi1 into phi1
7.973 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
7.973 * [taylor]: Taking taylor expansion of (/ 1 phi2) in R
7.973 * [taylor]: Taking taylor expansion of phi2 in R
7.973 * [backup-simplify]: Simplify phi2 into phi2
7.973 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
7.973 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
7.973 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
7.973 * [backup-simplify]: Simplify (- 0) into 0
7.974 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
7.974 * [backup-simplify]: Simplify (- (/ 1 lambda2)) into (- (/ 1 lambda2))
7.974 * [backup-simplify]: Simplify (+ (/ 1 lambda1) (- (/ 1 lambda2))) into (- (/ 1 lambda1) (/ 1 lambda2))
7.974 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) into (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2)))
7.974 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
7.974 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
7.974 * [backup-simplify]: Simplify (- 0) into 0
7.974 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
7.975 * [backup-simplify]: Simplify (- (/ 1 lambda2)) into (- (/ 1 lambda2))
7.975 * [backup-simplify]: Simplify (+ (/ 1 lambda1) (- (/ 1 lambda2))) into (- (/ 1 lambda1) (/ 1 lambda2))
7.975 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) into (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2)))
7.975 * [backup-simplify]: Simplify (* (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2)))) into (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow (- (/ 1 lambda1) (/ 1 lambda2)) 2))
7.975 * [backup-simplify]: Simplify (- (/ 1 phi2)) into (- (/ 1 phi2))
7.975 * [backup-simplify]: Simplify (+ (/ 1 phi1) (- (/ 1 phi2))) into (- (/ 1 phi1) (/ 1 phi2))
7.975 * [backup-simplify]: Simplify (- (/ 1 phi2)) into (- (/ 1 phi2))
7.975 * [backup-simplify]: Simplify (+ (/ 1 phi1) (- (/ 1 phi2))) into (- (/ 1 phi1) (/ 1 phi2))
7.975 * [backup-simplify]: Simplify (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2))) into (pow (- (/ 1 phi1) (/ 1 phi2)) 2)
7.976 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow (- (/ 1 lambda1) (/ 1 lambda2)) 2)) (pow (- (/ 1 phi1) (/ 1 phi2)) 2)) into (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2)))))
7.978 * [backup-simplify]: Simplify (sqrt (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2)))))) into (sqrt (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2))))))
7.978 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda1) (/ 0 lambda1)))) into 0
7.978 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)))) into 0
7.979 * [backup-simplify]: Simplify (- 0) into 0
7.979 * [backup-simplify]: Simplify (+ 0 0) into 0
7.980 * [backup-simplify]: Simplify (+ 0) into 0
7.981 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
7.981 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
7.981 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
7.981 * [backup-simplify]: Simplify (+ 0 0) into 0
7.982 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
7.983 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
7.983 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
7.984 * [backup-simplify]: Simplify (- 0) into 0
7.984 * [backup-simplify]: Simplify (+ 0 0) into 0
7.985 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (- (/ 1 lambda1) (/ 1 lambda2)))) into 0
7.985 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda1) (/ 0 lambda1)))) into 0
7.985 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)))) into 0
7.985 * [backup-simplify]: Simplify (- 0) into 0
7.986 * [backup-simplify]: Simplify (+ 0 0) into 0
7.986 * [backup-simplify]: Simplify (+ 0) into 0
7.987 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
7.987 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
7.987 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
7.987 * [backup-simplify]: Simplify (+ 0 0) into 0
7.988 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
7.988 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
7.989 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
7.989 * [backup-simplify]: Simplify (- 0) into 0
7.990 * [backup-simplify]: Simplify (+ 0 0) into 0
7.990 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (- (/ 1 lambda1) (/ 1 lambda2)))) into 0
7.991 * [backup-simplify]: Simplify (+ (* (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) 0) (* 0 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))))) into 0
7.991 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
7.991 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
7.991 * [backup-simplify]: Simplify (- 0) into 0
7.992 * [backup-simplify]: Simplify (+ 0 0) into 0
7.992 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
7.992 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
7.992 * [backup-simplify]: Simplify (- 0) into 0
7.996 * [backup-simplify]: Simplify (+ 0 0) into 0
7.997 * [backup-simplify]: Simplify (+ (* (- (/ 1 phi1) (/ 1 phi2)) 0) (* 0 (- (/ 1 phi1) (/ 1 phi2)))) into 0
7.998 * [backup-simplify]: Simplify (+ 0 0) into 0
8.000 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2)))))))) into 0
8.001 * [taylor]: Taking taylor expansion of R in R
8.001 * [backup-simplify]: Simplify 0 into 0
8.001 * [backup-simplify]: Simplify 1 into 1
8.003 * [backup-simplify]: Simplify (/ (sqrt (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2)))))) 1) into (sqrt (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2))))))
8.003 * [taylor]: Taking taylor expansion of (/ (hypot (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (- (/ 1 phi1) (/ 1 phi2))) R) in phi2
8.003 * [taylor]: Taking taylor expansion of (hypot (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (- (/ 1 phi1) (/ 1 phi2))) in phi2
8.003 * [taylor]: Rewrote expression to (sqrt (+ (* (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2)))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2)))))
8.003 * [taylor]: Taking taylor expansion of (+ (* (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2)))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2)))) in phi2
8.003 * [taylor]: Taking taylor expansion of (* (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2)))) in phi2
8.003 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) in phi2
8.003 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
8.003 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
8.003 * [taylor]: Taking taylor expansion of 0.5 in phi2
8.003 * [backup-simplify]: Simplify 0.5 into 0.5
8.003 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
8.003 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
8.004 * [taylor]: Taking taylor expansion of phi1 in phi2
8.004 * [backup-simplify]: Simplify phi1 into phi1
8.004 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
8.004 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
8.004 * [taylor]: Taking taylor expansion of phi2 in phi2
8.004 * [backup-simplify]: Simplify 0 into 0
8.004 * [backup-simplify]: Simplify 1 into 1
8.004 * [backup-simplify]: Simplify (/ 1 1) into 1
8.005 * [backup-simplify]: Simplify (+ 0 1) into 1
8.005 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
8.005 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.005 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in phi2
8.005 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in phi2
8.005 * [taylor]: Taking taylor expansion of lambda1 in phi2
8.005 * [backup-simplify]: Simplify lambda1 into lambda1
8.006 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1)
8.006 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in phi2
8.006 * [taylor]: Taking taylor expansion of lambda2 in phi2
8.006 * [backup-simplify]: Simplify lambda2 into lambda2
8.006 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
8.006 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) in phi2
8.006 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
8.006 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
8.006 * [taylor]: Taking taylor expansion of 0.5 in phi2
8.006 * [backup-simplify]: Simplify 0.5 into 0.5
8.006 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
8.006 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
8.006 * [taylor]: Taking taylor expansion of phi1 in phi2
8.006 * [backup-simplify]: Simplify phi1 into phi1
8.006 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
8.006 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
8.006 * [taylor]: Taking taylor expansion of phi2 in phi2
8.006 * [backup-simplify]: Simplify 0 into 0
8.006 * [backup-simplify]: Simplify 1 into 1
8.006 * [backup-simplify]: Simplify (/ 1 1) into 1
8.007 * [backup-simplify]: Simplify (+ 0 1) into 1
8.007 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
8.007 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.008 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in phi2
8.008 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in phi2
8.008 * [taylor]: Taking taylor expansion of lambda1 in phi2
8.008 * [backup-simplify]: Simplify lambda1 into lambda1
8.008 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1)
8.008 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in phi2
8.008 * [taylor]: Taking taylor expansion of lambda2 in phi2
8.008 * [backup-simplify]: Simplify lambda2 into lambda2
8.008 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
8.008 * [taylor]: Taking taylor expansion of (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2))) in phi2
8.008 * [taylor]: Taking taylor expansion of (- (/ 1 phi1) (/ 1 phi2)) in phi2
8.008 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
8.008 * [taylor]: Taking taylor expansion of phi1 in phi2
8.008 * [backup-simplify]: Simplify phi1 into phi1
8.008 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
8.008 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
8.008 * [taylor]: Taking taylor expansion of phi2 in phi2
8.008 * [backup-simplify]: Simplify 0 into 0
8.008 * [backup-simplify]: Simplify 1 into 1
8.008 * [backup-simplify]: Simplify (/ 1 1) into 1
8.009 * [taylor]: Taking taylor expansion of (- (/ 1 phi1) (/ 1 phi2)) in phi2
8.009 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
8.009 * [taylor]: Taking taylor expansion of phi1 in phi2
8.009 * [backup-simplify]: Simplify phi1 into phi1
8.009 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
8.009 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
8.009 * [taylor]: Taking taylor expansion of phi2 in phi2
8.009 * [backup-simplify]: Simplify 0 into 0
8.009 * [backup-simplify]: Simplify 1 into 1
8.009 * [backup-simplify]: Simplify (/ 1 1) into 1
8.010 * [backup-simplify]: Simplify (- 1) into -1
8.010 * [backup-simplify]: Simplify (+ 0 -1) into -1
8.010 * [backup-simplify]: Simplify (- 1) into -1
8.011 * [backup-simplify]: Simplify (+ 0 -1) into -1
8.011 * [backup-simplify]: Simplify (* -1 -1) into 1
8.012 * [backup-simplify]: Simplify (+ 0 1) into 1
8.012 * [backup-simplify]: Simplify (sqrt 1) into 1
8.013 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
8.013 * [backup-simplify]: Simplify (- 0) into 0
8.013 * [backup-simplify]: Simplify (+ (/ 1 phi1) 0) into (/ 1 phi1)
8.014 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
8.015 * [backup-simplify]: Simplify (- 0) into 0
8.015 * [backup-simplify]: Simplify (+ (/ 1 phi1) 0) into (/ 1 phi1)
8.015 * [backup-simplify]: Simplify (+ (* -1 (/ 1 phi1)) (* (/ 1 phi1) -1)) into (- (* 2 (/ 1 phi1)))
8.015 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi1)))) into (- (* 2 (/ 1 phi1)))
8.016 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi1))) (* 2 (sqrt 1))) into (/ -1 phi1)
8.016 * [taylor]: Taking taylor expansion of R in phi2
8.016 * [backup-simplify]: Simplify R into R
8.016 * [backup-simplify]: Simplify (/ 1 R) into (/ 1 R)
8.016 * [taylor]: Taking taylor expansion of (/ (hypot (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (- (/ 1 phi1) (/ 1 phi2))) R) in phi1
8.016 * [taylor]: Taking taylor expansion of (hypot (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (- (/ 1 phi1) (/ 1 phi2))) in phi1
8.016 * [taylor]: Rewrote expression to (sqrt (+ (* (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2)))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2)))))
8.016 * [taylor]: Taking taylor expansion of (+ (* (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2)))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2)))) in phi1
8.016 * [taylor]: Taking taylor expansion of (* (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2)))) in phi1
8.016 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) in phi1
8.016 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
8.016 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
8.016 * [taylor]: Taking taylor expansion of 0.5 in phi1
8.016 * [backup-simplify]: Simplify 0.5 into 0.5
8.017 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
8.017 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
8.017 * [taylor]: Taking taylor expansion of phi1 in phi1
8.017 * [backup-simplify]: Simplify 0 into 0
8.017 * [backup-simplify]: Simplify 1 into 1
8.017 * [backup-simplify]: Simplify (/ 1 1) into 1
8.017 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
8.017 * [taylor]: Taking taylor expansion of phi2 in phi1
8.017 * [backup-simplify]: Simplify phi2 into phi2
8.017 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
8.018 * [backup-simplify]: Simplify (+ 1 0) into 1
8.018 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
8.018 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.018 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in phi1
8.018 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in phi1
8.018 * [taylor]: Taking taylor expansion of lambda1 in phi1
8.018 * [backup-simplify]: Simplify lambda1 into lambda1
8.018 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1)
8.018 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in phi1
8.018 * [taylor]: Taking taylor expansion of lambda2 in phi1
8.018 * [backup-simplify]: Simplify lambda2 into lambda2
8.019 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
8.019 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) in phi1
8.019 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
8.019 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
8.019 * [taylor]: Taking taylor expansion of 0.5 in phi1
8.019 * [backup-simplify]: Simplify 0.5 into 0.5
8.019 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
8.019 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
8.019 * [taylor]: Taking taylor expansion of phi1 in phi1
8.019 * [backup-simplify]: Simplify 0 into 0
8.019 * [backup-simplify]: Simplify 1 into 1
8.019 * [backup-simplify]: Simplify (/ 1 1) into 1
8.019 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
8.019 * [taylor]: Taking taylor expansion of phi2 in phi1
8.019 * [backup-simplify]: Simplify phi2 into phi2
8.019 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
8.020 * [backup-simplify]: Simplify (+ 1 0) into 1
8.020 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
8.020 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.020 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in phi1
8.020 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in phi1
8.021 * [taylor]: Taking taylor expansion of lambda1 in phi1
8.021 * [backup-simplify]: Simplify lambda1 into lambda1
8.021 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1)
8.021 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in phi1
8.021 * [taylor]: Taking taylor expansion of lambda2 in phi1
8.021 * [backup-simplify]: Simplify lambda2 into lambda2
8.021 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
8.021 * [taylor]: Taking taylor expansion of (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2))) in phi1
8.021 * [taylor]: Taking taylor expansion of (- (/ 1 phi1) (/ 1 phi2)) in phi1
8.021 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
8.021 * [taylor]: Taking taylor expansion of phi1 in phi1
8.021 * [backup-simplify]: Simplify 0 into 0
8.021 * [backup-simplify]: Simplify 1 into 1
8.021 * [backup-simplify]: Simplify (/ 1 1) into 1
8.021 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
8.021 * [taylor]: Taking taylor expansion of phi2 in phi1
8.021 * [backup-simplify]: Simplify phi2 into phi2
8.021 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
8.021 * [taylor]: Taking taylor expansion of (- (/ 1 phi1) (/ 1 phi2)) in phi1
8.021 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
8.022 * [taylor]: Taking taylor expansion of phi1 in phi1
8.022 * [backup-simplify]: Simplify 0 into 0
8.022 * [backup-simplify]: Simplify 1 into 1
8.022 * [backup-simplify]: Simplify (/ 1 1) into 1
8.022 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
8.022 * [taylor]: Taking taylor expansion of phi2 in phi1
8.022 * [backup-simplify]: Simplify phi2 into phi2
8.022 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
8.023 * [backup-simplify]: Simplify (+ 1 0) into 1
8.023 * [backup-simplify]: Simplify (+ 1 0) into 1
8.023 * [backup-simplify]: Simplify (* 1 1) into 1
8.024 * [backup-simplify]: Simplify (+ 0 1) into 1
8.024 * [backup-simplify]: Simplify (sqrt 1) into 1
8.025 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
8.025 * [backup-simplify]: Simplify (- (/ 1 phi2)) into (- (/ 1 phi2))
8.025 * [backup-simplify]: Simplify (+ 0 (- (/ 1 phi2))) into (- (/ 1 phi2))
8.026 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
8.026 * [backup-simplify]: Simplify (- (/ 1 phi2)) into (- (/ 1 phi2))
8.026 * [backup-simplify]: Simplify (+ 0 (- (/ 1 phi2))) into (- (/ 1 phi2))
8.026 * [backup-simplify]: Simplify (+ (* 1 (- (/ 1 phi2))) (* (- (/ 1 phi2)) 1)) into (- (* 2 (/ 1 phi2)))
8.026 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2)))
8.027 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi2))) (* 2 (sqrt 1))) into (/ -1 phi2)
8.027 * [taylor]: Taking taylor expansion of R in phi1
8.027 * [backup-simplify]: Simplify R into R
8.027 * [backup-simplify]: Simplify (/ 1 R) into (/ 1 R)
8.027 * [taylor]: Taking taylor expansion of (/ (hypot (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (- (/ 1 phi1) (/ 1 phi2))) R) in lambda2
8.027 * [taylor]: Taking taylor expansion of (hypot (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (- (/ 1 phi1) (/ 1 phi2))) in lambda2
8.027 * [taylor]: Rewrote expression to (sqrt (+ (* (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2)))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2)))))
8.027 * [taylor]: Taking taylor expansion of (+ (* (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2)))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2)))) in lambda2
8.027 * [taylor]: Taking taylor expansion of (* (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2)))) in lambda2
8.028 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) in lambda2
8.028 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2
8.028 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2
8.028 * [taylor]: Taking taylor expansion of 0.5 in lambda2
8.028 * [backup-simplify]: Simplify 0.5 into 0.5
8.028 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2
8.028 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
8.028 * [taylor]: Taking taylor expansion of phi1 in lambda2
8.028 * [backup-simplify]: Simplify phi1 into phi1
8.028 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
8.028 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
8.028 * [taylor]: Taking taylor expansion of phi2 in lambda2
8.028 * [backup-simplify]: Simplify phi2 into phi2
8.028 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
8.028 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
8.028 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))
8.028 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.029 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.029 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in lambda2
8.029 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda2
8.029 * [taylor]: Taking taylor expansion of lambda1 in lambda2
8.029 * [backup-simplify]: Simplify lambda1 into lambda1
8.029 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1)
8.029 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda2
8.029 * [taylor]: Taking taylor expansion of lambda2 in lambda2
8.029 * [backup-simplify]: Simplify 0 into 0
8.029 * [backup-simplify]: Simplify 1 into 1
8.029 * [backup-simplify]: Simplify (/ 1 1) into 1
8.029 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) in lambda2
8.029 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2
8.029 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2
8.029 * [taylor]: Taking taylor expansion of 0.5 in lambda2
8.029 * [backup-simplify]: Simplify 0.5 into 0.5
8.029 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2
8.029 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
8.029 * [taylor]: Taking taylor expansion of phi1 in lambda2
8.030 * [backup-simplify]: Simplify phi1 into phi1
8.030 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
8.030 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
8.030 * [taylor]: Taking taylor expansion of phi2 in lambda2
8.030 * [backup-simplify]: Simplify phi2 into phi2
8.030 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
8.030 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
8.030 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))
8.030 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.030 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.030 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in lambda2
8.030 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda2
8.030 * [taylor]: Taking taylor expansion of lambda1 in lambda2
8.030 * [backup-simplify]: Simplify lambda1 into lambda1
8.030 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1)
8.031 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda2
8.031 * [taylor]: Taking taylor expansion of lambda2 in lambda2
8.031 * [backup-simplify]: Simplify 0 into 0
8.031 * [backup-simplify]: Simplify 1 into 1
8.031 * [backup-simplify]: Simplify (/ 1 1) into 1
8.031 * [taylor]: Taking taylor expansion of (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2))) in lambda2
8.031 * [taylor]: Taking taylor expansion of (- (/ 1 phi1) (/ 1 phi2)) in lambda2
8.031 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
8.031 * [taylor]: Taking taylor expansion of phi1 in lambda2
8.031 * [backup-simplify]: Simplify phi1 into phi1
8.031 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
8.031 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
8.031 * [taylor]: Taking taylor expansion of phi2 in lambda2
8.031 * [backup-simplify]: Simplify phi2 into phi2
8.031 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
8.031 * [taylor]: Taking taylor expansion of (- (/ 1 phi1) (/ 1 phi2)) in lambda2
8.031 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
8.031 * [taylor]: Taking taylor expansion of phi1 in lambda2
8.031 * [backup-simplify]: Simplify phi1 into phi1
8.031 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
8.032 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
8.032 * [taylor]: Taking taylor expansion of phi2 in lambda2
8.032 * [backup-simplify]: Simplify phi2 into phi2
8.032 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
8.032 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.032 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
8.032 * [backup-simplify]: Simplify (- 0) into 0
8.033 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.033 * [backup-simplify]: Simplify (- 1) into -1
8.033 * [backup-simplify]: Simplify (+ 0 -1) into -1
8.034 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) -1) into (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
8.034 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.034 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
8.034 * [backup-simplify]: Simplify (- 0) into 0
8.035 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.035 * [backup-simplify]: Simplify (- 1) into -1
8.035 * [backup-simplify]: Simplify (+ 0 -1) into -1
8.036 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) -1) into (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
8.036 * [backup-simplify]: Simplify (* (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
8.036 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
8.037 * [backup-simplify]: Simplify (sqrt (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.037 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
8.038 * [backup-simplify]: Simplify (- 0) into 0
8.038 * [backup-simplify]: Simplify (+ (/ 1 lambda1) 0) into (/ 1 lambda1)
8.038 * [backup-simplify]: Simplify (+ 0) into 0
8.039 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
8.039 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
8.039 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
8.040 * [backup-simplify]: Simplify (+ 0 0) into 0
8.040 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
8.041 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
8.041 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
8.042 * [backup-simplify]: Simplify (- 0) into 0
8.042 * [backup-simplify]: Simplify (+ 0 0) into 0
8.043 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (/ 1 lambda1)) (* 0 -1)) into (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1)
8.044 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
8.044 * [backup-simplify]: Simplify (- 0) into 0
8.044 * [backup-simplify]: Simplify (+ (/ 1 lambda1) 0) into (/ 1 lambda1)
8.044 * [backup-simplify]: Simplify (+ 0) into 0
8.045 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
8.045 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
8.045 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
8.046 * [backup-simplify]: Simplify (+ 0 0) into 0
8.046 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
8.047 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
8.048 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
8.048 * [backup-simplify]: Simplify (- 0) into 0
8.048 * [backup-simplify]: Simplify (+ 0 0) into 0
8.049 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (/ 1 lambda1)) (* 0 -1)) into (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1)
8.050 * [backup-simplify]: Simplify (+ (* (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1)) (* (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1) (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))
8.050 * [backup-simplify]: Simplify (+ (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) 0) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))
8.051 * [backup-simplify]: Simplify (/ (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) (* 2 (sqrt (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)))) into (* -1 (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1))
8.051 * [taylor]: Taking taylor expansion of R in lambda2
8.051 * [backup-simplify]: Simplify R into R
8.051 * [backup-simplify]: Simplify (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) into (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)
8.052 * [taylor]: Taking taylor expansion of (/ (hypot (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (- (/ 1 phi1) (/ 1 phi2))) R) in lambda1
8.052 * [taylor]: Taking taylor expansion of (hypot (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (- (/ 1 phi1) (/ 1 phi2))) in lambda1
8.052 * [taylor]: Rewrote expression to (sqrt (+ (* (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2)))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2)))))
8.052 * [taylor]: Taking taylor expansion of (+ (* (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2)))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2)))) in lambda1
8.052 * [taylor]: Taking taylor expansion of (* (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2)))) in lambda1
8.052 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) in lambda1
8.052 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1
8.052 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1
8.052 * [taylor]: Taking taylor expansion of 0.5 in lambda1
8.052 * [backup-simplify]: Simplify 0.5 into 0.5
8.052 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1
8.052 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
8.052 * [taylor]: Taking taylor expansion of phi1 in lambda1
8.052 * [backup-simplify]: Simplify phi1 into phi1
8.052 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
8.052 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
8.052 * [taylor]: Taking taylor expansion of phi2 in lambda1
8.052 * [backup-simplify]: Simplify phi2 into phi2
8.052 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
8.052 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
8.052 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))
8.053 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.053 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.053 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in lambda1
8.053 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1
8.053 * [taylor]: Taking taylor expansion of lambda1 in lambda1
8.053 * [backup-simplify]: Simplify 0 into 0
8.053 * [backup-simplify]: Simplify 1 into 1
8.053 * [backup-simplify]: Simplify (/ 1 1) into 1
8.053 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda1
8.053 * [taylor]: Taking taylor expansion of lambda2 in lambda1
8.054 * [backup-simplify]: Simplify lambda2 into lambda2
8.054 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
8.054 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) in lambda1
8.054 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1
8.054 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1
8.054 * [taylor]: Taking taylor expansion of 0.5 in lambda1
8.054 * [backup-simplify]: Simplify 0.5 into 0.5
8.054 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1
8.054 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
8.054 * [taylor]: Taking taylor expansion of phi1 in lambda1
8.054 * [backup-simplify]: Simplify phi1 into phi1
8.054 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
8.054 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
8.054 * [taylor]: Taking taylor expansion of phi2 in lambda1
8.054 * [backup-simplify]: Simplify phi2 into phi2
8.054 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
8.054 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
8.054 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))
8.054 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.055 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.055 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in lambda1
8.055 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1
8.055 * [taylor]: Taking taylor expansion of lambda1 in lambda1
8.055 * [backup-simplify]: Simplify 0 into 0
8.055 * [backup-simplify]: Simplify 1 into 1
8.055 * [backup-simplify]: Simplify (/ 1 1) into 1
8.055 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda1
8.055 * [taylor]: Taking taylor expansion of lambda2 in lambda1
8.055 * [backup-simplify]: Simplify lambda2 into lambda2
8.055 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
8.055 * [taylor]: Taking taylor expansion of (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2))) in lambda1
8.055 * [taylor]: Taking taylor expansion of (- (/ 1 phi1) (/ 1 phi2)) in lambda1
8.055 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
8.055 * [taylor]: Taking taylor expansion of phi1 in lambda1
8.055 * [backup-simplify]: Simplify phi1 into phi1
8.055 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
8.056 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
8.056 * [taylor]: Taking taylor expansion of phi2 in lambda1
8.056 * [backup-simplify]: Simplify phi2 into phi2
8.056 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
8.056 * [taylor]: Taking taylor expansion of (- (/ 1 phi1) (/ 1 phi2)) in lambda1
8.056 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
8.056 * [taylor]: Taking taylor expansion of phi1 in lambda1
8.056 * [backup-simplify]: Simplify phi1 into phi1
8.056 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
8.056 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
8.056 * [taylor]: Taking taylor expansion of phi2 in lambda1
8.056 * [backup-simplify]: Simplify phi2 into phi2
8.056 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
8.056 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.056 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
8.057 * [backup-simplify]: Simplify (- 0) into 0
8.057 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.057 * [backup-simplify]: Simplify (+ 1 0) into 1
8.057 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.058 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.058 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
8.058 * [backup-simplify]: Simplify (- 0) into 0
8.058 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.059 * [backup-simplify]: Simplify (+ 1 0) into 1
8.059 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.059 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
8.060 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
8.060 * [backup-simplify]: Simplify (sqrt (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.061 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
8.061 * [backup-simplify]: Simplify (- (/ 1 lambda2)) into (- (/ 1 lambda2))
8.061 * [backup-simplify]: Simplify (+ 0 (- (/ 1 lambda2))) into (- (/ 1 lambda2))
8.061 * [backup-simplify]: Simplify (+ 0) into 0
8.062 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
8.062 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
8.062 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
8.062 * [backup-simplify]: Simplify (+ 0 0) into 0
8.063 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
8.064 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
8.064 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
8.065 * [backup-simplify]: Simplify (- 0) into 0
8.065 * [backup-simplify]: Simplify (+ 0 0) into 0
8.066 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda2))) (* 0 1)) into (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2))
8.067 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
8.067 * [backup-simplify]: Simplify (- (/ 1 lambda2)) into (- (/ 1 lambda2))
8.067 * [backup-simplify]: Simplify (+ 0 (- (/ 1 lambda2))) into (- (/ 1 lambda2))
8.067 * [backup-simplify]: Simplify (+ 0) into 0
8.068 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
8.068 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
8.068 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
8.069 * [backup-simplify]: Simplify (+ 0 0) into 0
8.069 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
8.070 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
8.071 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
8.071 * [backup-simplify]: Simplify (- 0) into 0
8.072 * [backup-simplify]: Simplify (+ 0 0) into 0
8.072 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda2))) (* 0 1)) into (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2))
8.074 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2))) (* (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))
8.075 * [backup-simplify]: Simplify (+ (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 0) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))
8.076 * [backup-simplify]: Simplify (/ (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) (* 2 (sqrt (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)))) into (* -1 (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2))
8.076 * [taylor]: Taking taylor expansion of R in lambda1
8.076 * [backup-simplify]: Simplify R into R
8.076 * [backup-simplify]: Simplify (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) into (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)
8.076 * [taylor]: Taking taylor expansion of (/ (hypot (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (- (/ 1 phi1) (/ 1 phi2))) R) in lambda1
8.076 * [taylor]: Taking taylor expansion of (hypot (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (- (/ 1 phi1) (/ 1 phi2))) in lambda1
8.076 * [taylor]: Rewrote expression to (sqrt (+ (* (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2)))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2)))))
8.076 * [taylor]: Taking taylor expansion of (+ (* (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2)))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2)))) in lambda1
8.076 * [taylor]: Taking taylor expansion of (* (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2)))) in lambda1
8.076 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) in lambda1
8.076 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1
8.076 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1
8.076 * [taylor]: Taking taylor expansion of 0.5 in lambda1
8.077 * [backup-simplify]: Simplify 0.5 into 0.5
8.077 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1
8.077 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
8.077 * [taylor]: Taking taylor expansion of phi1 in lambda1
8.077 * [backup-simplify]: Simplify phi1 into phi1
8.077 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
8.077 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
8.077 * [taylor]: Taking taylor expansion of phi2 in lambda1
8.077 * [backup-simplify]: Simplify phi2 into phi2
8.077 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
8.077 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
8.077 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))
8.077 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.077 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.077 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in lambda1
8.078 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1
8.078 * [taylor]: Taking taylor expansion of lambda1 in lambda1
8.078 * [backup-simplify]: Simplify 0 into 0
8.078 * [backup-simplify]: Simplify 1 into 1
8.078 * [backup-simplify]: Simplify (/ 1 1) into 1
8.078 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda1
8.078 * [taylor]: Taking taylor expansion of lambda2 in lambda1
8.078 * [backup-simplify]: Simplify lambda2 into lambda2
8.078 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
8.078 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) in lambda1
8.078 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1
8.078 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1
8.078 * [taylor]: Taking taylor expansion of 0.5 in lambda1
8.078 * [backup-simplify]: Simplify 0.5 into 0.5
8.078 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1
8.078 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
8.079 * [taylor]: Taking taylor expansion of phi1 in lambda1
8.079 * [backup-simplify]: Simplify phi1 into phi1
8.079 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
8.079 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
8.079 * [taylor]: Taking taylor expansion of phi2 in lambda1
8.079 * [backup-simplify]: Simplify phi2 into phi2
8.079 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
8.079 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
8.079 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))
8.079 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.079 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.079 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in lambda1
8.079 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1
8.079 * [taylor]: Taking taylor expansion of lambda1 in lambda1
8.079 * [backup-simplify]: Simplify 0 into 0
8.079 * [backup-simplify]: Simplify 1 into 1
8.080 * [backup-simplify]: Simplify (/ 1 1) into 1
8.080 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda1
8.080 * [taylor]: Taking taylor expansion of lambda2 in lambda1
8.080 * [backup-simplify]: Simplify lambda2 into lambda2
8.080 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
8.080 * [taylor]: Taking taylor expansion of (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2))) in lambda1
8.080 * [taylor]: Taking taylor expansion of (- (/ 1 phi1) (/ 1 phi2)) in lambda1
8.080 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
8.080 * [taylor]: Taking taylor expansion of phi1 in lambda1
8.080 * [backup-simplify]: Simplify phi1 into phi1
8.080 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
8.080 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
8.080 * [taylor]: Taking taylor expansion of phi2 in lambda1
8.080 * [backup-simplify]: Simplify phi2 into phi2
8.080 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
8.080 * [taylor]: Taking taylor expansion of (- (/ 1 phi1) (/ 1 phi2)) in lambda1
8.080 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
8.080 * [taylor]: Taking taylor expansion of phi1 in lambda1
8.080 * [backup-simplify]: Simplify phi1 into phi1
8.081 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
8.081 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
8.081 * [taylor]: Taking taylor expansion of phi2 in lambda1
8.081 * [backup-simplify]: Simplify phi2 into phi2
8.081 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
8.081 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.081 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
8.081 * [backup-simplify]: Simplify (- 0) into 0
8.082 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.082 * [backup-simplify]: Simplify (+ 1 0) into 1
8.082 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.082 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.083 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
8.083 * [backup-simplify]: Simplify (- 0) into 0
8.083 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.084 * [backup-simplify]: Simplify (+ 1 0) into 1
8.084 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.084 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
8.085 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
8.085 * [backup-simplify]: Simplify (sqrt (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.086 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
8.086 * [backup-simplify]: Simplify (- (/ 1 lambda2)) into (- (/ 1 lambda2))
8.086 * [backup-simplify]: Simplify (+ 0 (- (/ 1 lambda2))) into (- (/ 1 lambda2))
8.086 * [backup-simplify]: Simplify (+ 0) into 0
8.087 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
8.087 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
8.087 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
8.088 * [backup-simplify]: Simplify (+ 0 0) into 0
8.088 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
8.089 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
8.089 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
8.090 * [backup-simplify]: Simplify (- 0) into 0
8.090 * [backup-simplify]: Simplify (+ 0 0) into 0
8.090 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda2))) (* 0 1)) into (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2))
8.091 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
8.091 * [backup-simplify]: Simplify (- (/ 1 lambda2)) into (- (/ 1 lambda2))
8.091 * [backup-simplify]: Simplify (+ 0 (- (/ 1 lambda2))) into (- (/ 1 lambda2))
8.091 * [backup-simplify]: Simplify (+ 0) into 0
8.092 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
8.092 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
8.092 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
8.092 * [backup-simplify]: Simplify (+ 0 0) into 0
8.092 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
8.093 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
8.093 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
8.093 * [backup-simplify]: Simplify (- 0) into 0
8.094 * [backup-simplify]: Simplify (+ 0 0) into 0
8.094 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda2))) (* 0 1)) into (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2))
8.095 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2))) (* (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))
8.095 * [backup-simplify]: Simplify (+ (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 0) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))
8.095 * [backup-simplify]: Simplify (/ (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) (* 2 (sqrt (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)))) into (* -1 (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2))
8.095 * [taylor]: Taking taylor expansion of R in lambda1
8.095 * [backup-simplify]: Simplify R into R
8.095 * [backup-simplify]: Simplify (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) into (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)
8.096 * [taylor]: Taking taylor expansion of (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) in lambda2
8.096 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2
8.096 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2
8.096 * [taylor]: Taking taylor expansion of 0.5 in lambda2
8.096 * [backup-simplify]: Simplify 0.5 into 0.5
8.096 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2
8.096 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
8.096 * [taylor]: Taking taylor expansion of phi1 in lambda2
8.096 * [backup-simplify]: Simplify phi1 into phi1
8.096 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
8.096 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
8.096 * [taylor]: Taking taylor expansion of phi2 in lambda2
8.096 * [backup-simplify]: Simplify phi2 into phi2
8.096 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
8.096 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
8.096 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))
8.096 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.096 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.096 * [taylor]: Taking taylor expansion of R in lambda2
8.096 * [backup-simplify]: Simplify R into R
8.096 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.096 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
8.097 * [backup-simplify]: Simplify (- 0) into 0
8.097 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.097 * [backup-simplify]: Simplify (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) into (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)
8.097 * [backup-simplify]: Simplify (- (/ (* -1 (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) R) (+ (* (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) (/ 0 R)))) into (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* lambda2 R)))
8.097 * [taylor]: Taking taylor expansion of (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* lambda2 R))) in lambda2
8.097 * [taylor]: Taking taylor expansion of (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* lambda2 R)) in lambda2
8.097 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2
8.097 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2
8.097 * [taylor]: Taking taylor expansion of 0.5 in lambda2
8.098 * [backup-simplify]: Simplify 0.5 into 0.5
8.098 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2
8.098 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
8.098 * [taylor]: Taking taylor expansion of phi1 in lambda2
8.098 * [backup-simplify]: Simplify phi1 into phi1
8.098 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
8.098 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
8.098 * [taylor]: Taking taylor expansion of phi2 in lambda2
8.098 * [backup-simplify]: Simplify phi2 into phi2
8.098 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
8.098 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
8.098 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))
8.098 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.098 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.098 * [taylor]: Taking taylor expansion of (* lambda2 R) in lambda2
8.098 * [taylor]: Taking taylor expansion of lambda2 in lambda2
8.098 * [backup-simplify]: Simplify 0 into 0
8.098 * [backup-simplify]: Simplify 1 into 1
8.098 * [taylor]: Taking taylor expansion of R in lambda2
8.098 * [backup-simplify]: Simplify R into R
8.098 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.098 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
8.099 * [backup-simplify]: Simplify (- 0) into 0
8.099 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.099 * [backup-simplify]: Simplify (* 0 R) into 0
8.099 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 R)) into R
8.099 * [backup-simplify]: Simplify (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) into (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)
8.099 * [backup-simplify]: Simplify (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) into (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))
8.099 * [taylor]: Taking taylor expansion of (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) in phi1
8.099 * [taylor]: Taking taylor expansion of (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) in phi1
8.099 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
8.099 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
8.099 * [taylor]: Taking taylor expansion of 0.5 in phi1
8.099 * [backup-simplify]: Simplify 0.5 into 0.5
8.099 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
8.099 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
8.099 * [taylor]: Taking taylor expansion of phi1 in phi1
8.099 * [backup-simplify]: Simplify 0 into 0
8.099 * [backup-simplify]: Simplify 1 into 1
8.100 * [backup-simplify]: Simplify (/ 1 1) into 1
8.100 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
8.100 * [taylor]: Taking taylor expansion of phi2 in phi1
8.100 * [backup-simplify]: Simplify phi2 into phi2
8.100 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
8.100 * [backup-simplify]: Simplify (+ 1 0) into 1
8.100 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
8.100 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.100 * [taylor]: Taking taylor expansion of R in phi1
8.101 * [backup-simplify]: Simplify R into R
8.101 * [backup-simplify]: Simplify (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) into (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)
8.101 * [taylor]: Taking taylor expansion of (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) in phi1
8.101 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
8.101 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
8.101 * [taylor]: Taking taylor expansion of 0.5 in phi1
8.101 * [backup-simplify]: Simplify 0.5 into 0.5
8.101 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
8.101 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
8.101 * [taylor]: Taking taylor expansion of phi1 in phi1
8.101 * [backup-simplify]: Simplify 0 into 0
8.101 * [backup-simplify]: Simplify 1 into 1
8.101 * [backup-simplify]: Simplify (/ 1 1) into 1
8.101 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
8.101 * [taylor]: Taking taylor expansion of phi2 in phi1
8.101 * [backup-simplify]: Simplify phi2 into phi2
8.101 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
8.101 * [backup-simplify]: Simplify (+ 1 0) into 1
8.102 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
8.102 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.102 * [taylor]: Taking taylor expansion of R in phi1
8.102 * [backup-simplify]: Simplify R into R
8.102 * [backup-simplify]: Simplify (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) into (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)
8.103 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)))) into 0
8.103 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)))) into 0
8.104 * [backup-simplify]: Simplify (- 0) into 0
8.104 * [backup-simplify]: Simplify (+ 0 0) into 0
8.105 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
8.105 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0
8.105 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
8.105 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
8.106 * [backup-simplify]: Simplify (+ 0 0) into 0
8.106 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0
8.107 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
8.107 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0
8.107 * [backup-simplify]: Simplify (- 0) into 0
8.108 * [backup-simplify]: Simplify (+ 0 0) into 0
8.108 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 (- (/ 1 lambda2))) (* 0 1))) into 0
8.108 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)))) into 0
8.109 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)))) into 0
8.109 * [backup-simplify]: Simplify (- 0) into 0
8.109 * [backup-simplify]: Simplify (+ 0 0) into 0
8.110 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
8.110 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0
8.110 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
8.110 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
8.111 * [backup-simplify]: Simplify (+ 0 0) into 0
8.111 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0
8.112 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
8.112 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0
8.112 * [backup-simplify]: Simplify (- 0) into 0
8.112 * [backup-simplify]: Simplify (+ 0 0) into 0
8.113 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 (- (/ 1 lambda2))) (* 0 1))) into 0
8.114 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2))) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2))
8.114 * [backup-simplify]: Simplify (- (/ 1 phi2)) into (- (/ 1 phi2))
8.114 * [backup-simplify]: Simplify (+ (/ 1 phi1) (- (/ 1 phi2))) into (- (/ 1 phi1) (/ 1 phi2))
8.114 * [backup-simplify]: Simplify (- (/ 1 phi2)) into (- (/ 1 phi2))
8.114 * [backup-simplify]: Simplify (+ (/ 1 phi1) (- (/ 1 phi2))) into (- (/ 1 phi1) (/ 1 phi2))
8.114 * [backup-simplify]: Simplify (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2))) into (pow (- (/ 1 phi1) (/ 1 phi2)) 2)
8.115 * [backup-simplify]: Simplify (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (pow (- (/ 1 phi1) (/ 1 phi2)) 2)) into (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2)))) (* 2 (/ 1 (* phi1 phi2))))
8.116 * [backup-simplify]: Simplify (/ (- (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2)))) (* 2 (/ 1 (* phi1 phi2)))) (pow (* -1 (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) 2) (+)) (* 2 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (* 1/2 (/ (- (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))
8.117 * [backup-simplify]: Simplify (- (/ (* 1/2 (/ (- (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) R) (+ (* (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) (/ 0 R)) (* (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* lambda2 R))) (/ 0 R)))) into (- (+ (* 1/2 (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi2 2))))) (* 1/2 (/ 1 (* (pow phi1 2) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))))) (/ 1 (* phi1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R phi2)))))
8.117 * [taylor]: Taking taylor expansion of (- (+ (* 1/2 (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi2 2))))) (* 1/2 (/ 1 (* (pow phi1 2) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))))) (/ 1 (* phi1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R phi2))))) in lambda2
8.117 * [taylor]: Taking taylor expansion of (+ (* 1/2 (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi2 2))))) (* 1/2 (/ 1 (* (pow phi1 2) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))))) in lambda2
8.117 * [taylor]: Taking taylor expansion of (* 1/2 (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi2 2))))) in lambda2
8.117 * [taylor]: Taking taylor expansion of 1/2 in lambda2
8.117 * [backup-simplify]: Simplify 1/2 into 1/2
8.117 * [taylor]: Taking taylor expansion of (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi2 2)))) in lambda2
8.117 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi2 2))) in lambda2
8.117 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2
8.117 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2
8.117 * [taylor]: Taking taylor expansion of 0.5 in lambda2
8.117 * [backup-simplify]: Simplify 0.5 into 0.5
8.117 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2
8.117 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
8.117 * [taylor]: Taking taylor expansion of phi1 in lambda2
8.117 * [backup-simplify]: Simplify phi1 into phi1
8.118 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
8.118 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
8.118 * [taylor]: Taking taylor expansion of phi2 in lambda2
8.118 * [backup-simplify]: Simplify phi2 into phi2
8.118 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
8.118 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
8.118 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))
8.118 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.118 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.118 * [taylor]: Taking taylor expansion of (* R (pow phi2 2)) in lambda2
8.118 * [taylor]: Taking taylor expansion of R in lambda2
8.118 * [backup-simplify]: Simplify R into R
8.118 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2
8.118 * [taylor]: Taking taylor expansion of phi2 in lambda2
8.118 * [backup-simplify]: Simplify phi2 into phi2
8.119 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.119 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
8.119 * [backup-simplify]: Simplify (- 0) into 0
8.120 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.120 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
8.120 * [backup-simplify]: Simplify (* R (pow phi2 2)) into (* R (pow phi2 2))
8.120 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi2 2))) into (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi2 2)))
8.121 * [backup-simplify]: Simplify (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi2 2)))) into (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi2 2))))
8.121 * [taylor]: Taking taylor expansion of (* 1/2 (/ 1 (* (pow phi1 2) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))) in lambda2
8.121 * [taylor]: Taking taylor expansion of 1/2 in lambda2
8.121 * [backup-simplify]: Simplify 1/2 into 1/2
8.121 * [taylor]: Taking taylor expansion of (/ 1 (* (pow phi1 2) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))) in lambda2
8.121 * [taylor]: Taking taylor expansion of (* (pow phi1 2) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) in lambda2
8.121 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2
8.121 * [taylor]: Taking taylor expansion of phi1 in lambda2
8.121 * [backup-simplify]: Simplify phi1 into phi1
8.121 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) in lambda2
8.121 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2
8.121 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2
8.121 * [taylor]: Taking taylor expansion of 0.5 in lambda2
8.121 * [backup-simplify]: Simplify 0.5 into 0.5
8.121 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2
8.121 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
8.121 * [taylor]: Taking taylor expansion of phi1 in lambda2
8.121 * [backup-simplify]: Simplify phi1 into phi1
8.121 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
8.121 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
8.121 * [taylor]: Taking taylor expansion of phi2 in lambda2
8.121 * [backup-simplify]: Simplify phi2 into phi2
8.121 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
8.121 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
8.122 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))
8.122 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.122 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.122 * [taylor]: Taking taylor expansion of R in lambda2
8.122 * [backup-simplify]: Simplify R into R
8.122 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
8.122 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.122 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
8.123 * [backup-simplify]: Simplify (- 0) into 0
8.123 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.123 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) into (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)
8.124 * [backup-simplify]: Simplify (* (pow phi1 2) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) into (* R (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow phi1 2)))
8.124 * [backup-simplify]: Simplify (/ 1 (* R (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow phi1 2)))) into (/ 1 (* R (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow phi1 2))))
8.124 * [taylor]: Taking taylor expansion of (/ 1 (* phi1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R phi2)))) in lambda2
8.124 * [taylor]: Taking taylor expansion of (* phi1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R phi2))) in lambda2
8.124 * [taylor]: Taking taylor expansion of phi1 in lambda2
8.124 * [backup-simplify]: Simplify phi1 into phi1
8.124 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R phi2)) in lambda2
8.124 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2
8.124 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2
8.124 * [taylor]: Taking taylor expansion of 0.5 in lambda2
8.124 * [backup-simplify]: Simplify 0.5 into 0.5
8.124 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2
8.124 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
8.124 * [taylor]: Taking taylor expansion of phi1 in lambda2
8.124 * [backup-simplify]: Simplify phi1 into phi1
8.124 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
8.125 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
8.125 * [taylor]: Taking taylor expansion of phi2 in lambda2
8.125 * [backup-simplify]: Simplify phi2 into phi2
8.125 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
8.125 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
8.125 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))
8.125 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.125 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.125 * [taylor]: Taking taylor expansion of (* R phi2) in lambda2
8.125 * [taylor]: Taking taylor expansion of R in lambda2
8.125 * [backup-simplify]: Simplify R into R
8.125 * [taylor]: Taking taylor expansion of phi2 in lambda2
8.125 * [backup-simplify]: Simplify phi2 into phi2
8.126 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.126 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
8.126 * [backup-simplify]: Simplify (- 0) into 0
8.126 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.127 * [backup-simplify]: Simplify (* R phi2) into (* R phi2)
8.127 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R phi2)) into (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R phi2))
8.127 * [backup-simplify]: Simplify (* phi1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R phi2))) into (* R (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* phi1 phi2)))
8.127 * [backup-simplify]: Simplify (/ 1 (* R (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* phi1 phi2)))) into (/ 1 (* R (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* phi1 phi2))))
8.128 * [backup-simplify]: Simplify (+ 0) into 0
8.128 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
8.129 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
8.129 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
8.129 * [backup-simplify]: Simplify (+ 0 0) into 0
8.130 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
8.130 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
8.131 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
8.131 * [backup-simplify]: Simplify (- 0) into 0
8.132 * [backup-simplify]: Simplify (+ 0 0) into 0
8.133 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 R))) into 0
8.133 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) (/ 0 R)))) into 0
8.133 * [backup-simplify]: Simplify (- 0) into 0
8.133 * [taylor]: Taking taylor expansion of 0 in phi1
8.133 * [backup-simplify]: Simplify 0 into 0
8.134 * [backup-simplify]: Simplify (+ 0) into 0
8.134 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
8.135 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
8.135 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
8.135 * [backup-simplify]: Simplify (+ 0 0) into 0
8.136 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
8.137 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
8.137 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
8.138 * [backup-simplify]: Simplify (- 0) into 0
8.138 * [backup-simplify]: Simplify (+ 0 0) into 0
8.138 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) (/ 0 R)))) into 0
8.138 * [taylor]: Taking taylor expansion of 0 in phi1
8.138 * [backup-simplify]: Simplify 0 into 0
8.139 * [backup-simplify]: Simplify (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) into (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))
8.139 * [taylor]: Taking taylor expansion of (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) in phi2
8.139 * [taylor]: Taking taylor expansion of (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) in phi2
8.139 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
8.139 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
8.139 * [taylor]: Taking taylor expansion of 0.5 in phi2
8.139 * [backup-simplify]: Simplify 0.5 into 0.5
8.139 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
8.139 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
8.139 * [taylor]: Taking taylor expansion of phi1 in phi2
8.139 * [backup-simplify]: Simplify phi1 into phi1
8.139 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
8.139 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
8.139 * [taylor]: Taking taylor expansion of phi2 in phi2
8.139 * [backup-simplify]: Simplify 0 into 0
8.139 * [backup-simplify]: Simplify 1 into 1
8.140 * [backup-simplify]: Simplify (/ 1 1) into 1
8.140 * [backup-simplify]: Simplify (+ 0 1) into 1
8.141 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
8.141 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.141 * [taylor]: Taking taylor expansion of R in phi2
8.141 * [backup-simplify]: Simplify R into R
8.141 * [backup-simplify]: Simplify (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) into (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)
8.141 * [taylor]: Taking taylor expansion of (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) in phi2
8.141 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
8.141 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
8.141 * [taylor]: Taking taylor expansion of 0.5 in phi2
8.141 * [backup-simplify]: Simplify 0.5 into 0.5
8.141 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
8.141 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
8.141 * [taylor]: Taking taylor expansion of phi1 in phi2
8.141 * [backup-simplify]: Simplify phi1 into phi1
8.141 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
8.141 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
8.141 * [taylor]: Taking taylor expansion of phi2 in phi2
8.141 * [backup-simplify]: Simplify 0 into 0
8.142 * [backup-simplify]: Simplify 1 into 1
8.146 * [backup-simplify]: Simplify (/ 1 1) into 1
8.148 * [backup-simplify]: Simplify (+ 0 1) into 1
8.149 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
8.149 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.149 * [taylor]: Taking taylor expansion of R in phi2
8.149 * [backup-simplify]: Simplify R into R
8.149 * [backup-simplify]: Simplify (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) into (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)
8.150 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)) (* 0 (/ 0 1)))) into 0
8.151 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)) (* 0 (/ 0 lambda2)))) into 0
8.151 * [backup-simplify]: Simplify (- 0) into 0
8.151 * [backup-simplify]: Simplify (+ 0 0) into 0
8.152 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0
8.153 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0
8.154 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
8.154 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
8.154 * [backup-simplify]: Simplify (+ 0 0) into 0
8.156 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0
8.157 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0
8.158 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0
8.158 * [backup-simplify]: Simplify (- 0) into 0
8.159 * [backup-simplify]: Simplify (+ 0 0) into 0
8.160 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 (- (/ 1 lambda2))) (* 0 1)))) into 0
8.161 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)) (* 0 (/ 0 1)))) into 0
8.161 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)) (* 0 (/ 0 lambda2)))) into 0
8.161 * [backup-simplify]: Simplify (- 0) into 0
8.162 * [backup-simplify]: Simplify (+ 0 0) into 0
8.162 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0
8.163 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0
8.163 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
8.163 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
8.163 * [backup-simplify]: Simplify (+ 0 0) into 0
8.164 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0
8.165 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0
8.165 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0
8.166 * [backup-simplify]: Simplify (- 0) into 0
8.166 * [backup-simplify]: Simplify (+ 0 0) into 0
8.167 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 (- (/ 1 lambda2))) (* 0 1)))) into 0
8.167 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) 0) (+ (* 0 (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2))) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into 0
8.167 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
8.167 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
8.167 * [backup-simplify]: Simplify (- 0) into 0
8.168 * [backup-simplify]: Simplify (+ 0 0) into 0
8.168 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
8.168 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
8.168 * [backup-simplify]: Simplify (- 0) into 0
8.168 * [backup-simplify]: Simplify (+ 0 0) into 0
8.168 * [backup-simplify]: Simplify (+ (* (- (/ 1 phi1) (/ 1 phi2)) 0) (* 0 (- (/ 1 phi1) (/ 1 phi2)))) into 0
8.169 * [backup-simplify]: Simplify (+ 0 0) into 0
8.170 * [backup-simplify]: Simplify (/ (- 0 (+ (* 2 (* (* -1 (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) (* 1/2 (/ (- (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))))) (* 2 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (* 1/2 (/ (- (+ (/ 1 (* lambda2 (pow phi2 2))) (/ 1 (* lambda2 (pow phi1 2)))) (* 2 (/ 1 (* lambda2 (* phi1 phi2))))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))
8.171 * [backup-simplify]: Simplify (- (/ (* 1/2 (/ (- (+ (/ 1 (* lambda2 (pow phi2 2))) (/ 1 (* lambda2 (pow phi1 2)))) (* 2 (/ 1 (* lambda2 (* phi1 phi2))))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) R) (+ (* (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) (/ 0 R)) (* (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* lambda2 R))) (/ 0 R)) (* (- (+ (* 1/2 (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi2 2))))) (* 1/2 (/ 1 (* (pow phi1 2) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))))) (/ 1 (* phi1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R phi2))))) (/ 0 R)))) into (- (+ (* 1/2 (/ 1 (* (pow phi1 2) (* lambda2 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))))) (* 1/2 (/ 1 (* lambda2 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi2 2))))))) (/ 1 (* phi1 (* lambda2 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R phi2))))))
8.171 * [taylor]: Taking taylor expansion of (- (+ (* 1/2 (/ 1 (* (pow phi1 2) (* lambda2 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))))) (* 1/2 (/ 1 (* lambda2 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi2 2))))))) (/ 1 (* phi1 (* lambda2 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R phi2)))))) in lambda2
8.171 * [taylor]: Taking taylor expansion of (+ (* 1/2 (/ 1 (* (pow phi1 2) (* lambda2 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))))) (* 1/2 (/ 1 (* lambda2 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi2 2))))))) in lambda2
8.171 * [taylor]: Taking taylor expansion of (* 1/2 (/ 1 (* (pow phi1 2) (* lambda2 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))))) in lambda2
8.171 * [taylor]: Taking taylor expansion of 1/2 in lambda2
8.171 * [backup-simplify]: Simplify 1/2 into 1/2
8.171 * [taylor]: Taking taylor expansion of (/ 1 (* (pow phi1 2) (* lambda2 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))) in lambda2
8.171 * [taylor]: Taking taylor expansion of (* (pow phi1 2) (* lambda2 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))) in lambda2
8.171 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2
8.171 * [taylor]: Taking taylor expansion of phi1 in lambda2
8.171 * [backup-simplify]: Simplify phi1 into phi1
8.171 * [taylor]: Taking taylor expansion of (* lambda2 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) in lambda2
8.171 * [taylor]: Taking taylor expansion of lambda2 in lambda2
8.171 * [backup-simplify]: Simplify 0 into 0
8.172 * [backup-simplify]: Simplify 1 into 1
8.172 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) in lambda2
8.172 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2
8.172 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2
8.172 * [taylor]: Taking taylor expansion of 0.5 in lambda2
8.172 * [backup-simplify]: Simplify 0.5 into 0.5
8.172 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2
8.172 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
8.172 * [taylor]: Taking taylor expansion of phi1 in lambda2
8.172 * [backup-simplify]: Simplify phi1 into phi1
8.172 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
8.172 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
8.172 * [taylor]: Taking taylor expansion of phi2 in lambda2
8.172 * [backup-simplify]: Simplify phi2 into phi2
8.172 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
8.172 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
8.172 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))
8.172 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.172 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.172 * [taylor]: Taking taylor expansion of R in lambda2
8.172 * [backup-simplify]: Simplify R into R
8.172 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
8.172 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.172 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
8.173 * [backup-simplify]: Simplify (- 0) into 0
8.173 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.173 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) into (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)
8.173 * [backup-simplify]: Simplify (* 0 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) into 0
8.173 * [backup-simplify]: Simplify (* (pow phi1 2) 0) into 0
8.174 * [backup-simplify]: Simplify (+ 0) into 0
8.174 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
8.174 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
8.174 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
8.174 * [backup-simplify]: Simplify (+ 0 0) into 0
8.175 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
8.175 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
8.176 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
8.176 * [backup-simplify]: Simplify (- 0) into 0
8.176 * [backup-simplify]: Simplify (+ 0 0) into 0
8.176 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 R)) into 0
8.177 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))) into (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)
8.177 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0
8.177 * [backup-simplify]: Simplify (+ (* (pow phi1 2) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) (* 0 0)) into (* (pow phi1 2) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))
8.177 * [backup-simplify]: Simplify (/ 1 (* (pow phi1 2) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))) into (/ 1 (* (pow phi1 2) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))
8.178 * [taylor]: Taking taylor expansion of (* 1/2 (/ 1 (* lambda2 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi2 2)))))) in lambda2
8.178 * [taylor]: Taking taylor expansion of 1/2 in lambda2
8.178 * [backup-simplify]: Simplify 1/2 into 1/2
8.178 * [taylor]: Taking taylor expansion of (/ 1 (* lambda2 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi2 2))))) in lambda2
8.178 * [taylor]: Taking taylor expansion of (* lambda2 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi2 2)))) in lambda2
8.178 * [taylor]: Taking taylor expansion of lambda2 in lambda2
8.178 * [backup-simplify]: Simplify 0 into 0
8.178 * [backup-simplify]: Simplify 1 into 1
8.178 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi2 2))) in lambda2
8.178 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2
8.178 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2
8.178 * [taylor]: Taking taylor expansion of 0.5 in lambda2
8.178 * [backup-simplify]: Simplify 0.5 into 0.5
8.178 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2
8.178 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
8.178 * [taylor]: Taking taylor expansion of phi1 in lambda2
8.178 * [backup-simplify]: Simplify phi1 into phi1
8.178 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
8.178 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
8.178 * [taylor]: Taking taylor expansion of phi2 in lambda2
8.178 * [backup-simplify]: Simplify phi2 into phi2
8.178 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
8.178 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
8.178 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))
8.178 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.178 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.178 * [taylor]: Taking taylor expansion of (* R (pow phi2 2)) in lambda2
8.178 * [taylor]: Taking taylor expansion of R in lambda2
8.178 * [backup-simplify]: Simplify R into R
8.178 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2
8.178 * [taylor]: Taking taylor expansion of phi2 in lambda2
8.178 * [backup-simplify]: Simplify phi2 into phi2
8.178 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.179 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
8.179 * [backup-simplify]: Simplify (- 0) into 0
8.179 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.179 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
8.179 * [backup-simplify]: Simplify (* R (pow phi2 2)) into (* R (pow phi2 2))
8.179 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi2 2))) into (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi2 2)))
8.179 * [backup-simplify]: Simplify (* 0 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi2 2)))) into 0
8.180 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0
8.180 * [backup-simplify]: Simplify (+ (* R 0) (* 0 (pow phi2 2))) into 0
8.180 * [backup-simplify]: Simplify (+ 0) into 0
8.180 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
8.180 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
8.180 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
8.181 * [backup-simplify]: Simplify (+ 0 0) into 0
8.181 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
8.182 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
8.182 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
8.182 * [backup-simplify]: Simplify (- 0) into 0
8.183 * [backup-simplify]: Simplify (+ 0 0) into 0
8.183 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (* R (pow phi2 2)))) into 0
8.184 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi2 2))))) into (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi2 2)))
8.184 * [backup-simplify]: Simplify (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi2 2)))) into (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi2 2))))
8.184 * [taylor]: Taking taylor expansion of (/ 1 (* phi1 (* lambda2 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R phi2))))) in lambda2
8.184 * [taylor]: Taking taylor expansion of (* phi1 (* lambda2 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R phi2)))) in lambda2
8.184 * [taylor]: Taking taylor expansion of phi1 in lambda2
8.184 * [backup-simplify]: Simplify phi1 into phi1
8.184 * [taylor]: Taking taylor expansion of (* lambda2 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R phi2))) in lambda2
8.184 * [taylor]: Taking taylor expansion of lambda2 in lambda2
8.184 * [backup-simplify]: Simplify 0 into 0
8.184 * [backup-simplify]: Simplify 1 into 1
8.184 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R phi2)) in lambda2
8.184 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2
8.184 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2
8.184 * [taylor]: Taking taylor expansion of 0.5 in lambda2
8.184 * [backup-simplify]: Simplify 0.5 into 0.5
8.184 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2
8.185 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
8.185 * [taylor]: Taking taylor expansion of phi1 in lambda2
8.185 * [backup-simplify]: Simplify phi1 into phi1
8.185 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
8.185 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
8.185 * [taylor]: Taking taylor expansion of phi2 in lambda2
8.185 * [backup-simplify]: Simplify phi2 into phi2
8.185 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
8.185 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
8.185 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))
8.185 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.186 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.186 * [taylor]: Taking taylor expansion of (* R phi2) in lambda2
8.186 * [taylor]: Taking taylor expansion of R in lambda2
8.186 * [backup-simplify]: Simplify R into R
8.186 * [taylor]: Taking taylor expansion of phi2 in lambda2
8.186 * [backup-simplify]: Simplify phi2 into phi2
8.186 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.186 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
8.187 * [backup-simplify]: Simplify (- 0) into 0
8.187 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.187 * [backup-simplify]: Simplify (* R phi2) into (* R phi2)
8.187 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R phi2)) into (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R phi2))
8.187 * [backup-simplify]: Simplify (* 0 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R phi2))) into 0
8.187 * [backup-simplify]: Simplify (* phi1 0) into 0
8.187 * [backup-simplify]: Simplify (+ (* R 0) (* 0 phi2)) into 0
8.188 * [backup-simplify]: Simplify (+ 0) into 0
8.188 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
8.189 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
8.189 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
8.189 * [backup-simplify]: Simplify (+ 0 0) into 0
8.190 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
8.190 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
8.191 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
8.191 * [backup-simplify]: Simplify (- 0) into 0
8.191 * [backup-simplify]: Simplify (+ 0 0) into 0
8.192 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (* R phi2))) into 0
8.192 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R phi2)))) into (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R phi2))
8.193 * [backup-simplify]: Simplify (+ (* phi1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R phi2))) (* 0 0)) into (* phi1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R phi2)))
8.193 * [backup-simplify]: Simplify (/ 1 (* phi1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R phi2)))) into (/ 1 (* phi1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R phi2))))
8.194 * [backup-simplify]: Simplify (* 1/2 (/ 1 (* (pow phi1 2) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))) into (/ 1/2 (* R (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow phi1 2))))
8.194 * [backup-simplify]: Simplify (* 1/2 (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi2 2))))) into (/ 1/2 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi2 2))))
8.195 * [backup-simplify]: Simplify (+ (/ 1/2 (* R (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow phi1 2)))) (/ 1/2 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi2 2))))) into (+ (* 1/2 (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi2 2))))) (* 1/2 (/ 1 (* (pow phi1 2) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))))
8.195 * [backup-simplify]: Simplify (- (/ 1 (* phi1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R phi2))))) into (- (/ 1 (* R (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* phi1 phi2)))))
8.196 * [backup-simplify]: Simplify (+ (+ (* 1/2 (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi2 2))))) (* 1/2 (/ 1 (* (pow phi1 2) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))))) (- (/ 1 (* R (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* phi1 phi2)))))) into (- (+ (* 1/2 (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi2 2))))) (* 1/2 (/ 1 (* (pow phi1 2) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))))) (/ 1 (* R (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* phi1 phi2)))))
8.196 * [taylor]: Taking taylor expansion of (- (+ (* 1/2 (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi2 2))))) (* 1/2 (/ 1 (* (pow phi1 2) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))))) (/ 1 (* R (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* phi1 phi2))))) in phi1
8.196 * [taylor]: Taking taylor expansion of (+ (* 1/2 (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi2 2))))) (* 1/2 (/ 1 (* (pow phi1 2) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))))) in phi1
8.196 * [taylor]: Taking taylor expansion of (* 1/2 (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi2 2))))) in phi1
8.196 * [taylor]: Taking taylor expansion of 1/2 in phi1
8.196 * [backup-simplify]: Simplify 1/2 into 1/2
8.196 * [taylor]: Taking taylor expansion of (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi2 2)))) in phi1
8.197 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi2 2))) in phi1
8.197 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
8.197 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
8.197 * [taylor]: Taking taylor expansion of 0.5 in phi1
8.197 * [backup-simplify]: Simplify 0.5 into 0.5
8.197 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
8.197 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
8.197 * [taylor]: Taking taylor expansion of phi1 in phi1
8.197 * [backup-simplify]: Simplify 0 into 0
8.197 * [backup-simplify]: Simplify 1 into 1
8.197 * [backup-simplify]: Simplify (/ 1 1) into 1
8.197 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
8.197 * [taylor]: Taking taylor expansion of phi2 in phi1
8.197 * [backup-simplify]: Simplify phi2 into phi2
8.197 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
8.198 * [backup-simplify]: Simplify (+ 1 0) into 1
8.198 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
8.198 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.198 * [taylor]: Taking taylor expansion of (* R (pow phi2 2)) in phi1
8.198 * [taylor]: Taking taylor expansion of R in phi1
8.199 * [backup-simplify]: Simplify R into R
8.199 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1
8.199 * [taylor]: Taking taylor expansion of phi2 in phi1
8.199 * [backup-simplify]: Simplify phi2 into phi2
8.199 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
8.199 * [backup-simplify]: Simplify (* R (pow phi2 2)) into (* R (pow phi2 2))
8.199 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi2 2))) into (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi2 2)))
8.199 * [backup-simplify]: Simplify (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi2 2)))) into (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi2 2))))
8.199 * [taylor]: Taking taylor expansion of (* 1/2 (/ 1 (* (pow phi1 2) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))) in phi1
8.199 * [taylor]: Taking taylor expansion of 1/2 in phi1
8.200 * [backup-simplify]: Simplify 1/2 into 1/2
8.200 * [taylor]: Taking taylor expansion of (/ 1 (* (pow phi1 2) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))) in phi1
8.200 * [taylor]: Taking taylor expansion of (* (pow phi1 2) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) in phi1
8.200 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1
8.200 * [taylor]: Taking taylor expansion of phi1 in phi1
8.200 * [backup-simplify]: Simplify 0 into 0
8.200 * [backup-simplify]: Simplify 1 into 1
8.200 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) in phi1
8.200 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
8.200 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
8.200 * [taylor]: Taking taylor expansion of 0.5 in phi1
8.200 * [backup-simplify]: Simplify 0.5 into 0.5
8.200 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
8.200 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
8.200 * [taylor]: Taking taylor expansion of phi1 in phi1
8.200 * [backup-simplify]: Simplify 0 into 0
8.200 * [backup-simplify]: Simplify 1 into 1
8.200 * [backup-simplify]: Simplify (/ 1 1) into 1
8.200 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
8.201 * [taylor]: Taking taylor expansion of phi2 in phi1
8.201 * [backup-simplify]: Simplify phi2 into phi2
8.201 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
8.201 * [backup-simplify]: Simplify (+ 1 0) into 1
8.201 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
8.202 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.202 * [taylor]: Taking taylor expansion of R in phi1
8.202 * [backup-simplify]: Simplify R into R
8.202 * [backup-simplify]: Simplify (* 1 1) into 1
8.202 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) into (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)
8.203 * [backup-simplify]: Simplify (* 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) into (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)
8.203 * [backup-simplify]: Simplify (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) into (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))
8.203 * [taylor]: Taking taylor expansion of (/ 1 (* R (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* phi1 phi2)))) in phi1
8.203 * [taylor]: Taking taylor expansion of (* R (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* phi1 phi2))) in phi1
8.203 * [taylor]: Taking taylor expansion of R in phi1
8.203 * [backup-simplify]: Simplify R into R
8.203 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* phi1 phi2)) in phi1
8.203 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
8.203 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
8.203 * [taylor]: Taking taylor expansion of 0.5 in phi1
8.203 * [backup-simplify]: Simplify 0.5 into 0.5
8.203 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
8.203 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
8.203 * [taylor]: Taking taylor expansion of phi1 in phi1
8.203 * [backup-simplify]: Simplify 0 into 0
8.203 * [backup-simplify]: Simplify 1 into 1
8.204 * [backup-simplify]: Simplify (/ 1 1) into 1
8.204 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
8.204 * [taylor]: Taking taylor expansion of phi2 in phi1
8.204 * [backup-simplify]: Simplify phi2 into phi2
8.204 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
8.204 * [backup-simplify]: Simplify (+ 1 0) into 1
8.205 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
8.205 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.205 * [taylor]: Taking taylor expansion of (* phi1 phi2) in phi1
8.205 * [taylor]: Taking taylor expansion of phi1 in phi1
8.205 * [backup-simplify]: Simplify 0 into 0
8.205 * [backup-simplify]: Simplify 1 into 1
8.205 * [taylor]: Taking taylor expansion of phi2 in phi1
8.205 * [backup-simplify]: Simplify phi2 into phi2
8.205 * [backup-simplify]: Simplify (* 0 phi2) into 0
8.205 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
8.205 * [backup-simplify]: Simplify (* R 0) into 0
8.206 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi2)) into phi2
8.206 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi2) (* 0 0)) into (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi2)
8.207 * [backup-simplify]: Simplify (+ (* R (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi2)) (* 0 0)) into (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R phi2))
8.207 * [backup-simplify]: Simplify (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R phi2))) into (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R phi2)))
8.207 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 R)) into 0
8.208 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
8.209 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))) into 0
8.209 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) (/ 0 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))))) into 0
8.210 * [backup-simplify]: Simplify (+ (* 1/2 0) (* 0 (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))) into 0
8.210 * [backup-simplify]: Simplify (+ 0 0) into 0
8.211 * [backup-simplify]: Simplify (- (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R phi2)))) into (- (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R phi2))))
8.211 * [backup-simplify]: Simplify (+ 0 (- (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R phi2))))) into (- (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R phi2))))
8.211 * [taylor]: Taking taylor expansion of (- (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R phi2)))) in phi2
8.211 * [taylor]: Taking taylor expansion of (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R phi2))) in phi2
8.211 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R phi2)) in phi2
8.211 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
8.211 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
8.211 * [taylor]: Taking taylor expansion of 0.5 in phi2
8.211 * [backup-simplify]: Simplify 0.5 into 0.5
8.211 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
8.211 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
8.211 * [taylor]: Taking taylor expansion of phi1 in phi2
8.211 * [backup-simplify]: Simplify phi1 into phi1
8.211 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
8.211 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
8.211 * [taylor]: Taking taylor expansion of phi2 in phi2
8.211 * [backup-simplify]: Simplify 0 into 0
8.211 * [backup-simplify]: Simplify 1 into 1
8.212 * [backup-simplify]: Simplify (/ 1 1) into 1
8.212 * [backup-simplify]: Simplify (+ 0 1) into 1
8.213 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
8.213 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.213 * [taylor]: Taking taylor expansion of (* R phi2) in phi2
8.213 * [taylor]: Taking taylor expansion of R in phi2
8.213 * [backup-simplify]: Simplify R into R
8.213 * [taylor]: Taking taylor expansion of phi2 in phi2
8.213 * [backup-simplify]: Simplify 0 into 0
8.213 * [backup-simplify]: Simplify 1 into 1
8.213 * [backup-simplify]: Simplify (* R 0) into 0
8.213 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
8.214 * [backup-simplify]: Simplify (+ (* R 1) (* 0 0)) into R
8.214 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) (* 0 0)) into (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)
8.215 * [backup-simplify]: Simplify (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) into (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))
8.215 * [backup-simplify]: Simplify (- (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))) into (- (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))
8.215 * [taylor]: Taking taylor expansion of (- (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))) in R
8.215 * [taylor]: Taking taylor expansion of (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) in R
8.215 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) in R
8.215 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in R
8.215 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in R
8.215 * [taylor]: Taking taylor expansion of 0.5 in R
8.215 * [backup-simplify]: Simplify 0.5 into 0.5
8.215 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in R
8.215 * [taylor]: Taking taylor expansion of (/ 1 phi1) in R
8.215 * [taylor]: Taking taylor expansion of phi1 in R
8.215 * [backup-simplify]: Simplify phi1 into phi1
8.215 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
8.215 * [taylor]: Taking taylor expansion of (/ 1 phi2) in R
8.215 * [taylor]: Taking taylor expansion of phi2 in R
8.215 * [backup-simplify]: Simplify phi2 into phi2
8.215 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
8.215 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
8.216 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))
8.216 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.216 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.216 * [taylor]: Taking taylor expansion of R in R
8.216 * [backup-simplify]: Simplify 0 into 0
8.216 * [backup-simplify]: Simplify 1 into 1
8.216 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.216 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
8.217 * [backup-simplify]: Simplify (- 0) into 0
8.217 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.217 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
8.218 * [backup-simplify]: Simplify (+ 0) into 0
8.219 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
8.219 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
8.219 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
8.219 * [backup-simplify]: Simplify (+ 0 0) into 0
8.220 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
8.221 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
8.222 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
8.222 * [backup-simplify]: Simplify (- 0) into 0
8.222 * [backup-simplify]: Simplify (+ 0 0) into 0
8.223 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) (* 0 0)) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.223 * [backup-simplify]: Simplify (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
8.223 * [backup-simplify]: Simplify (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))
8.223 * [backup-simplify]: Simplify (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))
8.224 * [backup-simplify]: Simplify (* 1/2 (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi2 2))))) into (/ 1/2 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi2 2))))
8.224 * [backup-simplify]: Simplify (* 1/2 (/ 1 (* R (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow phi1 2))))) into (/ 1/2 (* (pow phi1 2) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))
8.225 * [backup-simplify]: Simplify (+ (/ 1/2 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi2 2)))) (/ 1/2 (* (pow phi1 2) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))) into (+ (* 1/2 (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi2 2))))) (* 1/2 (/ 1 (* R (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow phi1 2))))))
8.225 * [backup-simplify]: Simplify (- (/ 1 (* R (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* phi1 phi2))))) into (- (/ 1 (* phi1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R phi2)))))
8.227 * [backup-simplify]: Simplify (+ (+ (* 1/2 (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi2 2))))) (* 1/2 (/ 1 (* R (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow phi1 2)))))) (- (/ 1 (* phi1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R phi2)))))) into (- (+ (* 1/2 (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi2 2))))) (* 1/2 (/ 1 (* R (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow phi1 2)))))) (/ 1 (* phi1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R phi2)))))
8.227 * [taylor]: Taking taylor expansion of (- (+ (* 1/2 (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi2 2))))) (* 1/2 (/ 1 (* R (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow phi1 2)))))) (/ 1 (* phi1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R phi2))))) in phi1
8.227 * [taylor]: Taking taylor expansion of (+ (* 1/2 (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi2 2))))) (* 1/2 (/ 1 (* R (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow phi1 2)))))) in phi1
8.227 * [taylor]: Taking taylor expansion of (* 1/2 (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi2 2))))) in phi1
8.227 * [taylor]: Taking taylor expansion of 1/2 in phi1
8.227 * [backup-simplify]: Simplify 1/2 into 1/2
8.227 * [taylor]: Taking taylor expansion of (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi2 2)))) in phi1
8.227 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi2 2))) in phi1
8.227 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
8.227 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
8.227 * [taylor]: Taking taylor expansion of 0.5 in phi1
8.227 * [backup-simplify]: Simplify 0.5 into 0.5
8.227 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
8.227 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
8.227 * [taylor]: Taking taylor expansion of phi1 in phi1
8.227 * [backup-simplify]: Simplify 0 into 0
8.227 * [backup-simplify]: Simplify 1 into 1
8.228 * [backup-simplify]: Simplify (/ 1 1) into 1
8.228 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
8.228 * [taylor]: Taking taylor expansion of phi2 in phi1
8.228 * [backup-simplify]: Simplify phi2 into phi2
8.228 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
8.228 * [backup-simplify]: Simplify (+ 1 0) into 1
8.229 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
8.229 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.229 * [taylor]: Taking taylor expansion of (* R (pow phi2 2)) in phi1
8.229 * [taylor]: Taking taylor expansion of R in phi1
8.229 * [backup-simplify]: Simplify R into R
8.229 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1
8.229 * [taylor]: Taking taylor expansion of phi2 in phi1
8.229 * [backup-simplify]: Simplify phi2 into phi2
8.229 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
8.229 * [backup-simplify]: Simplify (* R (pow phi2 2)) into (* R (pow phi2 2))
8.230 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi2 2))) into (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi2 2)))
8.230 * [backup-simplify]: Simplify (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi2 2)))) into (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi2 2))))
8.230 * [taylor]: Taking taylor expansion of (* 1/2 (/ 1 (* R (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow phi1 2))))) in phi1
8.230 * [taylor]: Taking taylor expansion of 1/2 in phi1
8.230 * [backup-simplify]: Simplify 1/2 into 1/2
8.230 * [taylor]: Taking taylor expansion of (/ 1 (* R (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow phi1 2)))) in phi1
8.230 * [taylor]: Taking taylor expansion of (* R (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow phi1 2))) in phi1
8.230 * [taylor]: Taking taylor expansion of R in phi1
8.230 * [backup-simplify]: Simplify R into R
8.230 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow phi1 2)) in phi1
8.230 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
8.230 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
8.230 * [taylor]: Taking taylor expansion of 0.5 in phi1
8.230 * [backup-simplify]: Simplify 0.5 into 0.5
8.230 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
8.230 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
8.230 * [taylor]: Taking taylor expansion of phi1 in phi1
8.230 * [backup-simplify]: Simplify 0 into 0
8.230 * [backup-simplify]: Simplify 1 into 1
8.231 * [backup-simplify]: Simplify (/ 1 1) into 1
8.231 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
8.231 * [taylor]: Taking taylor expansion of phi2 in phi1
8.231 * [backup-simplify]: Simplify phi2 into phi2
8.231 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
8.231 * [backup-simplify]: Simplify (+ 1 0) into 1
8.232 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
8.232 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.232 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1
8.232 * [taylor]: Taking taylor expansion of phi1 in phi1
8.232 * [backup-simplify]: Simplify 0 into 0
8.232 * [backup-simplify]: Simplify 1 into 1
8.232 * [backup-simplify]: Simplify (* 1 1) into 1
8.233 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.233 * [backup-simplify]: Simplify (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)
8.233 * [backup-simplify]: Simplify (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) into (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))
8.233 * [taylor]: Taking taylor expansion of (/ 1 (* phi1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R phi2)))) in phi1
8.233 * [taylor]: Taking taylor expansion of (* phi1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R phi2))) in phi1
8.233 * [taylor]: Taking taylor expansion of phi1 in phi1
8.233 * [backup-simplify]: Simplify 0 into 0
8.233 * [backup-simplify]: Simplify 1 into 1
8.233 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R phi2)) in phi1
8.233 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
8.233 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
8.233 * [taylor]: Taking taylor expansion of 0.5 in phi1
8.233 * [backup-simplify]: Simplify 0.5 into 0.5
8.233 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
8.233 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
8.233 * [taylor]: Taking taylor expansion of phi1 in phi1
8.233 * [backup-simplify]: Simplify 0 into 0
8.233 * [backup-simplify]: Simplify 1 into 1
8.234 * [backup-simplify]: Simplify (/ 1 1) into 1
8.234 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
8.234 * [taylor]: Taking taylor expansion of phi2 in phi1
8.234 * [backup-simplify]: Simplify phi2 into phi2
8.234 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
8.234 * [backup-simplify]: Simplify (+ 1 0) into 1
8.235 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
8.235 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.235 * [taylor]: Taking taylor expansion of (* R phi2) in phi1
8.235 * [taylor]: Taking taylor expansion of R in phi1
8.235 * [backup-simplify]: Simplify R into R
8.235 * [taylor]: Taking taylor expansion of phi2 in phi1
8.235 * [backup-simplify]: Simplify phi2 into phi2
8.235 * [backup-simplify]: Simplify (* R phi2) into (* R phi2)
8.236 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R phi2)) into (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R phi2))
8.236 * [backup-simplify]: Simplify (* 0 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R phi2))) into 0
8.236 * [backup-simplify]: Simplify (+ (* R 0) (* 0 phi2)) into 0
8.236 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (* R phi2))) into 0
8.237 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R phi2)))) into (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R phi2))
8.237 * [backup-simplify]: Simplify (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R phi2))) into (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R phi2)))
8.238 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
8.238 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
8.238 * [backup-simplify]: Simplify (+ (* R 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0
8.239 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) (/ 0 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))))) into 0
8.240 * [backup-simplify]: Simplify (+ (* 1/2 0) (* 0 (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))) into 0
8.240 * [backup-simplify]: Simplify (+ 0 0) into 0
8.240 * [backup-simplify]: Simplify (- (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R phi2)))) into (- (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R phi2))))
8.241 * [backup-simplify]: Simplify (+ 0 (- (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R phi2))))) into (- (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R phi2))))
8.241 * [taylor]: Taking taylor expansion of (- (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R phi2)))) in phi2
8.241 * [taylor]: Taking taylor expansion of (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R phi2))) in phi2
8.241 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R phi2)) in phi2
8.241 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
8.241 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
8.241 * [taylor]: Taking taylor expansion of 0.5 in phi2
8.241 * [backup-simplify]: Simplify 0.5 into 0.5
8.241 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
8.241 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
8.241 * [taylor]: Taking taylor expansion of phi1 in phi2
8.241 * [backup-simplify]: Simplify phi1 into phi1
8.241 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
8.241 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
8.241 * [taylor]: Taking taylor expansion of phi2 in phi2
8.241 * [backup-simplify]: Simplify 0 into 0
8.241 * [backup-simplify]: Simplify 1 into 1
8.241 * [backup-simplify]: Simplify (/ 1 1) into 1
8.242 * [backup-simplify]: Simplify (+ 0 1) into 1
8.242 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
8.242 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.242 * [taylor]: Taking taylor expansion of (* R phi2) in phi2
8.242 * [taylor]: Taking taylor expansion of R in phi2
8.242 * [backup-simplify]: Simplify R into R
8.242 * [taylor]: Taking taylor expansion of phi2 in phi2
8.242 * [backup-simplify]: Simplify 0 into 0
8.243 * [backup-simplify]: Simplify 1 into 1
8.243 * [backup-simplify]: Simplify (* R 0) into 0
8.243 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
8.243 * [backup-simplify]: Simplify (+ (* R 1) (* 0 0)) into R
8.244 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) (* 0 0)) into (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)
8.244 * [backup-simplify]: Simplify (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) into (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))
8.244 * [backup-simplify]: Simplify (- (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))) into (- (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))
8.244 * [taylor]: Taking taylor expansion of (- (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))) in R
8.244 * [taylor]: Taking taylor expansion of (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) in R
8.244 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) in R
8.244 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in R
8.244 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in R
8.244 * [taylor]: Taking taylor expansion of 0.5 in R
8.244 * [backup-simplify]: Simplify 0.5 into 0.5
8.244 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in R
8.244 * [taylor]: Taking taylor expansion of (/ 1 phi1) in R
8.244 * [taylor]: Taking taylor expansion of phi1 in R
8.244 * [backup-simplify]: Simplify phi1 into phi1
8.245 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
8.245 * [taylor]: Taking taylor expansion of (/ 1 phi2) in R
8.245 * [taylor]: Taking taylor expansion of phi2 in R
8.245 * [backup-simplify]: Simplify phi2 into phi2
8.245 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
8.245 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
8.245 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))
8.245 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.245 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.245 * [taylor]: Taking taylor expansion of R in R
8.245 * [backup-simplify]: Simplify 0 into 0
8.245 * [backup-simplify]: Simplify 1 into 1
8.245 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.246 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
8.246 * [backup-simplify]: Simplify (- 0) into 0
8.246 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.246 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
8.247 * [backup-simplify]: Simplify (+ 0) into 0
8.247 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
8.248 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
8.248 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
8.248 * [backup-simplify]: Simplify (+ 0 0) into 0
8.249 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
8.249 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
8.250 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
8.250 * [backup-simplify]: Simplify (- 0) into 0
8.251 * [backup-simplify]: Simplify (+ 0 0) into 0
8.251 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) (* 0 0)) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.251 * [backup-simplify]: Simplify (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
8.252 * [backup-simplify]: Simplify (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))
8.252 * [backup-simplify]: Simplify (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))
8.253 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
8.253 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0
8.254 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
8.254 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
8.254 * [backup-simplify]: Simplify (+ 0 0) into 0
8.255 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0
8.256 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
8.256 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0
8.257 * [backup-simplify]: Simplify (- 0) into 0
8.257 * [backup-simplify]: Simplify (+ 0 0) into 0
8.258 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (+ (* 0 0) (* 0 R)))) into 0
8.259 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) (/ 0 R)) (* 0 (/ 0 R)))) into 0
8.259 * [backup-simplify]: Simplify (- 0) into 0
8.259 * [taylor]: Taking taylor expansion of 0 in phi1
8.259 * [backup-simplify]: Simplify 0 into 0
8.260 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
8.261 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0
8.261 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
8.261 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
8.261 * [backup-simplify]: Simplify (+ 0 0) into 0
8.262 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0
8.263 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
8.264 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0
8.264 * [backup-simplify]: Simplify (- 0) into 0
8.264 * [backup-simplify]: Simplify (+ 0 0) into 0
8.265 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) (/ 0 R)) (* 0 (/ 0 R)))) into 0
8.265 * [taylor]: Taking taylor expansion of 0 in phi1
8.265 * [backup-simplify]: Simplify 0 into 0
8.265 * [taylor]: Taking taylor expansion of 0 in phi2
8.265 * [backup-simplify]: Simplify 0 into 0
8.265 * [taylor]: Taking taylor expansion of 0 in phi2
8.265 * [backup-simplify]: Simplify 0 into 0
8.265 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) (/ 0 R)))) into 0
8.266 * [backup-simplify]: Simplify (- 0) into 0
8.266 * [taylor]: Taking taylor expansion of 0 in phi2
8.266 * [backup-simplify]: Simplify 0 into 0
8.266 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) (/ 0 R)))) into 0
8.266 * [taylor]: Taking taylor expansion of 0 in phi2
8.266 * [backup-simplify]: Simplify 0 into 0
8.266 * [backup-simplify]: Simplify (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) into (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))
8.266 * [taylor]: Taking taylor expansion of (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) in R
8.266 * [taylor]: Taking taylor expansion of (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) in R
8.267 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in R
8.267 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in R
8.267 * [taylor]: Taking taylor expansion of 0.5 in R
8.267 * [backup-simplify]: Simplify 0.5 into 0.5
8.267 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in R
8.267 * [taylor]: Taking taylor expansion of (/ 1 phi1) in R
8.267 * [taylor]: Taking taylor expansion of phi1 in R
8.267 * [backup-simplify]: Simplify phi1 into phi1
8.267 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
8.267 * [taylor]: Taking taylor expansion of (/ 1 phi2) in R
8.267 * [taylor]: Taking taylor expansion of phi2 in R
8.267 * [backup-simplify]: Simplify phi2 into phi2
8.267 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
8.267 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
8.267 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))
8.267 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.267 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.267 * [taylor]: Taking taylor expansion of R in R
8.267 * [backup-simplify]: Simplify 0 into 0
8.268 * [backup-simplify]: Simplify 1 into 1
8.268 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.268 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
8.268 * [backup-simplify]: Simplify (- 0) into 0
8.268 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.269 * [backup-simplify]: Simplify (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.269 * [backup-simplify]: Simplify (- (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (- (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
8.269 * [backup-simplify]: Simplify (- (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (- (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
8.271 * [backup-simplify]: Simplify (+ (* (- (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2)))))) (* (/ 1 (/ 1 R)) (* 1 (* 1 (* (/ 1 (/ 1 lambda2)) 1))))) (+ (* (- (/ 1 (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2))))))) (* (/ 1 (/ 1 R)) (* (/ 1 (/ 1 phi2)) (* (/ 1 (/ 1 phi1)) (* 1 (/ 1 lambda1)))))) (* (- (/ 1 (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2))))))) (* (/ 1 (/ 1 R)) (* (/ 1 (/ 1 phi2)) (* (/ 1 (/ 1 phi1)) (* (/ 1 (/ 1 lambda2)) (pow (/ 1 lambda1) 2)))))))) into (- (+ (/ (* R (* lambda2 (* phi1 phi2))) (* (cos (* 0.5 (+ phi1 phi2))) (pow lambda1 2))) (+ (/ (* R (* phi1 phi2)) (* (cos (* 0.5 (+ phi1 phi2))) lambda1)) (* R (* lambda2 (cos (* 0.5 (+ phi1 phi2))))))))
8.272 * [backup-simplify]: Simplify (* (hypot (* (- (/ 1 (- lambda1)) (/ 1 (- lambda2))) (cos (* 0.5 (+ (/ 1 (- phi1)) (/ 1 (- phi2)))))) (- (/ 1 (- phi1)) (/ 1 (- phi2)))) (/ 1 (- R))) into (* -1 (/ (hypot (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi2) (/ 1 phi1))) R))
8.272 * [approximate]: Taking taylor expansion of (* -1 (/ (hypot (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi2) (/ 1 phi1))) R)) in (lambda1 lambda2 phi1 phi2 R) around 0
8.272 * [taylor]: Taking taylor expansion of (* -1 (/ (hypot (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi2) (/ 1 phi1))) R)) in R
8.272 * [taylor]: Taking taylor expansion of -1 in R
8.272 * [backup-simplify]: Simplify -1 into -1
8.272 * [taylor]: Taking taylor expansion of (/ (hypot (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi2) (/ 1 phi1))) R) in R
8.272 * [taylor]: Taking taylor expansion of (hypot (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi2) (/ 1 phi1))) in R
8.272 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1)))))
8.272 * [taylor]: Taking taylor expansion of (+ (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1)))) in R
8.272 * [taylor]: Taking taylor expansion of (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in R
8.272 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in R
8.272 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in R
8.272 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in R
8.272 * [taylor]: Taking taylor expansion of lambda2 in R
8.272 * [backup-simplify]: Simplify lambda2 into lambda2
8.272 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
8.272 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in R
8.272 * [taylor]: Taking taylor expansion of lambda1 in R
8.272 * [backup-simplify]: Simplify lambda1 into lambda1
8.272 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1)
8.272 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in R
8.272 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in R
8.272 * [taylor]: Taking taylor expansion of -0.5 in R
8.272 * [backup-simplify]: Simplify -0.5 into -0.5
8.272 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in R
8.273 * [taylor]: Taking taylor expansion of (/ 1 phi1) in R
8.273 * [taylor]: Taking taylor expansion of phi1 in R
8.273 * [backup-simplify]: Simplify phi1 into phi1
8.273 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
8.273 * [taylor]: Taking taylor expansion of (/ 1 phi2) in R
8.273 * [taylor]: Taking taylor expansion of phi2 in R
8.273 * [backup-simplify]: Simplify phi2 into phi2
8.273 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
8.273 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
8.273 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))
8.273 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.273 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.273 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in R
8.273 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in R
8.273 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in R
8.273 * [taylor]: Taking taylor expansion of lambda2 in R
8.273 * [backup-simplify]: Simplify lambda2 into lambda2
8.273 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
8.273 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in R
8.274 * [taylor]: Taking taylor expansion of lambda1 in R
8.274 * [backup-simplify]: Simplify lambda1 into lambda1
8.274 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1)
8.274 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in R
8.274 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in R
8.274 * [taylor]: Taking taylor expansion of -0.5 in R
8.274 * [backup-simplify]: Simplify -0.5 into -0.5
8.274 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in R
8.274 * [taylor]: Taking taylor expansion of (/ 1 phi1) in R
8.274 * [taylor]: Taking taylor expansion of phi1 in R
8.274 * [backup-simplify]: Simplify phi1 into phi1
8.274 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
8.274 * [taylor]: Taking taylor expansion of (/ 1 phi2) in R
8.274 * [taylor]: Taking taylor expansion of phi2 in R
8.274 * [backup-simplify]: Simplify phi2 into phi2
8.274 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
8.274 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
8.274 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))
8.274 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.274 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.275 * [taylor]: Taking taylor expansion of (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1))) in R
8.275 * [taylor]: Taking taylor expansion of (- (/ 1 phi2) (/ 1 phi1)) in R
8.275 * [taylor]: Taking taylor expansion of (/ 1 phi2) in R
8.275 * [taylor]: Taking taylor expansion of phi2 in R
8.275 * [backup-simplify]: Simplify phi2 into phi2
8.275 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
8.275 * [taylor]: Taking taylor expansion of (/ 1 phi1) in R
8.275 * [taylor]: Taking taylor expansion of phi1 in R
8.275 * [backup-simplify]: Simplify phi1 into phi1
8.275 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
8.275 * [taylor]: Taking taylor expansion of (- (/ 1 phi2) (/ 1 phi1)) in R
8.275 * [taylor]: Taking taylor expansion of (/ 1 phi2) in R
8.275 * [taylor]: Taking taylor expansion of phi2 in R
8.275 * [backup-simplify]: Simplify phi2 into phi2
8.275 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
8.275 * [taylor]: Taking taylor expansion of (/ 1 phi1) in R
8.275 * [taylor]: Taking taylor expansion of phi1 in R
8.275 * [backup-simplify]: Simplify phi1 into phi1
8.275 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
8.275 * [backup-simplify]: Simplify (- (/ 1 lambda1)) into (- (/ 1 lambda1))
8.275 * [backup-simplify]: Simplify (+ (/ 1 lambda2) (- (/ 1 lambda1))) into (- (/ 1 lambda2) (/ 1 lambda1))
8.275 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.276 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
8.276 * [backup-simplify]: Simplify (- 0) into 0
8.276 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.277 * [backup-simplify]: Simplify (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
8.277 * [backup-simplify]: Simplify (- (/ 1 lambda1)) into (- (/ 1 lambda1))
8.277 * [backup-simplify]: Simplify (+ (/ 1 lambda2) (- (/ 1 lambda1))) into (- (/ 1 lambda2) (/ 1 lambda1))
8.277 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.277 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
8.278 * [backup-simplify]: Simplify (- 0) into 0
8.278 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.278 * [backup-simplify]: Simplify (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
8.279 * [backup-simplify]: Simplify (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (* (pow (- (/ 1 lambda2) (/ 1 lambda1)) 2) (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))
8.279 * [backup-simplify]: Simplify (- (/ 1 phi1)) into (- (/ 1 phi1))
8.279 * [backup-simplify]: Simplify (+ (/ 1 phi2) (- (/ 1 phi1))) into (- (/ 1 phi2) (/ 1 phi1))
8.279 * [backup-simplify]: Simplify (- (/ 1 phi1)) into (- (/ 1 phi1))
8.279 * [backup-simplify]: Simplify (+ (/ 1 phi2) (- (/ 1 phi1))) into (- (/ 1 phi2) (/ 1 phi1))
8.279 * [backup-simplify]: Simplify (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1))) into (pow (- (/ 1 phi2) (/ 1 phi1)) 2)
8.280 * [backup-simplify]: Simplify (+ (* (pow (- (/ 1 lambda2) (/ 1 lambda1)) 2) (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) (pow (- (/ 1 phi2) (/ 1 phi1)) 2)) into (- (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))))
8.282 * [backup-simplify]: Simplify (sqrt (- (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))))) into (sqrt (- (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))))
8.283 * [backup-simplify]: Simplify (+ 0) into 0
8.283 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
8.284 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
8.284 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
8.284 * [backup-simplify]: Simplify (+ 0 0) into 0
8.285 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
8.290 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
8.291 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
8.291 * [backup-simplify]: Simplify (- 0) into 0
8.292 * [backup-simplify]: Simplify (+ 0 0) into 0
8.292 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)))) into 0
8.292 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda1) (/ 0 lambda1)))) into 0
8.292 * [backup-simplify]: Simplify (- 0) into 0
8.293 * [backup-simplify]: Simplify (+ 0 0) into 0
8.293 * [backup-simplify]: Simplify (+ (* (- (/ 1 lambda2) (/ 1 lambda1)) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0
8.294 * [backup-simplify]: Simplify (+ 0) into 0
8.294 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
8.294 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
8.295 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
8.295 * [backup-simplify]: Simplify (+ 0 0) into 0
8.296 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
8.296 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
8.297 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
8.298 * [backup-simplify]: Simplify (- 0) into 0
8.298 * [backup-simplify]: Simplify (+ 0 0) into 0
8.298 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)))) into 0
8.298 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda1) (/ 0 lambda1)))) into 0
8.299 * [backup-simplify]: Simplify (- 0) into 0
8.299 * [backup-simplify]: Simplify (+ 0 0) into 0
8.299 * [backup-simplify]: Simplify (+ (* (- (/ 1 lambda2) (/ 1 lambda1)) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0
8.300 * [backup-simplify]: Simplify (+ (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 0) (* 0 (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0
8.300 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
8.300 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
8.301 * [backup-simplify]: Simplify (- 0) into 0
8.301 * [backup-simplify]: Simplify (+ 0 0) into 0
8.301 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
8.301 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
8.302 * [backup-simplify]: Simplify (- 0) into 0
8.302 * [backup-simplify]: Simplify (+ 0 0) into 0
8.302 * [backup-simplify]: Simplify (+ (* (- (/ 1 phi2) (/ 1 phi1)) 0) (* 0 (- (/ 1 phi2) (/ 1 phi1)))) into 0
8.302 * [backup-simplify]: Simplify (+ 0 0) into 0
8.305 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (- (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))))))) into 0
8.305 * [taylor]: Taking taylor expansion of R in R
8.305 * [backup-simplify]: Simplify 0 into 0
8.305 * [backup-simplify]: Simplify 1 into 1
8.307 * [backup-simplify]: Simplify (/ (sqrt (- (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))))) 1) into (sqrt (- (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))))
8.307 * [taylor]: Taking taylor expansion of (* -1 (/ (hypot (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi2) (/ 1 phi1))) R)) in phi2
8.307 * [taylor]: Taking taylor expansion of -1 in phi2
8.307 * [backup-simplify]: Simplify -1 into -1
8.307 * [taylor]: Taking taylor expansion of (/ (hypot (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi2) (/ 1 phi1))) R) in phi2
8.307 * [taylor]: Taking taylor expansion of (hypot (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi2) (/ 1 phi1))) in phi2
8.307 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1)))))
8.308 * [taylor]: Taking taylor expansion of (+ (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1)))) in phi2
8.308 * [taylor]: Taking taylor expansion of (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi2
8.308 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2
8.308 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in phi2
8.308 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in phi2
8.308 * [taylor]: Taking taylor expansion of lambda2 in phi2
8.308 * [backup-simplify]: Simplify lambda2 into lambda2
8.308 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
8.308 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in phi2
8.308 * [taylor]: Taking taylor expansion of lambda1 in phi2
8.308 * [backup-simplify]: Simplify lambda1 into lambda1
8.308 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1)
8.308 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
8.308 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
8.308 * [taylor]: Taking taylor expansion of -0.5 in phi2
8.308 * [backup-simplify]: Simplify -0.5 into -0.5
8.308 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
8.308 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
8.308 * [taylor]: Taking taylor expansion of phi1 in phi2
8.308 * [backup-simplify]: Simplify phi1 into phi1
8.308 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
8.308 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
8.308 * [taylor]: Taking taylor expansion of phi2 in phi2
8.308 * [backup-simplify]: Simplify 0 into 0
8.308 * [backup-simplify]: Simplify 1 into 1
8.309 * [backup-simplify]: Simplify (/ 1 1) into 1
8.309 * [backup-simplify]: Simplify (+ 0 1) into 1
8.310 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
8.310 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.310 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2
8.310 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in phi2
8.310 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in phi2
8.310 * [taylor]: Taking taylor expansion of lambda2 in phi2
8.310 * [backup-simplify]: Simplify lambda2 into lambda2
8.310 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
8.310 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in phi2
8.310 * [taylor]: Taking taylor expansion of lambda1 in phi2
8.310 * [backup-simplify]: Simplify lambda1 into lambda1
8.310 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1)
8.310 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
8.310 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
8.311 * [taylor]: Taking taylor expansion of -0.5 in phi2
8.311 * [backup-simplify]: Simplify -0.5 into -0.5
8.311 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
8.311 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
8.311 * [taylor]: Taking taylor expansion of phi1 in phi2
8.311 * [backup-simplify]: Simplify phi1 into phi1
8.311 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
8.311 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
8.311 * [taylor]: Taking taylor expansion of phi2 in phi2
8.311 * [backup-simplify]: Simplify 0 into 0
8.311 * [backup-simplify]: Simplify 1 into 1
8.311 * [backup-simplify]: Simplify (/ 1 1) into 1
8.312 * [backup-simplify]: Simplify (+ 0 1) into 1
8.312 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
8.312 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.312 * [taylor]: Taking taylor expansion of (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1))) in phi2
8.312 * [taylor]: Taking taylor expansion of (- (/ 1 phi2) (/ 1 phi1)) in phi2
8.312 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
8.312 * [taylor]: Taking taylor expansion of phi2 in phi2
8.312 * [backup-simplify]: Simplify 0 into 0
8.313 * [backup-simplify]: Simplify 1 into 1
8.313 * [backup-simplify]: Simplify (/ 1 1) into 1
8.313 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
8.313 * [taylor]: Taking taylor expansion of phi1 in phi2
8.313 * [backup-simplify]: Simplify phi1 into phi1
8.313 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
8.313 * [taylor]: Taking taylor expansion of (- (/ 1 phi2) (/ 1 phi1)) in phi2
8.313 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
8.313 * [taylor]: Taking taylor expansion of phi2 in phi2
8.313 * [backup-simplify]: Simplify 0 into 0
8.313 * [backup-simplify]: Simplify 1 into 1
8.314 * [backup-simplify]: Simplify (/ 1 1) into 1
8.314 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
8.314 * [taylor]: Taking taylor expansion of phi1 in phi2
8.314 * [backup-simplify]: Simplify phi1 into phi1
8.314 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
8.315 * [backup-simplify]: Simplify (+ 1 0) into 1
8.315 * [backup-simplify]: Simplify (+ 1 0) into 1
8.315 * [backup-simplify]: Simplify (* 1 1) into 1
8.316 * [backup-simplify]: Simplify (+ 0 1) into 1
8.316 * [backup-simplify]: Simplify (sqrt 1) into 1
8.317 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
8.317 * [backup-simplify]: Simplify (- (/ 1 phi1)) into (- (/ 1 phi1))
8.317 * [backup-simplify]: Simplify (+ 0 (- (/ 1 phi1))) into (- (/ 1 phi1))
8.318 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
8.318 * [backup-simplify]: Simplify (- (/ 1 phi1)) into (- (/ 1 phi1))
8.318 * [backup-simplify]: Simplify (+ 0 (- (/ 1 phi1))) into (- (/ 1 phi1))
8.318 * [backup-simplify]: Simplify (+ (* 1 (- (/ 1 phi1))) (* (- (/ 1 phi1)) 1)) into (- (* 2 (/ 1 phi1)))
8.318 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi1)))) into (- (* 2 (/ 1 phi1)))
8.319 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi1))) (* 2 (sqrt 1))) into (/ -1 phi1)
8.319 * [taylor]: Taking taylor expansion of R in phi2
8.319 * [backup-simplify]: Simplify R into R
8.319 * [backup-simplify]: Simplify (/ 1 R) into (/ 1 R)
8.319 * [taylor]: Taking taylor expansion of (* -1 (/ (hypot (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi2) (/ 1 phi1))) R)) in phi1
8.319 * [taylor]: Taking taylor expansion of -1 in phi1
8.319 * [backup-simplify]: Simplify -1 into -1
8.319 * [taylor]: Taking taylor expansion of (/ (hypot (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi2) (/ 1 phi1))) R) in phi1
8.319 * [taylor]: Taking taylor expansion of (hypot (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi2) (/ 1 phi1))) in phi1
8.319 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1)))))
8.319 * [taylor]: Taking taylor expansion of (+ (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1)))) in phi1
8.319 * [taylor]: Taking taylor expansion of (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi1
8.319 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi1
8.319 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in phi1
8.320 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in phi1
8.320 * [taylor]: Taking taylor expansion of lambda2 in phi1
8.320 * [backup-simplify]: Simplify lambda2 into lambda2
8.320 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
8.320 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in phi1
8.320 * [taylor]: Taking taylor expansion of lambda1 in phi1
8.320 * [backup-simplify]: Simplify lambda1 into lambda1
8.320 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1)
8.320 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
8.320 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
8.320 * [taylor]: Taking taylor expansion of -0.5 in phi1
8.320 * [backup-simplify]: Simplify -0.5 into -0.5
8.320 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
8.320 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
8.320 * [taylor]: Taking taylor expansion of phi1 in phi1
8.320 * [backup-simplify]: Simplify 0 into 0
8.320 * [backup-simplify]: Simplify 1 into 1
8.320 * [backup-simplify]: Simplify (/ 1 1) into 1
8.320 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
8.320 * [taylor]: Taking taylor expansion of phi2 in phi1
8.320 * [backup-simplify]: Simplify phi2 into phi2
8.320 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
8.321 * [backup-simplify]: Simplify (+ 1 0) into 1
8.321 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
8.322 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.322 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi1
8.322 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in phi1
8.322 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in phi1
8.322 * [taylor]: Taking taylor expansion of lambda2 in phi1
8.322 * [backup-simplify]: Simplify lambda2 into lambda2
8.322 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
8.322 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in phi1
8.322 * [taylor]: Taking taylor expansion of lambda1 in phi1
8.322 * [backup-simplify]: Simplify lambda1 into lambda1
8.322 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1)
8.322 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
8.322 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
8.322 * [taylor]: Taking taylor expansion of -0.5 in phi1
8.322 * [backup-simplify]: Simplify -0.5 into -0.5
8.322 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
8.322 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
8.322 * [taylor]: Taking taylor expansion of phi1 in phi1
8.322 * [backup-simplify]: Simplify 0 into 0
8.322 * [backup-simplify]: Simplify 1 into 1
8.322 * [backup-simplify]: Simplify (/ 1 1) into 1
8.322 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
8.322 * [taylor]: Taking taylor expansion of phi2 in phi1
8.322 * [backup-simplify]: Simplify phi2 into phi2
8.323 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
8.323 * [backup-simplify]: Simplify (+ 1 0) into 1
8.323 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
8.324 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.324 * [taylor]: Taking taylor expansion of (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1))) in phi1
8.324 * [taylor]: Taking taylor expansion of (- (/ 1 phi2) (/ 1 phi1)) in phi1
8.324 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
8.324 * [taylor]: Taking taylor expansion of phi2 in phi1
8.324 * [backup-simplify]: Simplify phi2 into phi2
8.324 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
8.324 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
8.324 * [taylor]: Taking taylor expansion of phi1 in phi1
8.324 * [backup-simplify]: Simplify 0 into 0
8.324 * [backup-simplify]: Simplify 1 into 1
8.324 * [backup-simplify]: Simplify (/ 1 1) into 1
8.324 * [taylor]: Taking taylor expansion of (- (/ 1 phi2) (/ 1 phi1)) in phi1
8.324 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
8.324 * [taylor]: Taking taylor expansion of phi2 in phi1
8.324 * [backup-simplify]: Simplify phi2 into phi2
8.324 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
8.324 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
8.324 * [taylor]: Taking taylor expansion of phi1 in phi1
8.324 * [backup-simplify]: Simplify 0 into 0
8.325 * [backup-simplify]: Simplify 1 into 1
8.325 * [backup-simplify]: Simplify (/ 1 1) into 1
8.325 * [backup-simplify]: Simplify (- 1) into -1
8.326 * [backup-simplify]: Simplify (+ 0 -1) into -1
8.326 * [backup-simplify]: Simplify (- 1) into -1
8.326 * [backup-simplify]: Simplify (+ 0 -1) into -1
8.327 * [backup-simplify]: Simplify (* -1 -1) into 1
8.327 * [backup-simplify]: Simplify (+ 0 1) into 1
8.327 * [backup-simplify]: Simplify (sqrt 1) into 1
8.328 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
8.329 * [backup-simplify]: Simplify (- 0) into 0
8.329 * [backup-simplify]: Simplify (+ (/ 1 phi2) 0) into (/ 1 phi2)
8.329 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
8.330 * [backup-simplify]: Simplify (- 0) into 0
8.330 * [backup-simplify]: Simplify (+ (/ 1 phi2) 0) into (/ 1 phi2)
8.330 * [backup-simplify]: Simplify (+ (* -1 (/ 1 phi2)) (* (/ 1 phi2) -1)) into (- (* 2 (/ 1 phi2)))
8.330 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2)))
8.331 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi2))) (* 2 (sqrt 1))) into (/ -1 phi2)
8.331 * [taylor]: Taking taylor expansion of R in phi1
8.331 * [backup-simplify]: Simplify R into R
8.331 * [backup-simplify]: Simplify (/ 1 R) into (/ 1 R)
8.331 * [taylor]: Taking taylor expansion of (* -1 (/ (hypot (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi2) (/ 1 phi1))) R)) in lambda2
8.331 * [taylor]: Taking taylor expansion of -1 in lambda2
8.331 * [backup-simplify]: Simplify -1 into -1
8.331 * [taylor]: Taking taylor expansion of (/ (hypot (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi2) (/ 1 phi1))) R) in lambda2
8.331 * [taylor]: Taking taylor expansion of (hypot (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi2) (/ 1 phi1))) in lambda2
8.331 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1)))))
8.331 * [taylor]: Taking taylor expansion of (+ (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1)))) in lambda2
8.331 * [taylor]: Taking taylor expansion of (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in lambda2
8.331 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda2
8.331 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in lambda2
8.331 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda2
8.331 * [taylor]: Taking taylor expansion of lambda2 in lambda2
8.331 * [backup-simplify]: Simplify 0 into 0
8.331 * [backup-simplify]: Simplify 1 into 1
8.332 * [backup-simplify]: Simplify (/ 1 1) into 1
8.332 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda2
8.332 * [taylor]: Taking taylor expansion of lambda1 in lambda2
8.332 * [backup-simplify]: Simplify lambda1 into lambda1
8.332 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1)
8.332 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2
8.332 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2
8.332 * [taylor]: Taking taylor expansion of -0.5 in lambda2
8.332 * [backup-simplify]: Simplify -0.5 into -0.5
8.332 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2
8.332 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
8.332 * [taylor]: Taking taylor expansion of phi1 in lambda2
8.332 * [backup-simplify]: Simplify phi1 into phi1
8.332 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
8.332 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
8.332 * [taylor]: Taking taylor expansion of phi2 in lambda2
8.332 * [backup-simplify]: Simplify phi2 into phi2
8.332 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
8.332 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
8.332 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))
8.333 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.333 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.333 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda2
8.333 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in lambda2
8.333 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda2
8.333 * [taylor]: Taking taylor expansion of lambda2 in lambda2
8.333 * [backup-simplify]: Simplify 0 into 0
8.333 * [backup-simplify]: Simplify 1 into 1
8.333 * [backup-simplify]: Simplify (/ 1 1) into 1
8.333 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda2
8.333 * [taylor]: Taking taylor expansion of lambda1 in lambda2
8.333 * [backup-simplify]: Simplify lambda1 into lambda1
8.333 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1)
8.333 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2
8.333 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2
8.334 * [taylor]: Taking taylor expansion of -0.5 in lambda2
8.334 * [backup-simplify]: Simplify -0.5 into -0.5
8.334 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2
8.334 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
8.334 * [taylor]: Taking taylor expansion of phi1 in lambda2
8.334 * [backup-simplify]: Simplify phi1 into phi1
8.334 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
8.334 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
8.334 * [taylor]: Taking taylor expansion of phi2 in lambda2
8.334 * [backup-simplify]: Simplify phi2 into phi2
8.334 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
8.334 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
8.334 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))
8.334 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.334 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.334 * [taylor]: Taking taylor expansion of (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1))) in lambda2
8.334 * [taylor]: Taking taylor expansion of (- (/ 1 phi2) (/ 1 phi1)) in lambda2
8.334 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
8.334 * [taylor]: Taking taylor expansion of phi2 in lambda2
8.334 * [backup-simplify]: Simplify phi2 into phi2
8.335 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
8.335 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
8.335 * [taylor]: Taking taylor expansion of phi1 in lambda2
8.335 * [backup-simplify]: Simplify phi1 into phi1
8.335 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
8.335 * [taylor]: Taking taylor expansion of (- (/ 1 phi2) (/ 1 phi1)) in lambda2
8.335 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
8.335 * [taylor]: Taking taylor expansion of phi2 in lambda2
8.335 * [backup-simplify]: Simplify phi2 into phi2
8.335 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
8.335 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
8.335 * [taylor]: Taking taylor expansion of phi1 in lambda2
8.335 * [backup-simplify]: Simplify phi1 into phi1
8.335 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
8.335 * [backup-simplify]: Simplify (+ 1 0) into 1
8.336 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.336 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
8.336 * [backup-simplify]: Simplify (- 0) into 0
8.336 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.336 * [backup-simplify]: Simplify (* 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.337 * [backup-simplify]: Simplify (+ 1 0) into 1
8.337 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.337 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
8.338 * [backup-simplify]: Simplify (- 0) into 0
8.338 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.338 * [backup-simplify]: Simplify (* 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.338 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
8.339 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
8.339 * [backup-simplify]: Simplify (sqrt (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.339 * [backup-simplify]: Simplify (+ 0) into 0
8.340 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
8.340 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
8.340 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
8.341 * [backup-simplify]: Simplify (+ 0 0) into 0
8.341 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
8.342 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
8.343 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
8.343 * [backup-simplify]: Simplify (- 0) into 0
8.344 * [backup-simplify]: Simplify (+ 0 0) into 0
8.345 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
8.345 * [backup-simplify]: Simplify (- (/ 1 lambda1)) into (- (/ 1 lambda1))
8.345 * [backup-simplify]: Simplify (+ 0 (- (/ 1 lambda1))) into (- (/ 1 lambda1))
8.346 * [backup-simplify]: Simplify (+ (* 1 0) (* (- (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1))
8.346 * [backup-simplify]: Simplify (+ 0) into 0
8.347 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
8.347 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
8.347 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
8.348 * [backup-simplify]: Simplify (+ 0 0) into 0
8.348 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
8.349 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
8.349 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
8.350 * [backup-simplify]: Simplify (- 0) into 0
8.350 * [backup-simplify]: Simplify (+ 0 0) into 0
8.351 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
8.351 * [backup-simplify]: Simplify (- (/ 1 lambda1)) into (- (/ 1 lambda1))
8.351 * [backup-simplify]: Simplify (+ 0 (- (/ 1 lambda1))) into (- (/ 1 lambda1))
8.352 * [backup-simplify]: Simplify (+ (* 1 0) (* (- (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1))
8.353 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1))) (* (- (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))
8.353 * [backup-simplify]: Simplify (+ (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) 0) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))
8.354 * [backup-simplify]: Simplify (/ (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) (* 2 (sqrt (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)))) into (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1))
8.354 * [taylor]: Taking taylor expansion of R in lambda2
8.354 * [backup-simplify]: Simplify R into R
8.354 * [backup-simplify]: Simplify (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) into (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)
8.354 * [taylor]: Taking taylor expansion of (* -1 (/ (hypot (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi2) (/ 1 phi1))) R)) in lambda1
8.354 * [taylor]: Taking taylor expansion of -1 in lambda1
8.354 * [backup-simplify]: Simplify -1 into -1
8.354 * [taylor]: Taking taylor expansion of (/ (hypot (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi2) (/ 1 phi1))) R) in lambda1
8.354 * [taylor]: Taking taylor expansion of (hypot (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi2) (/ 1 phi1))) in lambda1
8.354 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1)))))
8.354 * [taylor]: Taking taylor expansion of (+ (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1)))) in lambda1
8.354 * [taylor]: Taking taylor expansion of (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in lambda1
8.354 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda1
8.354 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in lambda1
8.355 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda1
8.355 * [taylor]: Taking taylor expansion of lambda2 in lambda1
8.355 * [backup-simplify]: Simplify lambda2 into lambda2
8.355 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
8.355 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1
8.355 * [taylor]: Taking taylor expansion of lambda1 in lambda1
8.355 * [backup-simplify]: Simplify 0 into 0
8.355 * [backup-simplify]: Simplify 1 into 1
8.355 * [backup-simplify]: Simplify (/ 1 1) into 1
8.355 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1
8.355 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1
8.355 * [taylor]: Taking taylor expansion of -0.5 in lambda1
8.355 * [backup-simplify]: Simplify -0.5 into -0.5
8.355 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1
8.355 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
8.356 * [taylor]: Taking taylor expansion of phi1 in lambda1
8.356 * [backup-simplify]: Simplify phi1 into phi1
8.356 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
8.356 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
8.356 * [taylor]: Taking taylor expansion of phi2 in lambda1
8.356 * [backup-simplify]: Simplify phi2 into phi2
8.356 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
8.356 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
8.356 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))
8.356 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.356 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.356 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda1
8.356 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in lambda1
8.356 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda1
8.357 * [taylor]: Taking taylor expansion of lambda2 in lambda1
8.357 * [backup-simplify]: Simplify lambda2 into lambda2
8.357 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
8.357 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1
8.357 * [taylor]: Taking taylor expansion of lambda1 in lambda1
8.357 * [backup-simplify]: Simplify 0 into 0
8.357 * [backup-simplify]: Simplify 1 into 1
8.357 * [backup-simplify]: Simplify (/ 1 1) into 1
8.357 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1
8.357 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1
8.357 * [taylor]: Taking taylor expansion of -0.5 in lambda1
8.357 * [backup-simplify]: Simplify -0.5 into -0.5
8.357 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1
8.357 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
8.357 * [taylor]: Taking taylor expansion of phi1 in lambda1
8.357 * [backup-simplify]: Simplify phi1 into phi1
8.357 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
8.357 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
8.357 * [taylor]: Taking taylor expansion of phi2 in lambda1
8.357 * [backup-simplify]: Simplify phi2 into phi2
8.358 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
8.358 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
8.358 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))
8.358 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.358 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.358 * [taylor]: Taking taylor expansion of (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1))) in lambda1
8.358 * [taylor]: Taking taylor expansion of (- (/ 1 phi2) (/ 1 phi1)) in lambda1
8.358 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
8.358 * [taylor]: Taking taylor expansion of phi2 in lambda1
8.358 * [backup-simplify]: Simplify phi2 into phi2
8.358 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
8.358 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
8.358 * [taylor]: Taking taylor expansion of phi1 in lambda1
8.358 * [backup-simplify]: Simplify phi1 into phi1
8.358 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
8.358 * [taylor]: Taking taylor expansion of (- (/ 1 phi2) (/ 1 phi1)) in lambda1
8.358 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
8.358 * [taylor]: Taking taylor expansion of phi2 in lambda1
8.358 * [backup-simplify]: Simplify phi2 into phi2
8.358 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
8.359 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
8.359 * [taylor]: Taking taylor expansion of phi1 in lambda1
8.359 * [backup-simplify]: Simplify phi1 into phi1
8.359 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
8.359 * [backup-simplify]: Simplify (- 1) into -1
8.360 * [backup-simplify]: Simplify (+ 0 -1) into -1
8.360 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.360 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
8.360 * [backup-simplify]: Simplify (- 0) into 0
8.360 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.361 * [backup-simplify]: Simplify (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
8.361 * [backup-simplify]: Simplify (- 1) into -1
8.361 * [backup-simplify]: Simplify (+ 0 -1) into -1
8.362 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.362 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
8.362 * [backup-simplify]: Simplify (- 0) into 0
8.362 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.362 * [backup-simplify]: Simplify (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
8.363 * [backup-simplify]: Simplify (* (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
8.363 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
8.363 * [backup-simplify]: Simplify (sqrt (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.364 * [backup-simplify]: Simplify (+ 0) into 0
8.364 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
8.365 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
8.365 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
8.365 * [backup-simplify]: Simplify (+ 0 0) into 0
8.366 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
8.366 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
8.367 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
8.367 * [backup-simplify]: Simplify (- 0) into 0
8.367 * [backup-simplify]: Simplify (+ 0 0) into 0
8.368 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
8.369 * [backup-simplify]: Simplify (- 0) into 0
8.369 * [backup-simplify]: Simplify (+ (/ 1 lambda2) 0) into (/ 1 lambda2)
8.369 * [backup-simplify]: Simplify (+ (* -1 0) (* (/ 1 lambda2) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)
8.370 * [backup-simplify]: Simplify (+ 0) into 0
8.370 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
8.370 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
8.370 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
8.371 * [backup-simplify]: Simplify (+ 0 0) into 0
8.371 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
8.372 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
8.373 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
8.373 * [backup-simplify]: Simplify (- 0) into 0
8.373 * [backup-simplify]: Simplify (+ 0 0) into 0
8.374 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
8.374 * [backup-simplify]: Simplify (- 0) into 0
8.374 * [backup-simplify]: Simplify (+ (/ 1 lambda2) 0) into (/ 1 lambda2)
8.374 * [backup-simplify]: Simplify (+ (* -1 0) (* (/ 1 lambda2) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)
8.375 * [backup-simplify]: Simplify (+ (* (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) (* (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2) (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))
8.375 * [backup-simplify]: Simplify (+ (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 0) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))
8.376 * [backup-simplify]: Simplify (/ (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) (* 2 (sqrt (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)))) into (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2))
8.376 * [taylor]: Taking taylor expansion of R in lambda1
8.376 * [backup-simplify]: Simplify R into R
8.376 * [backup-simplify]: Simplify (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) into (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)
8.376 * [taylor]: Taking taylor expansion of (* -1 (/ (hypot (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi2) (/ 1 phi1))) R)) in lambda1
8.376 * [taylor]: Taking taylor expansion of -1 in lambda1
8.376 * [backup-simplify]: Simplify -1 into -1
8.376 * [taylor]: Taking taylor expansion of (/ (hypot (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi2) (/ 1 phi1))) R) in lambda1
8.376 * [taylor]: Taking taylor expansion of (hypot (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi2) (/ 1 phi1))) in lambda1
8.376 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1)))))
8.376 * [taylor]: Taking taylor expansion of (+ (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1)))) in lambda1
8.376 * [taylor]: Taking taylor expansion of (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in lambda1
8.376 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda1
8.376 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in lambda1
8.376 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda1
8.376 * [taylor]: Taking taylor expansion of lambda2 in lambda1
8.376 * [backup-simplify]: Simplify lambda2 into lambda2
8.376 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
8.376 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1
8.376 * [taylor]: Taking taylor expansion of lambda1 in lambda1
8.376 * [backup-simplify]: Simplify 0 into 0
8.376 * [backup-simplify]: Simplify 1 into 1
8.377 * [backup-simplify]: Simplify (/ 1 1) into 1
8.377 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1
8.377 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1
8.377 * [taylor]: Taking taylor expansion of -0.5 in lambda1
8.377 * [backup-simplify]: Simplify -0.5 into -0.5
8.377 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1
8.377 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
8.377 * [taylor]: Taking taylor expansion of phi1 in lambda1
8.377 * [backup-simplify]: Simplify phi1 into phi1
8.377 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
8.377 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
8.377 * [taylor]: Taking taylor expansion of phi2 in lambda1
8.377 * [backup-simplify]: Simplify phi2 into phi2
8.377 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
8.377 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
8.377 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))
8.377 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.377 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.377 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda1
8.377 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in lambda1
8.377 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda1
8.377 * [taylor]: Taking taylor expansion of lambda2 in lambda1
8.377 * [backup-simplify]: Simplify lambda2 into lambda2
8.377 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
8.377 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1
8.377 * [taylor]: Taking taylor expansion of lambda1 in lambda1
8.377 * [backup-simplify]: Simplify 0 into 0
8.377 * [backup-simplify]: Simplify 1 into 1
8.378 * [backup-simplify]: Simplify (/ 1 1) into 1
8.378 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1
8.378 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1
8.378 * [taylor]: Taking taylor expansion of -0.5 in lambda1
8.378 * [backup-simplify]: Simplify -0.5 into -0.5
8.378 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1
8.378 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
8.378 * [taylor]: Taking taylor expansion of phi1 in lambda1
8.378 * [backup-simplify]: Simplify phi1 into phi1
8.378 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
8.378 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
8.378 * [taylor]: Taking taylor expansion of phi2 in lambda1
8.378 * [backup-simplify]: Simplify phi2 into phi2
8.378 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
8.378 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
8.378 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))
8.378 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.378 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.378 * [taylor]: Taking taylor expansion of (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1))) in lambda1
8.378 * [taylor]: Taking taylor expansion of (- (/ 1 phi2) (/ 1 phi1)) in lambda1
8.378 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
8.378 * [taylor]: Taking taylor expansion of phi2 in lambda1
8.378 * [backup-simplify]: Simplify phi2 into phi2
8.379 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
8.379 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
8.379 * [taylor]: Taking taylor expansion of phi1 in lambda1
8.379 * [backup-simplify]: Simplify phi1 into phi1
8.379 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
8.379 * [taylor]: Taking taylor expansion of (- (/ 1 phi2) (/ 1 phi1)) in lambda1
8.379 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
8.379 * [taylor]: Taking taylor expansion of phi2 in lambda1
8.379 * [backup-simplify]: Simplify phi2 into phi2
8.379 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
8.379 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
8.379 * [taylor]: Taking taylor expansion of phi1 in lambda1
8.379 * [backup-simplify]: Simplify phi1 into phi1
8.379 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
8.379 * [backup-simplify]: Simplify (- 1) into -1
8.379 * [backup-simplify]: Simplify (+ 0 -1) into -1
8.379 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.380 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
8.380 * [backup-simplify]: Simplify (- 0) into 0
8.380 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.380 * [backup-simplify]: Simplify (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
8.380 * [backup-simplify]: Simplify (- 1) into -1
8.381 * [backup-simplify]: Simplify (+ 0 -1) into -1
8.381 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.381 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
8.381 * [backup-simplify]: Simplify (- 0) into 0
8.381 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.381 * [backup-simplify]: Simplify (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
8.382 * [backup-simplify]: Simplify (* (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
8.382 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
8.382 * [backup-simplify]: Simplify (sqrt (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.382 * [backup-simplify]: Simplify (+ 0) into 0
8.383 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
8.383 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
8.383 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
8.383 * [backup-simplify]: Simplify (+ 0 0) into 0
8.384 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
8.384 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
8.385 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
8.385 * [backup-simplify]: Simplify (- 0) into 0
8.385 * [backup-simplify]: Simplify (+ 0 0) into 0
8.386 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
8.386 * [backup-simplify]: Simplify (- 0) into 0
8.386 * [backup-simplify]: Simplify (+ (/ 1 lambda2) 0) into (/ 1 lambda2)
8.387 * [backup-simplify]: Simplify (+ (* -1 0) (* (/ 1 lambda2) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)
8.387 * [backup-simplify]: Simplify (+ 0) into 0
8.388 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
8.388 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
8.388 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
8.388 * [backup-simplify]: Simplify (+ 0 0) into 0
8.389 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
8.389 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
8.390 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
8.390 * [backup-simplify]: Simplify (- 0) into 0
8.391 * [backup-simplify]: Simplify (+ 0 0) into 0
8.391 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
8.392 * [backup-simplify]: Simplify (- 0) into 0
8.392 * [backup-simplify]: Simplify (+ (/ 1 lambda2) 0) into (/ 1 lambda2)
8.392 * [backup-simplify]: Simplify (+ (* -1 0) (* (/ 1 lambda2) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)
8.393 * [backup-simplify]: Simplify (+ (* (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) (* (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2) (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))
8.394 * [backup-simplify]: Simplify (+ (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 0) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))
8.394 * [backup-simplify]: Simplify (/ (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) (* 2 (sqrt (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)))) into (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2))
8.395 * [taylor]: Taking taylor expansion of R in lambda1
8.395 * [backup-simplify]: Simplify R into R
8.395 * [backup-simplify]: Simplify (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) into (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)
8.395 * [backup-simplify]: Simplify (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) into (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))
8.395 * [taylor]: Taking taylor expansion of (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) in lambda2
8.395 * [taylor]: Taking taylor expansion of -1 in lambda2
8.395 * [backup-simplify]: Simplify -1 into -1
8.395 * [taylor]: Taking taylor expansion of (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) in lambda2
8.395 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2
8.395 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2
8.395 * [taylor]: Taking taylor expansion of -0.5 in lambda2
8.395 * [backup-simplify]: Simplify -0.5 into -0.5
8.395 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2
8.395 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
8.395 * [taylor]: Taking taylor expansion of phi1 in lambda2
8.395 * [backup-simplify]: Simplify phi1 into phi1
8.395 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
8.395 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
8.395 * [taylor]: Taking taylor expansion of phi2 in lambda2
8.395 * [backup-simplify]: Simplify phi2 into phi2
8.396 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
8.396 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
8.396 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))
8.396 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.396 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.396 * [taylor]: Taking taylor expansion of R in lambda2
8.396 * [backup-simplify]: Simplify R into R
8.397 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.397 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
8.397 * [backup-simplify]: Simplify (- 0) into 0
8.398 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.398 * [backup-simplify]: Simplify (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) into (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)
8.398 * [backup-simplify]: Simplify (- (/ (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) R) (+ (* (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) (/ 0 R)))) into (- (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* lambda2 R)))
8.399 * [backup-simplify]: Simplify (+ (* -1 (- (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* lambda2 R)))) (* 0 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))) into (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* lambda2 R))
8.399 * [taylor]: Taking taylor expansion of (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* lambda2 R)) in lambda2
8.399 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2
8.399 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2
8.399 * [taylor]: Taking taylor expansion of -0.5 in lambda2
8.399 * [backup-simplify]: Simplify -0.5 into -0.5
8.399 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2
8.399 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
8.399 * [taylor]: Taking taylor expansion of phi1 in lambda2
8.399 * [backup-simplify]: Simplify phi1 into phi1
8.399 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
8.399 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
8.399 * [taylor]: Taking taylor expansion of phi2 in lambda2
8.399 * [backup-simplify]: Simplify phi2 into phi2
8.399 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
8.399 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
8.399 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))
8.400 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.400 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.400 * [taylor]: Taking taylor expansion of (* lambda2 R) in lambda2
8.400 * [taylor]: Taking taylor expansion of lambda2 in lambda2
8.400 * [backup-simplify]: Simplify 0 into 0
8.400 * [backup-simplify]: Simplify 1 into 1
8.400 * [taylor]: Taking taylor expansion of R in lambda2
8.400 * [backup-simplify]: Simplify R into R
8.400 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.400 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
8.401 * [backup-simplify]: Simplify (- 0) into 0
8.401 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.401 * [backup-simplify]: Simplify (* 0 R) into 0
8.401 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 R)) into R
8.402 * [backup-simplify]: Simplify (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) into (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)
8.402 * [taylor]: Taking taylor expansion of (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) in phi1
8.402 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
8.402 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
8.402 * [taylor]: Taking taylor expansion of -0.5 in phi1
8.402 * [backup-simplify]: Simplify -0.5 into -0.5
8.402 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
8.402 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
8.402 * [taylor]: Taking taylor expansion of phi1 in phi1
8.402 * [backup-simplify]: Simplify 0 into 0
8.402 * [backup-simplify]: Simplify 1 into 1
8.402 * [backup-simplify]: Simplify (/ 1 1) into 1
8.402 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
8.402 * [taylor]: Taking taylor expansion of phi2 in phi1
8.402 * [backup-simplify]: Simplify phi2 into phi2
8.402 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
8.403 * [backup-simplify]: Simplify (+ 1 0) into 1
8.403 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
8.404 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.404 * [taylor]: Taking taylor expansion of R in phi1
8.404 * [backup-simplify]: Simplify R into R
8.404 * [backup-simplify]: Simplify (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) into (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)
8.404 * [backup-simplify]: Simplify (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) into (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))
8.404 * [taylor]: Taking taylor expansion of (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) in phi1
8.404 * [taylor]: Taking taylor expansion of -1 in phi1
8.404 * [backup-simplify]: Simplify -1 into -1
8.404 * [taylor]: Taking taylor expansion of (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) in phi1
8.404 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
8.404 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
8.404 * [taylor]: Taking taylor expansion of -0.5 in phi1
8.404 * [backup-simplify]: Simplify -0.5 into -0.5
8.404 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
8.404 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
8.404 * [taylor]: Taking taylor expansion of phi1 in phi1
8.404 * [backup-simplify]: Simplify 0 into 0
8.404 * [backup-simplify]: Simplify 1 into 1
8.405 * [backup-simplify]: Simplify (/ 1 1) into 1
8.405 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
8.405 * [taylor]: Taking taylor expansion of phi2 in phi1
8.405 * [backup-simplify]: Simplify phi2 into phi2
8.405 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
8.405 * [backup-simplify]: Simplify (+ 1 0) into 1
8.406 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
8.406 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.406 * [taylor]: Taking taylor expansion of R in phi1
8.406 * [backup-simplify]: Simplify R into R
8.406 * [backup-simplify]: Simplify (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) into (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)
8.407 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
8.408 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0
8.408 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
8.408 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
8.408 * [backup-simplify]: Simplify (+ 0 0) into 0
8.409 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0
8.410 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
8.411 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0
8.411 * [backup-simplify]: Simplify (- 0) into 0
8.412 * [backup-simplify]: Simplify (+ 0 0) into 0
8.412 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)))) into 0
8.413 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)))) into 0
8.413 * [backup-simplify]: Simplify (- 0) into 0
8.413 * [backup-simplify]: Simplify (+ 0 0) into 0
8.414 * [backup-simplify]: Simplify (+ (* -1 0) (+ (* (/ 1 lambda2) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0
8.415 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
8.415 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0
8.416 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
8.416 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
8.416 * [backup-simplify]: Simplify (+ 0 0) into 0
8.417 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0
8.418 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
8.418 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0
8.419 * [backup-simplify]: Simplify (- 0) into 0
8.419 * [backup-simplify]: Simplify (+ 0 0) into 0
8.419 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)))) into 0
8.420 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)))) into 0
8.420 * [backup-simplify]: Simplify (- 0) into 0
8.421 * [backup-simplify]: Simplify (+ 0 0) into 0
8.421 * [backup-simplify]: Simplify (+ (* -1 0) (+ (* (/ 1 lambda2) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0
8.422 * [backup-simplify]: Simplify (+ (* (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 0) (+ (* (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2) (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) (* 0 (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2))
8.422 * [backup-simplify]: Simplify (- (/ 1 phi1)) into (- (/ 1 phi1))
8.422 * [backup-simplify]: Simplify (+ (/ 1 phi2) (- (/ 1 phi1))) into (- (/ 1 phi2) (/ 1 phi1))
8.423 * [backup-simplify]: Simplify (- (/ 1 phi1)) into (- (/ 1 phi1))
8.423 * [backup-simplify]: Simplify (+ (/ 1 phi2) (- (/ 1 phi1))) into (- (/ 1 phi2) (/ 1 phi1))
8.423 * [backup-simplify]: Simplify (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1))) into (pow (- (/ 1 phi2) (/ 1 phi1)) 2)
8.424 * [backup-simplify]: Simplify (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (pow (- (/ 1 phi2) (/ 1 phi1)) 2)) into (- (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2)))) (* 2 (/ 1 (* phi1 phi2))))
8.426 * [backup-simplify]: Simplify (/ (- (- (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2)))) (* 2 (/ 1 (* phi1 phi2)))) (pow (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) 2) (+)) (* 2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))
8.427 * [backup-simplify]: Simplify (- (/ (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) R) (+ (* (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) (/ 0 R)) (* (- (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* lambda2 R))) (/ 0 R)))) into (- (+ (* 1/2 (/ 1 (* (pow phi2 2) (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) (* 1/2 (/ 1 (* (pow phi1 2) (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))) (/ 1 (* phi1 (* phi2 (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))))
8.429 * [backup-simplify]: Simplify (+ (* -1 (- (+ (* 1/2 (/ 1 (* (pow phi2 2) (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) (* 1/2 (/ 1 (* (pow phi1 2) (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))) (/ 1 (* phi1 (* phi2 (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))))) (+ (* 0 (- (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* lambda2 R)))) (* 0 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))) into (- (/ 1 (* R (* phi2 (* phi1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) (+ (* 1/2 (/ 1 (* R (* (pow phi1 2) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) (* 1/2 (/ 1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi2 2)))))))
8.429 * [taylor]: Taking taylor expansion of (- (/ 1 (* R (* phi2 (* phi1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) (+ (* 1/2 (/ 1 (* R (* (pow phi1 2) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) (* 1/2 (/ 1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi2 2))))))) in lambda2
8.429 * [taylor]: Taking taylor expansion of (/ 1 (* R (* phi2 (* phi1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) in lambda2
8.429 * [taylor]: Taking taylor expansion of (* R (* phi2 (* phi1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) in lambda2
8.429 * [taylor]: Taking taylor expansion of R in lambda2
8.429 * [backup-simplify]: Simplify R into R
8.429 * [taylor]: Taking taylor expansion of (* phi2 (* phi1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in lambda2
8.429 * [taylor]: Taking taylor expansion of phi2 in lambda2
8.429 * [backup-simplify]: Simplify phi2 into phi2
8.429 * [taylor]: Taking taylor expansion of (* phi1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda2
8.429 * [taylor]: Taking taylor expansion of phi1 in lambda2
8.429 * [backup-simplify]: Simplify phi1 into phi1
8.429 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2
8.429 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2
8.429 * [taylor]: Taking taylor expansion of -0.5 in lambda2
8.429 * [backup-simplify]: Simplify -0.5 into -0.5
8.429 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2
8.429 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
8.429 * [taylor]: Taking taylor expansion of phi1 in lambda2
8.429 * [backup-simplify]: Simplify phi1 into phi1
8.429 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
8.429 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
8.430 * [taylor]: Taking taylor expansion of phi2 in lambda2
8.430 * [backup-simplify]: Simplify phi2 into phi2
8.430 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
8.430 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
8.430 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))
8.430 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.430 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.430 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.430 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
8.431 * [backup-simplify]: Simplify (- 0) into 0
8.431 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.431 * [backup-simplify]: Simplify (* phi1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* phi1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
8.432 * [backup-simplify]: Simplify (* phi2 (* phi1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* phi1 phi2))
8.432 * [backup-simplify]: Simplify (* R (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* phi1 phi2))) into (* phi1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R phi2)))
8.432 * [backup-simplify]: Simplify (/ 1 (* phi1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R phi2)))) into (/ 1 (* phi1 (* phi2 (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))
8.432 * [taylor]: Taking taylor expansion of (+ (* 1/2 (/ 1 (* R (* (pow phi1 2) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) (* 1/2 (/ 1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi2 2)))))) in lambda2
8.432 * [taylor]: Taking taylor expansion of (* 1/2 (/ 1 (* R (* (pow phi1 2) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) in lambda2
8.432 * [taylor]: Taking taylor expansion of 1/2 in lambda2
8.432 * [backup-simplify]: Simplify 1/2 into 1/2
8.432 * [taylor]: Taking taylor expansion of (/ 1 (* R (* (pow phi1 2) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) in lambda2
8.432 * [taylor]: Taking taylor expansion of (* R (* (pow phi1 2) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in lambda2
8.432 * [taylor]: Taking taylor expansion of R in lambda2
8.432 * [backup-simplify]: Simplify R into R
8.432 * [taylor]: Taking taylor expansion of (* (pow phi1 2) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda2
8.432 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2
8.432 * [taylor]: Taking taylor expansion of phi1 in lambda2
8.432 * [backup-simplify]: Simplify phi1 into phi1
8.432 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2
8.432 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2
8.433 * [taylor]: Taking taylor expansion of -0.5 in lambda2
8.433 * [backup-simplify]: Simplify -0.5 into -0.5
8.433 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2
8.433 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
8.433 * [taylor]: Taking taylor expansion of phi1 in lambda2
8.433 * [backup-simplify]: Simplify phi1 into phi1
8.433 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
8.433 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
8.433 * [taylor]: Taking taylor expansion of phi2 in lambda2
8.433 * [backup-simplify]: Simplify phi2 into phi2
8.433 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
8.433 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
8.433 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))
8.433 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.433 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.433 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
8.434 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.434 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
8.434 * [backup-simplify]: Simplify (- 0) into 0
8.434 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.435 * [backup-simplify]: Simplify (* (pow phi1 2) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* (pow phi1 2) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
8.435 * [backup-simplify]: Simplify (* R (* (pow phi1 2) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (* (pow phi1 2) (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))
8.435 * [backup-simplify]: Simplify (/ 1 (* (pow phi1 2) (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into (/ 1 (* (pow phi1 2) (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))
8.435 * [taylor]: Taking taylor expansion of (* 1/2 (/ 1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi2 2))))) in lambda2
8.435 * [taylor]: Taking taylor expansion of 1/2 in lambda2
8.436 * [backup-simplify]: Simplify 1/2 into 1/2
8.436 * [taylor]: Taking taylor expansion of (/ 1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi2 2)))) in lambda2
8.436 * [taylor]: Taking taylor expansion of (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi2 2))) in lambda2
8.436 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2
8.436 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2
8.436 * [taylor]: Taking taylor expansion of -0.5 in lambda2
8.436 * [backup-simplify]: Simplify -0.5 into -0.5
8.436 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2
8.436 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
8.436 * [taylor]: Taking taylor expansion of phi1 in lambda2
8.436 * [backup-simplify]: Simplify phi1 into phi1
8.436 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
8.436 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
8.436 * [taylor]: Taking taylor expansion of phi2 in lambda2
8.436 * [backup-simplify]: Simplify phi2 into phi2
8.436 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
8.436 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
8.436 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))
8.436 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.436 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.436 * [taylor]: Taking taylor expansion of (* R (pow phi2 2)) in lambda2
8.437 * [taylor]: Taking taylor expansion of R in lambda2
8.437 * [backup-simplify]: Simplify R into R
8.437 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2
8.437 * [taylor]: Taking taylor expansion of phi2 in lambda2
8.437 * [backup-simplify]: Simplify phi2 into phi2
8.437 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.437 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
8.442 * [backup-simplify]: Simplify (- 0) into 0
8.442 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.442 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
8.442 * [backup-simplify]: Simplify (* R (pow phi2 2)) into (* R (pow phi2 2))
8.443 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi2 2))) into (* (pow phi2 2) (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))
8.443 * [backup-simplify]: Simplify (/ 1 (* (pow phi2 2) (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into (/ 1 (* (pow phi2 2) (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))
8.444 * [backup-simplify]: Simplify (+ 0) into 0
8.444 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
8.444 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
8.445 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
8.445 * [backup-simplify]: Simplify (+ 0 0) into 0
8.446 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
8.446 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
8.447 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
8.448 * [backup-simplify]: Simplify (- 0) into 0
8.448 * [backup-simplify]: Simplify (+ 0 0) into 0
8.449 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 R))) into 0
8.449 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) (/ 0 R)))) into 0
8.449 * [taylor]: Taking taylor expansion of 0 in phi1
8.449 * [backup-simplify]: Simplify 0 into 0
8.450 * [backup-simplify]: Simplify (+ 0) into 0
8.450 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
8.450 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
8.450 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
8.451 * [backup-simplify]: Simplify (+ 0 0) into 0
8.451 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
8.452 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
8.453 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
8.453 * [backup-simplify]: Simplify (- 0) into 0
8.453 * [backup-simplify]: Simplify (+ 0 0) into 0
8.454 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) (/ 0 R)))) into 0
8.454 * [backup-simplify]: Simplify (+ (* -1 0) (* 0 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))) into 0
8.454 * [taylor]: Taking taylor expansion of 0 in phi1
8.454 * [backup-simplify]: Simplify 0 into 0
8.454 * [taylor]: Taking taylor expansion of (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) in phi2
8.454 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
8.454 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
8.454 * [taylor]: Taking taylor expansion of -0.5 in phi2
8.454 * [backup-simplify]: Simplify -0.5 into -0.5
8.455 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
8.455 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
8.455 * [taylor]: Taking taylor expansion of phi1 in phi2
8.455 * [backup-simplify]: Simplify phi1 into phi1
8.455 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
8.455 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
8.455 * [taylor]: Taking taylor expansion of phi2 in phi2
8.455 * [backup-simplify]: Simplify 0 into 0
8.455 * [backup-simplify]: Simplify 1 into 1
8.455 * [backup-simplify]: Simplify (/ 1 1) into 1
8.456 * [backup-simplify]: Simplify (+ 0 1) into 1
8.456 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
8.456 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.456 * [taylor]: Taking taylor expansion of R in phi2
8.456 * [backup-simplify]: Simplify R into R
8.456 * [backup-simplify]: Simplify (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) into (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)
8.457 * [backup-simplify]: Simplify (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) into (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))
8.457 * [taylor]: Taking taylor expansion of (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) in phi2
8.457 * [taylor]: Taking taylor expansion of -1 in phi2
8.457 * [backup-simplify]: Simplify -1 into -1
8.457 * [taylor]: Taking taylor expansion of (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) in phi2
8.457 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
8.457 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
8.457 * [taylor]: Taking taylor expansion of -0.5 in phi2
8.457 * [backup-simplify]: Simplify -0.5 into -0.5
8.457 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
8.457 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
8.457 * [taylor]: Taking taylor expansion of phi1 in phi2
8.457 * [backup-simplify]: Simplify phi1 into phi1
8.457 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
8.457 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
8.457 * [taylor]: Taking taylor expansion of phi2 in phi2
8.457 * [backup-simplify]: Simplify 0 into 0
8.457 * [backup-simplify]: Simplify 1 into 1
8.458 * [backup-simplify]: Simplify (/ 1 1) into 1
8.458 * [backup-simplify]: Simplify (+ 0 1) into 1
8.458 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
8.458 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.458 * [taylor]: Taking taylor expansion of R in phi2
8.458 * [backup-simplify]: Simplify R into R
8.458 * [backup-simplify]: Simplify (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) into (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)
8.459 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0
8.460 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0
8.460 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
8.460 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
8.460 * [backup-simplify]: Simplify (+ 0 0) into 0
8.461 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0
8.462 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0
8.462 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0
8.463 * [backup-simplify]: Simplify (- 0) into 0
8.463 * [backup-simplify]: Simplify (+ 0 0) into 0
8.463 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)) (* 0 (/ 0 lambda2)))) into 0
8.464 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)) (* 0 (/ 0 1)))) into 0
8.464 * [backup-simplify]: Simplify (- 0) into 0
8.464 * [backup-simplify]: Simplify (+ 0 0) into 0
8.465 * [backup-simplify]: Simplify (+ (* -1 0) (+ (* (/ 1 lambda2) 0) (+ (* 0 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into 0
8.465 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0
8.466 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0
8.466 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
8.466 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
8.466 * [backup-simplify]: Simplify (+ 0 0) into 0
8.467 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0
8.468 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0
8.468 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0
8.469 * [backup-simplify]: Simplify (- 0) into 0
8.469 * [backup-simplify]: Simplify (+ 0 0) into 0
8.469 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)) (* 0 (/ 0 lambda2)))) into 0
8.470 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)) (* 0 (/ 0 1)))) into 0
8.470 * [backup-simplify]: Simplify (- 0) into 0
8.470 * [backup-simplify]: Simplify (+ 0 0) into 0
8.471 * [backup-simplify]: Simplify (+ (* -1 0) (+ (* (/ 1 lambda2) 0) (+ (* 0 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into 0
8.472 * [backup-simplify]: Simplify (+ (* (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 0) (+ (* (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2) 0) (+ (* 0 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) (* 0 (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))) into 0
8.472 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
8.472 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
8.472 * [backup-simplify]: Simplify (- 0) into 0
8.472 * [backup-simplify]: Simplify (+ 0 0) into 0
8.473 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
8.473 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
8.473 * [backup-simplify]: Simplify (- 0) into 0
8.473 * [backup-simplify]: Simplify (+ 0 0) into 0
8.473 * [backup-simplify]: Simplify (+ (* (- (/ 1 phi2) (/ 1 phi1)) 0) (* 0 (- (/ 1 phi2) (/ 1 phi1)))) into 0
8.474 * [backup-simplify]: Simplify (+ 0 0) into 0
8.475 * [backup-simplify]: Simplify (/ (- 0 (+ (* 2 (* (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))))) (* 2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (* 1/2 (/ (- (+ (/ 1 (* lambda2 (pow phi2 2))) (/ 1 (* lambda2 (pow phi1 2)))) (* 2 (/ 1 (* lambda2 (* phi1 phi2))))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))
8.478 * [backup-simplify]: Simplify (- (/ (* 1/2 (/ (- (+ (/ 1 (* lambda2 (pow phi2 2))) (/ 1 (* lambda2 (pow phi1 2)))) (* 2 (/ 1 (* lambda2 (* phi1 phi2))))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) R) (+ (* (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) (/ 0 R)) (* (- (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* lambda2 R))) (/ 0 R)) (* (- (+ (* 1/2 (/ 1 (* (pow phi2 2) (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) (* 1/2 (/ 1 (* (pow phi1 2) (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))) (/ 1 (* phi1 (* phi2 (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))) (/ 0 R)))) into (- (+ (* 1/2 (/ 1 (* lambda2 (* (pow phi2 2) (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))) (* 1/2 (/ 1 (* (pow phi1 2) (* lambda2 (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))))) (/ 1 (* phi1 (* lambda2 (* phi2 (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))))
8.483 * [backup-simplify]: Simplify (+ (* -1 (- (+ (* 1/2 (/ 1 (* lambda2 (* (pow phi2 2) (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))) (* 1/2 (/ 1 (* (pow phi1 2) (* lambda2 (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))))) (/ 1 (* phi1 (* lambda2 (* phi2 (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))))) (+ (* 0 (- (+ (* 1/2 (/ 1 (* (pow phi2 2) (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) (* 1/2 (/ 1 (* (pow phi1 2) (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))) (/ 1 (* phi1 (* phi2 (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))))) (+ (* 0 (- (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* lambda2 R)))) (* 0 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))))) into (- (/ 1 (* R (* lambda2 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* phi1 phi2))))) (+ (* 1/2 (/ 1 (* lambda2 (* (pow phi2 2) (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))) (* 1/2 (/ 1 (* R (* lambda2 (* (pow phi1 2) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))))))
8.483 * [taylor]: Taking taylor expansion of (- (/ 1 (* R (* lambda2 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* phi1 phi2))))) (+ (* 1/2 (/ 1 (* lambda2 (* (pow phi2 2) (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))) (* 1/2 (/ 1 (* R (* lambda2 (* (pow phi1 2) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))))) in lambda2
8.483 * [taylor]: Taking taylor expansion of (/ 1 (* R (* lambda2 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* phi1 phi2))))) in lambda2
8.483 * [taylor]: Taking taylor expansion of (* R (* lambda2 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* phi1 phi2)))) in lambda2
8.483 * [taylor]: Taking taylor expansion of R in lambda2
8.483 * [backup-simplify]: Simplify R into R
8.483 * [taylor]: Taking taylor expansion of (* lambda2 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* phi1 phi2))) in lambda2
8.483 * [taylor]: Taking taylor expansion of lambda2 in lambda2
8.483 * [backup-simplify]: Simplify 0 into 0
8.483 * [backup-simplify]: Simplify 1 into 1
8.483 * [taylor]: Taking taylor expansion of (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* phi1 phi2)) in lambda2
8.483 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2
8.483 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2
8.483 * [taylor]: Taking taylor expansion of -0.5 in lambda2
8.483 * [backup-simplify]: Simplify -0.5 into -0.5
8.483 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2
8.483 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
8.483 * [taylor]: Taking taylor expansion of phi1 in lambda2
8.483 * [backup-simplify]: Simplify phi1 into phi1
8.483 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
8.483 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
8.483 * [taylor]: Taking taylor expansion of phi2 in lambda2
8.483 * [backup-simplify]: Simplify phi2 into phi2
8.483 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
8.484 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
8.484 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))
8.484 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.484 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.484 * [taylor]: Taking taylor expansion of (* phi1 phi2) in lambda2
8.484 * [taylor]: Taking taylor expansion of phi1 in lambda2
8.484 * [backup-simplify]: Simplify phi1 into phi1
8.484 * [taylor]: Taking taylor expansion of phi2 in lambda2
8.484 * [backup-simplify]: Simplify phi2 into phi2
8.484 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.485 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
8.485 * [backup-simplify]: Simplify (- 0) into 0
8.485 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.485 * [backup-simplify]: Simplify (* phi1 phi2) into (* phi1 phi2)
8.486 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* phi1 phi2)) into (* phi2 (* phi1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))
8.486 * [backup-simplify]: Simplify (* 0 (* phi2 (* phi1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0
8.486 * [backup-simplify]: Simplify (* R 0) into 0
8.486 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi2)) into 0
8.487 * [backup-simplify]: Simplify (+ 0) into 0
8.487 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
8.488 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
8.488 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
8.488 * [backup-simplify]: Simplify (+ 0 0) into 0
8.489 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
8.489 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
8.490 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
8.490 * [backup-simplify]: Simplify (- 0) into 0
8.491 * [backup-simplify]: Simplify (+ 0 0) into 0
8.491 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (* phi1 phi2))) into 0
8.492 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* phi2 (* phi1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* phi1 phi2))
8.493 * [backup-simplify]: Simplify (+ (* R (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* phi1 phi2))) (* 0 0)) into (* R (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* phi1 phi2)))
8.493 * [backup-simplify]: Simplify (/ 1 (* R (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* phi1 phi2)))) into (/ 1 (* R (* phi2 (* phi1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))
8.493 * [taylor]: Taking taylor expansion of (+ (* 1/2 (/ 1 (* lambda2 (* (pow phi2 2) (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))) (* 1/2 (/ 1 (* R (* lambda2 (* (pow phi1 2) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))))) in lambda2
8.493 * [taylor]: Taking taylor expansion of (* 1/2 (/ 1 (* lambda2 (* (pow phi2 2) (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))) in lambda2
8.493 * [taylor]: Taking taylor expansion of 1/2 in lambda2
8.493 * [backup-simplify]: Simplify 1/2 into 1/2
8.493 * [taylor]: Taking taylor expansion of (/ 1 (* lambda2 (* (pow phi2 2) (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) in lambda2
8.493 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow phi2 2) (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) in lambda2
8.493 * [taylor]: Taking taylor expansion of lambda2 in lambda2
8.493 * [backup-simplify]: Simplify 0 into 0
8.493 * [backup-simplify]: Simplify 1 into 1
8.493 * [taylor]: Taking taylor expansion of (* (pow phi2 2) (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in lambda2
8.493 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2
8.493 * [taylor]: Taking taylor expansion of phi2 in lambda2
8.493 * [backup-simplify]: Simplify phi2 into phi2
8.493 * [taylor]: Taking taylor expansion of (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda2
8.493 * [taylor]: Taking taylor expansion of R in lambda2
8.493 * [backup-simplify]: Simplify R into R
8.493 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2
8.493 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2
8.494 * [taylor]: Taking taylor expansion of -0.5 in lambda2
8.494 * [backup-simplify]: Simplify -0.5 into -0.5
8.494 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2
8.494 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
8.494 * [taylor]: Taking taylor expansion of phi1 in lambda2
8.494 * [backup-simplify]: Simplify phi1 into phi1
8.494 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
8.494 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
8.494 * [taylor]: Taking taylor expansion of phi2 in lambda2
8.494 * [backup-simplify]: Simplify phi2 into phi2
8.494 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
8.494 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
8.494 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))
8.494 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.494 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.495 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
8.495 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.495 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
8.495 * [backup-simplify]: Simplify (- 0) into 0
8.496 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.496 * [backup-simplify]: Simplify (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
8.496 * [backup-simplify]: Simplify (* (pow phi2 2) (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi2 2)))
8.497 * [backup-simplify]: Simplify (* 0 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi2 2)))) into 0
8.497 * [backup-simplify]: Simplify (+ 0) into 0
8.498 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
8.498 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
8.498 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
8.499 * [backup-simplify]: Simplify (+ 0 0) into 0
8.499 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
8.500 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
8.500 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
8.501 * [backup-simplify]: Simplify (- 0) into 0
8.502 * [backup-simplify]: Simplify (+ 0 0) into 0
8.502 * [backup-simplify]: Simplify (+ (* R 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0
8.502 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0
8.503 * [backup-simplify]: Simplify (+ (* (pow phi2 2) 0) (* 0 (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0
8.504 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi2 2))))) into (* (pow phi2 2) (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))
8.504 * [backup-simplify]: Simplify (/ 1 (* (pow phi2 2) (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into (/ 1 (* (pow phi2 2) (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))
8.504 * [taylor]: Taking taylor expansion of (* 1/2 (/ 1 (* R (* lambda2 (* (pow phi1 2) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))) in lambda2
8.505 * [taylor]: Taking taylor expansion of 1/2 in lambda2
8.505 * [backup-simplify]: Simplify 1/2 into 1/2
8.505 * [taylor]: Taking taylor expansion of (/ 1 (* R (* lambda2 (* (pow phi1 2) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) in lambda2
8.505 * [taylor]: Taking taylor expansion of (* R (* lambda2 (* (pow phi1 2) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) in lambda2
8.505 * [taylor]: Taking taylor expansion of R in lambda2
8.505 * [backup-simplify]: Simplify R into R
8.505 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow phi1 2) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in lambda2
8.505 * [taylor]: Taking taylor expansion of lambda2 in lambda2
8.505 * [backup-simplify]: Simplify 0 into 0
8.505 * [backup-simplify]: Simplify 1 into 1
8.505 * [taylor]: Taking taylor expansion of (* (pow phi1 2) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda2
8.505 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2
8.505 * [taylor]: Taking taylor expansion of phi1 in lambda2
8.505 * [backup-simplify]: Simplify phi1 into phi1
8.505 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2
8.505 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2
8.505 * [taylor]: Taking taylor expansion of -0.5 in lambda2
8.505 * [backup-simplify]: Simplify -0.5 into -0.5
8.505 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2
8.506 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
8.506 * [taylor]: Taking taylor expansion of phi1 in lambda2
8.506 * [backup-simplify]: Simplify phi1 into phi1
8.506 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
8.506 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
8.506 * [taylor]: Taking taylor expansion of phi2 in lambda2
8.506 * [backup-simplify]: Simplify phi2 into phi2
8.506 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
8.506 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
8.506 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))
8.507 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.507 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.507 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
8.507 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.508 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
8.508 * [backup-simplify]: Simplify (- 0) into 0
8.509 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.509 * [backup-simplify]: Simplify (* (pow phi1 2) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* (pow phi1 2) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
8.509 * [backup-simplify]: Simplify (* 0 (* (pow phi1 2) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0
8.509 * [backup-simplify]: Simplify (* R 0) into 0
8.510 * [backup-simplify]: Simplify (+ 0) into 0
8.510 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
8.511 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
8.511 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
8.511 * [backup-simplify]: Simplify (+ 0 0) into 0
8.512 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
8.513 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
8.513 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
8.513 * [backup-simplify]: Simplify (- 0) into 0
8.514 * [backup-simplify]: Simplify (+ 0 0) into 0
8.514 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0
8.514 * [backup-simplify]: Simplify (+ (* (pow phi1 2) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0
8.515 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (pow phi1 2) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into (* (pow phi1 2) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
8.516 * [backup-simplify]: Simplify (+ (* R (* (pow phi1 2) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* 0 0)) into (* R (* (pow phi1 2) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))
8.516 * [backup-simplify]: Simplify (/ 1 (* R (* (pow phi1 2) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into (/ 1 (* R (* (pow phi1 2) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))
8.517 * [backup-simplify]: Simplify (* 1/2 (/ 1 (* (pow phi2 2) (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into (/ 1/2 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi2 2))))
8.517 * [backup-simplify]: Simplify (* 1/2 (/ 1 (* R (* (pow phi1 2) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into (/ 1/2 (* (pow phi1 2) (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))
8.518 * [backup-simplify]: Simplify (+ (/ 1/2 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi2 2)))) (/ 1/2 (* (pow phi1 2) (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into (+ (* 1/2 (/ 1 (* (pow phi2 2) (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) (* 1/2 (/ 1 (* R (* (pow phi1 2) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))))
8.519 * [backup-simplify]: Simplify (- (+ (* 1/2 (/ 1 (* (pow phi2 2) (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) (* 1/2 (/ 1 (* R (* (pow phi1 2) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))))) into (- (+ (* 1/2 (/ 1 (* (pow phi2 2) (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) (* 1/2 (/ 1 (* R (* (pow phi1 2) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))))
8.520 * [backup-simplify]: Simplify (+ (/ 1 (* R (* phi2 (* phi1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) (- (+ (* 1/2 (/ 1 (* (pow phi2 2) (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) (* 1/2 (/ 1 (* R (* (pow phi1 2) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))))) into (- (/ 1 (* phi1 (* phi2 (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) (+ (* 1/2 (/ 1 (* (pow phi2 2) (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) (* 1/2 (/ 1 (* R (* (pow phi1 2) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))))
8.520 * [taylor]: Taking taylor expansion of (- (/ 1 (* phi1 (* phi2 (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) (+ (* 1/2 (/ 1 (* (pow phi2 2) (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) (* 1/2 (/ 1 (* R (* (pow phi1 2) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))))) in phi1
8.521 * [taylor]: Taking taylor expansion of (/ 1 (* phi1 (* phi2 (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) in phi1
8.521 * [taylor]: Taking taylor expansion of (* phi1 (* phi2 (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) in phi1
8.521 * [taylor]: Taking taylor expansion of phi1 in phi1
8.521 * [backup-simplify]: Simplify 0 into 0
8.521 * [backup-simplify]: Simplify 1 into 1
8.521 * [taylor]: Taking taylor expansion of (* phi2 (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi1
8.521 * [taylor]: Taking taylor expansion of phi2 in phi1
8.521 * [backup-simplify]: Simplify phi2 into phi2
8.521 * [taylor]: Taking taylor expansion of (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi1
8.521 * [taylor]: Taking taylor expansion of R in phi1
8.521 * [backup-simplify]: Simplify R into R
8.521 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
8.521 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
8.521 * [taylor]: Taking taylor expansion of -0.5 in phi1
8.521 * [backup-simplify]: Simplify -0.5 into -0.5
8.521 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
8.521 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
8.521 * [taylor]: Taking taylor expansion of phi1 in phi1
8.521 * [backup-simplify]: Simplify 0 into 0
8.521 * [backup-simplify]: Simplify 1 into 1
8.522 * [backup-simplify]: Simplify (/ 1 1) into 1
8.522 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
8.522 * [taylor]: Taking taylor expansion of phi2 in phi1
8.522 * [backup-simplify]: Simplify phi2 into phi2
8.522 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
8.522 * [backup-simplify]: Simplify (+ 1 0) into 1
8.523 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
8.523 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.523 * [backup-simplify]: Simplify (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
8.523 * [backup-simplify]: Simplify (* phi2 (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R phi2))
8.524 * [backup-simplify]: Simplify (* 0 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R phi2))) into 0
8.524 * [backup-simplify]: Simplify (+ (* R 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0
8.524 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0
8.525 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R phi2)))) into (* phi2 (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))
8.525 * [backup-simplify]: Simplify (/ 1 (* phi2 (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into (/ 1 (* phi2 (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))
8.525 * [taylor]: Taking taylor expansion of (+ (* 1/2 (/ 1 (* (pow phi2 2) (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) (* 1/2 (/ 1 (* R (* (pow phi1 2) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))) in phi1
8.525 * [taylor]: Taking taylor expansion of (* 1/2 (/ 1 (* (pow phi2 2) (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) in phi1
8.525 * [taylor]: Taking taylor expansion of 1/2 in phi1
8.525 * [backup-simplify]: Simplify 1/2 into 1/2
8.525 * [taylor]: Taking taylor expansion of (/ 1 (* (pow phi2 2) (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) in phi1
8.525 * [taylor]: Taking taylor expansion of (* (pow phi2 2) (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi1
8.526 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1
8.526 * [taylor]: Taking taylor expansion of phi2 in phi1
8.526 * [backup-simplify]: Simplify phi2 into phi2
8.526 * [taylor]: Taking taylor expansion of (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi1
8.526 * [taylor]: Taking taylor expansion of R in phi1
8.526 * [backup-simplify]: Simplify R into R
8.526 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
8.526 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
8.526 * [taylor]: Taking taylor expansion of -0.5 in phi1
8.526 * [backup-simplify]: Simplify -0.5 into -0.5
8.526 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
8.526 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
8.526 * [taylor]: Taking taylor expansion of phi1 in phi1
8.526 * [backup-simplify]: Simplify 0 into 0
8.526 * [backup-simplify]: Simplify 1 into 1
8.526 * [backup-simplify]: Simplify (/ 1 1) into 1
8.526 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
8.526 * [taylor]: Taking taylor expansion of phi2 in phi1
8.526 * [backup-simplify]: Simplify phi2 into phi2
8.527 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
8.527 * [backup-simplify]: Simplify (+ 1 0) into 1
8.527 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
8.528 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.528 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
8.528 * [backup-simplify]: Simplify (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
8.528 * [backup-simplify]: Simplify (* (pow phi2 2) (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi2 2)))
8.529 * [backup-simplify]: Simplify (/ 1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi2 2)))) into (/ 1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi2 2))))
8.529 * [taylor]: Taking taylor expansion of (* 1/2 (/ 1 (* R (* (pow phi1 2) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) in phi1
8.529 * [taylor]: Taking taylor expansion of 1/2 in phi1
8.529 * [backup-simplify]: Simplify 1/2 into 1/2
8.529 * [taylor]: Taking taylor expansion of (/ 1 (* R (* (pow phi1 2) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) in phi1
8.529 * [taylor]: Taking taylor expansion of (* R (* (pow phi1 2) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi1
8.529 * [taylor]: Taking taylor expansion of R in phi1
8.529 * [backup-simplify]: Simplify R into R
8.529 * [taylor]: Taking taylor expansion of (* (pow phi1 2) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi1
8.529 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1
8.529 * [taylor]: Taking taylor expansion of phi1 in phi1
8.529 * [backup-simplify]: Simplify 0 into 0
8.529 * [backup-simplify]: Simplify 1 into 1
8.529 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
8.529 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
8.529 * [taylor]: Taking taylor expansion of -0.5 in phi1
8.529 * [backup-simplify]: Simplify -0.5 into -0.5
8.529 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
8.529 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
8.529 * [taylor]: Taking taylor expansion of phi1 in phi1
8.529 * [backup-simplify]: Simplify 0 into 0
8.529 * [backup-simplify]: Simplify 1 into 1
8.530 * [backup-simplify]: Simplify (/ 1 1) into 1
8.530 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
8.530 * [taylor]: Taking taylor expansion of phi2 in phi1
8.530 * [backup-simplify]: Simplify phi2 into phi2
8.530 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
8.530 * [backup-simplify]: Simplify (+ 1 0) into 1
8.531 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
8.531 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.531 * [backup-simplify]: Simplify (* 1 1) into 1
8.532 * [backup-simplify]: Simplify (* 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.532 * [backup-simplify]: Simplify (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
8.532 * [backup-simplify]: Simplify (/ 1 (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (/ 1 (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))
8.533 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
8.533 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0
8.534 * [backup-simplify]: Simplify (+ (* R 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0
8.534 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (/ 0 (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))) into 0
8.535 * [backup-simplify]: Simplify (+ (* 1/2 0) (* 0 (/ 1 (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into 0
8.535 * [backup-simplify]: Simplify (+ 0 0) into 0
8.536 * [backup-simplify]: Simplify (- 0) into 0
8.536 * [backup-simplify]: Simplify (+ (/ 1 (* phi2 (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) 0) into (/ 1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R phi2)))
8.536 * [taylor]: Taking taylor expansion of (/ 1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R phi2))) in phi2
8.536 * [taylor]: Taking taylor expansion of (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R phi2)) in phi2
8.536 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
8.536 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
8.536 * [taylor]: Taking taylor expansion of -0.5 in phi2
8.536 * [backup-simplify]: Simplify -0.5 into -0.5
8.536 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
8.536 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
8.536 * [taylor]: Taking taylor expansion of phi1 in phi2
8.536 * [backup-simplify]: Simplify phi1 into phi1
8.536 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
8.536 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
8.536 * [taylor]: Taking taylor expansion of phi2 in phi2
8.536 * [backup-simplify]: Simplify 0 into 0
8.536 * [backup-simplify]: Simplify 1 into 1
8.537 * [backup-simplify]: Simplify (/ 1 1) into 1
8.537 * [backup-simplify]: Simplify (+ 0 1) into 1
8.538 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
8.538 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.538 * [taylor]: Taking taylor expansion of (* R phi2) in phi2
8.538 * [taylor]: Taking taylor expansion of R in phi2
8.538 * [backup-simplify]: Simplify R into R
8.538 * [taylor]: Taking taylor expansion of phi2 in phi2
8.538 * [backup-simplify]: Simplify 0 into 0
8.538 * [backup-simplify]: Simplify 1 into 1
8.538 * [backup-simplify]: Simplify (* R 0) into 0
8.538 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
8.539 * [backup-simplify]: Simplify (+ (* R 1) (* 0 0)) into R
8.539 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) (* 0 0)) into (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
8.540 * [backup-simplify]: Simplify (/ 1 (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (/ 1 (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))
8.540 * [taylor]: Taking taylor expansion of (/ 1 (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in R
8.540 * [taylor]: Taking taylor expansion of (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in R
8.540 * [taylor]: Taking taylor expansion of R in R
8.540 * [backup-simplify]: Simplify 0 into 0
8.540 * [backup-simplify]: Simplify 1 into 1
8.540 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in R
8.540 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in R
8.540 * [taylor]: Taking taylor expansion of -0.5 in R
8.540 * [backup-simplify]: Simplify -0.5 into -0.5
8.540 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in R
8.540 * [taylor]: Taking taylor expansion of (/ 1 phi1) in R
8.540 * [taylor]: Taking taylor expansion of phi1 in R
8.540 * [backup-simplify]: Simplify phi1 into phi1
8.540 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
8.540 * [taylor]: Taking taylor expansion of (/ 1 phi2) in R
8.540 * [taylor]: Taking taylor expansion of phi2 in R
8.540 * [backup-simplify]: Simplify phi2 into phi2
8.540 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
8.540 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
8.540 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))
8.541 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.541 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.541 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.541 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
8.542 * [backup-simplify]: Simplify (- 0) into 0
8.542 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.542 * [backup-simplify]: Simplify (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into 0
8.542 * [backup-simplify]: Simplify (+ 0) into 0
8.543 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
8.543 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
8.543 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
8.544 * [backup-simplify]: Simplify (+ 0 0) into 0
8.544 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
8.545 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
8.546 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
8.546 * [backup-simplify]: Simplify (- 0) into 0
8.546 * [backup-simplify]: Simplify (+ 0 0) into 0
8.547 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.547 * [backup-simplify]: Simplify (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
8.548 * [backup-simplify]: Simplify (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
8.548 * [backup-simplify]: Simplify (* 1/2 (/ 1 (* (pow phi1 2) (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into (/ 1/2 (* R (* (pow phi1 2) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))
8.549 * [backup-simplify]: Simplify (* 1/2 (/ 1 (* (pow phi2 2) (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into (/ 1/2 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi2 2))))
8.549 * [backup-simplify]: Simplify (+ (/ 1/2 (* R (* (pow phi1 2) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) (/ 1/2 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi2 2))))) into (+ (* 1/2 (/ 1 (* (pow phi2 2) (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) (* 1/2 (/ 1 (* (pow phi1 2) (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))))
8.550 * [backup-simplify]: Simplify (- (+ (* 1/2 (/ 1 (* (pow phi2 2) (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) (* 1/2 (/ 1 (* (pow phi1 2) (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))))) into (- (+ (* 1/2 (/ 1 (* (pow phi2 2) (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) (* 1/2 (/ 1 (* (pow phi1 2) (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))))
8.552 * [backup-simplify]: Simplify (+ (/ 1 (* phi1 (* phi2 (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) (- (+ (* 1/2 (/ 1 (* (pow phi2 2) (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) (* 1/2 (/ 1 (* (pow phi1 2) (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))))) into (- (/ 1 (* R (* phi2 (* phi1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) (+ (* 1/2 (/ 1 (* (pow phi2 2) (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) (* 1/2 (/ 1 (* (pow phi1 2) (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))))
8.552 * [taylor]: Taking taylor expansion of (- (/ 1 (* R (* phi2 (* phi1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) (+ (* 1/2 (/ 1 (* (pow phi2 2) (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) (* 1/2 (/ 1 (* (pow phi1 2) (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))))) in phi1
8.552 * [taylor]: Taking taylor expansion of (/ 1 (* R (* phi2 (* phi1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) in phi1
8.552 * [taylor]: Taking taylor expansion of (* R (* phi2 (* phi1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) in phi1
8.552 * [taylor]: Taking taylor expansion of R in phi1
8.552 * [backup-simplify]: Simplify R into R
8.552 * [taylor]: Taking taylor expansion of (* phi2 (* phi1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi1
8.552 * [taylor]: Taking taylor expansion of phi2 in phi1
8.552 * [backup-simplify]: Simplify phi2 into phi2
8.552 * [taylor]: Taking taylor expansion of (* phi1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi1
8.552 * [taylor]: Taking taylor expansion of phi1 in phi1
8.552 * [backup-simplify]: Simplify 0 into 0
8.552 * [backup-simplify]: Simplify 1 into 1
8.552 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
8.552 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
8.552 * [taylor]: Taking taylor expansion of -0.5 in phi1
8.553 * [backup-simplify]: Simplify -0.5 into -0.5
8.553 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
8.553 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
8.553 * [taylor]: Taking taylor expansion of phi1 in phi1
8.553 * [backup-simplify]: Simplify 0 into 0
8.553 * [backup-simplify]: Simplify 1 into 1
8.553 * [backup-simplify]: Simplify (/ 1 1) into 1
8.553 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
8.553 * [taylor]: Taking taylor expansion of phi2 in phi1
8.553 * [backup-simplify]: Simplify phi2 into phi2
8.553 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
8.554 * [backup-simplify]: Simplify (+ 1 0) into 1
8.554 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
8.555 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.555 * [backup-simplify]: Simplify (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into 0
8.555 * [backup-simplify]: Simplify (* phi2 0) into 0
8.555 * [backup-simplify]: Simplify (* R 0) into 0
8.556 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.557 * [backup-simplify]: Simplify (+ (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* 0 0)) into (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
8.557 * [backup-simplify]: Simplify (+ (* R (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* 0 0)) into (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R phi2))
8.558 * [backup-simplify]: Simplify (/ 1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R phi2))) into (/ 1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R phi2)))
8.558 * [taylor]: Taking taylor expansion of (+ (* 1/2 (/ 1 (* (pow phi2 2) (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) (* 1/2 (/ 1 (* (pow phi1 2) (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))) in phi1
8.558 * [taylor]: Taking taylor expansion of (* 1/2 (/ 1 (* (pow phi2 2) (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) in phi1
8.558 * [taylor]: Taking taylor expansion of 1/2 in phi1
8.558 * [backup-simplify]: Simplify 1/2 into 1/2
8.558 * [taylor]: Taking taylor expansion of (/ 1 (* (pow phi2 2) (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) in phi1
8.558 * [taylor]: Taking taylor expansion of (* (pow phi2 2) (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi1
8.558 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1
8.558 * [taylor]: Taking taylor expansion of phi2 in phi1
8.558 * [backup-simplify]: Simplify phi2 into phi2
8.558 * [taylor]: Taking taylor expansion of (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi1
8.558 * [taylor]: Taking taylor expansion of R in phi1
8.558 * [backup-simplify]: Simplify R into R
8.558 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
8.558 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
8.558 * [taylor]: Taking taylor expansion of -0.5 in phi1
8.558 * [backup-simplify]: Simplify -0.5 into -0.5
8.558 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
8.558 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
8.558 * [taylor]: Taking taylor expansion of phi1 in phi1
8.558 * [backup-simplify]: Simplify 0 into 0
8.558 * [backup-simplify]: Simplify 1 into 1
8.559 * [backup-simplify]: Simplify (/ 1 1) into 1
8.559 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
8.559 * [taylor]: Taking taylor expansion of phi2 in phi1
8.559 * [backup-simplify]: Simplify phi2 into phi2
8.559 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
8.559 * [backup-simplify]: Simplify (+ 1 0) into 1
8.560 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
8.560 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.560 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
8.560 * [backup-simplify]: Simplify (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
8.561 * [backup-simplify]: Simplify (* (pow phi2 2) (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi2 2)))
8.561 * [backup-simplify]: Simplify (/ 1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi2 2)))) into (/ 1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi2 2))))
8.561 * [taylor]: Taking taylor expansion of (* 1/2 (/ 1 (* (pow phi1 2) (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) in phi1
8.561 * [taylor]: Taking taylor expansion of 1/2 in phi1
8.561 * [backup-simplify]: Simplify 1/2 into 1/2
8.561 * [taylor]: Taking taylor expansion of (/ 1 (* (pow phi1 2) (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) in phi1
8.561 * [taylor]: Taking taylor expansion of (* (pow phi1 2) (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi1
8.561 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1
8.561 * [taylor]: Taking taylor expansion of phi1 in phi1
8.561 * [backup-simplify]: Simplify 0 into 0
8.561 * [backup-simplify]: Simplify 1 into 1
8.561 * [taylor]: Taking taylor expansion of (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi1
8.561 * [taylor]: Taking taylor expansion of R in phi1
8.562 * [backup-simplify]: Simplify R into R
8.562 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
8.562 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
8.562 * [taylor]: Taking taylor expansion of -0.5 in phi1
8.562 * [backup-simplify]: Simplify -0.5 into -0.5
8.562 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
8.562 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
8.562 * [taylor]: Taking taylor expansion of phi1 in phi1
8.562 * [backup-simplify]: Simplify 0 into 0
8.562 * [backup-simplify]: Simplify 1 into 1
8.562 * [backup-simplify]: Simplify (/ 1 1) into 1
8.562 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
8.562 * [taylor]: Taking taylor expansion of phi2 in phi1
8.562 * [backup-simplify]: Simplify phi2 into phi2
8.562 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
8.563 * [backup-simplify]: Simplify (+ 1 0) into 1
8.563 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
8.564 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.564 * [backup-simplify]: Simplify (* 1 1) into 1
8.564 * [backup-simplify]: Simplify (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
8.564 * [backup-simplify]: Simplify (* 1 (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
8.565 * [backup-simplify]: Simplify (/ 1 (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (/ 1 (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))
8.565 * [backup-simplify]: Simplify (+ (* R 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0
8.566 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
8.566 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0
8.567 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (/ 0 (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))) into 0
8.568 * [backup-simplify]: Simplify (+ (* 1/2 0) (* 0 (/ 1 (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into 0
8.568 * [backup-simplify]: Simplify (+ 0 0) into 0
8.568 * [backup-simplify]: Simplify (- 0) into 0
8.569 * [backup-simplify]: Simplify (+ (/ 1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R phi2))) 0) into (/ 1 (* phi2 (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))
8.569 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) in phi2
8.569 * [taylor]: Taking taylor expansion of (* phi2 (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi2
8.569 * [taylor]: Taking taylor expansion of phi2 in phi2
8.569 * [backup-simplify]: Simplify 0 into 0
8.569 * [backup-simplify]: Simplify 1 into 1
8.569 * [taylor]: Taking taylor expansion of (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2
8.569 * [taylor]: Taking taylor expansion of R in phi2
8.569 * [backup-simplify]: Simplify R into R
8.569 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
8.569 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
8.569 * [taylor]: Taking taylor expansion of -0.5 in phi2
8.569 * [backup-simplify]: Simplify -0.5 into -0.5
8.569 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
8.569 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
8.569 * [taylor]: Taking taylor expansion of phi1 in phi2
8.569 * [backup-simplify]: Simplify phi1 into phi1
8.569 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
8.569 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
8.569 * [taylor]: Taking taylor expansion of phi2 in phi2
8.569 * [backup-simplify]: Simplify 0 into 0
8.569 * [backup-simplify]: Simplify 1 into 1
8.570 * [backup-simplify]: Simplify (/ 1 1) into 1
8.570 * [backup-simplify]: Simplify (+ 0 1) into 1
8.571 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
8.571 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.571 * [backup-simplify]: Simplify (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
8.571 * [backup-simplify]: Simplify (* 0 (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0
8.572 * [backup-simplify]: Simplify (+ (* R 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0
8.572 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
8.572 * [backup-simplify]: Simplify (/ 1 (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (/ 1 (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))
8.573 * [taylor]: Taking taylor expansion of (/ 1 (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in R
8.573 * [taylor]: Taking taylor expansion of (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in R
8.573 * [taylor]: Taking taylor expansion of R in R
8.573 * [backup-simplify]: Simplify 0 into 0
8.573 * [backup-simplify]: Simplify 1 into 1
8.573 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in R
8.573 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in R
8.573 * [taylor]: Taking taylor expansion of -0.5 in R
8.573 * [backup-simplify]: Simplify -0.5 into -0.5
8.573 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in R
8.573 * [taylor]: Taking taylor expansion of (/ 1 phi1) in R
8.573 * [taylor]: Taking taylor expansion of phi1 in R
8.573 * [backup-simplify]: Simplify phi1 into phi1
8.573 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
8.573 * [taylor]: Taking taylor expansion of (/ 1 phi2) in R
8.573 * [taylor]: Taking taylor expansion of phi2 in R
8.573 * [backup-simplify]: Simplify phi2 into phi2
8.573 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
8.573 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
8.573 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))
8.574 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.574 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.574 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.574 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
8.575 * [backup-simplify]: Simplify (- 0) into 0
8.575 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.575 * [backup-simplify]: Simplify (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into 0
8.575 * [backup-simplify]: Simplify (+ 0) into 0
8.576 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
8.576 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
8.576 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
8.577 * [backup-simplify]: Simplify (+ 0 0) into 0
8.578 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
8.578 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
8.579 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
8.579 * [backup-simplify]: Simplify (- 0) into 0
8.580 * [backup-simplify]: Simplify (+ 0 0) into 0
8.580 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.580 * [backup-simplify]: Simplify (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
8.581 * [backup-simplify]: Simplify (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
8.582 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
8.582 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0
8.583 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
8.583 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
8.583 * [backup-simplify]: Simplify (+ 0 0) into 0
8.584 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0
8.585 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
8.586 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0
8.586 * [backup-simplify]: Simplify (- 0) into 0
8.587 * [backup-simplify]: Simplify (+ 0 0) into 0
8.588 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (+ (* 0 0) (* 0 R)))) into 0
8.588 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) (/ 0 R)) (* 0 (/ 0 R)))) into 0
8.588 * [taylor]: Taking taylor expansion of 0 in phi1
8.588 * [backup-simplify]: Simplify 0 into 0
8.589 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
8.590 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0
8.590 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
8.590 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
8.591 * [backup-simplify]: Simplify (+ 0 0) into 0
8.592 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0
8.592 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
8.593 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0
8.593 * [backup-simplify]: Simplify (- 0) into 0
8.598 * [backup-simplify]: Simplify (+ 0 0) into 0
8.599 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) (/ 0 R)) (* 0 (/ 0 R)))) into 0
8.600 * [backup-simplify]: Simplify (+ (* -1 0) (+ (* 0 0) (* 0 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))) into 0
8.601 * [taylor]: Taking taylor expansion of 0 in phi1
8.601 * [backup-simplify]: Simplify 0 into 0
8.601 * [taylor]: Taking taylor expansion of 0 in phi2
8.601 * [backup-simplify]: Simplify 0 into 0
8.601 * [taylor]: Taking taylor expansion of 0 in phi2
8.601 * [backup-simplify]: Simplify 0 into 0
8.601 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) (/ 0 R)))) into 0
8.601 * [taylor]: Taking taylor expansion of 0 in phi2
8.601 * [backup-simplify]: Simplify 0 into 0
8.602 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) (/ 0 R)))) into 0
8.602 * [backup-simplify]: Simplify (+ (* -1 0) (* 0 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))) into 0
8.602 * [taylor]: Taking taylor expansion of 0 in phi2
8.602 * [backup-simplify]: Simplify 0 into 0
8.602 * [taylor]: Taking taylor expansion of (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) in R
8.603 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in R
8.603 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in R
8.603 * [taylor]: Taking taylor expansion of -0.5 in R
8.603 * [backup-simplify]: Simplify -0.5 into -0.5
8.603 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in R
8.603 * [taylor]: Taking taylor expansion of (/ 1 phi1) in R
8.603 * [taylor]: Taking taylor expansion of phi1 in R
8.603 * [backup-simplify]: Simplify phi1 into phi1
8.603 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
8.603 * [taylor]: Taking taylor expansion of (/ 1 phi2) in R
8.603 * [taylor]: Taking taylor expansion of phi2 in R
8.603 * [backup-simplify]: Simplify phi2 into phi2
8.603 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
8.603 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
8.603 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))
8.603 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.604 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.604 * [taylor]: Taking taylor expansion of R in R
8.604 * [backup-simplify]: Simplify 0 into 0
8.604 * [backup-simplify]: Simplify 1 into 1
8.604 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.604 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
8.605 * [backup-simplify]: Simplify (- 0) into 0
8.605 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.605 * [backup-simplify]: Simplify (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.605 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.607 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2)))))) (* (/ 1 (/ 1 (- R))) (* 1 (* 1 (* (/ 1 (/ 1 (- lambda2))) 1))))) (+ (* (/ 1 (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2))))))) (* (/ 1 (/ 1 (- R))) (* (/ 1 (/ 1 (- phi2))) (* (/ 1 (/ 1 (- phi1))) (* 1 (/ 1 (- lambda1))))))) (* (/ 1 (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2))))))) (* (/ 1 (/ 1 (- R))) (* (/ 1 (/ 1 (- phi2))) (* (/ 1 (/ 1 (- phi1))) (* (/ 1 (/ 1 (- lambda2))) (pow (/ 1 (- lambda1)) 2)))))))) into (+ (/ (* phi1 (* R phi2)) (* lambda1 (cos (* 0.5 (+ phi1 phi2))))) (+ (/ (* phi1 (* lambda2 (* R phi2))) (* (pow lambda1 2) (cos (* 0.5 (+ phi1 phi2))))) (* lambda2 (* (cos (* 0.5 (+ phi1 phi2))) R))))
8.608 * * * * [progress]: [ 4 / 4 ] generating series at (2 1)
8.608 * [backup-simplify]: Simplify (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (- phi1 phi2)) into (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (- phi1 phi2))
8.608 * [approximate]: Taking taylor expansion of (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (- phi1 phi2)) in (lambda1 lambda2 phi1 phi2) around 0
8.608 * [taylor]: Taking taylor expansion of (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (- phi1 phi2)) in phi2
8.608 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2))))) (* (- phi1 phi2) (- phi1 phi2))))
8.608 * [taylor]: Taking taylor expansion of (+ (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2))))) (* (- phi1 phi2) (- phi1 phi2))) in phi2
8.608 * [taylor]: Taking taylor expansion of (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2))))) in phi2
8.608 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) in phi2
8.608 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in phi2
8.608 * [taylor]: Taking taylor expansion of lambda1 in phi2
8.608 * [backup-simplify]: Simplify lambda1 into lambda1
8.608 * [taylor]: Taking taylor expansion of lambda2 in phi2
8.609 * [backup-simplify]: Simplify lambda2 into lambda2
8.609 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in phi2
8.609 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in phi2
8.609 * [taylor]: Taking taylor expansion of 0.5 in phi2
8.609 * [backup-simplify]: Simplify 0.5 into 0.5
8.609 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in phi2
8.609 * [taylor]: Taking taylor expansion of phi1 in phi2
8.609 * [backup-simplify]: Simplify phi1 into phi1
8.609 * [taylor]: Taking taylor expansion of phi2 in phi2
8.609 * [backup-simplify]: Simplify 0 into 0
8.609 * [backup-simplify]: Simplify 1 into 1
8.609 * [backup-simplify]: Simplify (+ phi1 0) into phi1
8.609 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
8.609 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
8.609 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
8.609 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) in phi2
8.609 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in phi2
8.609 * [taylor]: Taking taylor expansion of lambda1 in phi2
8.609 * [backup-simplify]: Simplify lambda1 into lambda1
8.609 * [taylor]: Taking taylor expansion of lambda2 in phi2
8.609 * [backup-simplify]: Simplify lambda2 into lambda2
8.609 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in phi2
8.609 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in phi2
8.609 * [taylor]: Taking taylor expansion of 0.5 in phi2
8.609 * [backup-simplify]: Simplify 0.5 into 0.5
8.609 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in phi2
8.609 * [taylor]: Taking taylor expansion of phi1 in phi2
8.609 * [backup-simplify]: Simplify phi1 into phi1
8.609 * [taylor]: Taking taylor expansion of phi2 in phi2
8.609 * [backup-simplify]: Simplify 0 into 0
8.610 * [backup-simplify]: Simplify 1 into 1
8.610 * [backup-simplify]: Simplify (+ phi1 0) into phi1
8.610 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
8.610 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
8.610 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
8.610 * [taylor]: Taking taylor expansion of (* (- phi1 phi2) (- phi1 phi2)) in phi2
8.610 * [taylor]: Taking taylor expansion of (- phi1 phi2) in phi2
8.610 * [taylor]: Taking taylor expansion of phi1 in phi2
8.610 * [backup-simplify]: Simplify phi1 into phi1
8.610 * [taylor]: Taking taylor expansion of phi2 in phi2
8.610 * [backup-simplify]: Simplify 0 into 0
8.610 * [backup-simplify]: Simplify 1 into 1
8.610 * [taylor]: Taking taylor expansion of (- phi1 phi2) in phi2
8.610 * [taylor]: Taking taylor expansion of phi1 in phi2
8.610 * [backup-simplify]: Simplify phi1 into phi1
8.610 * [taylor]: Taking taylor expansion of phi2 in phi2
8.610 * [backup-simplify]: Simplify 0 into 0
8.610 * [backup-simplify]: Simplify 1 into 1
8.610 * [backup-simplify]: Simplify (- lambda2) into (- lambda2)
8.610 * [backup-simplify]: Simplify (+ lambda1 (- lambda2)) into (- lambda1 lambda2)
8.610 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
8.610 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
8.611 * [backup-simplify]: Simplify (- 0) into 0
8.611 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
8.611 * [backup-simplify]: Simplify (* (- lambda1 lambda2) (cos (* 0.5 phi1))) into (* (- lambda1 lambda2) (cos (* 0.5 phi1)))
8.611 * [backup-simplify]: Simplify (- lambda2) into (- lambda2)
8.611 * [backup-simplify]: Simplify (+ lambda1 (- lambda2)) into (- lambda1 lambda2)
8.612 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
8.612 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
8.612 * [backup-simplify]: Simplify (- 0) into 0
8.612 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
8.612 * [backup-simplify]: Simplify (* (- lambda1 lambda2) (cos (* 0.5 phi1))) into (* (- lambda1 lambda2) (cos (* 0.5 phi1)))
8.613 * [backup-simplify]: Simplify (* (* (- lambda1 lambda2) (cos (* 0.5 phi1))) (* (- lambda1 lambda2) (cos (* 0.5 phi1)))) into (* (pow (- lambda1 lambda2) 2) (pow (cos (* 0.5 phi1)) 2))
8.613 * [backup-simplify]: Simplify (- 0) into 0
8.613 * [backup-simplify]: Simplify (+ phi1 0) into phi1
8.614 * [backup-simplify]: Simplify (- 0) into 0
8.614 * [backup-simplify]: Simplify (+ phi1 0) into phi1
8.614 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
8.614 * [backup-simplify]: Simplify (+ (* (pow (- lambda1 lambda2) 2) (pow (cos (* 0.5 phi1)) 2)) (pow phi1 2)) into (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (+ (* (pow lambda2 2) (pow (cos (* 0.5 phi1)) 2)) (pow phi1 2))) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi1)) 2)))))
8.616 * [backup-simplify]: Simplify (sqrt (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (+ (* (pow lambda2 2) (pow (cos (* 0.5 phi1)) 2)) (pow phi1 2))) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi1)) 2)))))) into (sqrt (- (+ (* (pow lambda1 2) (pow (cos (* 0.5 phi1)) 2)) (+ (* (pow lambda2 2) (pow (cos (* 0.5 phi1)) 2)) (pow phi1 2))) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi1)) 2))))))
8.616 * [backup-simplify]: Simplify (+ 0) into 0
8.617 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0
8.617 * [backup-simplify]: Simplify (+ 0 1) into 1
8.618 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi1)) into 0.5
8.620 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5
8.621 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1)))
8.621 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1))))
8.621 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1))))
8.622 * [backup-simplify]: Simplify (- 0) into 0
8.622 * [backup-simplify]: Simplify (+ 0 0) into 0
8.622 * [backup-simplify]: Simplify (+ (* (- lambda1 lambda2) (- (* 0.5 (sin (* 0.5 phi1))))) (* 0 (cos (* 0.5 phi1)))) into (- (* 0.5 (* lambda2 (sin (* 0.5 phi1)))) (* 0.5 (* lambda1 (sin (* 0.5 phi1)))))
8.623 * [backup-simplify]: Simplify (+ 0) into 0
8.623 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0
8.624 * [backup-simplify]: Simplify (+ 0 1) into 1
8.624 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi1)) into 0.5
8.626 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5
8.627 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1)))
8.627 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1))))
8.627 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1))))
8.627 * [backup-simplify]: Simplify (- 0) into 0
8.627 * [backup-simplify]: Simplify (+ 0 0) into 0
8.627 * [backup-simplify]: Simplify (+ (* (- lambda1 lambda2) (- (* 0.5 (sin (* 0.5 phi1))))) (* 0 (cos (* 0.5 phi1)))) into (- (* 0.5 (* lambda2 (sin (* 0.5 phi1)))) (* 0.5 (* lambda1 (sin (* 0.5 phi1)))))
8.628 * [backup-simplify]: Simplify (+ (* (* (- lambda1 lambda2) (cos (* 0.5 phi1))) (- (* 0.5 (* lambda2 (sin (* 0.5 phi1)))) (* 0.5 (* lambda1 (sin (* 0.5 phi1)))))) (* (- (* 0.5 (* lambda2 (sin (* 0.5 phi1)))) (* 0.5 (* lambda1 (sin (* 0.5 phi1))))) (* (- lambda1 lambda2) (cos (* 0.5 phi1))))) into (- (+ (* 0.5 (* lambda1 (* lambda2 (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1)))))) (+ (* 0.5 (* lambda2 (* (cos (* 0.5 phi1)) (* lambda1 (sin (* 0.5 phi1)))))) (* 1.0 (* lambda2 (* (sin (* 0.5 phi1)) (* lambda1 (cos (* 0.5 phi1)))))))) (+ (* 0.5 (* (pow lambda2 2) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) (+ (* 0.5 (* (pow lambda2 2) (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1))))) (* 1.0 (* (sin (* 0.5 phi1)) (* (pow lambda1 2) (cos (* 0.5 phi1))))))))
8.628 * [backup-simplify]: Simplify (- 1) into -1
8.629 * [backup-simplify]: Simplify (+ 0 -1) into -1
8.629 * [backup-simplify]: Simplify (- 1) into -1
8.629 * [backup-simplify]: Simplify (+ 0 -1) into -1
8.629 * [backup-simplify]: Simplify (+ (* phi1 -1) (* -1 phi1)) into (- (* 2 phi1))
8.631 * [backup-simplify]: Simplify (+ (- (+ (* 0.5 (* lambda1 (* lambda2 (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1)))))) (+ (* 0.5 (* lambda2 (* (cos (* 0.5 phi1)) (* lambda1 (sin (* 0.5 phi1)))))) (* 1.0 (* lambda2 (* (sin (* 0.5 phi1)) (* lambda1 (cos (* 0.5 phi1)))))))) (+ (* 0.5 (* (pow lambda2 2) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) (+ (* 0.5 (* (pow lambda2 2) (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1))))) (* 1.0 (* (sin (* 0.5 phi1)) (* (pow lambda1 2) (cos (* 0.5 phi1)))))))) (- (* 2 phi1))) into (- (+ (* 1.5 (* lambda1 (* lambda2 (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1)))))) (* 0.5 (* lambda1 (* lambda2 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))) (+ (* 1.0 (* (pow lambda2 2) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (pow lambda1 2) (sin (* 0.5 phi1))))) (* 2 phi1))))
8.633 * [backup-simplify]: Simplify (/ (- (+ (* 1.5 (* lambda1 (* lambda2 (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1)))))) (* 0.5 (* lambda1 (* lambda2 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))) (+ (* 1.0 (* (pow lambda2 2) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (pow lambda1 2) (sin (* 0.5 phi1))))) (* 2 phi1)))) (* 2 (sqrt (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (+ (* (pow lambda2 2) (pow (cos (* 0.5 phi1)) 2)) (pow phi1 2))) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi1)) 2)))))))) into (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow lambda1 2) (pow (cos (* 0.5 phi1)) 2)) (+ (* (pow lambda2 2) (pow (cos (* 0.5 phi1)) 2)) (pow phi1 2))) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi1)) 2))))))) (- (+ (* 1.5 (* lambda1 (* lambda2 (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1)))))) (* 0.5 (* lambda1 (* lambda2 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))) (+ (* 2 phi1) (+ (* 1.0 (* (pow lambda2 2) (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1))))) (* 1.0 (* (cos (* 0.5 phi1)) (* (pow lambda1 2) (sin (* 0.5 phi1))))))))))
8.633 * [taylor]: Taking taylor expansion of (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (- phi1 phi2)) in phi1
8.633 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2))))) (* (- phi1 phi2) (- phi1 phi2))))
8.633 * [taylor]: Taking taylor expansion of (+ (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2))))) (* (- phi1 phi2) (- phi1 phi2))) in phi1
8.633 * [taylor]: Taking taylor expansion of (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2))))) in phi1
8.633 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) in phi1
8.633 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in phi1
8.633 * [taylor]: Taking taylor expansion of lambda1 in phi1
8.633 * [backup-simplify]: Simplify lambda1 into lambda1
8.633 * [taylor]: Taking taylor expansion of lambda2 in phi1
8.633 * [backup-simplify]: Simplify lambda2 into lambda2
8.633 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in phi1
8.633 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in phi1
8.633 * [taylor]: Taking taylor expansion of 0.5 in phi1
8.633 * [backup-simplify]: Simplify 0.5 into 0.5
8.633 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in phi1
8.633 * [taylor]: Taking taylor expansion of phi1 in phi1
8.633 * [backup-simplify]: Simplify 0 into 0
8.633 * [backup-simplify]: Simplify 1 into 1
8.633 * [taylor]: Taking taylor expansion of phi2 in phi1
8.633 * [backup-simplify]: Simplify phi2 into phi2
8.633 * [backup-simplify]: Simplify (+ 0 phi2) into phi2
8.633 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
8.633 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
8.633 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
8.633 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) in phi1
8.633 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in phi1
8.633 * [taylor]: Taking taylor expansion of lambda1 in phi1
8.633 * [backup-simplify]: Simplify lambda1 into lambda1
8.633 * [taylor]: Taking taylor expansion of lambda2 in phi1
8.633 * [backup-simplify]: Simplify lambda2 into lambda2
8.633 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in phi1
8.634 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in phi1
8.634 * [taylor]: Taking taylor expansion of 0.5 in phi1
8.634 * [backup-simplify]: Simplify 0.5 into 0.5
8.634 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in phi1
8.634 * [taylor]: Taking taylor expansion of phi1 in phi1
8.634 * [backup-simplify]: Simplify 0 into 0
8.634 * [backup-simplify]: Simplify 1 into 1
8.634 * [taylor]: Taking taylor expansion of phi2 in phi1
8.634 * [backup-simplify]: Simplify phi2 into phi2
8.634 * [backup-simplify]: Simplify (+ 0 phi2) into phi2
8.634 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
8.634 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
8.634 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
8.634 * [taylor]: Taking taylor expansion of (* (- phi1 phi2) (- phi1 phi2)) in phi1
8.634 * [taylor]: Taking taylor expansion of (- phi1 phi2) in phi1
8.634 * [taylor]: Taking taylor expansion of phi1 in phi1
8.634 * [backup-simplify]: Simplify 0 into 0
8.634 * [backup-simplify]: Simplify 1 into 1
8.634 * [taylor]: Taking taylor expansion of phi2 in phi1
8.634 * [backup-simplify]: Simplify phi2 into phi2
8.634 * [taylor]: Taking taylor expansion of (- phi1 phi2) in phi1
8.634 * [taylor]: Taking taylor expansion of phi1 in phi1
8.634 * [backup-simplify]: Simplify 0 into 0
8.634 * [backup-simplify]: Simplify 1 into 1
8.634 * [taylor]: Taking taylor expansion of phi2 in phi1
8.634 * [backup-simplify]: Simplify phi2 into phi2
8.634 * [backup-simplify]: Simplify (- lambda2) into (- lambda2)
8.634 * [backup-simplify]: Simplify (+ lambda1 (- lambda2)) into (- lambda1 lambda2)
8.634 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2))
8.634 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0
8.635 * [backup-simplify]: Simplify (- 0) into 0
8.635 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2))
8.635 * [backup-simplify]: Simplify (* (- lambda1 lambda2) (cos (* 0.5 phi2))) into (* (- lambda1 lambda2) (cos (* 0.5 phi2)))
8.635 * [backup-simplify]: Simplify (- lambda2) into (- lambda2)
8.635 * [backup-simplify]: Simplify (+ lambda1 (- lambda2)) into (- lambda1 lambda2)
8.635 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2))
8.635 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0
8.635 * [backup-simplify]: Simplify (- 0) into 0
8.635 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2))
8.635 * [backup-simplify]: Simplify (* (- lambda1 lambda2) (cos (* 0.5 phi2))) into (* (- lambda1 lambda2) (cos (* 0.5 phi2)))
8.636 * [backup-simplify]: Simplify (* (* (- lambda1 lambda2) (cos (* 0.5 phi2))) (* (- lambda1 lambda2) (cos (* 0.5 phi2)))) into (* (pow (- lambda1 lambda2) 2) (pow (cos (* 0.5 phi2)) 2))
8.636 * [backup-simplify]: Simplify (- phi2) into (- phi2)
8.636 * [backup-simplify]: Simplify (+ 0 (- phi2)) into (- phi2)
8.636 * [backup-simplify]: Simplify (- phi2) into (- phi2)
8.636 * [backup-simplify]: Simplify (+ 0 (- phi2)) into (- phi2)
8.636 * [backup-simplify]: Simplify (* (- phi2) (- phi2)) into (pow phi2 2)
8.636 * [backup-simplify]: Simplify (+ (* (pow (- lambda1 lambda2) 2) (pow (cos (* 0.5 phi2)) 2)) (pow phi2 2)) into (- (+ (pow phi2 2) (+ (* (pow lambda1 2) (pow (cos (* 0.5 phi2)) 2)) (* (pow lambda2 2) (pow (cos (* 0.5 phi2)) 2)))) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi2)) 2)))))
8.637 * [backup-simplify]: Simplify (sqrt (- (+ (pow phi2 2) (+ (* (pow lambda1 2) (pow (cos (* 0.5 phi2)) 2)) (* (pow lambda2 2) (pow (cos (* 0.5 phi2)) 2)))) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi2)) 2)))))) into (sqrt (- (+ (pow phi2 2) (+ (* (pow lambda1 2) (pow (cos (* 0.5 phi2)) 2)) (* (pow lambda2 2) (pow (cos (* 0.5 phi2)) 2)))) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi2)) 2))))))
8.637 * [backup-simplify]: Simplify (+ 0) into 0
8.638 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0
8.638 * [backup-simplify]: Simplify (+ 1 0) into 1
8.638 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi2)) into 0.5
8.640 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5
8.640 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi2)))
8.640 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi2)))) into (- (* 0.5 (sin (* 0.5 phi2))))
8.640 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi2))))) into (- (* 0.5 (sin (* 0.5 phi2))))
8.640 * [backup-simplify]: Simplify (- 0) into 0
8.641 * [backup-simplify]: Simplify (+ 0 0) into 0
8.641 * [backup-simplify]: Simplify (+ (* (- lambda1 lambda2) (- (* 0.5 (sin (* 0.5 phi2))))) (* 0 (cos (* 0.5 phi2)))) into (- (* 0.5 (* lambda2 (sin (* 0.5 phi2)))) (* 0.5 (* lambda1 (sin (* 0.5 phi2)))))
8.641 * [backup-simplify]: Simplify (+ 0) into 0
8.641 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0
8.642 * [backup-simplify]: Simplify (+ 1 0) into 1
8.642 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi2)) into 0.5
8.643 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5
8.644 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi2)))
8.644 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi2)))) into (- (* 0.5 (sin (* 0.5 phi2))))
8.644 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi2))))) into (- (* 0.5 (sin (* 0.5 phi2))))
8.644 * [backup-simplify]: Simplify (- 0) into 0
8.644 * [backup-simplify]: Simplify (+ 0 0) into 0
8.645 * [backup-simplify]: Simplify (+ (* (- lambda1 lambda2) (- (* 0.5 (sin (* 0.5 phi2))))) (* 0 (cos (* 0.5 phi2)))) into (- (* 0.5 (* lambda2 (sin (* 0.5 phi2)))) (* 0.5 (* lambda1 (sin (* 0.5 phi2)))))
8.645 * [backup-simplify]: Simplify (+ (* (* (- lambda1 lambda2) (cos (* 0.5 phi2))) (- (* 0.5 (* lambda2 (sin (* 0.5 phi2)))) (* 0.5 (* lambda1 (sin (* 0.5 phi2)))))) (* (- (* 0.5 (* lambda2 (sin (* 0.5 phi2)))) (* 0.5 (* lambda1 (sin (* 0.5 phi2))))) (* (- lambda1 lambda2) (cos (* 0.5 phi2))))) into (- (* 2.0 (* lambda2 (* lambda1 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))) (+ (* 1.0 (* (pow lambda2 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))) (* 1.0 (* (pow lambda1 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))))
8.645 * [backup-simplify]: Simplify (- 0) into 0
8.646 * [backup-simplify]: Simplify (+ 1 0) into 1
8.646 * [backup-simplify]: Simplify (- 0) into 0
8.646 * [backup-simplify]: Simplify (+ 1 0) into 1
8.646 * [backup-simplify]: Simplify (+ (* (- phi2) 1) (* 1 (- phi2))) into (- (* 2 phi2))
8.647 * [backup-simplify]: Simplify (+ (- (* 2.0 (* lambda2 (* lambda1 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))) (+ (* 1.0 (* (pow lambda2 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))) (* 1.0 (* (pow lambda1 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))))) (- (* 2 phi2))) into (- (* 2.0 (* lambda2 (* lambda1 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))) (+ (* 1.0 (* (pow lambda2 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))) (+ (* 1.0 (* (pow lambda1 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))) (* 2 phi2))))
8.649 * [backup-simplify]: Simplify (/ (- (* 2.0 (* lambda2 (* lambda1 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))) (+ (* 1.0 (* (pow lambda2 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))) (+ (* 1.0 (* (pow lambda1 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))) (* 2 phi2)))) (* 2 (sqrt (- (+ (pow phi2 2) (+ (* (pow lambda1 2) (pow (cos (* 0.5 phi2)) 2)) (* (pow lambda2 2) (pow (cos (* 0.5 phi2)) 2)))) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi2)) 2)))))))) into (* 1/2 (* (sqrt (/ 1 (- (+ (pow phi2 2) (+ (* (pow lambda1 2) (pow (cos (* 0.5 phi2)) 2)) (* (pow lambda2 2) (pow (cos (* 0.5 phi2)) 2)))) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi2)) 2))))))) (- (* 2.0 (* lambda2 (* lambda1 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))) (+ (* 1.0 (* (pow lambda2 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))) (+ (* 1.0 (* (pow lambda1 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))) (* 2 phi2))))))
8.649 * [taylor]: Taking taylor expansion of (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (- phi1 phi2)) in lambda2
8.649 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2))))) (* (- phi1 phi2) (- phi1 phi2))))
8.649 * [taylor]: Taking taylor expansion of (+ (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2))))) (* (- phi1 phi2) (- phi1 phi2))) in lambda2
8.649 * [taylor]: Taking taylor expansion of (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2))))) in lambda2
8.649 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) in lambda2
8.649 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in lambda2
8.649 * [taylor]: Taking taylor expansion of lambda1 in lambda2
8.649 * [backup-simplify]: Simplify lambda1 into lambda1
8.649 * [taylor]: Taking taylor expansion of lambda2 in lambda2
8.649 * [backup-simplify]: Simplify 0 into 0
8.649 * [backup-simplify]: Simplify 1 into 1
8.649 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda2
8.649 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda2
8.649 * [taylor]: Taking taylor expansion of 0.5 in lambda2
8.649 * [backup-simplify]: Simplify 0.5 into 0.5
8.649 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda2
8.649 * [taylor]: Taking taylor expansion of phi1 in lambda2
8.649 * [backup-simplify]: Simplify phi1 into phi1
8.649 * [taylor]: Taking taylor expansion of phi2 in lambda2
8.649 * [backup-simplify]: Simplify phi2 into phi2
8.649 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2)
8.649 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2))
8.649 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2)))
8.650 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2)))
8.650 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) in lambda2
8.650 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in lambda2
8.650 * [taylor]: Taking taylor expansion of lambda1 in lambda2
8.650 * [backup-simplify]: Simplify lambda1 into lambda1
8.650 * [taylor]: Taking taylor expansion of lambda2 in lambda2
8.650 * [backup-simplify]: Simplify 0 into 0
8.650 * [backup-simplify]: Simplify 1 into 1
8.650 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda2
8.650 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda2
8.650 * [taylor]: Taking taylor expansion of 0.5 in lambda2
8.650 * [backup-simplify]: Simplify 0.5 into 0.5
8.650 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda2
8.650 * [taylor]: Taking taylor expansion of phi1 in lambda2
8.650 * [backup-simplify]: Simplify phi1 into phi1
8.650 * [taylor]: Taking taylor expansion of phi2 in lambda2
8.650 * [backup-simplify]: Simplify phi2 into phi2
8.650 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2)
8.650 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2))
8.650 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2)))
8.650 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2)))
8.650 * [taylor]: Taking taylor expansion of (* (- phi1 phi2) (- phi1 phi2)) in lambda2
8.650 * [taylor]: Taking taylor expansion of (- phi1 phi2) in lambda2
8.650 * [taylor]: Taking taylor expansion of phi1 in lambda2
8.650 * [backup-simplify]: Simplify phi1 into phi1
8.650 * [taylor]: Taking taylor expansion of phi2 in lambda2
8.650 * [backup-simplify]: Simplify phi2 into phi2
8.650 * [taylor]: Taking taylor expansion of (- phi1 phi2) in lambda2
8.650 * [taylor]: Taking taylor expansion of phi1 in lambda2
8.650 * [backup-simplify]: Simplify phi1 into phi1
8.650 * [taylor]: Taking taylor expansion of phi2 in lambda2
8.650 * [backup-simplify]: Simplify phi2 into phi2
8.651 * [backup-simplify]: Simplify (- 0) into 0
8.651 * [backup-simplify]: Simplify (+ lambda1 0) into lambda1
8.651 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2)))
8.651 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0
8.651 * [backup-simplify]: Simplify (- 0) into 0
8.651 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2)))
8.652 * [backup-simplify]: Simplify (* lambda1 (cos (* 0.5 (+ phi1 phi2)))) into (* lambda1 (cos (* 0.5 (+ phi1 phi2))))
8.652 * [backup-simplify]: Simplify (- 0) into 0
8.652 * [backup-simplify]: Simplify (+ lambda1 0) into lambda1
8.652 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2)))
8.652 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0
8.652 * [backup-simplify]: Simplify (- 0) into 0
8.652 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2)))
8.652 * [backup-simplify]: Simplify (* lambda1 (cos (* 0.5 (+ phi1 phi2)))) into (* lambda1 (cos (* 0.5 (+ phi1 phi2))))
8.653 * [backup-simplify]: Simplify (* (* lambda1 (cos (* 0.5 (+ phi1 phi2)))) (* lambda1 (cos (* 0.5 (+ phi1 phi2))))) into (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2))
8.653 * [backup-simplify]: Simplify (- phi2) into (- phi2)
8.653 * [backup-simplify]: Simplify (+ phi1 (- phi2)) into (- phi1 phi2)
8.653 * [backup-simplify]: Simplify (- phi2) into (- phi2)
8.653 * [backup-simplify]: Simplify (+ phi1 (- phi2)) into (- phi1 phi2)
8.653 * [backup-simplify]: Simplify (* (- phi1 phi2) (- phi1 phi2)) into (pow (- phi1 phi2) 2)
8.653 * [backup-simplify]: Simplify (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (pow (- phi1 phi2) 2)) into (- (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2))) (* 2 (* phi1 phi2)))
8.654 * [backup-simplify]: Simplify (sqrt (- (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2))) (* 2 (* phi1 phi2)))) into (sqrt (- (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2))) (* 2 (* phi1 phi2))))
8.654 * [backup-simplify]: Simplify (+ 0) into 0
8.654 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (* 0 1)) into 0
8.655 * [backup-simplify]: Simplify (+ 0 0) into 0
8.655 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi1 phi2))) into 0
8.655 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
8.656 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi1 phi2))) 0) (* 0 0)) into 0
8.656 * [backup-simplify]: Simplify (- 0) into 0
8.656 * [backup-simplify]: Simplify (+ 0 0) into 0
8.657 * [backup-simplify]: Simplify (- 1) into -1
8.657 * [backup-simplify]: Simplify (+ 0 -1) into -1
8.657 * [backup-simplify]: Simplify (+ (* lambda1 0) (* -1 (cos (* 0.5 (+ phi1 phi2))))) into (- (cos (* 0.5 (+ phi1 phi2))))
8.657 * [backup-simplify]: Simplify (+ 0) into 0
8.658 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (* 0 1)) into 0
8.658 * [backup-simplify]: Simplify (+ 0 0) into 0
8.658 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi1 phi2))) into 0
8.659 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
8.660 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi1 phi2))) 0) (* 0 0)) into 0
8.660 * [backup-simplify]: Simplify (- 0) into 0
8.660 * [backup-simplify]: Simplify (+ 0 0) into 0
8.660 * [backup-simplify]: Simplify (- 1) into -1
8.661 * [backup-simplify]: Simplify (+ 0 -1) into -1
8.661 * [backup-simplify]: Simplify (+ (* lambda1 0) (* -1 (cos (* 0.5 (+ phi1 phi2))))) into (- (cos (* 0.5 (+ phi1 phi2))))
8.661 * [backup-simplify]: Simplify (+ (* (* lambda1 (cos (* 0.5 (+ phi1 phi2)))) (- (cos (* 0.5 (+ phi1 phi2))))) (* (- (cos (* 0.5 (+ phi1 phi2)))) (* lambda1 (cos (* 0.5 (+ phi1 phi2)))))) into (- (* 2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))))
8.662 * [backup-simplify]: Simplify (- 0) into 0
8.662 * [backup-simplify]: Simplify (+ 0 0) into 0
8.662 * [backup-simplify]: Simplify (- 0) into 0
8.662 * [backup-simplify]: Simplify (+ 0 0) into 0
8.662 * [backup-simplify]: Simplify (+ (* (- phi1 phi2) 0) (* 0 (- phi1 phi2))) into 0
8.663 * [backup-simplify]: Simplify (+ (- (* 2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) 0) into (- (* 2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))))
8.663 * [backup-simplify]: Simplify (/ (- (* 2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (sqrt (- (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2))) (* 2 (* phi1 phi2)))))) into (* -1 (* (sqrt (/ 1 (- (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2))) (* 2 (* phi1 phi2))))) (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))))
8.663 * [taylor]: Taking taylor expansion of (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (- phi1 phi2)) in lambda1
8.664 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2))))) (* (- phi1 phi2) (- phi1 phi2))))
8.664 * [taylor]: Taking taylor expansion of (+ (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2))))) (* (- phi1 phi2) (- phi1 phi2))) in lambda1
8.664 * [taylor]: Taking taylor expansion of (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2))))) in lambda1
8.664 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) in lambda1
8.664 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in lambda1
8.664 * [taylor]: Taking taylor expansion of lambda1 in lambda1
8.664 * [backup-simplify]: Simplify 0 into 0
8.664 * [backup-simplify]: Simplify 1 into 1
8.664 * [taylor]: Taking taylor expansion of lambda2 in lambda1
8.664 * [backup-simplify]: Simplify lambda2 into lambda2
8.664 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda1
8.664 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda1
8.664 * [taylor]: Taking taylor expansion of 0.5 in lambda1
8.664 * [backup-simplify]: Simplify 0.5 into 0.5
8.664 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda1
8.664 * [taylor]: Taking taylor expansion of phi1 in lambda1
8.664 * [backup-simplify]: Simplify phi1 into phi1
8.664 * [taylor]: Taking taylor expansion of phi2 in lambda1
8.664 * [backup-simplify]: Simplify phi2 into phi2
8.664 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2)
8.664 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2))
8.664 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2)))
8.664 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2)))
8.664 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) in lambda1
8.664 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in lambda1
8.664 * [taylor]: Taking taylor expansion of lambda1 in lambda1
8.664 * [backup-simplify]: Simplify 0 into 0
8.664 * [backup-simplify]: Simplify 1 into 1
8.664 * [taylor]: Taking taylor expansion of lambda2 in lambda1
8.664 * [backup-simplify]: Simplify lambda2 into lambda2
8.664 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda1
8.664 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda1
8.664 * [taylor]: Taking taylor expansion of 0.5 in lambda1
8.664 * [backup-simplify]: Simplify 0.5 into 0.5
8.664 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda1
8.664 * [taylor]: Taking taylor expansion of phi1 in lambda1
8.664 * [backup-simplify]: Simplify phi1 into phi1
8.664 * [taylor]: Taking taylor expansion of phi2 in lambda1
8.664 * [backup-simplify]: Simplify phi2 into phi2
8.664 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2)
8.664 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2))
8.664 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2)))
8.665 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2)))
8.665 * [taylor]: Taking taylor expansion of (* (- phi1 phi2) (- phi1 phi2)) in lambda1
8.665 * [taylor]: Taking taylor expansion of (- phi1 phi2) in lambda1
8.665 * [taylor]: Taking taylor expansion of phi1 in lambda1
8.665 * [backup-simplify]: Simplify phi1 into phi1
8.665 * [taylor]: Taking taylor expansion of phi2 in lambda1
8.665 * [backup-simplify]: Simplify phi2 into phi2
8.665 * [taylor]: Taking taylor expansion of (- phi1 phi2) in lambda1
8.665 * [taylor]: Taking taylor expansion of phi1 in lambda1
8.665 * [backup-simplify]: Simplify phi1 into phi1
8.665 * [taylor]: Taking taylor expansion of phi2 in lambda1
8.665 * [backup-simplify]: Simplify phi2 into phi2
8.665 * [backup-simplify]: Simplify (- lambda2) into (- lambda2)
8.665 * [backup-simplify]: Simplify (+ 0 (- lambda2)) into (- lambda2)
8.665 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2)))
8.665 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0
8.665 * [backup-simplify]: Simplify (- 0) into 0
8.665 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2)))
8.666 * [backup-simplify]: Simplify (* (- lambda2) (cos (* 0.5 (+ phi1 phi2)))) into (* -1 (* lambda2 (cos (* 0.5 (+ phi1 phi2)))))
8.666 * [backup-simplify]: Simplify (- lambda2) into (- lambda2)
8.666 * [backup-simplify]: Simplify (+ 0 (- lambda2)) into (- lambda2)
8.666 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2)))
8.666 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0
8.666 * [backup-simplify]: Simplify (- 0) into 0
8.667 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2)))
8.667 * [backup-simplify]: Simplify (* (- lambda2) (cos (* 0.5 (+ phi1 phi2)))) into (* -1 (* lambda2 (cos (* 0.5 (+ phi1 phi2)))))
8.667 * [backup-simplify]: Simplify (* (* -1 (* lambda2 (cos (* 0.5 (+ phi1 phi2))))) (* -1 (* lambda2 (cos (* 0.5 (+ phi1 phi2)))))) into (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2))
8.667 * [backup-simplify]: Simplify (- phi2) into (- phi2)
8.667 * [backup-simplify]: Simplify (+ phi1 (- phi2)) into (- phi1 phi2)
8.667 * [backup-simplify]: Simplify (- phi2) into (- phi2)
8.667 * [backup-simplify]: Simplify (+ phi1 (- phi2)) into (- phi1 phi2)
8.667 * [backup-simplify]: Simplify (* (- phi1 phi2) (- phi1 phi2)) into (pow (- phi1 phi2) 2)
8.668 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (pow (- phi1 phi2) 2)) into (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2)))
8.669 * [backup-simplify]: Simplify (sqrt (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2)))) into (sqrt (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2))))
8.670 * [backup-simplify]: Simplify (+ 0) into 0
8.670 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (* 0 1)) into 0
8.671 * [backup-simplify]: Simplify (+ 0 0) into 0
8.671 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi1 phi2))) into 0
8.672 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
8.673 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi1 phi2))) 0) (* 0 0)) into 0
8.673 * [backup-simplify]: Simplify (- 0) into 0
8.673 * [backup-simplify]: Simplify (+ 0 0) into 0
8.674 * [backup-simplify]: Simplify (- 0) into 0
8.674 * [backup-simplify]: Simplify (+ 1 0) into 1
8.674 * [backup-simplify]: Simplify (+ (* (- lambda2) 0) (* 1 (cos (* 0.5 (+ phi1 phi2))))) into (cos (* 0.5 (+ phi1 phi2)))
8.675 * [backup-simplify]: Simplify (+ 0) into 0
8.675 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (* 0 1)) into 0
8.676 * [backup-simplify]: Simplify (+ 0 0) into 0
8.676 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi1 phi2))) into 0
8.677 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
8.678 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi1 phi2))) 0) (* 0 0)) into 0
8.678 * [backup-simplify]: Simplify (- 0) into 0
8.679 * [backup-simplify]: Simplify (+ 0 0) into 0
8.679 * [backup-simplify]: Simplify (- 0) into 0
8.679 * [backup-simplify]: Simplify (+ 1 0) into 1
8.680 * [backup-simplify]: Simplify (+ (* (- lambda2) 0) (* 1 (cos (* 0.5 (+ phi1 phi2))))) into (cos (* 0.5 (+ phi1 phi2)))
8.680 * [backup-simplify]: Simplify (+ (* (* -1 (* lambda2 (cos (* 0.5 (+ phi1 phi2))))) (cos (* 0.5 (+ phi1 phi2)))) (* (cos (* 0.5 (+ phi1 phi2))) (* -1 (* lambda2 (cos (* 0.5 (+ phi1 phi2))))))) into (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2))))
8.681 * [backup-simplify]: Simplify (- 0) into 0
8.681 * [backup-simplify]: Simplify (+ 0 0) into 0
8.682 * [backup-simplify]: Simplify (- 0) into 0
8.682 * [backup-simplify]: Simplify (+ 0 0) into 0
8.682 * [backup-simplify]: Simplify (+ (* (- phi1 phi2) 0) (* 0 (- phi1 phi2))) into 0
8.683 * [backup-simplify]: Simplify (+ (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) 0) into (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2))))
8.684 * [backup-simplify]: Simplify (/ (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (sqrt (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2)))))) into (* -1 (* (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (sqrt (/ 1 (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2)))))))
8.684 * [taylor]: Taking taylor expansion of (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (- phi1 phi2)) in lambda1
8.684 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2))))) (* (- phi1 phi2) (- phi1 phi2))))
8.684 * [taylor]: Taking taylor expansion of (+ (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2))))) (* (- phi1 phi2) (- phi1 phi2))) in lambda1
8.684 * [taylor]: Taking taylor expansion of (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2))))) in lambda1
8.684 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) in lambda1
8.684 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in lambda1
8.685 * [taylor]: Taking taylor expansion of lambda1 in lambda1
8.685 * [backup-simplify]: Simplify 0 into 0
8.685 * [backup-simplify]: Simplify 1 into 1
8.685 * [taylor]: Taking taylor expansion of lambda2 in lambda1
8.685 * [backup-simplify]: Simplify lambda2 into lambda2
8.685 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda1
8.685 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda1
8.685 * [taylor]: Taking taylor expansion of 0.5 in lambda1
8.685 * [backup-simplify]: Simplify 0.5 into 0.5
8.685 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda1
8.685 * [taylor]: Taking taylor expansion of phi1 in lambda1
8.685 * [backup-simplify]: Simplify phi1 into phi1
8.685 * [taylor]: Taking taylor expansion of phi2 in lambda1
8.685 * [backup-simplify]: Simplify phi2 into phi2
8.685 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2)
8.685 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2))
8.685 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2)))
8.685 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2)))
8.685 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) in lambda1
8.685 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in lambda1
8.685 * [taylor]: Taking taylor expansion of lambda1 in lambda1
8.685 * [backup-simplify]: Simplify 0 into 0
8.685 * [backup-simplify]: Simplify 1 into 1
8.685 * [taylor]: Taking taylor expansion of lambda2 in lambda1
8.686 * [backup-simplify]: Simplify lambda2 into lambda2
8.686 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda1
8.686 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda1
8.686 * [taylor]: Taking taylor expansion of 0.5 in lambda1
8.686 * [backup-simplify]: Simplify 0.5 into 0.5
8.686 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda1
8.686 * [taylor]: Taking taylor expansion of phi1 in lambda1
8.686 * [backup-simplify]: Simplify phi1 into phi1
8.686 * [taylor]: Taking taylor expansion of phi2 in lambda1
8.686 * [backup-simplify]: Simplify phi2 into phi2
8.686 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2)
8.686 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2))
8.686 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2)))
8.686 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2)))
8.686 * [taylor]: Taking taylor expansion of (* (- phi1 phi2) (- phi1 phi2)) in lambda1
8.686 * [taylor]: Taking taylor expansion of (- phi1 phi2) in lambda1
8.686 * [taylor]: Taking taylor expansion of phi1 in lambda1
8.686 * [backup-simplify]: Simplify phi1 into phi1
8.686 * [taylor]: Taking taylor expansion of phi2 in lambda1
8.686 * [backup-simplify]: Simplify phi2 into phi2
8.686 * [taylor]: Taking taylor expansion of (- phi1 phi2) in lambda1
8.686 * [taylor]: Taking taylor expansion of phi1 in lambda1
8.686 * [backup-simplify]: Simplify phi1 into phi1
8.686 * [taylor]: Taking taylor expansion of phi2 in lambda1
8.686 * [backup-simplify]: Simplify phi2 into phi2
8.687 * [backup-simplify]: Simplify (- lambda2) into (- lambda2)
8.687 * [backup-simplify]: Simplify (+ 0 (- lambda2)) into (- lambda2)
8.687 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2)))
8.687 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0
8.688 * [backup-simplify]: Simplify (- 0) into 0
8.688 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2)))
8.688 * [backup-simplify]: Simplify (* (- lambda2) (cos (* 0.5 (+ phi1 phi2)))) into (* -1 (* lambda2 (cos (* 0.5 (+ phi1 phi2)))))
8.688 * [backup-simplify]: Simplify (- lambda2) into (- lambda2)
8.688 * [backup-simplify]: Simplify (+ 0 (- lambda2)) into (- lambda2)
8.688 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2)))
8.688 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0
8.689 * [backup-simplify]: Simplify (- 0) into 0
8.689 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2)))
8.689 * [backup-simplify]: Simplify (* (- lambda2) (cos (* 0.5 (+ phi1 phi2)))) into (* -1 (* lambda2 (cos (* 0.5 (+ phi1 phi2)))))
8.689 * [backup-simplify]: Simplify (* (* -1 (* lambda2 (cos (* 0.5 (+ phi1 phi2))))) (* -1 (* lambda2 (cos (* 0.5 (+ phi1 phi2)))))) into (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2))
8.689 * [backup-simplify]: Simplify (- phi2) into (- phi2)
8.689 * [backup-simplify]: Simplify (+ phi1 (- phi2)) into (- phi1 phi2)
8.690 * [backup-simplify]: Simplify (- phi2) into (- phi2)
8.690 * [backup-simplify]: Simplify (+ phi1 (- phi2)) into (- phi1 phi2)
8.690 * [backup-simplify]: Simplify (* (- phi1 phi2) (- phi1 phi2)) into (pow (- phi1 phi2) 2)
8.690 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (pow (- phi1 phi2) 2)) into (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2)))
8.691 * [backup-simplify]: Simplify (sqrt (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2)))) into (sqrt (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2))))
8.692 * [backup-simplify]: Simplify (+ 0) into 0
8.693 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (* 0 1)) into 0
8.693 * [backup-simplify]: Simplify (+ 0 0) into 0
8.693 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi1 phi2))) into 0
8.694 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
8.694 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi1 phi2))) 0) (* 0 0)) into 0
8.695 * [backup-simplify]: Simplify (- 0) into 0
8.695 * [backup-simplify]: Simplify (+ 0 0) into 0
8.695 * [backup-simplify]: Simplify (- 0) into 0
8.695 * [backup-simplify]: Simplify (+ 1 0) into 1
8.695 * [backup-simplify]: Simplify (+ (* (- lambda2) 0) (* 1 (cos (* 0.5 (+ phi1 phi2))))) into (cos (* 0.5 (+ phi1 phi2)))
8.696 * [backup-simplify]: Simplify (+ 0) into 0
8.696 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (* 0 1)) into 0
8.696 * [backup-simplify]: Simplify (+ 0 0) into 0
8.697 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi1 phi2))) into 0
8.697 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
8.697 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi1 phi2))) 0) (* 0 0)) into 0
8.698 * [backup-simplify]: Simplify (- 0) into 0
8.698 * [backup-simplify]: Simplify (+ 0 0) into 0
8.698 * [backup-simplify]: Simplify (- 0) into 0
8.698 * [backup-simplify]: Simplify (+ 1 0) into 1
8.698 * [backup-simplify]: Simplify (+ (* (- lambda2) 0) (* 1 (cos (* 0.5 (+ phi1 phi2))))) into (cos (* 0.5 (+ phi1 phi2)))
8.699 * [backup-simplify]: Simplify (+ (* (* -1 (* lambda2 (cos (* 0.5 (+ phi1 phi2))))) (cos (* 0.5 (+ phi1 phi2)))) (* (cos (* 0.5 (+ phi1 phi2))) (* -1 (* lambda2 (cos (* 0.5 (+ phi1 phi2))))))) into (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2))))
8.699 * [backup-simplify]: Simplify (- 0) into 0
8.699 * [backup-simplify]: Simplify (+ 0 0) into 0
8.699 * [backup-simplify]: Simplify (- 0) into 0
8.700 * [backup-simplify]: Simplify (+ 0 0) into 0
8.700 * [backup-simplify]: Simplify (+ (* (- phi1 phi2) 0) (* 0 (- phi1 phi2))) into 0
8.700 * [backup-simplify]: Simplify (+ (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) 0) into (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2))))
8.701 * [backup-simplify]: Simplify (/ (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (sqrt (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2)))))) into (* -1 (* (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (sqrt (/ 1 (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2)))))))
8.701 * [taylor]: Taking taylor expansion of (sqrt (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2)))) in lambda2
8.701 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2))) in lambda2
8.701 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) in lambda2
8.701 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2
8.701 * [taylor]: Taking taylor expansion of phi2 in lambda2
8.701 * [backup-simplify]: Simplify phi2 into phi2
8.701 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2))) in lambda2
8.701 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2
8.701 * [taylor]: Taking taylor expansion of phi1 in lambda2
8.701 * [backup-simplify]: Simplify phi1 into phi1
8.701 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in lambda2
8.701 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
8.701 * [taylor]: Taking taylor expansion of lambda2 in lambda2
8.701 * [backup-simplify]: Simplify 0 into 0
8.701 * [backup-simplify]: Simplify 1 into 1
8.701 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in lambda2
8.701 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda2
8.701 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda2
8.701 * [taylor]: Taking taylor expansion of 0.5 in lambda2
8.701 * [backup-simplify]: Simplify 0.5 into 0.5
8.701 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda2
8.701 * [taylor]: Taking taylor expansion of phi1 in lambda2
8.701 * [backup-simplify]: Simplify phi1 into phi1
8.701 * [taylor]: Taking taylor expansion of phi2 in lambda2
8.701 * [backup-simplify]: Simplify phi2 into phi2
8.701 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2)
8.702 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2))
8.702 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2)))
8.702 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2)))
8.702 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2)))
8.702 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0
8.702 * [backup-simplify]: Simplify (- 0) into 0
8.702 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2)))
8.702 * [taylor]: Taking taylor expansion of (* 2 (* phi1 phi2)) in lambda2
8.702 * [taylor]: Taking taylor expansion of 2 in lambda2
8.702 * [backup-simplify]: Simplify 2 into 2
8.702 * [taylor]: Taking taylor expansion of (* phi1 phi2) in lambda2
8.702 * [taylor]: Taking taylor expansion of phi1 in lambda2
8.702 * [backup-simplify]: Simplify phi1 into phi1
8.702 * [taylor]: Taking taylor expansion of phi2 in lambda2
8.702 * [backup-simplify]: Simplify phi2 into phi2
8.702 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
8.702 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
8.703 * [backup-simplify]: Simplify (+ (pow phi1 2) 0) into (pow phi1 2)
8.703 * [backup-simplify]: Simplify (+ (pow phi2 2) (pow phi1 2)) into (+ (pow phi2 2) (pow phi1 2))
8.703 * [backup-simplify]: Simplify (* phi1 phi2) into (* phi1 phi2)
8.703 * [backup-simplify]: Simplify (* 2 (* phi1 phi2)) into (* 2 (* phi1 phi2))
8.703 * [backup-simplify]: Simplify (- (* 2 (* phi1 phi2))) into (- (* 2 (* phi1 phi2)))
8.703 * [backup-simplify]: Simplify (+ (+ (pow phi2 2) (pow phi1 2)) (- (* 2 (* phi1 phi2)))) into (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))
8.703 * [backup-simplify]: Simplify (sqrt (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))) into (sqrt (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))
8.703 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0
8.703 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0
8.704 * [backup-simplify]: Simplify (+ 0 0) into 0
8.704 * [backup-simplify]: Simplify (+ 0 0) into 0
8.704 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi2)) into 0
8.704 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi1 phi2))) into 0
8.704 * [backup-simplify]: Simplify (- 0) into 0
8.705 * [backup-simplify]: Simplify (+ 0 0) into 0
8.705 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))))) into 0
8.705 * [taylor]: Taking taylor expansion of (sqrt (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))) in phi1
8.705 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))) in phi1
8.705 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (pow phi1 2)) in phi1
8.705 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1
8.705 * [taylor]: Taking taylor expansion of phi2 in phi1
8.705 * [backup-simplify]: Simplify phi2 into phi2
8.705 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1
8.705 * [taylor]: Taking taylor expansion of phi1 in phi1
8.705 * [backup-simplify]: Simplify 0 into 0
8.705 * [backup-simplify]: Simplify 1 into 1
8.705 * [taylor]: Taking taylor expansion of (* 2 (* phi1 phi2)) in phi1
8.705 * [taylor]: Taking taylor expansion of 2 in phi1
8.705 * [backup-simplify]: Simplify 2 into 2
8.705 * [taylor]: Taking taylor expansion of (* phi1 phi2) in phi1
8.705 * [taylor]: Taking taylor expansion of phi1 in phi1
8.705 * [backup-simplify]: Simplify 0 into 0
8.705 * [backup-simplify]: Simplify 1 into 1
8.705 * [taylor]: Taking taylor expansion of phi2 in phi1
8.705 * [backup-simplify]: Simplify phi2 into phi2
8.705 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
8.705 * [backup-simplify]: Simplify (+ (pow phi2 2) 0) into (pow phi2 2)
8.706 * [backup-simplify]: Simplify (* 0 phi2) into 0
8.706 * [backup-simplify]: Simplify (* 2 0) into 0
8.706 * [backup-simplify]: Simplify (- 0) into 0
8.706 * [backup-simplify]: Simplify (+ (pow phi2 2) 0) into (pow phi2 2)
8.706 * [backup-simplify]: Simplify (sqrt (pow phi2 2)) into phi2
8.706 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0
8.706 * [backup-simplify]: Simplify (+ 0 0) into 0
8.707 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi2)) into phi2
8.707 * [backup-simplify]: Simplify (+ (* 2 phi2) (* 0 0)) into (* 2 phi2)
8.707 * [backup-simplify]: Simplify (- (* 2 phi2)) into (- (* 2 phi2))
8.707 * [backup-simplify]: Simplify (+ 0 (- (* 2 phi2))) into (- (* 2 phi2))
8.707 * [backup-simplify]: Simplify (/ (- (* 2 phi2)) (* 2 (sqrt (pow phi2 2)))) into -1
8.707 * [taylor]: Taking taylor expansion of phi2 in phi2
8.707 * [backup-simplify]: Simplify 0 into 0
8.707 * [backup-simplify]: Simplify 1 into 1
8.707 * [backup-simplify]: Simplify 0 into 0
8.707 * [taylor]: Taking taylor expansion of (* -1 (* (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (sqrt (/ 1 (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2))))))) in lambda2
8.707 * [taylor]: Taking taylor expansion of -1 in lambda2
8.707 * [backup-simplify]: Simplify -1 into -1
8.707 * [taylor]: Taking taylor expansion of (* (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (sqrt (/ 1 (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2)))))) in lambda2
8.707 * [taylor]: Taking taylor expansion of (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in lambda2
8.708 * [taylor]: Taking taylor expansion of lambda2 in lambda2
8.708 * [backup-simplify]: Simplify 0 into 0
8.708 * [backup-simplify]: Simplify 1 into 1
8.708 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in lambda2
8.708 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda2
8.708 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda2
8.708 * [taylor]: Taking taylor expansion of 0.5 in lambda2
8.708 * [backup-simplify]: Simplify 0.5 into 0.5
8.708 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda2
8.708 * [taylor]: Taking taylor expansion of phi1 in lambda2
8.708 * [backup-simplify]: Simplify phi1 into phi1
8.708 * [taylor]: Taking taylor expansion of phi2 in lambda2
8.708 * [backup-simplify]: Simplify phi2 into phi2
8.708 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2)
8.708 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2))
8.708 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2)))
8.708 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2)))
8.708 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2)))
8.708 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0
8.709 * [backup-simplify]: Simplify (- 0) into 0
8.709 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2)))
8.709 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2))))) in lambda2
8.709 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2)))) in lambda2
8.709 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2))) in lambda2
8.709 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) in lambda2
8.709 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2
8.709 * [taylor]: Taking taylor expansion of phi2 in lambda2
8.709 * [backup-simplify]: Simplify phi2 into phi2
8.709 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2))) in lambda2
8.709 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2
8.709 * [taylor]: Taking taylor expansion of phi1 in lambda2
8.709 * [backup-simplify]: Simplify phi1 into phi1
8.709 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in lambda2
8.709 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
8.709 * [taylor]: Taking taylor expansion of lambda2 in lambda2
8.709 * [backup-simplify]: Simplify 0 into 0
8.709 * [backup-simplify]: Simplify 1 into 1
8.709 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in lambda2
8.709 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda2
8.709 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda2
8.709 * [taylor]: Taking taylor expansion of 0.5 in lambda2
8.709 * [backup-simplify]: Simplify 0.5 into 0.5
8.709 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda2
8.709 * [taylor]: Taking taylor expansion of phi1 in lambda2
8.709 * [backup-simplify]: Simplify phi1 into phi1
8.709 * [taylor]: Taking taylor expansion of phi2 in lambda2
8.709 * [backup-simplify]: Simplify phi2 into phi2
8.709 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2)
8.709 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2))
8.709 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2)))
8.709 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2)))
8.709 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2)))
8.709 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0
8.710 * [backup-simplify]: Simplify (- 0) into 0
8.710 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2)))
8.710 * [taylor]: Taking taylor expansion of (* 2 (* phi1 phi2)) in lambda2
8.710 * [taylor]: Taking taylor expansion of 2 in lambda2
8.710 * [backup-simplify]: Simplify 2 into 2
8.710 * [taylor]: Taking taylor expansion of (* phi1 phi2) in lambda2
8.710 * [taylor]: Taking taylor expansion of phi1 in lambda2
8.710 * [backup-simplify]: Simplify phi1 into phi1
8.710 * [taylor]: Taking taylor expansion of phi2 in lambda2
8.710 * [backup-simplify]: Simplify phi2 into phi2
8.710 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
8.710 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
8.710 * [backup-simplify]: Simplify (+ (pow phi1 2) 0) into (pow phi1 2)
8.710 * [backup-simplify]: Simplify (+ (pow phi2 2) (pow phi1 2)) into (+ (pow phi2 2) (pow phi1 2))
8.710 * [backup-simplify]: Simplify (* phi1 phi2) into (* phi1 phi2)
8.710 * [backup-simplify]: Simplify (* 2 (* phi1 phi2)) into (* 2 (* phi1 phi2))
8.710 * [backup-simplify]: Simplify (- (* 2 (* phi1 phi2))) into (- (* 2 (* phi1 phi2)))
8.711 * [backup-simplify]: Simplify (+ (+ (pow phi2 2) (pow phi1 2)) (- (* 2 (* phi1 phi2)))) into (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))
8.711 * [backup-simplify]: Simplify (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))) into (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))
8.711 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) into (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))))
8.711 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0
8.711 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0
8.711 * [backup-simplify]: Simplify (+ 0 0) into 0
8.712 * [backup-simplify]: Simplify (+ 0 0) into 0
8.712 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi2)) into 0
8.712 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi1 phi2))) into 0
8.712 * [backup-simplify]: Simplify (- 0) into 0
8.713 * [backup-simplify]: Simplify (+ 0 0) into 0
8.713 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))) (/ 0 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))))) into 0
8.713 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))))) into 0
8.713 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) (cos (* 0.5 (+ phi1 phi2)))) into (pow (cos (* 0.5 (+ phi1 phi2))) 2)
8.714 * [backup-simplify]: Simplify (* 0 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) into 0
8.714 * [backup-simplify]: Simplify (* 0 (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))))) into 0
8.714 * [backup-simplify]: Simplify (* -1 0) into 0
8.714 * [taylor]: Taking taylor expansion of 0 in phi1
8.714 * [backup-simplify]: Simplify 0 into 0
8.714 * [taylor]: Taking taylor expansion of 0 in phi2
8.714 * [backup-simplify]: Simplify 0 into 0
8.714 * [backup-simplify]: Simplify 0 into 0
8.714 * [taylor]: Taking taylor expansion of 0 in phi1
8.714 * [backup-simplify]: Simplify 0 into 0
8.714 * [taylor]: Taking taylor expansion of 0 in phi2
8.714 * [backup-simplify]: Simplify 0 into 0
8.714 * [backup-simplify]: Simplify 0 into 0
8.714 * [taylor]: Taking taylor expansion of -1 in phi2
8.714 * [backup-simplify]: Simplify -1 into -1
8.714 * [backup-simplify]: Simplify -1 into -1
8.714 * [backup-simplify]: Simplify 1 into 1
8.715 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
8.715 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (+ (* 0 0) (* 0 1))) into 0
8.716 * [backup-simplify]: Simplify (+ 0 0) into 0
8.717 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ phi1 phi2)))) into 0
8.718 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
8.718 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi1 phi2))) 0) (+ (* 0 0) (* 0 0))) into 0
8.718 * [backup-simplify]: Simplify (- 0) into 0
8.722 * [backup-simplify]: Simplify (+ 0 0) into 0
8.722 * [backup-simplify]: Simplify (- 0) into 0
8.723 * [backup-simplify]: Simplify (+ 0 0) into 0
8.723 * [backup-simplify]: Simplify (+ (* (- lambda2) 0) (+ (* 1 0) (* 0 (cos (* 0.5 (+ phi1 phi2)))))) into 0
8.724 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
8.724 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (+ (* 0 0) (* 0 1))) into 0
8.724 * [backup-simplify]: Simplify (+ 0 0) into 0
8.725 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ phi1 phi2)))) into 0
8.725 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
8.726 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi1 phi2))) 0) (+ (* 0 0) (* 0 0))) into 0
8.726 * [backup-simplify]: Simplify (- 0) into 0
8.727 * [backup-simplify]: Simplify (+ 0 0) into 0
8.727 * [backup-simplify]: Simplify (- 0) into 0
8.727 * [backup-simplify]: Simplify (+ 0 0) into 0
8.728 * [backup-simplify]: Simplify (+ (* (- lambda2) 0) (+ (* 1 0) (* 0 (cos (* 0.5 (+ phi1 phi2)))))) into 0
8.729 * [backup-simplify]: Simplify (+ (* (* -1 (* lambda2 (cos (* 0.5 (+ phi1 phi2))))) 0) (+ (* (cos (* 0.5 (+ phi1 phi2))) (cos (* 0.5 (+ phi1 phi2)))) (* 0 (* -1 (* lambda2 (cos (* 0.5 (+ phi1 phi2)))))))) into (pow (cos (* 0.5 (+ phi1 phi2))) 2)
8.729 * [backup-simplify]: Simplify (- 0) into 0
8.730 * [backup-simplify]: Simplify (+ 0 0) into 0
8.730 * [backup-simplify]: Simplify (- 0) into 0
8.730 * [backup-simplify]: Simplify (+ 0 0) into 0
8.731 * [backup-simplify]: Simplify (+ (* (- phi1 phi2) 0) (+ (* 0 0) (* 0 (- phi1 phi2)))) into 0
8.731 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ phi1 phi2))) 2) 0) into (pow (cos (* 0.5 (+ phi1 phi2))) 2)
8.735 * [backup-simplify]: Simplify (/ (- (pow (cos (* 0.5 (+ phi1 phi2))) 2) (pow (* -1 (* (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (sqrt (/ 1 (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2))))))) 2) (+)) (* 2 (sqrt (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2)))))) into (* 1/2 (* (- (pow (cos (* 0.5 (+ phi1 phi2))) 2) (/ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 4)) (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2))))) (sqrt (/ 1 (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2)))))))
8.735 * [taylor]: Taking taylor expansion of (* 1/2 (* (- (pow (cos (* 0.5 (+ phi1 phi2))) 2) (/ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 4)) (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2))))) (sqrt (/ 1 (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2))))))) in lambda2
8.735 * [taylor]: Taking taylor expansion of 1/2 in lambda2
8.735 * [backup-simplify]: Simplify 1/2 into 1/2
8.735 * [taylor]: Taking taylor expansion of (* (- (pow (cos (* 0.5 (+ phi1 phi2))) 2) (/ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 4)) (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2))))) (sqrt (/ 1 (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2)))))) in lambda2
8.735 * [taylor]: Taking taylor expansion of (- (pow (cos (* 0.5 (+ phi1 phi2))) 2) (/ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 4)) (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2))))) in lambda2
8.735 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in lambda2
8.735 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda2
8.735 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda2
8.735 * [taylor]: Taking taylor expansion of 0.5 in lambda2
8.735 * [backup-simplify]: Simplify 0.5 into 0.5
8.735 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda2
8.735 * [taylor]: Taking taylor expansion of phi1 in lambda2
8.735 * [backup-simplify]: Simplify phi1 into phi1
8.735 * [taylor]: Taking taylor expansion of phi2 in lambda2
8.735 * [backup-simplify]: Simplify phi2 into phi2
8.735 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2)
8.735 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2))
8.735 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2)))
8.736 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2)))
8.736 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2)))
8.736 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0
8.736 * [backup-simplify]: Simplify (- 0) into 0
8.736 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2)))
8.736 * [taylor]: Taking taylor expansion of (/ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 4)) (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2)))) in lambda2
8.737 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 4)) in lambda2
8.737 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
8.737 * [taylor]: Taking taylor expansion of lambda2 in lambda2
8.737 * [backup-simplify]: Simplify 0 into 0
8.737 * [backup-simplify]: Simplify 1 into 1
8.737 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 4) in lambda2
8.737 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda2
8.737 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda2
8.737 * [taylor]: Taking taylor expansion of 0.5 in lambda2
8.737 * [backup-simplify]: Simplify 0.5 into 0.5
8.737 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda2
8.737 * [taylor]: Taking taylor expansion of phi1 in lambda2
8.737 * [backup-simplify]: Simplify phi1 into phi1
8.737 * [taylor]: Taking taylor expansion of phi2 in lambda2
8.737 * [backup-simplify]: Simplify phi2 into phi2
8.737 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2)
8.737 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2))
8.737 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2)))
8.737 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2)))
8.737 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2)))
8.738 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0
8.738 * [backup-simplify]: Simplify (- 0) into 0
8.738 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2)))
8.738 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2))) in lambda2
8.738 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) in lambda2
8.738 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2
8.738 * [taylor]: Taking taylor expansion of phi2 in lambda2
8.738 * [backup-simplify]: Simplify phi2 into phi2
8.738 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2))) in lambda2
8.738 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2
8.738 * [taylor]: Taking taylor expansion of phi1 in lambda2
8.738 * [backup-simplify]: Simplify phi1 into phi1
8.738 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in lambda2
8.739 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
8.739 * [taylor]: Taking taylor expansion of lambda2 in lambda2
8.739 * [backup-simplify]: Simplify 0 into 0
8.739 * [backup-simplify]: Simplify 1 into 1
8.739 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in lambda2
8.739 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda2
8.739 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda2
8.739 * [taylor]: Taking taylor expansion of 0.5 in lambda2
8.739 * [backup-simplify]: Simplify 0.5 into 0.5
8.739 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda2
8.739 * [taylor]: Taking taylor expansion of phi1 in lambda2
8.739 * [backup-simplify]: Simplify phi1 into phi1
8.739 * [taylor]: Taking taylor expansion of phi2 in lambda2
8.739 * [backup-simplify]: Simplify phi2 into phi2
8.739 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2)
8.739 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2))
8.739 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2)))
8.739 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2)))
8.739 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2)))
8.740 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0
8.740 * [backup-simplify]: Simplify (- 0) into 0
8.740 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2)))
8.740 * [taylor]: Taking taylor expansion of (* 2 (* phi1 phi2)) in lambda2
8.740 * [taylor]: Taking taylor expansion of 2 in lambda2
8.740 * [backup-simplify]: Simplify 2 into 2
8.740 * [taylor]: Taking taylor expansion of (* phi1 phi2) in lambda2
8.740 * [taylor]: Taking taylor expansion of phi1 in lambda2
8.740 * [backup-simplify]: Simplify phi1 into phi1
8.740 * [taylor]: Taking taylor expansion of phi2 in lambda2
8.740 * [backup-simplify]: Simplify phi2 into phi2
8.741 * [backup-simplify]: Simplify (* 1 1) into 1
8.741 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) (cos (* 0.5 (+ phi1 phi2)))) into (pow (cos (* 0.5 (+ phi1 phi2))) 2)
8.741 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 (+ phi1 phi2))) 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) into (pow (cos (* 0.5 (+ phi1 phi2))) 4)
8.742 * [backup-simplify]: Simplify (* 1 (pow (cos (* 0.5 (+ phi1 phi2))) 4)) into (pow (cos (* 0.5 (+ phi1 phi2))) 4)
8.742 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
8.742 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
8.742 * [backup-simplify]: Simplify (+ (pow phi1 2) 0) into (pow phi1 2)
8.742 * [backup-simplify]: Simplify (+ (pow phi2 2) (pow phi1 2)) into (+ (pow phi2 2) (pow phi1 2))
8.742 * [backup-simplify]: Simplify (* phi1 phi2) into (* phi1 phi2)
8.742 * [backup-simplify]: Simplify (* 2 (* phi1 phi2)) into (* 2 (* phi1 phi2))
8.743 * [backup-simplify]: Simplify (- (* 2 (* phi1 phi2))) into (- (* 2 (* phi1 phi2)))
8.743 * [backup-simplify]: Simplify (+ (+ (pow phi2 2) (pow phi1 2)) (- (* 2 (* phi1 phi2)))) into (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))
8.744 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ phi1 phi2))) 4) (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))) into (/ (pow (cos (* 0.5 (+ phi1 phi2))) 4) (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))
8.744 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2))))) in lambda2
8.744 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2)))) in lambda2
8.744 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2))) in lambda2
8.744 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) in lambda2
8.744 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2
8.744 * [taylor]: Taking taylor expansion of phi2 in lambda2
8.744 * [backup-simplify]: Simplify phi2 into phi2
8.744 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2))) in lambda2
8.744 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2
8.744 * [taylor]: Taking taylor expansion of phi1 in lambda2
8.744 * [backup-simplify]: Simplify phi1 into phi1
8.744 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in lambda2
8.744 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
8.744 * [taylor]: Taking taylor expansion of lambda2 in lambda2
8.744 * [backup-simplify]: Simplify 0 into 0
8.744 * [backup-simplify]: Simplify 1 into 1
8.744 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in lambda2
8.744 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda2
8.744 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda2
8.744 * [taylor]: Taking taylor expansion of 0.5 in lambda2
8.744 * [backup-simplify]: Simplify 0.5 into 0.5
8.744 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda2
8.744 * [taylor]: Taking taylor expansion of phi1 in lambda2
8.744 * [backup-simplify]: Simplify phi1 into phi1
8.744 * [taylor]: Taking taylor expansion of phi2 in lambda2
8.744 * [backup-simplify]: Simplify phi2 into phi2
8.744 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2)
8.744 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2))
8.745 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2)))
8.745 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2)))
8.745 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2)))
8.745 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0
8.746 * [backup-simplify]: Simplify (- 0) into 0
8.746 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2)))
8.746 * [taylor]: Taking taylor expansion of (* 2 (* phi1 phi2)) in lambda2
8.746 * [taylor]: Taking taylor expansion of 2 in lambda2
8.746 * [backup-simplify]: Simplify 2 into 2
8.746 * [taylor]: Taking taylor expansion of (* phi1 phi2) in lambda2
8.746 * [taylor]: Taking taylor expansion of phi1 in lambda2
8.746 * [backup-simplify]: Simplify phi1 into phi1
8.746 * [taylor]: Taking taylor expansion of phi2 in lambda2
8.746 * [backup-simplify]: Simplify phi2 into phi2
8.746 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
8.746 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
8.746 * [backup-simplify]: Simplify (+ (pow phi1 2) 0) into (pow phi1 2)
8.746 * [backup-simplify]: Simplify (+ (pow phi2 2) (pow phi1 2)) into (+ (pow phi2 2) (pow phi1 2))
8.746 * [backup-simplify]: Simplify (* phi1 phi2) into (* phi1 phi2)
8.747 * [backup-simplify]: Simplify (* 2 (* phi1 phi2)) into (* 2 (* phi1 phi2))
8.747 * [backup-simplify]: Simplify (- (* 2 (* phi1 phi2))) into (- (* 2 (* phi1 phi2)))
8.747 * [backup-simplify]: Simplify (+ (+ (pow phi2 2) (pow phi1 2)) (- (* 2 (* phi1 phi2)))) into (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))
8.748 * [backup-simplify]: Simplify (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))) into (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))
8.748 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) into (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))))
8.748 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0
8.748 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0
8.749 * [backup-simplify]: Simplify (+ 0 0) into 0
8.749 * [backup-simplify]: Simplify (+ 0 0) into 0
8.749 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi2)) into 0
8.750 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi1 phi2))) into 0
8.750 * [backup-simplify]: Simplify (- 0) into 0
8.750 * [backup-simplify]: Simplify (+ 0 0) into 0
8.751 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))) (/ 0 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))))) into 0
8.752 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))))) into 0
8.753 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) (cos (* 0.5 (+ phi1 phi2)))) into (pow (cos (* 0.5 (+ phi1 phi2))) 2)
8.753 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ phi1 phi2))) 2) 0) into (pow (cos (* 0.5 (+ phi1 phi2))) 2)
8.753 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 (+ phi1 phi2))) 2) (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))))) into (* (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) (pow (cos (* 0.5 (+ phi1 phi2))) 2))
8.754 * [backup-simplify]: Simplify (* 1/2 (* (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) (pow (cos (* 0.5 (+ phi1 phi2))) 2))) into (* 1/2 (* (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))
8.754 * [taylor]: Taking taylor expansion of (* 1/2 (* (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) (pow (cos (* 0.5 (+ phi1 phi2))) 2))) in phi1
8.754 * [taylor]: Taking taylor expansion of 1/2 in phi1
8.754 * [backup-simplify]: Simplify 1/2 into 1/2
8.754 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in phi1
8.754 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) in phi1
8.754 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))) in phi1
8.754 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))) in phi1
8.754 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (pow phi1 2)) in phi1
8.754 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1
8.754 * [taylor]: Taking taylor expansion of phi2 in phi1
8.754 * [backup-simplify]: Simplify phi2 into phi2
8.754 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1
8.754 * [taylor]: Taking taylor expansion of phi1 in phi1
8.754 * [backup-simplify]: Simplify 0 into 0
8.754 * [backup-simplify]: Simplify 1 into 1
8.754 * [taylor]: Taking taylor expansion of (* 2 (* phi1 phi2)) in phi1
8.754 * [taylor]: Taking taylor expansion of 2 in phi1
8.754 * [backup-simplify]: Simplify 2 into 2
8.754 * [taylor]: Taking taylor expansion of (* phi1 phi2) in phi1
8.754 * [taylor]: Taking taylor expansion of phi1 in phi1
8.754 * [backup-simplify]: Simplify 0 into 0
8.754 * [backup-simplify]: Simplify 1 into 1
8.754 * [taylor]: Taking taylor expansion of phi2 in phi1
8.754 * [backup-simplify]: Simplify phi2 into phi2
8.754 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
8.754 * [backup-simplify]: Simplify (+ (pow phi2 2) 0) into (pow phi2 2)
8.754 * [backup-simplify]: Simplify (* 0 phi2) into 0
8.755 * [backup-simplify]: Simplify (* 2 0) into 0
8.755 * [backup-simplify]: Simplify (- 0) into 0
8.755 * [backup-simplify]: Simplify (+ (pow phi2 2) 0) into (pow phi2 2)
8.755 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2))
8.755 * [backup-simplify]: Simplify (sqrt (/ 1 (pow phi2 2))) into (/ 1 phi2)
8.755 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0
8.756 * [backup-simplify]: Simplify (+ 0 0) into 0
8.756 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi2)) into phi2
8.756 * [backup-simplify]: Simplify (+ (* 2 phi2) (* 0 0)) into (* 2 phi2)
8.756 * [backup-simplify]: Simplify (- (* 2 phi2)) into (- (* 2 phi2))
8.756 * [backup-simplify]: Simplify (+ 0 (- (* 2 phi2))) into (- (* 2 phi2))
8.757 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi2 2)) (/ (- (* 2 phi2)) (pow phi2 2))))) into (* 2 (/ 1 (pow phi2 3)))
8.757 * [backup-simplify]: Simplify (/ (* 2 (/ 1 (pow phi2 3))) (* 2 (sqrt (/ 1 (pow phi2 2))))) into (/ 1 (pow phi2 2))
8.757 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in phi1
8.757 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in phi1
8.757 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in phi1
8.757 * [taylor]: Taking taylor expansion of 0.5 in phi1
8.757 * [backup-simplify]: Simplify 0.5 into 0.5
8.757 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in phi1
8.757 * [taylor]: Taking taylor expansion of phi1 in phi1
8.757 * [backup-simplify]: Simplify 0 into 0
8.757 * [backup-simplify]: Simplify 1 into 1
8.757 * [taylor]: Taking taylor expansion of phi2 in phi1
8.757 * [backup-simplify]: Simplify phi2 into phi2
8.757 * [backup-simplify]: Simplify (+ 0 phi2) into phi2
8.757 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
8.757 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
8.757 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
8.757 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2))
8.757 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0
8.757 * [backup-simplify]: Simplify (- 0) into 0
8.758 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2))
8.758 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2)
8.758 * [backup-simplify]: Simplify (* (/ 1 phi2) (pow (cos (* 0.5 phi2)) 2)) into (/ (pow (cos (* 0.5 phi2)) 2) phi2)
8.758 * [backup-simplify]: Simplify (* 1/2 (/ (pow (cos (* 0.5 phi2)) 2) phi2)) into (* 1/2 (/ (pow (cos (* 0.5 phi2)) 2) phi2))
8.758 * [taylor]: Taking taylor expansion of (* 1/2 (/ (pow (cos (* 0.5 phi2)) 2) phi2)) in phi2
8.758 * [taylor]: Taking taylor expansion of 1/2 in phi2
8.758 * [backup-simplify]: Simplify 1/2 into 1/2
8.758 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 phi2)) 2) phi2) in phi2
8.758 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in phi2
8.758 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2
8.758 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2
8.758 * [taylor]: Taking taylor expansion of 0.5 in phi2
8.758 * [backup-simplify]: Simplify 0.5 into 0.5
8.758 * [taylor]: Taking taylor expansion of phi2 in phi2
8.758 * [backup-simplify]: Simplify 0 into 0
8.758 * [backup-simplify]: Simplify 1 into 1
8.759 * [backup-simplify]: Simplify (* 0.5 0) into 0
8.760 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
8.760 * [taylor]: Taking taylor expansion of phi2 in phi2
8.760 * [backup-simplify]: Simplify 0 into 0
8.760 * [backup-simplify]: Simplify 1 into 1
8.760 * [backup-simplify]: Simplify (* 1 1) into 1
8.760 * [backup-simplify]: Simplify (/ 1 1) into 1
8.760 * [backup-simplify]: Simplify (+ 0) into 0
8.761 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
8.761 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* 1 (/ 0 1)))) into 0
8.762 * [backup-simplify]: Simplify (+ (* 1/2 0) (* 0 1)) into 0
8.762 * [backup-simplify]: Simplify 0 into 0
8.762 * [backup-simplify]: Simplify (+ 0) into 0
8.762 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (* 0 1)) into 0
8.763 * [backup-simplify]: Simplify (+ 0 0) into 0
8.763 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi1 phi2))) into 0
8.763 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
8.764 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi1 phi2))) 0) (* 0 0)) into 0
8.764 * [backup-simplify]: Simplify (- 0) into 0
8.764 * [backup-simplify]: Simplify (+ 0 0) into 0
8.764 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (* 0 (cos (* 0.5 (+ phi1 phi2))))) into 0
8.765 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))) into (pow (cos (* 0.5 (+ phi1 phi2))) 2)
8.765 * [backup-simplify]: Simplify (+ (* 0 0) (* (pow (cos (* 0.5 (+ phi1 phi2))) 2) (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))))) into (* (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) (pow (cos (* 0.5 (+ phi1 phi2))) 2))
8.766 * [backup-simplify]: Simplify (+ (* -1 (* (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) (pow (cos (* 0.5 (+ phi1 phi2))) 2))) (* 0 0)) into (- (* (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))
8.766 * [taylor]: Taking taylor expansion of (- (* (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) (pow (cos (* 0.5 (+ phi1 phi2))) 2))) in phi1
8.766 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in phi1
8.766 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) in phi1
8.766 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))) in phi1
8.766 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))) in phi1
8.766 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (pow phi1 2)) in phi1
8.766 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1
8.766 * [taylor]: Taking taylor expansion of phi2 in phi1
8.766 * [backup-simplify]: Simplify phi2 into phi2
8.766 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1
8.766 * [taylor]: Taking taylor expansion of phi1 in phi1
8.766 * [backup-simplify]: Simplify 0 into 0
8.766 * [backup-simplify]: Simplify 1 into 1
8.766 * [taylor]: Taking taylor expansion of (* 2 (* phi1 phi2)) in phi1
8.766 * [taylor]: Taking taylor expansion of 2 in phi1
8.766 * [backup-simplify]: Simplify 2 into 2
8.766 * [taylor]: Taking taylor expansion of (* phi1 phi2) in phi1
8.766 * [taylor]: Taking taylor expansion of phi1 in phi1
8.766 * [backup-simplify]: Simplify 0 into 0
8.766 * [backup-simplify]: Simplify 1 into 1
8.766 * [taylor]: Taking taylor expansion of phi2 in phi1
8.766 * [backup-simplify]: Simplify phi2 into phi2
8.766 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
8.767 * [backup-simplify]: Simplify (+ (pow phi2 2) 0) into (pow phi2 2)
8.767 * [backup-simplify]: Simplify (* 0 phi2) into 0
8.767 * [backup-simplify]: Simplify (* 2 0) into 0
8.767 * [backup-simplify]: Simplify (- 0) into 0
8.767 * [backup-simplify]: Simplify (+ (pow phi2 2) 0) into (pow phi2 2)
8.767 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2))
8.767 * [backup-simplify]: Simplify (sqrt (/ 1 (pow phi2 2))) into (/ 1 phi2)
8.767 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0
8.768 * [backup-simplify]: Simplify (+ 0 0) into 0
8.768 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi2)) into phi2
8.768 * [backup-simplify]: Simplify (+ (* 2 phi2) (* 0 0)) into (* 2 phi2)
8.768 * [backup-simplify]: Simplify (- (* 2 phi2)) into (- (* 2 phi2))
8.768 * [backup-simplify]: Simplify (+ 0 (- (* 2 phi2))) into (- (* 2 phi2))
8.769 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi2 2)) (/ (- (* 2 phi2)) (pow phi2 2))))) into (* 2 (/ 1 (pow phi2 3)))
8.769 * [backup-simplify]: Simplify (/ (* 2 (/ 1 (pow phi2 3))) (* 2 (sqrt (/ 1 (pow phi2 2))))) into (/ 1 (pow phi2 2))
8.769 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in phi1
8.769 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in phi1
8.769 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in phi1
8.769 * [taylor]: Taking taylor expansion of 0.5 in phi1
8.769 * [backup-simplify]: Simplify 0.5 into 0.5
8.769 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in phi1
8.769 * [taylor]: Taking taylor expansion of phi1 in phi1
8.769 * [backup-simplify]: Simplify 0 into 0
8.769 * [backup-simplify]: Simplify 1 into 1
8.769 * [taylor]: Taking taylor expansion of phi2 in phi1
8.769 * [backup-simplify]: Simplify phi2 into phi2
8.769 * [backup-simplify]: Simplify (+ 0 phi2) into phi2
8.769 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
8.769 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
8.769 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
8.769 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2))
8.769 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0
8.769 * [backup-simplify]: Simplify (- 0) into 0
8.770 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2))
8.770 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2)
8.770 * [backup-simplify]: Simplify (* (/ 1 phi2) (pow (cos (* 0.5 phi2)) 2)) into (/ (pow (cos (* 0.5 phi2)) 2) phi2)
8.770 * [backup-simplify]: Simplify (- (/ (pow (cos (* 0.5 phi2)) 2) phi2)) into (- (/ (pow (cos (* 0.5 phi2)) 2) phi2))
8.770 * [taylor]: Taking taylor expansion of (- (/ (pow (cos (* 0.5 phi2)) 2) phi2)) in phi2
8.770 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 phi2)) 2) phi2) in phi2
8.770 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in phi2
8.770 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2
8.770 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2
8.770 * [taylor]: Taking taylor expansion of 0.5 in phi2
8.770 * [backup-simplify]: Simplify 0.5 into 0.5
8.770 * [taylor]: Taking taylor expansion of phi2 in phi2
8.770 * [backup-simplify]: Simplify 0 into 0
8.770 * [backup-simplify]: Simplify 1 into 1
8.770 * [backup-simplify]: Simplify (* 0.5 0) into 0
8.771 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
8.771 * [taylor]: Taking taylor expansion of phi2 in phi2
8.771 * [backup-simplify]: Simplify 0 into 0
8.771 * [backup-simplify]: Simplify 1 into 1
8.772 * [backup-simplify]: Simplify (* 1 1) into 1
8.772 * [backup-simplify]: Simplify (/ 1 1) into 1
8.772 * [backup-simplify]: Simplify (+ 0) into 0
8.772 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
8.773 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* 1 (/ 0 1)))) into 0
8.773 * [backup-simplify]: Simplify (- 0) into 0
8.773 * [backup-simplify]: Simplify 0 into 0
8.774 * [backup-simplify]: Simplify (+ (* phi2 0) (+ (* 0 0) (* 0 phi2))) into 0
8.774 * [backup-simplify]: Simplify (+ (* phi1 0) (+ (* 0 0) (* 0 phi1))) into 0
8.774 * [backup-simplify]: Simplify (* 1 1) into 1
8.775 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) (cos (* 0.5 (+ phi1 phi2)))) into (pow (cos (* 0.5 (+ phi1 phi2))) 2)
8.775 * [backup-simplify]: Simplify (* 1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) into (pow (cos (* 0.5 (+ phi1 phi2))) 2)
8.775 * [backup-simplify]: Simplify (+ 0 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) into (pow (cos (* 0.5 (+ phi1 phi2))) 2)
8.775 * [backup-simplify]: Simplify (+ 0 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) into (pow (cos (* 0.5 (+ phi1 phi2))) 2)
8.776 * [backup-simplify]: Simplify (+ (* phi1 0) (+ (* 0 0) (* 0 phi2))) into 0
8.777 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (* phi1 phi2)))) into 0
8.777 * [backup-simplify]: Simplify (- 0) into 0
8.778 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ phi1 phi2))) 2) 0) into (pow (cos (* 0.5 (+ phi1 phi2))) 2)
8.779 * [backup-simplify]: Simplify (/ (- (pow (cos (* 0.5 (+ phi1 phi2))) 2) (pow 0 2) (+)) (* 2 (sqrt (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))))) into (* 1/2 (* (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))
8.779 * [taylor]: Taking taylor expansion of (* 1/2 (* (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) (pow (cos (* 0.5 (+ phi1 phi2))) 2))) in phi1
8.779 * [taylor]: Taking taylor expansion of 1/2 in phi1
8.779 * [backup-simplify]: Simplify 1/2 into 1/2
8.779 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in phi1
8.779 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) in phi1
8.779 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))) in phi1
8.779 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))) in phi1
8.779 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (pow phi1 2)) in phi1
8.779 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1
8.779 * [taylor]: Taking taylor expansion of phi2 in phi1
8.779 * [backup-simplify]: Simplify phi2 into phi2
8.779 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1
8.779 * [taylor]: Taking taylor expansion of phi1 in phi1
8.779 * [backup-simplify]: Simplify 0 into 0
8.779 * [backup-simplify]: Simplify 1 into 1
8.780 * [taylor]: Taking taylor expansion of (* 2 (* phi1 phi2)) in phi1
8.780 * [taylor]: Taking taylor expansion of 2 in phi1
8.780 * [backup-simplify]: Simplify 2 into 2
8.780 * [taylor]: Taking taylor expansion of (* phi1 phi2) in phi1
8.780 * [taylor]: Taking taylor expansion of phi1 in phi1
8.780 * [backup-simplify]: Simplify 0 into 0
8.780 * [backup-simplify]: Simplify 1 into 1
8.780 * [taylor]: Taking taylor expansion of phi2 in phi1
8.780 * [backup-simplify]: Simplify phi2 into phi2
8.780 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
8.780 * [backup-simplify]: Simplify (+ (pow phi2 2) 0) into (pow phi2 2)
8.780 * [backup-simplify]: Simplify (* 0 phi2) into 0
8.780 * [backup-simplify]: Simplify (* 2 0) into 0
8.781 * [backup-simplify]: Simplify (- 0) into 0
8.781 * [backup-simplify]: Simplify (+ (pow phi2 2) 0) into (pow phi2 2)
8.781 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2))
8.781 * [backup-simplify]: Simplify (sqrt (/ 1 (pow phi2 2))) into (/ 1 phi2)
8.781 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0
8.782 * [backup-simplify]: Simplify (+ 0 0) into 0
8.782 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi2)) into phi2
8.783 * [backup-simplify]: Simplify (+ (* 2 phi2) (* 0 0)) into (* 2 phi2)
8.783 * [backup-simplify]: Simplify (- (* 2 phi2)) into (- (* 2 phi2))
8.783 * [backup-simplify]: Simplify (+ 0 (- (* 2 phi2))) into (- (* 2 phi2))
8.783 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi2 2)) (/ (- (* 2 phi2)) (pow phi2 2))))) into (* 2 (/ 1 (pow phi2 3)))
8.784 * [backup-simplify]: Simplify (/ (* 2 (/ 1 (pow phi2 3))) (* 2 (sqrt (/ 1 (pow phi2 2))))) into (/ 1 (pow phi2 2))
8.784 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in phi1
8.784 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in phi1
8.784 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in phi1
8.784 * [taylor]: Taking taylor expansion of 0.5 in phi1
8.784 * [backup-simplify]: Simplify 0.5 into 0.5
8.784 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in phi1
8.784 * [taylor]: Taking taylor expansion of phi1 in phi1
8.784 * [backup-simplify]: Simplify 0 into 0
8.784 * [backup-simplify]: Simplify 1 into 1
8.784 * [taylor]: Taking taylor expansion of phi2 in phi1
8.784 * [backup-simplify]: Simplify phi2 into phi2
8.784 * [backup-simplify]: Simplify (+ 0 phi2) into phi2
8.784 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
8.784 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
8.784 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
8.784 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2))
8.785 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0
8.785 * [backup-simplify]: Simplify (- 0) into 0
8.785 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2))
8.785 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2)
8.786 * [backup-simplify]: Simplify (* (/ 1 phi2) (pow (cos (* 0.5 phi2)) 2)) into (/ (pow (cos (* 0.5 phi2)) 2) phi2)
8.786 * [backup-simplify]: Simplify (* 1/2 (/ (pow (cos (* 0.5 phi2)) 2) phi2)) into (* 1/2 (/ (pow (cos (* 0.5 phi2)) 2) phi2))
8.786 * [taylor]: Taking taylor expansion of (* 1/2 (/ (pow (cos (* 0.5 phi2)) 2) phi2)) in phi2
8.786 * [taylor]: Taking taylor expansion of 1/2 in phi2
8.786 * [backup-simplify]: Simplify 1/2 into 1/2
8.786 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 phi2)) 2) phi2) in phi2
8.786 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in phi2
8.786 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2
8.786 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2
8.786 * [taylor]: Taking taylor expansion of 0.5 in phi2
8.786 * [backup-simplify]: Simplify 0.5 into 0.5
8.786 * [taylor]: Taking taylor expansion of phi2 in phi2
8.786 * [backup-simplify]: Simplify 0 into 0
8.786 * [backup-simplify]: Simplify 1 into 1
8.787 * [backup-simplify]: Simplify (* 0.5 0) into 0
8.788 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
8.788 * [taylor]: Taking taylor expansion of phi2 in phi2
8.789 * [backup-simplify]: Simplify 0 into 0
8.789 * [backup-simplify]: Simplify 1 into 1
8.789 * [backup-simplify]: Simplify (* 1 1) into 1
8.789 * [backup-simplify]: Simplify (/ 1 1) into 1
8.790 * [backup-simplify]: Simplify (+ 0) into 0
8.790 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
8.791 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* 1 (/ 0 1)))) into 0
8.792 * [backup-simplify]: Simplify (+ (* 1/2 0) (* 0 1)) into 0
8.792 * [backup-simplify]: Simplify 0 into 0
8.792 * [taylor]: Taking taylor expansion of 0 in phi2
8.792 * [backup-simplify]: Simplify 0 into 0
8.792 * [backup-simplify]: Simplify 0 into 0
8.792 * [taylor]: Taking taylor expansion of 0 in phi2
8.792 * [backup-simplify]: Simplify 0 into 0
8.792 * [backup-simplify]: Simplify 0 into 0
8.793 * [backup-simplify]: Simplify (+ (* phi2 0) (+ (* 0 0) (* 0 phi2))) into 0
8.793 * [backup-simplify]: Simplify (* 1 1) into 1
8.794 * [backup-simplify]: Simplify (+ 0 1) into 1
8.794 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 phi2))) into 0
8.795 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 phi2) (* 0 0))) into 0
8.796 * [backup-simplify]: Simplify (- 0) into 0
8.796 * [backup-simplify]: Simplify (+ 1 0) into 1
8.797 * [backup-simplify]: Simplify (/ (- 1 (pow -1 2) (+)) (* 2 phi2)) into 0
8.797 * [taylor]: Taking taylor expansion of 0 in phi2
8.797 * [backup-simplify]: Simplify 0 into 0
8.797 * [backup-simplify]: Simplify 0 into 0
8.798 * [backup-simplify]: Simplify (+ (* 1 (* phi2 (* 1 (* 1 1)))) (* -1 (* 1 (* phi1 (* 1 1))))) into (- phi2 phi1)
8.798 * [backup-simplify]: Simplify (hypot (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi1) (/ 1 phi2))) into (hypot (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (- (/ 1 phi1) (/ 1 phi2)))
8.798 * [approximate]: Taking taylor expansion of (hypot (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (- (/ 1 phi1) (/ 1 phi2))) in (lambda1 lambda2 phi1 phi2) around 0
8.798 * [taylor]: Taking taylor expansion of (hypot (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (- (/ 1 phi1) (/ 1 phi2))) in phi2
8.798 * [taylor]: Rewrote expression to (sqrt (+ (* (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2)))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2)))))
8.798 * [taylor]: Taking taylor expansion of (+ (* (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2)))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2)))) in phi2
8.798 * [taylor]: Taking taylor expansion of (* (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2)))) in phi2
8.798 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) in phi2
8.798 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
8.798 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
8.798 * [taylor]: Taking taylor expansion of 0.5 in phi2
8.799 * [backup-simplify]: Simplify 0.5 into 0.5
8.799 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
8.799 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
8.799 * [taylor]: Taking taylor expansion of phi1 in phi2
8.799 * [backup-simplify]: Simplify phi1 into phi1
8.799 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
8.799 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
8.799 * [taylor]: Taking taylor expansion of phi2 in phi2
8.799 * [backup-simplify]: Simplify 0 into 0
8.799 * [backup-simplify]: Simplify 1 into 1
8.799 * [backup-simplify]: Simplify (/ 1 1) into 1
8.799 * [backup-simplify]: Simplify (+ 0 1) into 1
8.800 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
8.800 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.800 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in phi2
8.800 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in phi2
8.800 * [taylor]: Taking taylor expansion of lambda1 in phi2
8.800 * [backup-simplify]: Simplify lambda1 into lambda1
8.800 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1)
8.800 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in phi2
8.800 * [taylor]: Taking taylor expansion of lambda2 in phi2
8.800 * [backup-simplify]: Simplify lambda2 into lambda2
8.800 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
8.800 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) in phi2
8.800 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
8.800 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
8.800 * [taylor]: Taking taylor expansion of 0.5 in phi2
8.800 * [backup-simplify]: Simplify 0.5 into 0.5
8.800 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
8.800 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
8.800 * [taylor]: Taking taylor expansion of phi1 in phi2
8.800 * [backup-simplify]: Simplify phi1 into phi1
8.800 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
8.800 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
8.800 * [taylor]: Taking taylor expansion of phi2 in phi2
8.800 * [backup-simplify]: Simplify 0 into 0
8.800 * [backup-simplify]: Simplify 1 into 1
8.800 * [backup-simplify]: Simplify (/ 1 1) into 1
8.801 * [backup-simplify]: Simplify (+ 0 1) into 1
8.801 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
8.801 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.801 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in phi2
8.801 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in phi2
8.801 * [taylor]: Taking taylor expansion of lambda1 in phi2
8.801 * [backup-simplify]: Simplify lambda1 into lambda1
8.801 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1)
8.801 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in phi2
8.801 * [taylor]: Taking taylor expansion of lambda2 in phi2
8.801 * [backup-simplify]: Simplify lambda2 into lambda2
8.801 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
8.801 * [taylor]: Taking taylor expansion of (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2))) in phi2
8.801 * [taylor]: Taking taylor expansion of (- (/ 1 phi1) (/ 1 phi2)) in phi2
8.801 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
8.801 * [taylor]: Taking taylor expansion of phi1 in phi2
8.801 * [backup-simplify]: Simplify phi1 into phi1
8.801 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
8.801 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
8.801 * [taylor]: Taking taylor expansion of phi2 in phi2
8.801 * [backup-simplify]: Simplify 0 into 0
8.801 * [backup-simplify]: Simplify 1 into 1
8.802 * [backup-simplify]: Simplify (/ 1 1) into 1
8.802 * [taylor]: Taking taylor expansion of (- (/ 1 phi1) (/ 1 phi2)) in phi2
8.802 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
8.802 * [taylor]: Taking taylor expansion of phi1 in phi2
8.802 * [backup-simplify]: Simplify phi1 into phi1
8.802 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
8.802 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
8.802 * [taylor]: Taking taylor expansion of phi2 in phi2
8.802 * [backup-simplify]: Simplify 0 into 0
8.802 * [backup-simplify]: Simplify 1 into 1
8.802 * [backup-simplify]: Simplify (/ 1 1) into 1
8.802 * [backup-simplify]: Simplify (- 1) into -1
8.802 * [backup-simplify]: Simplify (+ 0 -1) into -1
8.803 * [backup-simplify]: Simplify (- 1) into -1
8.803 * [backup-simplify]: Simplify (+ 0 -1) into -1
8.803 * [backup-simplify]: Simplify (* -1 -1) into 1
8.803 * [backup-simplify]: Simplify (+ 0 1) into 1
8.804 * [backup-simplify]: Simplify (sqrt 1) into 1
8.804 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
8.804 * [backup-simplify]: Simplify (- 0) into 0
8.804 * [backup-simplify]: Simplify (+ (/ 1 phi1) 0) into (/ 1 phi1)
8.805 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
8.805 * [backup-simplify]: Simplify (- 0) into 0
8.805 * [backup-simplify]: Simplify (+ (/ 1 phi1) 0) into (/ 1 phi1)
8.805 * [backup-simplify]: Simplify (+ (* -1 (/ 1 phi1)) (* (/ 1 phi1) -1)) into (- (* 2 (/ 1 phi1)))
8.805 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi1)))) into (- (* 2 (/ 1 phi1)))
8.806 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi1))) (* 2 (sqrt 1))) into (/ -1 phi1)
8.806 * [taylor]: Taking taylor expansion of (hypot (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (- (/ 1 phi1) (/ 1 phi2))) in phi1
8.806 * [taylor]: Rewrote expression to (sqrt (+ (* (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2)))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2)))))
8.806 * [taylor]: Taking taylor expansion of (+ (* (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2)))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2)))) in phi1
8.806 * [taylor]: Taking taylor expansion of (* (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2)))) in phi1
8.806 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) in phi1
8.806 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
8.806 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
8.806 * [taylor]: Taking taylor expansion of 0.5 in phi1
8.806 * [backup-simplify]: Simplify 0.5 into 0.5
8.806 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
8.806 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
8.806 * [taylor]: Taking taylor expansion of phi1 in phi1
8.806 * [backup-simplify]: Simplify 0 into 0
8.806 * [backup-simplify]: Simplify 1 into 1
8.806 * [backup-simplify]: Simplify (/ 1 1) into 1
8.806 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
8.806 * [taylor]: Taking taylor expansion of phi2 in phi1
8.806 * [backup-simplify]: Simplify phi2 into phi2
8.806 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
8.807 * [backup-simplify]: Simplify (+ 1 0) into 1
8.807 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
8.807 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.807 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in phi1
8.807 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in phi1
8.807 * [taylor]: Taking taylor expansion of lambda1 in phi1
8.807 * [backup-simplify]: Simplify lambda1 into lambda1
8.807 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1)
8.807 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in phi1
8.807 * [taylor]: Taking taylor expansion of lambda2 in phi1
8.807 * [backup-simplify]: Simplify lambda2 into lambda2
8.807 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
8.807 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) in phi1
8.807 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
8.807 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
8.807 * [taylor]: Taking taylor expansion of 0.5 in phi1
8.807 * [backup-simplify]: Simplify 0.5 into 0.5
8.807 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
8.807 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
8.807 * [taylor]: Taking taylor expansion of phi1 in phi1
8.807 * [backup-simplify]: Simplify 0 into 0
8.807 * [backup-simplify]: Simplify 1 into 1
8.808 * [backup-simplify]: Simplify (/ 1 1) into 1
8.808 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
8.808 * [taylor]: Taking taylor expansion of phi2 in phi1
8.808 * [backup-simplify]: Simplify phi2 into phi2
8.808 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
8.808 * [backup-simplify]: Simplify (+ 1 0) into 1
8.808 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
8.808 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.808 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in phi1
8.808 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in phi1
8.809 * [taylor]: Taking taylor expansion of lambda1 in phi1
8.809 * [backup-simplify]: Simplify lambda1 into lambda1
8.809 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1)
8.809 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in phi1
8.809 * [taylor]: Taking taylor expansion of lambda2 in phi1
8.809 * [backup-simplify]: Simplify lambda2 into lambda2
8.809 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
8.809 * [taylor]: Taking taylor expansion of (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2))) in phi1
8.809 * [taylor]: Taking taylor expansion of (- (/ 1 phi1) (/ 1 phi2)) in phi1
8.809 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
8.809 * [taylor]: Taking taylor expansion of phi1 in phi1
8.809 * [backup-simplify]: Simplify 0 into 0
8.809 * [backup-simplify]: Simplify 1 into 1
8.809 * [backup-simplify]: Simplify (/ 1 1) into 1
8.809 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
8.809 * [taylor]: Taking taylor expansion of phi2 in phi1
8.809 * [backup-simplify]: Simplify phi2 into phi2
8.809 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
8.809 * [taylor]: Taking taylor expansion of (- (/ 1 phi1) (/ 1 phi2)) in phi1
8.809 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
8.809 * [taylor]: Taking taylor expansion of phi1 in phi1
8.809 * [backup-simplify]: Simplify 0 into 0
8.809 * [backup-simplify]: Simplify 1 into 1
8.810 * [backup-simplify]: Simplify (/ 1 1) into 1
8.810 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
8.810 * [taylor]: Taking taylor expansion of phi2 in phi1
8.810 * [backup-simplify]: Simplify phi2 into phi2
8.810 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
8.810 * [backup-simplify]: Simplify (+ 1 0) into 1
8.810 * [backup-simplify]: Simplify (+ 1 0) into 1
8.810 * [backup-simplify]: Simplify (* 1 1) into 1
8.811 * [backup-simplify]: Simplify (+ 0 1) into 1
8.811 * [backup-simplify]: Simplify (sqrt 1) into 1
8.811 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
8.811 * [backup-simplify]: Simplify (- (/ 1 phi2)) into (- (/ 1 phi2))
8.812 * [backup-simplify]: Simplify (+ 0 (- (/ 1 phi2))) into (- (/ 1 phi2))
8.812 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
8.812 * [backup-simplify]: Simplify (- (/ 1 phi2)) into (- (/ 1 phi2))
8.812 * [backup-simplify]: Simplify (+ 0 (- (/ 1 phi2))) into (- (/ 1 phi2))
8.812 * [backup-simplify]: Simplify (+ (* 1 (- (/ 1 phi2))) (* (- (/ 1 phi2)) 1)) into (- (* 2 (/ 1 phi2)))
8.812 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2)))
8.813 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi2))) (* 2 (sqrt 1))) into (/ -1 phi2)
8.813 * [taylor]: Taking taylor expansion of (hypot (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (- (/ 1 phi1) (/ 1 phi2))) in lambda2
8.813 * [taylor]: Rewrote expression to (sqrt (+ (* (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2)))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2)))))
8.813 * [taylor]: Taking taylor expansion of (+ (* (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2)))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2)))) in lambda2
8.813 * [taylor]: Taking taylor expansion of (* (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2)))) in lambda2
8.813 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) in lambda2
8.813 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2
8.813 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2
8.813 * [taylor]: Taking taylor expansion of 0.5 in lambda2
8.813 * [backup-simplify]: Simplify 0.5 into 0.5
8.813 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2
8.813 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
8.813 * [taylor]: Taking taylor expansion of phi1 in lambda2
8.813 * [backup-simplify]: Simplify phi1 into phi1
8.813 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
8.813 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
8.813 * [taylor]: Taking taylor expansion of phi2 in lambda2
8.813 * [backup-simplify]: Simplify phi2 into phi2
8.813 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
8.813 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
8.813 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))
8.813 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.814 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.814 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in lambda2
8.814 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda2
8.814 * [taylor]: Taking taylor expansion of lambda1 in lambda2
8.814 * [backup-simplify]: Simplify lambda1 into lambda1
8.814 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1)
8.814 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda2
8.814 * [taylor]: Taking taylor expansion of lambda2 in lambda2
8.814 * [backup-simplify]: Simplify 0 into 0
8.814 * [backup-simplify]: Simplify 1 into 1
8.814 * [backup-simplify]: Simplify (/ 1 1) into 1
8.814 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) in lambda2
8.814 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2
8.814 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2
8.814 * [taylor]: Taking taylor expansion of 0.5 in lambda2
8.814 * [backup-simplify]: Simplify 0.5 into 0.5
8.814 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2
8.814 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
8.814 * [taylor]: Taking taylor expansion of phi1 in lambda2
8.814 * [backup-simplify]: Simplify phi1 into phi1
8.814 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
8.814 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
8.814 * [taylor]: Taking taylor expansion of phi2 in lambda2
8.814 * [backup-simplify]: Simplify phi2 into phi2
8.814 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
8.814 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
8.814 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))
8.815 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.815 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.815 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in lambda2
8.815 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda2
8.815 * [taylor]: Taking taylor expansion of lambda1 in lambda2
8.815 * [backup-simplify]: Simplify lambda1 into lambda1
8.815 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1)
8.815 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda2
8.815 * [taylor]: Taking taylor expansion of lambda2 in lambda2
8.815 * [backup-simplify]: Simplify 0 into 0
8.815 * [backup-simplify]: Simplify 1 into 1
8.815 * [backup-simplify]: Simplify (/ 1 1) into 1
8.815 * [taylor]: Taking taylor expansion of (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2))) in lambda2
8.815 * [taylor]: Taking taylor expansion of (- (/ 1 phi1) (/ 1 phi2)) in lambda2
8.815 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
8.815 * [taylor]: Taking taylor expansion of phi1 in lambda2
8.815 * [backup-simplify]: Simplify phi1 into phi1
8.815 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
8.815 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
8.815 * [taylor]: Taking taylor expansion of phi2 in lambda2
8.815 * [backup-simplify]: Simplify phi2 into phi2
8.815 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
8.815 * [taylor]: Taking taylor expansion of (- (/ 1 phi1) (/ 1 phi2)) in lambda2
8.815 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
8.815 * [taylor]: Taking taylor expansion of phi1 in lambda2
8.815 * [backup-simplify]: Simplify phi1 into phi1
8.815 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
8.815 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
8.815 * [taylor]: Taking taylor expansion of phi2 in lambda2
8.815 * [backup-simplify]: Simplify phi2 into phi2
8.815 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
8.816 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.816 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
8.816 * [backup-simplify]: Simplify (- 0) into 0
8.816 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.816 * [backup-simplify]: Simplify (- 1) into -1
8.817 * [backup-simplify]: Simplify (+ 0 -1) into -1
8.817 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) -1) into (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
8.817 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.817 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
8.817 * [backup-simplify]: Simplify (- 0) into 0
8.817 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.817 * [backup-simplify]: Simplify (- 1) into -1
8.818 * [backup-simplify]: Simplify (+ 0 -1) into -1
8.818 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) -1) into (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
8.818 * [backup-simplify]: Simplify (* (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
8.818 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
8.818 * [backup-simplify]: Simplify (sqrt (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.819 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
8.819 * [backup-simplify]: Simplify (- 0) into 0
8.819 * [backup-simplify]: Simplify (+ (/ 1 lambda1) 0) into (/ 1 lambda1)
8.819 * [backup-simplify]: Simplify (+ 0) into 0
8.820 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
8.820 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
8.820 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
8.820 * [backup-simplify]: Simplify (+ 0 0) into 0
8.821 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
8.821 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
8.821 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
8.822 * [backup-simplify]: Simplify (- 0) into 0
8.822 * [backup-simplify]: Simplify (+ 0 0) into 0
8.822 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (/ 1 lambda1)) (* 0 -1)) into (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1)
8.823 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
8.823 * [backup-simplify]: Simplify (- 0) into 0
8.823 * [backup-simplify]: Simplify (+ (/ 1 lambda1) 0) into (/ 1 lambda1)
8.823 * [backup-simplify]: Simplify (+ 0) into 0
8.824 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
8.824 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
8.824 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
8.824 * [backup-simplify]: Simplify (+ 0 0) into 0
8.824 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
8.825 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
8.825 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
8.825 * [backup-simplify]: Simplify (- 0) into 0
8.826 * [backup-simplify]: Simplify (+ 0 0) into 0
8.827 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (/ 1 lambda1)) (* 0 -1)) into (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1)
8.828 * [backup-simplify]: Simplify (+ (* (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1)) (* (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1) (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))
8.828 * [backup-simplify]: Simplify (+ (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) 0) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))
8.829 * [backup-simplify]: Simplify (/ (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) (* 2 (sqrt (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)))) into (* -1 (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1))
8.829 * [taylor]: Taking taylor expansion of (hypot (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (- (/ 1 phi1) (/ 1 phi2))) in lambda1
8.829 * [taylor]: Rewrote expression to (sqrt (+ (* (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2)))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2)))))
8.829 * [taylor]: Taking taylor expansion of (+ (* (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2)))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2)))) in lambda1
8.829 * [taylor]: Taking taylor expansion of (* (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2)))) in lambda1
8.829 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) in lambda1
8.830 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1
8.830 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1
8.830 * [taylor]: Taking taylor expansion of 0.5 in lambda1
8.830 * [backup-simplify]: Simplify 0.5 into 0.5
8.830 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1
8.830 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
8.830 * [taylor]: Taking taylor expansion of phi1 in lambda1
8.830 * [backup-simplify]: Simplify phi1 into phi1
8.830 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
8.830 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
8.830 * [taylor]: Taking taylor expansion of phi2 in lambda1
8.830 * [backup-simplify]: Simplify phi2 into phi2
8.830 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
8.830 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
8.830 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))
8.830 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.831 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.831 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in lambda1
8.831 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1
8.831 * [taylor]: Taking taylor expansion of lambda1 in lambda1
8.831 * [backup-simplify]: Simplify 0 into 0
8.831 * [backup-simplify]: Simplify 1 into 1
8.831 * [backup-simplify]: Simplify (/ 1 1) into 1
8.831 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda1
8.831 * [taylor]: Taking taylor expansion of lambda2 in lambda1
8.831 * [backup-simplify]: Simplify lambda2 into lambda2
8.831 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
8.831 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) in lambda1
8.832 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1
8.832 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1
8.832 * [taylor]: Taking taylor expansion of 0.5 in lambda1
8.832 * [backup-simplify]: Simplify 0.5 into 0.5
8.832 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1
8.832 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
8.832 * [taylor]: Taking taylor expansion of phi1 in lambda1
8.832 * [backup-simplify]: Simplify phi1 into phi1
8.832 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
8.832 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
8.832 * [taylor]: Taking taylor expansion of phi2 in lambda1
8.832 * [backup-simplify]: Simplify phi2 into phi2
8.832 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
8.832 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
8.832 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))
8.832 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.833 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.833 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in lambda1
8.833 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1
8.833 * [taylor]: Taking taylor expansion of lambda1 in lambda1
8.833 * [backup-simplify]: Simplify 0 into 0
8.833 * [backup-simplify]: Simplify 1 into 1
8.833 * [backup-simplify]: Simplify (/ 1 1) into 1
8.833 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda1
8.833 * [taylor]: Taking taylor expansion of lambda2 in lambda1
8.833 * [backup-simplify]: Simplify lambda2 into lambda2
8.833 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
8.833 * [taylor]: Taking taylor expansion of (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2))) in lambda1
8.833 * [taylor]: Taking taylor expansion of (- (/ 1 phi1) (/ 1 phi2)) in lambda1
8.833 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
8.833 * [taylor]: Taking taylor expansion of phi1 in lambda1
8.833 * [backup-simplify]: Simplify phi1 into phi1
8.833 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
8.833 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
8.834 * [taylor]: Taking taylor expansion of phi2 in lambda1
8.834 * [backup-simplify]: Simplify phi2 into phi2
8.834 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
8.834 * [taylor]: Taking taylor expansion of (- (/ 1 phi1) (/ 1 phi2)) in lambda1
8.834 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
8.834 * [taylor]: Taking taylor expansion of phi1 in lambda1
8.834 * [backup-simplify]: Simplify phi1 into phi1
8.834 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
8.834 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
8.834 * [taylor]: Taking taylor expansion of phi2 in lambda1
8.834 * [backup-simplify]: Simplify phi2 into phi2
8.834 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
8.834 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.834 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
8.834 * [backup-simplify]: Simplify (- 0) into 0
8.834 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.835 * [backup-simplify]: Simplify (+ 1 0) into 1
8.835 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.835 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.835 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
8.835 * [backup-simplify]: Simplify (- 0) into 0
8.835 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.836 * [backup-simplify]: Simplify (+ 1 0) into 1
8.836 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.836 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
8.836 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
8.836 * [backup-simplify]: Simplify (sqrt (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.837 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
8.837 * [backup-simplify]: Simplify (- (/ 1 lambda2)) into (- (/ 1 lambda2))
8.837 * [backup-simplify]: Simplify (+ 0 (- (/ 1 lambda2))) into (- (/ 1 lambda2))
8.837 * [backup-simplify]: Simplify (+ 0) into 0
8.838 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
8.838 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
8.838 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
8.838 * [backup-simplify]: Simplify (+ 0 0) into 0
8.838 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
8.839 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
8.839 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
8.839 * [backup-simplify]: Simplify (- 0) into 0
8.840 * [backup-simplify]: Simplify (+ 0 0) into 0
8.840 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda2))) (* 0 1)) into (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2))
8.840 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
8.841 * [backup-simplify]: Simplify (- (/ 1 lambda2)) into (- (/ 1 lambda2))
8.841 * [backup-simplify]: Simplify (+ 0 (- (/ 1 lambda2))) into (- (/ 1 lambda2))
8.841 * [backup-simplify]: Simplify (+ 0) into 0
8.841 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
8.841 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
8.841 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
8.842 * [backup-simplify]: Simplify (+ 0 0) into 0
8.842 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
8.842 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
8.843 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
8.843 * [backup-simplify]: Simplify (- 0) into 0
8.843 * [backup-simplify]: Simplify (+ 0 0) into 0
8.847 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda2))) (* 0 1)) into (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2))
8.848 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2))) (* (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))
8.848 * [backup-simplify]: Simplify (+ (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 0) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))
8.849 * [backup-simplify]: Simplify (/ (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) (* 2 (sqrt (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)))) into (* -1 (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2))
8.849 * [taylor]: Taking taylor expansion of (hypot (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (- (/ 1 phi1) (/ 1 phi2))) in lambda1
8.849 * [taylor]: Rewrote expression to (sqrt (+ (* (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2)))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2)))))
8.849 * [taylor]: Taking taylor expansion of (+ (* (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2)))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2)))) in lambda1
8.849 * [taylor]: Taking taylor expansion of (* (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2)))) in lambda1
8.849 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) in lambda1
8.849 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1
8.849 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1
8.849 * [taylor]: Taking taylor expansion of 0.5 in lambda1
8.849 * [backup-simplify]: Simplify 0.5 into 0.5
8.849 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1
8.849 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
8.849 * [taylor]: Taking taylor expansion of phi1 in lambda1
8.849 * [backup-simplify]: Simplify phi1 into phi1
8.849 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
8.849 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
8.849 * [taylor]: Taking taylor expansion of phi2 in lambda1
8.849 * [backup-simplify]: Simplify phi2 into phi2
8.849 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
8.849 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
8.849 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))
8.849 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.849 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.849 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in lambda1
8.849 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1
8.849 * [taylor]: Taking taylor expansion of lambda1 in lambda1
8.849 * [backup-simplify]: Simplify 0 into 0
8.849 * [backup-simplify]: Simplify 1 into 1
8.850 * [backup-simplify]: Simplify (/ 1 1) into 1
8.850 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda1
8.850 * [taylor]: Taking taylor expansion of lambda2 in lambda1
8.850 * [backup-simplify]: Simplify lambda2 into lambda2
8.850 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
8.850 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) in lambda1
8.850 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1
8.850 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1
8.850 * [taylor]: Taking taylor expansion of 0.5 in lambda1
8.850 * [backup-simplify]: Simplify 0.5 into 0.5
8.850 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1
8.850 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
8.850 * [taylor]: Taking taylor expansion of phi1 in lambda1
8.850 * [backup-simplify]: Simplify phi1 into phi1
8.850 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
8.850 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
8.850 * [taylor]: Taking taylor expansion of phi2 in lambda1
8.850 * [backup-simplify]: Simplify phi2 into phi2
8.850 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
8.850 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
8.850 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))
8.851 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.851 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.851 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in lambda1
8.851 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1
8.851 * [taylor]: Taking taylor expansion of lambda1 in lambda1
8.851 * [backup-simplify]: Simplify 0 into 0
8.851 * [backup-simplify]: Simplify 1 into 1
8.851 * [backup-simplify]: Simplify (/ 1 1) into 1
8.851 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda1
8.851 * [taylor]: Taking taylor expansion of lambda2 in lambda1
8.851 * [backup-simplify]: Simplify lambda2 into lambda2
8.851 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
8.851 * [taylor]: Taking taylor expansion of (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2))) in lambda1
8.851 * [taylor]: Taking taylor expansion of (- (/ 1 phi1) (/ 1 phi2)) in lambda1
8.851 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
8.851 * [taylor]: Taking taylor expansion of phi1 in lambda1
8.851 * [backup-simplify]: Simplify phi1 into phi1
8.851 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
8.851 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
8.851 * [taylor]: Taking taylor expansion of phi2 in lambda1
8.851 * [backup-simplify]: Simplify phi2 into phi2
8.851 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
8.851 * [taylor]: Taking taylor expansion of (- (/ 1 phi1) (/ 1 phi2)) in lambda1
8.851 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
8.851 * [taylor]: Taking taylor expansion of phi1 in lambda1
8.851 * [backup-simplify]: Simplify phi1 into phi1
8.851 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
8.851 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
8.851 * [taylor]: Taking taylor expansion of phi2 in lambda1
8.852 * [backup-simplify]: Simplify phi2 into phi2
8.852 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
8.852 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.852 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
8.852 * [backup-simplify]: Simplify (- 0) into 0
8.852 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.853 * [backup-simplify]: Simplify (+ 1 0) into 1
8.853 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.853 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.853 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
8.853 * [backup-simplify]: Simplify (- 0) into 0
8.853 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.854 * [backup-simplify]: Simplify (+ 1 0) into 1
8.854 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.854 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
8.854 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
8.854 * [backup-simplify]: Simplify (sqrt (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.855 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
8.855 * [backup-simplify]: Simplify (- (/ 1 lambda2)) into (- (/ 1 lambda2))
8.855 * [backup-simplify]: Simplify (+ 0 (- (/ 1 lambda2))) into (- (/ 1 lambda2))
8.855 * [backup-simplify]: Simplify (+ 0) into 0
8.855 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
8.856 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
8.856 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
8.856 * [backup-simplify]: Simplify (+ 0 0) into 0
8.856 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
8.857 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
8.857 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
8.857 * [backup-simplify]: Simplify (- 0) into 0
8.858 * [backup-simplify]: Simplify (+ 0 0) into 0
8.858 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda2))) (* 0 1)) into (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2))
8.858 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
8.858 * [backup-simplify]: Simplify (- (/ 1 lambda2)) into (- (/ 1 lambda2))
8.859 * [backup-simplify]: Simplify (+ 0 (- (/ 1 lambda2))) into (- (/ 1 lambda2))
8.859 * [backup-simplify]: Simplify (+ 0) into 0
8.859 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
8.860 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
8.860 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
8.860 * [backup-simplify]: Simplify (+ 0 0) into 0
8.860 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
8.861 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
8.861 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
8.861 * [backup-simplify]: Simplify (- 0) into 0
8.861 * [backup-simplify]: Simplify (+ 0 0) into 0
8.862 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ 1 lambda2))) (* 0 1)) into (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2))
8.862 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2))) (* (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))
8.863 * [backup-simplify]: Simplify (+ (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 0) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))
8.863 * [backup-simplify]: Simplify (/ (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) (* 2 (sqrt (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)))) into (* -1 (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2))
8.863 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2
8.863 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2
8.863 * [taylor]: Taking taylor expansion of 0.5 in lambda2
8.863 * [backup-simplify]: Simplify 0.5 into 0.5
8.863 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2
8.863 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
8.863 * [taylor]: Taking taylor expansion of phi1 in lambda2
8.863 * [backup-simplify]: Simplify phi1 into phi1
8.863 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
8.863 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
8.863 * [taylor]: Taking taylor expansion of phi2 in lambda2
8.863 * [backup-simplify]: Simplify phi2 into phi2
8.864 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
8.864 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
8.864 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))
8.864 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.864 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.864 * [taylor]: Taking taylor expansion of (* -1 (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) in lambda2
8.864 * [taylor]: Taking taylor expansion of -1 in lambda2
8.864 * [backup-simplify]: Simplify -1 into -1
8.864 * [taylor]: Taking taylor expansion of (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2) in lambda2
8.864 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2
8.864 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2
8.864 * [taylor]: Taking taylor expansion of 0.5 in lambda2
8.864 * [backup-simplify]: Simplify 0.5 into 0.5
8.864 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2
8.864 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
8.864 * [taylor]: Taking taylor expansion of phi1 in lambda2
8.864 * [backup-simplify]: Simplify phi1 into phi1
8.864 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
8.864 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
8.864 * [taylor]: Taking taylor expansion of phi2 in lambda2
8.864 * [backup-simplify]: Simplify phi2 into phi2
8.864 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
8.864 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
8.864 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))
8.864 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.865 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.865 * [taylor]: Taking taylor expansion of lambda2 in lambda2
8.865 * [backup-simplify]: Simplify 0 into 0
8.865 * [backup-simplify]: Simplify 1 into 1
8.865 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.865 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
8.865 * [backup-simplify]: Simplify (- 0) into 0
8.865 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.865 * [backup-simplify]: Simplify (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.865 * [backup-simplify]: Simplify (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
8.866 * [taylor]: Taking taylor expansion of (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi1
8.866 * [taylor]: Taking taylor expansion of -1 in phi1
8.866 * [backup-simplify]: Simplify -1 into -1
8.866 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
8.866 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
8.866 * [taylor]: Taking taylor expansion of 0.5 in phi1
8.866 * [backup-simplify]: Simplify 0.5 into 0.5
8.866 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
8.866 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
8.866 * [taylor]: Taking taylor expansion of phi1 in phi1
8.866 * [backup-simplify]: Simplify 0 into 0
8.866 * [backup-simplify]: Simplify 1 into 1
8.866 * [backup-simplify]: Simplify (/ 1 1) into 1
8.866 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
8.866 * [taylor]: Taking taylor expansion of phi2 in phi1
8.866 * [backup-simplify]: Simplify phi2 into phi2
8.866 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
8.867 * [backup-simplify]: Simplify (+ 1 0) into 1
8.867 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
8.867 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.868 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.868 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
8.868 * [backup-simplify]: Simplify (- 0) into 0
8.868 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.868 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
8.868 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
8.869 * [taylor]: Taking taylor expansion of 0.5 in phi1
8.869 * [backup-simplify]: Simplify 0.5 into 0.5
8.869 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
8.869 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
8.869 * [taylor]: Taking taylor expansion of phi1 in phi1
8.869 * [backup-simplify]: Simplify 0 into 0
8.869 * [backup-simplify]: Simplify 1 into 1
8.869 * [backup-simplify]: Simplify (/ 1 1) into 1
8.869 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
8.869 * [taylor]: Taking taylor expansion of phi2 in phi1
8.869 * [backup-simplify]: Simplify phi2 into phi2
8.869 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
8.870 * [backup-simplify]: Simplify (+ 1 0) into 1
8.870 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
8.870 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.871 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)))) into 0
8.871 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)))) into 0
8.872 * [backup-simplify]: Simplify (- 0) into 0
8.872 * [backup-simplify]: Simplify (+ 0 0) into 0
8.873 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
8.874 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0
8.874 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
8.874 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
8.875 * [backup-simplify]: Simplify (+ 0 0) into 0
8.875 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0
8.876 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
8.877 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0
8.877 * [backup-simplify]: Simplify (- 0) into 0
8.878 * [backup-simplify]: Simplify (+ 0 0) into 0
8.878 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 (- (/ 1 lambda2))) (* 0 1))) into 0
8.879 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)))) into 0
8.879 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)))) into 0
8.880 * [backup-simplify]: Simplify (- 0) into 0
8.880 * [backup-simplify]: Simplify (+ 0 0) into 0
8.881 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
8.882 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0
8.882 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
8.882 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
8.883 * [backup-simplify]: Simplify (+ 0 0) into 0
8.883 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0
8.884 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
8.885 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0
8.885 * [backup-simplify]: Simplify (- 0) into 0
8.886 * [backup-simplify]: Simplify (+ 0 0) into 0
8.886 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 (- (/ 1 lambda2))) (* 0 1))) into 0
8.887 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2))) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2))
8.888 * [backup-simplify]: Simplify (- (/ 1 phi2)) into (- (/ 1 phi2))
8.888 * [backup-simplify]: Simplify (+ (/ 1 phi1) (- (/ 1 phi2))) into (- (/ 1 phi1) (/ 1 phi2))
8.888 * [backup-simplify]: Simplify (- (/ 1 phi2)) into (- (/ 1 phi2))
8.888 * [backup-simplify]: Simplify (+ (/ 1 phi1) (- (/ 1 phi2))) into (- (/ 1 phi1) (/ 1 phi2))
8.888 * [backup-simplify]: Simplify (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2))) into (pow (- (/ 1 phi1) (/ 1 phi2)) 2)
8.889 * [backup-simplify]: Simplify (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (pow (- (/ 1 phi1) (/ 1 phi2)) 2)) into (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2)))) (* 2 (/ 1 (* phi1 phi2))))
8.891 * [backup-simplify]: Simplify (/ (- (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2)))) (* 2 (/ 1 (* phi1 phi2)))) (pow (* -1 (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) 2) (+)) (* 2 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (* 1/2 (/ (- (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))
8.891 * [taylor]: Taking taylor expansion of (* 1/2 (/ (- (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in lambda2
8.891 * [taylor]: Taking taylor expansion of 1/2 in lambda2
8.891 * [backup-simplify]: Simplify 1/2 into 1/2
8.891 * [taylor]: Taking taylor expansion of (/ (- (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda2
8.891 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))) (* 2 (/ 1 (* phi1 phi2)))) in lambda2
8.891 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))) in lambda2
8.891 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda2
8.891 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2
8.891 * [taylor]: Taking taylor expansion of phi1 in lambda2
8.891 * [backup-simplify]: Simplify phi1 into phi1
8.891 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
8.892 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2))
8.892 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda2
8.892 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2
8.892 * [taylor]: Taking taylor expansion of phi2 in lambda2
8.892 * [backup-simplify]: Simplify phi2 into phi2
8.892 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
8.892 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2))
8.892 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi1 phi2))) in lambda2
8.892 * [taylor]: Taking taylor expansion of 2 in lambda2
8.892 * [backup-simplify]: Simplify 2 into 2
8.892 * [taylor]: Taking taylor expansion of (/ 1 (* phi1 phi2)) in lambda2
8.892 * [taylor]: Taking taylor expansion of (* phi1 phi2) in lambda2
8.892 * [taylor]: Taking taylor expansion of phi1 in lambda2
8.892 * [backup-simplify]: Simplify phi1 into phi1
8.892 * [taylor]: Taking taylor expansion of phi2 in lambda2
8.892 * [backup-simplify]: Simplify phi2 into phi2
8.892 * [backup-simplify]: Simplify (* phi1 phi2) into (* phi1 phi2)
8.892 * [backup-simplify]: Simplify (/ 1 (* phi1 phi2)) into (/ 1 (* phi1 phi2))
8.892 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2
8.892 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2
8.892 * [taylor]: Taking taylor expansion of 0.5 in lambda2
8.892 * [backup-simplify]: Simplify 0.5 into 0.5
8.892 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2
8.892 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
8.892 * [taylor]: Taking taylor expansion of phi1 in lambda2
8.893 * [backup-simplify]: Simplify phi1 into phi1
8.893 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
8.893 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
8.893 * [taylor]: Taking taylor expansion of phi2 in lambda2
8.893 * [backup-simplify]: Simplify phi2 into phi2
8.893 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
8.893 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
8.893 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))
8.893 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.893 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.894 * [backup-simplify]: Simplify (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))) into (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2)))
8.894 * [backup-simplify]: Simplify (* 2 (/ 1 (* phi1 phi2))) into (/ 2 (* phi1 phi2))
8.894 * [backup-simplify]: Simplify (- (/ 2 (* phi1 phi2))) into (- (* 2 (/ 1 (* phi1 phi2))))
8.894 * [backup-simplify]: Simplify (+ (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (- (* 2 (/ 1 (* phi1 phi2))))) into (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2))))
8.894 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.895 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
8.895 * [backup-simplify]: Simplify (- 0) into 0
8.895 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.896 * [backup-simplify]: Simplify (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
8.896 * [backup-simplify]: Simplify (+ 0) into 0
8.897 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
8.897 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
8.897 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
8.898 * [backup-simplify]: Simplify (+ 0 0) into 0
8.898 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
8.899 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
8.899 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
8.900 * [backup-simplify]: Simplify (- 0) into 0
8.900 * [backup-simplify]: Simplify (+ 0 0) into 0
8.901 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (/ 0 1)))) into 0
8.902 * [backup-simplify]: Simplify (+ (* -1 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0
8.902 * [taylor]: Taking taylor expansion of 0 in phi1
8.902 * [backup-simplify]: Simplify 0 into 0
8.902 * [backup-simplify]: Simplify (+ 0) into 0
8.903 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
8.903 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
8.903 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
8.904 * [backup-simplify]: Simplify (+ 0 0) into 0
8.904 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
8.905 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
8.905 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
8.906 * [backup-simplify]: Simplify (- 0) into 0
8.906 * [backup-simplify]: Simplify (+ 0 0) into 0
8.906 * [taylor]: Taking taylor expansion of 0 in phi1
8.906 * [backup-simplify]: Simplify 0 into 0
8.906 * [backup-simplify]: Simplify (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
8.906 * [taylor]: Taking taylor expansion of (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2
8.907 * [taylor]: Taking taylor expansion of -1 in phi2
8.907 * [backup-simplify]: Simplify -1 into -1
8.907 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
8.907 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
8.907 * [taylor]: Taking taylor expansion of 0.5 in phi2
8.907 * [backup-simplify]: Simplify 0.5 into 0.5
8.907 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
8.907 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
8.907 * [taylor]: Taking taylor expansion of phi1 in phi2
8.907 * [backup-simplify]: Simplify phi1 into phi1
8.907 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
8.907 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
8.907 * [taylor]: Taking taylor expansion of phi2 in phi2
8.907 * [backup-simplify]: Simplify 0 into 0
8.907 * [backup-simplify]: Simplify 1 into 1
8.907 * [backup-simplify]: Simplify (/ 1 1) into 1
8.908 * [backup-simplify]: Simplify (+ 0 1) into 1
8.908 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
8.908 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.908 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
8.908 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
8.908 * [taylor]: Taking taylor expansion of 0.5 in phi2
8.909 * [backup-simplify]: Simplify 0.5 into 0.5
8.909 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
8.909 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
8.909 * [taylor]: Taking taylor expansion of phi1 in phi2
8.909 * [backup-simplify]: Simplify phi1 into phi1
8.909 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
8.909 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
8.909 * [taylor]: Taking taylor expansion of phi2 in phi2
8.909 * [backup-simplify]: Simplify 0 into 0
8.909 * [backup-simplify]: Simplify 1 into 1
8.909 * [backup-simplify]: Simplify (/ 1 1) into 1
8.910 * [backup-simplify]: Simplify (+ 0 1) into 1
8.910 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
8.910 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.911 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)) (* 0 (/ 0 1)))) into 0
8.912 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)) (* 0 (/ 0 lambda2)))) into 0
8.912 * [backup-simplify]: Simplify (- 0) into 0
8.912 * [backup-simplify]: Simplify (+ 0 0) into 0
8.913 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0
8.914 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0
8.914 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
8.915 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
8.915 * [backup-simplify]: Simplify (+ 0 0) into 0
8.916 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0
8.918 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0
8.919 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0
8.919 * [backup-simplify]: Simplify (- 0) into 0
8.919 * [backup-simplify]: Simplify (+ 0 0) into 0
8.920 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 (- (/ 1 lambda2))) (* 0 1)))) into 0
8.921 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)) (* 0 (/ 0 1)))) into 0
8.921 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)) (* 0 (/ 0 lambda2)))) into 0
8.922 * [backup-simplify]: Simplify (- 0) into 0
8.922 * [backup-simplify]: Simplify (+ 0 0) into 0
8.923 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0
8.924 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0
8.924 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
8.925 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
8.925 * [backup-simplify]: Simplify (+ 0 0) into 0
8.926 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0
8.927 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0
8.927 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0
8.927 * [backup-simplify]: Simplify (- 0) into 0
8.928 * [backup-simplify]: Simplify (+ 0 0) into 0
8.928 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 (- (/ 1 lambda2))) (* 0 1)))) into 0
8.929 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) 0) (+ (* 0 (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2))) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into 0
8.929 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
8.929 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
8.929 * [backup-simplify]: Simplify (- 0) into 0
8.929 * [backup-simplify]: Simplify (+ 0 0) into 0
8.929 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
8.930 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
8.930 * [backup-simplify]: Simplify (- 0) into 0
8.930 * [backup-simplify]: Simplify (+ 0 0) into 0
8.930 * [backup-simplify]: Simplify (+ (* (- (/ 1 phi1) (/ 1 phi2)) 0) (* 0 (- (/ 1 phi1) (/ 1 phi2)))) into 0
8.930 * [backup-simplify]: Simplify (+ 0 0) into 0
8.931 * [backup-simplify]: Simplify (/ (- 0 (+ (* 2 (* (* -1 (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) (* 1/2 (/ (- (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))))) (* 2 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (* 1/2 (/ (- (+ (/ 1 (* lambda2 (pow phi2 2))) (/ 1 (* lambda2 (pow phi1 2)))) (* 2 (/ 1 (* lambda2 (* phi1 phi2))))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))
8.931 * [taylor]: Taking taylor expansion of (* 1/2 (/ (- (+ (/ 1 (* lambda2 (pow phi2 2))) (/ 1 (* lambda2 (pow phi1 2)))) (* 2 (/ 1 (* lambda2 (* phi1 phi2))))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in lambda2
8.931 * [taylor]: Taking taylor expansion of 1/2 in lambda2
8.931 * [backup-simplify]: Simplify 1/2 into 1/2
8.931 * [taylor]: Taking taylor expansion of (/ (- (+ (/ 1 (* lambda2 (pow phi2 2))) (/ 1 (* lambda2 (pow phi1 2)))) (* 2 (/ 1 (* lambda2 (* phi1 phi2))))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda2
8.931 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (* lambda2 (pow phi2 2))) (/ 1 (* lambda2 (pow phi1 2)))) (* 2 (/ 1 (* lambda2 (* phi1 phi2))))) in lambda2
8.931 * [taylor]: Taking taylor expansion of (+ (/ 1 (* lambda2 (pow phi2 2))) (/ 1 (* lambda2 (pow phi1 2)))) in lambda2
8.931 * [taylor]: Taking taylor expansion of (/ 1 (* lambda2 (pow phi2 2))) in lambda2
8.931 * [taylor]: Taking taylor expansion of (* lambda2 (pow phi2 2)) in lambda2
8.931 * [taylor]: Taking taylor expansion of lambda2 in lambda2
8.931 * [backup-simplify]: Simplify 0 into 0
8.931 * [backup-simplify]: Simplify 1 into 1
8.931 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2
8.932 * [taylor]: Taking taylor expansion of phi2 in lambda2
8.932 * [backup-simplify]: Simplify phi2 into phi2
8.932 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
8.932 * [backup-simplify]: Simplify (* 0 (pow phi2 2)) into 0
8.932 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0
8.932 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow phi2 2))) into (pow phi2 2)
8.932 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2))
8.932 * [taylor]: Taking taylor expansion of (/ 1 (* lambda2 (pow phi1 2))) in lambda2
8.932 * [taylor]: Taking taylor expansion of (* lambda2 (pow phi1 2)) in lambda2
8.932 * [taylor]: Taking taylor expansion of lambda2 in lambda2
8.932 * [backup-simplify]: Simplify 0 into 0
8.932 * [backup-simplify]: Simplify 1 into 1
8.932 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2
8.932 * [taylor]: Taking taylor expansion of phi1 in lambda2
8.932 * [backup-simplify]: Simplify phi1 into phi1
8.932 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
8.932 * [backup-simplify]: Simplify (* 0 (pow phi1 2)) into 0
8.932 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0
8.933 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow phi1 2))) into (pow phi1 2)
8.933 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2))
8.933 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* lambda2 (* phi1 phi2)))) in lambda2
8.933 * [taylor]: Taking taylor expansion of 2 in lambda2
8.933 * [backup-simplify]: Simplify 2 into 2
8.933 * [taylor]: Taking taylor expansion of (/ 1 (* lambda2 (* phi1 phi2))) in lambda2
8.933 * [taylor]: Taking taylor expansion of (* lambda2 (* phi1 phi2)) in lambda2
8.933 * [taylor]: Taking taylor expansion of lambda2 in lambda2
8.933 * [backup-simplify]: Simplify 0 into 0
8.933 * [backup-simplify]: Simplify 1 into 1
8.933 * [taylor]: Taking taylor expansion of (* phi1 phi2) in lambda2
8.933 * [taylor]: Taking taylor expansion of phi1 in lambda2
8.933 * [backup-simplify]: Simplify phi1 into phi1
8.933 * [taylor]: Taking taylor expansion of phi2 in lambda2
8.933 * [backup-simplify]: Simplify phi2 into phi2
8.933 * [backup-simplify]: Simplify (* phi1 phi2) into (* phi1 phi2)
8.933 * [backup-simplify]: Simplify (* 0 (* phi1 phi2)) into 0
8.933 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi2)) into 0
8.934 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* phi1 phi2))) into (* phi1 phi2)
8.934 * [backup-simplify]: Simplify (/ 1 (* phi1 phi2)) into (/ 1 (* phi1 phi2))
8.934 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2
8.934 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2
8.934 * [taylor]: Taking taylor expansion of 0.5 in lambda2
8.934 * [backup-simplify]: Simplify 0.5 into 0.5
8.934 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2
8.934 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
8.934 * [taylor]: Taking taylor expansion of phi1 in lambda2
8.934 * [backup-simplify]: Simplify phi1 into phi1
8.934 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
8.934 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
8.934 * [taylor]: Taking taylor expansion of phi2 in lambda2
8.934 * [backup-simplify]: Simplify phi2 into phi2
8.934 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
8.934 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
8.934 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))
8.934 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.934 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.934 * [backup-simplify]: Simplify (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) into (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2)))
8.934 * [backup-simplify]: Simplify (* 2 (/ 1 (* phi1 phi2))) into (/ 2 (* phi1 phi2))
8.934 * [backup-simplify]: Simplify (- (/ 2 (* phi1 phi2))) into (- (* 2 (/ 1 (* phi1 phi2))))
8.935 * [backup-simplify]: Simplify (+ (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (- (* 2 (/ 1 (* phi1 phi2))))) into (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2))))
8.935 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.935 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
8.935 * [backup-simplify]: Simplify (- 0) into 0
8.935 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.936 * [backup-simplify]: Simplify (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
8.936 * [backup-simplify]: Simplify (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))
8.936 * [taylor]: Taking taylor expansion of (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi1
8.936 * [taylor]: Taking taylor expansion of 1/2 in phi1
8.936 * [backup-simplify]: Simplify 1/2 into 1/2
8.936 * [taylor]: Taking taylor expansion of (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi1
8.936 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) in phi1
8.936 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) in phi1
8.936 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi1
8.936 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1
8.936 * [taylor]: Taking taylor expansion of phi2 in phi1
8.936 * [backup-simplify]: Simplify phi2 into phi2
8.936 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
8.936 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2))
8.936 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi1
8.936 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1
8.936 * [taylor]: Taking taylor expansion of phi1 in phi1
8.936 * [backup-simplify]: Simplify 0 into 0
8.936 * [backup-simplify]: Simplify 1 into 1
8.937 * [backup-simplify]: Simplify (* 1 1) into 1
8.937 * [backup-simplify]: Simplify (/ 1 1) into 1
8.937 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi1 phi2))) in phi1
8.937 * [taylor]: Taking taylor expansion of 2 in phi1
8.937 * [backup-simplify]: Simplify 2 into 2
8.937 * [taylor]: Taking taylor expansion of (/ 1 (* phi1 phi2)) in phi1
8.937 * [taylor]: Taking taylor expansion of (* phi1 phi2) in phi1
8.937 * [taylor]: Taking taylor expansion of phi1 in phi1
8.937 * [backup-simplify]: Simplify 0 into 0
8.937 * [backup-simplify]: Simplify 1 into 1
8.937 * [taylor]: Taking taylor expansion of phi2 in phi1
8.937 * [backup-simplify]: Simplify phi2 into phi2
8.937 * [backup-simplify]: Simplify (* 0 phi2) into 0
8.937 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi2)) into phi2
8.937 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
8.937 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
8.937 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
8.938 * [taylor]: Taking taylor expansion of 0.5 in phi1
8.938 * [backup-simplify]: Simplify 0.5 into 0.5
8.938 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
8.938 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
8.938 * [taylor]: Taking taylor expansion of phi1 in phi1
8.938 * [backup-simplify]: Simplify 0 into 0
8.938 * [backup-simplify]: Simplify 1 into 1
8.938 * [backup-simplify]: Simplify (/ 1 1) into 1
8.938 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
8.938 * [taylor]: Taking taylor expansion of phi2 in phi1
8.938 * [backup-simplify]: Simplify phi2 into phi2
8.938 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
8.938 * [backup-simplify]: Simplify (+ 1 0) into 1
8.938 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
8.939 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.939 * [backup-simplify]: Simplify (+ 0 1) into 1
8.939 * [backup-simplify]: Simplify (+ 1 0) into 1
8.939 * [backup-simplify]: Simplify (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
8.940 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
8.940 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
8.940 * [backup-simplify]: Simplify (+ 0 0) into 0
8.940 * [backup-simplify]: Simplify (* 2 (/ 1 phi2)) into (/ 2 phi2)
8.940 * [backup-simplify]: Simplify (- (/ 2 phi2)) into (- (* 2 (/ 1 phi2)))
8.941 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2)))
8.941 * [backup-simplify]: Simplify (- (/ (- (* 2 (/ 1 phi2))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (+ (* (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (/ 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into (- (* 2 (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi2))))
8.941 * [backup-simplify]: Simplify (+ (* 1/2 (- (* 2 (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi2))))) (* 0 (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into (- (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi2)))
8.941 * [taylor]: Taking taylor expansion of (- (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi2))) in phi2
8.941 * [taylor]: Taking taylor expansion of (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi2)) in phi2
8.941 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi2) in phi2
8.941 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
8.941 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
8.941 * [taylor]: Taking taylor expansion of 0.5 in phi2
8.941 * [backup-simplify]: Simplify 0.5 into 0.5
8.941 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
8.941 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
8.941 * [taylor]: Taking taylor expansion of phi1 in phi2
8.941 * [backup-simplify]: Simplify phi1 into phi1
8.941 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
8.941 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
8.941 * [taylor]: Taking taylor expansion of phi2 in phi2
8.941 * [backup-simplify]: Simplify 0 into 0
8.941 * [backup-simplify]: Simplify 1 into 1
8.942 * [backup-simplify]: Simplify (/ 1 1) into 1
8.942 * [backup-simplify]: Simplify (+ 0 1) into 1
8.942 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
8.942 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.942 * [taylor]: Taking taylor expansion of phi2 in phi2
8.942 * [backup-simplify]: Simplify 0 into 0
8.942 * [backup-simplify]: Simplify 1 into 1
8.943 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
8.943 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) (* 0 0)) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.943 * [backup-simplify]: Simplify (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
8.943 * [backup-simplify]: Simplify (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))
8.943 * [backup-simplify]: Simplify (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))
8.944 * [backup-simplify]: Simplify (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))
8.944 * [taylor]: Taking taylor expansion of (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi1
8.944 * [taylor]: Taking taylor expansion of 1/2 in phi1
8.944 * [backup-simplify]: Simplify 1/2 into 1/2
8.944 * [taylor]: Taking taylor expansion of (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi1
8.944 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) in phi1
8.944 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) in phi1
8.944 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi1
8.944 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1
8.944 * [taylor]: Taking taylor expansion of phi2 in phi1
8.944 * [backup-simplify]: Simplify phi2 into phi2
8.944 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
8.944 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2))
8.944 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi1
8.944 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1
8.944 * [taylor]: Taking taylor expansion of phi1 in phi1
8.944 * [backup-simplify]: Simplify 0 into 0
8.944 * [backup-simplify]: Simplify 1 into 1
8.944 * [backup-simplify]: Simplify (* 1 1) into 1
8.945 * [backup-simplify]: Simplify (/ 1 1) into 1
8.945 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi1 phi2))) in phi1
8.945 * [taylor]: Taking taylor expansion of 2 in phi1
8.945 * [backup-simplify]: Simplify 2 into 2
8.945 * [taylor]: Taking taylor expansion of (/ 1 (* phi1 phi2)) in phi1
8.945 * [taylor]: Taking taylor expansion of (* phi1 phi2) in phi1
8.945 * [taylor]: Taking taylor expansion of phi1 in phi1
8.945 * [backup-simplify]: Simplify 0 into 0
8.945 * [backup-simplify]: Simplify 1 into 1
8.945 * [taylor]: Taking taylor expansion of phi2 in phi1
8.945 * [backup-simplify]: Simplify phi2 into phi2
8.945 * [backup-simplify]: Simplify (* 0 phi2) into 0
8.945 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi2)) into phi2
8.945 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
8.945 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
8.945 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
8.945 * [taylor]: Taking taylor expansion of 0.5 in phi1
8.945 * [backup-simplify]: Simplify 0.5 into 0.5
8.945 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
8.945 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
8.945 * [taylor]: Taking taylor expansion of phi1 in phi1
8.945 * [backup-simplify]: Simplify 0 into 0
8.945 * [backup-simplify]: Simplify 1 into 1
8.945 * [backup-simplify]: Simplify (/ 1 1) into 1
8.946 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
8.946 * [taylor]: Taking taylor expansion of phi2 in phi1
8.946 * [backup-simplify]: Simplify phi2 into phi2
8.946 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
8.946 * [backup-simplify]: Simplify (+ 1 0) into 1
8.946 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
8.946 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.946 * [backup-simplify]: Simplify (+ 0 1) into 1
8.947 * [backup-simplify]: Simplify (+ 1 0) into 1
8.947 * [backup-simplify]: Simplify (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
8.947 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
8.948 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
8.948 * [backup-simplify]: Simplify (+ 0 0) into 0
8.948 * [backup-simplify]: Simplify (* 2 (/ 1 phi2)) into (/ 2 phi2)
8.948 * [backup-simplify]: Simplify (- (/ 2 phi2)) into (- (* 2 (/ 1 phi2)))
8.948 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2)))
8.948 * [backup-simplify]: Simplify (- (/ (- (* 2 (/ 1 phi2))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (+ (* (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (/ 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into (- (* 2 (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi2))))
8.949 * [backup-simplify]: Simplify (+ (* 1/2 (- (* 2 (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi2))))) (* 0 (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into (- (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi2)))
8.949 * [taylor]: Taking taylor expansion of (- (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi2))) in phi2
8.949 * [taylor]: Taking taylor expansion of (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi2)) in phi2
8.949 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi2) in phi2
8.949 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
8.949 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
8.949 * [taylor]: Taking taylor expansion of 0.5 in phi2
8.949 * [backup-simplify]: Simplify 0.5 into 0.5
8.949 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
8.949 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
8.949 * [taylor]: Taking taylor expansion of phi1 in phi2
8.949 * [backup-simplify]: Simplify phi1 into phi1
8.949 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
8.949 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
8.949 * [taylor]: Taking taylor expansion of phi2 in phi2
8.949 * [backup-simplify]: Simplify 0 into 0
8.949 * [backup-simplify]: Simplify 1 into 1
8.949 * [backup-simplify]: Simplify (/ 1 1) into 1
8.950 * [backup-simplify]: Simplify (+ 0 1) into 1
8.950 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
8.950 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.950 * [taylor]: Taking taylor expansion of phi2 in phi2
8.950 * [backup-simplify]: Simplify 0 into 0
8.950 * [backup-simplify]: Simplify 1 into 1
8.950 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
8.951 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) (* 0 0)) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.951 * [backup-simplify]: Simplify (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
8.951 * [backup-simplify]: Simplify (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))
8.951 * [backup-simplify]: Simplify (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))
8.952 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
8.952 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0
8.952 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
8.952 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
8.952 * [backup-simplify]: Simplify (+ 0 0) into 0
8.953 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0
8.954 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
8.954 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0
8.955 * [backup-simplify]: Simplify (- 0) into 0
8.955 * [backup-simplify]: Simplify (+ 0 0) into 0
8.956 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (/ 0 1)) (* 0 (/ 0 1)))) into 0
8.957 * [backup-simplify]: Simplify (+ (* -1 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0
8.957 * [taylor]: Taking taylor expansion of 0 in phi1
8.958 * [backup-simplify]: Simplify 0 into 0
8.958 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
8.959 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0
8.960 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
8.960 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
8.960 * [backup-simplify]: Simplify (+ 0 0) into 0
8.961 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0
8.962 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
8.963 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0
8.963 * [backup-simplify]: Simplify (- 0) into 0
8.963 * [backup-simplify]: Simplify (+ 0 0) into 0
8.963 * [taylor]: Taking taylor expansion of 0 in phi1
8.963 * [backup-simplify]: Simplify 0 into 0
8.963 * [taylor]: Taking taylor expansion of 0 in phi2
8.963 * [backup-simplify]: Simplify 0 into 0
8.963 * [taylor]: Taking taylor expansion of 0 in phi2
8.964 * [backup-simplify]: Simplify 0 into 0
8.964 * [backup-simplify]: Simplify (+ (* -1 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0
8.964 * [taylor]: Taking taylor expansion of 0 in phi2
8.964 * [backup-simplify]: Simplify 0 into 0
8.964 * [taylor]: Taking taylor expansion of 0 in phi2
8.964 * [backup-simplify]: Simplify 0 into 0
8.965 * [backup-simplify]: Simplify (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
8.965 * [backup-simplify]: Simplify (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
8.967 * [backup-simplify]: Simplify (+ (* (* -1 (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2)))))) (* 1 (* 1 (* (/ 1 (/ 1 lambda2)) 1)))) (+ (* (- (/ 1 (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2))))))) (* (/ 1 (/ 1 phi2)) (* (/ 1 (/ 1 phi1)) (* 1 (/ 1 lambda1))))) (* (- (/ 1 (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2))))))) (* (/ 1 (/ 1 phi2)) (* (/ 1 (/ 1 phi1)) (* (/ 1 (/ 1 lambda2)) (pow (/ 1 lambda1) 2))))))) into (- (+ (/ (* phi1 phi2) (* (cos (* 0.5 (+ phi1 phi2))) lambda1)) (+ (* lambda2 (cos (* 0.5 (+ phi1 phi2)))) (/ (* lambda2 (* phi1 phi2)) (* (cos (* 0.5 (+ phi1 phi2))) (pow lambda1 2))))))
8.967 * [backup-simplify]: Simplify (hypot (* (- (/ 1 (- lambda1)) (/ 1 (- lambda2))) (cos (* 0.5 (+ (/ 1 (- phi1)) (/ 1 (- phi2)))))) (- (/ 1 (- phi1)) (/ 1 (- phi2)))) into (hypot (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi2) (/ 1 phi1)))
8.967 * [approximate]: Taking taylor expansion of (hypot (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi2) (/ 1 phi1))) in (lambda1 lambda2 phi1 phi2) around 0
8.967 * [taylor]: Taking taylor expansion of (hypot (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi2) (/ 1 phi1))) in phi2
8.968 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1)))))
8.968 * [taylor]: Taking taylor expansion of (+ (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1)))) in phi2
8.968 * [taylor]: Taking taylor expansion of (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi2
8.968 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2
8.968 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in phi2
8.968 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in phi2
8.968 * [taylor]: Taking taylor expansion of lambda2 in phi2
8.968 * [backup-simplify]: Simplify lambda2 into lambda2
8.968 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
8.968 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in phi2
8.968 * [taylor]: Taking taylor expansion of lambda1 in phi2
8.968 * [backup-simplify]: Simplify lambda1 into lambda1
8.968 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1)
8.968 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
8.968 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
8.968 * [taylor]: Taking taylor expansion of -0.5 in phi2
8.968 * [backup-simplify]: Simplify -0.5 into -0.5
8.968 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
8.968 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
8.968 * [taylor]: Taking taylor expansion of phi1 in phi2
8.968 * [backup-simplify]: Simplify phi1 into phi1
8.968 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
8.968 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
8.968 * [taylor]: Taking taylor expansion of phi2 in phi2
8.968 * [backup-simplify]: Simplify 0 into 0
8.968 * [backup-simplify]: Simplify 1 into 1
8.969 * [backup-simplify]: Simplify (/ 1 1) into 1
8.969 * [backup-simplify]: Simplify (+ 0 1) into 1
8.970 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
8.970 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.970 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2
8.970 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in phi2
8.970 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in phi2
8.971 * [taylor]: Taking taylor expansion of lambda2 in phi2
8.971 * [backup-simplify]: Simplify lambda2 into lambda2
8.971 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
8.971 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in phi2
8.971 * [taylor]: Taking taylor expansion of lambda1 in phi2
8.971 * [backup-simplify]: Simplify lambda1 into lambda1
8.971 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1)
8.971 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
8.971 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
8.971 * [taylor]: Taking taylor expansion of -0.5 in phi2
8.971 * [backup-simplify]: Simplify -0.5 into -0.5
8.971 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
8.971 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
8.971 * [taylor]: Taking taylor expansion of phi1 in phi2
8.971 * [backup-simplify]: Simplify phi1 into phi1
8.971 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
8.971 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
8.971 * [taylor]: Taking taylor expansion of phi2 in phi2
8.971 * [backup-simplify]: Simplify 0 into 0
8.971 * [backup-simplify]: Simplify 1 into 1
8.976 * [backup-simplify]: Simplify (/ 1 1) into 1
8.977 * [backup-simplify]: Simplify (+ 0 1) into 1
8.977 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
8.977 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.977 * [taylor]: Taking taylor expansion of (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1))) in phi2
8.977 * [taylor]: Taking taylor expansion of (- (/ 1 phi2) (/ 1 phi1)) in phi2
8.978 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
8.978 * [taylor]: Taking taylor expansion of phi2 in phi2
8.978 * [backup-simplify]: Simplify 0 into 0
8.978 * [backup-simplify]: Simplify 1 into 1
8.978 * [backup-simplify]: Simplify (/ 1 1) into 1
8.978 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
8.978 * [taylor]: Taking taylor expansion of phi1 in phi2
8.978 * [backup-simplify]: Simplify phi1 into phi1
8.978 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
8.978 * [taylor]: Taking taylor expansion of (- (/ 1 phi2) (/ 1 phi1)) in phi2
8.978 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
8.978 * [taylor]: Taking taylor expansion of phi2 in phi2
8.978 * [backup-simplify]: Simplify 0 into 0
8.978 * [backup-simplify]: Simplify 1 into 1
8.979 * [backup-simplify]: Simplify (/ 1 1) into 1
8.979 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
8.979 * [taylor]: Taking taylor expansion of phi1 in phi2
8.979 * [backup-simplify]: Simplify phi1 into phi1
8.979 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
8.979 * [backup-simplify]: Simplify (+ 1 0) into 1
8.980 * [backup-simplify]: Simplify (+ 1 0) into 1
8.980 * [backup-simplify]: Simplify (* 1 1) into 1
8.981 * [backup-simplify]: Simplify (+ 0 1) into 1
8.981 * [backup-simplify]: Simplify (sqrt 1) into 1
8.982 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
8.982 * [backup-simplify]: Simplify (- (/ 1 phi1)) into (- (/ 1 phi1))
8.982 * [backup-simplify]: Simplify (+ 0 (- (/ 1 phi1))) into (- (/ 1 phi1))
8.982 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
8.982 * [backup-simplify]: Simplify (- (/ 1 phi1)) into (- (/ 1 phi1))
8.982 * [backup-simplify]: Simplify (+ 0 (- (/ 1 phi1))) into (- (/ 1 phi1))
8.982 * [backup-simplify]: Simplify (+ (* 1 (- (/ 1 phi1))) (* (- (/ 1 phi1)) 1)) into (- (* 2 (/ 1 phi1)))
8.982 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi1)))) into (- (* 2 (/ 1 phi1)))
8.983 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi1))) (* 2 (sqrt 1))) into (/ -1 phi1)
8.983 * [taylor]: Taking taylor expansion of (hypot (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi2) (/ 1 phi1))) in phi1
8.983 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1)))))
8.983 * [taylor]: Taking taylor expansion of (+ (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1)))) in phi1
8.983 * [taylor]: Taking taylor expansion of (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi1
8.983 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi1
8.983 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in phi1
8.983 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in phi1
8.983 * [taylor]: Taking taylor expansion of lambda2 in phi1
8.983 * [backup-simplify]: Simplify lambda2 into lambda2
8.983 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
8.983 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in phi1
8.983 * [taylor]: Taking taylor expansion of lambda1 in phi1
8.983 * [backup-simplify]: Simplify lambda1 into lambda1
8.983 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1)
8.983 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
8.983 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
8.983 * [taylor]: Taking taylor expansion of -0.5 in phi1
8.983 * [backup-simplify]: Simplify -0.5 into -0.5
8.983 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
8.983 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
8.983 * [taylor]: Taking taylor expansion of phi1 in phi1
8.983 * [backup-simplify]: Simplify 0 into 0
8.983 * [backup-simplify]: Simplify 1 into 1
8.984 * [backup-simplify]: Simplify (/ 1 1) into 1
8.984 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
8.984 * [taylor]: Taking taylor expansion of phi2 in phi1
8.984 * [backup-simplify]: Simplify phi2 into phi2
8.984 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
8.984 * [backup-simplify]: Simplify (+ 1 0) into 1
8.984 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
8.984 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.984 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi1
8.984 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in phi1
8.984 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in phi1
8.984 * [taylor]: Taking taylor expansion of lambda2 in phi1
8.985 * [backup-simplify]: Simplify lambda2 into lambda2
8.985 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
8.985 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in phi1
8.985 * [taylor]: Taking taylor expansion of lambda1 in phi1
8.985 * [backup-simplify]: Simplify lambda1 into lambda1
8.985 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1)
8.985 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
8.985 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
8.985 * [taylor]: Taking taylor expansion of -0.5 in phi1
8.985 * [backup-simplify]: Simplify -0.5 into -0.5
8.985 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
8.985 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
8.985 * [taylor]: Taking taylor expansion of phi1 in phi1
8.985 * [backup-simplify]: Simplify 0 into 0
8.985 * [backup-simplify]: Simplify 1 into 1
8.985 * [backup-simplify]: Simplify (/ 1 1) into 1
8.985 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
8.985 * [taylor]: Taking taylor expansion of phi2 in phi1
8.985 * [backup-simplify]: Simplify phi2 into phi2
8.985 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
8.985 * [backup-simplify]: Simplify (+ 1 0) into 1
8.986 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
8.986 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.986 * [taylor]: Taking taylor expansion of (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1))) in phi1
8.986 * [taylor]: Taking taylor expansion of (- (/ 1 phi2) (/ 1 phi1)) in phi1
8.986 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
8.986 * [taylor]: Taking taylor expansion of phi2 in phi1
8.986 * [backup-simplify]: Simplify phi2 into phi2
8.986 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
8.986 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
8.986 * [taylor]: Taking taylor expansion of phi1 in phi1
8.986 * [backup-simplify]: Simplify 0 into 0
8.986 * [backup-simplify]: Simplify 1 into 1
8.986 * [backup-simplify]: Simplify (/ 1 1) into 1
8.986 * [taylor]: Taking taylor expansion of (- (/ 1 phi2) (/ 1 phi1)) in phi1
8.986 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
8.986 * [taylor]: Taking taylor expansion of phi2 in phi1
8.986 * [backup-simplify]: Simplify phi2 into phi2
8.986 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
8.986 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
8.986 * [taylor]: Taking taylor expansion of phi1 in phi1
8.986 * [backup-simplify]: Simplify 0 into 0
8.986 * [backup-simplify]: Simplify 1 into 1
8.987 * [backup-simplify]: Simplify (/ 1 1) into 1
8.987 * [backup-simplify]: Simplify (- 1) into -1
8.987 * [backup-simplify]: Simplify (+ 0 -1) into -1
8.987 * [backup-simplify]: Simplify (- 1) into -1
8.988 * [backup-simplify]: Simplify (+ 0 -1) into -1
8.988 * [backup-simplify]: Simplify (* -1 -1) into 1
8.988 * [backup-simplify]: Simplify (+ 0 1) into 1
8.988 * [backup-simplify]: Simplify (sqrt 1) into 1
8.989 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
8.989 * [backup-simplify]: Simplify (- 0) into 0
8.989 * [backup-simplify]: Simplify (+ (/ 1 phi2) 0) into (/ 1 phi2)
8.990 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
8.990 * [backup-simplify]: Simplify (- 0) into 0
8.990 * [backup-simplify]: Simplify (+ (/ 1 phi2) 0) into (/ 1 phi2)
8.990 * [backup-simplify]: Simplify (+ (* -1 (/ 1 phi2)) (* (/ 1 phi2) -1)) into (- (* 2 (/ 1 phi2)))
8.990 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2)))
8.990 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi2))) (* 2 (sqrt 1))) into (/ -1 phi2)
8.990 * [taylor]: Taking taylor expansion of (hypot (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi2) (/ 1 phi1))) in lambda2
8.991 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1)))))
8.991 * [taylor]: Taking taylor expansion of (+ (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1)))) in lambda2
8.991 * [taylor]: Taking taylor expansion of (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in lambda2
8.991 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda2
8.991 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in lambda2
8.991 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda2
8.991 * [taylor]: Taking taylor expansion of lambda2 in lambda2
8.991 * [backup-simplify]: Simplify 0 into 0
8.991 * [backup-simplify]: Simplify 1 into 1
8.991 * [backup-simplify]: Simplify (/ 1 1) into 1
8.991 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda2
8.991 * [taylor]: Taking taylor expansion of lambda1 in lambda2
8.991 * [backup-simplify]: Simplify lambda1 into lambda1
8.991 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1)
8.991 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2
8.991 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2
8.991 * [taylor]: Taking taylor expansion of -0.5 in lambda2
8.991 * [backup-simplify]: Simplify -0.5 into -0.5
8.991 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2
8.991 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
8.991 * [taylor]: Taking taylor expansion of phi1 in lambda2
8.991 * [backup-simplify]: Simplify phi1 into phi1
8.991 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
8.991 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
8.991 * [taylor]: Taking taylor expansion of phi2 in lambda2
8.991 * [backup-simplify]: Simplify phi2 into phi2
8.991 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
8.991 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
8.991 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))
8.992 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.992 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.992 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda2
8.992 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in lambda2
8.992 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda2
8.992 * [taylor]: Taking taylor expansion of lambda2 in lambda2
8.992 * [backup-simplify]: Simplify 0 into 0
8.992 * [backup-simplify]: Simplify 1 into 1
8.992 * [backup-simplify]: Simplify (/ 1 1) into 1
8.992 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda2
8.992 * [taylor]: Taking taylor expansion of lambda1 in lambda2
8.992 * [backup-simplify]: Simplify lambda1 into lambda1
8.992 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1)
8.992 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2
8.992 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2
8.992 * [taylor]: Taking taylor expansion of -0.5 in lambda2
8.992 * [backup-simplify]: Simplify -0.5 into -0.5
8.992 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2
8.992 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
8.992 * [taylor]: Taking taylor expansion of phi1 in lambda2
8.992 * [backup-simplify]: Simplify phi1 into phi1
8.992 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
8.992 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
8.992 * [taylor]: Taking taylor expansion of phi2 in lambda2
8.992 * [backup-simplify]: Simplify phi2 into phi2
8.992 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
8.992 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
8.992 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))
8.993 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.993 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.993 * [taylor]: Taking taylor expansion of (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1))) in lambda2
8.993 * [taylor]: Taking taylor expansion of (- (/ 1 phi2) (/ 1 phi1)) in lambda2
8.993 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
8.993 * [taylor]: Taking taylor expansion of phi2 in lambda2
8.993 * [backup-simplify]: Simplify phi2 into phi2
8.993 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
8.993 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
8.993 * [taylor]: Taking taylor expansion of phi1 in lambda2
8.993 * [backup-simplify]: Simplify phi1 into phi1
8.993 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
8.993 * [taylor]: Taking taylor expansion of (- (/ 1 phi2) (/ 1 phi1)) in lambda2
8.993 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
8.993 * [taylor]: Taking taylor expansion of phi2 in lambda2
8.993 * [backup-simplify]: Simplify phi2 into phi2
8.993 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
8.993 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
8.993 * [taylor]: Taking taylor expansion of phi1 in lambda2
8.993 * [backup-simplify]: Simplify phi1 into phi1
8.993 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
8.993 * [backup-simplify]: Simplify (+ 1 0) into 1
8.993 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.994 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
8.994 * [backup-simplify]: Simplify (- 0) into 0
8.994 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.994 * [backup-simplify]: Simplify (* 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.994 * [backup-simplify]: Simplify (+ 1 0) into 1
8.994 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.995 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
8.995 * [backup-simplify]: Simplify (- 0) into 0
8.995 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.995 * [backup-simplify]: Simplify (* 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.995 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
8.995 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
8.996 * [backup-simplify]: Simplify (sqrt (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
8.996 * [backup-simplify]: Simplify (+ 0) into 0
8.996 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
8.996 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
8.996 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
8.997 * [backup-simplify]: Simplify (+ 0 0) into 0
8.997 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
8.997 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
8.998 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
8.998 * [backup-simplify]: Simplify (- 0) into 0
8.998 * [backup-simplify]: Simplify (+ 0 0) into 0
8.999 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
8.999 * [backup-simplify]: Simplify (- (/ 1 lambda1)) into (- (/ 1 lambda1))
8.999 * [backup-simplify]: Simplify (+ 0 (- (/ 1 lambda1))) into (- (/ 1 lambda1))
8.999 * [backup-simplify]: Simplify (+ (* 1 0) (* (- (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1))
9.000 * [backup-simplify]: Simplify (+ 0) into 0
9.000 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
9.000 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
9.000 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
9.000 * [backup-simplify]: Simplify (+ 0 0) into 0
9.001 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
9.001 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
9.001 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
9.002 * [backup-simplify]: Simplify (- 0) into 0
9.002 * [backup-simplify]: Simplify (+ 0 0) into 0
9.002 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
9.002 * [backup-simplify]: Simplify (- (/ 1 lambda1)) into (- (/ 1 lambda1))
9.002 * [backup-simplify]: Simplify (+ 0 (- (/ 1 lambda1))) into (- (/ 1 lambda1))
9.003 * [backup-simplify]: Simplify (+ (* 1 0) (* (- (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1))
9.003 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1))) (* (- (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))
9.004 * [backup-simplify]: Simplify (+ (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) 0) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))
9.004 * [backup-simplify]: Simplify (/ (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) (* 2 (sqrt (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)))) into (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1))
9.004 * [taylor]: Taking taylor expansion of (hypot (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi2) (/ 1 phi1))) in lambda1
9.004 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1)))))
9.004 * [taylor]: Taking taylor expansion of (+ (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1)))) in lambda1
9.004 * [taylor]: Taking taylor expansion of (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in lambda1
9.004 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda1
9.004 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in lambda1
9.004 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda1
9.004 * [taylor]: Taking taylor expansion of lambda2 in lambda1
9.004 * [backup-simplify]: Simplify lambda2 into lambda2
9.005 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
9.005 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1
9.005 * [taylor]: Taking taylor expansion of lambda1 in lambda1
9.005 * [backup-simplify]: Simplify 0 into 0
9.005 * [backup-simplify]: Simplify 1 into 1
9.005 * [backup-simplify]: Simplify (/ 1 1) into 1
9.005 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1
9.005 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1
9.005 * [taylor]: Taking taylor expansion of -0.5 in lambda1
9.005 * [backup-simplify]: Simplify -0.5 into -0.5
9.005 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1
9.005 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
9.005 * [taylor]: Taking taylor expansion of phi1 in lambda1
9.005 * [backup-simplify]: Simplify phi1 into phi1
9.005 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
9.005 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
9.005 * [taylor]: Taking taylor expansion of phi2 in lambda1
9.005 * [backup-simplify]: Simplify phi2 into phi2
9.005 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
9.005 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
9.005 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))
9.005 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
9.005 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
9.005 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda1
9.005 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in lambda1
9.006 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda1
9.006 * [taylor]: Taking taylor expansion of lambda2 in lambda1
9.006 * [backup-simplify]: Simplify lambda2 into lambda2
9.006 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
9.006 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1
9.006 * [taylor]: Taking taylor expansion of lambda1 in lambda1
9.006 * [backup-simplify]: Simplify 0 into 0
9.006 * [backup-simplify]: Simplify 1 into 1
9.006 * [backup-simplify]: Simplify (/ 1 1) into 1
9.006 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1
9.006 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1
9.006 * [taylor]: Taking taylor expansion of -0.5 in lambda1
9.006 * [backup-simplify]: Simplify -0.5 into -0.5
9.006 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1
9.006 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
9.006 * [taylor]: Taking taylor expansion of phi1 in lambda1
9.006 * [backup-simplify]: Simplify phi1 into phi1
9.006 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
9.006 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
9.006 * [taylor]: Taking taylor expansion of phi2 in lambda1
9.006 * [backup-simplify]: Simplify phi2 into phi2
9.006 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
9.006 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
9.006 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))
9.006 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
9.006 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
9.007 * [taylor]: Taking taylor expansion of (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1))) in lambda1
9.007 * [taylor]: Taking taylor expansion of (- (/ 1 phi2) (/ 1 phi1)) in lambda1
9.007 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
9.007 * [taylor]: Taking taylor expansion of phi2 in lambda1
9.007 * [backup-simplify]: Simplify phi2 into phi2
9.007 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
9.007 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
9.007 * [taylor]: Taking taylor expansion of phi1 in lambda1
9.007 * [backup-simplify]: Simplify phi1 into phi1
9.007 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
9.007 * [taylor]: Taking taylor expansion of (- (/ 1 phi2) (/ 1 phi1)) in lambda1
9.007 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
9.007 * [taylor]: Taking taylor expansion of phi2 in lambda1
9.007 * [backup-simplify]: Simplify phi2 into phi2
9.007 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
9.007 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
9.007 * [taylor]: Taking taylor expansion of phi1 in lambda1
9.007 * [backup-simplify]: Simplify phi1 into phi1
9.007 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
9.007 * [backup-simplify]: Simplify (- 1) into -1
9.007 * [backup-simplify]: Simplify (+ 0 -1) into -1
9.008 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
9.008 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
9.008 * [backup-simplify]: Simplify (- 0) into 0
9.008 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
9.008 * [backup-simplify]: Simplify (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
9.008 * [backup-simplify]: Simplify (- 1) into -1
9.009 * [backup-simplify]: Simplify (+ 0 -1) into -1
9.009 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
9.009 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
9.009 * [backup-simplify]: Simplify (- 0) into 0
9.009 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
9.009 * [backup-simplify]: Simplify (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
9.010 * [backup-simplify]: Simplify (* (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
9.010 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
9.010 * [backup-simplify]: Simplify (sqrt (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
9.011 * [backup-simplify]: Simplify (+ 0) into 0
9.011 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
9.012 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
9.012 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
9.012 * [backup-simplify]: Simplify (+ 0 0) into 0
9.013 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
9.013 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
9.014 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
9.014 * [backup-simplify]: Simplify (- 0) into 0
9.015 * [backup-simplify]: Simplify (+ 0 0) into 0
9.015 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
9.016 * [backup-simplify]: Simplify (- 0) into 0
9.016 * [backup-simplify]: Simplify (+ (/ 1 lambda2) 0) into (/ 1 lambda2)
9.017 * [backup-simplify]: Simplify (+ (* -1 0) (* (/ 1 lambda2) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)
9.017 * [backup-simplify]: Simplify (+ 0) into 0
9.018 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
9.018 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
9.018 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
9.018 * [backup-simplify]: Simplify (+ 0 0) into 0
9.019 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
9.020 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
9.021 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
9.021 * [backup-simplify]: Simplify (- 0) into 0
9.021 * [backup-simplify]: Simplify (+ 0 0) into 0
9.022 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
9.023 * [backup-simplify]: Simplify (- 0) into 0
9.023 * [backup-simplify]: Simplify (+ (/ 1 lambda2) 0) into (/ 1 lambda2)
9.023 * [backup-simplify]: Simplify (+ (* -1 0) (* (/ 1 lambda2) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)
9.024 * [backup-simplify]: Simplify (+ (* (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) (* (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2) (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))
9.025 * [backup-simplify]: Simplify (+ (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 0) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))
9.026 * [backup-simplify]: Simplify (/ (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) (* 2 (sqrt (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)))) into (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2))
9.026 * [taylor]: Taking taylor expansion of (hypot (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi2) (/ 1 phi1))) in lambda1
9.026 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1)))))
9.026 * [taylor]: Taking taylor expansion of (+ (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1)))) in lambda1
9.026 * [taylor]: Taking taylor expansion of (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in lambda1
9.026 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda1
9.026 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in lambda1
9.026 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda1
9.026 * [taylor]: Taking taylor expansion of lambda2 in lambda1
9.026 * [backup-simplify]: Simplify lambda2 into lambda2
9.026 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
9.026 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1
9.026 * [taylor]: Taking taylor expansion of lambda1 in lambda1
9.026 * [backup-simplify]: Simplify 0 into 0
9.026 * [backup-simplify]: Simplify 1 into 1
9.027 * [backup-simplify]: Simplify (/ 1 1) into 1
9.027 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1
9.027 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1
9.027 * [taylor]: Taking taylor expansion of -0.5 in lambda1
9.027 * [backup-simplify]: Simplify -0.5 into -0.5
9.027 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1
9.027 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
9.027 * [taylor]: Taking taylor expansion of phi1 in lambda1
9.027 * [backup-simplify]: Simplify phi1 into phi1
9.027 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
9.027 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
9.027 * [taylor]: Taking taylor expansion of phi2 in lambda1
9.027 * [backup-simplify]: Simplify phi2 into phi2
9.027 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
9.027 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
9.028 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))
9.028 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
9.028 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
9.028 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda1
9.028 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in lambda1
9.028 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda1
9.028 * [taylor]: Taking taylor expansion of lambda2 in lambda1
9.028 * [backup-simplify]: Simplify lambda2 into lambda2
9.028 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
9.028 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1
9.028 * [taylor]: Taking taylor expansion of lambda1 in lambda1
9.028 * [backup-simplify]: Simplify 0 into 0
9.028 * [backup-simplify]: Simplify 1 into 1
9.029 * [backup-simplify]: Simplify (/ 1 1) into 1
9.029 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1
9.029 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1
9.029 * [taylor]: Taking taylor expansion of -0.5 in lambda1
9.029 * [backup-simplify]: Simplify -0.5 into -0.5
9.029 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1
9.029 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
9.029 * [taylor]: Taking taylor expansion of phi1 in lambda1
9.029 * [backup-simplify]: Simplify phi1 into phi1
9.029 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
9.029 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
9.029 * [taylor]: Taking taylor expansion of phi2 in lambda1
9.029 * [backup-simplify]: Simplify phi2 into phi2
9.029 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
9.029 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
9.029 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))
9.030 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
9.030 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
9.030 * [taylor]: Taking taylor expansion of (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1))) in lambda1
9.030 * [taylor]: Taking taylor expansion of (- (/ 1 phi2) (/ 1 phi1)) in lambda1
9.030 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
9.030 * [taylor]: Taking taylor expansion of phi2 in lambda1
9.030 * [backup-simplify]: Simplify phi2 into phi2
9.030 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
9.030 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
9.030 * [taylor]: Taking taylor expansion of phi1 in lambda1
9.030 * [backup-simplify]: Simplify phi1 into phi1
9.030 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
9.030 * [taylor]: Taking taylor expansion of (- (/ 1 phi2) (/ 1 phi1)) in lambda1
9.030 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
9.030 * [taylor]: Taking taylor expansion of phi2 in lambda1
9.030 * [backup-simplify]: Simplify phi2 into phi2
9.030 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
9.030 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
9.030 * [taylor]: Taking taylor expansion of phi1 in lambda1
9.030 * [backup-simplify]: Simplify phi1 into phi1
9.030 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
9.031 * [backup-simplify]: Simplify (- 1) into -1
9.031 * [backup-simplify]: Simplify (+ 0 -1) into -1
9.032 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
9.032 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
9.032 * [backup-simplify]: Simplify (- 0) into 0
9.032 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
9.033 * [backup-simplify]: Simplify (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
9.033 * [backup-simplify]: Simplify (- 1) into -1
9.034 * [backup-simplify]: Simplify (+ 0 -1) into -1
9.034 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
9.034 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
9.034 * [backup-simplify]: Simplify (- 0) into 0
9.035 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
9.035 * [backup-simplify]: Simplify (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
9.035 * [backup-simplify]: Simplify (* (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
9.036 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
9.036 * [backup-simplify]: Simplify (sqrt (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
9.036 * [backup-simplify]: Simplify (+ 0) into 0
9.037 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
9.037 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
9.037 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
9.038 * [backup-simplify]: Simplify (+ 0 0) into 0
9.038 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
9.039 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
9.040 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
9.040 * [backup-simplify]: Simplify (- 0) into 0
9.041 * [backup-simplify]: Simplify (+ 0 0) into 0
9.041 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
9.042 * [backup-simplify]: Simplify (- 0) into 0
9.042 * [backup-simplify]: Simplify (+ (/ 1 lambda2) 0) into (/ 1 lambda2)
9.043 * [backup-simplify]: Simplify (+ (* -1 0) (* (/ 1 lambda2) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)
9.043 * [backup-simplify]: Simplify (+ 0) into 0
9.044 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
9.044 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
9.044 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
9.045 * [backup-simplify]: Simplify (+ 0 0) into 0
9.045 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
9.046 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
9.047 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
9.047 * [backup-simplify]: Simplify (- 0) into 0
9.048 * [backup-simplify]: Simplify (+ 0 0) into 0
9.048 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
9.049 * [backup-simplify]: Simplify (- 0) into 0
9.049 * [backup-simplify]: Simplify (+ (/ 1 lambda2) 0) into (/ 1 lambda2)
9.050 * [backup-simplify]: Simplify (+ (* -1 0) (* (/ 1 lambda2) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)
9.051 * [backup-simplify]: Simplify (+ (* (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) (* (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2) (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))
9.051 * [backup-simplify]: Simplify (+ (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 0) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))
9.052 * [backup-simplify]: Simplify (/ (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) (* 2 (sqrt (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)))) into (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2))
9.052 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2
9.052 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2
9.052 * [taylor]: Taking taylor expansion of -0.5 in lambda2
9.052 * [backup-simplify]: Simplify -0.5 into -0.5
9.052 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2
9.052 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
9.052 * [taylor]: Taking taylor expansion of phi1 in lambda2
9.052 * [backup-simplify]: Simplify phi1 into phi1
9.052 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
9.053 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
9.053 * [taylor]: Taking taylor expansion of phi2 in lambda2
9.053 * [backup-simplify]: Simplify phi2 into phi2
9.053 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
9.053 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
9.053 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))
9.053 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
9.053 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
9.053 * [taylor]: Taking taylor expansion of (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) in lambda2
9.053 * [taylor]: Taking taylor expansion of -1 in lambda2
9.053 * [backup-simplify]: Simplify -1 into -1
9.053 * [taylor]: Taking taylor expansion of (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2) in lambda2
9.053 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2
9.053 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2
9.054 * [taylor]: Taking taylor expansion of -0.5 in lambda2
9.054 * [backup-simplify]: Simplify -0.5 into -0.5
9.054 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2
9.054 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
9.054 * [taylor]: Taking taylor expansion of phi1 in lambda2
9.054 * [backup-simplify]: Simplify phi1 into phi1
9.054 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
9.054 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
9.054 * [taylor]: Taking taylor expansion of phi2 in lambda2
9.054 * [backup-simplify]: Simplify phi2 into phi2
9.054 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
9.054 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
9.054 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))
9.054 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
9.054 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
9.055 * [taylor]: Taking taylor expansion of lambda2 in lambda2
9.055 * [backup-simplify]: Simplify 0 into 0
9.055 * [backup-simplify]: Simplify 1 into 1
9.055 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
9.055 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
9.056 * [backup-simplify]: Simplify (- 0) into 0
9.056 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
9.056 * [backup-simplify]: Simplify (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
9.056 * [backup-simplify]: Simplify (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
9.056 * [taylor]: Taking taylor expansion of (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi1
9.057 * [taylor]: Taking taylor expansion of -1 in phi1
9.057 * [backup-simplify]: Simplify -1 into -1
9.057 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
9.057 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
9.057 * [taylor]: Taking taylor expansion of -0.5 in phi1
9.057 * [backup-simplify]: Simplify -0.5 into -0.5
9.057 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
9.057 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
9.057 * [taylor]: Taking taylor expansion of phi1 in phi1
9.057 * [backup-simplify]: Simplify 0 into 0
9.057 * [backup-simplify]: Simplify 1 into 1
9.057 * [backup-simplify]: Simplify (/ 1 1) into 1
9.057 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
9.057 * [taylor]: Taking taylor expansion of phi2 in phi1
9.057 * [backup-simplify]: Simplify phi2 into phi2
9.057 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
9.058 * [backup-simplify]: Simplify (+ 1 0) into 1
9.058 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
9.059 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
9.059 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
9.059 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
9.059 * [backup-simplify]: Simplify (- 0) into 0
9.060 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
9.060 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
9.060 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
9.060 * [taylor]: Taking taylor expansion of -0.5 in phi1
9.060 * [backup-simplify]: Simplify -0.5 into -0.5
9.060 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
9.060 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
9.060 * [taylor]: Taking taylor expansion of phi1 in phi1
9.060 * [backup-simplify]: Simplify 0 into 0
9.060 * [backup-simplify]: Simplify 1 into 1
9.060 * [backup-simplify]: Simplify (/ 1 1) into 1
9.060 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
9.060 * [taylor]: Taking taylor expansion of phi2 in phi1
9.061 * [backup-simplify]: Simplify phi2 into phi2
9.061 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
9.061 * [backup-simplify]: Simplify (+ 1 0) into 1
9.062 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
9.062 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
9.063 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
9.064 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0
9.064 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
9.064 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
9.065 * [backup-simplify]: Simplify (+ 0 0) into 0
9.065 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0
9.066 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
9.067 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0
9.067 * [backup-simplify]: Simplify (- 0) into 0
9.068 * [backup-simplify]: Simplify (+ 0 0) into 0
9.068 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)))) into 0
9.069 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)))) into 0
9.069 * [backup-simplify]: Simplify (- 0) into 0
9.070 * [backup-simplify]: Simplify (+ 0 0) into 0
9.070 * [backup-simplify]: Simplify (+ (* -1 0) (+ (* (/ 1 lambda2) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0
9.071 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
9.072 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0
9.072 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
9.073 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
9.073 * [backup-simplify]: Simplify (+ 0 0) into 0
9.074 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0
9.075 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
9.075 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0
9.076 * [backup-simplify]: Simplify (- 0) into 0
9.076 * [backup-simplify]: Simplify (+ 0 0) into 0
9.076 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)))) into 0
9.077 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)))) into 0
9.078 * [backup-simplify]: Simplify (- 0) into 0
9.078 * [backup-simplify]: Simplify (+ 0 0) into 0
9.079 * [backup-simplify]: Simplify (+ (* -1 0) (+ (* (/ 1 lambda2) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0
9.080 * [backup-simplify]: Simplify (+ (* (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 0) (+ (* (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2) (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) (* 0 (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2))
9.080 * [backup-simplify]: Simplify (- (/ 1 phi1)) into (- (/ 1 phi1))
9.080 * [backup-simplify]: Simplify (+ (/ 1 phi2) (- (/ 1 phi1))) into (- (/ 1 phi2) (/ 1 phi1))
9.080 * [backup-simplify]: Simplify (- (/ 1 phi1)) into (- (/ 1 phi1))
9.080 * [backup-simplify]: Simplify (+ (/ 1 phi2) (- (/ 1 phi1))) into (- (/ 1 phi2) (/ 1 phi1))
9.081 * [backup-simplify]: Simplify (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1))) into (pow (- (/ 1 phi2) (/ 1 phi1)) 2)
9.081 * [backup-simplify]: Simplify (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (pow (- (/ 1 phi2) (/ 1 phi1)) 2)) into (- (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2)))) (* 2 (/ 1 (* phi1 phi2))))
9.083 * [backup-simplify]: Simplify (/ (- (- (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2)))) (* 2 (/ 1 (* phi1 phi2)))) (pow (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) 2) (+)) (* 2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))
9.083 * [taylor]: Taking taylor expansion of (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in lambda2
9.084 * [taylor]: Taking taylor expansion of 1/2 in lambda2
9.084 * [backup-simplify]: Simplify 1/2 into 1/2
9.084 * [taylor]: Taking taylor expansion of (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda2
9.084 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) in lambda2
9.084 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) in lambda2
9.084 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda2
9.084 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2
9.084 * [taylor]: Taking taylor expansion of phi2 in lambda2
9.084 * [backup-simplify]: Simplify phi2 into phi2
9.084 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
9.084 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2))
9.084 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda2
9.084 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2
9.084 * [taylor]: Taking taylor expansion of phi1 in lambda2
9.084 * [backup-simplify]: Simplify phi1 into phi1
9.084 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
9.084 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2))
9.084 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi1 phi2))) in lambda2
9.084 * [taylor]: Taking taylor expansion of 2 in lambda2
9.084 * [backup-simplify]: Simplify 2 into 2
9.084 * [taylor]: Taking taylor expansion of (/ 1 (* phi1 phi2)) in lambda2
9.084 * [taylor]: Taking taylor expansion of (* phi1 phi2) in lambda2
9.084 * [taylor]: Taking taylor expansion of phi1 in lambda2
9.084 * [backup-simplify]: Simplify phi1 into phi1
9.084 * [taylor]: Taking taylor expansion of phi2 in lambda2
9.085 * [backup-simplify]: Simplify phi2 into phi2
9.085 * [backup-simplify]: Simplify (* phi1 phi2) into (* phi1 phi2)
9.085 * [backup-simplify]: Simplify (/ 1 (* phi1 phi2)) into (/ 1 (* phi1 phi2))
9.085 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2
9.085 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2
9.085 * [taylor]: Taking taylor expansion of -0.5 in lambda2
9.085 * [backup-simplify]: Simplify -0.5 into -0.5
9.085 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2
9.085 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
9.085 * [taylor]: Taking taylor expansion of phi1 in lambda2
9.085 * [backup-simplify]: Simplify phi1 into phi1
9.085 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
9.085 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
9.085 * [taylor]: Taking taylor expansion of phi2 in lambda2
9.085 * [backup-simplify]: Simplify phi2 into phi2
9.085 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
9.085 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
9.085 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))
9.085 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
9.086 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
9.086 * [backup-simplify]: Simplify (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) into (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2)))
9.086 * [backup-simplify]: Simplify (* 2 (/ 1 (* phi1 phi2))) into (/ 2 (* phi1 phi2))
9.086 * [backup-simplify]: Simplify (- (/ 2 (* phi1 phi2))) into (- (* 2 (/ 1 (* phi1 phi2))))
9.087 * [backup-simplify]: Simplify (+ (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (- (* 2 (/ 1 (* phi1 phi2))))) into (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2))))
9.087 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
9.087 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
9.088 * [backup-simplify]: Simplify (- 0) into 0
9.088 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
9.088 * [backup-simplify]: Simplify (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
9.089 * [backup-simplify]: Simplify (+ 0) into 0
9.089 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
9.090 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
9.090 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
9.090 * [backup-simplify]: Simplify (+ 0 0) into 0
9.091 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
9.092 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
9.092 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
9.092 * [backup-simplify]: Simplify (- 0) into 0
9.093 * [backup-simplify]: Simplify (+ 0 0) into 0
9.094 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (/ 0 1)))) into 0
9.094 * [backup-simplify]: Simplify (+ (* -1 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0
9.095 * [taylor]: Taking taylor expansion of 0 in phi1
9.095 * [backup-simplify]: Simplify 0 into 0
9.095 * [backup-simplify]: Simplify (+ 0) into 0
9.096 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
9.096 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
9.096 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
9.096 * [backup-simplify]: Simplify (+ 0 0) into 0
9.097 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
9.098 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
9.098 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
9.099 * [backup-simplify]: Simplify (- 0) into 0
9.099 * [backup-simplify]: Simplify (+ 0 0) into 0
9.099 * [taylor]: Taking taylor expansion of 0 in phi1
9.099 * [backup-simplify]: Simplify 0 into 0
9.099 * [backup-simplify]: Simplify (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
9.099 * [taylor]: Taking taylor expansion of (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2
9.099 * [taylor]: Taking taylor expansion of -1 in phi2
9.099 * [backup-simplify]: Simplify -1 into -1
9.099 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
9.099 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
9.099 * [taylor]: Taking taylor expansion of -0.5 in phi2
9.099 * [backup-simplify]: Simplify -0.5 into -0.5
9.099 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
9.099 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
9.099 * [taylor]: Taking taylor expansion of phi1 in phi2
9.100 * [backup-simplify]: Simplify phi1 into phi1
9.100 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
9.100 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
9.100 * [taylor]: Taking taylor expansion of phi2 in phi2
9.100 * [backup-simplify]: Simplify 0 into 0
9.100 * [backup-simplify]: Simplify 1 into 1
9.100 * [backup-simplify]: Simplify (/ 1 1) into 1
9.100 * [backup-simplify]: Simplify (+ 0 1) into 1
9.101 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
9.101 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
9.101 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
9.101 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
9.101 * [taylor]: Taking taylor expansion of -0.5 in phi2
9.101 * [backup-simplify]: Simplify -0.5 into -0.5
9.101 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
9.101 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
9.101 * [taylor]: Taking taylor expansion of phi1 in phi2
9.101 * [backup-simplify]: Simplify phi1 into phi1
9.101 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
9.101 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
9.101 * [taylor]: Taking taylor expansion of phi2 in phi2
9.101 * [backup-simplify]: Simplify 0 into 0
9.101 * [backup-simplify]: Simplify 1 into 1
9.102 * [backup-simplify]: Simplify (/ 1 1) into 1
9.102 * [backup-simplify]: Simplify (+ 0 1) into 1
9.103 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
9.103 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
9.104 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0
9.105 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0
9.105 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
9.105 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
9.106 * [backup-simplify]: Simplify (+ 0 0) into 0
9.107 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0
9.109 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0
9.109 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0
9.110 * [backup-simplify]: Simplify (- 0) into 0
9.110 * [backup-simplify]: Simplify (+ 0 0) into 0
9.110 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)) (* 0 (/ 0 lambda2)))) into 0
9.111 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)) (* 0 (/ 0 1)))) into 0
9.112 * [backup-simplify]: Simplify (- 0) into 0
9.112 * [backup-simplify]: Simplify (+ 0 0) into 0
9.113 * [backup-simplify]: Simplify (+ (* -1 0) (+ (* (/ 1 lambda2) 0) (+ (* 0 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into 0
9.119 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0
9.121 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0
9.121 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
9.121 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
9.122 * [backup-simplify]: Simplify (+ 0 0) into 0
9.123 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0
9.125 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0
9.126 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0
9.126 * [backup-simplify]: Simplify (- 0) into 0
9.127 * [backup-simplify]: Simplify (+ 0 0) into 0
9.127 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)) (* 0 (/ 0 lambda2)))) into 0
9.128 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)) (* 0 (/ 0 1)))) into 0
9.128 * [backup-simplify]: Simplify (- 0) into 0
9.129 * [backup-simplify]: Simplify (+ 0 0) into 0
9.130 * [backup-simplify]: Simplify (+ (* -1 0) (+ (* (/ 1 lambda2) 0) (+ (* 0 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into 0
9.131 * [backup-simplify]: Simplify (+ (* (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 0) (+ (* (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2) 0) (+ (* 0 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) (* 0 (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))) into 0
9.131 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
9.131 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
9.132 * [backup-simplify]: Simplify (- 0) into 0
9.132 * [backup-simplify]: Simplify (+ 0 0) into 0
9.132 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
9.132 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
9.133 * [backup-simplify]: Simplify (- 0) into 0
9.133 * [backup-simplify]: Simplify (+ 0 0) into 0
9.134 * [backup-simplify]: Simplify (+ (* (- (/ 1 phi2) (/ 1 phi1)) 0) (* 0 (- (/ 1 phi2) (/ 1 phi1)))) into 0
9.134 * [backup-simplify]: Simplify (+ 0 0) into 0
9.136 * [backup-simplify]: Simplify (/ (- 0 (+ (* 2 (* (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))))) (* 2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (* 1/2 (/ (- (+ (/ 1 (* lambda2 (pow phi2 2))) (/ 1 (* lambda2 (pow phi1 2)))) (* 2 (/ 1 (* lambda2 (* phi1 phi2))))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))
9.136 * [taylor]: Taking taylor expansion of (* 1/2 (/ (- (+ (/ 1 (* lambda2 (pow phi2 2))) (/ 1 (* lambda2 (pow phi1 2)))) (* 2 (/ 1 (* lambda2 (* phi1 phi2))))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in lambda2
9.136 * [taylor]: Taking taylor expansion of 1/2 in lambda2
9.136 * [backup-simplify]: Simplify 1/2 into 1/2
9.136 * [taylor]: Taking taylor expansion of (/ (- (+ (/ 1 (* lambda2 (pow phi2 2))) (/ 1 (* lambda2 (pow phi1 2)))) (* 2 (/ 1 (* lambda2 (* phi1 phi2))))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda2
9.136 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (* lambda2 (pow phi2 2))) (/ 1 (* lambda2 (pow phi1 2)))) (* 2 (/ 1 (* lambda2 (* phi1 phi2))))) in lambda2
9.136 * [taylor]: Taking taylor expansion of (+ (/ 1 (* lambda2 (pow phi2 2))) (/ 1 (* lambda2 (pow phi1 2)))) in lambda2
9.136 * [taylor]: Taking taylor expansion of (/ 1 (* lambda2 (pow phi2 2))) in lambda2
9.136 * [taylor]: Taking taylor expansion of (* lambda2 (pow phi2 2)) in lambda2
9.136 * [taylor]: Taking taylor expansion of lambda2 in lambda2
9.136 * [backup-simplify]: Simplify 0 into 0
9.136 * [backup-simplify]: Simplify 1 into 1
9.136 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2
9.136 * [taylor]: Taking taylor expansion of phi2 in lambda2
9.136 * [backup-simplify]: Simplify phi2 into phi2
9.136 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
9.136 * [backup-simplify]: Simplify (* 0 (pow phi2 2)) into 0
9.136 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0
9.137 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow phi2 2))) into (pow phi2 2)
9.137 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2))
9.137 * [taylor]: Taking taylor expansion of (/ 1 (* lambda2 (pow phi1 2))) in lambda2
9.137 * [taylor]: Taking taylor expansion of (* lambda2 (pow phi1 2)) in lambda2
9.137 * [taylor]: Taking taylor expansion of lambda2 in lambda2
9.137 * [backup-simplify]: Simplify 0 into 0
9.137 * [backup-simplify]: Simplify 1 into 1
9.137 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2
9.137 * [taylor]: Taking taylor expansion of phi1 in lambda2
9.137 * [backup-simplify]: Simplify phi1 into phi1
9.138 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
9.138 * [backup-simplify]: Simplify (* 0 (pow phi1 2)) into 0
9.138 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0
9.138 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow phi1 2))) into (pow phi1 2)
9.138 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2))
9.139 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* lambda2 (* phi1 phi2)))) in lambda2
9.139 * [taylor]: Taking taylor expansion of 2 in lambda2
9.139 * [backup-simplify]: Simplify 2 into 2
9.139 * [taylor]: Taking taylor expansion of (/ 1 (* lambda2 (* phi1 phi2))) in lambda2
9.139 * [taylor]: Taking taylor expansion of (* lambda2 (* phi1 phi2)) in lambda2
9.139 * [taylor]: Taking taylor expansion of lambda2 in lambda2
9.139 * [backup-simplify]: Simplify 0 into 0
9.139 * [backup-simplify]: Simplify 1 into 1
9.139 * [taylor]: Taking taylor expansion of (* phi1 phi2) in lambda2
9.139 * [taylor]: Taking taylor expansion of phi1 in lambda2
9.139 * [backup-simplify]: Simplify phi1 into phi1
9.139 * [taylor]: Taking taylor expansion of phi2 in lambda2
9.139 * [backup-simplify]: Simplify phi2 into phi2
9.139 * [backup-simplify]: Simplify (* phi1 phi2) into (* phi1 phi2)
9.139 * [backup-simplify]: Simplify (* 0 (* phi1 phi2)) into 0
9.139 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi2)) into 0
9.140 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* phi1 phi2))) into (* phi1 phi2)
9.140 * [backup-simplify]: Simplify (/ 1 (* phi1 phi2)) into (/ 1 (* phi1 phi2))
9.140 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2
9.140 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2
9.140 * [taylor]: Taking taylor expansion of -0.5 in lambda2
9.140 * [backup-simplify]: Simplify -0.5 into -0.5
9.140 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2
9.140 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
9.140 * [taylor]: Taking taylor expansion of phi1 in lambda2
9.140 * [backup-simplify]: Simplify phi1 into phi1
9.140 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
9.140 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
9.140 * [taylor]: Taking taylor expansion of phi2 in lambda2
9.140 * [backup-simplify]: Simplify phi2 into phi2
9.140 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
9.140 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
9.140 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))
9.141 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
9.141 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
9.141 * [backup-simplify]: Simplify (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) into (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2)))
9.141 * [backup-simplify]: Simplify (* 2 (/ 1 (* phi1 phi2))) into (/ 2 (* phi1 phi2))
9.141 * [backup-simplify]: Simplify (- (/ 2 (* phi1 phi2))) into (- (* 2 (/ 1 (* phi1 phi2))))
9.142 * [backup-simplify]: Simplify (+ (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (- (* 2 (/ 1 (* phi1 phi2))))) into (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2))))
9.142 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
9.142 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
9.143 * [backup-simplify]: Simplify (- 0) into 0
9.143 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
9.144 * [backup-simplify]: Simplify (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
9.145 * [backup-simplify]: Simplify (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))
9.145 * [taylor]: Taking taylor expansion of (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi1
9.145 * [taylor]: Taking taylor expansion of 1/2 in phi1
9.145 * [backup-simplify]: Simplify 1/2 into 1/2
9.145 * [taylor]: Taking taylor expansion of (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi1
9.145 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) in phi1
9.145 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) in phi1
9.145 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi1
9.145 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1
9.145 * [taylor]: Taking taylor expansion of phi2 in phi1
9.145 * [backup-simplify]: Simplify phi2 into phi2
9.145 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
9.145 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2))
9.145 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi1
9.145 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1
9.145 * [taylor]: Taking taylor expansion of phi1 in phi1
9.145 * [backup-simplify]: Simplify 0 into 0
9.146 * [backup-simplify]: Simplify 1 into 1
9.146 * [backup-simplify]: Simplify (* 1 1) into 1
9.147 * [backup-simplify]: Simplify (/ 1 1) into 1
9.147 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi1 phi2))) in phi1
9.147 * [taylor]: Taking taylor expansion of 2 in phi1
9.147 * [backup-simplify]: Simplify 2 into 2
9.147 * [taylor]: Taking taylor expansion of (/ 1 (* phi1 phi2)) in phi1
9.147 * [taylor]: Taking taylor expansion of (* phi1 phi2) in phi1
9.147 * [taylor]: Taking taylor expansion of phi1 in phi1
9.147 * [backup-simplify]: Simplify 0 into 0
9.147 * [backup-simplify]: Simplify 1 into 1
9.147 * [taylor]: Taking taylor expansion of phi2 in phi1
9.147 * [backup-simplify]: Simplify phi2 into phi2
9.147 * [backup-simplify]: Simplify (* 0 phi2) into 0
9.148 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi2)) into phi2
9.148 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
9.148 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
9.148 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
9.148 * [taylor]: Taking taylor expansion of -0.5 in phi1
9.148 * [backup-simplify]: Simplify -0.5 into -0.5
9.148 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
9.148 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
9.148 * [taylor]: Taking taylor expansion of phi1 in phi1
9.148 * [backup-simplify]: Simplify 0 into 0
9.148 * [backup-simplify]: Simplify 1 into 1
9.148 * [backup-simplify]: Simplify (/ 1 1) into 1
9.148 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
9.148 * [taylor]: Taking taylor expansion of phi2 in phi1
9.148 * [backup-simplify]: Simplify phi2 into phi2
9.149 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
9.149 * [backup-simplify]: Simplify (+ 1 0) into 1
9.149 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
9.150 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
9.150 * [backup-simplify]: Simplify (+ 0 1) into 1
9.151 * [backup-simplify]: Simplify (+ 1 0) into 1
9.151 * [backup-simplify]: Simplify (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
9.152 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
9.152 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
9.153 * [backup-simplify]: Simplify (+ 0 0) into 0
9.153 * [backup-simplify]: Simplify (* 2 (/ 1 phi2)) into (/ 2 phi2)
9.153 * [backup-simplify]: Simplify (- (/ 2 phi2)) into (- (* 2 (/ 1 phi2)))
9.153 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2)))
9.154 * [backup-simplify]: Simplify (- (/ (- (* 2 (/ 1 phi2))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (+ (* (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (/ 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into (- (* 2 (/ 1 (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))
9.154 * [backup-simplify]: Simplify (+ (* 1/2 (- (* 2 (/ 1 (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))) (* 0 (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into (- (/ 1 (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))
9.154 * [taylor]: Taking taylor expansion of (- (/ 1 (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) in phi2
9.154 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi2
9.154 * [taylor]: Taking taylor expansion of (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2
9.154 * [taylor]: Taking taylor expansion of phi2 in phi2
9.155 * [backup-simplify]: Simplify 0 into 0
9.155 * [backup-simplify]: Simplify 1 into 1
9.155 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
9.155 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
9.155 * [taylor]: Taking taylor expansion of -0.5 in phi2
9.155 * [backup-simplify]: Simplify -0.5 into -0.5
9.155 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
9.155 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
9.155 * [taylor]: Taking taylor expansion of phi1 in phi2
9.155 * [backup-simplify]: Simplify phi1 into phi1
9.155 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
9.155 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
9.155 * [taylor]: Taking taylor expansion of phi2 in phi2
9.155 * [backup-simplify]: Simplify 0 into 0
9.155 * [backup-simplify]: Simplify 1 into 1
9.155 * [backup-simplify]: Simplify (/ 1 1) into 1
9.156 * [backup-simplify]: Simplify (+ 0 1) into 1
9.156 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
9.157 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
9.157 * [backup-simplify]: Simplify (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into 0
9.157 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
9.158 * [backup-simplify]: Simplify (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
9.158 * [backup-simplify]: Simplify (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))
9.158 * [backup-simplify]: Simplify (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))
9.159 * [backup-simplify]: Simplify (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))
9.159 * [taylor]: Taking taylor expansion of (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi1
9.159 * [taylor]: Taking taylor expansion of 1/2 in phi1
9.159 * [backup-simplify]: Simplify 1/2 into 1/2
9.159 * [taylor]: Taking taylor expansion of (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi1
9.159 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) in phi1
9.159 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) in phi1
9.159 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi1
9.159 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1
9.159 * [taylor]: Taking taylor expansion of phi2 in phi1
9.159 * [backup-simplify]: Simplify phi2 into phi2
9.159 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
9.159 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2))
9.160 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi1
9.160 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1
9.160 * [taylor]: Taking taylor expansion of phi1 in phi1
9.160 * [backup-simplify]: Simplify 0 into 0
9.160 * [backup-simplify]: Simplify 1 into 1
9.160 * [backup-simplify]: Simplify (* 1 1) into 1
9.161 * [backup-simplify]: Simplify (/ 1 1) into 1
9.161 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi1 phi2))) in phi1
9.161 * [taylor]: Taking taylor expansion of 2 in phi1
9.161 * [backup-simplify]: Simplify 2 into 2
9.161 * [taylor]: Taking taylor expansion of (/ 1 (* phi1 phi2)) in phi1
9.161 * [taylor]: Taking taylor expansion of (* phi1 phi2) in phi1
9.161 * [taylor]: Taking taylor expansion of phi1 in phi1
9.161 * [backup-simplify]: Simplify 0 into 0
9.161 * [backup-simplify]: Simplify 1 into 1
9.161 * [taylor]: Taking taylor expansion of phi2 in phi1
9.161 * [backup-simplify]: Simplify phi2 into phi2
9.161 * [backup-simplify]: Simplify (* 0 phi2) into 0
9.161 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi2)) into phi2
9.161 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
9.161 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
9.161 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
9.162 * [taylor]: Taking taylor expansion of -0.5 in phi1
9.162 * [backup-simplify]: Simplify -0.5 into -0.5
9.162 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
9.162 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
9.162 * [taylor]: Taking taylor expansion of phi1 in phi1
9.162 * [backup-simplify]: Simplify 0 into 0
9.162 * [backup-simplify]: Simplify 1 into 1
9.162 * [backup-simplify]: Simplify (/ 1 1) into 1
9.162 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
9.162 * [taylor]: Taking taylor expansion of phi2 in phi1
9.162 * [backup-simplify]: Simplify phi2 into phi2
9.162 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
9.163 * [backup-simplify]: Simplify (+ 1 0) into 1
9.163 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
9.163 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
9.164 * [backup-simplify]: Simplify (+ 0 1) into 1
9.164 * [backup-simplify]: Simplify (+ 1 0) into 1
9.165 * [backup-simplify]: Simplify (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
9.165 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
9.166 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
9.166 * [backup-simplify]: Simplify (+ 0 0) into 0
9.166 * [backup-simplify]: Simplify (* 2 (/ 1 phi2)) into (/ 2 phi2)
9.166 * [backup-simplify]: Simplify (- (/ 2 phi2)) into (- (* 2 (/ 1 phi2)))
9.166 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2)))
9.167 * [backup-simplify]: Simplify (- (/ (- (* 2 (/ 1 phi2))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (+ (* (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (/ 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into (- (* 2 (/ 1 (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))
9.167 * [backup-simplify]: Simplify (+ (* 1/2 (- (* 2 (/ 1 (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))) (* 0 (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into (- (/ 1 (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))
9.167 * [taylor]: Taking taylor expansion of (- (/ 1 (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) in phi2
9.167 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi2
9.167 * [taylor]: Taking taylor expansion of (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2
9.167 * [taylor]: Taking taylor expansion of phi2 in phi2
9.167 * [backup-simplify]: Simplify 0 into 0
9.167 * [backup-simplify]: Simplify 1 into 1
9.167 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
9.167 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
9.167 * [taylor]: Taking taylor expansion of -0.5 in phi2
9.167 * [backup-simplify]: Simplify -0.5 into -0.5
9.167 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
9.167 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
9.167 * [taylor]: Taking taylor expansion of phi1 in phi2
9.167 * [backup-simplify]: Simplify phi1 into phi1
9.167 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
9.167 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
9.167 * [taylor]: Taking taylor expansion of phi2 in phi2
9.167 * [backup-simplify]: Simplify 0 into 0
9.167 * [backup-simplify]: Simplify 1 into 1
9.168 * [backup-simplify]: Simplify (/ 1 1) into 1
9.168 * [backup-simplify]: Simplify (+ 0 1) into 1
9.168 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
9.168 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
9.168 * [backup-simplify]: Simplify (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into 0
9.169 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
9.169 * [backup-simplify]: Simplify (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
9.169 * [backup-simplify]: Simplify (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))
9.169 * [backup-simplify]: Simplify (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))
9.170 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
9.170 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0
9.170 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
9.170 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
9.171 * [backup-simplify]: Simplify (+ 0 0) into 0
9.171 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0
9.172 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
9.172 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0
9.172 * [backup-simplify]: Simplify (- 0) into 0
9.173 * [backup-simplify]: Simplify (+ 0 0) into 0
9.174 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (/ 0 1)) (* 0 (/ 0 1)))) into 0
9.174 * [backup-simplify]: Simplify (+ (* -1 0) (+ (* 0 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0
9.174 * [taylor]: Taking taylor expansion of 0 in phi1
9.174 * [backup-simplify]: Simplify 0 into 0
9.175 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
9.175 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0
9.175 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
9.175 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
9.176 * [backup-simplify]: Simplify (+ 0 0) into 0
9.176 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0
9.177 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
9.177 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0
9.177 * [backup-simplify]: Simplify (- 0) into 0
9.178 * [backup-simplify]: Simplify (+ 0 0) into 0
9.178 * [taylor]: Taking taylor expansion of 0 in phi1
9.178 * [backup-simplify]: Simplify 0 into 0
9.178 * [taylor]: Taking taylor expansion of 0 in phi2
9.178 * [backup-simplify]: Simplify 0 into 0
9.178 * [taylor]: Taking taylor expansion of 0 in phi2
9.178 * [backup-simplify]: Simplify 0 into 0
9.178 * [backup-simplify]: Simplify (+ (* -1 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0
9.178 * [taylor]: Taking taylor expansion of 0 in phi2
9.178 * [backup-simplify]: Simplify 0 into 0
9.178 * [taylor]: Taking taylor expansion of 0 in phi2
9.178 * [backup-simplify]: Simplify 0 into 0
9.178 * [backup-simplify]: Simplify (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
9.179 * [backup-simplify]: Simplify (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
9.180 * [backup-simplify]: Simplify (+ (* (* -1 (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2))))))) (* 1 (* 1 (* (/ 1 (/ 1 (- lambda2))) 1)))) (+ (* (- (/ 1 (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2)))))))) (* (/ 1 (/ 1 (- phi2))) (* (/ 1 (/ 1 (- phi1))) (* 1 (/ 1 (- lambda1)))))) (* (- (/ 1 (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2)))))))) (* (/ 1 (/ 1 (- phi2))) (* (/ 1 (/ 1 (- phi1))) (* (/ 1 (/ 1 (- lambda2))) (pow (/ 1 (- lambda1)) 2))))))) into (+ (* lambda2 (cos (* 0.5 (+ phi1 phi2)))) (+ (/ (* lambda2 (* phi1 phi2)) (* (pow lambda1 2) (cos (* 0.5 (+ phi1 phi2))))) (/ (* phi1 phi2) (* lambda1 (cos (* 0.5 (+ phi1 phi2)))))))
9.180 * * * [progress]: simplifying candidates
9.181 * [simplify]: Simplifying:
  (expm1 (cos (* 0.5 (+ phi1 phi2))))
  (log1p (cos (* 0.5 (+ phi1 phi2))))
  (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2)))
  (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))
  (* (cos (* phi1 0.5)) (cos (* phi2 0.5)))
  (* (sin (* phi1 0.5)) (sin (* phi2 0.5)))
  (log (cos (* 0.5 (+ phi1 phi2))))
  (exp (cos (* 0.5 (+ phi1 phi2))))
  (* (cbrt (cos (* 0.5 (+ phi1 phi2)))) (cbrt (cos (* 0.5 (+ phi1 phi2)))))
  (cbrt (cos (* 0.5 (+ phi1 phi2))))
  (* (* (cos (* 0.5 (+ phi1 phi2))) (cos (* 0.5 (+ phi1 phi2)))) (cos (* 0.5 (+ phi1 phi2))))
  (sqrt (cos (* 0.5 (+ phi1 phi2))))
  (sqrt (cos (* 0.5 (+ phi1 phi2))))
  (expm1 (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))))
  (log1p (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))))
  (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2))))
  (+ (log (- lambda1 lambda2)) (log (cos (* 0.5 (+ phi1 phi2)))))
  (log (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))))
  (exp (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))))
  (* (* (* (- lambda1 lambda2) (- lambda1 lambda2)) (- lambda1 lambda2)) (* (* (cos (* 0.5 (+ phi1 phi2))) (cos (* 0.5 (+ phi1 phi2)))) (cos (* 0.5 (+ phi1 phi2)))))
  (* (cbrt (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2))))) (cbrt (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2))))))
  (cbrt (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))))
  (* (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2))))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))))
  (sqrt (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))))
  (sqrt (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))))
  (* (sqrt (- lambda1 lambda2)) (sqrt (cos (* 0.5 (+ phi1 phi2)))))
  (* (sqrt (- lambda1 lambda2)) (sqrt (cos (* 0.5 (+ phi1 phi2)))))
  (* (- lambda1 lambda2) (* (cbrt (cos (* 0.5 (+ phi1 phi2)))) (cbrt (cos (* 0.5 (+ phi1 phi2))))))
  (* (- lambda1 lambda2) (sqrt (cos (* 0.5 (+ phi1 phi2)))))
  (* (- lambda1 lambda2) 1)
  (* (cbrt (- lambda1 lambda2)) (cos (* 0.5 (+ phi1 phi2))))
  (* (sqrt (- lambda1 lambda2)) (cos (* 0.5 (+ phi1 phi2))))
  (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2))))
  (* (- (sqrt lambda1) (sqrt lambda2)) (cos (* 0.5 (+ phi1 phi2))))
  (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2))))
  (* (- (pow lambda1 3) (pow lambda2 3)) (cos (* 0.5 (+ phi1 phi2))))
  (* (- (* lambda1 lambda1) (* lambda2 lambda2)) (cos (* 0.5 (+ phi1 phi2))))
  (expm1 (* (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (- phi1 phi2)) R))
  (log1p (* (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (- phi1 phi2)) R))
  (* (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (- phi1 phi2)) R)
  (+ (log (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (- phi1 phi2))) (log R))
  (log (* (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (- phi1 phi2)) R))
  (exp (* (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (- phi1 phi2)) R))
  (* (* (* (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (- phi1 phi2)) (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (- phi1 phi2))) (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (- phi1 phi2))) (* (* R R) R))
  (* (cbrt (* (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (- phi1 phi2)) R)) (cbrt (* (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (- phi1 phi2)) R)))
  (cbrt (* (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (- phi1 phi2)) R))
  (* (* (* (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (- phi1 phi2)) R) (* (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (- phi1 phi2)) R)) (* (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (- phi1 phi2)) R))
  (sqrt (* (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (- phi1 phi2)) R))
  (sqrt (* (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (- phi1 phi2)) R))
  (* (sqrt (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (- phi1 phi2))) (sqrt R))
  (* (sqrt (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (- phi1 phi2))) (sqrt R))
  (* (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (- phi1 phi2)) (* (cbrt R) (cbrt R)))
  (* (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (- phi1 phi2)) (sqrt R))
  (* (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (- phi1 phi2)) 1)
  (* (cbrt (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (- phi1 phi2))) R)
  (* (sqrt (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (- phi1 phi2))) R)
  (* (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (- phi1 phi2)) R)
  (expm1 (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (- phi1 phi2)))
  (log1p (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (- phi1 phi2)))
  (+ (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2))))) (* (- phi1 phi2) (- phi1 phi2)))
  (log (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (- phi1 phi2)))
  (exp (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (- phi1 phi2)))
  (* (cbrt (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (- phi1 phi2))) (cbrt (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (- phi1 phi2))))
  (cbrt (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (- phi1 phi2)))
  (* (* (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (- phi1 phi2)) (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (- phi1 phi2))) (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (- phi1 phi2)))
  (sqrt (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (- phi1 phi2)))
  (sqrt (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi1 phi2)))) (- phi1 phi2)))
  (- 1 (+ (* 0.25 (* phi1 phi2)) (* 0.125 (pow phi1 2))))
  (cos (* 0.5 (+ phi1 phi2)))
  (cos (* 0.5 (+ phi1 phi2)))
  (- lambda1 lambda2)
  (- (* lambda1 (cos (* 0.5 (+ phi1 phi2)))) (* lambda2 (cos (* 0.5 (+ phi1 phi2)))))
  (- (* lambda1 (cos (* 0.5 (+ phi1 phi2)))) (* lambda2 (cos (* 0.5 (+ phi1 phi2)))))
  0
  (- (+ (/ (* R (* lambda2 (* phi1 phi2))) (* (cos (* 0.5 (+ phi1 phi2))) (pow lambda1 2))) (+ (/ (* R (* phi1 phi2)) (* (cos (* 0.5 (+ phi1 phi2))) lambda1)) (* R (* lambda2 (cos (* 0.5 (+ phi1 phi2))))))))
  (+ (/ (* phi1 (* R phi2)) (* lambda1 (cos (* 0.5 (+ phi1 phi2))))) (+ (/ (* phi1 (* lambda2 (* R phi2))) (* (pow lambda1 2) (cos (* 0.5 (+ phi1 phi2))))) (* lambda2 (* (cos (* 0.5 (+ phi1 phi2))) R))))
  (- phi2 phi1)
  (- (+ (/ (* phi1 phi2) (* (cos (* 0.5 (+ phi1 phi2))) lambda1)) (+ (* lambda2 (cos (* 0.5 (+ phi1 phi2)))) (/ (* lambda2 (* phi1 phi2)) (* (cos (* 0.5 (+ phi1 phi2))) (pow lambda1 2))))))
  (+ (* lambda2 (cos (* 0.5 (+ phi1 phi2)))) (+ (/ (* lambda2 (* phi1 phi2)) (* (pow lambda1 2) (cos (* 0.5 (+ phi1 phi2))))) (/ (* phi1 phi2) (* lambda1 (cos (* 0.5 (+ phi1 phi2)))))))
9.182 * * [simplify]: iteration 0: 155 enodes
9.226 * * [simplify]: iteration 1: 375 enodes
9.418 * * [simplify]: iteration 2: 1095 enodes
10.199 * * [simplify]: iteration 3: 4332 enodes
11.195 * * [simplify]: iteration complete: 5000 enodes
11.195 * * [simplify]: Extracting #0: cost 60 inf + 0
11.197 * * [simplify]: Extracting #1: cost 495 inf + 1
11.206 * * [simplify]: Extracting #2: cost 1176 inf + 1434
11.227 * * [simplify]: Extracting #3: cost 1088 inf + 29104
11.265 * * [simplify]: Extracting #4: cost 744 inf + 85591
11.344 * * [simplify]: Extracting #5: cost 281 inf + 203732
11.429 * * [simplify]: Extracting #6: cost 23 inf + 288895
11.554 * * [simplify]: Extracting #7: cost 0 inf + 298626
11.656 * [simplify]: Simplified to:
  (expm1 (cos (* (+ phi1 phi2) 0.5)))
  (log1p (cos (* (+ phi1 phi2) 0.5)))
  (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1)))
  (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))
  (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1)))
  (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))
  (log (cos (* (+ phi1 phi2) 0.5)))
  (exp (cos (* (+ phi1 phi2) 0.5)))
  (* (cbrt (cos (* (+ phi1 phi2) 0.5))) (cbrt (cos (* (+ phi1 phi2) 0.5))))
  (cbrt (cos (* (+ phi1 phi2) 0.5)))
  (* (* (cos (* (+ phi1 phi2) 0.5)) (cos (* (+ phi1 phi2) 0.5))) (cos (* (+ phi1 phi2) 0.5)))
  (sqrt (cos (* (+ phi1 phi2) 0.5)))
  (sqrt (cos (* (+ phi1 phi2) 0.5)))
  (expm1 (* (- lambda1 lambda2) (cos (* (+ phi1 phi2) 0.5))))
  (log1p (* (- lambda1 lambda2) (cos (* (+ phi1 phi2) 0.5))))
  (* (- lambda1 lambda2) (cos (* (+ phi1 phi2) 0.5)))
  (log (* (- lambda1 lambda2) (cos (* (+ phi1 phi2) 0.5))))
  (log (* (- lambda1 lambda2) (cos (* (+ phi1 phi2) 0.5))))
  (exp (* (- lambda1 lambda2) (cos (* (+ phi1 phi2) 0.5))))
  (* (* (- lambda1 lambda2) (cos (* (+ phi1 phi2) 0.5))) (* (* (- lambda1 lambda2) (cos (* (+ phi1 phi2) 0.5))) (* (- lambda1 lambda2) (cos (* (+ phi1 phi2) 0.5)))))
  (* (cbrt (* (- lambda1 lambda2) (cos (* (+ phi1 phi2) 0.5)))) (cbrt (* (- lambda1 lambda2) (cos (* (+ phi1 phi2) 0.5)))))
  (cbrt (* (- lambda1 lambda2) (cos (* (+ phi1 phi2) 0.5))))
  (* (* (- lambda1 lambda2) (cos (* (+ phi1 phi2) 0.5))) (* (* (- lambda1 lambda2) (cos (* (+ phi1 phi2) 0.5))) (* (- lambda1 lambda2) (cos (* (+ phi1 phi2) 0.5)))))
  (sqrt (* (- lambda1 lambda2) (cos (* (+ phi1 phi2) 0.5))))
  (sqrt (* (- lambda1 lambda2) (cos (* (+ phi1 phi2) 0.5))))
  (* (sqrt (- lambda1 lambda2)) (sqrt (cos (* (+ phi1 phi2) 0.5))))
  (* (sqrt (- lambda1 lambda2)) (sqrt (cos (* (+ phi1 phi2) 0.5))))
  (* (- lambda1 lambda2) (* (cbrt (cos (* (+ phi1 phi2) 0.5))) (cbrt (cos (* (+ phi1 phi2) 0.5)))))
  (* (- lambda1 lambda2) (sqrt (cos (* (+ phi1 phi2) 0.5))))
  (- lambda1 lambda2)
  (* (cbrt (- lambda1 lambda2)) (cos (* (+ phi1 phi2) 0.5)))
  (* (cos (* (+ phi1 phi2) 0.5)) (sqrt (- lambda1 lambda2)))
  (* (- lambda1 lambda2) (cos (* (+ phi1 phi2) 0.5)))
  (* (- (sqrt lambda1) (sqrt lambda2)) (cos (* (+ phi1 phi2) 0.5)))
  (* (- lambda1 lambda2) (cos (* (+ phi1 phi2) 0.5)))
  (* (cos (* (+ phi1 phi2) 0.5)) (- (* (* lambda1 lambda1) lambda1) (* (* lambda2 lambda2) lambda2)))
  (* (* (+ lambda1 lambda2) (- lambda1 lambda2)) (cos (* (+ phi1 phi2) 0.5)))
  (expm1 (* R (hypot (* (- lambda1 lambda2) (cos (* (+ phi1 phi2) 0.5))) (- phi1 phi2))))
  (log1p (* R (hypot (* (- lambda1 lambda2) (cos (* (+ phi1 phi2) 0.5))) (- phi1 phi2))))
  (* R (hypot (* (- lambda1 lambda2) (cos (* (+ phi1 phi2) 0.5))) (- phi1 phi2)))
  (log (* R (hypot (* (- lambda1 lambda2) (cos (* (+ phi1 phi2) 0.5))) (- phi1 phi2))))
  (log (* R (hypot (* (- lambda1 lambda2) (cos (* (+ phi1 phi2) 0.5))) (- phi1 phi2))))
  (exp (* R (hypot (* (- lambda1 lambda2) (cos (* (+ phi1 phi2) 0.5))) (- phi1 phi2))))
  (* (* R (hypot (* (- lambda1 lambda2) (cos (* (+ phi1 phi2) 0.5))) (- phi1 phi2))) (* (* R (hypot (* (- lambda1 lambda2) (cos (* (+ phi1 phi2) 0.5))) (- phi1 phi2))) (* R (hypot (* (- lambda1 lambda2) (cos (* (+ phi1 phi2) 0.5))) (- phi1 phi2)))))
  (* (cbrt (* R (hypot (* (- lambda1 lambda2) (cos (* (+ phi1 phi2) 0.5))) (- phi1 phi2)))) (cbrt (* R (hypot (* (- lambda1 lambda2) (cos (* (+ phi1 phi2) 0.5))) (- phi1 phi2)))))
  (cbrt (* R (hypot (* (- lambda1 lambda2) (cos (* (+ phi1 phi2) 0.5))) (- phi1 phi2))))
  (* (* R (hypot (* (- lambda1 lambda2) (cos (* (+ phi1 phi2) 0.5))) (- phi1 phi2))) (* (* R (hypot (* (- lambda1 lambda2) (cos (* (+ phi1 phi2) 0.5))) (- phi1 phi2))) (* R (hypot (* (- lambda1 lambda2) (cos (* (+ phi1 phi2) 0.5))) (- phi1 phi2)))))
  (sqrt (* R (hypot (* (- lambda1 lambda2) (cos (* (+ phi1 phi2) 0.5))) (- phi1 phi2))))
  (sqrt (* R (hypot (* (- lambda1 lambda2) (cos (* (+ phi1 phi2) 0.5))) (- phi1 phi2))))
  (* (sqrt (hypot (* (- lambda1 lambda2) (cos (* (+ phi1 phi2) 0.5))) (- phi1 phi2))) (sqrt R))
  (* (sqrt (hypot (* (- lambda1 lambda2) (cos (* (+ phi1 phi2) 0.5))) (- phi1 phi2))) (sqrt R))
  (* (* (hypot (* (- lambda1 lambda2) (cos (* (+ phi1 phi2) 0.5))) (- phi1 phi2)) (cbrt R)) (cbrt R))
  (* (hypot (* (- lambda1 lambda2) (cos (* (+ phi1 phi2) 0.5))) (- phi1 phi2)) (sqrt R))
  (hypot (* (- lambda1 lambda2) (cos (* (+ phi1 phi2) 0.5))) (- phi1 phi2))
  (* R (cbrt (hypot (* (- lambda1 lambda2) (cos (* (+ phi1 phi2) 0.5))) (- phi1 phi2))))
  (* R (sqrt (hypot (* (- lambda1 lambda2) (cos (* (+ phi1 phi2) 0.5))) (- phi1 phi2))))
  (* R (hypot (* (- lambda1 lambda2) (cos (* (+ phi1 phi2) 0.5))) (- phi1 phi2)))
  (expm1 (hypot (* (- lambda1 lambda2) (cos (* (+ phi1 phi2) 0.5))) (- phi1 phi2)))
  (log1p (hypot (* (- lambda1 lambda2) (cos (* (+ phi1 phi2) 0.5))) (- phi1 phi2)))
  (fma (- phi1 phi2) (- phi1 phi2) (* (* (- lambda1 lambda2) (cos (* (+ phi1 phi2) 0.5))) (* (- lambda1 lambda2) (cos (* (+ phi1 phi2) 0.5)))))
  (log (hypot (* (- lambda1 lambda2) (cos (* (+ phi1 phi2) 0.5))) (- phi1 phi2)))
  (exp (hypot (* (- lambda1 lambda2) (cos (* (+ phi1 phi2) 0.5))) (- phi1 phi2)))
  (* (cbrt (hypot (* (- lambda1 lambda2) (cos (* (+ phi1 phi2) 0.5))) (- phi1 phi2))) (cbrt (hypot (* (- lambda1 lambda2) (cos (* (+ phi1 phi2) 0.5))) (- phi1 phi2))))
  (cbrt (hypot (* (- lambda1 lambda2) (cos (* (+ phi1 phi2) 0.5))) (- phi1 phi2)))
  (* (hypot (* (- lambda1 lambda2) (cos (* (+ phi1 phi2) 0.5))) (- phi1 phi2)) (* (hypot (* (- lambda1 lambda2) (cos (* (+ phi1 phi2) 0.5))) (- phi1 phi2)) (hypot (* (- lambda1 lambda2) (cos (* (+ phi1 phi2) 0.5))) (- phi1 phi2))))
  (sqrt (hypot (* (- lambda1 lambda2) (cos (* (+ phi1 phi2) 0.5))) (- phi1 phi2)))
  (sqrt (hypot (* (- lambda1 lambda2) (cos (* (+ phi1 phi2) 0.5))) (- phi1 phi2)))
  (- 1 (* phi1 (fma phi2 0.25 (* phi1 0.125))))
  (cos (* (+ phi1 phi2) 0.5))
  (cos (* (+ phi1 phi2) 0.5))
  (- lambda1 lambda2)
  (* (- lambda1 lambda2) (cos (* (+ phi1 phi2) 0.5)))
  (* (- lambda1 lambda2) (cos (* (+ phi1 phi2) 0.5)))
  0
  (- (fma (/ phi2 (/ (cos (* (+ phi1 phi2) 0.5)) R)) (fma (/ phi1 lambda1) (/ lambda2 lambda1) (/ phi1 lambda1)) (* (* lambda2 (cos (* (+ phi1 phi2) 0.5))) R)))
  (fma (/ phi2 (/ (cos (* (+ phi1 phi2) 0.5)) R)) (fma (/ phi1 lambda1) (/ lambda2 lambda1) (/ phi1 lambda1)) (* (* lambda2 (cos (* (+ phi1 phi2) 0.5))) R))
  (- phi2 phi1)
  (- (fma (cos (* (+ phi1 phi2) 0.5)) lambda2 (* (/ phi2 (cos (* (+ phi1 phi2) 0.5))) (+ (* (/ lambda2 lambda1) (/ phi1 lambda1)) (/ phi1 lambda1)))))
  (fma (cos (* (+ phi1 phi2) 0.5)) lambda2 (* (/ phi2 (cos (* (+ phi1 phi2) 0.5))) (+ (* (/ lambda2 lambda1) (/ phi1 lambda1)) (/ phi1 lambda1))))
11.661 * * * [progress]: adding candidates to table
12.364 * * [progress]: iteration 3 / 4
12.364 * * * [progress]: picking best candidate
12.410 * * * * [pick]: Picked  #<alt (λ (R lambda1 lambda2 phi1 phi2) (* (hypot (* (- lambda1 lambda2) (- (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) (* (sin (* phi1 0.5)) (sin (* phi2 0.5))))) (- phi1 phi2)) R))>
12.411 * * * [progress]: localizing error
12.492 * * * [progress]: generating rewritten candidates
12.492 * * * * [progress]: [ 1 / 4 ] rewriting at (2 1 1 2 2)
12.515 * * * * [progress]: [ 2 / 4 ] rewriting at (2 1 1)
12.790 * * * * [progress]: [ 3 / 4 ] rewriting at (2 1 1 2)
12.870 * * * * [progress]: [ 4 / 4 ] rewriting at (2)
12.882 * * * [progress]: generating series expansions
12.882 * * * * [progress]: [ 1 / 4 ] generating series at (2 1 1 2 2)
12.882 * [backup-simplify]: Simplify (* (sin (* phi1 0.5)) (sin (* phi2 0.5))) into (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))
12.882 * [approximate]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))) in (phi1 phi2) around 0
12.882 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))) in phi2
12.882 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi2
12.882 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2
12.882 * [taylor]: Taking taylor expansion of 0.5 in phi2
12.882 * [backup-simplify]: Simplify 0.5 into 0.5
12.882 * [taylor]: Taking taylor expansion of phi1 in phi2
12.882 * [backup-simplify]: Simplify phi1 into phi1
12.882 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
12.882 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
12.882 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
12.882 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2
12.882 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2
12.882 * [taylor]: Taking taylor expansion of 0.5 in phi2
12.882 * [backup-simplify]: Simplify 0.5 into 0.5
12.882 * [taylor]: Taking taylor expansion of phi2 in phi2
12.882 * [backup-simplify]: Simplify 0 into 0
12.882 * [backup-simplify]: Simplify 1 into 1
12.883 * [backup-simplify]: Simplify (* 0.5 0) into 0
12.884 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
12.884 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))) in phi1
12.884 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1
12.884 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
12.884 * [taylor]: Taking taylor expansion of 0.5 in phi1
12.884 * [backup-simplify]: Simplify 0.5 into 0.5
12.884 * [taylor]: Taking taylor expansion of phi1 in phi1
12.884 * [backup-simplify]: Simplify 0 into 0
12.884 * [backup-simplify]: Simplify 1 into 1
12.884 * [backup-simplify]: Simplify (* 0.5 0) into 0
12.885 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
12.885 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi1
12.885 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi1
12.885 * [taylor]: Taking taylor expansion of 0.5 in phi1
12.885 * [backup-simplify]: Simplify 0.5 into 0.5
12.885 * [taylor]: Taking taylor expansion of phi2 in phi1
12.885 * [backup-simplify]: Simplify phi2 into phi2
12.885 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
12.885 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
12.885 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
12.886 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))) in phi1
12.886 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1
12.886 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
12.886 * [taylor]: Taking taylor expansion of 0.5 in phi1
12.886 * [backup-simplify]: Simplify 0.5 into 0.5
12.886 * [taylor]: Taking taylor expansion of phi1 in phi1
12.886 * [backup-simplify]: Simplify 0 into 0
12.886 * [backup-simplify]: Simplify 1 into 1
12.886 * [backup-simplify]: Simplify (* 0.5 0) into 0
12.887 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
12.887 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi1
12.887 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi1
12.887 * [taylor]: Taking taylor expansion of 0.5 in phi1
12.887 * [backup-simplify]: Simplify 0.5 into 0.5
12.887 * [taylor]: Taking taylor expansion of phi2 in phi1
12.887 * [backup-simplify]: Simplify phi2 into phi2
12.887 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
12.887 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
12.887 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
12.887 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2))
12.887 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0
12.887 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2))
12.888 * [backup-simplify]: Simplify (* 0 (sin (* 0.5 phi2))) into 0
12.888 * [taylor]: Taking taylor expansion of 0 in phi2
12.888 * [backup-simplify]: Simplify 0 into 0
12.888 * [backup-simplify]: Simplify 0 into 0
12.888 * [backup-simplify]: Simplify (+ 0) into 0
12.888 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 1)) into 0
12.888 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0
12.889 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
12.889 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 0)) into 0
12.889 * [backup-simplify]: Simplify (+ 0 0) into 0
12.891 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5
12.891 * [backup-simplify]: Simplify (+ (* 0 0) (* 0.5 (sin (* 0.5 phi2)))) into (* 0.5 (sin (* 0.5 phi2)))
12.891 * [taylor]: Taking taylor expansion of (* 0.5 (sin (* 0.5 phi2))) in phi2
12.891 * [taylor]: Taking taylor expansion of 0.5 in phi2
12.891 * [backup-simplify]: Simplify 0.5 into 0.5
12.891 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2
12.891 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2
12.891 * [taylor]: Taking taylor expansion of 0.5 in phi2
12.891 * [backup-simplify]: Simplify 0.5 into 0.5
12.891 * [taylor]: Taking taylor expansion of phi2 in phi2
12.891 * [backup-simplify]: Simplify 0 into 0
12.891 * [backup-simplify]: Simplify 1 into 1
12.892 * [backup-simplify]: Simplify (* 0.5 0) into 0
12.892 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
12.893 * [backup-simplify]: Simplify (* 0.5 0) into 0
12.893 * [backup-simplify]: Simplify 0 into 0
12.893 * [backup-simplify]: Simplify 0 into 0
12.893 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
12.894 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
12.894 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 phi2))) into 0
12.895 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
12.895 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
12.895 * [backup-simplify]: Simplify (+ 0 0) into 0
12.896 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 1) (* 0 0))) into 0
12.896 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
12.897 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 0.5 0) (* 0 (sin (* 0.5 phi2))))) into 0
12.897 * [taylor]: Taking taylor expansion of 0 in phi2
12.897 * [backup-simplify]: Simplify 0 into 0
12.897 * [backup-simplify]: Simplify 0 into 0
12.898 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5
12.899 * [backup-simplify]: Simplify (+ (* 0.5 0.5) (* 0 0)) into 0.25
12.899 * [backup-simplify]: Simplify 0.25 into 0.25
12.899 * [backup-simplify]: Simplify 0 into 0
12.900 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0
12.900 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0
12.901 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (+ (* 0 0) (* 0 phi2)))) into 0
12.902 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0
12.902 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0
12.903 * [backup-simplify]: Simplify (+ 0 0) into 0
12.903 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (+ (* 0 1) (* 0 0)))) into 0
12.906 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into (- 0.020833333333333332)
12.907 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 0.5 0) (+ (* 0 0) (* (- 0.020833333333333332) (sin (* 0.5 phi2)))))) into (- (* 0.020833333333333332 (sin (* 0.5 phi2))))
12.907 * [taylor]: Taking taylor expansion of (- (* 0.020833333333333332 (sin (* 0.5 phi2)))) in phi2
12.907 * [taylor]: Taking taylor expansion of (* 0.020833333333333332 (sin (* 0.5 phi2))) in phi2
12.907 * [taylor]: Taking taylor expansion of 0.020833333333333332 in phi2
12.907 * [backup-simplify]: Simplify 0.020833333333333332 into 0.020833333333333332
12.907 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2
12.907 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2
12.907 * [taylor]: Taking taylor expansion of 0.5 in phi2
12.907 * [backup-simplify]: Simplify 0.5 into 0.5
12.907 * [taylor]: Taking taylor expansion of phi2 in phi2
12.907 * [backup-simplify]: Simplify 0 into 0
12.907 * [backup-simplify]: Simplify 1 into 1
12.907 * [backup-simplify]: Simplify (* 0.5 0) into 0
12.908 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
12.908 * [backup-simplify]: Simplify (* 0.020833333333333332 0) into 0
12.908 * [backup-simplify]: Simplify (- 0) into 0
12.908 * [backup-simplify]: Simplify 0 into 0
12.908 * [backup-simplify]: Simplify 0 into 0
12.909 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 1) (* 0 0))) into 0
12.910 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
12.911 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0.5) (* 0 0))) into 0
12.911 * [backup-simplify]: Simplify 0 into 0
12.911 * [backup-simplify]: Simplify 0 into 0
12.913 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 4) 24)) 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) (* -1 (/ (pow 0 2) 2)) 0) into 0
12.914 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (+ (* 0 0) (* 0 1))))) into 0
12.916 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (+ (* 0 0) (+ (* 0 0) (* 0 phi2))))) into 0
12.918 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 2) 2) (/ (pow 0 1) 1)) 0 0 (* 1 (/ (pow 0 1) 1))) into 0
12.918 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (+ (* 0 0) (* 0 0))))) into 0
12.919 * [backup-simplify]: Simplify (+ 0 0) into 0
12.920 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (+ (* 0 0) (+ (* 0 1) (* 0 0))))) into 0
12.922 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0.5 2) 2) (/ (pow 0 1) 1)) 0 0 (* 1 (/ (pow 0 1) 1))) into 0
12.923 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 0.5 0) (+ (* 0 0) (+ (* (- 0.020833333333333332) 0) (* 0 (sin (* 0.5 phi2))))))) into 0
12.923 * [taylor]: Taking taylor expansion of 0 in phi2
12.924 * [backup-simplify]: Simplify 0 into 0
12.924 * [backup-simplify]: Simplify 0 into 0
12.924 * [backup-simplify]: Simplify (* 0.25 (* phi2 phi1)) into (* 0.25 (* phi1 phi2))
12.924 * [backup-simplify]: Simplify (* (sin (* (/ 1 phi1) 0.5)) (sin (* (/ 1 phi2) 0.5))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
12.924 * [approximate]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in (phi1 phi2) around 0
12.924 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in phi2
12.924 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
12.924 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
12.924 * [taylor]: Taking taylor expansion of 0.5 in phi2
12.924 * [backup-simplify]: Simplify 0.5 into 0.5
12.924 * [taylor]: Taking taylor expansion of phi2 in phi2
12.924 * [backup-simplify]: Simplify 0 into 0
12.924 * [backup-simplify]: Simplify 1 into 1
12.925 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
12.925 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
12.925 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
12.925 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
12.925 * [taylor]: Taking taylor expansion of 0.5 in phi2
12.925 * [backup-simplify]: Simplify 0.5 into 0.5
12.925 * [taylor]: Taking taylor expansion of phi1 in phi2
12.925 * [backup-simplify]: Simplify phi1 into phi1
12.925 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
12.925 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
12.925 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
12.925 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in phi1
12.925 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
12.925 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
12.925 * [taylor]: Taking taylor expansion of 0.5 in phi1
12.925 * [backup-simplify]: Simplify 0.5 into 0.5
12.925 * [taylor]: Taking taylor expansion of phi2 in phi1
12.925 * [backup-simplify]: Simplify phi2 into phi2
12.925 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
12.925 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
12.926 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
12.926 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
12.926 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
12.926 * [taylor]: Taking taylor expansion of 0.5 in phi1
12.926 * [backup-simplify]: Simplify 0.5 into 0.5
12.926 * [taylor]: Taking taylor expansion of phi1 in phi1
12.926 * [backup-simplify]: Simplify 0 into 0
12.926 * [backup-simplify]: Simplify 1 into 1
12.926 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
12.926 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
12.926 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in phi1
12.926 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
12.926 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
12.926 * [taylor]: Taking taylor expansion of 0.5 in phi1
12.926 * [backup-simplify]: Simplify 0.5 into 0.5
12.927 * [taylor]: Taking taylor expansion of phi2 in phi1
12.927 * [backup-simplify]: Simplify phi2 into phi2
12.927 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
12.927 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
12.927 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
12.927 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
12.927 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
12.927 * [taylor]: Taking taylor expansion of 0.5 in phi1
12.927 * [backup-simplify]: Simplify 0.5 into 0.5
12.927 * [taylor]: Taking taylor expansion of phi1 in phi1
12.927 * [backup-simplify]: Simplify 0 into 0
12.927 * [backup-simplify]: Simplify 1 into 1
12.927 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
12.928 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
12.928 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
12.928 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
12.928 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
12.928 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
12.928 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in phi2
12.928 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
12.928 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
12.928 * [taylor]: Taking taylor expansion of 0.5 in phi2
12.928 * [backup-simplify]: Simplify 0.5 into 0.5
12.928 * [taylor]: Taking taylor expansion of phi2 in phi2
12.928 * [backup-simplify]: Simplify 0 into 0
12.928 * [backup-simplify]: Simplify 1 into 1
12.929 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
12.929 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
12.929 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
12.929 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
12.929 * [taylor]: Taking taylor expansion of 0.5 in phi2
12.929 * [backup-simplify]: Simplify 0.5 into 0.5
12.929 * [taylor]: Taking taylor expansion of phi1 in phi2
12.929 * [backup-simplify]: Simplify phi1 into phi1
12.929 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
12.929 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
12.929 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
12.929 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
12.930 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
12.930 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
12.930 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
12.930 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
12.930 * [backup-simplify]: Simplify (+ 0) into 0
12.931 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
12.931 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
12.932 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
12.932 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
12.933 * [backup-simplify]: Simplify (+ 0 0) into 0
12.933 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
12.933 * [taylor]: Taking taylor expansion of 0 in phi2
12.933 * [backup-simplify]: Simplify 0 into 0
12.933 * [backup-simplify]: Simplify 0 into 0
12.934 * [backup-simplify]: Simplify (+ 0) into 0
12.934 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
12.934 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
12.935 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
12.936 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
12.936 * [backup-simplify]: Simplify (+ 0 0) into 0
12.936 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
12.936 * [backup-simplify]: Simplify 0 into 0
12.937 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
12.938 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
12.938 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
12.939 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
12.940 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
12.940 * [backup-simplify]: Simplify (+ 0 0) into 0
12.941 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
12.941 * [taylor]: Taking taylor expansion of 0 in phi2
12.941 * [backup-simplify]: Simplify 0 into 0
12.941 * [backup-simplify]: Simplify 0 into 0
12.941 * [backup-simplify]: Simplify 0 into 0
12.942 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
12.943 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
12.943 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
12.944 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
12.944 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
12.945 * [backup-simplify]: Simplify (+ 0 0) into 0
12.945 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
12.945 * [backup-simplify]: Simplify 0 into 0
12.946 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0
12.947 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0
12.947 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
12.949 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0
12.950 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0
12.950 * [backup-simplify]: Simplify (+ 0 0) into 0
12.951 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1)))))) into 0
12.951 * [taylor]: Taking taylor expansion of 0 in phi2
12.951 * [backup-simplify]: Simplify 0 into 0
12.951 * [backup-simplify]: Simplify 0 into 0
12.951 * [backup-simplify]: Simplify (* (sin (/ 0.5 (/ 1 phi2))) (sin (/ 0.5 (/ 1 phi1)))) into (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))
12.952 * [backup-simplify]: Simplify (* (sin (* (/ 1 (- phi1)) 0.5)) (sin (* (/ 1 (- phi2)) 0.5))) into (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))
12.952 * [approximate]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in (phi1 phi2) around 0
12.952 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi2
12.952 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
12.952 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
12.952 * [taylor]: Taking taylor expansion of -0.5 in phi2
12.952 * [backup-simplify]: Simplify -0.5 into -0.5
12.952 * [taylor]: Taking taylor expansion of phi2 in phi2
12.952 * [backup-simplify]: Simplify 0 into 0
12.952 * [backup-simplify]: Simplify 1 into 1
12.952 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
12.952 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
12.952 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
12.952 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
12.952 * [taylor]: Taking taylor expansion of -0.5 in phi2
12.953 * [backup-simplify]: Simplify -0.5 into -0.5
12.953 * [taylor]: Taking taylor expansion of phi1 in phi2
12.953 * [backup-simplify]: Simplify phi1 into phi1
12.953 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
12.953 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
12.953 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
12.953 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi1
12.953 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
12.953 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
12.953 * [taylor]: Taking taylor expansion of -0.5 in phi1
12.953 * [backup-simplify]: Simplify -0.5 into -0.5
12.953 * [taylor]: Taking taylor expansion of phi2 in phi1
12.953 * [backup-simplify]: Simplify phi2 into phi2
12.953 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
12.953 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
12.953 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
12.953 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
12.953 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
12.953 * [taylor]: Taking taylor expansion of -0.5 in phi1
12.953 * [backup-simplify]: Simplify -0.5 into -0.5
12.953 * [taylor]: Taking taylor expansion of phi1 in phi1
12.953 * [backup-simplify]: Simplify 0 into 0
12.954 * [backup-simplify]: Simplify 1 into 1
12.954 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
12.954 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
12.954 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi1
12.954 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
12.954 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
12.954 * [taylor]: Taking taylor expansion of -0.5 in phi1
12.954 * [backup-simplify]: Simplify -0.5 into -0.5
12.954 * [taylor]: Taking taylor expansion of phi2 in phi1
12.954 * [backup-simplify]: Simplify phi2 into phi2
12.954 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
12.954 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
12.955 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
12.955 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
12.955 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
12.955 * [taylor]: Taking taylor expansion of -0.5 in phi1
12.955 * [backup-simplify]: Simplify -0.5 into -0.5
12.955 * [taylor]: Taking taylor expansion of phi1 in phi1
12.955 * [backup-simplify]: Simplify 0 into 0
12.955 * [backup-simplify]: Simplify 1 into 1
12.955 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
12.955 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
12.955 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
12.956 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
12.956 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
12.956 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))
12.956 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi2
12.956 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
12.956 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
12.956 * [taylor]: Taking taylor expansion of -0.5 in phi2
12.956 * [backup-simplify]: Simplify -0.5 into -0.5
12.956 * [taylor]: Taking taylor expansion of phi2 in phi2
12.956 * [backup-simplify]: Simplify 0 into 0
12.956 * [backup-simplify]: Simplify 1 into 1
12.957 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
12.957 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
12.957 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
12.957 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
12.957 * [taylor]: Taking taylor expansion of -0.5 in phi2
12.957 * [backup-simplify]: Simplify -0.5 into -0.5
12.957 * [taylor]: Taking taylor expansion of phi1 in phi2
12.957 * [backup-simplify]: Simplify phi1 into phi1
12.957 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
12.957 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
12.957 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
12.957 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
12.957 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
12.957 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
12.958 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))
12.958 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))
12.958 * [backup-simplify]: Simplify (+ 0) into 0
12.959 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
12.959 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
12.960 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
12.960 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
12.961 * [backup-simplify]: Simplify (+ 0 0) into 0
12.961 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
12.961 * [taylor]: Taking taylor expansion of 0 in phi2
12.961 * [backup-simplify]: Simplify 0 into 0
12.961 * [backup-simplify]: Simplify 0 into 0
12.961 * [backup-simplify]: Simplify (+ 0) into 0
12.962 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
12.962 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
12.963 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
12.963 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
12.964 * [backup-simplify]: Simplify (+ 0 0) into 0
12.964 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
12.964 * [backup-simplify]: Simplify 0 into 0
12.965 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
12.965 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
12.966 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
12.966 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
12.966 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
12.967 * [backup-simplify]: Simplify (+ 0 0) into 0
12.967 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
12.967 * [taylor]: Taking taylor expansion of 0 in phi2
12.967 * [backup-simplify]: Simplify 0 into 0
12.967 * [backup-simplify]: Simplify 0 into 0
12.967 * [backup-simplify]: Simplify 0 into 0
12.968 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
12.968 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
12.968 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
12.969 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
12.969 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
12.969 * [backup-simplify]: Simplify (+ 0 0) into 0
12.970 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
12.970 * [backup-simplify]: Simplify 0 into 0
12.970 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0
12.971 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0
12.971 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
12.972 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0
12.972 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0
12.972 * [backup-simplify]: Simplify (+ 0 0) into 0
12.973 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1)))))) into 0
12.973 * [taylor]: Taking taylor expansion of 0 in phi2
12.973 * [backup-simplify]: Simplify 0 into 0
12.973 * [backup-simplify]: Simplify 0 into 0
12.973 * [backup-simplify]: Simplify (* (sin (/ -0.5 (/ 1 (- phi2)))) (sin (/ -0.5 (/ 1 (- phi1))))) into (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))
12.973 * * * * [progress]: [ 2 / 4 ] generating series at (2 1 1)
12.973 * [backup-simplify]: Simplify (* (- lambda1 lambda2) (- (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) (* (sin (* phi1 0.5)) (sin (* phi2 0.5))))) into (* (- lambda1 lambda2) (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))))
12.973 * [approximate]: Taking taylor expansion of (* (- lambda1 lambda2) (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))) in (lambda1 lambda2 phi1 phi2) around 0
12.973 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))) in phi2
12.973 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in phi2
12.973 * [taylor]: Taking taylor expansion of lambda1 in phi2
12.973 * [backup-simplify]: Simplify lambda1 into lambda1
12.973 * [taylor]: Taking taylor expansion of lambda2 in phi2
12.973 * [backup-simplify]: Simplify lambda2 into lambda2
12.973 * [taylor]: Taking taylor expansion of (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))) in phi2
12.973 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) in phi2
12.974 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi2
12.974 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2
12.974 * [taylor]: Taking taylor expansion of 0.5 in phi2
12.974 * [backup-simplify]: Simplify 0.5 into 0.5
12.974 * [taylor]: Taking taylor expansion of phi1 in phi2
12.974 * [backup-simplify]: Simplify phi1 into phi1
12.974 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
12.974 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
12.974 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
12.974 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2
12.974 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2
12.974 * [taylor]: Taking taylor expansion of 0.5 in phi2
12.974 * [backup-simplify]: Simplify 0.5 into 0.5
12.974 * [taylor]: Taking taylor expansion of phi2 in phi2
12.974 * [backup-simplify]: Simplify 0 into 0
12.974 * [backup-simplify]: Simplify 1 into 1
12.974 * [backup-simplify]: Simplify (* 0.5 0) into 0
12.979 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
12.979 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))) in phi2
12.979 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi2
12.979 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2
12.979 * [taylor]: Taking taylor expansion of 0.5 in phi2
12.979 * [backup-simplify]: Simplify 0.5 into 0.5
12.979 * [taylor]: Taking taylor expansion of phi1 in phi2
12.979 * [backup-simplify]: Simplify phi1 into phi1
12.980 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
12.980 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
12.980 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
12.980 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2
12.980 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2
12.980 * [taylor]: Taking taylor expansion of 0.5 in phi2
12.980 * [backup-simplify]: Simplify 0.5 into 0.5
12.980 * [taylor]: Taking taylor expansion of phi2 in phi2
12.980 * [backup-simplify]: Simplify 0 into 0
12.980 * [backup-simplify]: Simplify 1 into 1
12.980 * [backup-simplify]: Simplify (* 0.5 0) into 0
12.981 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
12.981 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))) in phi1
12.981 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in phi1
12.981 * [taylor]: Taking taylor expansion of lambda1 in phi1
12.981 * [backup-simplify]: Simplify lambda1 into lambda1
12.981 * [taylor]: Taking taylor expansion of lambda2 in phi1
12.981 * [backup-simplify]: Simplify lambda2 into lambda2
12.981 * [taylor]: Taking taylor expansion of (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))) in phi1
12.981 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) in phi1
12.981 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1
12.981 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
12.981 * [taylor]: Taking taylor expansion of 0.5 in phi1
12.981 * [backup-simplify]: Simplify 0.5 into 0.5
12.981 * [taylor]: Taking taylor expansion of phi1 in phi1
12.981 * [backup-simplify]: Simplify 0 into 0
12.981 * [backup-simplify]: Simplify 1 into 1
12.981 * [backup-simplify]: Simplify (* 0.5 0) into 0
12.982 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
12.982 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi1
12.982 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi1
12.982 * [taylor]: Taking taylor expansion of 0.5 in phi1
12.982 * [backup-simplify]: Simplify 0.5 into 0.5
12.982 * [taylor]: Taking taylor expansion of phi2 in phi1
12.982 * [backup-simplify]: Simplify phi2 into phi2
12.982 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
12.983 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
12.983 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
12.983 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))) in phi1
12.983 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1
12.983 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
12.983 * [taylor]: Taking taylor expansion of 0.5 in phi1
12.983 * [backup-simplify]: Simplify 0.5 into 0.5
12.983 * [taylor]: Taking taylor expansion of phi1 in phi1
12.983 * [backup-simplify]: Simplify 0 into 0
12.983 * [backup-simplify]: Simplify 1 into 1
12.983 * [backup-simplify]: Simplify (* 0.5 0) into 0
12.984 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
12.984 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi1
12.984 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi1
12.984 * [taylor]: Taking taylor expansion of 0.5 in phi1
12.984 * [backup-simplify]: Simplify 0.5 into 0.5
12.984 * [taylor]: Taking taylor expansion of phi2 in phi1
12.984 * [backup-simplify]: Simplify phi2 into phi2
12.984 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
12.984 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
12.984 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
12.984 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))) in lambda2
12.984 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in lambda2
12.984 * [taylor]: Taking taylor expansion of lambda1 in lambda2
12.984 * [backup-simplify]: Simplify lambda1 into lambda1
12.984 * [taylor]: Taking taylor expansion of lambda2 in lambda2
12.984 * [backup-simplify]: Simplify 0 into 0
12.984 * [backup-simplify]: Simplify 1 into 1
12.984 * [taylor]: Taking taylor expansion of (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))) in lambda2
12.984 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) in lambda2
12.984 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda2
12.984 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
12.984 * [taylor]: Taking taylor expansion of 0.5 in lambda2
12.984 * [backup-simplify]: Simplify 0.5 into 0.5
12.984 * [taylor]: Taking taylor expansion of phi1 in lambda2
12.984 * [backup-simplify]: Simplify phi1 into phi1
12.984 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
12.984 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
12.985 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
12.985 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda2
12.985 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
12.985 * [taylor]: Taking taylor expansion of 0.5 in lambda2
12.985 * [backup-simplify]: Simplify 0.5 into 0.5
12.985 * [taylor]: Taking taylor expansion of phi2 in lambda2
12.985 * [backup-simplify]: Simplify phi2 into phi2
12.985 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
12.985 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
12.985 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
12.985 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))) in lambda2
12.985 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda2
12.985 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
12.985 * [taylor]: Taking taylor expansion of 0.5 in lambda2
12.985 * [backup-simplify]: Simplify 0.5 into 0.5
12.985 * [taylor]: Taking taylor expansion of phi1 in lambda2
12.985 * [backup-simplify]: Simplify phi1 into phi1
12.985 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
12.985 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
12.985 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
12.985 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda2
12.985 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
12.985 * [taylor]: Taking taylor expansion of 0.5 in lambda2
12.985 * [backup-simplify]: Simplify 0.5 into 0.5
12.985 * [taylor]: Taking taylor expansion of phi2 in lambda2
12.985 * [backup-simplify]: Simplify phi2 into phi2
12.985 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
12.985 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
12.985 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
12.985 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))) in lambda1
12.985 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in lambda1
12.985 * [taylor]: Taking taylor expansion of lambda1 in lambda1
12.985 * [backup-simplify]: Simplify 0 into 0
12.985 * [backup-simplify]: Simplify 1 into 1
12.985 * [taylor]: Taking taylor expansion of lambda2 in lambda1
12.985 * [backup-simplify]: Simplify lambda2 into lambda2
12.985 * [taylor]: Taking taylor expansion of (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))) in lambda1
12.985 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) in lambda1
12.985 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda1
12.985 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda1
12.985 * [taylor]: Taking taylor expansion of 0.5 in lambda1
12.985 * [backup-simplify]: Simplify 0.5 into 0.5
12.985 * [taylor]: Taking taylor expansion of phi1 in lambda1
12.985 * [backup-simplify]: Simplify phi1 into phi1
12.986 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
12.986 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
12.986 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
12.986 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda1
12.986 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda1
12.986 * [taylor]: Taking taylor expansion of 0.5 in lambda1
12.986 * [backup-simplify]: Simplify 0.5 into 0.5
12.986 * [taylor]: Taking taylor expansion of phi2 in lambda1
12.986 * [backup-simplify]: Simplify phi2 into phi2
12.986 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
12.986 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
12.986 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
12.986 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))) in lambda1
12.986 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda1
12.986 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda1
12.986 * [taylor]: Taking taylor expansion of 0.5 in lambda1
12.986 * [backup-simplify]: Simplify 0.5 into 0.5
12.986 * [taylor]: Taking taylor expansion of phi1 in lambda1
12.986 * [backup-simplify]: Simplify phi1 into phi1
12.986 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
12.986 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
12.986 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
12.986 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda1
12.986 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda1
12.986 * [taylor]: Taking taylor expansion of 0.5 in lambda1
12.986 * [backup-simplify]: Simplify 0.5 into 0.5
12.986 * [taylor]: Taking taylor expansion of phi2 in lambda1
12.986 * [backup-simplify]: Simplify phi2 into phi2
12.986 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
12.986 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
12.986 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
12.986 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))) in lambda1
12.986 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in lambda1
12.986 * [taylor]: Taking taylor expansion of lambda1 in lambda1
12.986 * [backup-simplify]: Simplify 0 into 0
12.986 * [backup-simplify]: Simplify 1 into 1
12.986 * [taylor]: Taking taylor expansion of lambda2 in lambda1
12.986 * [backup-simplify]: Simplify lambda2 into lambda2
12.986 * [taylor]: Taking taylor expansion of (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))) in lambda1
12.986 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) in lambda1
12.986 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda1
12.987 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda1
12.987 * [taylor]: Taking taylor expansion of 0.5 in lambda1
12.987 * [backup-simplify]: Simplify 0.5 into 0.5
12.987 * [taylor]: Taking taylor expansion of phi1 in lambda1
12.987 * [backup-simplify]: Simplify phi1 into phi1
12.987 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
12.987 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
12.987 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
12.987 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda1
12.987 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda1
12.987 * [taylor]: Taking taylor expansion of 0.5 in lambda1
12.987 * [backup-simplify]: Simplify 0.5 into 0.5
12.987 * [taylor]: Taking taylor expansion of phi2 in lambda1
12.987 * [backup-simplify]: Simplify phi2 into phi2
12.987 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
12.987 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
12.987 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
12.987 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))) in lambda1
12.987 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda1
12.987 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda1
12.987 * [taylor]: Taking taylor expansion of 0.5 in lambda1
12.987 * [backup-simplify]: Simplify 0.5 into 0.5
12.987 * [taylor]: Taking taylor expansion of phi1 in lambda1
12.987 * [backup-simplify]: Simplify phi1 into phi1
12.987 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
12.987 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
12.987 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
12.987 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda1
12.987 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda1
12.987 * [taylor]: Taking taylor expansion of 0.5 in lambda1
12.988 * [backup-simplify]: Simplify 0.5 into 0.5
12.988 * [taylor]: Taking taylor expansion of phi2 in lambda1
12.988 * [backup-simplify]: Simplify phi2 into phi2
12.988 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
12.988 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
12.988 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
12.988 * [backup-simplify]: Simplify (- lambda2) into (- lambda2)
12.988 * [backup-simplify]: Simplify (+ 0 (- lambda2)) into (- lambda2)
12.988 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
12.988 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
12.988 * [backup-simplify]: Simplify (- 0) into 0
12.988 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
12.988 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2))
12.988 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0
12.989 * [backup-simplify]: Simplify (- 0) into 0
12.989 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2))
12.989 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) into (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2)))
12.989 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1))
12.989 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0
12.989 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1))
12.989 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2))
12.989 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0
12.989 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2))
12.989 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))) into (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))
12.989 * [backup-simplify]: Simplify (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))) into (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))
12.990 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))) into (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))
12.990 * [backup-simplify]: Simplify (* (- lambda2) (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))) into (* -1 (* lambda2 (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))))
12.990 * [taylor]: Taking taylor expansion of (* -1 (* lambda2 (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))))) in lambda2
12.990 * [taylor]: Taking taylor expansion of -1 in lambda2
12.990 * [backup-simplify]: Simplify -1 into -1
12.990 * [taylor]: Taking taylor expansion of (* lambda2 (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))) in lambda2
12.990 * [taylor]: Taking taylor expansion of lambda2 in lambda2
12.990 * [backup-simplify]: Simplify 0 into 0
12.990 * [backup-simplify]: Simplify 1 into 1
12.990 * [taylor]: Taking taylor expansion of (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))) in lambda2
12.990 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) in lambda2
12.990 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda2
12.990 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
12.990 * [taylor]: Taking taylor expansion of 0.5 in lambda2
12.990 * [backup-simplify]: Simplify 0.5 into 0.5
12.990 * [taylor]: Taking taylor expansion of phi1 in lambda2
12.990 * [backup-simplify]: Simplify phi1 into phi1
12.990 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
12.990 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
12.990 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
12.990 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda2
12.990 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
12.990 * [taylor]: Taking taylor expansion of 0.5 in lambda2
12.990 * [backup-simplify]: Simplify 0.5 into 0.5
12.990 * [taylor]: Taking taylor expansion of phi2 in lambda2
12.990 * [backup-simplify]: Simplify phi2 into phi2
12.990 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
12.990 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
12.990 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
12.990 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))) in lambda2
12.991 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda2
12.991 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
12.991 * [taylor]: Taking taylor expansion of 0.5 in lambda2
12.991 * [backup-simplify]: Simplify 0.5 into 0.5
12.991 * [taylor]: Taking taylor expansion of phi1 in lambda2
12.991 * [backup-simplify]: Simplify phi1 into phi1
12.991 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
12.991 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
12.991 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
12.991 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda2
12.991 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
12.991 * [taylor]: Taking taylor expansion of 0.5 in lambda2
12.991 * [backup-simplify]: Simplify 0.5 into 0.5
12.991 * [taylor]: Taking taylor expansion of phi2 in lambda2
12.991 * [backup-simplify]: Simplify phi2 into phi2
12.991 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
12.991 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
12.991 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
12.991 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
12.991 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
12.991 * [backup-simplify]: Simplify (- 0) into 0
12.991 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
12.991 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2))
12.992 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0
12.992 * [backup-simplify]: Simplify (- 0) into 0
12.992 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2))
12.992 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) into (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2)))
12.992 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1))
12.992 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0
12.992 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1))
12.992 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2))
12.992 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0
12.992 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2))
12.992 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))) into (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))
12.993 * [backup-simplify]: Simplify (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))) into (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))
12.993 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))) into (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))
12.993 * [backup-simplify]: Simplify (* 0 (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))) into 0
12.993 * [backup-simplify]: Simplify (* -1 0) into 0
12.993 * [taylor]: Taking taylor expansion of 0 in phi1
12.993 * [backup-simplify]: Simplify 0 into 0
12.993 * [taylor]: Taking taylor expansion of 0 in phi2
12.993 * [backup-simplify]: Simplify 0 into 0
12.993 * [backup-simplify]: Simplify 0 into 0
12.994 * [backup-simplify]: Simplify (+ 0) into 0
12.994 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0
12.995 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0
12.996 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
12.996 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 0)) into 0
12.996 * [backup-simplify]: Simplify (- 0) into 0
12.997 * [backup-simplify]: Simplify (+ 0 0) into 0
12.997 * [backup-simplify]: Simplify (+ 0) into 0
12.998 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0
12.998 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0
12.999 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
12.999 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 0)) into 0
13.000 * [backup-simplify]: Simplify (- 0) into 0
13.000 * [backup-simplify]: Simplify (+ 0 0) into 0
13.000 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 (cos (* 0.5 phi2)))) into 0
13.001 * [backup-simplify]: Simplify (+ 0) into 0
13.001 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 1)) into 0
13.002 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0
13.003 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.003 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 0)) into 0
13.004 * [backup-simplify]: Simplify (+ 0 0) into 0
13.004 * [backup-simplify]: Simplify (+ 0) into 0
13.004 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 1)) into 0
13.005 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0
13.006 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.006 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 0)) into 0
13.007 * [backup-simplify]: Simplify (+ 0 0) into 0
13.007 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 (sin (* 0.5 phi2)))) into 0
13.007 * [backup-simplify]: Simplify (- 0) into 0
13.008 * [backup-simplify]: Simplify (+ 0 0) into 0
13.008 * [backup-simplify]: Simplify (- 0) into 0
13.008 * [backup-simplify]: Simplify (+ 1 0) into 1
13.009 * [backup-simplify]: Simplify (+ (* (- lambda2) 0) (* 1 (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))))) into (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))
13.009 * [taylor]: Taking taylor expansion of (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))) in lambda2
13.009 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) in lambda2
13.009 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda2
13.009 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
13.009 * [taylor]: Taking taylor expansion of 0.5 in lambda2
13.009 * [backup-simplify]: Simplify 0.5 into 0.5
13.009 * [taylor]: Taking taylor expansion of phi1 in lambda2
13.009 * [backup-simplify]: Simplify phi1 into phi1
13.009 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
13.009 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
13.009 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
13.009 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda2
13.009 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
13.009 * [taylor]: Taking taylor expansion of 0.5 in lambda2
13.009 * [backup-simplify]: Simplify 0.5 into 0.5
13.009 * [taylor]: Taking taylor expansion of phi2 in lambda2
13.009 * [backup-simplify]: Simplify phi2 into phi2
13.009 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
13.010 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
13.010 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
13.010 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))) in lambda2
13.010 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda2
13.010 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
13.010 * [taylor]: Taking taylor expansion of 0.5 in lambda2
13.010 * [backup-simplify]: Simplify 0.5 into 0.5
13.010 * [taylor]: Taking taylor expansion of phi1 in lambda2
13.010 * [backup-simplify]: Simplify phi1 into phi1
13.010 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
13.010 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
13.010 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
13.010 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda2
13.010 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
13.010 * [taylor]: Taking taylor expansion of 0.5 in lambda2
13.010 * [backup-simplify]: Simplify 0.5 into 0.5
13.010 * [taylor]: Taking taylor expansion of phi2 in lambda2
13.010 * [backup-simplify]: Simplify phi2 into phi2
13.010 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
13.010 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
13.010 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
13.010 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
13.010 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
13.010 * [backup-simplify]: Simplify (- 0) into 0
13.011 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
13.011 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2))
13.011 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0
13.011 * [backup-simplify]: Simplify (- 0) into 0
13.011 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2))
13.011 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) into (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2)))
13.011 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1))
13.011 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0
13.011 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1))
13.011 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2))
13.011 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0
13.011 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2))
13.012 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))) into (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))
13.012 * [backup-simplify]: Simplify (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))) into (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))
13.012 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))) into (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))
13.012 * [taylor]: Taking taylor expansion of (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))) in phi1
13.012 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) in phi1
13.012 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1
13.012 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
13.012 * [taylor]: Taking taylor expansion of 0.5 in phi1
13.012 * [backup-simplify]: Simplify 0.5 into 0.5
13.012 * [taylor]: Taking taylor expansion of phi1 in phi1
13.012 * [backup-simplify]: Simplify 0 into 0
13.012 * [backup-simplify]: Simplify 1 into 1
13.012 * [backup-simplify]: Simplify (* 0.5 0) into 0
13.013 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
13.013 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi1
13.013 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi1
13.013 * [taylor]: Taking taylor expansion of 0.5 in phi1
13.013 * [backup-simplify]: Simplify 0.5 into 0.5
13.013 * [taylor]: Taking taylor expansion of phi2 in phi1
13.013 * [backup-simplify]: Simplify phi2 into phi2
13.013 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
13.013 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
13.013 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
13.013 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))) in phi1
13.014 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1
13.014 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
13.014 * [taylor]: Taking taylor expansion of 0.5 in phi1
13.014 * [backup-simplify]: Simplify 0.5 into 0.5
13.014 * [taylor]: Taking taylor expansion of phi1 in phi1
13.014 * [backup-simplify]: Simplify 0 into 0
13.014 * [backup-simplify]: Simplify 1 into 1
13.014 * [backup-simplify]: Simplify (* 0.5 0) into 0
13.015 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
13.015 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi1
13.015 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi1
13.015 * [taylor]: Taking taylor expansion of 0.5 in phi1
13.015 * [backup-simplify]: Simplify 0.5 into 0.5
13.015 * [taylor]: Taking taylor expansion of phi2 in phi1
13.015 * [backup-simplify]: Simplify phi2 into phi2
13.015 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
13.015 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
13.015 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
13.015 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2))
13.015 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0
13.015 * [backup-simplify]: Simplify (- 0) into 0
13.015 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2))
13.015 * [backup-simplify]: Simplify (* 1 (cos (* 0.5 phi2))) into (cos (* 0.5 phi2))
13.016 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2))
13.016 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0
13.016 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2))
13.016 * [backup-simplify]: Simplify (* 0 (sin (* 0.5 phi2))) into 0
13.016 * [backup-simplify]: Simplify (- 0) into 0
13.016 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2))
13.016 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2
13.016 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2
13.016 * [taylor]: Taking taylor expansion of 0.5 in phi2
13.016 * [backup-simplify]: Simplify 0.5 into 0.5
13.016 * [taylor]: Taking taylor expansion of phi2 in phi2
13.016 * [backup-simplify]: Simplify 0 into 0
13.016 * [backup-simplify]: Simplify 1 into 1
13.016 * [backup-simplify]: Simplify (* 0.5 0) into 0
13.017 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
13.017 * [backup-simplify]: Simplify 1 into 1
13.018 * [backup-simplify]: Simplify (+ 0) into 0
13.018 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0
13.018 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0
13.019 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.019 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 0)) into 0
13.019 * [backup-simplify]: Simplify (- 0) into 0
13.019 * [backup-simplify]: Simplify (+ 0 0) into 0
13.020 * [backup-simplify]: Simplify (+ 0) into 0
13.020 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0
13.020 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0
13.021 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.021 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 0)) into 0
13.021 * [backup-simplify]: Simplify (- 0) into 0
13.022 * [backup-simplify]: Simplify (+ 0 0) into 0
13.022 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 (cos (* 0.5 phi2)))) into 0
13.022 * [backup-simplify]: Simplify (+ 0) into 0
13.022 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 1)) into 0
13.022 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0
13.023 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.023 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 0)) into 0
13.023 * [backup-simplify]: Simplify (+ 0 0) into 0
13.024 * [backup-simplify]: Simplify (+ 0) into 0
13.024 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 1)) into 0
13.024 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0
13.025 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.025 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 0)) into 0
13.025 * [backup-simplify]: Simplify (+ 0 0) into 0
13.025 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 (sin (* 0.5 phi2)))) into 0
13.026 * [backup-simplify]: Simplify (- 0) into 0
13.026 * [backup-simplify]: Simplify (+ 0 0) into 0
13.026 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))))) into (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))
13.027 * [backup-simplify]: Simplify (+ (* -1 (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))) (* 0 0)) into (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))) (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))))
13.027 * [taylor]: Taking taylor expansion of (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))) (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2)))) in phi1
13.027 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))) in phi1
13.027 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1
13.027 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
13.027 * [taylor]: Taking taylor expansion of 0.5 in phi1
13.027 * [backup-simplify]: Simplify 0.5 into 0.5
13.027 * [taylor]: Taking taylor expansion of phi1 in phi1
13.027 * [backup-simplify]: Simplify 0 into 0
13.027 * [backup-simplify]: Simplify 1 into 1
13.027 * [backup-simplify]: Simplify (* 0.5 0) into 0
13.028 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
13.028 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi1
13.028 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi1
13.028 * [taylor]: Taking taylor expansion of 0.5 in phi1
13.028 * [backup-simplify]: Simplify 0.5 into 0.5
13.028 * [taylor]: Taking taylor expansion of phi2 in phi1
13.028 * [backup-simplify]: Simplify phi2 into phi2
13.028 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
13.028 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
13.028 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
13.028 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) in phi1
13.028 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1
13.028 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
13.028 * [taylor]: Taking taylor expansion of 0.5 in phi1
13.028 * [backup-simplify]: Simplify 0.5 into 0.5
13.028 * [taylor]: Taking taylor expansion of phi1 in phi1
13.029 * [backup-simplify]: Simplify 0 into 0
13.029 * [backup-simplify]: Simplify 1 into 1
13.029 * [backup-simplify]: Simplify (* 0.5 0) into 0
13.030 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
13.030 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi1
13.030 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi1
13.030 * [taylor]: Taking taylor expansion of 0.5 in phi1
13.030 * [backup-simplify]: Simplify 0.5 into 0.5
13.030 * [taylor]: Taking taylor expansion of phi2 in phi1
13.030 * [backup-simplify]: Simplify phi2 into phi2
13.030 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
13.030 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
13.030 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
13.030 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2))
13.030 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0
13.030 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2))
13.030 * [backup-simplify]: Simplify (* 0 (sin (* 0.5 phi2))) into 0
13.030 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2))
13.030 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0
13.031 * [backup-simplify]: Simplify (- 0) into 0
13.031 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2))
13.031 * [backup-simplify]: Simplify (* 1 (cos (* 0.5 phi2))) into (cos (* 0.5 phi2))
13.031 * [backup-simplify]: Simplify (- (cos (* 0.5 phi2))) into (- (cos (* 0.5 phi2)))
13.031 * [backup-simplify]: Simplify (+ 0 (- (cos (* 0.5 phi2)))) into (- (cos (* 0.5 phi2)))
13.031 * [taylor]: Taking taylor expansion of (- (cos (* 0.5 phi2))) in phi2
13.031 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2
13.031 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2
13.031 * [taylor]: Taking taylor expansion of 0.5 in phi2
13.031 * [backup-simplify]: Simplify 0.5 into 0.5
13.031 * [taylor]: Taking taylor expansion of phi2 in phi2
13.031 * [backup-simplify]: Simplify 0 into 0
13.031 * [backup-simplify]: Simplify 1 into 1
13.032 * [backup-simplify]: Simplify (* 0.5 0) into 0
13.032 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
13.033 * [backup-simplify]: Simplify (- 1) into -1
13.033 * [backup-simplify]: Simplify -1 into -1
13.033 * [taylor]: Taking taylor expansion of 0 in phi2
13.033 * [backup-simplify]: Simplify 0 into 0
13.033 * [backup-simplify]: Simplify 0 into 0
13.033 * [backup-simplify]: Simplify 0 into 0
13.033 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
13.034 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
13.034 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 phi2))) into 0
13.035 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
13.035 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
13.035 * [backup-simplify]: Simplify (- 0) into 0
13.036 * [backup-simplify]: Simplify (+ 0 0) into 0
13.036 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
13.036 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
13.037 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 phi1))) into 0
13.038 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
13.038 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
13.038 * [backup-simplify]: Simplify (- 0) into 0
13.038 * [backup-simplify]: Simplify (+ 0 0) into 0
13.039 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (* 0.5 phi2))))) into 0
13.039 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
13.040 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
13.040 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 phi2))) into 0
13.041 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
13.041 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
13.041 * [backup-simplify]: Simplify (+ 0 0) into 0
13.042 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
13.043 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
13.044 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 phi1))) into 0
13.045 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
13.045 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
13.046 * [backup-simplify]: Simplify (+ 0 0) into 0
13.046 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (* 0.5 phi2))))) into 0
13.046 * [backup-simplify]: Simplify (- 0) into 0
13.047 * [backup-simplify]: Simplify (+ 0 0) into 0
13.047 * [backup-simplify]: Simplify (- 0) into 0
13.048 * [backup-simplify]: Simplify (+ 0 0) into 0
13.048 * [backup-simplify]: Simplify (+ (* (- lambda2) 0) (+ (* 1 0) (* 0 (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))))) into 0
13.048 * [taylor]: Taking taylor expansion of 0 in lambda2
13.048 * [backup-simplify]: Simplify 0 into 0
13.049 * [taylor]: Taking taylor expansion of 0 in phi1
13.049 * [backup-simplify]: Simplify 0 into 0
13.049 * [taylor]: Taking taylor expansion of 0 in phi2
13.049 * [backup-simplify]: Simplify 0 into 0
13.049 * [backup-simplify]: Simplify 0 into 0
13.049 * [backup-simplify]: Simplify (+ 0) into 0
13.050 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0
13.050 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0
13.050 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.051 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 0)) into 0
13.051 * [backup-simplify]: Simplify (- 0) into 0
13.051 * [backup-simplify]: Simplify (+ 0 0) into 0
13.051 * [backup-simplify]: Simplify (+ 0) into 0
13.052 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0
13.052 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0
13.053 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.053 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 0)) into 0
13.053 * [backup-simplify]: Simplify (- 0) into 0
13.053 * [backup-simplify]: Simplify (+ 0 0) into 0
13.053 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 (cos (* 0.5 phi2)))) into 0
13.054 * [backup-simplify]: Simplify (+ 0) into 0
13.054 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 1)) into 0
13.054 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0
13.055 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.055 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 0)) into 0
13.055 * [backup-simplify]: Simplify (+ 0 0) into 0
13.055 * [backup-simplify]: Simplify (+ 0) into 0
13.056 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 1)) into 0
13.056 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0
13.056 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.057 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 0)) into 0
13.057 * [backup-simplify]: Simplify (+ 0 0) into 0
13.057 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 (sin (* 0.5 phi2)))) into 0
13.057 * [backup-simplify]: Simplify (- 0) into 0
13.058 * [backup-simplify]: Simplify (+ 0 0) into 0
13.058 * [taylor]: Taking taylor expansion of 0 in phi1
13.058 * [backup-simplify]: Simplify 0 into 0
13.058 * [taylor]: Taking taylor expansion of 0 in phi2
13.058 * [backup-simplify]: Simplify 0 into 0
13.058 * [backup-simplify]: Simplify 0 into 0
13.058 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
13.059 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
13.059 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 phi2))) into 0
13.060 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
13.060 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
13.060 * [backup-simplify]: Simplify (- 0) into 0
13.060 * [backup-simplify]: Simplify (+ 0 0) into 0
13.061 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
13.061 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
13.062 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 phi1))) into 0
13.062 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
13.063 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
13.063 * [backup-simplify]: Simplify (- 0) into 0
13.063 * [backup-simplify]: Simplify (+ 0 0) into 0
13.063 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (* 0.5 phi2))))) into 0
13.064 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
13.064 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
13.065 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 phi2))) into 0
13.065 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
13.066 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
13.066 * [backup-simplify]: Simplify (+ 0 0) into 0
13.066 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
13.067 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
13.067 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 phi1))) into 0
13.068 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
13.068 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
13.069 * [backup-simplify]: Simplify (+ 0 0) into 0
13.069 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (* 0.5 phi2))))) into 0
13.069 * [backup-simplify]: Simplify (- 0) into 0
13.069 * [backup-simplify]: Simplify (+ 0 0) into 0
13.070 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))))) into 0
13.071 * [backup-simplify]: Simplify (+ (* -1 0) (+ (* 0 (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))) (* 0 0))) into 0
13.071 * [taylor]: Taking taylor expansion of 0 in phi1
13.071 * [backup-simplify]: Simplify 0 into 0
13.071 * [taylor]: Taking taylor expansion of 0 in phi2
13.071 * [backup-simplify]: Simplify 0 into 0
13.071 * [backup-simplify]: Simplify 0 into 0
13.071 * [backup-simplify]: Simplify (+ 0) into 0
13.072 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0
13.072 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0
13.073 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.073 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 0)) into 0
13.073 * [backup-simplify]: Simplify (- 0) into 0
13.073 * [backup-simplify]: Simplify (+ 0 0) into 0
13.074 * [backup-simplify]: Simplify (+ 0) into 0
13.074 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (cos (* 0.5 phi2)))) into 0
13.074 * [backup-simplify]: Simplify (+ 0) into 0
13.075 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 1)) into 0
13.075 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0
13.075 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.076 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 0)) into 0
13.076 * [backup-simplify]: Simplify (+ 0 0) into 0
13.077 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5
13.078 * [backup-simplify]: Simplify (+ (* 0 0) (* 0.5 (sin (* 0.5 phi2)))) into (* 0.5 (sin (* 0.5 phi2)))
13.078 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi2)))) into (- (* 0.5 (sin (* 0.5 phi2))))
13.078 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi2))))) into (- (* 0.5 (sin (* 0.5 phi2))))
13.078 * [taylor]: Taking taylor expansion of (- (* 0.5 (sin (* 0.5 phi2)))) in phi2
13.078 * [taylor]: Taking taylor expansion of (* 0.5 (sin (* 0.5 phi2))) in phi2
13.078 * [taylor]: Taking taylor expansion of 0.5 in phi2
13.078 * [backup-simplify]: Simplify 0.5 into 0.5
13.078 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2
13.078 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2
13.078 * [taylor]: Taking taylor expansion of 0.5 in phi2
13.078 * [backup-simplify]: Simplify 0.5 into 0.5
13.078 * [taylor]: Taking taylor expansion of phi2 in phi2
13.078 * [backup-simplify]: Simplify 0 into 0
13.078 * [backup-simplify]: Simplify 1 into 1
13.079 * [backup-simplify]: Simplify (* 0.5 0) into 0
13.080 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
13.081 * [backup-simplify]: Simplify (* 0.5 0) into 0
13.081 * [backup-simplify]: Simplify (- 0) into 0
13.081 * [backup-simplify]: Simplify 0 into 0
13.081 * [backup-simplify]: Simplify (+ (* -1 (* 1 (* 1 (* lambda2 1)))) (* 1 (* 1 (* 1 (* 1 lambda1))))) into (- lambda1 lambda2)
13.082 * [backup-simplify]: Simplify (* (- (/ 1 lambda1) (/ 1 lambda2)) (- (* (cos (* (/ 1 phi1) 0.5)) (cos (* (/ 1 phi2) 0.5))) (* (sin (* (/ 1 phi1) 0.5)) (sin (* (/ 1 phi2) 0.5))))) into (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) (- (/ 1 lambda1) (/ 1 lambda2)))
13.082 * [approximate]: Taking taylor expansion of (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) (- (/ 1 lambda1) (/ 1 lambda2))) in (lambda1 lambda2 phi1 phi2) around 0
13.082 * [taylor]: Taking taylor expansion of (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) (- (/ 1 lambda1) (/ 1 lambda2))) in phi2
13.082 * [taylor]: Taking taylor expansion of (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in phi2
13.082 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in phi2
13.082 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
13.082 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
13.082 * [taylor]: Taking taylor expansion of 0.5 in phi2
13.082 * [backup-simplify]: Simplify 0.5 into 0.5
13.082 * [taylor]: Taking taylor expansion of phi2 in phi2
13.082 * [backup-simplify]: Simplify 0 into 0
13.082 * [backup-simplify]: Simplify 1 into 1
13.083 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
13.083 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
13.083 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
13.083 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
13.083 * [taylor]: Taking taylor expansion of 0.5 in phi2
13.083 * [backup-simplify]: Simplify 0.5 into 0.5
13.083 * [taylor]: Taking taylor expansion of phi1 in phi2
13.083 * [backup-simplify]: Simplify phi1 into phi1
13.083 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
13.083 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
13.083 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
13.083 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in phi2
13.083 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
13.083 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
13.083 * [taylor]: Taking taylor expansion of 0.5 in phi2
13.083 * [backup-simplify]: Simplify 0.5 into 0.5
13.083 * [taylor]: Taking taylor expansion of phi2 in phi2
13.083 * [backup-simplify]: Simplify 0 into 0
13.083 * [backup-simplify]: Simplify 1 into 1
13.084 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
13.084 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
13.084 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
13.084 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
13.084 * [taylor]: Taking taylor expansion of 0.5 in phi2
13.084 * [backup-simplify]: Simplify 0.5 into 0.5
13.084 * [taylor]: Taking taylor expansion of phi1 in phi2
13.084 * [backup-simplify]: Simplify phi1 into phi1
13.084 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
13.084 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
13.084 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
13.084 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in phi2
13.084 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in phi2
13.084 * [taylor]: Taking taylor expansion of lambda1 in phi2
13.084 * [backup-simplify]: Simplify lambda1 into lambda1
13.085 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1)
13.085 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in phi2
13.085 * [taylor]: Taking taylor expansion of lambda2 in phi2
13.085 * [backup-simplify]: Simplify lambda2 into lambda2
13.085 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
13.085 * [taylor]: Taking taylor expansion of (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) (- (/ 1 lambda1) (/ 1 lambda2))) in phi1
13.085 * [taylor]: Taking taylor expansion of (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in phi1
13.085 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in phi1
13.085 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
13.085 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
13.085 * [taylor]: Taking taylor expansion of 0.5 in phi1
13.085 * [backup-simplify]: Simplify 0.5 into 0.5
13.085 * [taylor]: Taking taylor expansion of phi2 in phi1
13.085 * [backup-simplify]: Simplify phi2 into phi2
13.085 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
13.085 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
13.085 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
13.085 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
13.085 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
13.085 * [taylor]: Taking taylor expansion of 0.5 in phi1
13.085 * [backup-simplify]: Simplify 0.5 into 0.5
13.085 * [taylor]: Taking taylor expansion of phi1 in phi1
13.085 * [backup-simplify]: Simplify 0 into 0
13.085 * [backup-simplify]: Simplify 1 into 1
13.090 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
13.090 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
13.090 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in phi1
13.091 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
13.091 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
13.091 * [taylor]: Taking taylor expansion of 0.5 in phi1
13.091 * [backup-simplify]: Simplify 0.5 into 0.5
13.091 * [taylor]: Taking taylor expansion of phi2 in phi1
13.091 * [backup-simplify]: Simplify phi2 into phi2
13.091 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
13.091 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
13.091 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
13.091 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
13.091 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
13.091 * [taylor]: Taking taylor expansion of 0.5 in phi1
13.091 * [backup-simplify]: Simplify 0.5 into 0.5
13.091 * [taylor]: Taking taylor expansion of phi1 in phi1
13.091 * [backup-simplify]: Simplify 0 into 0
13.091 * [backup-simplify]: Simplify 1 into 1
13.091 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
13.091 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
13.091 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in phi1
13.091 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in phi1
13.092 * [taylor]: Taking taylor expansion of lambda1 in phi1
13.092 * [backup-simplify]: Simplify lambda1 into lambda1
13.092 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1)
13.092 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in phi1
13.092 * [taylor]: Taking taylor expansion of lambda2 in phi1
13.092 * [backup-simplify]: Simplify lambda2 into lambda2
13.092 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
13.092 * [taylor]: Taking taylor expansion of (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) (- (/ 1 lambda1) (/ 1 lambda2))) in lambda2
13.092 * [taylor]: Taking taylor expansion of (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
13.092 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
13.092 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
13.092 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
13.092 * [taylor]: Taking taylor expansion of 0.5 in lambda2
13.092 * [backup-simplify]: Simplify 0.5 into 0.5
13.092 * [taylor]: Taking taylor expansion of phi2 in lambda2
13.092 * [backup-simplify]: Simplify phi2 into phi2
13.092 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
13.092 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
13.092 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
13.092 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
13.092 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
13.092 * [taylor]: Taking taylor expansion of 0.5 in lambda2
13.092 * [backup-simplify]: Simplify 0.5 into 0.5
13.092 * [taylor]: Taking taylor expansion of phi1 in lambda2
13.092 * [backup-simplify]: Simplify phi1 into phi1
13.092 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
13.092 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
13.092 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
13.092 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
13.092 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
13.092 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
13.092 * [taylor]: Taking taylor expansion of 0.5 in lambda2
13.092 * [backup-simplify]: Simplify 0.5 into 0.5
13.092 * [taylor]: Taking taylor expansion of phi2 in lambda2
13.092 * [backup-simplify]: Simplify phi2 into phi2
13.092 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
13.092 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
13.092 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
13.092 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
13.092 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
13.092 * [taylor]: Taking taylor expansion of 0.5 in lambda2
13.093 * [backup-simplify]: Simplify 0.5 into 0.5
13.093 * [taylor]: Taking taylor expansion of phi1 in lambda2
13.093 * [backup-simplify]: Simplify phi1 into phi1
13.093 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
13.093 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
13.093 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
13.093 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in lambda2
13.093 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda2
13.093 * [taylor]: Taking taylor expansion of lambda1 in lambda2
13.093 * [backup-simplify]: Simplify lambda1 into lambda1
13.093 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1)
13.093 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda2
13.093 * [taylor]: Taking taylor expansion of lambda2 in lambda2
13.093 * [backup-simplify]: Simplify 0 into 0
13.093 * [backup-simplify]: Simplify 1 into 1
13.093 * [backup-simplify]: Simplify (/ 1 1) into 1
13.093 * [taylor]: Taking taylor expansion of (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) (- (/ 1 lambda1) (/ 1 lambda2))) in lambda1
13.093 * [taylor]: Taking taylor expansion of (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda1
13.093 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda1
13.093 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda1
13.093 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1
13.093 * [taylor]: Taking taylor expansion of 0.5 in lambda1
13.093 * [backup-simplify]: Simplify 0.5 into 0.5
13.093 * [taylor]: Taking taylor expansion of phi2 in lambda1
13.093 * [backup-simplify]: Simplify phi2 into phi2
13.093 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
13.093 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
13.093 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
13.093 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda1
13.093 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1
13.094 * [taylor]: Taking taylor expansion of 0.5 in lambda1
13.094 * [backup-simplify]: Simplify 0.5 into 0.5
13.094 * [taylor]: Taking taylor expansion of phi1 in lambda1
13.094 * [backup-simplify]: Simplify phi1 into phi1
13.094 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
13.094 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
13.094 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
13.094 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda1
13.094 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda1
13.094 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1
13.094 * [taylor]: Taking taylor expansion of 0.5 in lambda1
13.094 * [backup-simplify]: Simplify 0.5 into 0.5
13.094 * [taylor]: Taking taylor expansion of phi2 in lambda1
13.094 * [backup-simplify]: Simplify phi2 into phi2
13.094 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
13.094 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
13.094 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
13.094 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda1
13.094 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1
13.094 * [taylor]: Taking taylor expansion of 0.5 in lambda1
13.094 * [backup-simplify]: Simplify 0.5 into 0.5
13.094 * [taylor]: Taking taylor expansion of phi1 in lambda1
13.094 * [backup-simplify]: Simplify phi1 into phi1
13.094 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
13.094 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
13.094 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
13.094 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in lambda1
13.094 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1
13.094 * [taylor]: Taking taylor expansion of lambda1 in lambda1
13.094 * [backup-simplify]: Simplify 0 into 0
13.094 * [backup-simplify]: Simplify 1 into 1
13.095 * [backup-simplify]: Simplify (/ 1 1) into 1
13.095 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda1
13.095 * [taylor]: Taking taylor expansion of lambda2 in lambda1
13.095 * [backup-simplify]: Simplify lambda2 into lambda2
13.095 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
13.095 * [taylor]: Taking taylor expansion of (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) (- (/ 1 lambda1) (/ 1 lambda2))) in lambda1
13.095 * [taylor]: Taking taylor expansion of (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda1
13.095 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda1
13.095 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda1
13.095 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1
13.095 * [taylor]: Taking taylor expansion of 0.5 in lambda1
13.095 * [backup-simplify]: Simplify 0.5 into 0.5
13.095 * [taylor]: Taking taylor expansion of phi2 in lambda1
13.095 * [backup-simplify]: Simplify phi2 into phi2
13.095 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
13.095 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
13.095 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
13.095 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda1
13.095 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1
13.095 * [taylor]: Taking taylor expansion of 0.5 in lambda1
13.095 * [backup-simplify]: Simplify 0.5 into 0.5
13.095 * [taylor]: Taking taylor expansion of phi1 in lambda1
13.095 * [backup-simplify]: Simplify phi1 into phi1
13.095 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
13.095 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
13.095 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
13.095 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda1
13.095 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda1
13.095 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1
13.095 * [taylor]: Taking taylor expansion of 0.5 in lambda1
13.095 * [backup-simplify]: Simplify 0.5 into 0.5
13.095 * [taylor]: Taking taylor expansion of phi2 in lambda1
13.095 * [backup-simplify]: Simplify phi2 into phi2
13.095 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
13.095 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
13.095 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
13.095 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda1
13.095 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1
13.096 * [taylor]: Taking taylor expansion of 0.5 in lambda1
13.096 * [backup-simplify]: Simplify 0.5 into 0.5
13.096 * [taylor]: Taking taylor expansion of phi1 in lambda1
13.096 * [backup-simplify]: Simplify phi1 into phi1
13.096 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
13.096 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
13.096 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
13.096 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in lambda1
13.096 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1
13.096 * [taylor]: Taking taylor expansion of lambda1 in lambda1
13.096 * [backup-simplify]: Simplify 0 into 0
13.096 * [backup-simplify]: Simplify 1 into 1
13.096 * [backup-simplify]: Simplify (/ 1 1) into 1
13.096 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda1
13.096 * [taylor]: Taking taylor expansion of lambda2 in lambda1
13.096 * [backup-simplify]: Simplify lambda2 into lambda2
13.096 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
13.096 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
13.096 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
13.097 * [backup-simplify]: Simplify (- 0) into 0
13.097 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
13.097 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
13.097 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
13.097 * [backup-simplify]: Simplify (- 0) into 0
13.097 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
13.097 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
13.097 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
13.097 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
13.097 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
13.097 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
13.098 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
13.098 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
13.098 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
13.098 * [backup-simplify]: Simplify (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
13.098 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
13.098 * [backup-simplify]: Simplify (+ 1 0) into 1
13.098 * [backup-simplify]: Simplify (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) 1) into (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
13.098 * [taylor]: Taking taylor expansion of (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
13.098 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
13.099 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
13.099 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
13.099 * [taylor]: Taking taylor expansion of 0.5 in lambda2
13.099 * [backup-simplify]: Simplify 0.5 into 0.5
13.099 * [taylor]: Taking taylor expansion of phi2 in lambda2
13.099 * [backup-simplify]: Simplify phi2 into phi2
13.099 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
13.099 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
13.099 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
13.099 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
13.099 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
13.099 * [taylor]: Taking taylor expansion of 0.5 in lambda2
13.099 * [backup-simplify]: Simplify 0.5 into 0.5
13.099 * [taylor]: Taking taylor expansion of phi1 in lambda2
13.099 * [backup-simplify]: Simplify phi1 into phi1
13.099 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
13.099 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
13.099 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
13.099 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
13.099 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
13.099 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
13.099 * [taylor]: Taking taylor expansion of 0.5 in lambda2
13.099 * [backup-simplify]: Simplify 0.5 into 0.5
13.099 * [taylor]: Taking taylor expansion of phi2 in lambda2
13.099 * [backup-simplify]: Simplify phi2 into phi2
13.099 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
13.099 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
13.099 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
13.099 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
13.099 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
13.099 * [taylor]: Taking taylor expansion of 0.5 in lambda2
13.099 * [backup-simplify]: Simplify 0.5 into 0.5
13.099 * [taylor]: Taking taylor expansion of phi1 in lambda2
13.099 * [backup-simplify]: Simplify phi1 into phi1
13.099 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
13.099 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
13.099 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
13.100 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
13.100 * [backup-simplify]: Simplify (- (/ 1 lambda2)) into (- (/ 1 lambda2))
13.100 * [backup-simplify]: Simplify (+ 0 (- (/ 1 lambda2))) into (- (/ 1 lambda2))
13.100 * [backup-simplify]: Simplify (+ 0) into 0
13.101 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
13.101 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
13.101 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.101 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
13.102 * [backup-simplify]: Simplify (- 0) into 0
13.102 * [backup-simplify]: Simplify (+ 0 0) into 0
13.102 * [backup-simplify]: Simplify (+ 0) into 0
13.102 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
13.103 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
13.103 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.103 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
13.104 * [backup-simplify]: Simplify (- 0) into 0
13.104 * [backup-simplify]: Simplify (+ 0 0) into 0
13.104 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
13.104 * [backup-simplify]: Simplify (+ 0) into 0
13.104 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
13.105 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
13.105 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.105 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
13.105 * [backup-simplify]: Simplify (+ 0 0) into 0
13.106 * [backup-simplify]: Simplify (+ 0) into 0
13.106 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
13.106 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
13.107 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.107 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
13.107 * [backup-simplify]: Simplify (+ 0 0) into 0
13.107 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
13.107 * [backup-simplify]: Simplify (- 0) into 0
13.108 * [backup-simplify]: Simplify (+ 0 0) into 0
13.108 * [backup-simplify]: Simplify (+ (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) (- (/ 1 lambda2))) (* 0 1)) into (- (/ (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) lambda2) (/ (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) lambda2))
13.108 * [taylor]: Taking taylor expansion of (- (/ (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) lambda2) (/ (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) lambda2)) in lambda2
13.108 * [taylor]: Taking taylor expansion of (/ (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) lambda2) in lambda2
13.108 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
13.108 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
13.108 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
13.108 * [taylor]: Taking taylor expansion of 0.5 in lambda2
13.108 * [backup-simplify]: Simplify 0.5 into 0.5
13.108 * [taylor]: Taking taylor expansion of phi2 in lambda2
13.108 * [backup-simplify]: Simplify phi2 into phi2
13.108 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
13.108 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
13.109 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
13.109 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
13.109 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
13.109 * [taylor]: Taking taylor expansion of 0.5 in lambda2
13.109 * [backup-simplify]: Simplify 0.5 into 0.5
13.109 * [taylor]: Taking taylor expansion of phi1 in lambda2
13.109 * [backup-simplify]: Simplify phi1 into phi1
13.109 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
13.109 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
13.109 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
13.109 * [taylor]: Taking taylor expansion of lambda2 in lambda2
13.109 * [backup-simplify]: Simplify 0 into 0
13.109 * [backup-simplify]: Simplify 1 into 1
13.109 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
13.109 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
13.109 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
13.109 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
13.109 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
13.109 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
13.109 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
13.109 * [backup-simplify]: Simplify (/ (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) 1) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
13.109 * [taylor]: Taking taylor expansion of (/ (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) lambda2) in lambda2
13.109 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
13.109 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
13.109 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
13.109 * [taylor]: Taking taylor expansion of 0.5 in lambda2
13.110 * [backup-simplify]: Simplify 0.5 into 0.5
13.110 * [taylor]: Taking taylor expansion of phi2 in lambda2
13.110 * [backup-simplify]: Simplify phi2 into phi2
13.110 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
13.110 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
13.110 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
13.110 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
13.110 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
13.110 * [taylor]: Taking taylor expansion of 0.5 in lambda2
13.110 * [backup-simplify]: Simplify 0.5 into 0.5
13.110 * [taylor]: Taking taylor expansion of phi1 in lambda2
13.110 * [backup-simplify]: Simplify phi1 into phi1
13.110 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
13.110 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
13.110 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
13.110 * [taylor]: Taking taylor expansion of lambda2 in lambda2
13.110 * [backup-simplify]: Simplify 0 into 0
13.110 * [backup-simplify]: Simplify 1 into 1
13.110 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
13.110 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
13.110 * [backup-simplify]: Simplify (- 0) into 0
13.110 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
13.110 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
13.111 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
13.111 * [backup-simplify]: Simplify (- 0) into 0
13.111 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
13.111 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
13.111 * [backup-simplify]: Simplify (/ (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) 1) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
13.111 * [backup-simplify]: Simplify (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
13.111 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
13.111 * [taylor]: Taking taylor expansion of (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in phi1
13.111 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in phi1
13.111 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
13.111 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
13.111 * [taylor]: Taking taylor expansion of 0.5 in phi1
13.111 * [backup-simplify]: Simplify 0.5 into 0.5
13.111 * [taylor]: Taking taylor expansion of phi2 in phi1
13.112 * [backup-simplify]: Simplify phi2 into phi2
13.112 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
13.112 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
13.112 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
13.112 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
13.112 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
13.112 * [taylor]: Taking taylor expansion of 0.5 in phi1
13.112 * [backup-simplify]: Simplify 0.5 into 0.5
13.112 * [taylor]: Taking taylor expansion of phi1 in phi1
13.112 * [backup-simplify]: Simplify 0 into 0
13.112 * [backup-simplify]: Simplify 1 into 1
13.112 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
13.112 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
13.112 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in phi1
13.112 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
13.112 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
13.112 * [taylor]: Taking taylor expansion of 0.5 in phi1
13.112 * [backup-simplify]: Simplify 0.5 into 0.5
13.112 * [taylor]: Taking taylor expansion of phi2 in phi1
13.112 * [backup-simplify]: Simplify phi2 into phi2
13.112 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
13.112 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
13.112 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
13.112 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
13.112 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
13.112 * [taylor]: Taking taylor expansion of 0.5 in phi1
13.112 * [backup-simplify]: Simplify 0.5 into 0.5
13.112 * [taylor]: Taking taylor expansion of phi1 in phi1
13.112 * [backup-simplify]: Simplify 0 into 0
13.112 * [backup-simplify]: Simplify 1 into 1
13.113 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
13.113 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
13.113 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
13.113 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
13.113 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
13.113 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
13.113 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
13.113 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
13.113 * [backup-simplify]: Simplify (- 0) into 0
13.114 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
13.114 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
13.114 * [backup-simplify]: Simplify (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
13.114 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
13.114 * [taylor]: Taking taylor expansion of (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in phi2
13.114 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in phi2
13.114 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
13.114 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
13.114 * [taylor]: Taking taylor expansion of 0.5 in phi2
13.114 * [backup-simplify]: Simplify 0.5 into 0.5
13.114 * [taylor]: Taking taylor expansion of phi2 in phi2
13.114 * [backup-simplify]: Simplify 0 into 0
13.114 * [backup-simplify]: Simplify 1 into 1
13.114 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
13.114 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
13.114 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
13.114 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
13.115 * [taylor]: Taking taylor expansion of 0.5 in phi2
13.115 * [backup-simplify]: Simplify 0.5 into 0.5
13.115 * [taylor]: Taking taylor expansion of phi1 in phi2
13.115 * [backup-simplify]: Simplify phi1 into phi1
13.115 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
13.115 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
13.115 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
13.115 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in phi2
13.115 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
13.115 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
13.115 * [taylor]: Taking taylor expansion of 0.5 in phi2
13.115 * [backup-simplify]: Simplify 0.5 into 0.5
13.115 * [taylor]: Taking taylor expansion of phi2 in phi2
13.115 * [backup-simplify]: Simplify 0 into 0
13.115 * [backup-simplify]: Simplify 1 into 1
13.115 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
13.115 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
13.115 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
13.115 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
13.115 * [taylor]: Taking taylor expansion of 0.5 in phi2
13.115 * [backup-simplify]: Simplify 0.5 into 0.5
13.115 * [taylor]: Taking taylor expansion of phi1 in phi2
13.115 * [backup-simplify]: Simplify phi1 into phi1
13.115 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
13.116 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
13.116 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
13.116 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
13.116 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
13.116 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
13.116 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
13.116 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
13.116 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
13.116 * [backup-simplify]: Simplify (- 0) into 0
13.116 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
13.116 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
13.116 * [backup-simplify]: Simplify (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
13.117 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
13.117 * [backup-simplify]: Simplify (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
13.117 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
13.117 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
13.117 * [backup-simplify]: Simplify (- 0) into 0
13.117 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
13.117 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
13.117 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
13.118 * [backup-simplify]: Simplify (- 0) into 0
13.118 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
13.118 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
13.118 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
13.118 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
13.118 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
13.118 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
13.118 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
13.118 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
13.118 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
13.118 * [backup-simplify]: Simplify (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
13.119 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
13.119 * [taylor]: Taking taylor expansion of (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in phi1
13.119 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in phi1
13.119 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
13.119 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
13.119 * [taylor]: Taking taylor expansion of 0.5 in phi1
13.119 * [backup-simplify]: Simplify 0.5 into 0.5
13.119 * [taylor]: Taking taylor expansion of phi2 in phi1
13.119 * [backup-simplify]: Simplify phi2 into phi2
13.119 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
13.119 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
13.119 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
13.119 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
13.119 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
13.119 * [taylor]: Taking taylor expansion of 0.5 in phi1
13.119 * [backup-simplify]: Simplify 0.5 into 0.5
13.119 * [taylor]: Taking taylor expansion of phi1 in phi1
13.119 * [backup-simplify]: Simplify 0 into 0
13.119 * [backup-simplify]: Simplify 1 into 1
13.119 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
13.119 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
13.119 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in phi1
13.119 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
13.119 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
13.119 * [taylor]: Taking taylor expansion of 0.5 in phi1
13.120 * [backup-simplify]: Simplify 0.5 into 0.5
13.120 * [taylor]: Taking taylor expansion of phi2 in phi1
13.120 * [backup-simplify]: Simplify phi2 into phi2
13.120 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
13.120 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
13.120 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
13.120 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
13.120 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
13.120 * [taylor]: Taking taylor expansion of 0.5 in phi1
13.120 * [backup-simplify]: Simplify 0.5 into 0.5
13.120 * [taylor]: Taking taylor expansion of phi1 in phi1
13.120 * [backup-simplify]: Simplify 0 into 0
13.120 * [backup-simplify]: Simplify 1 into 1
13.120 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
13.120 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
13.120 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
13.120 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
13.120 * [backup-simplify]: Simplify (- 0) into 0
13.121 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
13.121 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
13.121 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
13.121 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
13.121 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
13.121 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
13.121 * [backup-simplify]: Simplify (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
13.121 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
13.121 * [taylor]: Taking taylor expansion of (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in phi2
13.121 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in phi2
13.121 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
13.121 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
13.121 * [taylor]: Taking taylor expansion of 0.5 in phi2
13.121 * [backup-simplify]: Simplify 0.5 into 0.5
13.121 * [taylor]: Taking taylor expansion of phi2 in phi2
13.121 * [backup-simplify]: Simplify 0 into 0
13.121 * [backup-simplify]: Simplify 1 into 1
13.122 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
13.122 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
13.122 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
13.122 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
13.122 * [taylor]: Taking taylor expansion of 0.5 in phi2
13.122 * [backup-simplify]: Simplify 0.5 into 0.5
13.122 * [taylor]: Taking taylor expansion of phi1 in phi2
13.122 * [backup-simplify]: Simplify phi1 into phi1
13.122 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
13.122 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
13.122 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
13.122 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in phi2
13.122 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
13.123 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
13.123 * [taylor]: Taking taylor expansion of 0.5 in phi2
13.123 * [backup-simplify]: Simplify 0.5 into 0.5
13.123 * [taylor]: Taking taylor expansion of phi2 in phi2
13.123 * [backup-simplify]: Simplify 0 into 0
13.123 * [backup-simplify]: Simplify 1 into 1
13.123 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
13.123 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
13.123 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
13.123 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
13.123 * [taylor]: Taking taylor expansion of 0.5 in phi2
13.123 * [backup-simplify]: Simplify 0.5 into 0.5
13.123 * [taylor]: Taking taylor expansion of phi1 in phi2
13.123 * [backup-simplify]: Simplify phi1 into phi1
13.123 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
13.124 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
13.124 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
13.124 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
13.124 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
13.124 * [backup-simplify]: Simplify (- 0) into 0
13.124 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
13.124 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
13.125 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
13.125 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
13.125 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
13.125 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
13.125 * [backup-simplify]: Simplify (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
13.126 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
13.126 * [backup-simplify]: Simplify (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
13.127 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)))) into 0
13.127 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)))) into 0
13.127 * [backup-simplify]: Simplify (- 0) into 0
13.128 * [backup-simplify]: Simplify (+ 0 0) into 0
13.129 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
13.129 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
13.130 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
13.130 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
13.131 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
13.131 * [backup-simplify]: Simplify (- 0) into 0
13.132 * [backup-simplify]: Simplify (+ 0 0) into 0
13.133 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
13.133 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
13.134 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
13.134 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
13.135 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
13.135 * [backup-simplify]: Simplify (- 0) into 0
13.136 * [backup-simplify]: Simplify (+ 0 0) into 0
13.136 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
13.137 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
13.138 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
13.138 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
13.138 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
13.139 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
13.139 * [backup-simplify]: Simplify (+ 0 0) into 0
13.139 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
13.140 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
13.140 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
13.141 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
13.141 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
13.141 * [backup-simplify]: Simplify (+ 0 0) into 0
13.141 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
13.142 * [backup-simplify]: Simplify (- 0) into 0
13.142 * [backup-simplify]: Simplify (+ 0 0) into 0
13.142 * [backup-simplify]: Simplify (+ (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) 0) (+ (* 0 (- (/ 1 lambda2))) (* 0 1))) into 0
13.142 * [taylor]: Taking taylor expansion of 0 in lambda2
13.142 * [backup-simplify]: Simplify 0 into 0
13.143 * [backup-simplify]: Simplify (+ 0) into 0
13.143 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
13.143 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
13.144 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.144 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
13.144 * [backup-simplify]: Simplify (+ 0 0) into 0
13.145 * [backup-simplify]: Simplify (+ 0) into 0
13.145 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
13.145 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
13.146 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.146 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
13.146 * [backup-simplify]: Simplify (+ 0 0) into 0
13.146 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
13.147 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) (/ 0 1)))) into 0
13.147 * [backup-simplify]: Simplify (+ 0) into 0
13.147 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
13.147 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
13.148 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.148 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
13.149 * [backup-simplify]: Simplify (- 0) into 0
13.149 * [backup-simplify]: Simplify (+ 0 0) into 0
13.149 * [backup-simplify]: Simplify (+ 0) into 0
13.149 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
13.150 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
13.150 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.150 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
13.150 * [backup-simplify]: Simplify (- 0) into 0
13.151 * [backup-simplify]: Simplify (+ 0 0) into 0
13.151 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
13.151 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (/ 0 1)))) into 0
13.152 * [backup-simplify]: Simplify (- 0) into 0
13.152 * [backup-simplify]: Simplify (+ 0 0) into 0
13.152 * [taylor]: Taking taylor expansion of 0 in phi1
13.152 * [backup-simplify]: Simplify 0 into 0
13.152 * [taylor]: Taking taylor expansion of 0 in phi2
13.152 * [backup-simplify]: Simplify 0 into 0
13.152 * [backup-simplify]: Simplify 0 into 0
13.152 * [backup-simplify]: Simplify (+ 0) into 0
13.153 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
13.153 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
13.153 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.153 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
13.154 * [backup-simplify]: Simplify (- 0) into 0
13.154 * [backup-simplify]: Simplify (+ 0 0) into 0
13.154 * [backup-simplify]: Simplify (+ 0) into 0
13.154 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
13.155 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
13.155 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.155 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
13.156 * [backup-simplify]: Simplify (- 0) into 0
13.156 * [backup-simplify]: Simplify (+ 0 0) into 0
13.156 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
13.156 * [backup-simplify]: Simplify (+ 0) into 0
13.156 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
13.157 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
13.157 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.157 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
13.158 * [backup-simplify]: Simplify (+ 0 0) into 0
13.158 * [backup-simplify]: Simplify (+ 0) into 0
13.158 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
13.158 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
13.159 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.159 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
13.159 * [backup-simplify]: Simplify (+ 0 0) into 0
13.159 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
13.159 * [backup-simplify]: Simplify (- 0) into 0
13.160 * [backup-simplify]: Simplify (+ 0 0) into 0
13.160 * [taylor]: Taking taylor expansion of 0 in phi1
13.160 * [backup-simplify]: Simplify 0 into 0
13.160 * [taylor]: Taking taylor expansion of 0 in phi2
13.160 * [backup-simplify]: Simplify 0 into 0
13.160 * [backup-simplify]: Simplify 0 into 0
13.160 * [backup-simplify]: Simplify (+ 0) into 0
13.160 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
13.161 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
13.161 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.161 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
13.161 * [backup-simplify]: Simplify (+ 0 0) into 0
13.162 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
13.162 * [backup-simplify]: Simplify (+ 0) into 0
13.162 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
13.162 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
13.163 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.163 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
13.163 * [backup-simplify]: Simplify (- 0) into 0
13.163 * [backup-simplify]: Simplify (+ 0 0) into 0
13.164 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
13.164 * [backup-simplify]: Simplify (- 0) into 0
13.164 * [backup-simplify]: Simplify (+ 0 0) into 0
13.164 * [taylor]: Taking taylor expansion of 0 in phi2
13.164 * [backup-simplify]: Simplify 0 into 0
13.164 * [backup-simplify]: Simplify 0 into 0
13.164 * [backup-simplify]: Simplify (+ 0) into 0
13.165 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
13.165 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
13.165 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.166 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
13.166 * [backup-simplify]: Simplify (- 0) into 0
13.166 * [backup-simplify]: Simplify (+ 0 0) into 0
13.167 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
13.167 * [backup-simplify]: Simplify (+ 0) into 0
13.168 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
13.168 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
13.169 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.169 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
13.169 * [backup-simplify]: Simplify (+ 0 0) into 0
13.170 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
13.170 * [backup-simplify]: Simplify (- 0) into 0
13.170 * [backup-simplify]: Simplify (+ 0 0) into 0
13.170 * [taylor]: Taking taylor expansion of 0 in phi2
13.170 * [backup-simplify]: Simplify 0 into 0
13.170 * [backup-simplify]: Simplify 0 into 0
13.171 * [backup-simplify]: Simplify (+ 0) into 0
13.171 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
13.172 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
13.172 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.173 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
13.173 * [backup-simplify]: Simplify (+ 0 0) into 0
13.173 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
13.174 * [backup-simplify]: Simplify (+ 0) into 0
13.175 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
13.175 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
13.176 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.176 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
13.176 * [backup-simplify]: Simplify (- 0) into 0
13.177 * [backup-simplify]: Simplify (+ 0 0) into 0
13.177 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
13.177 * [backup-simplify]: Simplify (- 0) into 0
13.178 * [backup-simplify]: Simplify (+ 0 0) into 0
13.178 * [backup-simplify]: Simplify 0 into 0
13.178 * [backup-simplify]: Simplify (+ 0) into 0
13.179 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
13.179 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
13.180 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.180 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
13.181 * [backup-simplify]: Simplify (- 0) into 0
13.181 * [backup-simplify]: Simplify (+ 0 0) into 0
13.181 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
13.181 * [backup-simplify]: Simplify (+ 0) into 0
13.182 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
13.182 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
13.183 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.183 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
13.184 * [backup-simplify]: Simplify (+ 0 0) into 0
13.184 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
13.184 * [backup-simplify]: Simplify (- 0) into 0
13.185 * [backup-simplify]: Simplify (+ 0 0) into 0
13.185 * [backup-simplify]: Simplify 0 into 0
13.186 * [backup-simplify]: Simplify (+ (* (- (* (cos (/ 0.5 (/ 1 phi2))) (cos (/ 0.5 (/ 1 phi1)))) (* (sin (/ 0.5 (/ 1 phi2))) (sin (/ 0.5 (/ 1 phi1))))) (* 1 (* 1 (* 1 (/ 1 (/ 1 lambda1)))))) (* (- (* (sin (/ 0.5 (/ 1 phi2))) (sin (/ 0.5 (/ 1 phi1)))) (* (cos (/ 0.5 (/ 1 phi2))) (cos (/ 0.5 (/ 1 phi1))))) (* 1 (* 1 (* (/ 1 (/ 1 lambda2)) 1))))) into (- (+ (* lambda1 (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2)))) (* lambda2 (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))) (+ (* lambda2 (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2)))) (* lambda1 (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))))
13.187 * [backup-simplify]: Simplify (* (- (/ 1 (- lambda1)) (/ 1 (- lambda2))) (- (* (cos (* (/ 1 (- phi1)) 0.5)) (cos (* (/ 1 (- phi2)) 0.5))) (* (sin (* (/ 1 (- phi1)) 0.5)) (sin (* (/ 1 (- phi2)) 0.5))))) into (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) (- (/ 1 lambda2) (/ 1 lambda1)))
13.187 * [approximate]: Taking taylor expansion of (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) (- (/ 1 lambda2) (/ 1 lambda1))) in (lambda1 lambda2 phi1 phi2) around 0
13.187 * [taylor]: Taking taylor expansion of (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) (- (/ 1 lambda2) (/ 1 lambda1))) in phi2
13.187 * [taylor]: Taking taylor expansion of (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in phi2
13.187 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in phi2
13.187 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
13.187 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
13.187 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.187 * [backup-simplify]: Simplify -0.5 into -0.5
13.187 * [taylor]: Taking taylor expansion of phi2 in phi2
13.187 * [backup-simplify]: Simplify 0 into 0
13.187 * [backup-simplify]: Simplify 1 into 1
13.188 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
13.188 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
13.188 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
13.188 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
13.188 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.188 * [backup-simplify]: Simplify -0.5 into -0.5
13.188 * [taylor]: Taking taylor expansion of phi1 in phi2
13.188 * [backup-simplify]: Simplify phi1 into phi1
13.188 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
13.188 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
13.188 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
13.188 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi2
13.188 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
13.188 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
13.188 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.188 * [backup-simplify]: Simplify -0.5 into -0.5
13.188 * [taylor]: Taking taylor expansion of phi2 in phi2
13.188 * [backup-simplify]: Simplify 0 into 0
13.188 * [backup-simplify]: Simplify 1 into 1
13.189 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
13.189 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
13.189 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
13.189 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
13.189 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.189 * [backup-simplify]: Simplify -0.5 into -0.5
13.189 * [taylor]: Taking taylor expansion of phi1 in phi2
13.189 * [backup-simplify]: Simplify phi1 into phi1
13.189 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
13.190 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
13.190 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
13.190 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in phi2
13.190 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in phi2
13.190 * [taylor]: Taking taylor expansion of lambda2 in phi2
13.190 * [backup-simplify]: Simplify lambda2 into lambda2
13.190 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
13.190 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in phi2
13.190 * [taylor]: Taking taylor expansion of lambda1 in phi2
13.190 * [backup-simplify]: Simplify lambda1 into lambda1
13.190 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1)
13.190 * [taylor]: Taking taylor expansion of (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) (- (/ 1 lambda2) (/ 1 lambda1))) in phi1
13.190 * [taylor]: Taking taylor expansion of (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in phi1
13.190 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in phi1
13.190 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
13.190 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
13.190 * [taylor]: Taking taylor expansion of -0.5 in phi1
13.190 * [backup-simplify]: Simplify -0.5 into -0.5
13.190 * [taylor]: Taking taylor expansion of phi2 in phi1
13.190 * [backup-simplify]: Simplify phi2 into phi2
13.190 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
13.190 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
13.191 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
13.191 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
13.191 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
13.191 * [taylor]: Taking taylor expansion of -0.5 in phi1
13.191 * [backup-simplify]: Simplify -0.5 into -0.5
13.191 * [taylor]: Taking taylor expansion of phi1 in phi1
13.191 * [backup-simplify]: Simplify 0 into 0
13.191 * [backup-simplify]: Simplify 1 into 1
13.191 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
13.191 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
13.191 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi1
13.191 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
13.191 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
13.191 * [taylor]: Taking taylor expansion of -0.5 in phi1
13.191 * [backup-simplify]: Simplify -0.5 into -0.5
13.192 * [taylor]: Taking taylor expansion of phi2 in phi1
13.192 * [backup-simplify]: Simplify phi2 into phi2
13.192 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
13.192 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
13.192 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
13.192 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
13.192 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
13.192 * [taylor]: Taking taylor expansion of -0.5 in phi1
13.192 * [backup-simplify]: Simplify -0.5 into -0.5
13.192 * [taylor]: Taking taylor expansion of phi1 in phi1
13.192 * [backup-simplify]: Simplify 0 into 0
13.192 * [backup-simplify]: Simplify 1 into 1
13.192 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
13.193 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
13.193 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in phi1
13.193 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in phi1
13.193 * [taylor]: Taking taylor expansion of lambda2 in phi1
13.193 * [backup-simplify]: Simplify lambda2 into lambda2
13.193 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
13.193 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in phi1
13.193 * [taylor]: Taking taylor expansion of lambda1 in phi1
13.193 * [backup-simplify]: Simplify lambda1 into lambda1
13.193 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1)
13.193 * [taylor]: Taking taylor expansion of (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) (- (/ 1 lambda2) (/ 1 lambda1))) in lambda2
13.193 * [taylor]: Taking taylor expansion of (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in lambda2
13.193 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in lambda2
13.193 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
13.193 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
13.193 * [taylor]: Taking taylor expansion of -0.5 in lambda2
13.193 * [backup-simplify]: Simplify -0.5 into -0.5
13.193 * [taylor]: Taking taylor expansion of phi2 in lambda2
13.193 * [backup-simplify]: Simplify phi2 into phi2
13.193 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
13.193 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
13.193 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
13.193 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
13.193 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
13.193 * [taylor]: Taking taylor expansion of -0.5 in lambda2
13.193 * [backup-simplify]: Simplify -0.5 into -0.5
13.194 * [taylor]: Taking taylor expansion of phi1 in lambda2
13.194 * [backup-simplify]: Simplify phi1 into phi1
13.194 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
13.194 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
13.194 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
13.194 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in lambda2
13.194 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
13.194 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
13.194 * [taylor]: Taking taylor expansion of -0.5 in lambda2
13.194 * [backup-simplify]: Simplify -0.5 into -0.5
13.194 * [taylor]: Taking taylor expansion of phi2 in lambda2
13.194 * [backup-simplify]: Simplify phi2 into phi2
13.194 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
13.194 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
13.194 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
13.194 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
13.194 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
13.194 * [taylor]: Taking taylor expansion of -0.5 in lambda2
13.194 * [backup-simplify]: Simplify -0.5 into -0.5
13.194 * [taylor]: Taking taylor expansion of phi1 in lambda2
13.194 * [backup-simplify]: Simplify phi1 into phi1
13.194 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
13.195 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
13.195 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
13.195 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in lambda2
13.195 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda2
13.195 * [taylor]: Taking taylor expansion of lambda2 in lambda2
13.195 * [backup-simplify]: Simplify 0 into 0
13.195 * [backup-simplify]: Simplify 1 into 1
13.195 * [backup-simplify]: Simplify (/ 1 1) into 1
13.195 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda2
13.195 * [taylor]: Taking taylor expansion of lambda1 in lambda2
13.195 * [backup-simplify]: Simplify lambda1 into lambda1
13.195 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1)
13.195 * [taylor]: Taking taylor expansion of (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) (- (/ 1 lambda2) (/ 1 lambda1))) in lambda1
13.195 * [taylor]: Taking taylor expansion of (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in lambda1
13.195 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in lambda1
13.195 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1
13.195 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1
13.195 * [taylor]: Taking taylor expansion of -0.5 in lambda1
13.196 * [backup-simplify]: Simplify -0.5 into -0.5
13.196 * [taylor]: Taking taylor expansion of phi2 in lambda1
13.196 * [backup-simplify]: Simplify phi2 into phi2
13.196 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
13.196 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
13.196 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
13.196 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1
13.196 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1
13.196 * [taylor]: Taking taylor expansion of -0.5 in lambda1
13.196 * [backup-simplify]: Simplify -0.5 into -0.5
13.196 * [taylor]: Taking taylor expansion of phi1 in lambda1
13.196 * [backup-simplify]: Simplify phi1 into phi1
13.196 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
13.196 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
13.196 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
13.196 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in lambda1
13.196 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1
13.196 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1
13.196 * [taylor]: Taking taylor expansion of -0.5 in lambda1
13.196 * [backup-simplify]: Simplify -0.5 into -0.5
13.196 * [taylor]: Taking taylor expansion of phi2 in lambda1
13.196 * [backup-simplify]: Simplify phi2 into phi2
13.196 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
13.197 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
13.197 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
13.197 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1
13.197 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1
13.197 * [taylor]: Taking taylor expansion of -0.5 in lambda1
13.197 * [backup-simplify]: Simplify -0.5 into -0.5
13.197 * [taylor]: Taking taylor expansion of phi1 in lambda1
13.197 * [backup-simplify]: Simplify phi1 into phi1
13.197 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
13.197 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
13.197 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
13.197 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in lambda1
13.197 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda1
13.197 * [taylor]: Taking taylor expansion of lambda2 in lambda1
13.197 * [backup-simplify]: Simplify lambda2 into lambda2
13.197 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
13.197 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1
13.197 * [taylor]: Taking taylor expansion of lambda1 in lambda1
13.197 * [backup-simplify]: Simplify 0 into 0
13.197 * [backup-simplify]: Simplify 1 into 1
13.198 * [backup-simplify]: Simplify (/ 1 1) into 1
13.198 * [taylor]: Taking taylor expansion of (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) (- (/ 1 lambda2) (/ 1 lambda1))) in lambda1
13.198 * [taylor]: Taking taylor expansion of (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in lambda1
13.198 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in lambda1
13.198 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1
13.198 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1
13.198 * [taylor]: Taking taylor expansion of -0.5 in lambda1
13.198 * [backup-simplify]: Simplify -0.5 into -0.5
13.198 * [taylor]: Taking taylor expansion of phi2 in lambda1
13.198 * [backup-simplify]: Simplify phi2 into phi2
13.198 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
13.198 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
13.199 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
13.199 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1
13.199 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1
13.199 * [taylor]: Taking taylor expansion of -0.5 in lambda1
13.199 * [backup-simplify]: Simplify -0.5 into -0.5
13.199 * [taylor]: Taking taylor expansion of phi1 in lambda1
13.199 * [backup-simplify]: Simplify phi1 into phi1
13.199 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
13.199 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
13.199 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
13.199 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in lambda1
13.199 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1
13.199 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1
13.199 * [taylor]: Taking taylor expansion of -0.5 in lambda1
13.199 * [backup-simplify]: Simplify -0.5 into -0.5
13.199 * [taylor]: Taking taylor expansion of phi2 in lambda1
13.199 * [backup-simplify]: Simplify phi2 into phi2
13.199 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
13.199 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
13.199 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
13.199 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1
13.199 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1
13.200 * [taylor]: Taking taylor expansion of -0.5 in lambda1
13.200 * [backup-simplify]: Simplify -0.5 into -0.5
13.200 * [taylor]: Taking taylor expansion of phi1 in lambda1
13.200 * [backup-simplify]: Simplify phi1 into phi1
13.200 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
13.200 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
13.200 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
13.200 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in lambda1
13.200 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda1
13.200 * [taylor]: Taking taylor expansion of lambda2 in lambda1
13.200 * [backup-simplify]: Simplify lambda2 into lambda2
13.200 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
13.200 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1
13.200 * [taylor]: Taking taylor expansion of lambda1 in lambda1
13.200 * [backup-simplify]: Simplify 0 into 0
13.200 * [backup-simplify]: Simplify 1 into 1
13.201 * [backup-simplify]: Simplify (/ 1 1) into 1
13.201 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
13.201 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
13.201 * [backup-simplify]: Simplify (- 0) into 0
13.201 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
13.201 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
13.202 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
13.202 * [backup-simplify]: Simplify (- 0) into 0
13.202 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
13.202 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))
13.202 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
13.202 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
13.203 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
13.203 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
13.203 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
13.203 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
13.203 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))
13.203 * [backup-simplify]: Simplify (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) into (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))
13.204 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))
13.204 * [backup-simplify]: Simplify (- 1) into -1
13.205 * [backup-simplify]: Simplify (+ 0 -1) into -1
13.205 * [backup-simplify]: Simplify (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) -1) into (* -1 (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))
13.205 * [taylor]: Taking taylor expansion of (* -1 (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in lambda2
13.205 * [taylor]: Taking taylor expansion of -1 in lambda2
13.205 * [backup-simplify]: Simplify -1 into -1
13.205 * [taylor]: Taking taylor expansion of (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in lambda2
13.205 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in lambda2
13.205 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
13.205 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
13.205 * [taylor]: Taking taylor expansion of -0.5 in lambda2
13.205 * [backup-simplify]: Simplify -0.5 into -0.5
13.205 * [taylor]: Taking taylor expansion of phi2 in lambda2
13.205 * [backup-simplify]: Simplify phi2 into phi2
13.205 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
13.205 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
13.206 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
13.206 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
13.206 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
13.206 * [taylor]: Taking taylor expansion of -0.5 in lambda2
13.206 * [backup-simplify]: Simplify -0.5 into -0.5
13.206 * [taylor]: Taking taylor expansion of phi1 in lambda2
13.206 * [backup-simplify]: Simplify phi1 into phi1
13.206 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
13.206 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
13.206 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
13.206 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in lambda2
13.206 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
13.206 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
13.206 * [taylor]: Taking taylor expansion of -0.5 in lambda2
13.206 * [backup-simplify]: Simplify -0.5 into -0.5
13.206 * [taylor]: Taking taylor expansion of phi2 in lambda2
13.206 * [backup-simplify]: Simplify phi2 into phi2
13.206 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
13.206 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
13.206 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
13.206 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
13.206 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
13.206 * [taylor]: Taking taylor expansion of -0.5 in lambda2
13.206 * [backup-simplify]: Simplify -0.5 into -0.5
13.207 * [taylor]: Taking taylor expansion of phi1 in lambda2
13.207 * [backup-simplify]: Simplify phi1 into phi1
13.207 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
13.207 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
13.207 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
13.208 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
13.208 * [backup-simplify]: Simplify (- 0) into 0
13.208 * [backup-simplify]: Simplify (+ (/ 1 lambda2) 0) into (/ 1 lambda2)
13.209 * [backup-simplify]: Simplify (+ 0) into 0
13.209 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
13.209 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
13.210 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.211 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
13.211 * [backup-simplify]: Simplify (- 0) into 0
13.211 * [backup-simplify]: Simplify (+ 0 0) into 0
13.212 * [backup-simplify]: Simplify (+ 0) into 0
13.212 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
13.212 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
13.213 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.214 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
13.214 * [backup-simplify]: Simplify (- 0) into 0
13.214 * [backup-simplify]: Simplify (+ 0 0) into 0
13.215 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
13.215 * [backup-simplify]: Simplify (+ 0) into 0
13.216 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
13.216 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
13.216 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.222 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
13.222 * [backup-simplify]: Simplify (+ 0 0) into 0
13.223 * [backup-simplify]: Simplify (+ 0) into 0
13.223 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
13.224 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
13.224 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.225 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
13.225 * [backup-simplify]: Simplify (+ 0 0) into 0
13.225 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
13.226 * [backup-simplify]: Simplify (- 0) into 0
13.226 * [backup-simplify]: Simplify (+ 0 0) into 0
13.226 * [backup-simplify]: Simplify (+ (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) (/ 1 lambda2)) (* 0 -1)) into (- (/ (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) lambda2) (/ (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) lambda2))
13.227 * [taylor]: Taking taylor expansion of (- (/ (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) lambda2) (/ (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) lambda2)) in lambda2
13.227 * [taylor]: Taking taylor expansion of (/ (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) lambda2) in lambda2
13.227 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in lambda2
13.227 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
13.227 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
13.227 * [taylor]: Taking taylor expansion of -0.5 in lambda2
13.227 * [backup-simplify]: Simplify -0.5 into -0.5
13.227 * [taylor]: Taking taylor expansion of phi2 in lambda2
13.227 * [backup-simplify]: Simplify phi2 into phi2
13.227 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
13.227 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
13.227 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
13.227 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
13.227 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
13.227 * [taylor]: Taking taylor expansion of -0.5 in lambda2
13.227 * [backup-simplify]: Simplify -0.5 into -0.5
13.227 * [taylor]: Taking taylor expansion of phi1 in lambda2
13.227 * [backup-simplify]: Simplify phi1 into phi1
13.227 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
13.227 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
13.227 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
13.227 * [taylor]: Taking taylor expansion of lambda2 in lambda2
13.227 * [backup-simplify]: Simplify 0 into 0
13.227 * [backup-simplify]: Simplify 1 into 1
13.227 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
13.227 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
13.227 * [backup-simplify]: Simplify (- 0) into 0
13.228 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
13.228 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
13.228 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
13.228 * [backup-simplify]: Simplify (- 0) into 0
13.228 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
13.228 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))
13.228 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) 1) into (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))
13.228 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) lambda2) in lambda2
13.228 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in lambda2
13.228 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
13.228 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
13.228 * [taylor]: Taking taylor expansion of -0.5 in lambda2
13.228 * [backup-simplify]: Simplify -0.5 into -0.5
13.228 * [taylor]: Taking taylor expansion of phi2 in lambda2
13.228 * [backup-simplify]: Simplify phi2 into phi2
13.228 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
13.228 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
13.228 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
13.229 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
13.229 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
13.229 * [taylor]: Taking taylor expansion of -0.5 in lambda2
13.229 * [backup-simplify]: Simplify -0.5 into -0.5
13.229 * [taylor]: Taking taylor expansion of phi1 in lambda2
13.229 * [backup-simplify]: Simplify phi1 into phi1
13.229 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
13.229 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
13.229 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
13.229 * [taylor]: Taking taylor expansion of lambda2 in lambda2
13.229 * [backup-simplify]: Simplify 0 into 0
13.229 * [backup-simplify]: Simplify 1 into 1
13.229 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
13.229 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
13.229 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
13.229 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
13.229 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
13.229 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
13.229 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))
13.229 * [backup-simplify]: Simplify (/ (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) 1) into (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))
13.229 * [backup-simplify]: Simplify (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) into (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))
13.230 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))
13.230 * [taylor]: Taking taylor expansion of (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in phi1
13.230 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in phi1
13.230 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
13.230 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
13.230 * [taylor]: Taking taylor expansion of -0.5 in phi1
13.230 * [backup-simplify]: Simplify -0.5 into -0.5
13.230 * [taylor]: Taking taylor expansion of phi2 in phi1
13.230 * [backup-simplify]: Simplify phi2 into phi2
13.230 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
13.230 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
13.230 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
13.230 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
13.230 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
13.230 * [taylor]: Taking taylor expansion of -0.5 in phi1
13.230 * [backup-simplify]: Simplify -0.5 into -0.5
13.230 * [taylor]: Taking taylor expansion of phi1 in phi1
13.230 * [backup-simplify]: Simplify 0 into 0
13.230 * [backup-simplify]: Simplify 1 into 1
13.230 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
13.230 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
13.230 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi1
13.231 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
13.231 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
13.231 * [taylor]: Taking taylor expansion of -0.5 in phi1
13.231 * [backup-simplify]: Simplify -0.5 into -0.5
13.231 * [taylor]: Taking taylor expansion of phi2 in phi1
13.231 * [backup-simplify]: Simplify phi2 into phi2
13.231 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
13.231 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
13.231 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
13.231 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
13.231 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
13.231 * [taylor]: Taking taylor expansion of -0.5 in phi1
13.231 * [backup-simplify]: Simplify -0.5 into -0.5
13.231 * [taylor]: Taking taylor expansion of phi1 in phi1
13.231 * [backup-simplify]: Simplify 0 into 0
13.231 * [backup-simplify]: Simplify 1 into 1
13.231 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
13.231 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
13.231 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
13.231 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
13.232 * [backup-simplify]: Simplify (- 0) into 0
13.232 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
13.232 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))
13.232 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
13.232 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
13.232 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
13.232 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))
13.232 * [backup-simplify]: Simplify (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) into (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))
13.232 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))
13.232 * [taylor]: Taking taylor expansion of (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in phi2
13.232 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in phi2
13.232 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
13.232 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
13.232 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.232 * [backup-simplify]: Simplify -0.5 into -0.5
13.232 * [taylor]: Taking taylor expansion of phi2 in phi2
13.232 * [backup-simplify]: Simplify 0 into 0
13.232 * [backup-simplify]: Simplify 1 into 1
13.233 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
13.233 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
13.233 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
13.233 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
13.233 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.233 * [backup-simplify]: Simplify -0.5 into -0.5
13.233 * [taylor]: Taking taylor expansion of phi1 in phi2
13.233 * [backup-simplify]: Simplify phi1 into phi1
13.233 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
13.233 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
13.233 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
13.233 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi2
13.233 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
13.233 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
13.233 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.233 * [backup-simplify]: Simplify -0.5 into -0.5
13.233 * [taylor]: Taking taylor expansion of phi2 in phi2
13.233 * [backup-simplify]: Simplify 0 into 0
13.233 * [backup-simplify]: Simplify 1 into 1
13.234 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
13.234 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
13.234 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
13.234 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
13.234 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.234 * [backup-simplify]: Simplify -0.5 into -0.5
13.234 * [taylor]: Taking taylor expansion of phi1 in phi2
13.234 * [backup-simplify]: Simplify phi1 into phi1
13.234 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
13.234 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
13.234 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
13.234 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
13.234 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
13.234 * [backup-simplify]: Simplify (- 0) into 0
13.234 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
13.234 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))
13.234 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
13.235 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
13.235 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
13.235 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))
13.235 * [backup-simplify]: Simplify (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) into (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))
13.235 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))
13.235 * [backup-simplify]: Simplify (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) into (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))
13.235 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
13.235 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
13.236 * [backup-simplify]: Simplify (- 0) into 0
13.236 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
13.236 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
13.236 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
13.236 * [backup-simplify]: Simplify (- 0) into 0
13.236 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
13.236 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))
13.236 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
13.236 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
13.236 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
13.237 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
13.237 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
13.237 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
13.237 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))
13.237 * [backup-simplify]: Simplify (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) into (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))
13.237 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))
13.237 * [backup-simplify]: Simplify (* -1 (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (* -1 (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))
13.237 * [taylor]: Taking taylor expansion of (* -1 (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in phi1
13.237 * [taylor]: Taking taylor expansion of -1 in phi1
13.237 * [backup-simplify]: Simplify -1 into -1
13.237 * [taylor]: Taking taylor expansion of (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in phi1
13.237 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in phi1
13.237 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
13.237 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
13.237 * [taylor]: Taking taylor expansion of -0.5 in phi1
13.237 * [backup-simplify]: Simplify -0.5 into -0.5
13.237 * [taylor]: Taking taylor expansion of phi2 in phi1
13.237 * [backup-simplify]: Simplify phi2 into phi2
13.237 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
13.238 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
13.238 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
13.238 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
13.238 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
13.238 * [taylor]: Taking taylor expansion of -0.5 in phi1
13.238 * [backup-simplify]: Simplify -0.5 into -0.5
13.238 * [taylor]: Taking taylor expansion of phi1 in phi1
13.238 * [backup-simplify]: Simplify 0 into 0
13.238 * [backup-simplify]: Simplify 1 into 1
13.238 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
13.238 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
13.238 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi1
13.238 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
13.238 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
13.238 * [taylor]: Taking taylor expansion of -0.5 in phi1
13.238 * [backup-simplify]: Simplify -0.5 into -0.5
13.238 * [taylor]: Taking taylor expansion of phi2 in phi1
13.238 * [backup-simplify]: Simplify phi2 into phi2
13.238 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
13.238 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
13.238 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
13.238 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
13.238 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
13.238 * [taylor]: Taking taylor expansion of -0.5 in phi1
13.238 * [backup-simplify]: Simplify -0.5 into -0.5
13.238 * [taylor]: Taking taylor expansion of phi1 in phi1
13.239 * [backup-simplify]: Simplify 0 into 0
13.239 * [backup-simplify]: Simplify 1 into 1
13.239 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
13.239 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
13.239 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
13.239 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
13.239 * [backup-simplify]: Simplify (- 0) into 0
13.239 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
13.239 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))
13.240 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
13.240 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
13.240 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
13.240 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))
13.240 * [backup-simplify]: Simplify (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) into (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))
13.240 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))
13.240 * [backup-simplify]: Simplify (* -1 (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (* -1 (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))
13.240 * [taylor]: Taking taylor expansion of (* -1 (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in phi2
13.240 * [taylor]: Taking taylor expansion of -1 in phi2
13.240 * [backup-simplify]: Simplify -1 into -1
13.240 * [taylor]: Taking taylor expansion of (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in phi2
13.240 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in phi2
13.240 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
13.240 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
13.240 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.240 * [backup-simplify]: Simplify -0.5 into -0.5
13.240 * [taylor]: Taking taylor expansion of phi2 in phi2
13.241 * [backup-simplify]: Simplify 0 into 0
13.241 * [backup-simplify]: Simplify 1 into 1
13.241 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
13.241 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
13.241 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
13.241 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
13.241 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.241 * [backup-simplify]: Simplify -0.5 into -0.5
13.241 * [taylor]: Taking taylor expansion of phi1 in phi2
13.241 * [backup-simplify]: Simplify phi1 into phi1
13.241 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
13.241 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
13.241 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
13.241 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi2
13.241 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
13.241 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
13.241 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.241 * [backup-simplify]: Simplify -0.5 into -0.5
13.241 * [taylor]: Taking taylor expansion of phi2 in phi2
13.241 * [backup-simplify]: Simplify 0 into 0
13.241 * [backup-simplify]: Simplify 1 into 1
13.242 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
13.242 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
13.242 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
13.242 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
13.242 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.242 * [backup-simplify]: Simplify -0.5 into -0.5
13.242 * [taylor]: Taking taylor expansion of phi1 in phi2
13.242 * [backup-simplify]: Simplify phi1 into phi1
13.242 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
13.242 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
13.242 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
13.242 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
13.242 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
13.242 * [backup-simplify]: Simplify (- 0) into 0
13.242 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
13.242 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))
13.243 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
13.243 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
13.243 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
13.243 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))
13.243 * [backup-simplify]: Simplify (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) into (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))
13.243 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))
13.243 * [backup-simplify]: Simplify (* -1 (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (* -1 (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))
13.243 * [backup-simplify]: Simplify (* -1 (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (* -1 (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))
13.244 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)))) into 0
13.244 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)))) into 0
13.244 * [backup-simplify]: Simplify (- 0) into 0
13.245 * [backup-simplify]: Simplify (+ 0 0) into 0
13.245 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
13.246 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
13.246 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
13.246 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
13.247 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
13.247 * [backup-simplify]: Simplify (- 0) into 0
13.247 * [backup-simplify]: Simplify (+ 0 0) into 0
13.248 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
13.248 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
13.249 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
13.249 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
13.249 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
13.250 * [backup-simplify]: Simplify (- 0) into 0
13.250 * [backup-simplify]: Simplify (+ 0 0) into 0
13.250 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0
13.251 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
13.251 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
13.251 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
13.252 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
13.252 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
13.252 * [backup-simplify]: Simplify (+ 0 0) into 0
13.253 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
13.253 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
13.254 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
13.254 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
13.255 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
13.255 * [backup-simplify]: Simplify (+ 0 0) into 0
13.256 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
13.256 * [backup-simplify]: Simplify (- 0) into 0
13.257 * [backup-simplify]: Simplify (+ 0 0) into 0
13.258 * [backup-simplify]: Simplify (+ (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) 0) (+ (* 0 (/ 1 lambda2)) (* 0 -1))) into 0
13.258 * [taylor]: Taking taylor expansion of 0 in lambda2
13.258 * [backup-simplify]: Simplify 0 into 0
13.258 * [backup-simplify]: Simplify (+ 0) into 0
13.259 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
13.259 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
13.260 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.260 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
13.261 * [backup-simplify]: Simplify (- 0) into 0
13.261 * [backup-simplify]: Simplify (+ 0 0) into 0
13.261 * [backup-simplify]: Simplify (+ 0) into 0
13.262 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
13.262 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
13.263 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.264 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
13.265 * [backup-simplify]: Simplify (- 0) into 0
13.265 * [backup-simplify]: Simplify (+ 0 0) into 0
13.265 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
13.267 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (/ 0 1)))) into 0
13.267 * [backup-simplify]: Simplify (+ 0) into 0
13.268 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
13.268 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
13.269 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.270 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
13.270 * [backup-simplify]: Simplify (+ 0 0) into 0
13.270 * [backup-simplify]: Simplify (+ 0) into 0
13.271 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
13.271 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
13.272 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.272 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
13.273 * [backup-simplify]: Simplify (+ 0 0) into 0
13.273 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
13.274 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) (/ 0 1)))) into 0
13.274 * [backup-simplify]: Simplify (- 0) into 0
13.275 * [backup-simplify]: Simplify (+ 0 0) into 0
13.275 * [taylor]: Taking taylor expansion of 0 in phi1
13.275 * [backup-simplify]: Simplify 0 into 0
13.275 * [taylor]: Taking taylor expansion of 0 in phi2
13.275 * [backup-simplify]: Simplify 0 into 0
13.275 * [backup-simplify]: Simplify 0 into 0
13.275 * [backup-simplify]: Simplify (+ 0) into 0
13.276 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
13.276 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
13.277 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.277 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
13.278 * [backup-simplify]: Simplify (- 0) into 0
13.278 * [backup-simplify]: Simplify (+ 0 0) into 0
13.278 * [backup-simplify]: Simplify (+ 0) into 0
13.279 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
13.279 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
13.280 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.280 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
13.281 * [backup-simplify]: Simplify (- 0) into 0
13.281 * [backup-simplify]: Simplify (+ 0 0) into 0
13.281 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
13.282 * [backup-simplify]: Simplify (+ 0) into 0
13.282 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
13.282 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
13.283 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.284 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
13.284 * [backup-simplify]: Simplify (+ 0 0) into 0
13.284 * [backup-simplify]: Simplify (+ 0) into 0
13.285 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
13.285 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
13.286 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.286 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
13.287 * [backup-simplify]: Simplify (+ 0 0) into 0
13.287 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
13.287 * [backup-simplify]: Simplify (- 0) into 0
13.288 * [backup-simplify]: Simplify (+ 0 0) into 0
13.288 * [backup-simplify]: Simplify (+ (* -1 0) (* 0 (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0
13.288 * [taylor]: Taking taylor expansion of 0 in phi1
13.288 * [backup-simplify]: Simplify 0 into 0
13.289 * [taylor]: Taking taylor expansion of 0 in phi2
13.289 * [backup-simplify]: Simplify 0 into 0
13.289 * [backup-simplify]: Simplify 0 into 0
13.289 * [backup-simplify]: Simplify (+ 0) into 0
13.290 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
13.290 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
13.291 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.291 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
13.291 * [backup-simplify]: Simplify (- 0) into 0
13.292 * [backup-simplify]: Simplify (+ 0 0) into 0
13.292 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
13.292 * [backup-simplify]: Simplify (+ 0) into 0
13.293 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
13.293 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
13.294 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.294 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
13.295 * [backup-simplify]: Simplify (+ 0 0) into 0
13.295 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
13.295 * [backup-simplify]: Simplify (- 0) into 0
13.296 * [backup-simplify]: Simplify (+ 0 0) into 0
13.296 * [taylor]: Taking taylor expansion of 0 in phi2
13.296 * [backup-simplify]: Simplify 0 into 0
13.296 * [backup-simplify]: Simplify 0 into 0
13.296 * [backup-simplify]: Simplify (+ 0) into 0
13.297 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
13.297 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
13.298 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.298 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
13.299 * [backup-simplify]: Simplify (- 0) into 0
13.299 * [backup-simplify]: Simplify (+ 0 0) into 0
13.300 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
13.300 * [backup-simplify]: Simplify (+ 0) into 0
13.300 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
13.301 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
13.301 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.302 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
13.302 * [backup-simplify]: Simplify (+ 0 0) into 0
13.302 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
13.303 * [backup-simplify]: Simplify (- 0) into 0
13.303 * [backup-simplify]: Simplify (+ 0 0) into 0
13.304 * [backup-simplify]: Simplify (+ (* -1 0) (* 0 (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0
13.304 * [taylor]: Taking taylor expansion of 0 in phi2
13.304 * [backup-simplify]: Simplify 0 into 0
13.304 * [backup-simplify]: Simplify 0 into 0
13.305 * [backup-simplify]: Simplify (+ 0) into 0
13.305 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
13.305 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
13.306 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.307 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
13.307 * [backup-simplify]: Simplify (- 0) into 0
13.307 * [backup-simplify]: Simplify (+ 0 0) into 0
13.307 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
13.308 * [backup-simplify]: Simplify (+ 0) into 0
13.308 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
13.309 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
13.309 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.310 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
13.310 * [backup-simplify]: Simplify (+ 0 0) into 0
13.310 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
13.311 * [backup-simplify]: Simplify (- 0) into 0
13.311 * [backup-simplify]: Simplify (+ 0 0) into 0
13.311 * [backup-simplify]: Simplify 0 into 0
13.312 * [backup-simplify]: Simplify (+ 0) into 0
13.312 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
13.312 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
13.313 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.314 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
13.314 * [backup-simplify]: Simplify (- 0) into 0
13.314 * [backup-simplify]: Simplify (+ 0 0) into 0
13.314 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
13.315 * [backup-simplify]: Simplify (+ 0) into 0
13.315 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
13.316 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
13.316 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.317 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
13.317 * [backup-simplify]: Simplify (+ 0 0) into 0
13.317 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
13.318 * [backup-simplify]: Simplify (- 0) into 0
13.318 * [backup-simplify]: Simplify (+ 0 0) into 0
13.319 * [backup-simplify]: Simplify (+ (* -1 0) (* 0 (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0
13.319 * [backup-simplify]: Simplify 0 into 0
13.320 * [backup-simplify]: Simplify (+ (* (* -1 (- (* (cos (/ -0.5 (/ 1 (- phi2)))) (cos (/ -0.5 (/ 1 (- phi1))))) (* (sin (/ -0.5 (/ 1 (- phi2)))) (sin (/ -0.5 (/ 1 (- phi1))))))) (* 1 (* 1 (* 1 (/ 1 (/ 1 (- lambda1))))))) (* (- (* (cos (/ -0.5 (/ 1 (- phi2)))) (cos (/ -0.5 (/ 1 (- phi1))))) (* (sin (/ -0.5 (/ 1 (- phi2)))) (sin (/ -0.5 (/ 1 (- phi1)))))) (* 1 (* 1 (* (/ 1 (/ 1 (- lambda2))) 1))))) into (- (+ (* lambda1 (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2)))) (* lambda2 (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))) (+ (* lambda2 (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2)))) (* lambda1 (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))))
13.321 * * * * [progress]: [ 3 / 4 ] generating series at (2 1 1 2)
13.321 * [backup-simplify]: Simplify (- (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) (* (sin (* phi1 0.5)) (sin (* phi2 0.5)))) into (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))
13.321 * [approximate]: Taking taylor expansion of (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))) in (phi1 phi2) around 0
13.321 * [taylor]: Taking taylor expansion of (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))) in phi2
13.321 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) in phi2
13.321 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi2
13.321 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2
13.321 * [taylor]: Taking taylor expansion of 0.5 in phi2
13.321 * [backup-simplify]: Simplify 0.5 into 0.5
13.321 * [taylor]: Taking taylor expansion of phi1 in phi2
13.321 * [backup-simplify]: Simplify phi1 into phi1
13.321 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
13.321 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
13.322 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
13.322 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2
13.322 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2
13.322 * [taylor]: Taking taylor expansion of 0.5 in phi2
13.322 * [backup-simplify]: Simplify 0.5 into 0.5
13.322 * [taylor]: Taking taylor expansion of phi2 in phi2
13.322 * [backup-simplify]: Simplify 0 into 0
13.322 * [backup-simplify]: Simplify 1 into 1
13.322 * [backup-simplify]: Simplify (* 0.5 0) into 0
13.324 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
13.324 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))) in phi2
13.324 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi2
13.324 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2
13.324 * [taylor]: Taking taylor expansion of 0.5 in phi2
13.324 * [backup-simplify]: Simplify 0.5 into 0.5
13.324 * [taylor]: Taking taylor expansion of phi1 in phi2
13.324 * [backup-simplify]: Simplify phi1 into phi1
13.324 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
13.324 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
13.324 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
13.324 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2
13.324 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2
13.324 * [taylor]: Taking taylor expansion of 0.5 in phi2
13.324 * [backup-simplify]: Simplify 0.5 into 0.5
13.324 * [taylor]: Taking taylor expansion of phi2 in phi2
13.325 * [backup-simplify]: Simplify 0 into 0
13.325 * [backup-simplify]: Simplify 1 into 1
13.325 * [backup-simplify]: Simplify (* 0.5 0) into 0
13.327 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
13.327 * [taylor]: Taking taylor expansion of (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))) in phi1
13.327 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) in phi1
13.327 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1
13.327 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
13.327 * [taylor]: Taking taylor expansion of 0.5 in phi1
13.327 * [backup-simplify]: Simplify 0.5 into 0.5
13.327 * [taylor]: Taking taylor expansion of phi1 in phi1
13.327 * [backup-simplify]: Simplify 0 into 0
13.327 * [backup-simplify]: Simplify 1 into 1
13.327 * [backup-simplify]: Simplify (* 0.5 0) into 0
13.329 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
13.329 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi1
13.329 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi1
13.329 * [taylor]: Taking taylor expansion of 0.5 in phi1
13.329 * [backup-simplify]: Simplify 0.5 into 0.5
13.329 * [taylor]: Taking taylor expansion of phi2 in phi1
13.329 * [backup-simplify]: Simplify phi2 into phi2
13.329 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
13.329 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
13.329 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
13.329 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))) in phi1
13.329 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1
13.329 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
13.329 * [taylor]: Taking taylor expansion of 0.5 in phi1
13.329 * [backup-simplify]: Simplify 0.5 into 0.5
13.329 * [taylor]: Taking taylor expansion of phi1 in phi1
13.329 * [backup-simplify]: Simplify 0 into 0
13.329 * [backup-simplify]: Simplify 1 into 1
13.330 * [backup-simplify]: Simplify (* 0.5 0) into 0
13.331 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
13.331 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi1
13.331 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi1
13.331 * [taylor]: Taking taylor expansion of 0.5 in phi1
13.332 * [backup-simplify]: Simplify 0.5 into 0.5
13.332 * [taylor]: Taking taylor expansion of phi2 in phi1
13.332 * [backup-simplify]: Simplify phi2 into phi2
13.332 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
13.332 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
13.332 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
13.332 * [taylor]: Taking taylor expansion of (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))) in phi1
13.332 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) in phi1
13.332 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1
13.332 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
13.332 * [taylor]: Taking taylor expansion of 0.5 in phi1
13.332 * [backup-simplify]: Simplify 0.5 into 0.5
13.332 * [taylor]: Taking taylor expansion of phi1 in phi1
13.332 * [backup-simplify]: Simplify 0 into 0
13.332 * [backup-simplify]: Simplify 1 into 1
13.333 * [backup-simplify]: Simplify (* 0.5 0) into 0
13.334 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
13.334 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi1
13.334 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi1
13.334 * [taylor]: Taking taylor expansion of 0.5 in phi1
13.334 * [backup-simplify]: Simplify 0.5 into 0.5
13.334 * [taylor]: Taking taylor expansion of phi2 in phi1
13.334 * [backup-simplify]: Simplify phi2 into phi2
13.334 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
13.334 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
13.335 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
13.335 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))) in phi1
13.335 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1
13.335 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
13.335 * [taylor]: Taking taylor expansion of 0.5 in phi1
13.335 * [backup-simplify]: Simplify 0.5 into 0.5
13.335 * [taylor]: Taking taylor expansion of phi1 in phi1
13.335 * [backup-simplify]: Simplify 0 into 0
13.335 * [backup-simplify]: Simplify 1 into 1
13.335 * [backup-simplify]: Simplify (* 0.5 0) into 0
13.337 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
13.337 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi1
13.337 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi1
13.337 * [taylor]: Taking taylor expansion of 0.5 in phi1
13.337 * [backup-simplify]: Simplify 0.5 into 0.5
13.337 * [taylor]: Taking taylor expansion of phi2 in phi1
13.337 * [backup-simplify]: Simplify phi2 into phi2
13.337 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
13.338 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
13.338 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
13.338 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2))
13.338 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0
13.338 * [backup-simplify]: Simplify (- 0) into 0
13.338 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2))
13.339 * [backup-simplify]: Simplify (* 1 (cos (* 0.5 phi2))) into (cos (* 0.5 phi2))
13.339 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2))
13.339 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0
13.339 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2))
13.339 * [backup-simplify]: Simplify (* 0 (sin (* 0.5 phi2))) into 0
13.339 * [backup-simplify]: Simplify (- 0) into 0
13.340 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2))
13.340 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2
13.340 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2
13.340 * [taylor]: Taking taylor expansion of 0.5 in phi2
13.340 * [backup-simplify]: Simplify 0.5 into 0.5
13.340 * [taylor]: Taking taylor expansion of phi2 in phi2
13.340 * [backup-simplify]: Simplify 0 into 0
13.340 * [backup-simplify]: Simplify 1 into 1
13.340 * [backup-simplify]: Simplify (* 0.5 0) into 0
13.342 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
13.342 * [backup-simplify]: Simplify 1 into 1
13.342 * [backup-simplify]: Simplify (+ 0) into 0
13.343 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0
13.343 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0
13.344 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.345 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 0)) into 0
13.345 * [backup-simplify]: Simplify (- 0) into 0
13.345 * [backup-simplify]: Simplify (+ 0 0) into 0
13.346 * [backup-simplify]: Simplify (+ 0) into 0
13.346 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (cos (* 0.5 phi2)))) into 0
13.347 * [backup-simplify]: Simplify (+ 0) into 0
13.347 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 1)) into 0
13.348 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0
13.348 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.349 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 0)) into 0
13.349 * [backup-simplify]: Simplify (+ 0 0) into 0
13.352 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5
13.352 * [backup-simplify]: Simplify (+ (* 0 0) (* 0.5 (sin (* 0.5 phi2)))) into (* 0.5 (sin (* 0.5 phi2)))
13.352 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi2)))) into (- (* 0.5 (sin (* 0.5 phi2))))
13.353 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi2))))) into (- (* 0.5 (sin (* 0.5 phi2))))
13.353 * [taylor]: Taking taylor expansion of (- (* 0.5 (sin (* 0.5 phi2)))) in phi2
13.353 * [taylor]: Taking taylor expansion of (* 0.5 (sin (* 0.5 phi2))) in phi2
13.353 * [taylor]: Taking taylor expansion of 0.5 in phi2
13.353 * [backup-simplify]: Simplify 0.5 into 0.5
13.353 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2
13.353 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2
13.353 * [taylor]: Taking taylor expansion of 0.5 in phi2
13.353 * [backup-simplify]: Simplify 0.5 into 0.5
13.353 * [taylor]: Taking taylor expansion of phi2 in phi2
13.353 * [backup-simplify]: Simplify 0 into 0
13.353 * [backup-simplify]: Simplify 1 into 1
13.353 * [backup-simplify]: Simplify (* 0.5 0) into 0
13.355 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
13.355 * [backup-simplify]: Simplify (* 0.5 0) into 0
13.356 * [backup-simplify]: Simplify (- 0) into 0
13.356 * [backup-simplify]: Simplify 0 into 0
13.356 * [backup-simplify]: Simplify (+ 0) into 0
13.356 * [backup-simplify]: Simplify 0 into 0
13.357 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
13.358 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
13.358 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 phi2))) into 0
13.359 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
13.359 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
13.359 * [backup-simplify]: Simplify (- 0) into 0
13.360 * [backup-simplify]: Simplify (+ 0 0) into 0
13.365 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125)
13.366 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* (- 0.125) (cos (* 0.5 phi2))))) into (- (* 0.125 (cos (* 0.5 phi2))))
13.367 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
13.367 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
13.368 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 phi2))) into 0
13.368 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
13.368 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
13.369 * [backup-simplify]: Simplify (+ 0 0) into 0
13.369 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 1) (* 0 0))) into 0
13.370 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
13.370 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 0.5 0) (* 0 (sin (* 0.5 phi2))))) into 0
13.370 * [backup-simplify]: Simplify (- 0) into 0
13.370 * [backup-simplify]: Simplify (+ (- (* 0.125 (cos (* 0.5 phi2)))) 0) into (- (* 0.125 (cos (* 0.5 phi2))))
13.370 * [taylor]: Taking taylor expansion of (- (* 0.125 (cos (* 0.5 phi2)))) in phi2
13.371 * [taylor]: Taking taylor expansion of (* 0.125 (cos (* 0.5 phi2))) in phi2
13.371 * [taylor]: Taking taylor expansion of 0.125 in phi2
13.371 * [backup-simplify]: Simplify 0.125 into 0.125
13.371 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2
13.371 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2
13.371 * [taylor]: Taking taylor expansion of 0.5 in phi2
13.371 * [backup-simplify]: Simplify 0.5 into 0.5
13.371 * [taylor]: Taking taylor expansion of phi2 in phi2
13.371 * [backup-simplify]: Simplify 0 into 0
13.371 * [backup-simplify]: Simplify 1 into 1
13.371 * [backup-simplify]: Simplify (* 0.5 0) into 0
13.372 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
13.372 * [backup-simplify]: Simplify (* 0.125 1) into 0.125
13.372 * [backup-simplify]: Simplify (- 0.125) into (- 0.125)
13.373 * [backup-simplify]: Simplify (- 0.125) into (- 0.125)
13.374 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5
13.375 * [backup-simplify]: Simplify (+ (* 0.5 0.5) (* 0 0)) into 0.25
13.375 * [backup-simplify]: Simplify (- 0.25) into (- 0.25)
13.375 * [backup-simplify]: Simplify (- 0.25) into (- 0.25)
13.376 * [backup-simplify]: Simplify (+ (* (- 0.25) (* phi2 phi1)) (+ (* (- 0.125) (pow (* 1 phi1) 2)) 1)) into (- 1 (+ (* 0.25 (* phi1 phi2)) (* 0.125 (pow phi1 2))))
13.376 * [backup-simplify]: Simplify (- (* (cos (* (/ 1 phi1) 0.5)) (cos (* (/ 1 phi2) 0.5))) (* (sin (* (/ 1 phi1) 0.5)) (sin (* (/ 1 phi2) 0.5)))) into (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
13.376 * [approximate]: Taking taylor expansion of (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in (phi1 phi2) around 0
13.376 * [taylor]: Taking taylor expansion of (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in phi2
13.376 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in phi2
13.376 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
13.376 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
13.376 * [taylor]: Taking taylor expansion of 0.5 in phi2
13.376 * [backup-simplify]: Simplify 0.5 into 0.5
13.376 * [taylor]: Taking taylor expansion of phi2 in phi2
13.376 * [backup-simplify]: Simplify 0 into 0
13.376 * [backup-simplify]: Simplify 1 into 1
13.377 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
13.377 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
13.377 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
13.377 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
13.377 * [taylor]: Taking taylor expansion of 0.5 in phi2
13.377 * [backup-simplify]: Simplify 0.5 into 0.5
13.377 * [taylor]: Taking taylor expansion of phi1 in phi2
13.377 * [backup-simplify]: Simplify phi1 into phi1
13.377 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
13.377 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
13.377 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
13.377 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in phi2
13.377 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
13.377 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
13.377 * [taylor]: Taking taylor expansion of 0.5 in phi2
13.377 * [backup-simplify]: Simplify 0.5 into 0.5
13.377 * [taylor]: Taking taylor expansion of phi2 in phi2
13.377 * [backup-simplify]: Simplify 0 into 0
13.377 * [backup-simplify]: Simplify 1 into 1
13.377 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
13.377 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
13.378 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
13.378 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
13.378 * [taylor]: Taking taylor expansion of 0.5 in phi2
13.378 * [backup-simplify]: Simplify 0.5 into 0.5
13.378 * [taylor]: Taking taylor expansion of phi1 in phi2
13.378 * [backup-simplify]: Simplify phi1 into phi1
13.378 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
13.378 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
13.378 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
13.378 * [taylor]: Taking taylor expansion of (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in phi1
13.378 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in phi1
13.378 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
13.378 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
13.378 * [taylor]: Taking taylor expansion of 0.5 in phi1
13.378 * [backup-simplify]: Simplify 0.5 into 0.5
13.378 * [taylor]: Taking taylor expansion of phi2 in phi1
13.378 * [backup-simplify]: Simplify phi2 into phi2
13.378 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
13.378 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
13.378 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
13.378 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
13.378 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
13.378 * [taylor]: Taking taylor expansion of 0.5 in phi1
13.378 * [backup-simplify]: Simplify 0.5 into 0.5
13.378 * [taylor]: Taking taylor expansion of phi1 in phi1
13.378 * [backup-simplify]: Simplify 0 into 0
13.378 * [backup-simplify]: Simplify 1 into 1
13.378 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
13.379 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
13.379 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in phi1
13.379 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
13.379 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
13.379 * [taylor]: Taking taylor expansion of 0.5 in phi1
13.379 * [backup-simplify]: Simplify 0.5 into 0.5
13.379 * [taylor]: Taking taylor expansion of phi2 in phi1
13.379 * [backup-simplify]: Simplify phi2 into phi2
13.379 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
13.379 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
13.379 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
13.379 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
13.379 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
13.379 * [taylor]: Taking taylor expansion of 0.5 in phi1
13.379 * [backup-simplify]: Simplify 0.5 into 0.5
13.379 * [taylor]: Taking taylor expansion of phi1 in phi1
13.379 * [backup-simplify]: Simplify 0 into 0
13.379 * [backup-simplify]: Simplify 1 into 1
13.379 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
13.379 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
13.379 * [taylor]: Taking taylor expansion of (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in phi1
13.379 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in phi1
13.379 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
13.379 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
13.379 * [taylor]: Taking taylor expansion of 0.5 in phi1
13.379 * [backup-simplify]: Simplify 0.5 into 0.5
13.379 * [taylor]: Taking taylor expansion of phi2 in phi1
13.379 * [backup-simplify]: Simplify phi2 into phi2
13.379 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
13.380 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
13.380 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
13.380 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
13.380 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
13.380 * [taylor]: Taking taylor expansion of 0.5 in phi1
13.380 * [backup-simplify]: Simplify 0.5 into 0.5
13.380 * [taylor]: Taking taylor expansion of phi1 in phi1
13.380 * [backup-simplify]: Simplify 0 into 0
13.380 * [backup-simplify]: Simplify 1 into 1
13.380 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
13.380 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
13.380 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in phi1
13.380 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
13.380 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
13.380 * [taylor]: Taking taylor expansion of 0.5 in phi1
13.380 * [backup-simplify]: Simplify 0.5 into 0.5
13.380 * [taylor]: Taking taylor expansion of phi2 in phi1
13.380 * [backup-simplify]: Simplify phi2 into phi2
13.380 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
13.380 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
13.380 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
13.380 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
13.380 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
13.380 * [taylor]: Taking taylor expansion of 0.5 in phi1
13.380 * [backup-simplify]: Simplify 0.5 into 0.5
13.380 * [taylor]: Taking taylor expansion of phi1 in phi1
13.380 * [backup-simplify]: Simplify 0 into 0
13.380 * [backup-simplify]: Simplify 1 into 1
13.381 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
13.381 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
13.381 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
13.381 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
13.381 * [backup-simplify]: Simplify (- 0) into 0
13.381 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
13.381 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
13.381 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
13.381 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
13.382 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
13.382 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
13.382 * [backup-simplify]: Simplify (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
13.382 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
13.382 * [taylor]: Taking taylor expansion of (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in phi2
13.382 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in phi2
13.382 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
13.382 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
13.382 * [taylor]: Taking taylor expansion of 0.5 in phi2
13.382 * [backup-simplify]: Simplify 0.5 into 0.5
13.382 * [taylor]: Taking taylor expansion of phi2 in phi2
13.382 * [backup-simplify]: Simplify 0 into 0
13.382 * [backup-simplify]: Simplify 1 into 1
13.382 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
13.382 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
13.382 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
13.383 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
13.383 * [taylor]: Taking taylor expansion of 0.5 in phi2
13.383 * [backup-simplify]: Simplify 0.5 into 0.5
13.383 * [taylor]: Taking taylor expansion of phi1 in phi2
13.383 * [backup-simplify]: Simplify phi1 into phi1
13.383 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
13.383 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
13.383 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
13.383 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in phi2
13.383 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
13.383 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
13.383 * [taylor]: Taking taylor expansion of 0.5 in phi2
13.383 * [backup-simplify]: Simplify 0.5 into 0.5
13.383 * [taylor]: Taking taylor expansion of phi2 in phi2
13.383 * [backup-simplify]: Simplify 0 into 0
13.383 * [backup-simplify]: Simplify 1 into 1
13.383 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
13.383 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
13.383 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
13.383 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
13.383 * [taylor]: Taking taylor expansion of 0.5 in phi2
13.383 * [backup-simplify]: Simplify 0.5 into 0.5
13.383 * [taylor]: Taking taylor expansion of phi1 in phi2
13.383 * [backup-simplify]: Simplify phi1 into phi1
13.383 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
13.383 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
13.383 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
13.384 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
13.384 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
13.384 * [backup-simplify]: Simplify (- 0) into 0
13.384 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
13.384 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
13.384 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
13.384 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
13.384 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
13.384 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
13.384 * [backup-simplify]: Simplify (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
13.385 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
13.385 * [backup-simplify]: Simplify (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
13.385 * [backup-simplify]: Simplify (+ 0) into 0
13.385 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
13.386 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
13.386 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.386 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
13.387 * [backup-simplify]: Simplify (- 0) into 0
13.387 * [backup-simplify]: Simplify (+ 0 0) into 0
13.387 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
13.387 * [backup-simplify]: Simplify (+ 0) into 0
13.388 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
13.388 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
13.388 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.389 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
13.389 * [backup-simplify]: Simplify (+ 0 0) into 0
13.389 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
13.389 * [backup-simplify]: Simplify (- 0) into 0
13.389 * [backup-simplify]: Simplify (+ 0 0) into 0
13.389 * [taylor]: Taking taylor expansion of 0 in phi2
13.389 * [backup-simplify]: Simplify 0 into 0
13.389 * [backup-simplify]: Simplify 0 into 0
13.390 * [backup-simplify]: Simplify (+ 0) into 0
13.390 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
13.390 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
13.391 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.391 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
13.391 * [backup-simplify]: Simplify (- 0) into 0
13.391 * [backup-simplify]: Simplify (+ 0 0) into 0
13.391 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
13.392 * [backup-simplify]: Simplify (+ 0) into 0
13.392 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
13.392 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
13.393 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.393 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
13.393 * [backup-simplify]: Simplify (+ 0 0) into 0
13.393 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
13.393 * [backup-simplify]: Simplify (- 0) into 0
13.394 * [backup-simplify]: Simplify (+ 0 0) into 0
13.394 * [backup-simplify]: Simplify 0 into 0
13.394 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
13.395 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
13.395 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
13.395 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
13.396 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
13.396 * [backup-simplify]: Simplify (- 0) into 0
13.396 * [backup-simplify]: Simplify (+ 0 0) into 0
13.396 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
13.397 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
13.397 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
13.398 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
13.398 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
13.399 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
13.399 * [backup-simplify]: Simplify (+ 0 0) into 0
13.400 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
13.400 * [backup-simplify]: Simplify (- 0) into 0
13.401 * [backup-simplify]: Simplify (+ 0 0) into 0
13.401 * [taylor]: Taking taylor expansion of 0 in phi2
13.401 * [backup-simplify]: Simplify 0 into 0
13.401 * [backup-simplify]: Simplify 0 into 0
13.401 * [backup-simplify]: Simplify 0 into 0
13.402 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
13.403 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
13.403 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
13.404 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
13.404 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
13.405 * [backup-simplify]: Simplify (- 0) into 0
13.405 * [backup-simplify]: Simplify (+ 0 0) into 0
13.406 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
13.407 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
13.408 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
13.408 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
13.409 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
13.410 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
13.410 * [backup-simplify]: Simplify (+ 0 0) into 0
13.411 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
13.411 * [backup-simplify]: Simplify (- 0) into 0
13.412 * [backup-simplify]: Simplify (+ 0 0) into 0
13.412 * [backup-simplify]: Simplify 0 into 0
13.412 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0
13.413 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0
13.414 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
13.415 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0
13.416 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0
13.416 * [backup-simplify]: Simplify (- 0) into 0
13.416 * [backup-simplify]: Simplify (+ 0 0) into 0
13.417 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1)))))) into 0
13.418 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0
13.419 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0
13.419 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
13.421 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0
13.422 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0
13.422 * [backup-simplify]: Simplify (+ 0 0) into 0
13.423 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1)))))) into 0
13.423 * [backup-simplify]: Simplify (- 0) into 0
13.424 * [backup-simplify]: Simplify (+ 0 0) into 0
13.424 * [taylor]: Taking taylor expansion of 0 in phi2
13.424 * [backup-simplify]: Simplify 0 into 0
13.424 * [backup-simplify]: Simplify 0 into 0
13.424 * [backup-simplify]: Simplify (- (* (cos (/ 0.5 (/ 1 phi2))) (cos (/ 0.5 (/ 1 phi1)))) (* (sin (/ 0.5 (/ 1 phi2))) (sin (/ 0.5 (/ 1 phi1))))) into (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))
13.425 * [backup-simplify]: Simplify (- (* (cos (* (/ 1 (- phi1)) 0.5)) (cos (* (/ 1 (- phi2)) 0.5))) (* (sin (* (/ 1 (- phi1)) 0.5)) (sin (* (/ 1 (- phi2)) 0.5)))) into (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))
13.425 * [approximate]: Taking taylor expansion of (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in (phi1 phi2) around 0
13.425 * [taylor]: Taking taylor expansion of (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in phi2
13.425 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in phi2
13.425 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
13.425 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
13.425 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.425 * [backup-simplify]: Simplify -0.5 into -0.5
13.425 * [taylor]: Taking taylor expansion of phi2 in phi2
13.425 * [backup-simplify]: Simplify 0 into 0
13.425 * [backup-simplify]: Simplify 1 into 1
13.426 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
13.426 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
13.426 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
13.426 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
13.426 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.426 * [backup-simplify]: Simplify -0.5 into -0.5
13.426 * [taylor]: Taking taylor expansion of phi1 in phi2
13.426 * [backup-simplify]: Simplify phi1 into phi1
13.426 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
13.426 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
13.426 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
13.426 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi2
13.426 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
13.426 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
13.427 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.427 * [backup-simplify]: Simplify -0.5 into -0.5
13.427 * [taylor]: Taking taylor expansion of phi2 in phi2
13.427 * [backup-simplify]: Simplify 0 into 0
13.427 * [backup-simplify]: Simplify 1 into 1
13.427 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
13.427 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
13.427 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
13.427 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
13.427 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.427 * [backup-simplify]: Simplify -0.5 into -0.5
13.427 * [taylor]: Taking taylor expansion of phi1 in phi2
13.427 * [backup-simplify]: Simplify phi1 into phi1
13.427 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
13.428 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
13.428 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
13.428 * [taylor]: Taking taylor expansion of (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in phi1
13.428 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in phi1
13.428 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
13.428 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
13.428 * [taylor]: Taking taylor expansion of -0.5 in phi1
13.428 * [backup-simplify]: Simplify -0.5 into -0.5
13.428 * [taylor]: Taking taylor expansion of phi2 in phi1
13.428 * [backup-simplify]: Simplify phi2 into phi2
13.428 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
13.428 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
13.428 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
13.428 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
13.428 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
13.428 * [taylor]: Taking taylor expansion of -0.5 in phi1
13.428 * [backup-simplify]: Simplify -0.5 into -0.5
13.428 * [taylor]: Taking taylor expansion of phi1 in phi1
13.428 * [backup-simplify]: Simplify 0 into 0
13.428 * [backup-simplify]: Simplify 1 into 1
13.429 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
13.429 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
13.429 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi1
13.429 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
13.429 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
13.429 * [taylor]: Taking taylor expansion of -0.5 in phi1
13.429 * [backup-simplify]: Simplify -0.5 into -0.5
13.429 * [taylor]: Taking taylor expansion of phi2 in phi1
13.429 * [backup-simplify]: Simplify phi2 into phi2
13.429 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
13.429 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
13.430 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
13.430 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
13.430 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
13.430 * [taylor]: Taking taylor expansion of -0.5 in phi1
13.430 * [backup-simplify]: Simplify -0.5 into -0.5
13.430 * [taylor]: Taking taylor expansion of phi1 in phi1
13.430 * [backup-simplify]: Simplify 0 into 0
13.430 * [backup-simplify]: Simplify 1 into 1
13.430 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
13.430 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
13.430 * [taylor]: Taking taylor expansion of (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in phi1
13.430 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in phi1
13.430 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
13.431 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
13.431 * [taylor]: Taking taylor expansion of -0.5 in phi1
13.431 * [backup-simplify]: Simplify -0.5 into -0.5
13.431 * [taylor]: Taking taylor expansion of phi2 in phi1
13.431 * [backup-simplify]: Simplify phi2 into phi2
13.431 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
13.431 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
13.431 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
13.431 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
13.431 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
13.431 * [taylor]: Taking taylor expansion of -0.5 in phi1
13.431 * [backup-simplify]: Simplify -0.5 into -0.5
13.431 * [taylor]: Taking taylor expansion of phi1 in phi1
13.431 * [backup-simplify]: Simplify 0 into 0
13.431 * [backup-simplify]: Simplify 1 into 1
13.432 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
13.432 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
13.432 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi1
13.432 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
13.432 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
13.432 * [taylor]: Taking taylor expansion of -0.5 in phi1
13.432 * [backup-simplify]: Simplify -0.5 into -0.5
13.432 * [taylor]: Taking taylor expansion of phi2 in phi1
13.432 * [backup-simplify]: Simplify phi2 into phi2
13.432 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
13.432 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
13.432 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
13.432 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
13.432 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
13.432 * [taylor]: Taking taylor expansion of -0.5 in phi1
13.432 * [backup-simplify]: Simplify -0.5 into -0.5
13.432 * [taylor]: Taking taylor expansion of phi1 in phi1
13.432 * [backup-simplify]: Simplify 0 into 0
13.432 * [backup-simplify]: Simplify 1 into 1
13.433 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
13.433 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
13.433 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
13.433 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
13.434 * [backup-simplify]: Simplify (- 0) into 0
13.434 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
13.434 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))
13.434 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
13.434 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
13.434 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
13.435 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))
13.435 * [backup-simplify]: Simplify (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) into (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))
13.435 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))
13.435 * [taylor]: Taking taylor expansion of (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in phi2
13.435 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in phi2
13.435 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
13.435 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
13.435 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.435 * [backup-simplify]: Simplify -0.5 into -0.5
13.435 * [taylor]: Taking taylor expansion of phi2 in phi2
13.435 * [backup-simplify]: Simplify 0 into 0
13.435 * [backup-simplify]: Simplify 1 into 1
13.436 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
13.436 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
13.436 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
13.436 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
13.436 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.436 * [backup-simplify]: Simplify -0.5 into -0.5
13.436 * [taylor]: Taking taylor expansion of phi1 in phi2
13.436 * [backup-simplify]: Simplify phi1 into phi1
13.436 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
13.436 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
13.437 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
13.437 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi2
13.437 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
13.437 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
13.437 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.437 * [backup-simplify]: Simplify -0.5 into -0.5
13.437 * [taylor]: Taking taylor expansion of phi2 in phi2
13.437 * [backup-simplify]: Simplify 0 into 0
13.437 * [backup-simplify]: Simplify 1 into 1
13.437 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
13.437 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
13.437 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
13.437 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
13.437 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.438 * [backup-simplify]: Simplify -0.5 into -0.5
13.438 * [taylor]: Taking taylor expansion of phi1 in phi2
13.438 * [backup-simplify]: Simplify phi1 into phi1
13.438 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
13.438 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
13.438 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
13.438 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
13.438 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
13.438 * [backup-simplify]: Simplify (- 0) into 0
13.439 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
13.439 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))
13.439 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
13.439 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
13.439 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
13.439 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))
13.440 * [backup-simplify]: Simplify (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) into (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))
13.440 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))
13.440 * [backup-simplify]: Simplify (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) into (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))
13.441 * [backup-simplify]: Simplify (+ 0) into 0
13.441 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
13.441 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
13.442 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.443 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
13.443 * [backup-simplify]: Simplify (- 0) into 0
13.443 * [backup-simplify]: Simplify (+ 0 0) into 0
13.444 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
13.444 * [backup-simplify]: Simplify (+ 0) into 0
13.445 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
13.445 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
13.445 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.446 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
13.446 * [backup-simplify]: Simplify (+ 0 0) into 0
13.447 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
13.447 * [backup-simplify]: Simplify (- 0) into 0
13.447 * [backup-simplify]: Simplify (+ 0 0) into 0
13.447 * [taylor]: Taking taylor expansion of 0 in phi2
13.447 * [backup-simplify]: Simplify 0 into 0
13.447 * [backup-simplify]: Simplify 0 into 0
13.448 * [backup-simplify]: Simplify (+ 0) into 0
13.448 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
13.448 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
13.449 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.450 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
13.450 * [backup-simplify]: Simplify (- 0) into 0
13.451 * [backup-simplify]: Simplify (+ 0 0) into 0
13.451 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
13.451 * [backup-simplify]: Simplify (+ 0) into 0
13.452 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
13.452 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
13.453 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.453 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
13.454 * [backup-simplify]: Simplify (+ 0 0) into 0
13.454 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
13.454 * [backup-simplify]: Simplify (- 0) into 0
13.454 * [backup-simplify]: Simplify (+ 0 0) into 0
13.455 * [backup-simplify]: Simplify 0 into 0
13.455 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
13.456 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
13.456 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
13.457 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
13.458 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
13.458 * [backup-simplify]: Simplify (- 0) into 0
13.459 * [backup-simplify]: Simplify (+ 0 0) into 0
13.459 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0
13.460 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
13.461 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
13.461 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
13.462 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
13.462 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
13.463 * [backup-simplify]: Simplify (+ 0 0) into 0
13.463 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
13.464 * [backup-simplify]: Simplify (- 0) into 0
13.464 * [backup-simplify]: Simplify (+ 0 0) into 0
13.464 * [taylor]: Taking taylor expansion of 0 in phi2
13.464 * [backup-simplify]: Simplify 0 into 0
13.464 * [backup-simplify]: Simplify 0 into 0
13.464 * [backup-simplify]: Simplify 0 into 0
13.465 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
13.466 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
13.466 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
13.467 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
13.468 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
13.469 * [backup-simplify]: Simplify (- 0) into 0
13.469 * [backup-simplify]: Simplify (+ 0 0) into 0
13.470 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0
13.470 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
13.471 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
13.471 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
13.472 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
13.472 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
13.472 * [backup-simplify]: Simplify (+ 0 0) into 0
13.473 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
13.473 * [backup-simplify]: Simplify (- 0) into 0
13.473 * [backup-simplify]: Simplify (+ 0 0) into 0
13.473 * [backup-simplify]: Simplify 0 into 0
13.474 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0
13.474 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0
13.474 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
13.475 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0
13.476 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0
13.476 * [backup-simplify]: Simplify (- 0) into 0
13.476 * [backup-simplify]: Simplify (+ 0 0) into 0
13.477 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1)))))) into 0
13.477 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0
13.478 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0
13.478 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
13.479 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0
13.479 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0
13.479 * [backup-simplify]: Simplify (+ 0 0) into 0
13.480 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1)))))) into 0
13.480 * [backup-simplify]: Simplify (- 0) into 0
13.480 * [backup-simplify]: Simplify (+ 0 0) into 0
13.480 * [taylor]: Taking taylor expansion of 0 in phi2
13.480 * [backup-simplify]: Simplify 0 into 0
13.480 * [backup-simplify]: Simplify 0 into 0
13.481 * [backup-simplify]: Simplify (- (* (cos (/ -0.5 (/ 1 (- phi2)))) (cos (/ -0.5 (/ 1 (- phi1))))) (* (sin (/ -0.5 (/ 1 (- phi2)))) (sin (/ -0.5 (/ 1 (- phi1)))))) into (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))
13.481 * * * * [progress]: [ 4 / 4 ] generating series at (2)
13.481 * [backup-simplify]: Simplify (* (hypot (* (- lambda1 lambda2) (- (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) (* (sin (* phi1 0.5)) (sin (* phi2 0.5))))) (- phi1 phi2)) R) into (* (hypot (* (- lambda1 lambda2) (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))) (- phi1 phi2)) R)
13.481 * [approximate]: Taking taylor expansion of (* (hypot (* (- lambda1 lambda2) (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))) (- phi1 phi2)) R) in (lambda1 lambda2 phi1 phi2 R) around 0
13.481 * [taylor]: Taking taylor expansion of (* (hypot (* (- lambda1 lambda2) (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))) (- phi1 phi2)) R) in R
13.481 * [taylor]: Taking taylor expansion of (hypot (* (- lambda1 lambda2) (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))) (- phi1 phi2)) in R
13.481 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- lambda1 lambda2) (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))) (* (- lambda1 lambda2) (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))))) (* (- phi1 phi2) (- phi1 phi2))))
13.481 * [taylor]: Taking taylor expansion of (+ (* (* (- lambda1 lambda2) (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))) (* (- lambda1 lambda2) (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))))) (* (- phi1 phi2) (- phi1 phi2))) in R
13.481 * [taylor]: Taking taylor expansion of (* (* (- lambda1 lambda2) (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))) (* (- lambda1 lambda2) (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))))) in R
13.481 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))) in R
13.481 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in R
13.482 * [taylor]: Taking taylor expansion of lambda1 in R
13.482 * [backup-simplify]: Simplify lambda1 into lambda1
13.482 * [taylor]: Taking taylor expansion of lambda2 in R
13.482 * [backup-simplify]: Simplify lambda2 into lambda2
13.482 * [taylor]: Taking taylor expansion of (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))) in R
13.482 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) in R
13.482 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in R
13.482 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in R
13.482 * [taylor]: Taking taylor expansion of 0.5 in R
13.482 * [backup-simplify]: Simplify 0.5 into 0.5
13.482 * [taylor]: Taking taylor expansion of phi1 in R
13.482 * [backup-simplify]: Simplify phi1 into phi1
13.482 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
13.482 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
13.482 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
13.482 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in R
13.482 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in R
13.482 * [taylor]: Taking taylor expansion of 0.5 in R
13.482 * [backup-simplify]: Simplify 0.5 into 0.5
13.482 * [taylor]: Taking taylor expansion of phi2 in R
13.482 * [backup-simplify]: Simplify phi2 into phi2
13.482 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
13.482 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
13.482 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
13.482 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))) in R
13.482 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in R
13.482 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in R
13.482 * [taylor]: Taking taylor expansion of 0.5 in R
13.482 * [backup-simplify]: Simplify 0.5 into 0.5
13.482 * [taylor]: Taking taylor expansion of phi1 in R
13.482 * [backup-simplify]: Simplify phi1 into phi1
13.482 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
13.482 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
13.482 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
13.482 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in R
13.482 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in R
13.482 * [taylor]: Taking taylor expansion of 0.5 in R
13.482 * [backup-simplify]: Simplify 0.5 into 0.5
13.482 * [taylor]: Taking taylor expansion of phi2 in R
13.482 * [backup-simplify]: Simplify phi2 into phi2
13.482 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
13.483 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
13.483 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
13.483 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))) in R
13.483 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in R
13.483 * [taylor]: Taking taylor expansion of lambda1 in R
13.483 * [backup-simplify]: Simplify lambda1 into lambda1
13.483 * [taylor]: Taking taylor expansion of lambda2 in R
13.483 * [backup-simplify]: Simplify lambda2 into lambda2
13.483 * [taylor]: Taking taylor expansion of (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))) in R
13.483 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) in R
13.483 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in R
13.483 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in R
13.483 * [taylor]: Taking taylor expansion of 0.5 in R
13.483 * [backup-simplify]: Simplify 0.5 into 0.5
13.483 * [taylor]: Taking taylor expansion of phi1 in R
13.483 * [backup-simplify]: Simplify phi1 into phi1
13.483 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
13.483 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
13.483 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
13.483 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in R
13.483 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in R
13.483 * [taylor]: Taking taylor expansion of 0.5 in R
13.483 * [backup-simplify]: Simplify 0.5 into 0.5
13.483 * [taylor]: Taking taylor expansion of phi2 in R
13.483 * [backup-simplify]: Simplify phi2 into phi2
13.483 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
13.483 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
13.483 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
13.483 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))) in R
13.483 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in R
13.483 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in R
13.483 * [taylor]: Taking taylor expansion of 0.5 in R
13.483 * [backup-simplify]: Simplify 0.5 into 0.5
13.483 * [taylor]: Taking taylor expansion of phi1 in R
13.483 * [backup-simplify]: Simplify phi1 into phi1
13.483 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
13.483 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
13.483 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
13.483 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in R
13.483 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in R
13.484 * [taylor]: Taking taylor expansion of 0.5 in R
13.484 * [backup-simplify]: Simplify 0.5 into 0.5
13.484 * [taylor]: Taking taylor expansion of phi2 in R
13.484 * [backup-simplify]: Simplify phi2 into phi2
13.484 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
13.484 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
13.484 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
13.484 * [taylor]: Taking taylor expansion of (* (- phi1 phi2) (- phi1 phi2)) in R
13.484 * [taylor]: Taking taylor expansion of (- phi1 phi2) in R
13.484 * [taylor]: Taking taylor expansion of phi1 in R
13.484 * [backup-simplify]: Simplify phi1 into phi1
13.484 * [taylor]: Taking taylor expansion of phi2 in R
13.484 * [backup-simplify]: Simplify phi2 into phi2
13.484 * [taylor]: Taking taylor expansion of (- phi1 phi2) in R
13.484 * [taylor]: Taking taylor expansion of phi1 in R
13.484 * [backup-simplify]: Simplify phi1 into phi1
13.484 * [taylor]: Taking taylor expansion of phi2 in R
13.484 * [backup-simplify]: Simplify phi2 into phi2
13.484 * [backup-simplify]: Simplify (- lambda2) into (- lambda2)
13.484 * [backup-simplify]: Simplify (+ lambda1 (- lambda2)) into (- lambda1 lambda2)
13.484 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
13.484 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
13.484 * [backup-simplify]: Simplify (- 0) into 0
13.484 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
13.485 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2))
13.485 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0
13.485 * [backup-simplify]: Simplify (- 0) into 0
13.485 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2))
13.485 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) into (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2)))
13.485 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1))
13.485 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0
13.485 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1))
13.485 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2))
13.485 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0
13.485 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2))
13.485 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))) into (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))
13.486 * [backup-simplify]: Simplify (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))) into (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))
13.486 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))) into (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))
13.486 * [backup-simplify]: Simplify (* (- lambda1 lambda2) (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))) into (* (- lambda1 lambda2) (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))))
13.486 * [backup-simplify]: Simplify (- lambda2) into (- lambda2)
13.486 * [backup-simplify]: Simplify (+ lambda1 (- lambda2)) into (- lambda1 lambda2)
13.486 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
13.486 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
13.486 * [backup-simplify]: Simplify (- 0) into 0
13.486 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
13.487 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2))
13.487 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0
13.487 * [backup-simplify]: Simplify (- 0) into 0
13.487 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2))
13.487 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) into (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2)))
13.487 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1))
13.487 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0
13.487 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1))
13.487 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2))
13.487 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0
13.487 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2))
13.487 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))) into (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))
13.488 * [backup-simplify]: Simplify (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))) into (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))
13.488 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))) into (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))
13.488 * [backup-simplify]: Simplify (* (- lambda1 lambda2) (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))) into (* (- lambda1 lambda2) (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))))
13.488 * [backup-simplify]: Simplify (* (* (- lambda1 lambda2) (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))) (* (- lambda1 lambda2) (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))))) into (* (pow (- lambda1 lambda2) 2) (pow (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))) 2))
13.488 * [backup-simplify]: Simplify (- phi2) into (- phi2)
13.488 * [backup-simplify]: Simplify (+ phi1 (- phi2)) into (- phi1 phi2)
13.488 * [backup-simplify]: Simplify (- phi2) into (- phi2)
13.488 * [backup-simplify]: Simplify (+ phi1 (- phi2)) into (- phi1 phi2)
13.489 * [backup-simplify]: Simplify (* (- phi1 phi2) (- phi1 phi2)) into (pow (- phi1 phi2) 2)
13.489 * [backup-simplify]: Simplify (+ (* (pow (- lambda1 lambda2) 2) (pow (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))) 2)) (pow (- phi1 phi2) 2)) into (- (+ (* 2 (* (cos (* 0.5 phi2)) (* lambda2 (* (sin (* 0.5 phi1)) (* lambda1 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))))) (+ (* (pow lambda2 2) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) (+ (* (pow (sin (* 0.5 phi1)) 2) (* (pow lambda1 2) (pow (sin (* 0.5 phi2)) 2))) (+ (pow phi2 2) (+ (* 2 (* (cos (* 0.5 phi2)) (* lambda2 (* (cos (* 0.5 phi1)) (* lambda1 (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))))))) (+ (* (pow (cos (* 0.5 phi1)) 2) (* (pow lambda1 2) (pow (cos (* 0.5 phi2)) 2))) (+ (* (pow lambda2 2) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (pow phi1 2)))))))) (+ (* (cos (* 0.5 phi1)) (* (cos (* 0.5 phi2)) (* (pow lambda1 2) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))))) (+ (* 2 (* phi1 phi2)) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))) (+ (* 2 (* lambda2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda1 (pow (cos (* 0.5 phi1)) 2))))) (+ (* 2 (* lambda2 (* lambda1 (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2))))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))))) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi2)) (* (pow lambda1 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))))))))))
13.501 * [backup-simplify]: Simplify (sqrt (- (+ (* 2 (* (cos (* 0.5 phi2)) (* lambda2 (* (sin (* 0.5 phi1)) (* lambda1 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))))) (+ (* (pow lambda2 2) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) (+ (* (pow (sin (* 0.5 phi1)) 2) (* (pow lambda1 2) (pow (sin (* 0.5 phi2)) 2))) (+ (pow phi2 2) (+ (* 2 (* (cos (* 0.5 phi2)) (* lambda2 (* (cos (* 0.5 phi1)) (* lambda1 (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))))))) (+ (* (pow (cos (* 0.5 phi1)) 2) (* (pow lambda1 2) (pow (cos (* 0.5 phi2)) 2))) (+ (* (pow lambda2 2) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (pow phi1 2)))))))) (+ (* (cos (* 0.5 phi1)) (* (cos (* 0.5 phi2)) (* (pow lambda1 2) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))))) (+ (* 2 (* phi1 phi2)) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))) (+ (* 2 (* lambda2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda1 (pow (cos (* 0.5 phi1)) 2))))) (+ (* 2 (* lambda2 (* lambda1 (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2))))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))))) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi2)) (* (pow lambda1 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))))))))))) into (sqrt (- (+ (* 2 (* (cos (* 0.5 phi2)) (* lambda2 (* (sin (* 0.5 phi1)) (* lambda1 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))))) (+ (* (pow lambda2 2) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) (+ (* (pow lambda1 2) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) (+ (pow phi2 2) (+ (* 2 (* (cos (* 0.5 phi2)) (* lambda2 (* (cos (* 0.5 phi1)) (* lambda1 (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))))))) (+ (* (pow (cos (* 0.5 phi1)) 2) (* (pow lambda1 2) (pow (cos (* 0.5 phi2)) 2))) (+ (* (pow lambda2 2) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (pow phi1 2)))))))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))) (+ (* 2 (* lambda2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda1 (pow (cos (* 0.5 phi2)) 2))))) (+ (* 2 (* phi1 phi2)) (+ (* 2 (* lambda2 (* lambda1 (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2))))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))))) (+ (* (pow lambda1 2) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi2)) (* (pow lambda1 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1))))))))))))))
13.501 * [backup-simplify]: Simplify (+ 0) into 0
13.502 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0
13.502 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0
13.502 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.503 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 0)) into 0
13.503 * [backup-simplify]: Simplify (- 0) into 0
13.503 * [backup-simplify]: Simplify (+ 0 0) into 0
13.503 * [backup-simplify]: Simplify (+ 0) into 0
13.504 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0
13.504 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0
13.504 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.505 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 0)) into 0
13.505 * [backup-simplify]: Simplify (- 0) into 0
13.505 * [backup-simplify]: Simplify (+ 0 0) into 0
13.505 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 (cos (* 0.5 phi2)))) into 0
13.506 * [backup-simplify]: Simplify (+ 0) into 0
13.506 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 1)) into 0
13.506 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0
13.507 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.507 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 0)) into 0
13.507 * [backup-simplify]: Simplify (+ 0 0) into 0
13.507 * [backup-simplify]: Simplify (+ 0) into 0
13.508 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 1)) into 0
13.508 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0
13.508 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.509 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 0)) into 0
13.509 * [backup-simplify]: Simplify (+ 0 0) into 0
13.509 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 (sin (* 0.5 phi2)))) into 0
13.509 * [backup-simplify]: Simplify (- 0) into 0
13.510 * [backup-simplify]: Simplify (+ 0 0) into 0
13.510 * [backup-simplify]: Simplify (- 0) into 0
13.510 * [backup-simplify]: Simplify (+ 0 0) into 0
13.511 * [backup-simplify]: Simplify (+ (* (- lambda1 lambda2) 0) (* 0 (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))))) into 0
13.511 * [backup-simplify]: Simplify (+ 0) into 0
13.512 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0
13.512 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0
13.513 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.513 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 0)) into 0
13.514 * [backup-simplify]: Simplify (- 0) into 0
13.514 * [backup-simplify]: Simplify (+ 0 0) into 0
13.514 * [backup-simplify]: Simplify (+ 0) into 0
13.515 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0
13.516 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0
13.517 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.517 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 0)) into 0
13.517 * [backup-simplify]: Simplify (- 0) into 0
13.518 * [backup-simplify]: Simplify (+ 0 0) into 0
13.518 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 (cos (* 0.5 phi2)))) into 0
13.518 * [backup-simplify]: Simplify (+ 0) into 0
13.519 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 1)) into 0
13.519 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0
13.520 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.521 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 0)) into 0
13.521 * [backup-simplify]: Simplify (+ 0 0) into 0
13.522 * [backup-simplify]: Simplify (+ 0) into 0
13.522 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 1)) into 0
13.523 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0
13.523 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.524 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 0)) into 0
13.524 * [backup-simplify]: Simplify (+ 0 0) into 0
13.524 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 (sin (* 0.5 phi2)))) into 0
13.525 * [backup-simplify]: Simplify (- 0) into 0
13.525 * [backup-simplify]: Simplify (+ 0 0) into 0
13.525 * [backup-simplify]: Simplify (- 0) into 0
13.526 * [backup-simplify]: Simplify (+ 0 0) into 0
13.526 * [backup-simplify]: Simplify (+ (* (- lambda1 lambda2) 0) (* 0 (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))))) into 0
13.527 * [backup-simplify]: Simplify (+ (* (* (- lambda1 lambda2) (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))) 0) (* 0 (* (- lambda1 lambda2) (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))))) into 0
13.528 * [backup-simplify]: Simplify (- 0) into 0
13.528 * [backup-simplify]: Simplify (+ 0 0) into 0
13.528 * [backup-simplify]: Simplify (- 0) into 0
13.529 * [backup-simplify]: Simplify (+ 0 0) into 0
13.529 * [backup-simplify]: Simplify (+ (* (- phi1 phi2) 0) (* 0 (- phi1 phi2))) into 0
13.529 * [backup-simplify]: Simplify (+ 0 0) into 0
13.543 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (- (+ (* 2 (* (cos (* 0.5 phi2)) (* lambda2 (* (sin (* 0.5 phi1)) (* lambda1 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))))) (+ (* (pow lambda2 2) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) (+ (* (pow (sin (* 0.5 phi1)) 2) (* (pow lambda1 2) (pow (sin (* 0.5 phi2)) 2))) (+ (pow phi2 2) (+ (* 2 (* (cos (* 0.5 phi2)) (* lambda2 (* (cos (* 0.5 phi1)) (* lambda1 (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))))))) (+ (* (pow (cos (* 0.5 phi1)) 2) (* (pow lambda1 2) (pow (cos (* 0.5 phi2)) 2))) (+ (* (pow lambda2 2) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (pow phi1 2)))))))) (+ (* (cos (* 0.5 phi1)) (* (cos (* 0.5 phi2)) (* (pow lambda1 2) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))))) (+ (* 2 (* phi1 phi2)) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))) (+ (* 2 (* lambda2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda1 (pow (cos (* 0.5 phi1)) 2))))) (+ (* 2 (* lambda2 (* lambda1 (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2))))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))))) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi2)) (* (pow lambda1 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))))))))))))) into 0
13.543 * [taylor]: Taking taylor expansion of R in R
13.543 * [backup-simplify]: Simplify 0 into 0
13.543 * [backup-simplify]: Simplify 1 into 1
13.544 * [taylor]: Taking taylor expansion of (* (hypot (* (- lambda1 lambda2) (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))) (- phi1 phi2)) R) in phi2
13.544 * [taylor]: Taking taylor expansion of (hypot (* (- lambda1 lambda2) (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))) (- phi1 phi2)) in phi2
13.544 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- lambda1 lambda2) (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))) (* (- lambda1 lambda2) (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))))) (* (- phi1 phi2) (- phi1 phi2))))
13.544 * [taylor]: Taking taylor expansion of (+ (* (* (- lambda1 lambda2) (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))) (* (- lambda1 lambda2) (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))))) (* (- phi1 phi2) (- phi1 phi2))) in phi2
13.544 * [taylor]: Taking taylor expansion of (* (* (- lambda1 lambda2) (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))) (* (- lambda1 lambda2) (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))))) in phi2
13.544 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))) in phi2
13.544 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in phi2
13.544 * [taylor]: Taking taylor expansion of lambda1 in phi2
13.544 * [backup-simplify]: Simplify lambda1 into lambda1
13.544 * [taylor]: Taking taylor expansion of lambda2 in phi2
13.544 * [backup-simplify]: Simplify lambda2 into lambda2
13.544 * [taylor]: Taking taylor expansion of (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))) in phi2
13.544 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) in phi2
13.544 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi2
13.544 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2
13.544 * [taylor]: Taking taylor expansion of 0.5 in phi2
13.544 * [backup-simplify]: Simplify 0.5 into 0.5
13.544 * [taylor]: Taking taylor expansion of phi1 in phi2
13.544 * [backup-simplify]: Simplify phi1 into phi1
13.544 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
13.544 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
13.545 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
13.545 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2
13.545 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2
13.545 * [taylor]: Taking taylor expansion of 0.5 in phi2
13.545 * [backup-simplify]: Simplify 0.5 into 0.5
13.545 * [taylor]: Taking taylor expansion of phi2 in phi2
13.545 * [backup-simplify]: Simplify 0 into 0
13.545 * [backup-simplify]: Simplify 1 into 1
13.545 * [backup-simplify]: Simplify (* 0.5 0) into 0
13.547 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
13.547 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))) in phi2
13.547 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi2
13.547 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2
13.547 * [taylor]: Taking taylor expansion of 0.5 in phi2
13.547 * [backup-simplify]: Simplify 0.5 into 0.5
13.547 * [taylor]: Taking taylor expansion of phi1 in phi2
13.547 * [backup-simplify]: Simplify phi1 into phi1
13.547 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
13.547 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
13.547 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
13.547 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2
13.547 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2
13.547 * [taylor]: Taking taylor expansion of 0.5 in phi2
13.547 * [backup-simplify]: Simplify 0.5 into 0.5
13.547 * [taylor]: Taking taylor expansion of phi2 in phi2
13.547 * [backup-simplify]: Simplify 0 into 0
13.547 * [backup-simplify]: Simplify 1 into 1
13.548 * [backup-simplify]: Simplify (* 0.5 0) into 0
13.550 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
13.550 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))) in phi2
13.550 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in phi2
13.550 * [taylor]: Taking taylor expansion of lambda1 in phi2
13.550 * [backup-simplify]: Simplify lambda1 into lambda1
13.550 * [taylor]: Taking taylor expansion of lambda2 in phi2
13.550 * [backup-simplify]: Simplify lambda2 into lambda2
13.550 * [taylor]: Taking taylor expansion of (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))) in phi2
13.550 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) in phi2
13.550 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi2
13.550 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2
13.551 * [taylor]: Taking taylor expansion of 0.5 in phi2
13.551 * [backup-simplify]: Simplify 0.5 into 0.5
13.551 * [taylor]: Taking taylor expansion of phi1 in phi2
13.551 * [backup-simplify]: Simplify phi1 into phi1
13.551 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
13.551 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
13.551 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
13.551 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2
13.551 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2
13.551 * [taylor]: Taking taylor expansion of 0.5 in phi2
13.551 * [backup-simplify]: Simplify 0.5 into 0.5
13.551 * [taylor]: Taking taylor expansion of phi2 in phi2
13.551 * [backup-simplify]: Simplify 0 into 0
13.551 * [backup-simplify]: Simplify 1 into 1
13.552 * [backup-simplify]: Simplify (* 0.5 0) into 0
13.553 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
13.553 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))) in phi2
13.553 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi2
13.553 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2
13.553 * [taylor]: Taking taylor expansion of 0.5 in phi2
13.553 * [backup-simplify]: Simplify 0.5 into 0.5
13.553 * [taylor]: Taking taylor expansion of phi1 in phi2
13.553 * [backup-simplify]: Simplify phi1 into phi1
13.553 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
13.553 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
13.553 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
13.554 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2
13.554 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2
13.554 * [taylor]: Taking taylor expansion of 0.5 in phi2
13.554 * [backup-simplify]: Simplify 0.5 into 0.5
13.554 * [taylor]: Taking taylor expansion of phi2 in phi2
13.554 * [backup-simplify]: Simplify 0 into 0
13.554 * [backup-simplify]: Simplify 1 into 1
13.554 * [backup-simplify]: Simplify (* 0.5 0) into 0
13.555 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
13.555 * [taylor]: Taking taylor expansion of (* (- phi1 phi2) (- phi1 phi2)) in phi2
13.555 * [taylor]: Taking taylor expansion of (- phi1 phi2) in phi2
13.556 * [taylor]: Taking taylor expansion of phi1 in phi2
13.556 * [backup-simplify]: Simplify phi1 into phi1
13.556 * [taylor]: Taking taylor expansion of phi2 in phi2
13.556 * [backup-simplify]: Simplify 0 into 0
13.556 * [backup-simplify]: Simplify 1 into 1
13.556 * [taylor]: Taking taylor expansion of (- phi1 phi2) in phi2
13.556 * [taylor]: Taking taylor expansion of phi1 in phi2
13.556 * [backup-simplify]: Simplify phi1 into phi1
13.556 * [taylor]: Taking taylor expansion of phi2 in phi2
13.556 * [backup-simplify]: Simplify 0 into 0
13.556 * [backup-simplify]: Simplify 1 into 1
13.556 * [backup-simplify]: Simplify (- lambda2) into (- lambda2)
13.556 * [backup-simplify]: Simplify (+ lambda1 (- lambda2)) into (- lambda1 lambda2)
13.556 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
13.556 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
13.556 * [backup-simplify]: Simplify (- 0) into 0
13.557 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
13.557 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
13.557 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1))
13.557 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0
13.557 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1))
13.557 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
13.557 * [backup-simplify]: Simplify (- 0) into 0
13.558 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
13.558 * [backup-simplify]: Simplify (* (- lambda1 lambda2) (cos (* 0.5 phi1))) into (* (- lambda1 lambda2) (cos (* 0.5 phi1)))
13.558 * [backup-simplify]: Simplify (- lambda2) into (- lambda2)
13.558 * [backup-simplify]: Simplify (+ lambda1 (- lambda2)) into (- lambda1 lambda2)
13.558 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
13.558 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
13.558 * [backup-simplify]: Simplify (- 0) into 0
13.558 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
13.559 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
13.559 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1))
13.559 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0
13.559 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1))
13.559 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
13.559 * [backup-simplify]: Simplify (- 0) into 0
13.559 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
13.560 * [backup-simplify]: Simplify (* (- lambda1 lambda2) (cos (* 0.5 phi1))) into (* (- lambda1 lambda2) (cos (* 0.5 phi1)))
13.560 * [backup-simplify]: Simplify (* (* (- lambda1 lambda2) (cos (* 0.5 phi1))) (* (- lambda1 lambda2) (cos (* 0.5 phi1)))) into (* (pow (- lambda1 lambda2) 2) (pow (cos (* 0.5 phi1)) 2))
13.560 * [backup-simplify]: Simplify (- 0) into 0
13.560 * [backup-simplify]: Simplify (+ phi1 0) into phi1
13.561 * [backup-simplify]: Simplify (- 0) into 0
13.561 * [backup-simplify]: Simplify (+ phi1 0) into phi1
13.561 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
13.561 * [backup-simplify]: Simplify (+ (* (pow (- lambda1 lambda2) 2) (pow (cos (* 0.5 phi1)) 2)) (pow phi1 2)) into (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (+ (* (pow lambda2 2) (pow (cos (* 0.5 phi1)) 2)) (pow phi1 2))) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi1)) 2)))))
13.563 * [backup-simplify]: Simplify (sqrt (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (+ (* (pow lambda2 2) (pow (cos (* 0.5 phi1)) 2)) (pow phi1 2))) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi1)) 2)))))) into (sqrt (- (+ (* (pow lambda1 2) (pow (cos (* 0.5 phi1)) 2)) (+ (* (pow lambda2 2) (pow (cos (* 0.5 phi1)) 2)) (pow phi1 2))) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi1)) 2))))))
13.563 * [backup-simplify]: Simplify (+ 0) into 0
13.564 * [backup-simplify]: Simplify (+ 0) into 0
13.564 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0
13.565 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0
13.565 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.566 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 0)) into 0
13.566 * [backup-simplify]: Simplify (- 0) into 0
13.566 * [backup-simplify]: Simplify (+ 0 0) into 0
13.567 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0
13.569 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5
13.569 * [backup-simplify]: Simplify (+ 0) into 0
13.570 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 1)) into 0
13.570 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0
13.571 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.571 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 0)) into 0
13.571 * [backup-simplify]: Simplify (+ 0 0) into 0
13.571 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1)))
13.571 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1))))
13.571 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1))))
13.572 * [backup-simplify]: Simplify (- 0) into 0
13.572 * [backup-simplify]: Simplify (+ 0 0) into 0
13.572 * [backup-simplify]: Simplify (+ (* (- lambda1 lambda2) (- (* 0.5 (sin (* 0.5 phi1))))) (* 0 (cos (* 0.5 phi1)))) into (- (* 0.5 (* lambda2 (sin (* 0.5 phi1)))) (* 0.5 (* lambda1 (sin (* 0.5 phi1)))))
13.572 * [backup-simplify]: Simplify (+ 0) into 0
13.573 * [backup-simplify]: Simplify (+ 0) into 0
13.573 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0
13.573 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0
13.574 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.574 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 0)) into 0
13.574 * [backup-simplify]: Simplify (- 0) into 0
13.574 * [backup-simplify]: Simplify (+ 0 0) into 0
13.575 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0
13.576 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5
13.576 * [backup-simplify]: Simplify (+ 0) into 0
13.577 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 1)) into 0
13.577 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0
13.577 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.578 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 0)) into 0
13.578 * [backup-simplify]: Simplify (+ 0 0) into 0
13.578 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1)))
13.578 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1))))
13.578 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1))))
13.579 * [backup-simplify]: Simplify (- 0) into 0
13.579 * [backup-simplify]: Simplify (+ 0 0) into 0
13.579 * [backup-simplify]: Simplify (+ (* (- lambda1 lambda2) (- (* 0.5 (sin (* 0.5 phi1))))) (* 0 (cos (* 0.5 phi1)))) into (- (* 0.5 (* lambda2 (sin (* 0.5 phi1)))) (* 0.5 (* lambda1 (sin (* 0.5 phi1)))))
13.580 * [backup-simplify]: Simplify (+ (* (* (- lambda1 lambda2) (cos (* 0.5 phi1))) (- (* 0.5 (* lambda2 (sin (* 0.5 phi1)))) (* 0.5 (* lambda1 (sin (* 0.5 phi1)))))) (* (- (* 0.5 (* lambda2 (sin (* 0.5 phi1)))) (* 0.5 (* lambda1 (sin (* 0.5 phi1))))) (* (- lambda1 lambda2) (cos (* 0.5 phi1))))) into (- (+ (* 0.5 (* lambda1 (* lambda2 (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1)))))) (+ (* 0.5 (* lambda2 (* (cos (* 0.5 phi1)) (* lambda1 (sin (* 0.5 phi1)))))) (* 1.0 (* lambda2 (* (sin (* 0.5 phi1)) (* lambda1 (cos (* 0.5 phi1)))))))) (+ (* 0.5 (* (pow lambda2 2) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) (+ (* 0.5 (* (pow lambda2 2) (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1))))) (* 1.0 (* (sin (* 0.5 phi1)) (* (pow lambda1 2) (cos (* 0.5 phi1))))))))
13.580 * [backup-simplify]: Simplify (- 1) into -1
13.580 * [backup-simplify]: Simplify (+ 0 -1) into -1
13.581 * [backup-simplify]: Simplify (- 1) into -1
13.581 * [backup-simplify]: Simplify (+ 0 -1) into -1
13.581 * [backup-simplify]: Simplify (+ (* phi1 -1) (* -1 phi1)) into (- (* 2 phi1))
13.583 * [backup-simplify]: Simplify (+ (- (+ (* 0.5 (* lambda1 (* lambda2 (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1)))))) (+ (* 0.5 (* lambda2 (* (cos (* 0.5 phi1)) (* lambda1 (sin (* 0.5 phi1)))))) (* 1.0 (* lambda2 (* (sin (* 0.5 phi1)) (* lambda1 (cos (* 0.5 phi1)))))))) (+ (* 0.5 (* (pow lambda2 2) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) (+ (* 0.5 (* (pow lambda2 2) (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1))))) (* 1.0 (* (sin (* 0.5 phi1)) (* (pow lambda1 2) (cos (* 0.5 phi1)))))))) (- (* 2 phi1))) into (- (+ (* 1.5 (* lambda1 (* lambda2 (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1)))))) (* 0.5 (* lambda1 (* lambda2 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))) (+ (* 1.0 (* (pow lambda2 2) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (pow lambda1 2) (sin (* 0.5 phi1))))) (* 2 phi1))))
13.585 * [backup-simplify]: Simplify (/ (- (+ (* 1.5 (* lambda1 (* lambda2 (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1)))))) (* 0.5 (* lambda1 (* lambda2 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))) (+ (* 1.0 (* (pow lambda2 2) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (pow lambda1 2) (sin (* 0.5 phi1))))) (* 2 phi1)))) (* 2 (sqrt (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (+ (* (pow lambda2 2) (pow (cos (* 0.5 phi1)) 2)) (pow phi1 2))) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi1)) 2)))))))) into (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow lambda1 2) (pow (cos (* 0.5 phi1)) 2)) (+ (* (pow lambda2 2) (pow (cos (* 0.5 phi1)) 2)) (pow phi1 2))) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi1)) 2))))))) (- (+ (* 1.5 (* lambda1 (* lambda2 (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1)))))) (* 0.5 (* lambda1 (* lambda2 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))) (+ (* 2 phi1) (+ (* 1.0 (* (pow lambda2 2) (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1))))) (* 1.0 (* (cos (* 0.5 phi1)) (* (pow lambda1 2) (sin (* 0.5 phi1))))))))))
13.585 * [taylor]: Taking taylor expansion of R in phi2
13.585 * [backup-simplify]: Simplify R into R
13.585 * [taylor]: Taking taylor expansion of (* (hypot (* (- lambda1 lambda2) (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))) (- phi1 phi2)) R) in phi1
13.585 * [taylor]: Taking taylor expansion of (hypot (* (- lambda1 lambda2) (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))) (- phi1 phi2)) in phi1
13.585 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- lambda1 lambda2) (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))) (* (- lambda1 lambda2) (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))))) (* (- phi1 phi2) (- phi1 phi2))))
13.585 * [taylor]: Taking taylor expansion of (+ (* (* (- lambda1 lambda2) (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))) (* (- lambda1 lambda2) (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))))) (* (- phi1 phi2) (- phi1 phi2))) in phi1
13.585 * [taylor]: Taking taylor expansion of (* (* (- lambda1 lambda2) (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))) (* (- lambda1 lambda2) (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))))) in phi1
13.585 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))) in phi1
13.585 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in phi1
13.585 * [taylor]: Taking taylor expansion of lambda1 in phi1
13.585 * [backup-simplify]: Simplify lambda1 into lambda1
13.585 * [taylor]: Taking taylor expansion of lambda2 in phi1
13.585 * [backup-simplify]: Simplify lambda2 into lambda2
13.585 * [taylor]: Taking taylor expansion of (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))) in phi1
13.585 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) in phi1
13.585 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1
13.585 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
13.585 * [taylor]: Taking taylor expansion of 0.5 in phi1
13.585 * [backup-simplify]: Simplify 0.5 into 0.5
13.585 * [taylor]: Taking taylor expansion of phi1 in phi1
13.585 * [backup-simplify]: Simplify 0 into 0
13.585 * [backup-simplify]: Simplify 1 into 1
13.585 * [backup-simplify]: Simplify (* 0.5 0) into 0
13.586 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
13.586 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi1
13.586 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi1
13.586 * [taylor]: Taking taylor expansion of 0.5 in phi1
13.586 * [backup-simplify]: Simplify 0.5 into 0.5
13.586 * [taylor]: Taking taylor expansion of phi2 in phi1
13.586 * [backup-simplify]: Simplify phi2 into phi2
13.586 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
13.587 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
13.587 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
13.587 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))) in phi1
13.587 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1
13.587 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
13.587 * [taylor]: Taking taylor expansion of 0.5 in phi1
13.587 * [backup-simplify]: Simplify 0.5 into 0.5
13.587 * [taylor]: Taking taylor expansion of phi1 in phi1
13.587 * [backup-simplify]: Simplify 0 into 0
13.587 * [backup-simplify]: Simplify 1 into 1
13.587 * [backup-simplify]: Simplify (* 0.5 0) into 0
13.588 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
13.588 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi1
13.588 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi1
13.588 * [taylor]: Taking taylor expansion of 0.5 in phi1
13.588 * [backup-simplify]: Simplify 0.5 into 0.5
13.588 * [taylor]: Taking taylor expansion of phi2 in phi1
13.588 * [backup-simplify]: Simplify phi2 into phi2
13.588 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
13.588 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
13.588 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
13.588 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))) in phi1
13.588 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in phi1
13.588 * [taylor]: Taking taylor expansion of lambda1 in phi1
13.588 * [backup-simplify]: Simplify lambda1 into lambda1
13.588 * [taylor]: Taking taylor expansion of lambda2 in phi1
13.588 * [backup-simplify]: Simplify lambda2 into lambda2
13.588 * [taylor]: Taking taylor expansion of (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))) in phi1
13.588 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) in phi1
13.588 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1
13.588 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
13.588 * [taylor]: Taking taylor expansion of 0.5 in phi1
13.588 * [backup-simplify]: Simplify 0.5 into 0.5
13.588 * [taylor]: Taking taylor expansion of phi1 in phi1
13.588 * [backup-simplify]: Simplify 0 into 0
13.588 * [backup-simplify]: Simplify 1 into 1
13.589 * [backup-simplify]: Simplify (* 0.5 0) into 0
13.590 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
13.590 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi1
13.590 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi1
13.590 * [taylor]: Taking taylor expansion of 0.5 in phi1
13.590 * [backup-simplify]: Simplify 0.5 into 0.5
13.590 * [taylor]: Taking taylor expansion of phi2 in phi1
13.590 * [backup-simplify]: Simplify phi2 into phi2
13.590 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
13.590 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
13.590 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
13.590 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))) in phi1
13.590 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1
13.590 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
13.590 * [taylor]: Taking taylor expansion of 0.5 in phi1
13.590 * [backup-simplify]: Simplify 0.5 into 0.5
13.590 * [taylor]: Taking taylor expansion of phi1 in phi1
13.590 * [backup-simplify]: Simplify 0 into 0
13.590 * [backup-simplify]: Simplify 1 into 1
13.590 * [backup-simplify]: Simplify (* 0.5 0) into 0
13.591 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
13.591 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi1
13.591 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi1
13.591 * [taylor]: Taking taylor expansion of 0.5 in phi1
13.591 * [backup-simplify]: Simplify 0.5 into 0.5
13.591 * [taylor]: Taking taylor expansion of phi2 in phi1
13.591 * [backup-simplify]: Simplify phi2 into phi2
13.591 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
13.591 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
13.591 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
13.591 * [taylor]: Taking taylor expansion of (* (- phi1 phi2) (- phi1 phi2)) in phi1
13.591 * [taylor]: Taking taylor expansion of (- phi1 phi2) in phi1
13.591 * [taylor]: Taking taylor expansion of phi1 in phi1
13.591 * [backup-simplify]: Simplify 0 into 0
13.591 * [backup-simplify]: Simplify 1 into 1
13.591 * [taylor]: Taking taylor expansion of phi2 in phi1
13.591 * [backup-simplify]: Simplify phi2 into phi2
13.591 * [taylor]: Taking taylor expansion of (- phi1 phi2) in phi1
13.591 * [taylor]: Taking taylor expansion of phi1 in phi1
13.591 * [backup-simplify]: Simplify 0 into 0
13.592 * [backup-simplify]: Simplify 1 into 1
13.592 * [taylor]: Taking taylor expansion of phi2 in phi1
13.592 * [backup-simplify]: Simplify phi2 into phi2
13.592 * [backup-simplify]: Simplify (- lambda2) into (- lambda2)
13.592 * [backup-simplify]: Simplify (+ lambda1 (- lambda2)) into (- lambda1 lambda2)
13.592 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2))
13.592 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0
13.592 * [backup-simplify]: Simplify (- 0) into 0
13.592 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2))
13.592 * [backup-simplify]: Simplify (* 1 (cos (* 0.5 phi2))) into (cos (* 0.5 phi2))
13.592 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2))
13.592 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0
13.592 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2))
13.592 * [backup-simplify]: Simplify (* 0 (sin (* 0.5 phi2))) into 0
13.593 * [backup-simplify]: Simplify (- 0) into 0
13.593 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2))
13.593 * [backup-simplify]: Simplify (* (- lambda1 lambda2) (cos (* 0.5 phi2))) into (* (- lambda1 lambda2) (cos (* 0.5 phi2)))
13.593 * [backup-simplify]: Simplify (- lambda2) into (- lambda2)
13.593 * [backup-simplify]: Simplify (+ lambda1 (- lambda2)) into (- lambda1 lambda2)
13.593 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2))
13.593 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0
13.593 * [backup-simplify]: Simplify (- 0) into 0
13.593 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2))
13.594 * [backup-simplify]: Simplify (* 1 (cos (* 0.5 phi2))) into (cos (* 0.5 phi2))
13.594 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2))
13.594 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0
13.594 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2))
13.594 * [backup-simplify]: Simplify (* 0 (sin (* 0.5 phi2))) into 0
13.594 * [backup-simplify]: Simplify (- 0) into 0
13.594 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2))
13.594 * [backup-simplify]: Simplify (* (- lambda1 lambda2) (cos (* 0.5 phi2))) into (* (- lambda1 lambda2) (cos (* 0.5 phi2)))
13.594 * [backup-simplify]: Simplify (* (* (- lambda1 lambda2) (cos (* 0.5 phi2))) (* (- lambda1 lambda2) (cos (* 0.5 phi2)))) into (* (pow (- lambda1 lambda2) 2) (pow (cos (* 0.5 phi2)) 2))
13.595 * [backup-simplify]: Simplify (- phi2) into (- phi2)
13.595 * [backup-simplify]: Simplify (+ 0 (- phi2)) into (- phi2)
13.595 * [backup-simplify]: Simplify (- phi2) into (- phi2)
13.595 * [backup-simplify]: Simplify (+ 0 (- phi2)) into (- phi2)
13.595 * [backup-simplify]: Simplify (* (- phi2) (- phi2)) into (pow phi2 2)
13.595 * [backup-simplify]: Simplify (+ (* (pow (- lambda1 lambda2) 2) (pow (cos (* 0.5 phi2)) 2)) (pow phi2 2)) into (- (+ (pow phi2 2) (+ (* (pow lambda1 2) (pow (cos (* 0.5 phi2)) 2)) (* (pow lambda2 2) (pow (cos (* 0.5 phi2)) 2)))) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi2)) 2)))))
13.596 * [backup-simplify]: Simplify (sqrt (- (+ (pow phi2 2) (+ (* (pow lambda1 2) (pow (cos (* 0.5 phi2)) 2)) (* (pow lambda2 2) (pow (cos (* 0.5 phi2)) 2)))) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi2)) 2)))))) into (sqrt (- (+ (pow phi2 2) (+ (* (pow lambda1 2) (pow (cos (* 0.5 phi2)) 2)) (* (pow lambda2 2) (pow (cos (* 0.5 phi2)) 2)))) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi2)) 2))))))
13.596 * [backup-simplify]: Simplify (+ 0) into 0
13.597 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0
13.597 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0
13.597 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.598 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 0)) into 0
13.598 * [backup-simplify]: Simplify (- 0) into 0
13.598 * [backup-simplify]: Simplify (+ 0 0) into 0
13.599 * [backup-simplify]: Simplify (+ 0) into 0
13.599 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (cos (* 0.5 phi2)))) into 0
13.600 * [backup-simplify]: Simplify (+ 0) into 0
13.600 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 1)) into 0
13.601 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0
13.601 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.602 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 0)) into 0
13.602 * [backup-simplify]: Simplify (+ 0 0) into 0
13.605 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5
13.605 * [backup-simplify]: Simplify (+ (* 0 0) (* 0.5 (sin (* 0.5 phi2)))) into (* 0.5 (sin (* 0.5 phi2)))
13.605 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi2)))) into (- (* 0.5 (sin (* 0.5 phi2))))
13.605 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi2))))) into (- (* 0.5 (sin (* 0.5 phi2))))
13.606 * [backup-simplify]: Simplify (- 0) into 0
13.606 * [backup-simplify]: Simplify (+ 0 0) into 0
13.606 * [backup-simplify]: Simplify (+ (* (- lambda1 lambda2) (- (* 0.5 (sin (* 0.5 phi2))))) (* 0 (cos (* 0.5 phi2)))) into (- (* 0.5 (* lambda2 (sin (* 0.5 phi2)))) (* 0.5 (* lambda1 (sin (* 0.5 phi2)))))
13.607 * [backup-simplify]: Simplify (+ 0) into 0
13.607 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0
13.608 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0
13.609 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.609 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 0)) into 0
13.609 * [backup-simplify]: Simplify (- 0) into 0
13.610 * [backup-simplify]: Simplify (+ 0 0) into 0
13.610 * [backup-simplify]: Simplify (+ 0) into 0
13.611 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (cos (* 0.5 phi2)))) into 0
13.611 * [backup-simplify]: Simplify (+ 0) into 0
13.611 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 1)) into 0
13.612 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0
13.613 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.613 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 0)) into 0
13.613 * [backup-simplify]: Simplify (+ 0 0) into 0
13.616 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5
13.616 * [backup-simplify]: Simplify (+ (* 0 0) (* 0.5 (sin (* 0.5 phi2)))) into (* 0.5 (sin (* 0.5 phi2)))
13.616 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi2)))) into (- (* 0.5 (sin (* 0.5 phi2))))
13.616 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi2))))) into (- (* 0.5 (sin (* 0.5 phi2))))
13.617 * [backup-simplify]: Simplify (- 0) into 0
13.617 * [backup-simplify]: Simplify (+ 0 0) into 0
13.617 * [backup-simplify]: Simplify (+ (* (- lambda1 lambda2) (- (* 0.5 (sin (* 0.5 phi2))))) (* 0 (cos (* 0.5 phi2)))) into (- (* 0.5 (* lambda2 (sin (* 0.5 phi2)))) (* 0.5 (* lambda1 (sin (* 0.5 phi2)))))
13.619 * [backup-simplify]: Simplify (+ (* (* (- lambda1 lambda2) (cos (* 0.5 phi2))) (- (* 0.5 (* lambda2 (sin (* 0.5 phi2)))) (* 0.5 (* lambda1 (sin (* 0.5 phi2)))))) (* (- (* 0.5 (* lambda2 (sin (* 0.5 phi2)))) (* 0.5 (* lambda1 (sin (* 0.5 phi2))))) (* (- lambda1 lambda2) (cos (* 0.5 phi2))))) into (- (* 2.0 (* lambda2 (* lambda1 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))) (+ (* 1.0 (* (pow lambda2 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))) (* 1.0 (* (pow lambda1 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))))
13.619 * [backup-simplify]: Simplify (- 0) into 0
13.620 * [backup-simplify]: Simplify (+ 1 0) into 1
13.620 * [backup-simplify]: Simplify (- 0) into 0
13.621 * [backup-simplify]: Simplify (+ 1 0) into 1
13.621 * [backup-simplify]: Simplify (+ (* (- phi2) 1) (* 1 (- phi2))) into (- (* 2 phi2))
13.622 * [backup-simplify]: Simplify (+ (- (* 2.0 (* lambda2 (* lambda1 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))) (+ (* 1.0 (* (pow lambda2 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))) (* 1.0 (* (pow lambda1 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))))) (- (* 2 phi2))) into (- (* 2.0 (* lambda2 (* lambda1 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))) (+ (* 1.0 (* (pow lambda2 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))) (+ (* 1.0 (* (pow lambda1 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))) (* 2 phi2))))
13.625 * [backup-simplify]: Simplify (/ (- (* 2.0 (* lambda2 (* lambda1 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))) (+ (* 1.0 (* (pow lambda2 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))) (+ (* 1.0 (* (pow lambda1 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))) (* 2 phi2)))) (* 2 (sqrt (- (+ (pow phi2 2) (+ (* (pow lambda1 2) (pow (cos (* 0.5 phi2)) 2)) (* (pow lambda2 2) (pow (cos (* 0.5 phi2)) 2)))) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi2)) 2)))))))) into (* 1/2 (* (sqrt (/ 1 (- (+ (pow phi2 2) (+ (* (pow lambda1 2) (pow (cos (* 0.5 phi2)) 2)) (* (pow lambda2 2) (pow (cos (* 0.5 phi2)) 2)))) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi2)) 2))))))) (- (* 2.0 (* lambda2 (* lambda1 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))) (+ (* 1.0 (* (pow lambda2 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))) (+ (* 1.0 (* (pow lambda1 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))) (* 2 phi2))))))
13.625 * [taylor]: Taking taylor expansion of R in phi1
13.625 * [backup-simplify]: Simplify R into R
13.625 * [taylor]: Taking taylor expansion of (* (hypot (* (- lambda1 lambda2) (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))) (- phi1 phi2)) R) in lambda2
13.625 * [taylor]: Taking taylor expansion of (hypot (* (- lambda1 lambda2) (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))) (- phi1 phi2)) in lambda2
13.625 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- lambda1 lambda2) (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))) (* (- lambda1 lambda2) (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))))) (* (- phi1 phi2) (- phi1 phi2))))
13.626 * [taylor]: Taking taylor expansion of (+ (* (* (- lambda1 lambda2) (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))) (* (- lambda1 lambda2) (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))))) (* (- phi1 phi2) (- phi1 phi2))) in lambda2
13.626 * [taylor]: Taking taylor expansion of (* (* (- lambda1 lambda2) (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))) (* (- lambda1 lambda2) (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))))) in lambda2
13.626 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))) in lambda2
13.626 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in lambda2
13.626 * [taylor]: Taking taylor expansion of lambda1 in lambda2
13.626 * [backup-simplify]: Simplify lambda1 into lambda1
13.626 * [taylor]: Taking taylor expansion of lambda2 in lambda2
13.626 * [backup-simplify]: Simplify 0 into 0
13.626 * [backup-simplify]: Simplify 1 into 1
13.626 * [taylor]: Taking taylor expansion of (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))) in lambda2
13.626 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) in lambda2
13.626 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda2
13.626 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
13.626 * [taylor]: Taking taylor expansion of 0.5 in lambda2
13.626 * [backup-simplify]: Simplify 0.5 into 0.5
13.626 * [taylor]: Taking taylor expansion of phi1 in lambda2
13.626 * [backup-simplify]: Simplify phi1 into phi1
13.626 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
13.626 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
13.626 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
13.626 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda2
13.626 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
13.626 * [taylor]: Taking taylor expansion of 0.5 in lambda2
13.626 * [backup-simplify]: Simplify 0.5 into 0.5
13.626 * [taylor]: Taking taylor expansion of phi2 in lambda2
13.626 * [backup-simplify]: Simplify phi2 into phi2
13.626 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
13.627 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
13.627 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
13.627 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))) in lambda2
13.627 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda2
13.627 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
13.627 * [taylor]: Taking taylor expansion of 0.5 in lambda2
13.627 * [backup-simplify]: Simplify 0.5 into 0.5
13.627 * [taylor]: Taking taylor expansion of phi1 in lambda2
13.627 * [backup-simplify]: Simplify phi1 into phi1
13.627 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
13.627 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
13.627 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
13.627 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda2
13.627 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
13.627 * [taylor]: Taking taylor expansion of 0.5 in lambda2
13.627 * [backup-simplify]: Simplify 0.5 into 0.5
13.627 * [taylor]: Taking taylor expansion of phi2 in lambda2
13.627 * [backup-simplify]: Simplify phi2 into phi2
13.627 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
13.627 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
13.627 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
13.627 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))) in lambda2
13.627 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in lambda2
13.628 * [taylor]: Taking taylor expansion of lambda1 in lambda2
13.628 * [backup-simplify]: Simplify lambda1 into lambda1
13.628 * [taylor]: Taking taylor expansion of lambda2 in lambda2
13.628 * [backup-simplify]: Simplify 0 into 0
13.628 * [backup-simplify]: Simplify 1 into 1
13.628 * [taylor]: Taking taylor expansion of (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))) in lambda2
13.628 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) in lambda2
13.628 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda2
13.628 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
13.628 * [taylor]: Taking taylor expansion of 0.5 in lambda2
13.628 * [backup-simplify]: Simplify 0.5 into 0.5
13.628 * [taylor]: Taking taylor expansion of phi1 in lambda2
13.628 * [backup-simplify]: Simplify phi1 into phi1
13.628 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
13.628 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
13.628 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
13.628 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda2
13.628 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
13.628 * [taylor]: Taking taylor expansion of 0.5 in lambda2
13.628 * [backup-simplify]: Simplify 0.5 into 0.5
13.628 * [taylor]: Taking taylor expansion of phi2 in lambda2
13.628 * [backup-simplify]: Simplify phi2 into phi2
13.628 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
13.628 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
13.628 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
13.628 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))) in lambda2
13.628 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda2
13.628 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
13.629 * [taylor]: Taking taylor expansion of 0.5 in lambda2
13.629 * [backup-simplify]: Simplify 0.5 into 0.5
13.629 * [taylor]: Taking taylor expansion of phi1 in lambda2
13.629 * [backup-simplify]: Simplify phi1 into phi1
13.629 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
13.629 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
13.629 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
13.629 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda2
13.629 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
13.629 * [taylor]: Taking taylor expansion of 0.5 in lambda2
13.629 * [backup-simplify]: Simplify 0.5 into 0.5
13.629 * [taylor]: Taking taylor expansion of phi2 in lambda2
13.629 * [backup-simplify]: Simplify phi2 into phi2
13.629 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
13.629 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
13.629 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
13.629 * [taylor]: Taking taylor expansion of (* (- phi1 phi2) (- phi1 phi2)) in lambda2
13.629 * [taylor]: Taking taylor expansion of (- phi1 phi2) in lambda2
13.629 * [taylor]: Taking taylor expansion of phi1 in lambda2
13.629 * [backup-simplify]: Simplify phi1 into phi1
13.629 * [taylor]: Taking taylor expansion of phi2 in lambda2
13.629 * [backup-simplify]: Simplify phi2 into phi2
13.629 * [taylor]: Taking taylor expansion of (- phi1 phi2) in lambda2
13.629 * [taylor]: Taking taylor expansion of phi1 in lambda2
13.629 * [backup-simplify]: Simplify phi1 into phi1
13.629 * [taylor]: Taking taylor expansion of phi2 in lambda2
13.629 * [backup-simplify]: Simplify phi2 into phi2
13.633 * [backup-simplify]: Simplify (- 0) into 0
13.633 * [backup-simplify]: Simplify (+ lambda1 0) into lambda1
13.633 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
13.633 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
13.634 * [backup-simplify]: Simplify (- 0) into 0
13.634 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
13.634 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2))
13.634 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0
13.634 * [backup-simplify]: Simplify (- 0) into 0
13.634 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2))
13.634 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) into (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2)))
13.635 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1))
13.635 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0
13.635 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1))
13.635 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2))
13.635 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0
13.635 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2))
13.635 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))) into (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))
13.635 * [backup-simplify]: Simplify (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))) into (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))
13.635 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))) into (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))
13.635 * [backup-simplify]: Simplify (* lambda1 (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))) into (* (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))) lambda1)
13.636 * [backup-simplify]: Simplify (- 0) into 0
13.636 * [backup-simplify]: Simplify (+ lambda1 0) into lambda1
13.636 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
13.636 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
13.636 * [backup-simplify]: Simplify (- 0) into 0
13.636 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
13.636 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2))
13.636 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0
13.637 * [backup-simplify]: Simplify (- 0) into 0
13.637 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2))
13.637 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) into (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2)))
13.637 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1))
13.637 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0
13.637 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1))
13.637 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2))
13.637 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0
13.637 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2))
13.637 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))) into (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))
13.637 * [backup-simplify]: Simplify (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))) into (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))
13.637 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))) into (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))
13.638 * [backup-simplify]: Simplify (* lambda1 (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))) into (* (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))) lambda1)
13.638 * [backup-simplify]: Simplify (* (* (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))) lambda1) (* (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))) lambda1)) into (* (pow (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))) 2) (pow lambda1 2))
13.638 * [backup-simplify]: Simplify (- phi2) into (- phi2)
13.638 * [backup-simplify]: Simplify (+ phi1 (- phi2)) into (- phi1 phi2)
13.638 * [backup-simplify]: Simplify (- phi2) into (- phi2)
13.638 * [backup-simplify]: Simplify (+ phi1 (- phi2)) into (- phi1 phi2)
13.638 * [backup-simplify]: Simplify (* (- phi1 phi2) (- phi1 phi2)) into (pow (- phi1 phi2) 2)
13.639 * [backup-simplify]: Simplify (+ (* (pow (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))) 2) (pow lambda1 2)) (pow (- phi1 phi2) 2)) into (- (+ (* (pow lambda1 2) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (* (pow lambda1 2) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) (+ (pow phi1 2) (pow phi2 2)))) (+ (* 2 (* phi1 phi2)) (+ (* (pow lambda1 2) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))) (* (pow lambda1 2) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))))))
13.641 * [backup-simplify]: Simplify (sqrt (- (+ (* (pow lambda1 2) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (* (pow lambda1 2) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) (+ (pow phi1 2) (pow phi2 2)))) (+ (* 2 (* phi1 phi2)) (+ (* (pow lambda1 2) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))) (* (pow lambda1 2) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))))))) into (sqrt (- (+ (* (pow lambda1 2) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) (+ (pow phi2 2) (+ (pow phi1 2) (* (pow (cos (* 0.5 phi1)) 2) (* (pow lambda1 2) (pow (cos (* 0.5 phi2)) 2)))))) (+ (* (pow lambda1 2) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))) (+ (* 2 (* phi1 phi2)) (* (pow lambda1 2) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))))))))
13.641 * [backup-simplify]: Simplify (+ 0) into 0
13.641 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0
13.642 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0
13.642 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.642 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 0)) into 0
13.643 * [backup-simplify]: Simplify (- 0) into 0
13.643 * [backup-simplify]: Simplify (+ 0 0) into 0
13.643 * [backup-simplify]: Simplify (+ 0) into 0
13.644 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0
13.644 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0
13.644 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.645 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 0)) into 0
13.645 * [backup-simplify]: Simplify (- 0) into 0
13.645 * [backup-simplify]: Simplify (+ 0 0) into 0
13.645 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 (cos (* 0.5 phi2)))) into 0
13.645 * [backup-simplify]: Simplify (+ 0) into 0
13.646 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 1)) into 0
13.646 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0
13.646 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.647 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 0)) into 0
13.647 * [backup-simplify]: Simplify (+ 0 0) into 0
13.647 * [backup-simplify]: Simplify (+ 0) into 0
13.648 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 1)) into 0
13.648 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0
13.648 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.649 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 0)) into 0
13.649 * [backup-simplify]: Simplify (+ 0 0) into 0
13.649 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 (sin (* 0.5 phi2)))) into 0
13.649 * [backup-simplify]: Simplify (- 0) into 0
13.649 * [backup-simplify]: Simplify (+ 0 0) into 0
13.650 * [backup-simplify]: Simplify (- 1) into -1
13.650 * [backup-simplify]: Simplify (+ 0 -1) into -1
13.650 * [backup-simplify]: Simplify (+ (* lambda1 0) (* -1 (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))))) into (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))) (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))))
13.650 * [backup-simplify]: Simplify (+ 0) into 0
13.651 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0
13.651 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0
13.651 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.652 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 0)) into 0
13.652 * [backup-simplify]: Simplify (- 0) into 0
13.652 * [backup-simplify]: Simplify (+ 0 0) into 0
13.652 * [backup-simplify]: Simplify (+ 0) into 0
13.653 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0
13.653 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0
13.654 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.654 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 0)) into 0
13.654 * [backup-simplify]: Simplify (- 0) into 0
13.654 * [backup-simplify]: Simplify (+ 0 0) into 0
13.654 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 (cos (* 0.5 phi2)))) into 0
13.655 * [backup-simplify]: Simplify (+ 0) into 0
13.655 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 1)) into 0
13.655 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0
13.656 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.656 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 0)) into 0
13.656 * [backup-simplify]: Simplify (+ 0 0) into 0
13.657 * [backup-simplify]: Simplify (+ 0) into 0
13.657 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 1)) into 0
13.657 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0
13.658 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.658 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 0)) into 0
13.658 * [backup-simplify]: Simplify (+ 0 0) into 0
13.659 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 (sin (* 0.5 phi2)))) into 0
13.659 * [backup-simplify]: Simplify (- 0) into 0
13.659 * [backup-simplify]: Simplify (+ 0 0) into 0
13.659 * [backup-simplify]: Simplify (- 1) into -1
13.659 * [backup-simplify]: Simplify (+ 0 -1) into -1
13.660 * [backup-simplify]: Simplify (+ (* lambda1 0) (* -1 (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))))) into (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))) (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))))
13.661 * [backup-simplify]: Simplify (+ (* (* (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))) lambda1) (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))) (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))))) (* (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))) (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2)))) (* (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))) lambda1))) into (- (+ (* lambda1 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))) (+ (* lambda1 (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))) (+ (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi2)) (* lambda1 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))) (* (cos (* 0.5 phi1)) (* (cos (* 0.5 phi2)) (* lambda1 (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1))))))))) (+ (* lambda1 (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (* lambda1 (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) (+ (* (pow (cos (* 0.5 phi1)) 2) (* lambda1 (pow (cos (* 0.5 phi2)) 2))) (* (pow (sin (* 0.5 phi1)) 2) (* lambda1 (pow (sin (* 0.5 phi2)) 2)))))))
13.661 * [backup-simplify]: Simplify (- 0) into 0
13.661 * [backup-simplify]: Simplify (+ 0 0) into 0
13.662 * [backup-simplify]: Simplify (- 0) into 0
13.662 * [backup-simplify]: Simplify (+ 0 0) into 0
13.662 * [backup-simplify]: Simplify (+ (* (- phi1 phi2) 0) (* 0 (- phi1 phi2))) into 0
13.665 * [backup-simplify]: Simplify (+ (- (+ (* lambda1 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))) (+ (* lambda1 (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))) (+ (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi2)) (* lambda1 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))) (* (cos (* 0.5 phi1)) (* (cos (* 0.5 phi2)) (* lambda1 (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1))))))))) (+ (* lambda1 (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (* lambda1 (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) (+ (* (pow (cos (* 0.5 phi1)) 2) (* lambda1 (pow (cos (* 0.5 phi2)) 2))) (* (pow (sin (* 0.5 phi1)) 2) (* lambda1 (pow (sin (* 0.5 phi2)) 2))))))) 0) into (- (+ (* lambda1 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))) (+ (* 2 (* lambda1 (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))))) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi2)) (* lambda1 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))))) (+ (* lambda1 (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (* 2 (* lambda1 (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)))) (* (pow (cos (* 0.5 phi1)) 2) (* lambda1 (pow (cos (* 0.5 phi2)) 2))))))
13.669 * [backup-simplify]: Simplify (/ (- (+ (* lambda1 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))) (+ (* 2 (* lambda1 (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))))) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi2)) (* lambda1 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))))) (+ (* lambda1 (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (* 2 (* lambda1 (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)))) (* (pow (cos (* 0.5 phi1)) 2) (* lambda1 (pow (cos (* 0.5 phi2)) 2)))))) (* 2 (sqrt (- (+ (* (pow lambda1 2) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (* (pow lambda1 2) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) (+ (pow phi1 2) (pow phi2 2)))) (+ (* 2 (* phi1 phi2)) (+ (* (pow lambda1 2) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))) (* (pow lambda1 2) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))))))))) into (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow lambda1 2) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) (+ (pow phi2 2) (+ (pow phi1 2) (* (pow (cos (* 0.5 phi1)) 2) (* (pow lambda1 2) (pow (cos (* 0.5 phi2)) 2)))))) (+ (* (pow lambda1 2) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))) (+ (* 2 (* phi1 phi2)) (* (pow lambda1 2) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))))))))) (- (+ (* 2 (* lambda1 (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))))) (* 2 (* lambda1 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))))) (+ (* 2 (* lambda1 (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)))) (* 2 (* lambda1 (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))))))))
13.669 * [taylor]: Taking taylor expansion of R in lambda2
13.669 * [backup-simplify]: Simplify R into R
13.669 * [taylor]: Taking taylor expansion of (* (hypot (* (- lambda1 lambda2) (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))) (- phi1 phi2)) R) in lambda1
13.669 * [taylor]: Taking taylor expansion of (hypot (* (- lambda1 lambda2) (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))) (- phi1 phi2)) in lambda1
13.669 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- lambda1 lambda2) (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))) (* (- lambda1 lambda2) (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))))) (* (- phi1 phi2) (- phi1 phi2))))
13.669 * [taylor]: Taking taylor expansion of (+ (* (* (- lambda1 lambda2) (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))) (* (- lambda1 lambda2) (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))))) (* (- phi1 phi2) (- phi1 phi2))) in lambda1
13.669 * [taylor]: Taking taylor expansion of (* (* (- lambda1 lambda2) (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))) (* (- lambda1 lambda2) (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))))) in lambda1
13.669 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))) in lambda1
13.669 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in lambda1
13.669 * [taylor]: Taking taylor expansion of lambda1 in lambda1
13.669 * [backup-simplify]: Simplify 0 into 0
13.669 * [backup-simplify]: Simplify 1 into 1
13.669 * [taylor]: Taking taylor expansion of lambda2 in lambda1
13.670 * [backup-simplify]: Simplify lambda2 into lambda2
13.670 * [taylor]: Taking taylor expansion of (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))) in lambda1
13.670 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) in lambda1
13.670 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda1
13.670 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda1
13.670 * [taylor]: Taking taylor expansion of 0.5 in lambda1
13.670 * [backup-simplify]: Simplify 0.5 into 0.5
13.670 * [taylor]: Taking taylor expansion of phi1 in lambda1
13.670 * [backup-simplify]: Simplify phi1 into phi1
13.670 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
13.670 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
13.670 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
13.670 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda1
13.670 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda1
13.670 * [taylor]: Taking taylor expansion of 0.5 in lambda1
13.670 * [backup-simplify]: Simplify 0.5 into 0.5
13.670 * [taylor]: Taking taylor expansion of phi2 in lambda1
13.670 * [backup-simplify]: Simplify phi2 into phi2
13.670 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
13.670 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
13.670 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
13.670 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))) in lambda1
13.670 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda1
13.670 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda1
13.670 * [taylor]: Taking taylor expansion of 0.5 in lambda1
13.670 * [backup-simplify]: Simplify 0.5 into 0.5
13.670 * [taylor]: Taking taylor expansion of phi1 in lambda1
13.670 * [backup-simplify]: Simplify phi1 into phi1
13.670 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
13.670 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
13.670 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
13.670 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda1
13.670 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda1
13.670 * [taylor]: Taking taylor expansion of 0.5 in lambda1
13.670 * [backup-simplify]: Simplify 0.5 into 0.5
13.670 * [taylor]: Taking taylor expansion of phi2 in lambda1
13.670 * [backup-simplify]: Simplify phi2 into phi2
13.670 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
13.670 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
13.671 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
13.671 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))) in lambda1
13.671 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in lambda1
13.671 * [taylor]: Taking taylor expansion of lambda1 in lambda1
13.671 * [backup-simplify]: Simplify 0 into 0
13.671 * [backup-simplify]: Simplify 1 into 1
13.671 * [taylor]: Taking taylor expansion of lambda2 in lambda1
13.671 * [backup-simplify]: Simplify lambda2 into lambda2
13.671 * [taylor]: Taking taylor expansion of (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))) in lambda1
13.671 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) in lambda1
13.671 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda1
13.671 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda1
13.671 * [taylor]: Taking taylor expansion of 0.5 in lambda1
13.671 * [backup-simplify]: Simplify 0.5 into 0.5
13.671 * [taylor]: Taking taylor expansion of phi1 in lambda1
13.671 * [backup-simplify]: Simplify phi1 into phi1
13.671 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
13.671 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
13.671 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
13.671 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda1
13.671 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda1
13.671 * [taylor]: Taking taylor expansion of 0.5 in lambda1
13.671 * [backup-simplify]: Simplify 0.5 into 0.5
13.671 * [taylor]: Taking taylor expansion of phi2 in lambda1
13.671 * [backup-simplify]: Simplify phi2 into phi2
13.671 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
13.671 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
13.671 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
13.671 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))) in lambda1
13.671 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda1
13.671 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda1
13.671 * [taylor]: Taking taylor expansion of 0.5 in lambda1
13.671 * [backup-simplify]: Simplify 0.5 into 0.5
13.671 * [taylor]: Taking taylor expansion of phi1 in lambda1
13.671 * [backup-simplify]: Simplify phi1 into phi1
13.671 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
13.671 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
13.671 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
13.671 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda1
13.671 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda1
13.671 * [taylor]: Taking taylor expansion of 0.5 in lambda1
13.672 * [backup-simplify]: Simplify 0.5 into 0.5
13.672 * [taylor]: Taking taylor expansion of phi2 in lambda1
13.672 * [backup-simplify]: Simplify phi2 into phi2
13.672 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
13.672 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
13.672 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
13.672 * [taylor]: Taking taylor expansion of (* (- phi1 phi2) (- phi1 phi2)) in lambda1
13.672 * [taylor]: Taking taylor expansion of (- phi1 phi2) in lambda1
13.672 * [taylor]: Taking taylor expansion of phi1 in lambda1
13.672 * [backup-simplify]: Simplify phi1 into phi1
13.672 * [taylor]: Taking taylor expansion of phi2 in lambda1
13.672 * [backup-simplify]: Simplify phi2 into phi2
13.672 * [taylor]: Taking taylor expansion of (- phi1 phi2) in lambda1
13.672 * [taylor]: Taking taylor expansion of phi1 in lambda1
13.672 * [backup-simplify]: Simplify phi1 into phi1
13.672 * [taylor]: Taking taylor expansion of phi2 in lambda1
13.672 * [backup-simplify]: Simplify phi2 into phi2
13.672 * [backup-simplify]: Simplify (- lambda2) into (- lambda2)
13.672 * [backup-simplify]: Simplify (+ 0 (- lambda2)) into (- lambda2)
13.672 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
13.672 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
13.672 * [backup-simplify]: Simplify (- 0) into 0
13.673 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
13.673 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2))
13.673 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0
13.673 * [backup-simplify]: Simplify (- 0) into 0
13.673 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2))
13.673 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) into (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2)))
13.673 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1))
13.673 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0
13.673 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1))
13.673 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2))
13.673 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0
13.673 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2))
13.674 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))) into (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))
13.674 * [backup-simplify]: Simplify (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))) into (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))
13.674 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))) into (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))
13.674 * [backup-simplify]: Simplify (* (- lambda2) (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))) into (* -1 (* lambda2 (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))))
13.674 * [backup-simplify]: Simplify (- lambda2) into (- lambda2)
13.674 * [backup-simplify]: Simplify (+ 0 (- lambda2)) into (- lambda2)
13.674 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
13.674 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
13.675 * [backup-simplify]: Simplify (- 0) into 0
13.675 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
13.675 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2))
13.675 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0
13.675 * [backup-simplify]: Simplify (- 0) into 0
13.675 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2))
13.675 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) into (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2)))
13.675 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1))
13.675 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0
13.675 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1))
13.675 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2))
13.675 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0
13.676 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2))
13.676 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))) into (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))
13.676 * [backup-simplify]: Simplify (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))) into (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))
13.676 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))) into (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))
13.676 * [backup-simplify]: Simplify (* (- lambda2) (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))) into (* -1 (* lambda2 (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))))
13.676 * [backup-simplify]: Simplify (* (* -1 (* lambda2 (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))))) (* -1 (* lambda2 (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))))) into (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))) 2))
13.677 * [backup-simplify]: Simplify (- phi2) into (- phi2)
13.677 * [backup-simplify]: Simplify (+ phi1 (- phi2)) into (- phi1 phi2)
13.677 * [backup-simplify]: Simplify (- phi2) into (- phi2)
13.677 * [backup-simplify]: Simplify (+ phi1 (- phi2)) into (- phi1 phi2)
13.677 * [backup-simplify]: Simplify (* (- phi1 phi2) (- phi1 phi2)) into (pow (- phi1 phi2) 2)
13.677 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))) 2)) (pow (- phi1 phi2) 2)) into (- (+ (* (pow lambda2 2) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) (+ (* (pow lambda2 2) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (pow phi2 2) (pow phi1 2)))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))) (* 2 (* phi1 phi2)))))
13.679 * [backup-simplify]: Simplify (sqrt (- (+ (* (pow lambda2 2) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) (+ (* (pow lambda2 2) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (pow phi2 2) (pow phi1 2)))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))) (* 2 (* phi1 phi2)))))) into (sqrt (- (+ (* (pow lambda2 2) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) (+ (* (pow lambda2 2) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (pow phi2 2) (pow phi1 2)))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))) (* 2 (* phi1 phi2))))))
13.680 * [backup-simplify]: Simplify (+ 0) into 0
13.680 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0
13.680 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0
13.681 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.681 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 0)) into 0
13.681 * [backup-simplify]: Simplify (- 0) into 0
13.681 * [backup-simplify]: Simplify (+ 0 0) into 0
13.682 * [backup-simplify]: Simplify (+ 0) into 0
13.682 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0
13.682 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0
13.683 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.683 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 0)) into 0
13.683 * [backup-simplify]: Simplify (- 0) into 0
13.684 * [backup-simplify]: Simplify (+ 0 0) into 0
13.684 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 (cos (* 0.5 phi2)))) into 0
13.684 * [backup-simplify]: Simplify (+ 0) into 0
13.684 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 1)) into 0
13.685 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0
13.685 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.685 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 0)) into 0
13.686 * [backup-simplify]: Simplify (+ 0 0) into 0
13.686 * [backup-simplify]: Simplify (+ 0) into 0
13.686 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 1)) into 0
13.687 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0
13.687 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.687 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 0)) into 0
13.688 * [backup-simplify]: Simplify (+ 0 0) into 0
13.688 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 (sin (* 0.5 phi2)))) into 0
13.688 * [backup-simplify]: Simplify (- 0) into 0
13.688 * [backup-simplify]: Simplify (+ 0 0) into 0
13.688 * [backup-simplify]: Simplify (- 0) into 0
13.689 * [backup-simplify]: Simplify (+ 1 0) into 1
13.690 * [backup-simplify]: Simplify (+ (* (- lambda2) 0) (* 1 (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))))) into (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))
13.690 * [backup-simplify]: Simplify (+ 0) into 0
13.690 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0
13.691 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0
13.692 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.692 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 0)) into 0
13.692 * [backup-simplify]: Simplify (- 0) into 0
13.693 * [backup-simplify]: Simplify (+ 0 0) into 0
13.693 * [backup-simplify]: Simplify (+ 0) into 0
13.693 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0
13.694 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0
13.694 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.694 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 0)) into 0
13.695 * [backup-simplify]: Simplify (- 0) into 0
13.695 * [backup-simplify]: Simplify (+ 0 0) into 0
13.695 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 (cos (* 0.5 phi2)))) into 0
13.695 * [backup-simplify]: Simplify (+ 0) into 0
13.696 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 1)) into 0
13.696 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0
13.696 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.697 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 0)) into 0
13.697 * [backup-simplify]: Simplify (+ 0 0) into 0
13.697 * [backup-simplify]: Simplify (+ 0) into 0
13.698 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 1)) into 0
13.698 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0
13.698 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.699 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 0)) into 0
13.699 * [backup-simplify]: Simplify (+ 0 0) into 0
13.699 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 (sin (* 0.5 phi2)))) into 0
13.699 * [backup-simplify]: Simplify (- 0) into 0
13.699 * [backup-simplify]: Simplify (+ 0 0) into 0
13.700 * [backup-simplify]: Simplify (- 0) into 0
13.700 * [backup-simplify]: Simplify (+ 1 0) into 1
13.700 * [backup-simplify]: Simplify (+ (* (- lambda2) 0) (* 1 (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))))) into (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))
13.701 * [backup-simplify]: Simplify (+ (* (* -1 (* lambda2 (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))))) (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))) (* (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))) (* -1 (* lambda2 (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))))))) into (- (+ (* 2 (* lambda2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))))) (* 2 (* lambda2 (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))))) (+ (* 2 (* lambda2 (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)))) (* 2 (* lambda2 (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))))))
13.702 * [backup-simplify]: Simplify (- 0) into 0
13.702 * [backup-simplify]: Simplify (+ 0 0) into 0
13.702 * [backup-simplify]: Simplify (- 0) into 0
13.702 * [backup-simplify]: Simplify (+ 0 0) into 0
13.702 * [backup-simplify]: Simplify (+ (* (- phi1 phi2) 0) (* 0 (- phi1 phi2))) into 0
13.704 * [backup-simplify]: Simplify (+ (- (+ (* 2 (* lambda2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))))) (* 2 (* lambda2 (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))))) (+ (* 2 (* lambda2 (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)))) (* 2 (* lambda2 (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2)))))) 0) into (- (+ (* 2 (* lambda2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))))) (* 2 (* lambda2 (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))))) (+ (* 2 (* lambda2 (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)))) (* 2 (* lambda2 (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))))))
13.708 * [backup-simplify]: Simplify (/ (- (+ (* 2 (* lambda2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))))) (* 2 (* lambda2 (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))))) (+ (* 2 (* lambda2 (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)))) (* 2 (* lambda2 (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2)))))) (* 2 (sqrt (- (+ (* (pow lambda2 2) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) (+ (* (pow lambda2 2) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (pow phi2 2) (pow phi1 2)))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))) (* 2 (* phi1 phi2)))))))) into (* 1/2 (* (- (+ (* 2 (* lambda2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))))) (* 2 (* lambda2 (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))))) (+ (* 2 (* lambda2 (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)))) (* 2 (* lambda2 (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2)))))) (sqrt (/ 1 (- (+ (* (pow lambda2 2) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) (+ (* (pow lambda2 2) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (pow phi2 2) (pow phi1 2)))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))) (* 2 (* phi1 phi2)))))))))
13.708 * [taylor]: Taking taylor expansion of R in lambda1
13.708 * [backup-simplify]: Simplify R into R
13.708 * [taylor]: Taking taylor expansion of (* (hypot (* (- lambda1 lambda2) (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))) (- phi1 phi2)) R) in lambda1
13.708 * [taylor]: Taking taylor expansion of (hypot (* (- lambda1 lambda2) (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))) (- phi1 phi2)) in lambda1
13.708 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- lambda1 lambda2) (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))) (* (- lambda1 lambda2) (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))))) (* (- phi1 phi2) (- phi1 phi2))))
13.708 * [taylor]: Taking taylor expansion of (+ (* (* (- lambda1 lambda2) (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))) (* (- lambda1 lambda2) (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))))) (* (- phi1 phi2) (- phi1 phi2))) in lambda1
13.708 * [taylor]: Taking taylor expansion of (* (* (- lambda1 lambda2) (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))) (* (- lambda1 lambda2) (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))))) in lambda1
13.708 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))) in lambda1
13.708 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in lambda1
13.708 * [taylor]: Taking taylor expansion of lambda1 in lambda1
13.708 * [backup-simplify]: Simplify 0 into 0
13.708 * [backup-simplify]: Simplify 1 into 1
13.708 * [taylor]: Taking taylor expansion of lambda2 in lambda1
13.708 * [backup-simplify]: Simplify lambda2 into lambda2
13.708 * [taylor]: Taking taylor expansion of (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))) in lambda1
13.708 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) in lambda1
13.708 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda1
13.708 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda1
13.708 * [taylor]: Taking taylor expansion of 0.5 in lambda1
13.708 * [backup-simplify]: Simplify 0.5 into 0.5
13.708 * [taylor]: Taking taylor expansion of phi1 in lambda1
13.708 * [backup-simplify]: Simplify phi1 into phi1
13.708 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
13.708 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
13.708 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
13.708 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda1
13.708 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda1
13.708 * [taylor]: Taking taylor expansion of 0.5 in lambda1
13.708 * [backup-simplify]: Simplify 0.5 into 0.5
13.709 * [taylor]: Taking taylor expansion of phi2 in lambda1
13.709 * [backup-simplify]: Simplify phi2 into phi2
13.709 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
13.709 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
13.709 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
13.709 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))) in lambda1
13.709 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda1
13.709 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda1
13.709 * [taylor]: Taking taylor expansion of 0.5 in lambda1
13.709 * [backup-simplify]: Simplify 0.5 into 0.5
13.709 * [taylor]: Taking taylor expansion of phi1 in lambda1
13.709 * [backup-simplify]: Simplify phi1 into phi1
13.709 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
13.709 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
13.709 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
13.709 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda1
13.709 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda1
13.709 * [taylor]: Taking taylor expansion of 0.5 in lambda1
13.709 * [backup-simplify]: Simplify 0.5 into 0.5
13.709 * [taylor]: Taking taylor expansion of phi2 in lambda1
13.709 * [backup-simplify]: Simplify phi2 into phi2
13.709 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
13.709 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
13.709 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
13.709 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))) in lambda1
13.709 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in lambda1
13.709 * [taylor]: Taking taylor expansion of lambda1 in lambda1
13.709 * [backup-simplify]: Simplify 0 into 0
13.709 * [backup-simplify]: Simplify 1 into 1
13.709 * [taylor]: Taking taylor expansion of lambda2 in lambda1
13.709 * [backup-simplify]: Simplify lambda2 into lambda2
13.709 * [taylor]: Taking taylor expansion of (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))) in lambda1
13.709 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) in lambda1
13.709 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda1
13.709 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda1
13.709 * [taylor]: Taking taylor expansion of 0.5 in lambda1
13.709 * [backup-simplify]: Simplify 0.5 into 0.5
13.709 * [taylor]: Taking taylor expansion of phi1 in lambda1
13.709 * [backup-simplify]: Simplify phi1 into phi1
13.709 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
13.710 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
13.710 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
13.710 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda1
13.710 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda1
13.710 * [taylor]: Taking taylor expansion of 0.5 in lambda1
13.710 * [backup-simplify]: Simplify 0.5 into 0.5
13.710 * [taylor]: Taking taylor expansion of phi2 in lambda1
13.710 * [backup-simplify]: Simplify phi2 into phi2
13.710 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
13.710 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
13.710 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
13.710 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))) in lambda1
13.710 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda1
13.710 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda1
13.710 * [taylor]: Taking taylor expansion of 0.5 in lambda1
13.710 * [backup-simplify]: Simplify 0.5 into 0.5
13.710 * [taylor]: Taking taylor expansion of phi1 in lambda1
13.710 * [backup-simplify]: Simplify phi1 into phi1
13.710 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
13.710 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
13.710 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
13.710 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda1
13.710 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda1
13.710 * [taylor]: Taking taylor expansion of 0.5 in lambda1
13.710 * [backup-simplify]: Simplify 0.5 into 0.5
13.710 * [taylor]: Taking taylor expansion of phi2 in lambda1
13.710 * [backup-simplify]: Simplify phi2 into phi2
13.710 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
13.710 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
13.710 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
13.710 * [taylor]: Taking taylor expansion of (* (- phi1 phi2) (- phi1 phi2)) in lambda1
13.710 * [taylor]: Taking taylor expansion of (- phi1 phi2) in lambda1
13.710 * [taylor]: Taking taylor expansion of phi1 in lambda1
13.710 * [backup-simplify]: Simplify phi1 into phi1
13.710 * [taylor]: Taking taylor expansion of phi2 in lambda1
13.710 * [backup-simplify]: Simplify phi2 into phi2
13.710 * [taylor]: Taking taylor expansion of (- phi1 phi2) in lambda1
13.710 * [taylor]: Taking taylor expansion of phi1 in lambda1
13.710 * [backup-simplify]: Simplify phi1 into phi1
13.710 * [taylor]: Taking taylor expansion of phi2 in lambda1
13.710 * [backup-simplify]: Simplify phi2 into phi2
13.710 * [backup-simplify]: Simplify (- lambda2) into (- lambda2)
13.711 * [backup-simplify]: Simplify (+ 0 (- lambda2)) into (- lambda2)
13.711 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
13.711 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
13.711 * [backup-simplify]: Simplify (- 0) into 0
13.711 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
13.711 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2))
13.711 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0
13.711 * [backup-simplify]: Simplify (- 0) into 0
13.712 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2))
13.712 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) into (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2)))
13.712 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1))
13.712 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0
13.712 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1))
13.712 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2))
13.712 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0
13.712 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2))
13.712 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))) into (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))
13.712 * [backup-simplify]: Simplify (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))) into (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))
13.712 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))) into (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))
13.713 * [backup-simplify]: Simplify (* (- lambda2) (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))) into (* -1 (* lambda2 (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))))
13.713 * [backup-simplify]: Simplify (- lambda2) into (- lambda2)
13.713 * [backup-simplify]: Simplify (+ 0 (- lambda2)) into (- lambda2)
13.713 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
13.713 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
13.713 * [backup-simplify]: Simplify (- 0) into 0
13.713 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
13.713 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2))
13.713 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0
13.713 * [backup-simplify]: Simplify (- 0) into 0
13.714 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2))
13.714 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) into (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2)))
13.714 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1))
13.714 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0
13.714 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1))
13.714 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2))
13.714 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0
13.714 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2))
13.714 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))) into (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))
13.714 * [backup-simplify]: Simplify (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))) into (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))
13.714 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))) into (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))
13.715 * [backup-simplify]: Simplify (* (- lambda2) (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))) into (* -1 (* lambda2 (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))))
13.715 * [backup-simplify]: Simplify (* (* -1 (* lambda2 (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))))) (* -1 (* lambda2 (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))))) into (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))) 2))
13.715 * [backup-simplify]: Simplify (- phi2) into (- phi2)
13.715 * [backup-simplify]: Simplify (+ phi1 (- phi2)) into (- phi1 phi2)
13.715 * [backup-simplify]: Simplify (- phi2) into (- phi2)
13.715 * [backup-simplify]: Simplify (+ phi1 (- phi2)) into (- phi1 phi2)
13.715 * [backup-simplify]: Simplify (* (- phi1 phi2) (- phi1 phi2)) into (pow (- phi1 phi2) 2)
13.716 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))) 2)) (pow (- phi1 phi2) 2)) into (- (+ (* (pow lambda2 2) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) (+ (* (pow lambda2 2) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (pow phi2 2) (pow phi1 2)))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))) (* 2 (* phi1 phi2)))))
13.718 * [backup-simplify]: Simplify (sqrt (- (+ (* (pow lambda2 2) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) (+ (* (pow lambda2 2) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (pow phi2 2) (pow phi1 2)))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))) (* 2 (* phi1 phi2)))))) into (sqrt (- (+ (* (pow lambda2 2) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) (+ (* (pow lambda2 2) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (pow phi2 2) (pow phi1 2)))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))) (* 2 (* phi1 phi2))))))
13.718 * [backup-simplify]: Simplify (+ 0) into 0
13.718 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0
13.719 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0
13.719 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.719 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 0)) into 0
13.720 * [backup-simplify]: Simplify (- 0) into 0
13.720 * [backup-simplify]: Simplify (+ 0 0) into 0
13.720 * [backup-simplify]: Simplify (+ 0) into 0
13.721 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0
13.721 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0
13.721 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.722 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 0)) into 0
13.722 * [backup-simplify]: Simplify (- 0) into 0
13.722 * [backup-simplify]: Simplify (+ 0 0) into 0
13.722 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 (cos (* 0.5 phi2)))) into 0
13.722 * [backup-simplify]: Simplify (+ 0) into 0
13.723 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 1)) into 0
13.723 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0
13.723 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.724 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 0)) into 0
13.724 * [backup-simplify]: Simplify (+ 0 0) into 0
13.724 * [backup-simplify]: Simplify (+ 0) into 0
13.725 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 1)) into 0
13.725 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0
13.725 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.726 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 0)) into 0
13.726 * [backup-simplify]: Simplify (+ 0 0) into 0
13.726 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 (sin (* 0.5 phi2)))) into 0
13.727 * [backup-simplify]: Simplify (- 0) into 0
13.727 * [backup-simplify]: Simplify (+ 0 0) into 0
13.727 * [backup-simplify]: Simplify (- 0) into 0
13.728 * [backup-simplify]: Simplify (+ 1 0) into 1
13.728 * [backup-simplify]: Simplify (+ (* (- lambda2) 0) (* 1 (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))))) into (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))
13.729 * [backup-simplify]: Simplify (+ 0) into 0
13.729 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0
13.730 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0
13.731 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.731 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 0)) into 0
13.736 * [backup-simplify]: Simplify (- 0) into 0
13.736 * [backup-simplify]: Simplify (+ 0 0) into 0
13.737 * [backup-simplify]: Simplify (+ 0) into 0
13.737 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0
13.738 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0
13.738 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.738 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 0)) into 0
13.739 * [backup-simplify]: Simplify (- 0) into 0
13.739 * [backup-simplify]: Simplify (+ 0 0) into 0
13.739 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 (cos (* 0.5 phi2)))) into 0
13.739 * [backup-simplify]: Simplify (+ 0) into 0
13.740 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 1)) into 0
13.740 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0
13.740 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.741 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 0)) into 0
13.741 * [backup-simplify]: Simplify (+ 0 0) into 0
13.741 * [backup-simplify]: Simplify (+ 0) into 0
13.742 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 1)) into 0
13.742 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0
13.742 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.743 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 0)) into 0
13.743 * [backup-simplify]: Simplify (+ 0 0) into 0
13.743 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 (sin (* 0.5 phi2)))) into 0
13.743 * [backup-simplify]: Simplify (- 0) into 0
13.743 * [backup-simplify]: Simplify (+ 0 0) into 0
13.744 * [backup-simplify]: Simplify (- 0) into 0
13.744 * [backup-simplify]: Simplify (+ 1 0) into 1
13.744 * [backup-simplify]: Simplify (+ (* (- lambda2) 0) (* 1 (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))))) into (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))
13.745 * [backup-simplify]: Simplify (+ (* (* -1 (* lambda2 (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))))) (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))) (* (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))) (* -1 (* lambda2 (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))))))) into (- (+ (* 2 (* lambda2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))))) (* 2 (* lambda2 (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))))) (+ (* 2 (* lambda2 (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)))) (* 2 (* lambda2 (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))))))
13.746 * [backup-simplify]: Simplify (- 0) into 0
13.746 * [backup-simplify]: Simplify (+ 0 0) into 0
13.746 * [backup-simplify]: Simplify (- 0) into 0
13.746 * [backup-simplify]: Simplify (+ 0 0) into 0
13.746 * [backup-simplify]: Simplify (+ (* (- phi1 phi2) 0) (* 0 (- phi1 phi2))) into 0
13.748 * [backup-simplify]: Simplify (+ (- (+ (* 2 (* lambda2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))))) (* 2 (* lambda2 (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))))) (+ (* 2 (* lambda2 (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)))) (* 2 (* lambda2 (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2)))))) 0) into (- (+ (* 2 (* lambda2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))))) (* 2 (* lambda2 (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))))) (+ (* 2 (* lambda2 (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)))) (* 2 (* lambda2 (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))))))
13.751 * [backup-simplify]: Simplify (/ (- (+ (* 2 (* lambda2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))))) (* 2 (* lambda2 (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))))) (+ (* 2 (* lambda2 (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)))) (* 2 (* lambda2 (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2)))))) (* 2 (sqrt (- (+ (* (pow lambda2 2) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) (+ (* (pow lambda2 2) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (pow phi2 2) (pow phi1 2)))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))) (* 2 (* phi1 phi2)))))))) into (* 1/2 (* (- (+ (* 2 (* lambda2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))))) (* 2 (* lambda2 (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))))) (+ (* 2 (* lambda2 (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)))) (* 2 (* lambda2 (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2)))))) (sqrt (/ 1 (- (+ (* (pow lambda2 2) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) (+ (* (pow lambda2 2) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (pow phi2 2) (pow phi1 2)))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))) (* 2 (* phi1 phi2)))))))))
13.751 * [taylor]: Taking taylor expansion of R in lambda1
13.751 * [backup-simplify]: Simplify R into R
13.753 * [backup-simplify]: Simplify (* (sqrt (- (+ (* (pow lambda2 2) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) (+ (* (pow lambda2 2) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (pow phi2 2) (pow phi1 2)))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))) (* 2 (* phi1 phi2)))))) R) into (* (sqrt (- (+ (* (pow lambda2 2) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) (+ (* (pow lambda2 2) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (pow phi2 2) (pow phi1 2)))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))) (* 2 (* phi1 phi2)))))) R)
13.753 * [taylor]: Taking taylor expansion of (* (sqrt (- (+ (* (pow lambda2 2) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) (+ (* (pow lambda2 2) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (pow phi2 2) (pow phi1 2)))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))) (* 2 (* phi1 phi2)))))) R) in lambda2
13.753 * [taylor]: Taking taylor expansion of (sqrt (- (+ (* (pow lambda2 2) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) (+ (* (pow lambda2 2) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (pow phi2 2) (pow phi1 2)))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))) (* 2 (* phi1 phi2)))))) in lambda2
13.753 * [taylor]: Taking taylor expansion of (- (+ (* (pow lambda2 2) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) (+ (* (pow lambda2 2) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (pow phi2 2) (pow phi1 2)))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))) (* 2 (* phi1 phi2))))) in lambda2
13.753 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) (+ (* (pow lambda2 2) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (pow phi2 2) (pow phi1 2)))) in lambda2
13.754 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) in lambda2
13.754 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
13.754 * [taylor]: Taking taylor expansion of lambda2 in lambda2
13.754 * [backup-simplify]: Simplify 0 into 0
13.754 * [backup-simplify]: Simplify 1 into 1
13.754 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) in lambda2
13.754 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in lambda2
13.754 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda2
13.754 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
13.754 * [taylor]: Taking taylor expansion of 0.5 in lambda2
13.754 * [backup-simplify]: Simplify 0.5 into 0.5
13.754 * [taylor]: Taking taylor expansion of phi1 in lambda2
13.754 * [backup-simplify]: Simplify phi1 into phi1
13.754 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
13.754 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
13.754 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
13.754 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1))
13.754 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0
13.754 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1))
13.754 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi2)) 2) in lambda2
13.754 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda2
13.754 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
13.754 * [taylor]: Taking taylor expansion of 0.5 in lambda2
13.754 * [backup-simplify]: Simplify 0.5 into 0.5
13.754 * [taylor]: Taking taylor expansion of phi2 in lambda2
13.754 * [backup-simplify]: Simplify phi2 into phi2
13.754 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
13.754 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
13.754 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
13.754 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2))
13.754 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0
13.754 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2))
13.755 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (pow phi2 2) (pow phi1 2))) in lambda2
13.755 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) in lambda2
13.755 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
13.755 * [taylor]: Taking taylor expansion of lambda2 in lambda2
13.755 * [backup-simplify]: Simplify 0 into 0
13.755 * [backup-simplify]: Simplify 1 into 1
13.755 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2)) in lambda2
13.755 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in lambda2
13.755 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda2
13.755 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
13.755 * [taylor]: Taking taylor expansion of 0.5 in lambda2
13.755 * [backup-simplify]: Simplify 0.5 into 0.5
13.755 * [taylor]: Taking taylor expansion of phi1 in lambda2
13.755 * [backup-simplify]: Simplify phi1 into phi1
13.755 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
13.755 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
13.755 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
13.755 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
13.755 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
13.755 * [backup-simplify]: Simplify (- 0) into 0
13.755 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
13.755 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in lambda2
13.755 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda2
13.756 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
13.756 * [taylor]: Taking taylor expansion of 0.5 in lambda2
13.756 * [backup-simplify]: Simplify 0.5 into 0.5
13.756 * [taylor]: Taking taylor expansion of phi2 in lambda2
13.756 * [backup-simplify]: Simplify phi2 into phi2
13.756 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
13.756 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
13.756 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
13.756 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2))
13.756 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0
13.756 * [backup-simplify]: Simplify (- 0) into 0
13.756 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2))
13.756 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (pow phi1 2)) in lambda2
13.756 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2
13.756 * [taylor]: Taking taylor expansion of phi2 in lambda2
13.756 * [backup-simplify]: Simplify phi2 into phi2
13.756 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2
13.756 * [taylor]: Taking taylor expansion of phi1 in lambda2
13.756 * [backup-simplify]: Simplify phi1 into phi1
13.756 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))) (* 2 (* phi1 phi2)))) in lambda2
13.756 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))))) in lambda2
13.756 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
13.756 * [taylor]: Taking taylor expansion of lambda2 in lambda2
13.756 * [backup-simplify]: Simplify 0 into 0
13.756 * [backup-simplify]: Simplify 1 into 1
13.756 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1))))) in lambda2
13.756 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda2
13.756 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
13.756 * [taylor]: Taking taylor expansion of 0.5 in lambda2
13.756 * [backup-simplify]: Simplify 0.5 into 0.5
13.756 * [taylor]: Taking taylor expansion of phi2 in lambda2
13.756 * [backup-simplify]: Simplify phi2 into phi2
13.757 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
13.757 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
13.757 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
13.757 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) in lambda2
13.757 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda2
13.757 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
13.757 * [taylor]: Taking taylor expansion of 0.5 in lambda2
13.757 * [backup-simplify]: Simplify 0.5 into 0.5
13.757 * [taylor]: Taking taylor expansion of phi1 in lambda2
13.757 * [backup-simplify]: Simplify phi1 into phi1
13.757 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
13.757 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
13.757 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
13.757 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1))) in lambda2
13.757 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda2
13.757 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
13.757 * [taylor]: Taking taylor expansion of 0.5 in lambda2
13.757 * [backup-simplify]: Simplify 0.5 into 0.5
13.757 * [taylor]: Taking taylor expansion of phi2 in lambda2
13.757 * [backup-simplify]: Simplify phi2 into phi2
13.757 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
13.757 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
13.757 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
13.757 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda2
13.757 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
13.757 * [taylor]: Taking taylor expansion of 0.5 in lambda2
13.757 * [backup-simplify]: Simplify 0.5 into 0.5
13.757 * [taylor]: Taking taylor expansion of phi1 in lambda2
13.757 * [backup-simplify]: Simplify phi1 into phi1
13.757 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
13.757 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
13.757 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
13.757 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))) (* 2 (* phi1 phi2))) in lambda2
13.757 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))) in lambda2
13.757 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
13.757 * [taylor]: Taking taylor expansion of lambda2 in lambda2
13.757 * [backup-simplify]: Simplify 0 into 0
13.758 * [backup-simplify]: Simplify 1 into 1
13.758 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1))))) in lambda2
13.758 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda2
13.758 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
13.758 * [taylor]: Taking taylor expansion of 0.5 in lambda2
13.758 * [backup-simplify]: Simplify 0.5 into 0.5
13.758 * [taylor]: Taking taylor expansion of phi2 in lambda2
13.758 * [backup-simplify]: Simplify phi2 into phi2
13.758 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
13.758 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
13.758 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
13.758 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))) in lambda2
13.758 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda2
13.758 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
13.758 * [taylor]: Taking taylor expansion of 0.5 in lambda2
13.758 * [backup-simplify]: Simplify 0.5 into 0.5
13.758 * [taylor]: Taking taylor expansion of phi1 in lambda2
13.758 * [backup-simplify]: Simplify phi1 into phi1
13.758 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
13.758 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
13.758 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
13.758 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1))) in lambda2
13.758 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda2
13.758 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
13.758 * [taylor]: Taking taylor expansion of 0.5 in lambda2
13.758 * [backup-simplify]: Simplify 0.5 into 0.5
13.758 * [taylor]: Taking taylor expansion of phi2 in lambda2
13.758 * [backup-simplify]: Simplify phi2 into phi2
13.758 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
13.758 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
13.758 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
13.758 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda2
13.758 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
13.758 * [taylor]: Taking taylor expansion of 0.5 in lambda2
13.758 * [backup-simplify]: Simplify 0.5 into 0.5
13.758 * [taylor]: Taking taylor expansion of phi1 in lambda2
13.758 * [backup-simplify]: Simplify phi1 into phi1
13.758 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
13.758 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
13.759 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
13.759 * [taylor]: Taking taylor expansion of (* 2 (* phi1 phi2)) in lambda2
13.759 * [taylor]: Taking taylor expansion of 2 in lambda2
13.759 * [backup-simplify]: Simplify 2 into 2
13.759 * [taylor]: Taking taylor expansion of (* phi1 phi2) in lambda2
13.759 * [taylor]: Taking taylor expansion of phi1 in lambda2
13.759 * [backup-simplify]: Simplify phi1 into phi1
13.759 * [taylor]: Taking taylor expansion of phi2 in lambda2
13.759 * [backup-simplify]: Simplify phi2 into phi2
13.759 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
13.759 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
13.759 * [backup-simplify]: Simplify (+ (pow phi2 2) (pow phi1 2)) into (+ (pow phi2 2) (pow phi1 2))
13.759 * [backup-simplify]: Simplify (+ 0 (+ (pow phi2 2) (pow phi1 2))) into (+ (pow phi2 2) (pow phi1 2))
13.759 * [backup-simplify]: Simplify (+ 0 (+ (pow phi2 2) (pow phi1 2))) into (+ (pow phi2 2) (pow phi1 2))
13.759 * [backup-simplify]: Simplify (* phi1 phi2) into (* phi1 phi2)
13.759 * [backup-simplify]: Simplify (* 2 (* phi1 phi2)) into (* 2 (* phi1 phi2))
13.759 * [backup-simplify]: Simplify (+ 0 (* 2 (* phi1 phi2))) into (* 2 (* phi1 phi2))
13.759 * [backup-simplify]: Simplify (+ 0 (* 2 (* phi1 phi2))) into (* 2 (* phi1 phi2))
13.760 * [backup-simplify]: Simplify (- (* 2 (* phi1 phi2))) into (- (* 2 (* phi1 phi2)))
13.760 * [backup-simplify]: Simplify (+ (+ (pow phi2 2) (pow phi1 2)) (- (* 2 (* phi1 phi2)))) into (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))
13.760 * [backup-simplify]: Simplify (sqrt (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))) into (sqrt (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))
13.760 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0
13.760 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0
13.760 * [backup-simplify]: Simplify (+ 0 0) into 0
13.761 * [backup-simplify]: Simplify (+ 0 0) into 0
13.761 * [backup-simplify]: Simplify (+ 0 0) into 0
13.761 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi2)) into 0
13.761 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi1 phi2))) into 0
13.762 * [backup-simplify]: Simplify (+ 0 0) into 0
13.762 * [backup-simplify]: Simplify (+ 0 0) into 0
13.762 * [backup-simplify]: Simplify (- 0) into 0
13.762 * [backup-simplify]: Simplify (+ 0 0) into 0
13.763 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))))) into 0
13.763 * [taylor]: Taking taylor expansion of R in lambda2
13.763 * [backup-simplify]: Simplify R into R
13.763 * [backup-simplify]: Simplify (* (sqrt (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))) R) into (* (sqrt (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))) R)
13.763 * [taylor]: Taking taylor expansion of (* (sqrt (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))) R) in phi1
13.763 * [taylor]: Taking taylor expansion of (sqrt (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))) in phi1
13.763 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))) in phi1
13.763 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (pow phi1 2)) in phi1
13.763 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1
13.763 * [taylor]: Taking taylor expansion of phi2 in phi1
13.763 * [backup-simplify]: Simplify phi2 into phi2
13.763 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1
13.763 * [taylor]: Taking taylor expansion of phi1 in phi1
13.763 * [backup-simplify]: Simplify 0 into 0
13.763 * [backup-simplify]: Simplify 1 into 1
13.763 * [taylor]: Taking taylor expansion of (* 2 (* phi1 phi2)) in phi1
13.763 * [taylor]: Taking taylor expansion of 2 in phi1
13.763 * [backup-simplify]: Simplify 2 into 2
13.763 * [taylor]: Taking taylor expansion of (* phi1 phi2) in phi1
13.763 * [taylor]: Taking taylor expansion of phi1 in phi1
13.763 * [backup-simplify]: Simplify 0 into 0
13.763 * [backup-simplify]: Simplify 1 into 1
13.763 * [taylor]: Taking taylor expansion of phi2 in phi1
13.763 * [backup-simplify]: Simplify phi2 into phi2
13.763 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
13.763 * [backup-simplify]: Simplify (+ (pow phi2 2) 0) into (pow phi2 2)
13.763 * [backup-simplify]: Simplify (* 0 phi2) into 0
13.764 * [backup-simplify]: Simplify (* 2 0) into 0
13.764 * [backup-simplify]: Simplify (- 0) into 0
13.764 * [backup-simplify]: Simplify (+ (pow phi2 2) 0) into (pow phi2 2)
13.764 * [backup-simplify]: Simplify (sqrt (pow phi2 2)) into phi2
13.764 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0
13.764 * [backup-simplify]: Simplify (+ 0 0) into 0
13.765 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi2)) into phi2
13.765 * [backup-simplify]: Simplify (+ (* 2 phi2) (* 0 0)) into (* 2 phi2)
13.765 * [backup-simplify]: Simplify (- (* 2 phi2)) into (- (* 2 phi2))
13.765 * [backup-simplify]: Simplify (+ 0 (- (* 2 phi2))) into (- (* 2 phi2))
13.765 * [backup-simplify]: Simplify (/ (- (* 2 phi2)) (* 2 (sqrt (pow phi2 2)))) into -1
13.765 * [taylor]: Taking taylor expansion of R in phi1
13.765 * [backup-simplify]: Simplify R into R
13.765 * [backup-simplify]: Simplify (* phi2 R) into (* R phi2)
13.765 * [taylor]: Taking taylor expansion of (* R phi2) in phi2
13.765 * [taylor]: Taking taylor expansion of R in phi2
13.765 * [backup-simplify]: Simplify R into R
13.765 * [taylor]: Taking taylor expansion of phi2 in phi2
13.765 * [backup-simplify]: Simplify 0 into 0
13.765 * [backup-simplify]: Simplify 1 into 1
13.765 * [backup-simplify]: Simplify (* R 0) into 0
13.765 * [taylor]: Taking taylor expansion of 0 in R
13.765 * [backup-simplify]: Simplify 0 into 0
13.765 * [backup-simplify]: Simplify 0 into 0
13.773 * [backup-simplify]: Simplify (+ (* (sqrt (- (+ (* (pow lambda2 2) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) (+ (* (pow lambda2 2) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (pow phi2 2) (pow phi1 2)))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))) (* 2 (* phi1 phi2)))))) 0) (* (* 1/2 (* (- (+ (* 2 (* lambda2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))))) (* 2 (* lambda2 (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))))) (+ (* 2 (* lambda2 (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)))) (* 2 (* lambda2 (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2)))))) (sqrt (/ 1 (- (+ (* (pow lambda2 2) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) (+ (* (pow lambda2 2) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (pow phi2 2) (pow phi1 2)))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))) (* 2 (* phi1 phi2))))))))) R)) into (- (+ (* (* lambda2 (* (sin (* 0.5 phi1)) (* R (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi2))))))) (sqrt (/ 1 (- (+ (* (pow lambda2 2) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) (+ (* (pow lambda2 2) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (pow phi2 2) (pow phi1 2)))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))) (* 2 (* phi1 phi2)))))))) (* (* lambda2 (* (cos (* 0.5 phi1)) (* R (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))))) (sqrt (/ 1 (- (+ (* (pow lambda2 2) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) (+ (* (pow lambda2 2) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (pow phi2 2) (pow phi1 2)))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))) (* 2 (* phi1 phi2))))))))) (+ (* (* R (* lambda2 (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2)))) (sqrt (/ 1 (- (+ (* (pow lambda2 2) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) (+ (* (pow lambda2 2) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (pow phi2 2) (pow phi1 2)))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))) (* 2 (* phi1 phi2)))))))) (* (* lambda2 (* (pow (cos (* 0.5 phi2)) 2) (* R (pow (cos (* 0.5 phi1)) 2)))) (sqrt (/ 1 (- (+ (* (pow lambda2 2) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) (+ (* (pow lambda2 2) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (pow phi2 2) (pow phi1 2)))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))) (* 2 (* phi1 phi2))))))))))
13.774 * [taylor]: Taking taylor expansion of (- (+ (* (* lambda2 (* (sin (* 0.5 phi1)) (* R (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi2))))))) (sqrt (/ 1 (- (+ (* (pow lambda2 2) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) (+ (* (pow lambda2 2) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (pow phi2 2) (pow phi1 2)))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))) (* 2 (* phi1 phi2)))))))) (* (* lambda2 (* (cos (* 0.5 phi1)) (* R (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))))) (sqrt (/ 1 (- (+ (* (pow lambda2 2) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) (+ (* (pow lambda2 2) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (pow phi2 2) (pow phi1 2)))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))) (* 2 (* phi1 phi2))))))))) (+ (* (* R (* lambda2 (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2)))) (sqrt (/ 1 (- (+ (* (pow lambda2 2) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) (+ (* (pow lambda2 2) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (pow phi2 2) (pow phi1 2)))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))) (* 2 (* phi1 phi2)))))))) (* (* lambda2 (* (pow (cos (* 0.5 phi2)) 2) (* R (pow (cos (* 0.5 phi1)) 2)))) (sqrt (/ 1 (- (+ (* (pow lambda2 2) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) (+ (* (pow lambda2 2) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (pow phi2 2) (pow phi1 2)))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))) (* 2 (* phi1 phi2)))))))))) in lambda2
13.774 * [taylor]: Taking taylor expansion of (+ (* (* lambda2 (* (sin (* 0.5 phi1)) (* R (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi2))))))) (sqrt (/ 1 (- (+ (* (pow lambda2 2) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) (+ (* (pow lambda2 2) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (pow phi2 2) (pow phi1 2)))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))) (* 2 (* phi1 phi2)))))))) (* (* lambda2 (* (cos (* 0.5 phi1)) (* R (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))))) (sqrt (/ 1 (- (+ (* (pow lambda2 2) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) (+ (* (pow lambda2 2) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (pow phi2 2) (pow phi1 2)))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))) (* 2 (* phi1 phi2))))))))) in lambda2
13.774 * [taylor]: Taking taylor expansion of (* (* lambda2 (* (sin (* 0.5 phi1)) (* R (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi2))))))) (sqrt (/ 1 (- (+ (* (pow lambda2 2) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) (+ (* (pow lambda2 2) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (pow phi2 2) (pow phi1 2)))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))) (* 2 (* phi1 phi2)))))))) in lambda2
13.774 * [taylor]: Taking taylor expansion of (* lambda2 (* (sin (* 0.5 phi1)) (* R (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi2))))))) in lambda2
13.774 * [taylor]: Taking taylor expansion of lambda2 in lambda2
13.774 * [backup-simplify]: Simplify 0 into 0
13.774 * [backup-simplify]: Simplify 1 into 1
13.774 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (* R (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi2)))))) in lambda2
13.774 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda2
13.774 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
13.774 * [taylor]: Taking taylor expansion of 0.5 in lambda2
13.774 * [backup-simplify]: Simplify 0.5 into 0.5
13.774 * [taylor]: Taking taylor expansion of phi1 in lambda2
13.774 * [backup-simplify]: Simplify phi1 into phi1
13.775 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
13.775 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
13.775 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
13.775 * [taylor]: Taking taylor expansion of (* R (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi2))))) in lambda2
13.775 * [taylor]: Taking taylor expansion of R in lambda2
13.775 * [backup-simplify]: Simplify R into R
13.775 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi2)))) in lambda2
13.775 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda2
13.775 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
13.775 * [taylor]: Taking taylor expansion of 0.5 in lambda2
13.775 * [backup-simplify]: Simplify 0.5 into 0.5
13.775 * [taylor]: Taking taylor expansion of phi2 in lambda2
13.775 * [backup-simplify]: Simplify phi2 into phi2
13.775 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
13.775 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
13.775 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
13.775 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (sin (* 0.5 phi2))) in lambda2
13.775 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda2
13.775 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
13.775 * [taylor]: Taking taylor expansion of 0.5 in lambda2
13.775 * [backup-simplify]: Simplify 0.5 into 0.5
13.775 * [taylor]: Taking taylor expansion of phi1 in lambda2
13.776 * [backup-simplify]: Simplify phi1 into phi1
13.776 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
13.776 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
13.776 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
13.776 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda2
13.776 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
13.776 * [taylor]: Taking taylor expansion of 0.5 in lambda2
13.776 * [backup-simplify]: Simplify 0.5 into 0.5
13.776 * [taylor]: Taking taylor expansion of phi2 in lambda2
13.776 * [backup-simplify]: Simplify phi2 into phi2
13.776 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
13.776 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
13.776 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
13.776 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow lambda2 2) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) (+ (* (pow lambda2 2) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (pow phi2 2) (pow phi1 2)))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))) (* 2 (* phi1 phi2))))))) in lambda2
13.776 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow lambda2 2) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) (+ (* (pow lambda2 2) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (pow phi2 2) (pow phi1 2)))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))) (* 2 (* phi1 phi2)))))) in lambda2
13.776 * [taylor]: Taking taylor expansion of (- (+ (* (pow lambda2 2) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) (+ (* (pow lambda2 2) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (pow phi2 2) (pow phi1 2)))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))) (* 2 (* phi1 phi2))))) in lambda2
13.776 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) (+ (* (pow lambda2 2) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (pow phi2 2) (pow phi1 2)))) in lambda2
13.776 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) in lambda2
13.777 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
13.777 * [taylor]: Taking taylor expansion of lambda2 in lambda2
13.777 * [backup-simplify]: Simplify 0 into 0
13.777 * [backup-simplify]: Simplify 1 into 1
13.777 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) in lambda2
13.777 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in lambda2
13.777 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda2
13.777 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
13.777 * [taylor]: Taking taylor expansion of 0.5 in lambda2
13.777 * [backup-simplify]: Simplify 0.5 into 0.5
13.777 * [taylor]: Taking taylor expansion of phi1 in lambda2
13.777 * [backup-simplify]: Simplify phi1 into phi1
13.777 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
13.777 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
13.777 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
13.777 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1))
13.777 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0
13.777 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1))
13.778 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi2)) 2) in lambda2
13.778 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda2
13.778 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
13.778 * [taylor]: Taking taylor expansion of 0.5 in lambda2
13.778 * [backup-simplify]: Simplify 0.5 into 0.5
13.778 * [taylor]: Taking taylor expansion of phi2 in lambda2
13.778 * [backup-simplify]: Simplify phi2 into phi2
13.778 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
13.778 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
13.778 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
13.778 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2))
13.778 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0
13.778 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2))
13.778 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (pow phi2 2) (pow phi1 2))) in lambda2
13.778 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) in lambda2
13.778 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
13.778 * [taylor]: Taking taylor expansion of lambda2 in lambda2
13.778 * [backup-simplify]: Simplify 0 into 0
13.778 * [backup-simplify]: Simplify 1 into 1
13.779 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2)) in lambda2
13.779 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in lambda2
13.779 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda2
13.779 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
13.779 * [taylor]: Taking taylor expansion of 0.5 in lambda2
13.779 * [backup-simplify]: Simplify 0.5 into 0.5
13.779 * [taylor]: Taking taylor expansion of phi1 in lambda2
13.779 * [backup-simplify]: Simplify phi1 into phi1
13.779 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
13.779 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
13.779 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
13.779 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
13.779 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
13.780 * [backup-simplify]: Simplify (- 0) into 0
13.780 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
13.780 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in lambda2
13.780 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda2
13.780 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
13.780 * [taylor]: Taking taylor expansion of 0.5 in lambda2
13.780 * [backup-simplify]: Simplify 0.5 into 0.5
13.780 * [taylor]: Taking taylor expansion of phi2 in lambda2
13.780 * [backup-simplify]: Simplify phi2 into phi2
13.780 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
13.780 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
13.780 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
13.780 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2))
13.781 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0
13.781 * [backup-simplify]: Simplify (- 0) into 0
13.781 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2))
13.781 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (pow phi1 2)) in lambda2
13.781 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2
13.781 * [taylor]: Taking taylor expansion of phi2 in lambda2
13.781 * [backup-simplify]: Simplify phi2 into phi2
13.781 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2
13.781 * [taylor]: Taking taylor expansion of phi1 in lambda2
13.781 * [backup-simplify]: Simplify phi1 into phi1
13.781 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))) (* 2 (* phi1 phi2)))) in lambda2
13.782 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))))) in lambda2
13.782 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
13.782 * [taylor]: Taking taylor expansion of lambda2 in lambda2
13.782 * [backup-simplify]: Simplify 0 into 0
13.782 * [backup-simplify]: Simplify 1 into 1
13.782 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1))))) in lambda2
13.782 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda2
13.782 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
13.782 * [taylor]: Taking taylor expansion of 0.5 in lambda2
13.782 * [backup-simplify]: Simplify 0.5 into 0.5
13.782 * [taylor]: Taking taylor expansion of phi2 in lambda2
13.782 * [backup-simplify]: Simplify phi2 into phi2
13.782 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
13.782 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
13.782 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
13.782 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) in lambda2
13.782 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda2
13.782 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
13.782 * [taylor]: Taking taylor expansion of 0.5 in lambda2
13.782 * [backup-simplify]: Simplify 0.5 into 0.5
13.782 * [taylor]: Taking taylor expansion of phi1 in lambda2
13.782 * [backup-simplify]: Simplify phi1 into phi1
13.782 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
13.782 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
13.783 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
13.783 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1))) in lambda2
13.783 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda2
13.783 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
13.783 * [taylor]: Taking taylor expansion of 0.5 in lambda2
13.783 * [backup-simplify]: Simplify 0.5 into 0.5
13.783 * [taylor]: Taking taylor expansion of phi2 in lambda2
13.783 * [backup-simplify]: Simplify phi2 into phi2
13.783 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
13.783 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
13.783 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
13.783 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda2
13.783 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
13.783 * [taylor]: Taking taylor expansion of 0.5 in lambda2
13.783 * [backup-simplify]: Simplify 0.5 into 0.5
13.783 * [taylor]: Taking taylor expansion of phi1 in lambda2
13.783 * [backup-simplify]: Simplify phi1 into phi1
13.783 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
13.783 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
13.784 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
13.784 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))) (* 2 (* phi1 phi2))) in lambda2
13.784 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))) in lambda2
13.784 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
13.784 * [taylor]: Taking taylor expansion of lambda2 in lambda2
13.784 * [backup-simplify]: Simplify 0 into 0
13.784 * [backup-simplify]: Simplify 1 into 1
13.784 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1))))) in lambda2
13.784 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda2
13.784 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
13.784 * [taylor]: Taking taylor expansion of 0.5 in lambda2
13.784 * [backup-simplify]: Simplify 0.5 into 0.5
13.784 * [taylor]: Taking taylor expansion of phi2 in lambda2
13.784 * [backup-simplify]: Simplify phi2 into phi2
13.784 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
13.784 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
13.784 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
13.784 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))) in lambda2
13.784 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda2
13.784 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
13.784 * [taylor]: Taking taylor expansion of 0.5 in lambda2
13.784 * [backup-simplify]: Simplify 0.5 into 0.5
13.784 * [taylor]: Taking taylor expansion of phi1 in lambda2
13.784 * [backup-simplify]: Simplify phi1 into phi1
13.785 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
13.785 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
13.785 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
13.785 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1))) in lambda2
13.785 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda2
13.785 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
13.785 * [taylor]: Taking taylor expansion of 0.5 in lambda2
13.785 * [backup-simplify]: Simplify 0.5 into 0.5
13.785 * [taylor]: Taking taylor expansion of phi2 in lambda2
13.785 * [backup-simplify]: Simplify phi2 into phi2
13.785 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
13.785 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
13.785 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
13.785 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda2
13.785 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
13.785 * [taylor]: Taking taylor expansion of 0.5 in lambda2
13.785 * [backup-simplify]: Simplify 0.5 into 0.5
13.786 * [taylor]: Taking taylor expansion of phi1 in lambda2
13.786 * [backup-simplify]: Simplify phi1 into phi1
13.786 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
13.786 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
13.786 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
13.786 * [taylor]: Taking taylor expansion of (* 2 (* phi1 phi2)) in lambda2
13.786 * [taylor]: Taking taylor expansion of 2 in lambda2
13.786 * [backup-simplify]: Simplify 2 into 2
13.786 * [taylor]: Taking taylor expansion of (* phi1 phi2) in lambda2
13.786 * [taylor]: Taking taylor expansion of phi1 in lambda2
13.786 * [backup-simplify]: Simplify phi1 into phi1
13.786 * [taylor]: Taking taylor expansion of phi2 in lambda2
13.786 * [backup-simplify]: Simplify phi2 into phi2
13.786 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
13.786 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
13.787 * [backup-simplify]: Simplify (+ (pow phi2 2) (pow phi1 2)) into (+ (pow phi2 2) (pow phi1 2))
13.787 * [backup-simplify]: Simplify (+ 0 (+ (pow phi2 2) (pow phi1 2))) into (+ (pow phi2 2) (pow phi1 2))
13.787 * [backup-simplify]: Simplify (+ 0 (+ (pow phi2 2) (pow phi1 2))) into (+ (pow phi2 2) (pow phi1 2))
13.788 * [backup-simplify]: Simplify (* phi1 phi2) into (* phi1 phi2)
13.788 * [backup-simplify]: Simplify (* 2 (* phi1 phi2)) into (* 2 (* phi1 phi2))
13.788 * [backup-simplify]: Simplify (+ 0 (* 2 (* phi1 phi2))) into (* 2 (* phi1 phi2))
13.788 * [backup-simplify]: Simplify (+ 0 (* 2 (* phi1 phi2))) into (* 2 (* phi1 phi2))
13.788 * [backup-simplify]: Simplify (- (* 2 (* phi1 phi2))) into (- (* 2 (* phi1 phi2)))
13.788 * [backup-simplify]: Simplify (+ (+ (pow phi2 2) (pow phi1 2)) (- (* 2 (* phi1 phi2)))) into (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))
13.789 * [backup-simplify]: Simplify (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))) into (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))
13.789 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) into (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))))
13.789 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0
13.790 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0
13.790 * [backup-simplify]: Simplify (+ 0 0) into 0
13.791 * [backup-simplify]: Simplify (+ 0 0) into 0
13.791 * [backup-simplify]: Simplify (+ 0 0) into 0
13.791 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi2)) into 0
13.792 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi1 phi2))) into 0
13.792 * [backup-simplify]: Simplify (+ 0 0) into 0
13.793 * [backup-simplify]: Simplify (+ 0 0) into 0
13.793 * [backup-simplify]: Simplify (- 0) into 0
13.793 * [backup-simplify]: Simplify (+ 0 0) into 0
13.794 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))) (/ 0 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))))) into 0
13.795 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))))) into 0
13.795 * [taylor]: Taking taylor expansion of (* (* lambda2 (* (cos (* 0.5 phi1)) (* R (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))))) (sqrt (/ 1 (- (+ (* (pow lambda2 2) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) (+ (* (pow lambda2 2) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (pow phi2 2) (pow phi1 2)))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))) (* 2 (* phi1 phi2)))))))) in lambda2
13.795 * [taylor]: Taking taylor expansion of (* lambda2 (* (cos (* 0.5 phi1)) (* R (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))))) in lambda2
13.795 * [taylor]: Taking taylor expansion of lambda2 in lambda2
13.795 * [backup-simplify]: Simplify 0 into 0
13.795 * [backup-simplify]: Simplify 1 into 1
13.795 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* R (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))))) in lambda2
13.795 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda2
13.795 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
13.795 * [taylor]: Taking taylor expansion of 0.5 in lambda2
13.796 * [backup-simplify]: Simplify 0.5 into 0.5
13.796 * [taylor]: Taking taylor expansion of phi1 in lambda2
13.796 * [backup-simplify]: Simplify phi1 into phi1
13.796 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
13.796 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
13.796 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
13.796 * [taylor]: Taking taylor expansion of (* R (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))) in lambda2
13.796 * [taylor]: Taking taylor expansion of R in lambda2
13.796 * [backup-simplify]: Simplify R into R
13.796 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))) in lambda2
13.796 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda2
13.796 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
13.796 * [taylor]: Taking taylor expansion of 0.5 in lambda2
13.796 * [backup-simplify]: Simplify 0.5 into 0.5
13.796 * [taylor]: Taking taylor expansion of phi2 in lambda2
13.796 * [backup-simplify]: Simplify phi2 into phi2
13.796 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
13.796 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
13.797 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
13.797 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))) in lambda2
13.797 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda2
13.797 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
13.797 * [taylor]: Taking taylor expansion of 0.5 in lambda2
13.797 * [backup-simplify]: Simplify 0.5 into 0.5
13.797 * [taylor]: Taking taylor expansion of phi1 in lambda2
13.797 * [backup-simplify]: Simplify phi1 into phi1
13.797 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
13.797 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
13.797 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
13.797 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda2
13.797 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
13.797 * [taylor]: Taking taylor expansion of 0.5 in lambda2
13.797 * [backup-simplify]: Simplify 0.5 into 0.5
13.798 * [taylor]: Taking taylor expansion of phi2 in lambda2
13.798 * [backup-simplify]: Simplify phi2 into phi2
13.798 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
13.798 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
13.798 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
13.798 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow lambda2 2) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) (+ (* (pow lambda2 2) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (pow phi2 2) (pow phi1 2)))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))) (* 2 (* phi1 phi2))))))) in lambda2
13.798 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow lambda2 2) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) (+ (* (pow lambda2 2) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (pow phi2 2) (pow phi1 2)))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))) (* 2 (* phi1 phi2)))))) in lambda2
13.798 * [taylor]: Taking taylor expansion of (- (+ (* (pow lambda2 2) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) (+ (* (pow lambda2 2) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (pow phi2 2) (pow phi1 2)))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))) (* 2 (* phi1 phi2))))) in lambda2
13.798 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) (+ (* (pow lambda2 2) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (pow phi2 2) (pow phi1 2)))) in lambda2
13.798 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) in lambda2
13.798 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
13.798 * [taylor]: Taking taylor expansion of lambda2 in lambda2
13.798 * [backup-simplify]: Simplify 0 into 0
13.798 * [backup-simplify]: Simplify 1 into 1
13.798 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) in lambda2
13.798 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in lambda2
13.799 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda2
13.799 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
13.799 * [taylor]: Taking taylor expansion of 0.5 in lambda2
13.799 * [backup-simplify]: Simplify 0.5 into 0.5
13.799 * [taylor]: Taking taylor expansion of phi1 in lambda2
13.799 * [backup-simplify]: Simplify phi1 into phi1
13.799 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
13.799 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
13.799 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
13.799 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1))
13.799 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0
13.799 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1))
13.799 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi2)) 2) in lambda2
13.799 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda2
13.799 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
13.799 * [taylor]: Taking taylor expansion of 0.5 in lambda2
13.799 * [backup-simplify]: Simplify 0.5 into 0.5
13.800 * [taylor]: Taking taylor expansion of phi2 in lambda2
13.800 * [backup-simplify]: Simplify phi2 into phi2
13.800 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
13.800 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
13.800 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
13.800 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2))
13.800 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0
13.800 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2))
13.800 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (pow phi2 2) (pow phi1 2))) in lambda2
13.800 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) in lambda2
13.800 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
13.800 * [taylor]: Taking taylor expansion of lambda2 in lambda2
13.800 * [backup-simplify]: Simplify 0 into 0
13.800 * [backup-simplify]: Simplify 1 into 1
13.800 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2)) in lambda2
13.800 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in lambda2
13.800 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda2
13.800 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
13.801 * [taylor]: Taking taylor expansion of 0.5 in lambda2
13.801 * [backup-simplify]: Simplify 0.5 into 0.5
13.801 * [taylor]: Taking taylor expansion of phi1 in lambda2
13.801 * [backup-simplify]: Simplify phi1 into phi1
13.801 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
13.801 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
13.801 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
13.801 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
13.801 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
13.802 * [backup-simplify]: Simplify (- 0) into 0
13.802 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
13.802 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in lambda2
13.802 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda2
13.802 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
13.802 * [taylor]: Taking taylor expansion of 0.5 in lambda2
13.802 * [backup-simplify]: Simplify 0.5 into 0.5
13.802 * [taylor]: Taking taylor expansion of phi2 in lambda2
13.802 * [backup-simplify]: Simplify phi2 into phi2
13.802 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
13.802 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
13.802 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
13.802 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2))
13.802 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0
13.803 * [backup-simplify]: Simplify (- 0) into 0
13.803 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2))
13.803 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (pow phi1 2)) in lambda2
13.803 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2
13.803 * [taylor]: Taking taylor expansion of phi2 in lambda2
13.803 * [backup-simplify]: Simplify phi2 into phi2
13.803 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2
13.803 * [taylor]: Taking taylor expansion of phi1 in lambda2
13.803 * [backup-simplify]: Simplify phi1 into phi1
13.803 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))) (* 2 (* phi1 phi2)))) in lambda2
13.803 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))))) in lambda2
13.803 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
13.803 * [taylor]: Taking taylor expansion of lambda2 in lambda2
13.803 * [backup-simplify]: Simplify 0 into 0
13.803 * [backup-simplify]: Simplify 1 into 1
13.804 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1))))) in lambda2
13.804 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda2
13.804 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
13.804 * [taylor]: Taking taylor expansion of 0.5 in lambda2
13.804 * [backup-simplify]: Simplify 0.5 into 0.5
13.804 * [taylor]: Taking taylor expansion of phi2 in lambda2
13.804 * [backup-simplify]: Simplify phi2 into phi2
13.804 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
13.804 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
13.804 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
13.804 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) in lambda2
13.804 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda2
13.804 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
13.804 * [taylor]: Taking taylor expansion of 0.5 in lambda2
13.804 * [backup-simplify]: Simplify 0.5 into 0.5
13.804 * [taylor]: Taking taylor expansion of phi1 in lambda2
13.804 * [backup-simplify]: Simplify phi1 into phi1
13.804 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
13.804 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
13.804 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
13.804 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1))) in lambda2
13.804 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda2
13.805 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
13.805 * [taylor]: Taking taylor expansion of 0.5 in lambda2
13.805 * [backup-simplify]: Simplify 0.5 into 0.5
13.805 * [taylor]: Taking taylor expansion of phi2 in lambda2
13.805 * [backup-simplify]: Simplify phi2 into phi2
13.805 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
13.805 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
13.805 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
13.805 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda2
13.805 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
13.805 * [taylor]: Taking taylor expansion of 0.5 in lambda2
13.805 * [backup-simplify]: Simplify 0.5 into 0.5
13.805 * [taylor]: Taking taylor expansion of phi1 in lambda2
13.805 * [backup-simplify]: Simplify phi1 into phi1
13.805 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
13.805 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
13.805 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
13.805 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))) (* 2 (* phi1 phi2))) in lambda2
13.805 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))) in lambda2
13.805 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
13.806 * [taylor]: Taking taylor expansion of lambda2 in lambda2
13.806 * [backup-simplify]: Simplify 0 into 0
13.806 * [backup-simplify]: Simplify 1 into 1
13.806 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1))))) in lambda2
13.806 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda2
13.806 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
13.806 * [taylor]: Taking taylor expansion of 0.5 in lambda2
13.806 * [backup-simplify]: Simplify 0.5 into 0.5
13.806 * [taylor]: Taking taylor expansion of phi2 in lambda2
13.806 * [backup-simplify]: Simplify phi2 into phi2
13.806 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
13.806 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
13.806 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
13.806 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))) in lambda2
13.806 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda2
13.806 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
13.806 * [taylor]: Taking taylor expansion of 0.5 in lambda2
13.806 * [backup-simplify]: Simplify 0.5 into 0.5
13.806 * [taylor]: Taking taylor expansion of phi1 in lambda2
13.806 * [backup-simplify]: Simplify phi1 into phi1
13.806 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
13.806 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
13.807 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
13.807 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1))) in lambda2
13.807 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda2
13.807 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
13.807 * [taylor]: Taking taylor expansion of 0.5 in lambda2
13.807 * [backup-simplify]: Simplify 0.5 into 0.5
13.807 * [taylor]: Taking taylor expansion of phi2 in lambda2
13.807 * [backup-simplify]: Simplify phi2 into phi2
13.807 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
13.807 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
13.807 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
13.807 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda2
13.807 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
13.807 * [taylor]: Taking taylor expansion of 0.5 in lambda2
13.807 * [backup-simplify]: Simplify 0.5 into 0.5
13.807 * [taylor]: Taking taylor expansion of phi1 in lambda2
13.807 * [backup-simplify]: Simplify phi1 into phi1
13.807 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
13.807 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
13.807 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
13.807 * [taylor]: Taking taylor expansion of (* 2 (* phi1 phi2)) in lambda2
13.808 * [taylor]: Taking taylor expansion of 2 in lambda2
13.808 * [backup-simplify]: Simplify 2 into 2
13.808 * [taylor]: Taking taylor expansion of (* phi1 phi2) in lambda2
13.808 * [taylor]: Taking taylor expansion of phi1 in lambda2
13.808 * [backup-simplify]: Simplify phi1 into phi1
13.808 * [taylor]: Taking taylor expansion of phi2 in lambda2
13.808 * [backup-simplify]: Simplify phi2 into phi2
13.808 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
13.808 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
13.808 * [backup-simplify]: Simplify (+ (pow phi2 2) (pow phi1 2)) into (+ (pow phi2 2) (pow phi1 2))
13.808 * [backup-simplify]: Simplify (+ 0 (+ (pow phi2 2) (pow phi1 2))) into (+ (pow phi2 2) (pow phi1 2))
13.809 * [backup-simplify]: Simplify (+ 0 (+ (pow phi2 2) (pow phi1 2))) into (+ (pow phi2 2) (pow phi1 2))
13.809 * [backup-simplify]: Simplify (* phi1 phi2) into (* phi1 phi2)
13.809 * [backup-simplify]: Simplify (* 2 (* phi1 phi2)) into (* 2 (* phi1 phi2))
13.809 * [backup-simplify]: Simplify (+ 0 (* 2 (* phi1 phi2))) into (* 2 (* phi1 phi2))
13.809 * [backup-simplify]: Simplify (+ 0 (* 2 (* phi1 phi2))) into (* 2 (* phi1 phi2))
13.809 * [backup-simplify]: Simplify (- (* 2 (* phi1 phi2))) into (- (* 2 (* phi1 phi2)))
13.810 * [backup-simplify]: Simplify (+ (+ (pow phi2 2) (pow phi1 2)) (- (* 2 (* phi1 phi2)))) into (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))
13.810 * [backup-simplify]: Simplify (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))) into (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))
13.810 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) into (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))))
13.810 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0
13.810 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0
13.811 * [backup-simplify]: Simplify (+ 0 0) into 0
13.811 * [backup-simplify]: Simplify (+ 0 0) into 0
13.811 * [backup-simplify]: Simplify (+ 0 0) into 0
13.811 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi2)) into 0
13.812 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi1 phi2))) into 0
13.812 * [backup-simplify]: Simplify (+ 0 0) into 0
13.812 * [backup-simplify]: Simplify (+ 0 0) into 0
13.812 * [backup-simplify]: Simplify (- 0) into 0
13.813 * [backup-simplify]: Simplify (+ 0 0) into 0
13.813 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))) (/ 0 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))))) into 0
13.813 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))))) into 0
13.813 * [taylor]: Taking taylor expansion of (+ (* (* R (* lambda2 (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2)))) (sqrt (/ 1 (- (+ (* (pow lambda2 2) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) (+ (* (pow lambda2 2) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (pow phi2 2) (pow phi1 2)))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))) (* 2 (* phi1 phi2)))))))) (* (* lambda2 (* (pow (cos (* 0.5 phi2)) 2) (* R (pow (cos (* 0.5 phi1)) 2)))) (sqrt (/ 1 (- (+ (* (pow lambda2 2) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) (+ (* (pow lambda2 2) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (pow phi2 2) (pow phi1 2)))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))) (* 2 (* phi1 phi2))))))))) in lambda2
13.813 * [taylor]: Taking taylor expansion of (* (* R (* lambda2 (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2)))) (sqrt (/ 1 (- (+ (* (pow lambda2 2) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) (+ (* (pow lambda2 2) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (pow phi2 2) (pow phi1 2)))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))) (* 2 (* phi1 phi2)))))))) in lambda2
13.813 * [taylor]: Taking taylor expansion of (* R (* lambda2 (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2)))) in lambda2
13.813 * [taylor]: Taking taylor expansion of R in lambda2
13.813 * [backup-simplify]: Simplify R into R
13.813 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2))) in lambda2
13.814 * [taylor]: Taking taylor expansion of lambda2 in lambda2
13.814 * [backup-simplify]: Simplify 0 into 0
13.814 * [backup-simplify]: Simplify 1 into 1
13.814 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2)) in lambda2
13.814 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi2)) 2) in lambda2
13.814 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda2
13.814 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
13.814 * [taylor]: Taking taylor expansion of 0.5 in lambda2
13.814 * [backup-simplify]: Simplify 0.5 into 0.5
13.814 * [taylor]: Taking taylor expansion of phi2 in lambda2
13.814 * [backup-simplify]: Simplify phi2 into phi2
13.814 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
13.814 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
13.814 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
13.814 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2))
13.814 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0
13.814 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2))
13.814 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in lambda2
13.814 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda2
13.814 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
13.814 * [taylor]: Taking taylor expansion of 0.5 in lambda2
13.814 * [backup-simplify]: Simplify 0.5 into 0.5
13.814 * [taylor]: Taking taylor expansion of phi1 in lambda2
13.814 * [backup-simplify]: Simplify phi1 into phi1
13.814 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
13.814 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
13.814 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
13.814 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1))
13.814 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0
13.814 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1))
13.814 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow lambda2 2) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) (+ (* (pow lambda2 2) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (pow phi2 2) (pow phi1 2)))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))) (* 2 (* phi1 phi2))))))) in lambda2
13.815 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow lambda2 2) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) (+ (* (pow lambda2 2) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (pow phi2 2) (pow phi1 2)))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))) (* 2 (* phi1 phi2)))))) in lambda2
13.815 * [taylor]: Taking taylor expansion of (- (+ (* (pow lambda2 2) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) (+ (* (pow lambda2 2) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (pow phi2 2) (pow phi1 2)))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))) (* 2 (* phi1 phi2))))) in lambda2
13.815 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) (+ (* (pow lambda2 2) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (pow phi2 2) (pow phi1 2)))) in lambda2
13.815 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) in lambda2
13.815 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
13.815 * [taylor]: Taking taylor expansion of lambda2 in lambda2
13.815 * [backup-simplify]: Simplify 0 into 0
13.815 * [backup-simplify]: Simplify 1 into 1
13.815 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) in lambda2
13.815 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in lambda2
13.815 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda2
13.815 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
13.815 * [taylor]: Taking taylor expansion of 0.5 in lambda2
13.815 * [backup-simplify]: Simplify 0.5 into 0.5
13.815 * [taylor]: Taking taylor expansion of phi1 in lambda2
13.815 * [backup-simplify]: Simplify phi1 into phi1
13.815 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
13.815 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
13.815 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
13.815 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1))
13.815 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0
13.815 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1))
13.815 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi2)) 2) in lambda2
13.815 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda2
13.815 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
13.815 * [taylor]: Taking taylor expansion of 0.5 in lambda2
13.815 * [backup-simplify]: Simplify 0.5 into 0.5
13.815 * [taylor]: Taking taylor expansion of phi2 in lambda2
13.815 * [backup-simplify]: Simplify phi2 into phi2
13.815 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
13.815 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
13.815 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
13.815 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2))
13.815 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0
13.816 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2))
13.816 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (pow phi2 2) (pow phi1 2))) in lambda2
13.816 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) in lambda2
13.816 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
13.816 * [taylor]: Taking taylor expansion of lambda2 in lambda2
13.816 * [backup-simplify]: Simplify 0 into 0
13.816 * [backup-simplify]: Simplify 1 into 1
13.816 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2)) in lambda2
13.816 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in lambda2
13.816 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda2
13.816 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
13.816 * [taylor]: Taking taylor expansion of 0.5 in lambda2
13.816 * [backup-simplify]: Simplify 0.5 into 0.5
13.816 * [taylor]: Taking taylor expansion of phi1 in lambda2
13.816 * [backup-simplify]: Simplify phi1 into phi1
13.816 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
13.816 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
13.816 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
13.816 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
13.816 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
13.816 * [backup-simplify]: Simplify (- 0) into 0
13.816 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
13.816 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in lambda2
13.816 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda2
13.816 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
13.816 * [taylor]: Taking taylor expansion of 0.5 in lambda2
13.816 * [backup-simplify]: Simplify 0.5 into 0.5
13.817 * [taylor]: Taking taylor expansion of phi2 in lambda2
13.817 * [backup-simplify]: Simplify phi2 into phi2
13.817 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
13.817 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
13.817 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
13.817 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2))
13.817 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0
13.817 * [backup-simplify]: Simplify (- 0) into 0
13.817 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2))
13.817 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (pow phi1 2)) in lambda2
13.817 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2
13.817 * [taylor]: Taking taylor expansion of phi2 in lambda2
13.817 * [backup-simplify]: Simplify phi2 into phi2
13.817 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2
13.817 * [taylor]: Taking taylor expansion of phi1 in lambda2
13.817 * [backup-simplify]: Simplify phi1 into phi1
13.817 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))) (* 2 (* phi1 phi2)))) in lambda2
13.817 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))))) in lambda2
13.817 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
13.817 * [taylor]: Taking taylor expansion of lambda2 in lambda2
13.817 * [backup-simplify]: Simplify 0 into 0
13.817 * [backup-simplify]: Simplify 1 into 1
13.817 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1))))) in lambda2
13.817 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda2
13.817 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
13.817 * [taylor]: Taking taylor expansion of 0.5 in lambda2
13.817 * [backup-simplify]: Simplify 0.5 into 0.5
13.817 * [taylor]: Taking taylor expansion of phi2 in lambda2
13.817 * [backup-simplify]: Simplify phi2 into phi2
13.817 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
13.818 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
13.818 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
13.818 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) in lambda2
13.818 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda2
13.818 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
13.818 * [taylor]: Taking taylor expansion of 0.5 in lambda2
13.818 * [backup-simplify]: Simplify 0.5 into 0.5
13.818 * [taylor]: Taking taylor expansion of phi1 in lambda2
13.818 * [backup-simplify]: Simplify phi1 into phi1
13.818 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
13.818 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
13.818 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
13.818 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1))) in lambda2
13.818 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda2
13.818 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
13.818 * [taylor]: Taking taylor expansion of 0.5 in lambda2
13.818 * [backup-simplify]: Simplify 0.5 into 0.5
13.818 * [taylor]: Taking taylor expansion of phi2 in lambda2
13.818 * [backup-simplify]: Simplify phi2 into phi2
13.818 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
13.818 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
13.818 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
13.818 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda2
13.818 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
13.818 * [taylor]: Taking taylor expansion of 0.5 in lambda2
13.818 * [backup-simplify]: Simplify 0.5 into 0.5
13.818 * [taylor]: Taking taylor expansion of phi1 in lambda2
13.818 * [backup-simplify]: Simplify phi1 into phi1
13.818 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
13.818 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
13.818 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
13.818 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))) (* 2 (* phi1 phi2))) in lambda2
13.818 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))) in lambda2
13.818 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
13.818 * [taylor]: Taking taylor expansion of lambda2 in lambda2
13.818 * [backup-simplify]: Simplify 0 into 0
13.818 * [backup-simplify]: Simplify 1 into 1
13.818 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1))))) in lambda2
13.819 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda2
13.819 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
13.819 * [taylor]: Taking taylor expansion of 0.5 in lambda2
13.819 * [backup-simplify]: Simplify 0.5 into 0.5
13.819 * [taylor]: Taking taylor expansion of phi2 in lambda2
13.819 * [backup-simplify]: Simplify phi2 into phi2
13.819 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
13.819 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
13.819 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
13.819 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))) in lambda2
13.819 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda2
13.819 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
13.819 * [taylor]: Taking taylor expansion of 0.5 in lambda2
13.819 * [backup-simplify]: Simplify 0.5 into 0.5
13.819 * [taylor]: Taking taylor expansion of phi1 in lambda2
13.819 * [backup-simplify]: Simplify phi1 into phi1
13.819 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
13.819 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
13.819 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
13.819 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1))) in lambda2
13.819 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda2
13.819 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
13.819 * [taylor]: Taking taylor expansion of 0.5 in lambda2
13.819 * [backup-simplify]: Simplify 0.5 into 0.5
13.819 * [taylor]: Taking taylor expansion of phi2 in lambda2
13.819 * [backup-simplify]: Simplify phi2 into phi2
13.819 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
13.819 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
13.819 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
13.819 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda2
13.819 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
13.819 * [taylor]: Taking taylor expansion of 0.5 in lambda2
13.819 * [backup-simplify]: Simplify 0.5 into 0.5
13.819 * [taylor]: Taking taylor expansion of phi1 in lambda2
13.819 * [backup-simplify]: Simplify phi1 into phi1
13.819 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
13.819 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
13.819 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
13.819 * [taylor]: Taking taylor expansion of (* 2 (* phi1 phi2)) in lambda2
13.819 * [taylor]: Taking taylor expansion of 2 in lambda2
13.820 * [backup-simplify]: Simplify 2 into 2
13.820 * [taylor]: Taking taylor expansion of (* phi1 phi2) in lambda2
13.820 * [taylor]: Taking taylor expansion of phi1 in lambda2
13.820 * [backup-simplify]: Simplify phi1 into phi1
13.820 * [taylor]: Taking taylor expansion of phi2 in lambda2
13.820 * [backup-simplify]: Simplify phi2 into phi2
13.820 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
13.820 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
13.820 * [backup-simplify]: Simplify (+ (pow phi2 2) (pow phi1 2)) into (+ (pow phi2 2) (pow phi1 2))
13.820 * [backup-simplify]: Simplify (+ 0 (+ (pow phi2 2) (pow phi1 2))) into (+ (pow phi2 2) (pow phi1 2))
13.820 * [backup-simplify]: Simplify (+ 0 (+ (pow phi2 2) (pow phi1 2))) into (+ (pow phi2 2) (pow phi1 2))
13.820 * [backup-simplify]: Simplify (* phi1 phi2) into (* phi1 phi2)
13.820 * [backup-simplify]: Simplify (* 2 (* phi1 phi2)) into (* 2 (* phi1 phi2))
13.820 * [backup-simplify]: Simplify (+ 0 (* 2 (* phi1 phi2))) into (* 2 (* phi1 phi2))
13.820 * [backup-simplify]: Simplify (+ 0 (* 2 (* phi1 phi2))) into (* 2 (* phi1 phi2))
13.820 * [backup-simplify]: Simplify (- (* 2 (* phi1 phi2))) into (- (* 2 (* phi1 phi2)))
13.821 * [backup-simplify]: Simplify (+ (+ (pow phi2 2) (pow phi1 2)) (- (* 2 (* phi1 phi2)))) into (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))
13.821 * [backup-simplify]: Simplify (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))) into (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))
13.821 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) into (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))))
13.821 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0
13.821 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0
13.822 * [backup-simplify]: Simplify (+ 0 0) into 0
13.822 * [backup-simplify]: Simplify (+ 0 0) into 0
13.822 * [backup-simplify]: Simplify (+ 0 0) into 0
13.822 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi2)) into 0
13.822 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi1 phi2))) into 0
13.823 * [backup-simplify]: Simplify (+ 0 0) into 0
13.823 * [backup-simplify]: Simplify (+ 0 0) into 0
13.823 * [backup-simplify]: Simplify (- 0) into 0
13.823 * [backup-simplify]: Simplify (+ 0 0) into 0
13.824 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))) (/ 0 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))))) into 0
13.824 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))))) into 0
13.824 * [taylor]: Taking taylor expansion of (* (* lambda2 (* (pow (cos (* 0.5 phi2)) 2) (* R (pow (cos (* 0.5 phi1)) 2)))) (sqrt (/ 1 (- (+ (* (pow lambda2 2) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) (+ (* (pow lambda2 2) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (pow phi2 2) (pow phi1 2)))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))) (* 2 (* phi1 phi2)))))))) in lambda2
13.824 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (cos (* 0.5 phi2)) 2) (* R (pow (cos (* 0.5 phi1)) 2)))) in lambda2
13.824 * [taylor]: Taking taylor expansion of lambda2 in lambda2
13.824 * [backup-simplify]: Simplify 0 into 0
13.824 * [backup-simplify]: Simplify 1 into 1
13.824 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi2)) 2) (* R (pow (cos (* 0.5 phi1)) 2))) in lambda2
13.824 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in lambda2
13.824 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda2
13.824 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
13.824 * [taylor]: Taking taylor expansion of 0.5 in lambda2
13.824 * [backup-simplify]: Simplify 0.5 into 0.5
13.824 * [taylor]: Taking taylor expansion of phi2 in lambda2
13.824 * [backup-simplify]: Simplify phi2 into phi2
13.824 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
13.824 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
13.825 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
13.825 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2))
13.825 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0
13.825 * [backup-simplify]: Simplify (- 0) into 0
13.825 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2))
13.825 * [taylor]: Taking taylor expansion of (* R (pow (cos (* 0.5 phi1)) 2)) in lambda2
13.825 * [taylor]: Taking taylor expansion of R in lambda2
13.825 * [backup-simplify]: Simplify R into R
13.825 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in lambda2
13.825 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda2
13.825 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
13.825 * [taylor]: Taking taylor expansion of 0.5 in lambda2
13.825 * [backup-simplify]: Simplify 0.5 into 0.5
13.825 * [taylor]: Taking taylor expansion of phi1 in lambda2
13.825 * [backup-simplify]: Simplify phi1 into phi1
13.825 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
13.825 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
13.825 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
13.825 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
13.825 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
13.826 * [backup-simplify]: Simplify (- 0) into 0
13.826 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
13.826 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow lambda2 2) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) (+ (* (pow lambda2 2) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (pow phi2 2) (pow phi1 2)))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))) (* 2 (* phi1 phi2))))))) in lambda2
13.826 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow lambda2 2) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) (+ (* (pow lambda2 2) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (pow phi2 2) (pow phi1 2)))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))) (* 2 (* phi1 phi2)))))) in lambda2
13.826 * [taylor]: Taking taylor expansion of (- (+ (* (pow lambda2 2) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) (+ (* (pow lambda2 2) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (pow phi2 2) (pow phi1 2)))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))) (* 2 (* phi1 phi2))))) in lambda2
13.826 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) (+ (* (pow lambda2 2) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (pow phi2 2) (pow phi1 2)))) in lambda2
13.826 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) in lambda2
13.826 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
13.826 * [taylor]: Taking taylor expansion of lambda2 in lambda2
13.826 * [backup-simplify]: Simplify 0 into 0
13.826 * [backup-simplify]: Simplify 1 into 1
13.826 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) in lambda2
13.826 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in lambda2
13.826 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda2
13.826 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
13.826 * [taylor]: Taking taylor expansion of 0.5 in lambda2
13.826 * [backup-simplify]: Simplify 0.5 into 0.5
13.826 * [taylor]: Taking taylor expansion of phi1 in lambda2
13.826 * [backup-simplify]: Simplify phi1 into phi1
13.826 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
13.826 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
13.826 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
13.826 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1))
13.826 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0
13.826 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1))
13.826 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi2)) 2) in lambda2
13.826 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda2
13.826 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
13.826 * [taylor]: Taking taylor expansion of 0.5 in lambda2
13.827 * [backup-simplify]: Simplify 0.5 into 0.5
13.827 * [taylor]: Taking taylor expansion of phi2 in lambda2
13.827 * [backup-simplify]: Simplify phi2 into phi2
13.827 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
13.827 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
13.827 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
13.827 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2))
13.827 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0
13.827 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2))
13.827 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (pow phi2 2) (pow phi1 2))) in lambda2
13.827 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) in lambda2
13.827 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
13.827 * [taylor]: Taking taylor expansion of lambda2 in lambda2
13.827 * [backup-simplify]: Simplify 0 into 0
13.827 * [backup-simplify]: Simplify 1 into 1
13.827 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2)) in lambda2
13.827 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in lambda2
13.827 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda2
13.827 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
13.827 * [taylor]: Taking taylor expansion of 0.5 in lambda2
13.827 * [backup-simplify]: Simplify 0.5 into 0.5
13.827 * [taylor]: Taking taylor expansion of phi1 in lambda2
13.827 * [backup-simplify]: Simplify phi1 into phi1
13.827 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
13.827 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
13.827 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
13.827 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
13.827 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
13.828 * [backup-simplify]: Simplify (- 0) into 0
13.828 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
13.828 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in lambda2
13.828 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda2
13.828 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
13.828 * [taylor]: Taking taylor expansion of 0.5 in lambda2
13.828 * [backup-simplify]: Simplify 0.5 into 0.5
13.828 * [taylor]: Taking taylor expansion of phi2 in lambda2
13.828 * [backup-simplify]: Simplify phi2 into phi2
13.828 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
13.828 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
13.828 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
13.828 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2))
13.828 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0
13.828 * [backup-simplify]: Simplify (- 0) into 0
13.828 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2))
13.828 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (pow phi1 2)) in lambda2
13.828 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2
13.828 * [taylor]: Taking taylor expansion of phi2 in lambda2
13.829 * [backup-simplify]: Simplify phi2 into phi2
13.829 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2
13.829 * [taylor]: Taking taylor expansion of phi1 in lambda2
13.829 * [backup-simplify]: Simplify phi1 into phi1
13.829 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))) (* 2 (* phi1 phi2)))) in lambda2
13.829 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))))) in lambda2
13.829 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
13.829 * [taylor]: Taking taylor expansion of lambda2 in lambda2
13.829 * [backup-simplify]: Simplify 0 into 0
13.829 * [backup-simplify]: Simplify 1 into 1
13.829 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1))))) in lambda2
13.829 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda2
13.829 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
13.829 * [taylor]: Taking taylor expansion of 0.5 in lambda2
13.829 * [backup-simplify]: Simplify 0.5 into 0.5
13.829 * [taylor]: Taking taylor expansion of phi2 in lambda2
13.829 * [backup-simplify]: Simplify phi2 into phi2
13.829 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
13.829 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
13.829 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
13.829 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) in lambda2
13.829 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda2
13.829 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
13.829 * [taylor]: Taking taylor expansion of 0.5 in lambda2
13.829 * [backup-simplify]: Simplify 0.5 into 0.5
13.829 * [taylor]: Taking taylor expansion of phi1 in lambda2
13.829 * [backup-simplify]: Simplify phi1 into phi1
13.829 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
13.829 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
13.829 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
13.829 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1))) in lambda2
13.829 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda2
13.829 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
13.829 * [taylor]: Taking taylor expansion of 0.5 in lambda2
13.829 * [backup-simplify]: Simplify 0.5 into 0.5
13.829 * [taylor]: Taking taylor expansion of phi2 in lambda2
13.829 * [backup-simplify]: Simplify phi2 into phi2
13.829 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
13.829 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
13.829 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
13.829 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda2
13.830 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
13.830 * [taylor]: Taking taylor expansion of 0.5 in lambda2
13.830 * [backup-simplify]: Simplify 0.5 into 0.5
13.830 * [taylor]: Taking taylor expansion of phi1 in lambda2
13.830 * [backup-simplify]: Simplify phi1 into phi1
13.830 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
13.830 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
13.830 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
13.830 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))) (* 2 (* phi1 phi2))) in lambda2
13.830 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))) in lambda2
13.830 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
13.830 * [taylor]: Taking taylor expansion of lambda2 in lambda2
13.830 * [backup-simplify]: Simplify 0 into 0
13.830 * [backup-simplify]: Simplify 1 into 1
13.830 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1))))) in lambda2
13.830 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda2
13.830 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
13.830 * [taylor]: Taking taylor expansion of 0.5 in lambda2
13.830 * [backup-simplify]: Simplify 0.5 into 0.5
13.830 * [taylor]: Taking taylor expansion of phi2 in lambda2
13.830 * [backup-simplify]: Simplify phi2 into phi2
13.830 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
13.830 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
13.830 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
13.830 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))) in lambda2
13.830 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda2
13.830 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
13.830 * [taylor]: Taking taylor expansion of 0.5 in lambda2
13.830 * [backup-simplify]: Simplify 0.5 into 0.5
13.830 * [taylor]: Taking taylor expansion of phi1 in lambda2
13.830 * [backup-simplify]: Simplify phi1 into phi1
13.830 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
13.830 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
13.830 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
13.830 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1))) in lambda2
13.830 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda2
13.830 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
13.830 * [taylor]: Taking taylor expansion of 0.5 in lambda2
13.830 * [backup-simplify]: Simplify 0.5 into 0.5
13.830 * [taylor]: Taking taylor expansion of phi2 in lambda2
13.830 * [backup-simplify]: Simplify phi2 into phi2
13.830 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
13.831 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
13.831 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
13.831 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda2
13.831 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
13.831 * [taylor]: Taking taylor expansion of 0.5 in lambda2
13.831 * [backup-simplify]: Simplify 0.5 into 0.5
13.831 * [taylor]: Taking taylor expansion of phi1 in lambda2
13.831 * [backup-simplify]: Simplify phi1 into phi1
13.831 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
13.831 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
13.831 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
13.831 * [taylor]: Taking taylor expansion of (* 2 (* phi1 phi2)) in lambda2
13.831 * [taylor]: Taking taylor expansion of 2 in lambda2
13.831 * [backup-simplify]: Simplify 2 into 2
13.831 * [taylor]: Taking taylor expansion of (* phi1 phi2) in lambda2
13.831 * [taylor]: Taking taylor expansion of phi1 in lambda2
13.831 * [backup-simplify]: Simplify phi1 into phi1
13.831 * [taylor]: Taking taylor expansion of phi2 in lambda2
13.831 * [backup-simplify]: Simplify phi2 into phi2
13.831 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
13.831 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
13.831 * [backup-simplify]: Simplify (+ (pow phi2 2) (pow phi1 2)) into (+ (pow phi2 2) (pow phi1 2))
13.831 * [backup-simplify]: Simplify (+ 0 (+ (pow phi2 2) (pow phi1 2))) into (+ (pow phi2 2) (pow phi1 2))
13.832 * [backup-simplify]: Simplify (+ 0 (+ (pow phi2 2) (pow phi1 2))) into (+ (pow phi2 2) (pow phi1 2))
13.832 * [backup-simplify]: Simplify (* phi1 phi2) into (* phi1 phi2)
13.832 * [backup-simplify]: Simplify (* 2 (* phi1 phi2)) into (* 2 (* phi1 phi2))
13.832 * [backup-simplify]: Simplify (+ 0 (* 2 (* phi1 phi2))) into (* 2 (* phi1 phi2))
13.832 * [backup-simplify]: Simplify (+ 0 (* 2 (* phi1 phi2))) into (* 2 (* phi1 phi2))
13.832 * [backup-simplify]: Simplify (- (* 2 (* phi1 phi2))) into (- (* 2 (* phi1 phi2)))
13.832 * [backup-simplify]: Simplify (+ (+ (pow phi2 2) (pow phi1 2)) (- (* 2 (* phi1 phi2)))) into (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))
13.832 * [backup-simplify]: Simplify (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))) into (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))
13.832 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) into (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))))
13.833 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0
13.833 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0
13.833 * [backup-simplify]: Simplify (+ 0 0) into 0
13.833 * [backup-simplify]: Simplify (+ 0 0) into 0
13.833 * [backup-simplify]: Simplify (+ 0 0) into 0
13.833 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi2)) into 0
13.834 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi1 phi2))) into 0
13.834 * [backup-simplify]: Simplify (+ 0 0) into 0
13.834 * [backup-simplify]: Simplify (+ 0 0) into 0
13.834 * [backup-simplify]: Simplify (- 0) into 0
13.835 * [backup-simplify]: Simplify (+ 0 0) into 0
13.835 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))) (/ 0 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))))) into 0
13.835 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))))) into 0
13.836 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1))
13.836 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0
13.836 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1))
13.836 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2))
13.836 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0
13.836 * [backup-simplify]: Simplify (- 0) into 0
13.836 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2))
13.836 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
13.836 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
13.836 * [backup-simplify]: Simplify (- 0) into 0
13.837 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
13.837 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2))
13.837 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0
13.837 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2))
13.837 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (sin (* 0.5 phi2))) into (* (cos (* 0.5 phi1)) (sin (* 0.5 phi2)))
13.837 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi2)))) into (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))
13.837 * [backup-simplify]: Simplify (* R (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))) into (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* R (cos (* 0.5 phi2)))))
13.837 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* R (cos (* 0.5 phi2)))))) into (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* R (cos (* 0.5 phi2))))))
13.837 * [backup-simplify]: Simplify (* 0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* R (cos (* 0.5 phi2))))))) into 0
13.838 * [backup-simplify]: Simplify (* 0 (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))))) into 0
13.838 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
13.838 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
13.838 * [backup-simplify]: Simplify (- 0) into 0
13.838 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
13.838 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2))
13.838 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0
13.838 * [backup-simplify]: Simplify (- 0) into 0
13.839 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2))
13.839 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1))
13.839 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0
13.839 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1))
13.839 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2))
13.839 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0
13.839 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2))
13.839 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))) into (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))
13.839 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))) into (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))
13.839 * [backup-simplify]: Simplify (* R (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))) into (* (sin (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* R (cos (* 0.5 phi2)))))
13.839 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* R (cos (* 0.5 phi2)))))) into (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* R (cos (* 0.5 phi2))))))
13.840 * [backup-simplify]: Simplify (* 0 (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* R (cos (* 0.5 phi2))))))) into 0
13.840 * [backup-simplify]: Simplify (* 0 (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))))) into 0
13.840 * [backup-simplify]: Simplify (+ 0 0) into 0
13.840 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) (sin (* 0.5 phi2))) into (pow (sin (* 0.5 phi2)) 2)
13.840 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) (sin (* 0.5 phi1))) into (pow (sin (* 0.5 phi1)) 2)
13.841 * [backup-simplify]: Simplify (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2)) into (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))
13.841 * [backup-simplify]: Simplify (* 0 (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) into 0
13.841 * [backup-simplify]: Simplify (* R 0) into 0
13.841 * [backup-simplify]: Simplify (* 0 (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))))) into 0
13.841 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2)
13.841 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2)
13.841 * [backup-simplify]: Simplify (* R (pow (cos (* 0.5 phi1)) 2)) into (* (pow (cos (* 0.5 phi1)) 2) R)
13.842 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) R)) into (* (pow (cos (* 0.5 phi1)) 2) (* R (pow (cos (* 0.5 phi2)) 2)))
13.842 * [backup-simplify]: Simplify (* 0 (* (pow (cos (* 0.5 phi1)) 2) (* R (pow (cos (* 0.5 phi2)) 2)))) into 0
13.843 * [backup-simplify]: Simplify (* 0 (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))))) into 0
13.843 * [backup-simplify]: Simplify (+ 0 0) into 0
13.844 * [backup-simplify]: Simplify (- 0) into 0
13.844 * [backup-simplify]: Simplify (+ 0 0) into 0
13.844 * [taylor]: Taking taylor expansion of 0 in phi1
13.844 * [backup-simplify]: Simplify 0 into 0
13.844 * [taylor]: Taking taylor expansion of 0 in phi2
13.844 * [backup-simplify]: Simplify 0 into 0
13.844 * [taylor]: Taking taylor expansion of 0 in R
13.844 * [backup-simplify]: Simplify 0 into 0
13.844 * [backup-simplify]: Simplify 0 into 0
13.845 * [backup-simplify]: Simplify (+ (* (sqrt (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))) 0) (* 0 R)) into 0
13.845 * [taylor]: Taking taylor expansion of 0 in phi1
13.845 * [backup-simplify]: Simplify 0 into 0
13.845 * [taylor]: Taking taylor expansion of 0 in phi2
13.845 * [backup-simplify]: Simplify 0 into 0
13.845 * [taylor]: Taking taylor expansion of 0 in R
13.845 * [backup-simplify]: Simplify 0 into 0
13.845 * [backup-simplify]: Simplify 0 into 0
13.845 * [backup-simplify]: Simplify (+ (* phi2 0) (* -1 R)) into (- R)
13.845 * [taylor]: Taking taylor expansion of (- R) in phi2
13.845 * [taylor]: Taking taylor expansion of R in phi2
13.845 * [backup-simplify]: Simplify R into R
13.845 * [backup-simplify]: Simplify (- R) into (- R)
13.845 * [taylor]: Taking taylor expansion of (- R) in R
13.845 * [taylor]: Taking taylor expansion of R in R
13.845 * [backup-simplify]: Simplify 0 into 0
13.845 * [backup-simplify]: Simplify 1 into 1
13.846 * [backup-simplify]: Simplify (- 0) into 0
13.846 * [backup-simplify]: Simplify 0 into 0
13.846 * [backup-simplify]: Simplify (+ (* R 1) (* 0 0)) into R
13.846 * [taylor]: Taking taylor expansion of R in R
13.846 * [backup-simplify]: Simplify 0 into 0
13.846 * [backup-simplify]: Simplify 1 into 1
13.846 * [backup-simplify]: Simplify 0 into 0
13.847 * [backup-simplify]: Simplify 0 into 0
13.847 * [backup-simplify]: Simplify 0 into 0
13.847 * [backup-simplify]: Simplify (* (hypot (* (- (/ 1 lambda1) (/ 1 lambda2)) (- (* (cos (* (/ 1 phi1) 0.5)) (cos (* (/ 1 phi2) 0.5))) (* (sin (* (/ 1 phi1) 0.5)) (sin (* (/ 1 phi2) 0.5))))) (- (/ 1 phi1) (/ 1 phi2))) (/ 1 R)) into (/ (hypot (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) (- (/ 1 lambda1) (/ 1 lambda2))) (- (/ 1 phi1) (/ 1 phi2))) R)
13.847 * [approximate]: Taking taylor expansion of (/ (hypot (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) (- (/ 1 lambda1) (/ 1 lambda2))) (- (/ 1 phi1) (/ 1 phi2))) R) in (lambda1 lambda2 phi1 phi2 R) around 0
13.848 * [taylor]: Taking taylor expansion of (/ (hypot (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) (- (/ 1 lambda1) (/ 1 lambda2))) (- (/ 1 phi1) (/ 1 phi2))) R) in R
13.848 * [taylor]: Taking taylor expansion of (hypot (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) (- (/ 1 lambda1) (/ 1 lambda2))) (- (/ 1 phi1) (/ 1 phi2))) in R
13.848 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) (- (/ 1 lambda1) (/ 1 lambda2))) (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) (- (/ 1 lambda1) (/ 1 lambda2)))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2)))))
13.848 * [taylor]: Taking taylor expansion of (+ (* (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) (- (/ 1 lambda1) (/ 1 lambda2))) (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) (- (/ 1 lambda1) (/ 1 lambda2)))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2)))) in R
13.848 * [taylor]: Taking taylor expansion of (* (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) (- (/ 1 lambda1) (/ 1 lambda2))) (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) (- (/ 1 lambda1) (/ 1 lambda2)))) in R
13.848 * [taylor]: Taking taylor expansion of (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) (- (/ 1 lambda1) (/ 1 lambda2))) in R
13.848 * [taylor]: Taking taylor expansion of (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in R
13.848 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in R
13.848 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in R
13.848 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
13.848 * [taylor]: Taking taylor expansion of 0.5 in R
13.848 * [backup-simplify]: Simplify 0.5 into 0.5
13.848 * [taylor]: Taking taylor expansion of phi2 in R
13.848 * [backup-simplify]: Simplify phi2 into phi2
13.848 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
13.848 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
13.848 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
13.848 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in R
13.849 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
13.849 * [taylor]: Taking taylor expansion of 0.5 in R
13.849 * [backup-simplify]: Simplify 0.5 into 0.5
13.849 * [taylor]: Taking taylor expansion of phi1 in R
13.849 * [backup-simplify]: Simplify phi1 into phi1
13.849 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
13.849 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
13.849 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
13.849 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in R
13.849 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in R
13.849 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
13.849 * [taylor]: Taking taylor expansion of 0.5 in R
13.849 * [backup-simplify]: Simplify 0.5 into 0.5
13.849 * [taylor]: Taking taylor expansion of phi2 in R
13.849 * [backup-simplify]: Simplify phi2 into phi2
13.849 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
13.849 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
13.849 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
13.849 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in R
13.849 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
13.850 * [taylor]: Taking taylor expansion of 0.5 in R
13.850 * [backup-simplify]: Simplify 0.5 into 0.5
13.850 * [taylor]: Taking taylor expansion of phi1 in R
13.850 * [backup-simplify]: Simplify phi1 into phi1
13.850 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
13.850 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
13.850 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
13.850 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in R
13.850 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in R
13.850 * [taylor]: Taking taylor expansion of lambda1 in R
13.850 * [backup-simplify]: Simplify lambda1 into lambda1
13.850 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1)
13.850 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in R
13.850 * [taylor]: Taking taylor expansion of lambda2 in R
13.850 * [backup-simplify]: Simplify lambda2 into lambda2
13.850 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
13.850 * [taylor]: Taking taylor expansion of (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) (- (/ 1 lambda1) (/ 1 lambda2))) in R
13.850 * [taylor]: Taking taylor expansion of (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in R
13.850 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in R
13.850 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in R
13.850 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
13.850 * [taylor]: Taking taylor expansion of 0.5 in R
13.850 * [backup-simplify]: Simplify 0.5 into 0.5
13.850 * [taylor]: Taking taylor expansion of phi2 in R
13.850 * [backup-simplify]: Simplify phi2 into phi2
13.851 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
13.851 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
13.851 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
13.851 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in R
13.851 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
13.851 * [taylor]: Taking taylor expansion of 0.5 in R
13.851 * [backup-simplify]: Simplify 0.5 into 0.5
13.851 * [taylor]: Taking taylor expansion of phi1 in R
13.851 * [backup-simplify]: Simplify phi1 into phi1
13.851 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
13.851 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
13.851 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
13.851 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in R
13.851 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in R
13.851 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
13.851 * [taylor]: Taking taylor expansion of 0.5 in R
13.851 * [backup-simplify]: Simplify 0.5 into 0.5
13.851 * [taylor]: Taking taylor expansion of phi2 in R
13.851 * [backup-simplify]: Simplify phi2 into phi2
13.851 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
13.852 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
13.852 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
13.852 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in R
13.852 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
13.852 * [taylor]: Taking taylor expansion of 0.5 in R
13.852 * [backup-simplify]: Simplify 0.5 into 0.5
13.852 * [taylor]: Taking taylor expansion of phi1 in R
13.852 * [backup-simplify]: Simplify phi1 into phi1
13.852 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
13.852 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
13.852 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
13.852 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in R
13.852 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in R
13.852 * [taylor]: Taking taylor expansion of lambda1 in R
13.852 * [backup-simplify]: Simplify lambda1 into lambda1
13.853 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1)
13.853 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in R
13.853 * [taylor]: Taking taylor expansion of lambda2 in R
13.853 * [backup-simplify]: Simplify lambda2 into lambda2
13.853 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
13.853 * [taylor]: Taking taylor expansion of (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2))) in R
13.853 * [taylor]: Taking taylor expansion of (- (/ 1 phi1) (/ 1 phi2)) in R
13.853 * [taylor]: Taking taylor expansion of (/ 1 phi1) in R
13.853 * [taylor]: Taking taylor expansion of phi1 in R
13.853 * [backup-simplify]: Simplify phi1 into phi1
13.853 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
13.853 * [taylor]: Taking taylor expansion of (/ 1 phi2) in R
13.853 * [taylor]: Taking taylor expansion of phi2 in R
13.853 * [backup-simplify]: Simplify phi2 into phi2
13.853 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
13.853 * [taylor]: Taking taylor expansion of (- (/ 1 phi1) (/ 1 phi2)) in R
13.853 * [taylor]: Taking taylor expansion of (/ 1 phi1) in R
13.853 * [taylor]: Taking taylor expansion of phi1 in R
13.853 * [backup-simplify]: Simplify phi1 into phi1
13.853 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
13.853 * [taylor]: Taking taylor expansion of (/ 1 phi2) in R
13.853 * [taylor]: Taking taylor expansion of phi2 in R
13.853 * [backup-simplify]: Simplify phi2 into phi2
13.853 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
13.854 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
13.854 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
13.854 * [backup-simplify]: Simplify (- 0) into 0
13.854 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
13.854 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
13.855 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
13.855 * [backup-simplify]: Simplify (- 0) into 0
13.855 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
13.855 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
13.855 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
13.855 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
13.856 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
13.856 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
13.856 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
13.856 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
13.856 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
13.856 * [backup-simplify]: Simplify (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
13.857 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
13.857 * [backup-simplify]: Simplify (- (/ 1 lambda2)) into (- (/ 1 lambda2))
13.857 * [backup-simplify]: Simplify (+ (/ 1 lambda1) (- (/ 1 lambda2))) into (- (/ 1 lambda1) (/ 1 lambda2))
13.857 * [backup-simplify]: Simplify (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) (- (/ 1 lambda1) (/ 1 lambda2))) into (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) (- (/ 1 lambda1) (/ 1 lambda2)))
13.858 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
13.858 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
13.858 * [backup-simplify]: Simplify (- 0) into 0
13.858 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
13.858 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
13.858 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
13.859 * [backup-simplify]: Simplify (- 0) into 0
13.859 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
13.859 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
13.859 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
13.859 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
13.859 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
13.860 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
13.860 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
13.860 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
13.860 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
13.860 * [backup-simplify]: Simplify (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
13.861 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
13.861 * [backup-simplify]: Simplify (- (/ 1 lambda2)) into (- (/ 1 lambda2))
13.861 * [backup-simplify]: Simplify (+ (/ 1 lambda1) (- (/ 1 lambda2))) into (- (/ 1 lambda1) (/ 1 lambda2))
13.861 * [backup-simplify]: Simplify (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) (- (/ 1 lambda1) (/ 1 lambda2))) into (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) (- (/ 1 lambda1) (/ 1 lambda2)))
13.862 * [backup-simplify]: Simplify (* (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) (- (/ 1 lambda1) (/ 1 lambda2))) (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) (- (/ 1 lambda1) (/ 1 lambda2)))) into (* (pow (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) 2) (pow (- (/ 1 lambda1) (/ 1 lambda2)) 2))
13.862 * [backup-simplify]: Simplify (- (/ 1 phi2)) into (- (/ 1 phi2))
13.863 * [backup-simplify]: Simplify (+ (/ 1 phi1) (- (/ 1 phi2))) into (- (/ 1 phi1) (/ 1 phi2))
13.863 * [backup-simplify]: Simplify (- (/ 1 phi2)) into (- (/ 1 phi2))
13.863 * [backup-simplify]: Simplify (+ (/ 1 phi1) (- (/ 1 phi2))) into (- (/ 1 phi1) (/ 1 phi2))
13.863 * [backup-simplify]: Simplify (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2))) into (pow (- (/ 1 phi1) (/ 1 phi2)) 2)
13.865 * [backup-simplify]: Simplify (+ (* (pow (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) 2) (pow (- (/ 1 lambda1) (/ 1 lambda2)) 2)) (pow (- (/ 1 phi1) (/ 1 phi2)) 2)) into (- (+ (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (pow lambda2 2)) (+ (* 2 (/ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* lambda2 lambda1))) (+ (* 2 (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* lambda2 lambda1))) (+ (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (pow lambda1 2))))))))) (+ (* 2 (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (* lambda1 lambda2))) (+ (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ 1 (* phi1 phi2))) (+ (/ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* lambda1 lambda2))) (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (pow lambda2 2)))))))))
13.878 * [backup-simplify]: Simplify (sqrt (- (+ (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (pow lambda2 2)) (+ (* 2 (/ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* lambda2 lambda1))) (+ (* 2 (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* lambda2 lambda1))) (+ (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (pow lambda1 2))))))))) (+ (* 2 (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (* lambda1 lambda2))) (+ (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ 1 (* phi1 phi2))) (+ (/ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* lambda1 lambda2))) (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (pow lambda2 2)))))))))) into (sqrt (- (+ (* 2 (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* lambda2 lambda1))) (+ (* 2 (/ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* lambda2 lambda1))) (+ (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (pow lambda1 2))))))))) (+ (* 2 (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (* lambda1 lambda2))) (+ (* 2 (/ 1 (* phi1 phi2))) (+ (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (pow lambda2 2)) (+ (* 2 (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* lambda1 lambda2))) (+ (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (pow lambda1 2)) (+ (/ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (pow lambda2 2)) (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (pow lambda1 2))))))))))
13.878 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda1) (/ 0 lambda1)))) into 0
13.878 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)))) into 0
13.884 * [backup-simplify]: Simplify (- 0) into 0
13.884 * [backup-simplify]: Simplify (+ 0 0) into 0
13.885 * [backup-simplify]: Simplify (+ 0) into 0
13.885 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
13.886 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
13.886 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.887 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
13.887 * [backup-simplify]: Simplify (- 0) into 0
13.887 * [backup-simplify]: Simplify (+ 0 0) into 0
13.888 * [backup-simplify]: Simplify (+ 0) into 0
13.888 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
13.889 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
13.889 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.890 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
13.890 * [backup-simplify]: Simplify (- 0) into 0
13.891 * [backup-simplify]: Simplify (+ 0 0) into 0
13.891 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
13.891 * [backup-simplify]: Simplify (+ 0) into 0
13.892 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
13.892 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
13.892 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.893 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
13.893 * [backup-simplify]: Simplify (+ 0 0) into 0
13.893 * [backup-simplify]: Simplify (+ 0) into 0
13.894 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
13.894 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
13.894 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.895 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
13.895 * [backup-simplify]: Simplify (+ 0 0) into 0
13.895 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
13.896 * [backup-simplify]: Simplify (- 0) into 0
13.896 * [backup-simplify]: Simplify (+ 0 0) into 0
13.897 * [backup-simplify]: Simplify (+ (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) 0) (* 0 (- (/ 1 lambda1) (/ 1 lambda2)))) into 0
13.897 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda1) (/ 0 lambda1)))) into 0
13.897 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)))) into 0
13.898 * [backup-simplify]: Simplify (- 0) into 0
13.898 * [backup-simplify]: Simplify (+ 0 0) into 0
13.898 * [backup-simplify]: Simplify (+ 0) into 0
13.899 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
13.899 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
13.899 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.899 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
13.900 * [backup-simplify]: Simplify (- 0) into 0
13.900 * [backup-simplify]: Simplify (+ 0 0) into 0
13.900 * [backup-simplify]: Simplify (+ 0) into 0
13.900 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
13.901 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
13.901 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.901 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
13.902 * [backup-simplify]: Simplify (- 0) into 0
13.902 * [backup-simplify]: Simplify (+ 0 0) into 0
13.902 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
13.902 * [backup-simplify]: Simplify (+ 0) into 0
13.903 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
13.903 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
13.903 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.904 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
13.904 * [backup-simplify]: Simplify (+ 0 0) into 0
13.904 * [backup-simplify]: Simplify (+ 0) into 0
13.905 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
13.905 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
13.905 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.906 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
13.906 * [backup-simplify]: Simplify (+ 0 0) into 0
13.906 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
13.906 * [backup-simplify]: Simplify (- 0) into 0
13.906 * [backup-simplify]: Simplify (+ 0 0) into 0
13.907 * [backup-simplify]: Simplify (+ (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) 0) (* 0 (- (/ 1 lambda1) (/ 1 lambda2)))) into 0
13.907 * [backup-simplify]: Simplify (+ (* (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) (- (/ 1 lambda1) (/ 1 lambda2))) 0) (* 0 (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) (- (/ 1 lambda1) (/ 1 lambda2))))) into 0
13.907 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
13.907 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
13.908 * [backup-simplify]: Simplify (- 0) into 0
13.908 * [backup-simplify]: Simplify (+ 0 0) into 0
13.908 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
13.908 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
13.908 * [backup-simplify]: Simplify (- 0) into 0
13.909 * [backup-simplify]: Simplify (+ 0 0) into 0
13.909 * [backup-simplify]: Simplify (+ (* (- (/ 1 phi1) (/ 1 phi2)) 0) (* 0 (- (/ 1 phi1) (/ 1 phi2)))) into 0
13.909 * [backup-simplify]: Simplify (+ 0 0) into 0
13.916 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (- (+ (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (pow lambda2 2)) (+ (* 2 (/ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* lambda2 lambda1))) (+ (* 2 (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* lambda2 lambda1))) (+ (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (pow lambda1 2))))))))) (+ (* 2 (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (* lambda1 lambda2))) (+ (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ 1 (* phi1 phi2))) (+ (/ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* lambda1 lambda2))) (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (pow lambda2 2)))))))))))) into 0
13.916 * [taylor]: Taking taylor expansion of R in R
13.916 * [backup-simplify]: Simplify 0 into 0
13.916 * [backup-simplify]: Simplify 1 into 1
13.926 * [backup-simplify]: Simplify (/ (sqrt (- (+ (* 2 (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* lambda2 lambda1))) (+ (* 2 (/ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* lambda2 lambda1))) (+ (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (pow lambda1 2))))))))) (+ (* 2 (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (* lambda1 lambda2))) (+ (* 2 (/ 1 (* phi1 phi2))) (+ (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (pow lambda2 2)) (+ (* 2 (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* lambda1 lambda2))) (+ (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (pow lambda1 2)) (+ (/ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (pow lambda2 2)) (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (pow lambda1 2)))))))))) 1) into (sqrt (- (+ (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (pow lambda2 2)) (+ (* 2 (/ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* lambda2 lambda1))) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (pow lambda1 2)) (+ (* 2 (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* lambda2 lambda1))) (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (pow lambda1 2))))))))) (+ (* 2 (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (* lambda1 lambda2))) (+ (/ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ 1 (* phi1 phi2))) (+ (/ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (pow lambda1 2)) (* 2 (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* lambda1 lambda2)))))))))))
13.926 * [taylor]: Taking taylor expansion of (/ (hypot (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) (- (/ 1 lambda1) (/ 1 lambda2))) (- (/ 1 phi1) (/ 1 phi2))) R) in phi2
13.926 * [taylor]: Taking taylor expansion of (hypot (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) (- (/ 1 lambda1) (/ 1 lambda2))) (- (/ 1 phi1) (/ 1 phi2))) in phi2
13.927 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) (- (/ 1 lambda1) (/ 1 lambda2))) (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) (- (/ 1 lambda1) (/ 1 lambda2)))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2)))))
13.927 * [taylor]: Taking taylor expansion of (+ (* (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) (- (/ 1 lambda1) (/ 1 lambda2))) (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) (- (/ 1 lambda1) (/ 1 lambda2)))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2)))) in phi2
13.927 * [taylor]: Taking taylor expansion of (* (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) (- (/ 1 lambda1) (/ 1 lambda2))) (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) (- (/ 1 lambda1) (/ 1 lambda2)))) in phi2
13.927 * [taylor]: Taking taylor expansion of (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) (- (/ 1 lambda1) (/ 1 lambda2))) in phi2
13.927 * [taylor]: Taking taylor expansion of (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in phi2
13.927 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in phi2
13.927 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
13.927 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
13.927 * [taylor]: Taking taylor expansion of 0.5 in phi2
13.927 * [backup-simplify]: Simplify 0.5 into 0.5
13.927 * [taylor]: Taking taylor expansion of phi2 in phi2
13.927 * [backup-simplify]: Simplify 0 into 0
13.927 * [backup-simplify]: Simplify 1 into 1
13.928 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
13.928 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
13.928 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
13.928 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
13.928 * [taylor]: Taking taylor expansion of 0.5 in phi2
13.928 * [backup-simplify]: Simplify 0.5 into 0.5
13.928 * [taylor]: Taking taylor expansion of phi1 in phi2
13.928 * [backup-simplify]: Simplify phi1 into phi1
13.928 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
13.928 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
13.928 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
13.928 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in phi2
13.928 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
13.928 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
13.928 * [taylor]: Taking taylor expansion of 0.5 in phi2
13.928 * [backup-simplify]: Simplify 0.5 into 0.5
13.928 * [taylor]: Taking taylor expansion of phi2 in phi2
13.929 * [backup-simplify]: Simplify 0 into 0
13.929 * [backup-simplify]: Simplify 1 into 1
13.929 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
13.929 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
13.929 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
13.929 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
13.929 * [taylor]: Taking taylor expansion of 0.5 in phi2
13.929 * [backup-simplify]: Simplify 0.5 into 0.5
13.929 * [taylor]: Taking taylor expansion of phi1 in phi2
13.929 * [backup-simplify]: Simplify phi1 into phi1
13.929 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
13.929 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
13.930 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
13.930 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in phi2
13.930 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in phi2
13.930 * [taylor]: Taking taylor expansion of lambda1 in phi2
13.930 * [backup-simplify]: Simplify lambda1 into lambda1
13.930 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1)
13.930 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in phi2
13.930 * [taylor]: Taking taylor expansion of lambda2 in phi2
13.930 * [backup-simplify]: Simplify lambda2 into lambda2
13.930 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
13.930 * [taylor]: Taking taylor expansion of (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) (- (/ 1 lambda1) (/ 1 lambda2))) in phi2
13.930 * [taylor]: Taking taylor expansion of (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in phi2
13.930 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in phi2
13.930 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
13.930 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
13.930 * [taylor]: Taking taylor expansion of 0.5 in phi2
13.930 * [backup-simplify]: Simplify 0.5 into 0.5
13.930 * [taylor]: Taking taylor expansion of phi2 in phi2
13.930 * [backup-simplify]: Simplify 0 into 0
13.930 * [backup-simplify]: Simplify 1 into 1
13.931 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
13.932 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
13.932 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
13.932 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
13.932 * [taylor]: Taking taylor expansion of 0.5 in phi2
13.932 * [backup-simplify]: Simplify 0.5 into 0.5
13.932 * [taylor]: Taking taylor expansion of phi1 in phi2
13.932 * [backup-simplify]: Simplify phi1 into phi1
13.932 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
13.932 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
13.932 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
13.932 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in phi2
13.932 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
13.932 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
13.932 * [taylor]: Taking taylor expansion of 0.5 in phi2
13.932 * [backup-simplify]: Simplify 0.5 into 0.5
13.932 * [taylor]: Taking taylor expansion of phi2 in phi2
13.932 * [backup-simplify]: Simplify 0 into 0
13.932 * [backup-simplify]: Simplify 1 into 1
13.933 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
13.933 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
13.933 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
13.933 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
13.933 * [taylor]: Taking taylor expansion of 0.5 in phi2
13.933 * [backup-simplify]: Simplify 0.5 into 0.5
13.933 * [taylor]: Taking taylor expansion of phi1 in phi2
13.933 * [backup-simplify]: Simplify phi1 into phi1
13.933 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
13.933 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
13.933 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
13.934 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in phi2
13.934 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in phi2
13.934 * [taylor]: Taking taylor expansion of lambda1 in phi2
13.934 * [backup-simplify]: Simplify lambda1 into lambda1
13.934 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1)
13.934 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in phi2
13.934 * [taylor]: Taking taylor expansion of lambda2 in phi2
13.934 * [backup-simplify]: Simplify lambda2 into lambda2
13.934 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
13.934 * [taylor]: Taking taylor expansion of (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2))) in phi2
13.934 * [taylor]: Taking taylor expansion of (- (/ 1 phi1) (/ 1 phi2)) in phi2
13.934 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
13.934 * [taylor]: Taking taylor expansion of phi1 in phi2
13.934 * [backup-simplify]: Simplify phi1 into phi1
13.934 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
13.934 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
13.934 * [taylor]: Taking taylor expansion of phi2 in phi2
13.934 * [backup-simplify]: Simplify 0 into 0
13.934 * [backup-simplify]: Simplify 1 into 1
13.935 * [backup-simplify]: Simplify (/ 1 1) into 1
13.935 * [taylor]: Taking taylor expansion of (- (/ 1 phi1) (/ 1 phi2)) in phi2
13.935 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
13.935 * [taylor]: Taking taylor expansion of phi1 in phi2
13.935 * [backup-simplify]: Simplify phi1 into phi1
13.935 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
13.935 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
13.935 * [taylor]: Taking taylor expansion of phi2 in phi2
13.935 * [backup-simplify]: Simplify 0 into 0
13.935 * [backup-simplify]: Simplify 1 into 1
13.935 * [backup-simplify]: Simplify (/ 1 1) into 1
13.936 * [backup-simplify]: Simplify (- 1) into -1
13.936 * [backup-simplify]: Simplify (+ 0 -1) into -1
13.936 * [backup-simplify]: Simplify (- 1) into -1
13.937 * [backup-simplify]: Simplify (+ 0 -1) into -1
13.937 * [backup-simplify]: Simplify (* -1 -1) into 1
13.938 * [backup-simplify]: Simplify (+ 0 1) into 1
13.938 * [backup-simplify]: Simplify (sqrt 1) into 1
13.939 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
13.939 * [backup-simplify]: Simplify (- 0) into 0
13.939 * [backup-simplify]: Simplify (+ (/ 1 phi1) 0) into (/ 1 phi1)
13.940 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
13.940 * [backup-simplify]: Simplify (- 0) into 0
13.941 * [backup-simplify]: Simplify (+ (/ 1 phi1) 0) into (/ 1 phi1)
13.941 * [backup-simplify]: Simplify (+ (* -1 (/ 1 phi1)) (* (/ 1 phi1) -1)) into (- (* 2 (/ 1 phi1)))
13.941 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi1)))) into (- (* 2 (/ 1 phi1)))
13.942 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi1))) (* 2 (sqrt 1))) into (/ -1 phi1)
13.942 * [taylor]: Taking taylor expansion of R in phi2
13.942 * [backup-simplify]: Simplify R into R
13.942 * [backup-simplify]: Simplify (/ 1 R) into (/ 1 R)
13.942 * [taylor]: Taking taylor expansion of (/ (hypot (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) (- (/ 1 lambda1) (/ 1 lambda2))) (- (/ 1 phi1) (/ 1 phi2))) R) in phi1
13.942 * [taylor]: Taking taylor expansion of (hypot (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) (- (/ 1 lambda1) (/ 1 lambda2))) (- (/ 1 phi1) (/ 1 phi2))) in phi1
13.942 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) (- (/ 1 lambda1) (/ 1 lambda2))) (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) (- (/ 1 lambda1) (/ 1 lambda2)))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2)))))
13.942 * [taylor]: Taking taylor expansion of (+ (* (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) (- (/ 1 lambda1) (/ 1 lambda2))) (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) (- (/ 1 lambda1) (/ 1 lambda2)))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2)))) in phi1
13.942 * [taylor]: Taking taylor expansion of (* (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) (- (/ 1 lambda1) (/ 1 lambda2))) (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) (- (/ 1 lambda1) (/ 1 lambda2)))) in phi1
13.942 * [taylor]: Taking taylor expansion of (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) (- (/ 1 lambda1) (/ 1 lambda2))) in phi1
13.942 * [taylor]: Taking taylor expansion of (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in phi1
13.942 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in phi1
13.942 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
13.942 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
13.942 * [taylor]: Taking taylor expansion of 0.5 in phi1
13.942 * [backup-simplify]: Simplify 0.5 into 0.5
13.942 * [taylor]: Taking taylor expansion of phi2 in phi1
13.942 * [backup-simplify]: Simplify phi2 into phi2
13.942 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
13.943 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
13.943 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
13.943 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
13.943 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
13.943 * [taylor]: Taking taylor expansion of 0.5 in phi1
13.943 * [backup-simplify]: Simplify 0.5 into 0.5
13.943 * [taylor]: Taking taylor expansion of phi1 in phi1
13.943 * [backup-simplify]: Simplify 0 into 0
13.943 * [backup-simplify]: Simplify 1 into 1
13.943 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
13.943 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
13.943 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in phi1
13.943 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
13.943 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
13.944 * [taylor]: Taking taylor expansion of 0.5 in phi1
13.944 * [backup-simplify]: Simplify 0.5 into 0.5
13.944 * [taylor]: Taking taylor expansion of phi2 in phi1
13.944 * [backup-simplify]: Simplify phi2 into phi2
13.944 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
13.944 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
13.944 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
13.944 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
13.944 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
13.944 * [taylor]: Taking taylor expansion of 0.5 in phi1
13.944 * [backup-simplify]: Simplify 0.5 into 0.5
13.944 * [taylor]: Taking taylor expansion of phi1 in phi1
13.944 * [backup-simplify]: Simplify 0 into 0
13.944 * [backup-simplify]: Simplify 1 into 1
13.944 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
13.945 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
13.945 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in phi1
13.945 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in phi1
13.945 * [taylor]: Taking taylor expansion of lambda1 in phi1
13.945 * [backup-simplify]: Simplify lambda1 into lambda1
13.945 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1)
13.945 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in phi1
13.945 * [taylor]: Taking taylor expansion of lambda2 in phi1
13.945 * [backup-simplify]: Simplify lambda2 into lambda2
13.945 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
13.945 * [taylor]: Taking taylor expansion of (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) (- (/ 1 lambda1) (/ 1 lambda2))) in phi1
13.945 * [taylor]: Taking taylor expansion of (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in phi1
13.945 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in phi1
13.945 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
13.945 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
13.945 * [taylor]: Taking taylor expansion of 0.5 in phi1
13.945 * [backup-simplify]: Simplify 0.5 into 0.5
13.945 * [taylor]: Taking taylor expansion of phi2 in phi1
13.945 * [backup-simplify]: Simplify phi2 into phi2
13.945 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
13.945 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
13.945 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
13.946 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
13.946 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
13.946 * [taylor]: Taking taylor expansion of 0.5 in phi1
13.946 * [backup-simplify]: Simplify 0.5 into 0.5
13.946 * [taylor]: Taking taylor expansion of phi1 in phi1
13.946 * [backup-simplify]: Simplify 0 into 0
13.946 * [backup-simplify]: Simplify 1 into 1
13.946 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
13.946 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
13.946 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in phi1
13.946 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
13.946 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
13.946 * [taylor]: Taking taylor expansion of 0.5 in phi1
13.946 * [backup-simplify]: Simplify 0.5 into 0.5
13.946 * [taylor]: Taking taylor expansion of phi2 in phi1
13.946 * [backup-simplify]: Simplify phi2 into phi2
13.946 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
13.946 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
13.947 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
13.947 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
13.947 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
13.947 * [taylor]: Taking taylor expansion of 0.5 in phi1
13.947 * [backup-simplify]: Simplify 0.5 into 0.5
13.947 * [taylor]: Taking taylor expansion of phi1 in phi1
13.947 * [backup-simplify]: Simplify 0 into 0
13.947 * [backup-simplify]: Simplify 1 into 1
13.947 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
13.947 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
13.947 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in phi1
13.947 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in phi1
13.947 * [taylor]: Taking taylor expansion of lambda1 in phi1
13.947 * [backup-simplify]: Simplify lambda1 into lambda1
13.947 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1)
13.947 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in phi1
13.948 * [taylor]: Taking taylor expansion of lambda2 in phi1
13.948 * [backup-simplify]: Simplify lambda2 into lambda2
13.948 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
13.948 * [taylor]: Taking taylor expansion of (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2))) in phi1
13.948 * [taylor]: Taking taylor expansion of (- (/ 1 phi1) (/ 1 phi2)) in phi1
13.948 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
13.948 * [taylor]: Taking taylor expansion of phi1 in phi1
13.948 * [backup-simplify]: Simplify 0 into 0
13.948 * [backup-simplify]: Simplify 1 into 1
13.948 * [backup-simplify]: Simplify (/ 1 1) into 1
13.948 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
13.948 * [taylor]: Taking taylor expansion of phi2 in phi1
13.948 * [backup-simplify]: Simplify phi2 into phi2
13.948 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
13.948 * [taylor]: Taking taylor expansion of (- (/ 1 phi1) (/ 1 phi2)) in phi1
13.948 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
13.948 * [taylor]: Taking taylor expansion of phi1 in phi1
13.948 * [backup-simplify]: Simplify 0 into 0
13.948 * [backup-simplify]: Simplify 1 into 1
13.949 * [backup-simplify]: Simplify (/ 1 1) into 1
13.949 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
13.949 * [taylor]: Taking taylor expansion of phi2 in phi1
13.949 * [backup-simplify]: Simplify phi2 into phi2
13.949 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
13.949 * [backup-simplify]: Simplify (+ 1 0) into 1
13.950 * [backup-simplify]: Simplify (+ 1 0) into 1
13.950 * [backup-simplify]: Simplify (* 1 1) into 1
13.951 * [backup-simplify]: Simplify (+ 0 1) into 1
13.951 * [backup-simplify]: Simplify (sqrt 1) into 1
13.952 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
13.952 * [backup-simplify]: Simplify (- (/ 1 phi2)) into (- (/ 1 phi2))
13.952 * [backup-simplify]: Simplify (+ 0 (- (/ 1 phi2))) into (- (/ 1 phi2))
13.953 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
13.953 * [backup-simplify]: Simplify (- (/ 1 phi2)) into (- (/ 1 phi2))
13.953 * [backup-simplify]: Simplify (+ 0 (- (/ 1 phi2))) into (- (/ 1 phi2))
13.953 * [backup-simplify]: Simplify (+ (* 1 (- (/ 1 phi2))) (* (- (/ 1 phi2)) 1)) into (- (* 2 (/ 1 phi2)))
13.954 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2)))
13.954 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi2))) (* 2 (sqrt 1))) into (/ -1 phi2)
13.954 * [taylor]: Taking taylor expansion of R in phi1
13.954 * [backup-simplify]: Simplify R into R
13.954 * [backup-simplify]: Simplify (/ 1 R) into (/ 1 R)
13.954 * [taylor]: Taking taylor expansion of (/ (hypot (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) (- (/ 1 lambda1) (/ 1 lambda2))) (- (/ 1 phi1) (/ 1 phi2))) R) in lambda2
13.954 * [taylor]: Taking taylor expansion of (hypot (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) (- (/ 1 lambda1) (/ 1 lambda2))) (- (/ 1 phi1) (/ 1 phi2))) in lambda2
13.955 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) (- (/ 1 lambda1) (/ 1 lambda2))) (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) (- (/ 1 lambda1) (/ 1 lambda2)))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2)))))
13.955 * [taylor]: Taking taylor expansion of (+ (* (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) (- (/ 1 lambda1) (/ 1 lambda2))) (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) (- (/ 1 lambda1) (/ 1 lambda2)))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2)))) in lambda2
13.955 * [taylor]: Taking taylor expansion of (* (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) (- (/ 1 lambda1) (/ 1 lambda2))) (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) (- (/ 1 lambda1) (/ 1 lambda2)))) in lambda2
13.955 * [taylor]: Taking taylor expansion of (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) (- (/ 1 lambda1) (/ 1 lambda2))) in lambda2
13.955 * [taylor]: Taking taylor expansion of (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
13.955 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
13.955 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
13.955 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
13.955 * [taylor]: Taking taylor expansion of 0.5 in lambda2
13.955 * [backup-simplify]: Simplify 0.5 into 0.5
13.955 * [taylor]: Taking taylor expansion of phi2 in lambda2
13.955 * [backup-simplify]: Simplify phi2 into phi2
13.955 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
13.955 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
13.955 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
13.955 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
13.955 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
13.955 * [taylor]: Taking taylor expansion of 0.5 in lambda2
13.955 * [backup-simplify]: Simplify 0.5 into 0.5
13.955 * [taylor]: Taking taylor expansion of phi1 in lambda2
13.955 * [backup-simplify]: Simplify phi1 into phi1
13.955 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
13.956 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
13.956 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
13.956 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
13.956 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
13.956 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
13.956 * [taylor]: Taking taylor expansion of 0.5 in lambda2
13.956 * [backup-simplify]: Simplify 0.5 into 0.5
13.956 * [taylor]: Taking taylor expansion of phi2 in lambda2
13.956 * [backup-simplify]: Simplify phi2 into phi2
13.956 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
13.956 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
13.956 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
13.956 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
13.956 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
13.956 * [taylor]: Taking taylor expansion of 0.5 in lambda2
13.956 * [backup-simplify]: Simplify 0.5 into 0.5
13.956 * [taylor]: Taking taylor expansion of phi1 in lambda2
13.956 * [backup-simplify]: Simplify phi1 into phi1
13.956 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
13.956 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
13.956 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
13.957 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in lambda2
13.957 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda2
13.957 * [taylor]: Taking taylor expansion of lambda1 in lambda2
13.957 * [backup-simplify]: Simplify lambda1 into lambda1
13.957 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1)
13.957 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda2
13.957 * [taylor]: Taking taylor expansion of lambda2 in lambda2
13.957 * [backup-simplify]: Simplify 0 into 0
13.957 * [backup-simplify]: Simplify 1 into 1
13.957 * [backup-simplify]: Simplify (/ 1 1) into 1
13.957 * [taylor]: Taking taylor expansion of (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) (- (/ 1 lambda1) (/ 1 lambda2))) in lambda2
13.957 * [taylor]: Taking taylor expansion of (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
13.957 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
13.957 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
13.957 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
13.957 * [taylor]: Taking taylor expansion of 0.5 in lambda2
13.957 * [backup-simplify]: Simplify 0.5 into 0.5
13.957 * [taylor]: Taking taylor expansion of phi2 in lambda2
13.957 * [backup-simplify]: Simplify phi2 into phi2
13.958 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
13.958 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
13.958 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
13.958 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
13.958 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
13.958 * [taylor]: Taking taylor expansion of 0.5 in lambda2
13.958 * [backup-simplify]: Simplify 0.5 into 0.5
13.958 * [taylor]: Taking taylor expansion of phi1 in lambda2
13.958 * [backup-simplify]: Simplify phi1 into phi1
13.958 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
13.958 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
13.958 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
13.958 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
13.958 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
13.958 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
13.958 * [taylor]: Taking taylor expansion of 0.5 in lambda2
13.958 * [backup-simplify]: Simplify 0.5 into 0.5
13.958 * [taylor]: Taking taylor expansion of phi2 in lambda2
13.958 * [backup-simplify]: Simplify phi2 into phi2
13.958 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
13.958 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
13.959 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
13.959 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
13.959 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
13.959 * [taylor]: Taking taylor expansion of 0.5 in lambda2
13.959 * [backup-simplify]: Simplify 0.5 into 0.5
13.959 * [taylor]: Taking taylor expansion of phi1 in lambda2
13.959 * [backup-simplify]: Simplify phi1 into phi1
13.959 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
13.959 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
13.959 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
13.959 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in lambda2
13.959 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda2
13.959 * [taylor]: Taking taylor expansion of lambda1 in lambda2
13.959 * [backup-simplify]: Simplify lambda1 into lambda1
13.959 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1)
13.959 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda2
13.959 * [taylor]: Taking taylor expansion of lambda2 in lambda2
13.959 * [backup-simplify]: Simplify 0 into 0
13.959 * [backup-simplify]: Simplify 1 into 1
13.960 * [backup-simplify]: Simplify (/ 1 1) into 1
13.960 * [taylor]: Taking taylor expansion of (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2))) in lambda2
13.960 * [taylor]: Taking taylor expansion of (- (/ 1 phi1) (/ 1 phi2)) in lambda2
13.960 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
13.960 * [taylor]: Taking taylor expansion of phi1 in lambda2
13.960 * [backup-simplify]: Simplify phi1 into phi1
13.960 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
13.960 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
13.960 * [taylor]: Taking taylor expansion of phi2 in lambda2
13.960 * [backup-simplify]: Simplify phi2 into phi2
13.960 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
13.960 * [taylor]: Taking taylor expansion of (- (/ 1 phi1) (/ 1 phi2)) in lambda2
13.960 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
13.960 * [taylor]: Taking taylor expansion of phi1 in lambda2
13.960 * [backup-simplify]: Simplify phi1 into phi1
13.960 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
13.960 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
13.960 * [taylor]: Taking taylor expansion of phi2 in lambda2
13.960 * [backup-simplify]: Simplify phi2 into phi2
13.960 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
13.960 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
13.961 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
13.961 * [backup-simplify]: Simplify (- 0) into 0
13.961 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
13.961 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
13.961 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
13.962 * [backup-simplify]: Simplify (- 0) into 0
13.962 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
13.962 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
13.962 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
13.962 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
13.962 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
13.962 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
13.962 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
13.963 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
13.963 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
13.963 * [backup-simplify]: Simplify (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
13.963 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
13.964 * [backup-simplify]: Simplify (- 1) into -1
13.964 * [backup-simplify]: Simplify (+ 0 -1) into -1
13.964 * [backup-simplify]: Simplify (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) -1) into (* -1 (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
13.965 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
13.965 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
13.965 * [backup-simplify]: Simplify (- 0) into 0
13.965 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
13.965 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
13.965 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
13.966 * [backup-simplify]: Simplify (- 0) into 0
13.966 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
13.966 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
13.966 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
13.966 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
13.966 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
13.966 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
13.967 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
13.967 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
13.967 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
13.967 * [backup-simplify]: Simplify (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
13.967 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
13.968 * [backup-simplify]: Simplify (- 1) into -1
13.968 * [backup-simplify]: Simplify (+ 0 -1) into -1
13.968 * [backup-simplify]: Simplify (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) -1) into (* -1 (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
13.969 * [backup-simplify]: Simplify (* (* -1 (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* -1 (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into (pow (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) 2)
13.970 * [backup-simplify]: Simplify (+ (pow (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) 2) 0) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
13.972 * [backup-simplify]: Simplify (sqrt (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (sqrt (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
13.973 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
13.973 * [backup-simplify]: Simplify (- 0) into 0
13.973 * [backup-simplify]: Simplify (+ (/ 1 lambda1) 0) into (/ 1 lambda1)
13.974 * [backup-simplify]: Simplify (+ 0) into 0
13.974 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
13.974 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
13.975 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.976 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
13.976 * [backup-simplify]: Simplify (- 0) into 0
13.976 * [backup-simplify]: Simplify (+ 0 0) into 0
13.977 * [backup-simplify]: Simplify (+ 0) into 0
13.977 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
13.977 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
13.978 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.979 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
13.979 * [backup-simplify]: Simplify (- 0) into 0
13.979 * [backup-simplify]: Simplify (+ 0 0) into 0
13.980 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
13.980 * [backup-simplify]: Simplify (+ 0) into 0
13.981 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
13.981 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
13.982 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.982 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
13.982 * [backup-simplify]: Simplify (+ 0 0) into 0
13.983 * [backup-simplify]: Simplify (+ 0) into 0
13.983 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
13.984 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
13.984 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.985 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
13.986 * [backup-simplify]: Simplify (+ 0 0) into 0
13.986 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
13.986 * [backup-simplify]: Simplify (- 0) into 0
13.987 * [backup-simplify]: Simplify (+ 0 0) into 0
13.988 * [backup-simplify]: Simplify (+ (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) (/ 1 lambda1)) (* 0 -1)) into (- (/ (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) lambda1) (/ (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) lambda1))
13.989 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
13.989 * [backup-simplify]: Simplify (- 0) into 0
13.989 * [backup-simplify]: Simplify (+ (/ 1 lambda1) 0) into (/ 1 lambda1)
13.989 * [backup-simplify]: Simplify (+ 0) into 0
13.990 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
13.990 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
13.991 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.991 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
13.992 * [backup-simplify]: Simplify (- 0) into 0
13.992 * [backup-simplify]: Simplify (+ 0 0) into 0
13.993 * [backup-simplify]: Simplify (+ 0) into 0
13.993 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
13.993 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
13.994 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.995 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
13.995 * [backup-simplify]: Simplify (- 0) into 0
13.995 * [backup-simplify]: Simplify (+ 0 0) into 0
13.995 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
13.996 * [backup-simplify]: Simplify (+ 0) into 0
13.996 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
13.997 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
13.997 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.998 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
13.998 * [backup-simplify]: Simplify (+ 0 0) into 0
13.999 * [backup-simplify]: Simplify (+ 0) into 0
13.999 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
13.999 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
14.000 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.000 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
14.001 * [backup-simplify]: Simplify (+ 0 0) into 0
14.001 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
14.001 * [backup-simplify]: Simplify (- 0) into 0
14.002 * [backup-simplify]: Simplify (+ 0 0) into 0
14.003 * [backup-simplify]: Simplify (+ (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) (/ 1 lambda1)) (* 0 -1)) into (- (/ (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) lambda1) (/ (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) lambda1))
14.005 * [backup-simplify]: Simplify (+ (* (* -1 (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (/ (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) lambda1) (/ (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) lambda1))) (* (- (/ (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) lambda1) (/ (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) lambda1)) (* -1 (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into (- (+ (* 2 (/ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) lambda1)) (* 2 (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) lambda1))) (+ (* 2 (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) lambda1)) (* 2 (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) lambda1))))
14.008 * [backup-simplify]: Simplify (+ (- (+ (* 2 (/ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) lambda1)) (* 2 (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) lambda1))) (+ (* 2 (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) lambda1)) (* 2 (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) lambda1)))) 0) into (- (+ (* 2 (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) lambda1)) (* 2 (/ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) lambda1))) (+ (* 2 (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) lambda1)) (* 2 (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) lambda1))))
14.013 * [backup-simplify]: Simplify (/ (- (+ (* 2 (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) lambda1)) (* 2 (/ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) lambda1))) (+ (* 2 (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) lambda1)) (* 2 (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) lambda1)))) (* 2 (sqrt (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (- (+ (* 2 (/ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) lambda1)) (* 2 (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) lambda1))) (+ (* 2 (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) lambda1)) (* 2 (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) lambda1))))))
14.013 * [taylor]: Taking taylor expansion of R in lambda2
14.013 * [backup-simplify]: Simplify R into R
14.015 * [backup-simplify]: Simplify (/ (sqrt (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) R) into (* (sqrt (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 1 R))
14.015 * [taylor]: Taking taylor expansion of (/ (hypot (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) (- (/ 1 lambda1) (/ 1 lambda2))) (- (/ 1 phi1) (/ 1 phi2))) R) in lambda1
14.015 * [taylor]: Taking taylor expansion of (hypot (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) (- (/ 1 lambda1) (/ 1 lambda2))) (- (/ 1 phi1) (/ 1 phi2))) in lambda1
14.015 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) (- (/ 1 lambda1) (/ 1 lambda2))) (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) (- (/ 1 lambda1) (/ 1 lambda2)))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2)))))
14.015 * [taylor]: Taking taylor expansion of (+ (* (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) (- (/ 1 lambda1) (/ 1 lambda2))) (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) (- (/ 1 lambda1) (/ 1 lambda2)))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2)))) in lambda1
14.015 * [taylor]: Taking taylor expansion of (* (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) (- (/ 1 lambda1) (/ 1 lambda2))) (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) (- (/ 1 lambda1) (/ 1 lambda2)))) in lambda1
14.015 * [taylor]: Taking taylor expansion of (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) (- (/ 1 lambda1) (/ 1 lambda2))) in lambda1
14.015 * [taylor]: Taking taylor expansion of (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda1
14.015 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda1
14.016 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda1
14.016 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1
14.016 * [taylor]: Taking taylor expansion of 0.5 in lambda1
14.016 * [backup-simplify]: Simplify 0.5 into 0.5
14.016 * [taylor]: Taking taylor expansion of phi2 in lambda1
14.016 * [backup-simplify]: Simplify phi2 into phi2
14.016 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
14.016 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
14.016 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
14.016 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda1
14.016 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1
14.016 * [taylor]: Taking taylor expansion of 0.5 in lambda1
14.016 * [backup-simplify]: Simplify 0.5 into 0.5
14.016 * [taylor]: Taking taylor expansion of phi1 in lambda1
14.016 * [backup-simplify]: Simplify phi1 into phi1
14.016 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
14.016 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
14.016 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
14.016 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda1
14.016 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda1
14.016 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1
14.016 * [taylor]: Taking taylor expansion of 0.5 in lambda1
14.016 * [backup-simplify]: Simplify 0.5 into 0.5
14.016 * [taylor]: Taking taylor expansion of phi2 in lambda1
14.017 * [backup-simplify]: Simplify phi2 into phi2
14.017 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
14.017 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
14.017 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
14.017 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda1
14.017 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1
14.017 * [taylor]: Taking taylor expansion of 0.5 in lambda1
14.017 * [backup-simplify]: Simplify 0.5 into 0.5
14.017 * [taylor]: Taking taylor expansion of phi1 in lambda1
14.017 * [backup-simplify]: Simplify phi1 into phi1
14.017 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
14.017 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
14.017 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
14.017 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in lambda1
14.017 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1
14.017 * [taylor]: Taking taylor expansion of lambda1 in lambda1
14.017 * [backup-simplify]: Simplify 0 into 0
14.017 * [backup-simplify]: Simplify 1 into 1
14.018 * [backup-simplify]: Simplify (/ 1 1) into 1
14.018 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda1
14.018 * [taylor]: Taking taylor expansion of lambda2 in lambda1
14.018 * [backup-simplify]: Simplify lambda2 into lambda2
14.018 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
14.018 * [taylor]: Taking taylor expansion of (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) (- (/ 1 lambda1) (/ 1 lambda2))) in lambda1
14.018 * [taylor]: Taking taylor expansion of (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda1
14.018 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda1
14.018 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda1
14.018 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1
14.018 * [taylor]: Taking taylor expansion of 0.5 in lambda1
14.018 * [backup-simplify]: Simplify 0.5 into 0.5
14.018 * [taylor]: Taking taylor expansion of phi2 in lambda1
14.018 * [backup-simplify]: Simplify phi2 into phi2
14.018 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
14.018 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
14.019 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
14.019 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda1
14.019 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1
14.019 * [taylor]: Taking taylor expansion of 0.5 in lambda1
14.019 * [backup-simplify]: Simplify 0.5 into 0.5
14.019 * [taylor]: Taking taylor expansion of phi1 in lambda1
14.019 * [backup-simplify]: Simplify phi1 into phi1
14.019 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
14.019 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
14.019 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
14.019 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda1
14.019 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda1
14.019 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1
14.019 * [taylor]: Taking taylor expansion of 0.5 in lambda1
14.019 * [backup-simplify]: Simplify 0.5 into 0.5
14.019 * [taylor]: Taking taylor expansion of phi2 in lambda1
14.019 * [backup-simplify]: Simplify phi2 into phi2
14.019 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
14.019 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
14.019 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
14.019 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda1
14.019 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1
14.019 * [taylor]: Taking taylor expansion of 0.5 in lambda1
14.020 * [backup-simplify]: Simplify 0.5 into 0.5
14.020 * [taylor]: Taking taylor expansion of phi1 in lambda1
14.020 * [backup-simplify]: Simplify phi1 into phi1
14.020 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
14.020 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
14.020 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
14.020 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in lambda1
14.020 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1
14.020 * [taylor]: Taking taylor expansion of lambda1 in lambda1
14.020 * [backup-simplify]: Simplify 0 into 0
14.020 * [backup-simplify]: Simplify 1 into 1
14.020 * [backup-simplify]: Simplify (/ 1 1) into 1
14.020 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda1
14.020 * [taylor]: Taking taylor expansion of lambda2 in lambda1
14.020 * [backup-simplify]: Simplify lambda2 into lambda2
14.020 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
14.020 * [taylor]: Taking taylor expansion of (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2))) in lambda1
14.021 * [taylor]: Taking taylor expansion of (- (/ 1 phi1) (/ 1 phi2)) in lambda1
14.021 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
14.021 * [taylor]: Taking taylor expansion of phi1 in lambda1
14.021 * [backup-simplify]: Simplify phi1 into phi1
14.021 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
14.021 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
14.021 * [taylor]: Taking taylor expansion of phi2 in lambda1
14.021 * [backup-simplify]: Simplify phi2 into phi2
14.021 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
14.021 * [taylor]: Taking taylor expansion of (- (/ 1 phi1) (/ 1 phi2)) in lambda1
14.021 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
14.021 * [taylor]: Taking taylor expansion of phi1 in lambda1
14.021 * [backup-simplify]: Simplify phi1 into phi1
14.021 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
14.021 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
14.021 * [taylor]: Taking taylor expansion of phi2 in lambda1
14.021 * [backup-simplify]: Simplify phi2 into phi2
14.021 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
14.021 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
14.021 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
14.022 * [backup-simplify]: Simplify (- 0) into 0
14.022 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
14.022 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
14.022 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
14.022 * [backup-simplify]: Simplify (- 0) into 0
14.022 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
14.023 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
14.023 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
14.023 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
14.023 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
14.023 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
14.023 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
14.023 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
14.023 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
14.024 * [backup-simplify]: Simplify (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
14.024 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
14.024 * [backup-simplify]: Simplify (+ 1 0) into 1
14.025 * [backup-simplify]: Simplify (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) 1) into (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
14.025 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
14.025 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
14.025 * [backup-simplify]: Simplify (- 0) into 0
14.026 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
14.026 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
14.026 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
14.026 * [backup-simplify]: Simplify (- 0) into 0
14.026 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
14.026 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
14.026 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
14.027 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
14.027 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
14.027 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
14.027 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
14.027 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
14.027 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
14.027 * [backup-simplify]: Simplify (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
14.028 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
14.028 * [backup-simplify]: Simplify (+ 1 0) into 1
14.029 * [backup-simplify]: Simplify (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) 1) into (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
14.029 * [backup-simplify]: Simplify (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (pow (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) 2)
14.030 * [backup-simplify]: Simplify (+ (pow (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) 2) 0) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
14.032 * [backup-simplify]: Simplify (sqrt (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (sqrt (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
14.037 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
14.037 * [backup-simplify]: Simplify (- (/ 1 lambda2)) into (- (/ 1 lambda2))
14.037 * [backup-simplify]: Simplify (+ 0 (- (/ 1 lambda2))) into (- (/ 1 lambda2))
14.038 * [backup-simplify]: Simplify (+ 0) into 0
14.038 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
14.038 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
14.039 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.039 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
14.040 * [backup-simplify]: Simplify (- 0) into 0
14.040 * [backup-simplify]: Simplify (+ 0 0) into 0
14.041 * [backup-simplify]: Simplify (+ 0) into 0
14.041 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
14.041 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
14.042 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.042 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
14.043 * [backup-simplify]: Simplify (- 0) into 0
14.043 * [backup-simplify]: Simplify (+ 0 0) into 0
14.043 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
14.044 * [backup-simplify]: Simplify (+ 0) into 0
14.044 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
14.045 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
14.045 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.046 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
14.046 * [backup-simplify]: Simplify (+ 0 0) into 0
14.047 * [backup-simplify]: Simplify (+ 0) into 0
14.047 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
14.047 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
14.048 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.049 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
14.049 * [backup-simplify]: Simplify (+ 0 0) into 0
14.049 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
14.050 * [backup-simplify]: Simplify (- 0) into 0
14.050 * [backup-simplify]: Simplify (+ 0 0) into 0
14.051 * [backup-simplify]: Simplify (+ (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) (- (/ 1 lambda2))) (* 0 1)) into (- (/ (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) lambda2) (/ (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) lambda2))
14.052 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
14.052 * [backup-simplify]: Simplify (- (/ 1 lambda2)) into (- (/ 1 lambda2))
14.052 * [backup-simplify]: Simplify (+ 0 (- (/ 1 lambda2))) into (- (/ 1 lambda2))
14.052 * [backup-simplify]: Simplify (+ 0) into 0
14.053 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
14.053 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
14.054 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.055 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
14.055 * [backup-simplify]: Simplify (- 0) into 0
14.055 * [backup-simplify]: Simplify (+ 0 0) into 0
14.056 * [backup-simplify]: Simplify (+ 0) into 0
14.056 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
14.057 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
14.057 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.058 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
14.058 * [backup-simplify]: Simplify (- 0) into 0
14.059 * [backup-simplify]: Simplify (+ 0 0) into 0
14.059 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
14.059 * [backup-simplify]: Simplify (+ 0) into 0
14.060 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
14.060 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
14.061 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.061 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
14.061 * [backup-simplify]: Simplify (+ 0 0) into 0
14.062 * [backup-simplify]: Simplify (+ 0) into 0
14.062 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
14.063 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
14.063 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.064 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
14.064 * [backup-simplify]: Simplify (+ 0 0) into 0
14.064 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
14.065 * [backup-simplify]: Simplify (- 0) into 0
14.065 * [backup-simplify]: Simplify (+ 0 0) into 0
14.066 * [backup-simplify]: Simplify (+ (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) (- (/ 1 lambda2))) (* 0 1)) into (- (/ (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) lambda2) (/ (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) lambda2))
14.068 * [backup-simplify]: Simplify (+ (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) (- (/ (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) lambda2) (/ (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) lambda2))) (* (- (/ (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) lambda2) (/ (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) lambda2)) (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into (- (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (cos (/ 0.5 phi2))))) lambda2)) (* 2 (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (sin (/ 0.5 phi2))))) lambda2))) (+ (* 2 (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) lambda2)) (* 2 (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) lambda2))))
14.071 * [backup-simplify]: Simplify (+ (- (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (cos (/ 0.5 phi2))))) lambda2)) (* 2 (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (sin (/ 0.5 phi2))))) lambda2))) (+ (* 2 (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) lambda2)) (* 2 (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) lambda2)))) 0) into (- (+ (* 2 (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) lambda2)) (* 2 (/ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) lambda2))) (+ (* 2 (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) lambda2)) (* 2 (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) lambda2))))
14.076 * [backup-simplify]: Simplify (/ (- (+ (* 2 (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) lambda2)) (* 2 (/ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) lambda2))) (+ (* 2 (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) lambda2)) (* 2 (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) lambda2)))) (* 2 (sqrt (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (- (+ (* 2 (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) lambda2)) (* 2 (/ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) lambda2))) (+ (* 2 (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) lambda2)) (* 2 (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) lambda2))))))
14.076 * [taylor]: Taking taylor expansion of R in lambda1
14.076 * [backup-simplify]: Simplify R into R
14.078 * [backup-simplify]: Simplify (/ (sqrt (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) R) into (* (sqrt (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 1 R))
14.078 * [taylor]: Taking taylor expansion of (/ (hypot (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) (- (/ 1 lambda1) (/ 1 lambda2))) (- (/ 1 phi1) (/ 1 phi2))) R) in lambda1
14.079 * [taylor]: Taking taylor expansion of (hypot (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) (- (/ 1 lambda1) (/ 1 lambda2))) (- (/ 1 phi1) (/ 1 phi2))) in lambda1
14.079 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) (- (/ 1 lambda1) (/ 1 lambda2))) (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) (- (/ 1 lambda1) (/ 1 lambda2)))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2)))))
14.079 * [taylor]: Taking taylor expansion of (+ (* (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) (- (/ 1 lambda1) (/ 1 lambda2))) (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) (- (/ 1 lambda1) (/ 1 lambda2)))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2)))) in lambda1
14.079 * [taylor]: Taking taylor expansion of (* (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) (- (/ 1 lambda1) (/ 1 lambda2))) (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) (- (/ 1 lambda1) (/ 1 lambda2)))) in lambda1
14.079 * [taylor]: Taking taylor expansion of (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) (- (/ 1 lambda1) (/ 1 lambda2))) in lambda1
14.079 * [taylor]: Taking taylor expansion of (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda1
14.079 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda1
14.079 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda1
14.079 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1
14.079 * [taylor]: Taking taylor expansion of 0.5 in lambda1
14.079 * [backup-simplify]: Simplify 0.5 into 0.5
14.079 * [taylor]: Taking taylor expansion of phi2 in lambda1
14.079 * [backup-simplify]: Simplify phi2 into phi2
14.079 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
14.079 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
14.079 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
14.079 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda1
14.079 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1
14.080 * [taylor]: Taking taylor expansion of 0.5 in lambda1
14.080 * [backup-simplify]: Simplify 0.5 into 0.5
14.080 * [taylor]: Taking taylor expansion of phi1 in lambda1
14.080 * [backup-simplify]: Simplify phi1 into phi1
14.080 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
14.080 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
14.080 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
14.080 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda1
14.080 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda1
14.080 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1
14.080 * [taylor]: Taking taylor expansion of 0.5 in lambda1
14.080 * [backup-simplify]: Simplify 0.5 into 0.5
14.080 * [taylor]: Taking taylor expansion of phi2 in lambda1
14.080 * [backup-simplify]: Simplify phi2 into phi2
14.080 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
14.080 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
14.080 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
14.080 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda1
14.080 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1
14.080 * [taylor]: Taking taylor expansion of 0.5 in lambda1
14.080 * [backup-simplify]: Simplify 0.5 into 0.5
14.080 * [taylor]: Taking taylor expansion of phi1 in lambda1
14.080 * [backup-simplify]: Simplify phi1 into phi1
14.081 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
14.081 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
14.081 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
14.081 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in lambda1
14.081 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1
14.081 * [taylor]: Taking taylor expansion of lambda1 in lambda1
14.081 * [backup-simplify]: Simplify 0 into 0
14.081 * [backup-simplify]: Simplify 1 into 1
14.081 * [backup-simplify]: Simplify (/ 1 1) into 1
14.082 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda1
14.082 * [taylor]: Taking taylor expansion of lambda2 in lambda1
14.082 * [backup-simplify]: Simplify lambda2 into lambda2
14.082 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
14.082 * [taylor]: Taking taylor expansion of (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) (- (/ 1 lambda1) (/ 1 lambda2))) in lambda1
14.082 * [taylor]: Taking taylor expansion of (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda1
14.082 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda1
14.082 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda1
14.082 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1
14.082 * [taylor]: Taking taylor expansion of 0.5 in lambda1
14.082 * [backup-simplify]: Simplify 0.5 into 0.5
14.082 * [taylor]: Taking taylor expansion of phi2 in lambda1
14.082 * [backup-simplify]: Simplify phi2 into phi2
14.082 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
14.082 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
14.082 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
14.082 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda1
14.082 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1
14.082 * [taylor]: Taking taylor expansion of 0.5 in lambda1
14.082 * [backup-simplify]: Simplify 0.5 into 0.5
14.082 * [taylor]: Taking taylor expansion of phi1 in lambda1
14.082 * [backup-simplify]: Simplify phi1 into phi1
14.082 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
14.083 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
14.083 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
14.083 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda1
14.083 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda1
14.083 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1
14.083 * [taylor]: Taking taylor expansion of 0.5 in lambda1
14.083 * [backup-simplify]: Simplify 0.5 into 0.5
14.083 * [taylor]: Taking taylor expansion of phi2 in lambda1
14.083 * [backup-simplify]: Simplify phi2 into phi2
14.083 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
14.083 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
14.083 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
14.083 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda1
14.083 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1
14.083 * [taylor]: Taking taylor expansion of 0.5 in lambda1
14.083 * [backup-simplify]: Simplify 0.5 into 0.5
14.083 * [taylor]: Taking taylor expansion of phi1 in lambda1
14.083 * [backup-simplify]: Simplify phi1 into phi1
14.083 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
14.083 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
14.084 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
14.084 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in lambda1
14.084 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1
14.084 * [taylor]: Taking taylor expansion of lambda1 in lambda1
14.084 * [backup-simplify]: Simplify 0 into 0
14.084 * [backup-simplify]: Simplify 1 into 1
14.084 * [backup-simplify]: Simplify (/ 1 1) into 1
14.084 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda1
14.084 * [taylor]: Taking taylor expansion of lambda2 in lambda1
14.084 * [backup-simplify]: Simplify lambda2 into lambda2
14.084 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
14.084 * [taylor]: Taking taylor expansion of (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2))) in lambda1
14.084 * [taylor]: Taking taylor expansion of (- (/ 1 phi1) (/ 1 phi2)) in lambda1
14.084 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
14.084 * [taylor]: Taking taylor expansion of phi1 in lambda1
14.084 * [backup-simplify]: Simplify phi1 into phi1
14.084 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
14.085 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
14.085 * [taylor]: Taking taylor expansion of phi2 in lambda1
14.085 * [backup-simplify]: Simplify phi2 into phi2
14.085 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
14.085 * [taylor]: Taking taylor expansion of (- (/ 1 phi1) (/ 1 phi2)) in lambda1
14.085 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
14.085 * [taylor]: Taking taylor expansion of phi1 in lambda1
14.085 * [backup-simplify]: Simplify phi1 into phi1
14.085 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
14.085 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
14.085 * [taylor]: Taking taylor expansion of phi2 in lambda1
14.085 * [backup-simplify]: Simplify phi2 into phi2
14.085 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
14.085 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
14.085 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
14.086 * [backup-simplify]: Simplify (- 0) into 0
14.086 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
14.086 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
14.086 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
14.086 * [backup-simplify]: Simplify (- 0) into 0
14.086 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
14.087 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
14.087 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
14.087 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
14.087 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
14.087 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
14.087 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
14.087 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
14.087 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
14.088 * [backup-simplify]: Simplify (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
14.088 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
14.088 * [backup-simplify]: Simplify (+ 1 0) into 1
14.089 * [backup-simplify]: Simplify (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) 1) into (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
14.089 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
14.089 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
14.089 * [backup-simplify]: Simplify (- 0) into 0
14.090 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
14.090 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
14.090 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
14.090 * [backup-simplify]: Simplify (- 0) into 0
14.090 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
14.090 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
14.091 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
14.091 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
14.091 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
14.091 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
14.091 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
14.091 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
14.091 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
14.091 * [backup-simplify]: Simplify (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
14.092 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
14.092 * [backup-simplify]: Simplify (+ 1 0) into 1
14.093 * [backup-simplify]: Simplify (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) 1) into (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
14.094 * [backup-simplify]: Simplify (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (pow (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) 2)
14.095 * [backup-simplify]: Simplify (+ (pow (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) 2) 0) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
14.097 * [backup-simplify]: Simplify (sqrt (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (sqrt (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
14.098 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
14.098 * [backup-simplify]: Simplify (- (/ 1 lambda2)) into (- (/ 1 lambda2))
14.098 * [backup-simplify]: Simplify (+ 0 (- (/ 1 lambda2))) into (- (/ 1 lambda2))
14.099 * [backup-simplify]: Simplify (+ 0) into 0
14.099 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
14.099 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
14.100 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.100 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
14.101 * [backup-simplify]: Simplify (- 0) into 0
14.101 * [backup-simplify]: Simplify (+ 0 0) into 0
14.102 * [backup-simplify]: Simplify (+ 0) into 0
14.102 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
14.102 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
14.103 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.104 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
14.104 * [backup-simplify]: Simplify (- 0) into 0
14.104 * [backup-simplify]: Simplify (+ 0 0) into 0
14.105 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
14.105 * [backup-simplify]: Simplify (+ 0) into 0
14.106 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
14.106 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
14.107 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.107 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
14.107 * [backup-simplify]: Simplify (+ 0 0) into 0
14.108 * [backup-simplify]: Simplify (+ 0) into 0
14.108 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
14.108 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
14.109 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.110 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
14.110 * [backup-simplify]: Simplify (+ 0 0) into 0
14.110 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
14.111 * [backup-simplify]: Simplify (- 0) into 0
14.111 * [backup-simplify]: Simplify (+ 0 0) into 0
14.112 * [backup-simplify]: Simplify (+ (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) (- (/ 1 lambda2))) (* 0 1)) into (- (/ (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) lambda2) (/ (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) lambda2))
14.113 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
14.113 * [backup-simplify]: Simplify (- (/ 1 lambda2)) into (- (/ 1 lambda2))
14.113 * [backup-simplify]: Simplify (+ 0 (- (/ 1 lambda2))) into (- (/ 1 lambda2))
14.113 * [backup-simplify]: Simplify (+ 0) into 0
14.114 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
14.114 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
14.115 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.115 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
14.116 * [backup-simplify]: Simplify (- 0) into 0
14.116 * [backup-simplify]: Simplify (+ 0 0) into 0
14.116 * [backup-simplify]: Simplify (+ 0) into 0
14.117 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
14.117 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
14.118 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.118 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
14.119 * [backup-simplify]: Simplify (- 0) into 0
14.119 * [backup-simplify]: Simplify (+ 0 0) into 0
14.119 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
14.119 * [backup-simplify]: Simplify (+ 0) into 0
14.120 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
14.120 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
14.121 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.121 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
14.122 * [backup-simplify]: Simplify (+ 0 0) into 0
14.122 * [backup-simplify]: Simplify (+ 0) into 0
14.123 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
14.123 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
14.124 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.124 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
14.124 * [backup-simplify]: Simplify (+ 0 0) into 0
14.125 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
14.125 * [backup-simplify]: Simplify (- 0) into 0
14.125 * [backup-simplify]: Simplify (+ 0 0) into 0
14.126 * [backup-simplify]: Simplify (+ (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) (- (/ 1 lambda2))) (* 0 1)) into (- (/ (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) lambda2) (/ (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) lambda2))
14.128 * [backup-simplify]: Simplify (+ (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) (- (/ (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) lambda2) (/ (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) lambda2))) (* (- (/ (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) lambda2) (/ (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) lambda2)) (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into (- (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (cos (/ 0.5 phi2))))) lambda2)) (* 2 (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (sin (/ 0.5 phi2))))) lambda2))) (+ (* 2 (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) lambda2)) (* 2 (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) lambda2))))
14.132 * [backup-simplify]: Simplify (+ (- (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (cos (/ 0.5 phi2))))) lambda2)) (* 2 (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (sin (/ 0.5 phi2))))) lambda2))) (+ (* 2 (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) lambda2)) (* 2 (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) lambda2)))) 0) into (- (+ (* 2 (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) lambda2)) (* 2 (/ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) lambda2))) (+ (* 2 (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) lambda2)) (* 2 (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) lambda2))))
14.136 * [backup-simplify]: Simplify (/ (- (+ (* 2 (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) lambda2)) (* 2 (/ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) lambda2))) (+ (* 2 (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) lambda2)) (* 2 (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) lambda2)))) (* 2 (sqrt (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (- (+ (* 2 (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) lambda2)) (* 2 (/ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) lambda2))) (+ (* 2 (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) lambda2)) (* 2 (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) lambda2))))))
14.136 * [taylor]: Taking taylor expansion of R in lambda1
14.136 * [backup-simplify]: Simplify R into R
14.138 * [backup-simplify]: Simplify (/ (sqrt (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) R) into (* (sqrt (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 1 R))
14.138 * [taylor]: Taking taylor expansion of (* (sqrt (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 1 R)) in lambda2
14.138 * [taylor]: Taking taylor expansion of (sqrt (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in lambda2
14.139 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
14.139 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
14.139 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
14.139 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
14.139 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
14.139 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
14.139 * [taylor]: Taking taylor expansion of 0.5 in lambda2
14.139 * [backup-simplify]: Simplify 0.5 into 0.5
14.139 * [taylor]: Taking taylor expansion of phi2 in lambda2
14.139 * [backup-simplify]: Simplify phi2 into phi2
14.139 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
14.139 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
14.139 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
14.139 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
14.139 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
14.139 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
14.139 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
14.140 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
14.140 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
14.140 * [taylor]: Taking taylor expansion of 0.5 in lambda2
14.140 * [backup-simplify]: Simplify 0.5 into 0.5
14.140 * [taylor]: Taking taylor expansion of phi1 in lambda2
14.140 * [backup-simplify]: Simplify phi1 into phi1
14.140 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
14.140 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
14.140 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
14.140 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
14.140 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
14.140 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
14.140 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
14.140 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
14.140 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
14.140 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
14.140 * [taylor]: Taking taylor expansion of 0.5 in lambda2
14.140 * [backup-simplify]: Simplify 0.5 into 0.5
14.140 * [taylor]: Taking taylor expansion of phi2 in lambda2
14.140 * [backup-simplify]: Simplify phi2 into phi2
14.141 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
14.141 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
14.141 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
14.141 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
14.141 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
14.142 * [backup-simplify]: Simplify (- 0) into 0
14.142 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
14.142 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
14.142 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
14.142 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
14.142 * [taylor]: Taking taylor expansion of 0.5 in lambda2
14.142 * [backup-simplify]: Simplify 0.5 into 0.5
14.142 * [taylor]: Taking taylor expansion of phi1 in lambda2
14.142 * [backup-simplify]: Simplify phi1 into phi1
14.142 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
14.142 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
14.142 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
14.142 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
14.142 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
14.143 * [backup-simplify]: Simplify (- 0) into 0
14.143 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
14.143 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
14.143 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
14.143 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
14.143 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
14.143 * [taylor]: Taking taylor expansion of 0.5 in lambda2
14.143 * [backup-simplify]: Simplify 0.5 into 0.5
14.143 * [taylor]: Taking taylor expansion of phi2 in lambda2
14.143 * [backup-simplify]: Simplify phi2 into phi2
14.143 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
14.143 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
14.143 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
14.143 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
14.143 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
14.143 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
14.143 * [taylor]: Taking taylor expansion of 0.5 in lambda2
14.143 * [backup-simplify]: Simplify 0.5 into 0.5
14.144 * [taylor]: Taking taylor expansion of phi1 in lambda2
14.144 * [backup-simplify]: Simplify phi1 into phi1
14.144 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
14.144 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
14.144 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
14.144 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
14.144 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
14.144 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
14.144 * [taylor]: Taking taylor expansion of 0.5 in lambda2
14.144 * [backup-simplify]: Simplify 0.5 into 0.5
14.144 * [taylor]: Taking taylor expansion of phi2 in lambda2
14.144 * [backup-simplify]: Simplify phi2 into phi2
14.144 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
14.144 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
14.144 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
14.144 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
14.144 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
14.144 * [taylor]: Taking taylor expansion of 0.5 in lambda2
14.144 * [backup-simplify]: Simplify 0.5 into 0.5
14.144 * [taylor]: Taking taylor expansion of phi1 in lambda2
14.144 * [backup-simplify]: Simplify phi1 into phi1
14.145 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
14.145 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
14.145 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
14.145 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
14.145 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
14.145 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
14.145 * [taylor]: Taking taylor expansion of 0.5 in lambda2
14.145 * [backup-simplify]: Simplify 0.5 into 0.5
14.145 * [taylor]: Taking taylor expansion of phi2 in lambda2
14.145 * [backup-simplify]: Simplify phi2 into phi2
14.145 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
14.145 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
14.145 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
14.145 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
14.145 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
14.145 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
14.145 * [taylor]: Taking taylor expansion of 0.5 in lambda2
14.145 * [backup-simplify]: Simplify 0.5 into 0.5
14.145 * [taylor]: Taking taylor expansion of phi1 in lambda2
14.145 * [backup-simplify]: Simplify phi1 into phi1
14.146 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
14.146 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
14.146 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
14.146 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
14.146 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
14.146 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
14.146 * [taylor]: Taking taylor expansion of 0.5 in lambda2
14.146 * [backup-simplify]: Simplify 0.5 into 0.5
14.146 * [taylor]: Taking taylor expansion of phi2 in lambda2
14.146 * [backup-simplify]: Simplify phi2 into phi2
14.146 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
14.146 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
14.146 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
14.146 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
14.146 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
14.146 * [taylor]: Taking taylor expansion of 0.5 in lambda2
14.146 * [backup-simplify]: Simplify 0.5 into 0.5
14.146 * [taylor]: Taking taylor expansion of phi1 in lambda2
14.146 * [backup-simplify]: Simplify phi1 into phi1
14.146 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
14.147 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
14.147 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
14.147 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
14.147 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
14.148 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
14.148 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
14.148 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
14.148 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
14.149 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
14.149 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
14.149 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
14.150 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
14.150 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
14.150 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
14.150 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
14.150 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
14.150 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
14.151 * [backup-simplify]: Simplify (- 0) into 0
14.151 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
14.151 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
14.151 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
14.151 * [backup-simplify]: Simplify (- 0) into 0
14.151 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
14.152 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
14.152 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
14.152 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
14.152 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
14.152 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
14.153 * [backup-simplify]: Simplify (- 0) into 0
14.153 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
14.153 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
14.153 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
14.154 * [backup-simplify]: Simplify (- 0) into 0
14.154 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
14.154 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
14.154 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
14.154 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
14.154 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
14.155 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
14.155 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
14.155 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
14.155 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
14.155 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
14.156 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))
14.157 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
14.159 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
14.161 * [backup-simplify]: Simplify (sqrt (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (sqrt (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
14.162 * [backup-simplify]: Simplify (+ 0) into 0
14.162 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
14.162 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
14.163 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.164 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
14.164 * [backup-simplify]: Simplify (+ 0 0) into 0
14.164 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
14.165 * [backup-simplify]: Simplify (+ 0) into 0
14.165 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
14.165 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
14.166 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.166 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
14.167 * [backup-simplify]: Simplify (+ 0 0) into 0
14.167 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
14.167 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
14.168 * [backup-simplify]: Simplify (+ 0) into 0
14.168 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
14.169 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
14.169 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.170 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
14.170 * [backup-simplify]: Simplify (- 0) into 0
14.171 * [backup-simplify]: Simplify (+ 0 0) into 0
14.171 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
14.171 * [backup-simplify]: Simplify (+ 0) into 0
14.172 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
14.172 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
14.173 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.173 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
14.174 * [backup-simplify]: Simplify (- 0) into 0
14.174 * [backup-simplify]: Simplify (+ 0 0) into 0
14.174 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
14.175 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
14.175 * [backup-simplify]: Simplify (+ 0 0) into 0
14.175 * [backup-simplify]: Simplify (+ 0) into 0
14.176 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
14.176 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
14.177 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.178 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
14.178 * [backup-simplify]: Simplify (- 0) into 0
14.178 * [backup-simplify]: Simplify (+ 0 0) into 0
14.179 * [backup-simplify]: Simplify (+ 0) into 0
14.179 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
14.179 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
14.180 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.181 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
14.181 * [backup-simplify]: Simplify (- 0) into 0
14.181 * [backup-simplify]: Simplify (+ 0 0) into 0
14.182 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
14.182 * [backup-simplify]: Simplify (+ 0) into 0
14.182 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
14.183 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
14.183 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.184 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
14.184 * [backup-simplify]: Simplify (+ 0 0) into 0
14.185 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
14.185 * [backup-simplify]: Simplify (+ 0) into 0
14.185 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
14.186 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
14.186 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.187 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
14.187 * [backup-simplify]: Simplify (+ 0 0) into 0
14.188 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
14.188 * [backup-simplify]: Simplify (+ 0) into 0
14.188 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
14.189 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
14.189 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.190 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
14.190 * [backup-simplify]: Simplify (+ 0 0) into 0
14.191 * [backup-simplify]: Simplify (+ 0) into 0
14.191 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
14.191 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
14.192 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.193 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
14.193 * [backup-simplify]: Simplify (+ 0 0) into 0
14.193 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
14.193 * [backup-simplify]: Simplify (+ 0) into 0
14.194 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
14.194 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
14.195 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.195 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
14.196 * [backup-simplify]: Simplify (- 0) into 0
14.196 * [backup-simplify]: Simplify (+ 0 0) into 0
14.196 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
14.197 * [backup-simplify]: Simplify (+ 0) into 0
14.197 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
14.198 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
14.198 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.199 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
14.199 * [backup-simplify]: Simplify (- 0) into 0
14.199 * [backup-simplify]: Simplify (+ 0 0) into 0
14.200 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
14.200 * [backup-simplify]: Simplify (+ 0 0) into 0
14.201 * [backup-simplify]: Simplify (- 0) into 0
14.544 * [backup-simplify]: Simplify (+ 0 0) into 0
14.546 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into 0
14.546 * [taylor]: Taking taylor expansion of (/ 1 R) in lambda2
14.546 * [taylor]: Taking taylor expansion of R in lambda2
14.546 * [backup-simplify]: Simplify R into R
14.547 * [backup-simplify]: Simplify (/ 1 R) into (/ 1 R)
14.559 * [backup-simplify]: Simplify (- (/ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (- (+ (* 2 (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) lambda2)) (* 2 (/ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) lambda2))) (+ (* 2 (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) lambda2)) (* 2 (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) lambda2)))))) R) (+ (* (* (sqrt (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 1 R)) (/ 0 R)))) into (- (+ (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* R lambda2)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* R lambda2)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* R lambda2)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (* R lambda2)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))
14.559 * [taylor]: Taking taylor expansion of (- (+ (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* R lambda2)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* R lambda2)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* R lambda2)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (* R lambda2)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) in lambda2
14.559 * [taylor]: Taking taylor expansion of (+ (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* R lambda2)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* R lambda2)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) in lambda2
14.560 * [taylor]: Taking taylor expansion of (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* R lambda2)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) in lambda2
14.560 * [taylor]: Taking taylor expansion of (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* R lambda2)) in lambda2
14.560 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
14.560 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
14.560 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
14.560 * [taylor]: Taking taylor expansion of 0.5 in lambda2
14.560 * [backup-simplify]: Simplify 0.5 into 0.5
14.560 * [taylor]: Taking taylor expansion of phi2 in lambda2
14.560 * [backup-simplify]: Simplify phi2 into phi2
14.560 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
14.560 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
14.560 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
14.560 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
14.560 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
14.560 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
14.560 * [taylor]: Taking taylor expansion of 0.5 in lambda2
14.560 * [backup-simplify]: Simplify 0.5 into 0.5
14.560 * [taylor]: Taking taylor expansion of phi1 in lambda2
14.560 * [backup-simplify]: Simplify phi1 into phi1
14.560 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
14.560 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
14.561 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
14.561 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
14.561 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
14.561 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
14.561 * [taylor]: Taking taylor expansion of 0.5 in lambda2
14.561 * [backup-simplify]: Simplify 0.5 into 0.5
14.561 * [taylor]: Taking taylor expansion of phi2 in lambda2
14.561 * [backup-simplify]: Simplify phi2 into phi2
14.561 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
14.561 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
14.561 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
14.561 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
14.561 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
14.561 * [taylor]: Taking taylor expansion of 0.5 in lambda2
14.561 * [backup-simplify]: Simplify 0.5 into 0.5
14.561 * [taylor]: Taking taylor expansion of phi1 in lambda2
14.561 * [backup-simplify]: Simplify phi1 into phi1
14.561 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
14.561 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
14.561 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
14.562 * [taylor]: Taking taylor expansion of (* R lambda2) in lambda2
14.562 * [taylor]: Taking taylor expansion of R in lambda2
14.562 * [backup-simplify]: Simplify R into R
14.562 * [taylor]: Taking taylor expansion of lambda2 in lambda2
14.562 * [backup-simplify]: Simplify 0 into 0
14.562 * [backup-simplify]: Simplify 1 into 1
14.562 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
14.562 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
14.562 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
14.562 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
14.562 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
14.563 * [backup-simplify]: Simplify (- 0) into 0
14.563 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
14.563 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
14.563 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
14.564 * [backup-simplify]: Simplify (- 0) into 0
14.564 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
14.564 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
14.564 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
14.564 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
14.564 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
14.565 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
14.565 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
14.565 * [backup-simplify]: Simplify (* R 0) into 0
14.565 * [backup-simplify]: Simplify (+ (* R 1) (* 0 0)) into R
14.566 * [backup-simplify]: Simplify (/ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) R) into (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R)
14.566 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in lambda2
14.566 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in lambda2
14.566 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
14.566 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
14.566 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
14.566 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
14.566 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
14.566 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
14.566 * [taylor]: Taking taylor expansion of 0.5 in lambda2
14.566 * [backup-simplify]: Simplify 0.5 into 0.5
14.566 * [taylor]: Taking taylor expansion of phi2 in lambda2
14.566 * [backup-simplify]: Simplify phi2 into phi2
14.566 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
14.566 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
14.566 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
14.567 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
14.567 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
14.567 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
14.567 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
14.567 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
14.567 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
14.567 * [taylor]: Taking taylor expansion of 0.5 in lambda2
14.567 * [backup-simplify]: Simplify 0.5 into 0.5
14.567 * [taylor]: Taking taylor expansion of phi1 in lambda2
14.567 * [backup-simplify]: Simplify phi1 into phi1
14.567 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
14.567 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
14.567 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
14.567 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
14.567 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
14.568 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
14.568 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
14.568 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
14.568 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
14.568 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
14.568 * [taylor]: Taking taylor expansion of 0.5 in lambda2
14.568 * [backup-simplify]: Simplify 0.5 into 0.5
14.568 * [taylor]: Taking taylor expansion of phi2 in lambda2
14.568 * [backup-simplify]: Simplify phi2 into phi2
14.568 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
14.568 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
14.568 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
14.568 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
14.568 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
14.569 * [backup-simplify]: Simplify (- 0) into 0
14.569 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
14.569 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
14.569 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
14.569 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
14.569 * [taylor]: Taking taylor expansion of 0.5 in lambda2
14.569 * [backup-simplify]: Simplify 0.5 into 0.5
14.569 * [taylor]: Taking taylor expansion of phi1 in lambda2
14.569 * [backup-simplify]: Simplify phi1 into phi1
14.569 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
14.569 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
14.569 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
14.569 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
14.570 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
14.570 * [backup-simplify]: Simplify (- 0) into 0
14.570 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
14.570 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
14.570 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
14.570 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
14.570 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
14.570 * [taylor]: Taking taylor expansion of 0.5 in lambda2
14.570 * [backup-simplify]: Simplify 0.5 into 0.5
14.570 * [taylor]: Taking taylor expansion of phi2 in lambda2
14.570 * [backup-simplify]: Simplify phi2 into phi2
14.570 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
14.570 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
14.571 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
14.571 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
14.571 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
14.571 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
14.571 * [taylor]: Taking taylor expansion of 0.5 in lambda2
14.571 * [backup-simplify]: Simplify 0.5 into 0.5
14.571 * [taylor]: Taking taylor expansion of phi1 in lambda2
14.571 * [backup-simplify]: Simplify phi1 into phi1
14.571 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
14.571 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
14.571 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
14.571 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
14.571 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
14.571 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
14.571 * [taylor]: Taking taylor expansion of 0.5 in lambda2
14.571 * [backup-simplify]: Simplify 0.5 into 0.5
14.571 * [taylor]: Taking taylor expansion of phi2 in lambda2
14.571 * [backup-simplify]: Simplify phi2 into phi2
14.571 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
14.571 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
14.571 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
14.572 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
14.572 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
14.572 * [taylor]: Taking taylor expansion of 0.5 in lambda2
14.572 * [backup-simplify]: Simplify 0.5 into 0.5
14.572 * [taylor]: Taking taylor expansion of phi1 in lambda2
14.572 * [backup-simplify]: Simplify phi1 into phi1
14.572 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
14.572 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
14.572 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
14.572 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
14.572 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
14.572 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
14.572 * [taylor]: Taking taylor expansion of 0.5 in lambda2
14.572 * [backup-simplify]: Simplify 0.5 into 0.5
14.572 * [taylor]: Taking taylor expansion of phi2 in lambda2
14.572 * [backup-simplify]: Simplify phi2 into phi2
14.572 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
14.572 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
14.572 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
14.572 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
14.572 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
14.572 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
14.573 * [taylor]: Taking taylor expansion of 0.5 in lambda2
14.573 * [backup-simplify]: Simplify 0.5 into 0.5
14.573 * [taylor]: Taking taylor expansion of phi1 in lambda2
14.573 * [backup-simplify]: Simplify phi1 into phi1
14.573 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
14.573 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
14.573 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
14.573 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
14.573 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
14.573 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
14.573 * [taylor]: Taking taylor expansion of 0.5 in lambda2
14.573 * [backup-simplify]: Simplify 0.5 into 0.5
14.573 * [taylor]: Taking taylor expansion of phi2 in lambda2
14.573 * [backup-simplify]: Simplify phi2 into phi2
14.573 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
14.573 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
14.573 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
14.573 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
14.573 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
14.573 * [taylor]: Taking taylor expansion of 0.5 in lambda2
14.573 * [backup-simplify]: Simplify 0.5 into 0.5
14.573 * [taylor]: Taking taylor expansion of phi1 in lambda2
14.573 * [backup-simplify]: Simplify phi1 into phi1
14.574 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
14.574 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
14.574 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
14.574 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
14.574 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
14.575 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
14.575 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
14.575 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
14.575 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
14.576 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
14.576 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
14.576 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
14.577 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
14.577 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
14.577 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
14.577 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
14.577 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
14.577 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
14.577 * [backup-simplify]: Simplify (- 0) into 0
14.578 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
14.578 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
14.578 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
14.578 * [backup-simplify]: Simplify (- 0) into 0
14.578 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
14.578 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
14.578 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
14.578 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
14.578 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
14.579 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
14.579 * [backup-simplify]: Simplify (- 0) into 0
14.579 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
14.579 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
14.579 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
14.579 * [backup-simplify]: Simplify (- 0) into 0
14.579 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
14.579 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
14.579 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
14.579 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
14.580 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
14.580 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
14.580 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
14.580 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
14.580 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
14.580 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
14.580 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))
14.581 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
14.582 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
14.583 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
14.584 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
14.584 * [backup-simplify]: Simplify (+ 0) into 0
14.585 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
14.585 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
14.585 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.585 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
14.586 * [backup-simplify]: Simplify (+ 0 0) into 0
14.586 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
14.586 * [backup-simplify]: Simplify (+ 0) into 0
14.586 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
14.586 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
14.587 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.587 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
14.587 * [backup-simplify]: Simplify (+ 0 0) into 0
14.588 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
14.588 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
14.588 * [backup-simplify]: Simplify (+ 0) into 0
14.588 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
14.588 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
14.589 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.589 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
14.589 * [backup-simplify]: Simplify (- 0) into 0
14.590 * [backup-simplify]: Simplify (+ 0 0) into 0
14.590 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
14.590 * [backup-simplify]: Simplify (+ 0) into 0
14.590 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
14.590 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
14.591 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.591 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
14.591 * [backup-simplify]: Simplify (- 0) into 0
14.592 * [backup-simplify]: Simplify (+ 0 0) into 0
14.592 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
14.592 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
14.592 * [backup-simplify]: Simplify (+ 0 0) into 0
14.592 * [backup-simplify]: Simplify (+ 0) into 0
14.593 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
14.593 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
14.593 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.594 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
14.594 * [backup-simplify]: Simplify (- 0) into 0
14.594 * [backup-simplify]: Simplify (+ 0 0) into 0
14.595 * [backup-simplify]: Simplify (+ 0) into 0
14.595 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
14.595 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
14.595 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.596 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
14.596 * [backup-simplify]: Simplify (- 0) into 0
14.596 * [backup-simplify]: Simplify (+ 0 0) into 0
14.596 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
14.597 * [backup-simplify]: Simplify (+ 0) into 0
14.597 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
14.597 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
14.597 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.598 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
14.598 * [backup-simplify]: Simplify (+ 0 0) into 0
14.598 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
14.598 * [backup-simplify]: Simplify (+ 0) into 0
14.599 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
14.599 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
14.599 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.599 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
14.600 * [backup-simplify]: Simplify (+ 0 0) into 0
14.600 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
14.600 * [backup-simplify]: Simplify (+ 0) into 0
14.600 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
14.601 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
14.601 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.601 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
14.602 * [backup-simplify]: Simplify (+ 0 0) into 0
14.602 * [backup-simplify]: Simplify (+ 0) into 0
14.602 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
14.602 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
14.603 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.603 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
14.603 * [backup-simplify]: Simplify (+ 0 0) into 0
14.603 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
14.604 * [backup-simplify]: Simplify (+ 0) into 0
14.604 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
14.604 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
14.605 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.605 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
14.605 * [backup-simplify]: Simplify (- 0) into 0
14.605 * [backup-simplify]: Simplify (+ 0 0) into 0
14.606 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
14.606 * [backup-simplify]: Simplify (+ 0) into 0
14.607 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
14.607 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
14.607 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.608 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
14.608 * [backup-simplify]: Simplify (- 0) into 0
14.609 * [backup-simplify]: Simplify (+ 0 0) into 0
14.609 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
14.609 * [backup-simplify]: Simplify (+ 0 0) into 0
14.610 * [backup-simplify]: Simplify (- 0) into 0
14.610 * [backup-simplify]: Simplify (+ 0 0) into 0
14.614 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
14.616 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
14.616 * [taylor]: Taking taylor expansion of (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* R lambda2)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) in lambda2
14.616 * [taylor]: Taking taylor expansion of (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* R lambda2)) in lambda2
14.616 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
14.616 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
14.616 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
14.616 * [taylor]: Taking taylor expansion of 0.5 in lambda2
14.616 * [backup-simplify]: Simplify 0.5 into 0.5
14.617 * [taylor]: Taking taylor expansion of phi2 in lambda2
14.617 * [backup-simplify]: Simplify phi2 into phi2
14.617 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
14.617 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
14.617 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
14.617 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
14.617 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
14.617 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
14.617 * [taylor]: Taking taylor expansion of 0.5 in lambda2
14.617 * [backup-simplify]: Simplify 0.5 into 0.5
14.617 * [taylor]: Taking taylor expansion of phi1 in lambda2
14.617 * [backup-simplify]: Simplify phi1 into phi1
14.617 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
14.617 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
14.617 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
14.617 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
14.617 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
14.617 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
14.617 * [taylor]: Taking taylor expansion of 0.5 in lambda2
14.617 * [backup-simplify]: Simplify 0.5 into 0.5
14.617 * [taylor]: Taking taylor expansion of phi2 in lambda2
14.617 * [backup-simplify]: Simplify phi2 into phi2
14.618 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
14.618 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
14.618 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
14.618 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
14.618 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
14.618 * [taylor]: Taking taylor expansion of 0.5 in lambda2
14.618 * [backup-simplify]: Simplify 0.5 into 0.5
14.618 * [taylor]: Taking taylor expansion of phi1 in lambda2
14.618 * [backup-simplify]: Simplify phi1 into phi1
14.618 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
14.618 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
14.618 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
14.618 * [taylor]: Taking taylor expansion of (* R lambda2) in lambda2
14.618 * [taylor]: Taking taylor expansion of R in lambda2
14.618 * [backup-simplify]: Simplify R into R
14.618 * [taylor]: Taking taylor expansion of lambda2 in lambda2
14.618 * [backup-simplify]: Simplify 0 into 0
14.618 * [backup-simplify]: Simplify 1 into 1
14.618 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
14.619 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
14.619 * [backup-simplify]: Simplify (- 0) into 0
14.619 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
14.619 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
14.619 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
14.620 * [backup-simplify]: Simplify (- 0) into 0
14.620 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
14.620 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
14.620 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
14.620 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
14.620 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
14.620 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
14.621 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
14.621 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
14.621 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
14.621 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
14.621 * [backup-simplify]: Simplify (* R 0) into 0
14.622 * [backup-simplify]: Simplify (+ (* R 1) (* 0 0)) into R
14.622 * [backup-simplify]: Simplify (/ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) R) into (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R)
14.622 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in lambda2
14.622 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in lambda2
14.622 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
14.622 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
14.622 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
14.623 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
14.623 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
14.623 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
14.623 * [taylor]: Taking taylor expansion of 0.5 in lambda2
14.623 * [backup-simplify]: Simplify 0.5 into 0.5
14.623 * [taylor]: Taking taylor expansion of phi2 in lambda2
14.623 * [backup-simplify]: Simplify phi2 into phi2
14.623 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
14.623 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
14.623 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
14.623 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
14.623 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
14.623 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
14.623 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
14.623 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
14.623 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
14.623 * [taylor]: Taking taylor expansion of 0.5 in lambda2
14.623 * [backup-simplify]: Simplify 0.5 into 0.5
14.623 * [taylor]: Taking taylor expansion of phi1 in lambda2
14.623 * [backup-simplify]: Simplify phi1 into phi1
14.623 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
14.623 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
14.624 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
14.624 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
14.624 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
14.624 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
14.624 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
14.624 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
14.624 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
14.624 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
14.624 * [taylor]: Taking taylor expansion of 0.5 in lambda2
14.624 * [backup-simplify]: Simplify 0.5 into 0.5
14.624 * [taylor]: Taking taylor expansion of phi2 in lambda2
14.624 * [backup-simplify]: Simplify phi2 into phi2
14.624 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
14.624 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
14.624 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
14.624 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
14.625 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
14.625 * [backup-simplify]: Simplify (- 0) into 0
14.625 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
14.625 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
14.625 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
14.625 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
14.625 * [taylor]: Taking taylor expansion of 0.5 in lambda2
14.625 * [backup-simplify]: Simplify 0.5 into 0.5
14.625 * [taylor]: Taking taylor expansion of phi1 in lambda2
14.625 * [backup-simplify]: Simplify phi1 into phi1
14.625 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
14.625 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
14.626 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
14.626 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
14.626 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
14.626 * [backup-simplify]: Simplify (- 0) into 0
14.626 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
14.626 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
14.626 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
14.626 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
14.626 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
14.626 * [taylor]: Taking taylor expansion of 0.5 in lambda2
14.626 * [backup-simplify]: Simplify 0.5 into 0.5
14.626 * [taylor]: Taking taylor expansion of phi2 in lambda2
14.626 * [backup-simplify]: Simplify phi2 into phi2
14.627 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
14.627 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
14.627 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
14.627 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
14.627 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
14.627 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
14.627 * [taylor]: Taking taylor expansion of 0.5 in lambda2
14.627 * [backup-simplify]: Simplify 0.5 into 0.5
14.627 * [taylor]: Taking taylor expansion of phi1 in lambda2
14.627 * [backup-simplify]: Simplify phi1 into phi1
14.627 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
14.627 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
14.627 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
14.627 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
14.627 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
14.627 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
14.627 * [taylor]: Taking taylor expansion of 0.5 in lambda2
14.627 * [backup-simplify]: Simplify 0.5 into 0.5
14.627 * [taylor]: Taking taylor expansion of phi2 in lambda2
14.627 * [backup-simplify]: Simplify phi2 into phi2
14.627 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
14.628 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
14.628 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
14.628 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
14.628 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
14.628 * [taylor]: Taking taylor expansion of 0.5 in lambda2
14.628 * [backup-simplify]: Simplify 0.5 into 0.5
14.628 * [taylor]: Taking taylor expansion of phi1 in lambda2
14.628 * [backup-simplify]: Simplify phi1 into phi1
14.628 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
14.628 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
14.628 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
14.628 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
14.628 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
14.628 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
14.628 * [taylor]: Taking taylor expansion of 0.5 in lambda2
14.628 * [backup-simplify]: Simplify 0.5 into 0.5
14.628 * [taylor]: Taking taylor expansion of phi2 in lambda2
14.628 * [backup-simplify]: Simplify phi2 into phi2
14.628 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
14.628 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
14.629 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
14.629 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
14.629 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
14.629 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
14.629 * [taylor]: Taking taylor expansion of 0.5 in lambda2
14.629 * [backup-simplify]: Simplify 0.5 into 0.5
14.629 * [taylor]: Taking taylor expansion of phi1 in lambda2
14.629 * [backup-simplify]: Simplify phi1 into phi1
14.629 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
14.629 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
14.629 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
14.629 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
14.629 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
14.629 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
14.629 * [taylor]: Taking taylor expansion of 0.5 in lambda2
14.629 * [backup-simplify]: Simplify 0.5 into 0.5
14.629 * [taylor]: Taking taylor expansion of phi2 in lambda2
14.629 * [backup-simplify]: Simplify phi2 into phi2
14.629 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
14.629 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
14.629 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
14.629 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
14.630 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
14.630 * [taylor]: Taking taylor expansion of 0.5 in lambda2
14.630 * [backup-simplify]: Simplify 0.5 into 0.5
14.630 * [taylor]: Taking taylor expansion of phi1 in lambda2
14.630 * [backup-simplify]: Simplify phi1 into phi1
14.630 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
14.630 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
14.630 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
14.630 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
14.630 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
14.631 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
14.631 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
14.631 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
14.631 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
14.632 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
14.633 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
14.633 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
14.633 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
14.633 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
14.633 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
14.633 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
14.633 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
14.634 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
14.634 * [backup-simplify]: Simplify (- 0) into 0
14.634 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
14.634 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
14.634 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
14.635 * [backup-simplify]: Simplify (- 0) into 0
14.635 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
14.635 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
14.635 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
14.636 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
14.636 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
14.636 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
14.636 * [backup-simplify]: Simplify (- 0) into 0
14.636 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
14.636 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
14.637 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
14.637 * [backup-simplify]: Simplify (- 0) into 0
14.637 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
14.637 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
14.637 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
14.637 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
14.638 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
14.638 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
14.638 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
14.638 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
14.638 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
14.638 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
14.639 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))
14.640 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
14.642 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
14.644 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
14.646 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
14.647 * [backup-simplify]: Simplify (+ 0) into 0
14.648 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
14.648 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
14.649 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.649 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
14.650 * [backup-simplify]: Simplify (+ 0 0) into 0
14.650 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
14.650 * [backup-simplify]: Simplify (+ 0) into 0
14.651 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
14.651 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
14.652 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.652 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
14.653 * [backup-simplify]: Simplify (+ 0 0) into 0
14.653 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
14.653 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
14.654 * [backup-simplify]: Simplify (+ 0) into 0
14.654 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
14.655 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
14.655 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.656 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
14.656 * [backup-simplify]: Simplify (- 0) into 0
14.657 * [backup-simplify]: Simplify (+ 0 0) into 0
14.657 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
14.657 * [backup-simplify]: Simplify (+ 0) into 0
14.658 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
14.658 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
14.659 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.659 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
14.660 * [backup-simplify]: Simplify (- 0) into 0
14.660 * [backup-simplify]: Simplify (+ 0 0) into 0
14.660 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
14.661 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
14.661 * [backup-simplify]: Simplify (+ 0 0) into 0
14.661 * [backup-simplify]: Simplify (+ 0) into 0
14.662 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
14.662 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
14.663 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.663 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
14.664 * [backup-simplify]: Simplify (- 0) into 0
14.664 * [backup-simplify]: Simplify (+ 0 0) into 0
14.665 * [backup-simplify]: Simplify (+ 0) into 0
14.665 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
14.665 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
14.666 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.667 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
14.667 * [backup-simplify]: Simplify (- 0) into 0
14.667 * [backup-simplify]: Simplify (+ 0 0) into 0
14.668 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
14.668 * [backup-simplify]: Simplify (+ 0) into 0
14.668 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
14.669 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
14.669 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.670 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
14.670 * [backup-simplify]: Simplify (+ 0 0) into 0
14.671 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
14.671 * [backup-simplify]: Simplify (+ 0) into 0
14.672 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
14.672 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
14.673 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.673 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
14.673 * [backup-simplify]: Simplify (+ 0 0) into 0
14.674 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
14.674 * [backup-simplify]: Simplify (+ 0) into 0
14.675 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
14.675 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
14.676 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.676 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
14.677 * [backup-simplify]: Simplify (+ 0 0) into 0
14.677 * [backup-simplify]: Simplify (+ 0) into 0
14.678 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
14.678 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
14.679 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.679 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
14.679 * [backup-simplify]: Simplify (+ 0 0) into 0
14.680 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
14.680 * [backup-simplify]: Simplify (+ 0) into 0
14.681 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
14.681 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
14.682 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.682 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
14.683 * [backup-simplify]: Simplify (- 0) into 0
14.683 * [backup-simplify]: Simplify (+ 0 0) into 0
14.683 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
14.684 * [backup-simplify]: Simplify (+ 0) into 0
14.684 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
14.685 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
14.685 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.686 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
14.686 * [backup-simplify]: Simplify (- 0) into 0
14.687 * [backup-simplify]: Simplify (+ 0 0) into 0
14.687 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
14.687 * [backup-simplify]: Simplify (+ 0 0) into 0
14.688 * [backup-simplify]: Simplify (- 0) into 0
14.688 * [backup-simplify]: Simplify (+ 0 0) into 0
14.692 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
14.694 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
14.694 * [taylor]: Taking taylor expansion of (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* R lambda2)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (* R lambda2)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) in lambda2
14.695 * [taylor]: Taking taylor expansion of (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* R lambda2)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) in lambda2
14.695 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* R lambda2)) in lambda2
14.695 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
14.695 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
14.695 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
14.695 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
14.695 * [taylor]: Taking taylor expansion of 0.5 in lambda2
14.695 * [backup-simplify]: Simplify 0.5 into 0.5
14.695 * [taylor]: Taking taylor expansion of phi2 in lambda2
14.695 * [backup-simplify]: Simplify phi2 into phi2
14.695 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
14.695 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
14.695 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
14.696 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
14.696 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
14.696 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
14.696 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
14.696 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
14.696 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
14.696 * [taylor]: Taking taylor expansion of 0.5 in lambda2
14.696 * [backup-simplify]: Simplify 0.5 into 0.5
14.696 * [taylor]: Taking taylor expansion of phi1 in lambda2
14.696 * [backup-simplify]: Simplify phi1 into phi1
14.696 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
14.696 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
14.696 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
14.696 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
14.697 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
14.697 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
14.697 * [taylor]: Taking taylor expansion of (* R lambda2) in lambda2
14.697 * [taylor]: Taking taylor expansion of R in lambda2
14.697 * [backup-simplify]: Simplify R into R
14.697 * [taylor]: Taking taylor expansion of lambda2 in lambda2
14.697 * [backup-simplify]: Simplify 0 into 0
14.697 * [backup-simplify]: Simplify 1 into 1
14.697 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
14.697 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
14.698 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
14.698 * [backup-simplify]: Simplify (* R 0) into 0
14.698 * [backup-simplify]: Simplify (+ (* R 1) (* 0 0)) into R
14.699 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) R) into (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) R)
14.699 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in lambda2
14.699 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in lambda2
14.699 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
14.699 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
14.699 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
14.699 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
14.699 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
14.699 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
14.699 * [taylor]: Taking taylor expansion of 0.5 in lambda2
14.699 * [backup-simplify]: Simplify 0.5 into 0.5
14.699 * [taylor]: Taking taylor expansion of phi2 in lambda2
14.699 * [backup-simplify]: Simplify phi2 into phi2
14.699 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
14.699 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
14.699 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
14.700 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
14.700 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
14.700 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
14.700 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
14.700 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
14.700 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
14.700 * [taylor]: Taking taylor expansion of 0.5 in lambda2
14.700 * [backup-simplify]: Simplify 0.5 into 0.5
14.700 * [taylor]: Taking taylor expansion of phi1 in lambda2
14.700 * [backup-simplify]: Simplify phi1 into phi1
14.700 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
14.700 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
14.700 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
14.700 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
14.700 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
14.701 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
14.701 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
14.701 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
14.701 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
14.701 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
14.701 * [taylor]: Taking taylor expansion of 0.5 in lambda2
14.701 * [backup-simplify]: Simplify 0.5 into 0.5
14.701 * [taylor]: Taking taylor expansion of phi2 in lambda2
14.701 * [backup-simplify]: Simplify phi2 into phi2
14.701 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
14.701 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
14.701 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
14.701 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
14.701 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
14.708 * [backup-simplify]: Simplify (- 0) into 0
14.708 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
14.708 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
14.708 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
14.708 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
14.708 * [taylor]: Taking taylor expansion of 0.5 in lambda2
14.708 * [backup-simplify]: Simplify 0.5 into 0.5
14.708 * [taylor]: Taking taylor expansion of phi1 in lambda2
14.708 * [backup-simplify]: Simplify phi1 into phi1
14.708 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
14.708 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
14.708 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
14.708 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
14.709 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
14.709 * [backup-simplify]: Simplify (- 0) into 0
14.709 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
14.709 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
14.709 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
14.709 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
14.709 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
14.709 * [taylor]: Taking taylor expansion of 0.5 in lambda2
14.709 * [backup-simplify]: Simplify 0.5 into 0.5
14.710 * [taylor]: Taking taylor expansion of phi2 in lambda2
14.710 * [backup-simplify]: Simplify phi2 into phi2
14.710 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
14.710 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
14.710 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
14.710 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
14.710 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
14.710 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
14.710 * [taylor]: Taking taylor expansion of 0.5 in lambda2
14.710 * [backup-simplify]: Simplify 0.5 into 0.5
14.710 * [taylor]: Taking taylor expansion of phi1 in lambda2
14.710 * [backup-simplify]: Simplify phi1 into phi1
14.710 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
14.710 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
14.710 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
14.710 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
14.710 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
14.710 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
14.710 * [taylor]: Taking taylor expansion of 0.5 in lambda2
14.710 * [backup-simplify]: Simplify 0.5 into 0.5
14.710 * [taylor]: Taking taylor expansion of phi2 in lambda2
14.710 * [backup-simplify]: Simplify phi2 into phi2
14.710 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
14.710 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
14.710 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
14.710 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
14.710 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
14.710 * [taylor]: Taking taylor expansion of 0.5 in lambda2
14.710 * [backup-simplify]: Simplify 0.5 into 0.5
14.710 * [taylor]: Taking taylor expansion of phi1 in lambda2
14.710 * [backup-simplify]: Simplify phi1 into phi1
14.710 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
14.710 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
14.710 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
14.710 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
14.710 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
14.711 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
14.711 * [taylor]: Taking taylor expansion of 0.5 in lambda2
14.711 * [backup-simplify]: Simplify 0.5 into 0.5
14.711 * [taylor]: Taking taylor expansion of phi2 in lambda2
14.711 * [backup-simplify]: Simplify phi2 into phi2
14.711 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
14.711 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
14.711 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
14.711 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
14.711 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
14.711 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
14.711 * [taylor]: Taking taylor expansion of 0.5 in lambda2
14.711 * [backup-simplify]: Simplify 0.5 into 0.5
14.711 * [taylor]: Taking taylor expansion of phi1 in lambda2
14.711 * [backup-simplify]: Simplify phi1 into phi1
14.711 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
14.711 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
14.711 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
14.711 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
14.711 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
14.711 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
14.711 * [taylor]: Taking taylor expansion of 0.5 in lambda2
14.711 * [backup-simplify]: Simplify 0.5 into 0.5
14.711 * [taylor]: Taking taylor expansion of phi2 in lambda2
14.711 * [backup-simplify]: Simplify phi2 into phi2
14.711 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
14.711 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
14.711 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
14.711 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
14.711 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
14.711 * [taylor]: Taking taylor expansion of 0.5 in lambda2
14.711 * [backup-simplify]: Simplify 0.5 into 0.5
14.711 * [taylor]: Taking taylor expansion of phi1 in lambda2
14.711 * [backup-simplify]: Simplify phi1 into phi1
14.711 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
14.711 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
14.711 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
14.712 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
14.712 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
14.712 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
14.712 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
14.712 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
14.712 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
14.713 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
14.713 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
14.713 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
14.713 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
14.713 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
14.713 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
14.713 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
14.713 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
14.713 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
14.714 * [backup-simplify]: Simplify (- 0) into 0
14.714 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
14.714 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
14.714 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
14.714 * [backup-simplify]: Simplify (- 0) into 0
14.714 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
14.714 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
14.714 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
14.715 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
14.715 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
14.715 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
14.715 * [backup-simplify]: Simplify (- 0) into 0
14.715 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
14.715 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
14.715 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
14.715 * [backup-simplify]: Simplify (- 0) into 0
14.716 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
14.716 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
14.716 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
14.716 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
14.716 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
14.716 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
14.716 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
14.716 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
14.716 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
14.716 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
14.717 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))
14.717 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
14.718 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
14.719 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
14.720 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
14.721 * [backup-simplify]: Simplify (+ 0) into 0
14.721 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
14.721 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
14.722 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.722 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
14.722 * [backup-simplify]: Simplify (+ 0 0) into 0
14.722 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
14.722 * [backup-simplify]: Simplify (+ 0) into 0
14.723 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
14.723 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
14.723 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.724 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
14.724 * [backup-simplify]: Simplify (+ 0 0) into 0
14.724 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
14.724 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
14.724 * [backup-simplify]: Simplify (+ 0) into 0
14.725 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
14.725 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
14.725 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.726 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
14.726 * [backup-simplify]: Simplify (- 0) into 0
14.726 * [backup-simplify]: Simplify (+ 0 0) into 0
14.726 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
14.727 * [backup-simplify]: Simplify (+ 0) into 0
14.727 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
14.727 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
14.728 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.728 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
14.728 * [backup-simplify]: Simplify (- 0) into 0
14.728 * [backup-simplify]: Simplify (+ 0 0) into 0
14.729 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
14.729 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
14.729 * [backup-simplify]: Simplify (+ 0 0) into 0
14.729 * [backup-simplify]: Simplify (+ 0) into 0
14.730 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
14.730 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
14.730 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.730 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
14.731 * [backup-simplify]: Simplify (- 0) into 0
14.731 * [backup-simplify]: Simplify (+ 0 0) into 0
14.731 * [backup-simplify]: Simplify (+ 0) into 0
14.732 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
14.732 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
14.732 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.732 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
14.733 * [backup-simplify]: Simplify (- 0) into 0
14.733 * [backup-simplify]: Simplify (+ 0 0) into 0
14.733 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
14.733 * [backup-simplify]: Simplify (+ 0) into 0
14.734 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
14.734 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
14.734 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.734 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
14.735 * [backup-simplify]: Simplify (+ 0 0) into 0
14.735 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
14.735 * [backup-simplify]: Simplify (+ 0) into 0
14.735 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
14.735 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
14.736 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.736 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
14.736 * [backup-simplify]: Simplify (+ 0 0) into 0
14.737 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
14.737 * [backup-simplify]: Simplify (+ 0) into 0
14.737 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
14.737 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
14.738 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.738 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
14.739 * [backup-simplify]: Simplify (+ 0 0) into 0
14.739 * [backup-simplify]: Simplify (+ 0) into 0
14.740 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
14.740 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
14.741 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.741 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
14.741 * [backup-simplify]: Simplify (+ 0 0) into 0
14.742 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
14.742 * [backup-simplify]: Simplify (+ 0) into 0
14.742 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
14.743 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
14.743 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.744 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
14.744 * [backup-simplify]: Simplify (- 0) into 0
14.745 * [backup-simplify]: Simplify (+ 0 0) into 0
14.745 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
14.745 * [backup-simplify]: Simplify (+ 0) into 0
14.746 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
14.746 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
14.746 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.747 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
14.747 * [backup-simplify]: Simplify (- 0) into 0
14.747 * [backup-simplify]: Simplify (+ 0 0) into 0
14.747 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
14.748 * [backup-simplify]: Simplify (+ 0 0) into 0
14.748 * [backup-simplify]: Simplify (- 0) into 0
14.748 * [backup-simplify]: Simplify (+ 0 0) into 0
14.750 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
14.751 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
14.751 * [taylor]: Taking taylor expansion of (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (* R lambda2)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) in lambda2
14.751 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (* R lambda2)) in lambda2
14.751 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
14.751 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
14.751 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
14.751 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
14.751 * [taylor]: Taking taylor expansion of 0.5 in lambda2
14.751 * [backup-simplify]: Simplify 0.5 into 0.5
14.751 * [taylor]: Taking taylor expansion of phi2 in lambda2
14.751 * [backup-simplify]: Simplify phi2 into phi2
14.751 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
14.751 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
14.752 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
14.752 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
14.752 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
14.752 * [backup-simplify]: Simplify (- 0) into 0
14.752 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
14.752 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
14.752 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
14.752 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
14.752 * [taylor]: Taking taylor expansion of 0.5 in lambda2
14.752 * [backup-simplify]: Simplify 0.5 into 0.5
14.752 * [taylor]: Taking taylor expansion of phi1 in lambda2
14.752 * [backup-simplify]: Simplify phi1 into phi1
14.752 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
14.752 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
14.752 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
14.752 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
14.752 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
14.753 * [backup-simplify]: Simplify (- 0) into 0
14.753 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
14.753 * [taylor]: Taking taylor expansion of (* R lambda2) in lambda2
14.753 * [taylor]: Taking taylor expansion of R in lambda2
14.753 * [backup-simplify]: Simplify R into R
14.753 * [taylor]: Taking taylor expansion of lambda2 in lambda2
14.753 * [backup-simplify]: Simplify 0 into 0
14.753 * [backup-simplify]: Simplify 1 into 1
14.753 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
14.753 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
14.753 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
14.753 * [backup-simplify]: Simplify (* R 0) into 0
14.754 * [backup-simplify]: Simplify (+ (* R 1) (* 0 0)) into R
14.754 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) R) into (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) R)
14.754 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in lambda2
14.754 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in lambda2
14.754 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
14.754 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
14.754 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
14.754 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
14.754 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
14.754 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
14.754 * [taylor]: Taking taylor expansion of 0.5 in lambda2
14.754 * [backup-simplify]: Simplify 0.5 into 0.5
14.754 * [taylor]: Taking taylor expansion of phi2 in lambda2
14.754 * [backup-simplify]: Simplify phi2 into phi2
14.754 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
14.754 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
14.754 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
14.754 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
14.754 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
14.754 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
14.754 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
14.754 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
14.755 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
14.755 * [taylor]: Taking taylor expansion of 0.5 in lambda2
14.755 * [backup-simplify]: Simplify 0.5 into 0.5
14.755 * [taylor]: Taking taylor expansion of phi1 in lambda2
14.755 * [backup-simplify]: Simplify phi1 into phi1
14.755 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
14.755 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
14.755 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
14.755 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
14.755 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
14.755 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
14.755 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
14.755 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
14.755 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
14.755 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
14.755 * [taylor]: Taking taylor expansion of 0.5 in lambda2
14.755 * [backup-simplify]: Simplify 0.5 into 0.5
14.755 * [taylor]: Taking taylor expansion of phi2 in lambda2
14.755 * [backup-simplify]: Simplify phi2 into phi2
14.755 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
14.755 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
14.755 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
14.755 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
14.755 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
14.756 * [backup-simplify]: Simplify (- 0) into 0
14.756 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
14.756 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
14.756 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
14.756 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
14.756 * [taylor]: Taking taylor expansion of 0.5 in lambda2
14.756 * [backup-simplify]: Simplify 0.5 into 0.5
14.756 * [taylor]: Taking taylor expansion of phi1 in lambda2
14.756 * [backup-simplify]: Simplify phi1 into phi1
14.756 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
14.756 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
14.756 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
14.756 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
14.756 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
14.756 * [backup-simplify]: Simplify (- 0) into 0
14.756 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
14.757 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
14.757 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
14.757 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
14.757 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
14.757 * [taylor]: Taking taylor expansion of 0.5 in lambda2
14.757 * [backup-simplify]: Simplify 0.5 into 0.5
14.757 * [taylor]: Taking taylor expansion of phi2 in lambda2
14.757 * [backup-simplify]: Simplify phi2 into phi2
14.757 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
14.757 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
14.757 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
14.757 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
14.757 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
14.757 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
14.757 * [taylor]: Taking taylor expansion of 0.5 in lambda2
14.757 * [backup-simplify]: Simplify 0.5 into 0.5
14.757 * [taylor]: Taking taylor expansion of phi1 in lambda2
14.757 * [backup-simplify]: Simplify phi1 into phi1
14.757 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
14.757 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
14.757 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
14.757 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
14.757 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
14.757 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
14.757 * [taylor]: Taking taylor expansion of 0.5 in lambda2
14.757 * [backup-simplify]: Simplify 0.5 into 0.5
14.757 * [taylor]: Taking taylor expansion of phi2 in lambda2
14.757 * [backup-simplify]: Simplify phi2 into phi2
14.757 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
14.757 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
14.757 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
14.757 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
14.757 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
14.757 * [taylor]: Taking taylor expansion of 0.5 in lambda2
14.757 * [backup-simplify]: Simplify 0.5 into 0.5
14.757 * [taylor]: Taking taylor expansion of phi1 in lambda2
14.758 * [backup-simplify]: Simplify phi1 into phi1
14.758 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
14.758 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
14.758 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
14.758 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
14.758 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
14.758 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
14.758 * [taylor]: Taking taylor expansion of 0.5 in lambda2
14.758 * [backup-simplify]: Simplify 0.5 into 0.5
14.758 * [taylor]: Taking taylor expansion of phi2 in lambda2
14.758 * [backup-simplify]: Simplify phi2 into phi2
14.758 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
14.758 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
14.758 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
14.758 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
14.758 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
14.758 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
14.758 * [taylor]: Taking taylor expansion of 0.5 in lambda2
14.758 * [backup-simplify]: Simplify 0.5 into 0.5
14.758 * [taylor]: Taking taylor expansion of phi1 in lambda2
14.758 * [backup-simplify]: Simplify phi1 into phi1
14.758 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
14.758 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
14.758 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
14.758 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
14.758 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
14.758 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
14.758 * [taylor]: Taking taylor expansion of 0.5 in lambda2
14.758 * [backup-simplify]: Simplify 0.5 into 0.5
14.758 * [taylor]: Taking taylor expansion of phi2 in lambda2
14.758 * [backup-simplify]: Simplify phi2 into phi2
14.758 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
14.758 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
14.758 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
14.759 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
14.759 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
14.759 * [taylor]: Taking taylor expansion of 0.5 in lambda2
14.759 * [backup-simplify]: Simplify 0.5 into 0.5
14.759 * [taylor]: Taking taylor expansion of phi1 in lambda2
14.759 * [backup-simplify]: Simplify phi1 into phi1
14.759 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
14.759 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
14.759 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
14.759 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
14.759 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
14.759 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
14.759 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
14.760 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
14.760 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
14.760 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
14.760 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
14.760 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
14.760 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
14.760 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
14.761 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
14.761 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
14.761 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
14.761 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
14.761 * [backup-simplify]: Simplify (- 0) into 0
14.761 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
14.761 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
14.761 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
14.762 * [backup-simplify]: Simplify (- 0) into 0
14.762 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
14.762 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
14.762 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
14.762 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
14.762 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
14.762 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
14.762 * [backup-simplify]: Simplify (- 0) into 0
14.762 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
14.763 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
14.763 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
14.763 * [backup-simplify]: Simplify (- 0) into 0
14.763 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
14.763 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
14.763 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
14.763 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
14.763 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
14.763 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
14.763 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
14.763 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
14.764 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
14.764 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
14.764 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))
14.765 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
14.766 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
14.767 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
14.768 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
14.768 * [backup-simplify]: Simplify (+ 0) into 0
14.768 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
14.768 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
14.769 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.769 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
14.769 * [backup-simplify]: Simplify (+ 0 0) into 0
14.770 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
14.770 * [backup-simplify]: Simplify (+ 0) into 0
14.770 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
14.770 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
14.771 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.771 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
14.771 * [backup-simplify]: Simplify (+ 0 0) into 0
14.771 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
14.772 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
14.772 * [backup-simplify]: Simplify (+ 0) into 0
14.772 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
14.772 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
14.773 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.773 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
14.773 * [backup-simplify]: Simplify (- 0) into 0
14.774 * [backup-simplify]: Simplify (+ 0 0) into 0
14.774 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
14.774 * [backup-simplify]: Simplify (+ 0) into 0
14.775 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
14.775 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
14.776 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.776 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
14.777 * [backup-simplify]: Simplify (- 0) into 0
14.777 * [backup-simplify]: Simplify (+ 0 0) into 0
14.777 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
14.778 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
14.778 * [backup-simplify]: Simplify (+ 0 0) into 0
14.778 * [backup-simplify]: Simplify (+ 0) into 0
14.779 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
14.779 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
14.780 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.780 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
14.781 * [backup-simplify]: Simplify (- 0) into 0
14.781 * [backup-simplify]: Simplify (+ 0 0) into 0
14.782 * [backup-simplify]: Simplify (+ 0) into 0
14.782 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
14.782 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
14.783 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.784 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
14.784 * [backup-simplify]: Simplify (- 0) into 0
14.785 * [backup-simplify]: Simplify (+ 0 0) into 0
14.785 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
14.785 * [backup-simplify]: Simplify (+ 0) into 0
14.786 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
14.786 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
14.787 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.787 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
14.788 * [backup-simplify]: Simplify (+ 0 0) into 0
14.788 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
14.788 * [backup-simplify]: Simplify (+ 0) into 0
14.789 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
14.789 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
14.790 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.790 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
14.791 * [backup-simplify]: Simplify (+ 0 0) into 0
14.791 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
14.792 * [backup-simplify]: Simplify (+ 0) into 0
14.792 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
14.792 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
14.793 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.794 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
14.794 * [backup-simplify]: Simplify (+ 0 0) into 0
14.794 * [backup-simplify]: Simplify (+ 0) into 0
14.795 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
14.795 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
14.796 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.796 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
14.797 * [backup-simplify]: Simplify (+ 0 0) into 0
14.797 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
14.797 * [backup-simplify]: Simplify (+ 0) into 0
14.798 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
14.798 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
14.799 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.799 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
14.800 * [backup-simplify]: Simplify (- 0) into 0
14.800 * [backup-simplify]: Simplify (+ 0 0) into 0
14.800 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
14.801 * [backup-simplify]: Simplify (+ 0) into 0
14.801 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
14.801 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
14.802 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.803 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
14.803 * [backup-simplify]: Simplify (- 0) into 0
14.803 * [backup-simplify]: Simplify (+ 0 0) into 0
14.804 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
14.804 * [backup-simplify]: Simplify (+ 0 0) into 0
14.804 * [backup-simplify]: Simplify (- 0) into 0
14.805 * [backup-simplify]: Simplify (+ 0 0) into 0
14.809 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
14.811 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
14.814 * [backup-simplify]: Simplify (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))
14.816 * [backup-simplify]: Simplify (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))
14.821 * [backup-simplify]: Simplify (+ (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into (+ (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))
14.824 * [backup-simplify]: Simplify (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))
14.826 * [backup-simplify]: Simplify (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))
14.832 * [backup-simplify]: Simplify (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))
14.838 * [backup-simplify]: Simplify (- (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into (- (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))
14.853 * [backup-simplify]: Simplify (+ (+ (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (- (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))) into (- (+ (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))
14.853 * [taylor]: Taking taylor expansion of (- (+ (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) in phi1
14.854 * [taylor]: Taking taylor expansion of (+ (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) in phi1
14.854 * [taylor]: Taking taylor expansion of (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) in phi1
14.854 * [taylor]: Taking taylor expansion of (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) in phi1
14.854 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in phi1
14.854 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
14.854 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
14.854 * [taylor]: Taking taylor expansion of 0.5 in phi1
14.854 * [backup-simplify]: Simplify 0.5 into 0.5
14.854 * [taylor]: Taking taylor expansion of phi2 in phi1
14.854 * [backup-simplify]: Simplify phi2 into phi2
14.854 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
14.854 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
14.854 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
14.854 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in phi1
14.854 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
14.854 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
14.854 * [taylor]: Taking taylor expansion of 0.5 in phi1
14.854 * [backup-simplify]: Simplify 0.5 into 0.5
14.854 * [taylor]: Taking taylor expansion of phi1 in phi1
14.854 * [backup-simplify]: Simplify 0 into 0
14.854 * [backup-simplify]: Simplify 1 into 1
14.855 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
14.855 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
14.855 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in phi1
14.855 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
14.855 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
14.855 * [taylor]: Taking taylor expansion of 0.5 in phi1
14.855 * [backup-simplify]: Simplify 0.5 into 0.5
14.855 * [taylor]: Taking taylor expansion of phi2 in phi1
14.855 * [backup-simplify]: Simplify phi2 into phi2
14.855 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
14.856 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
14.856 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
14.856 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
14.856 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
14.856 * [taylor]: Taking taylor expansion of 0.5 in phi1
14.856 * [backup-simplify]: Simplify 0.5 into 0.5
14.856 * [taylor]: Taking taylor expansion of phi1 in phi1
14.856 * [backup-simplify]: Simplify 0 into 0
14.856 * [backup-simplify]: Simplify 1 into 1
14.856 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
14.856 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
14.856 * [taylor]: Taking taylor expansion of R in phi1
14.857 * [backup-simplify]: Simplify R into R
14.857 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
14.857 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
14.857 * [backup-simplify]: Simplify (- 0) into 0
14.857 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
14.857 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
14.857 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
14.858 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
14.858 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
14.858 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
14.858 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
14.859 * [backup-simplify]: Simplify (/ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) R) into (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R)
14.859 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in phi1
14.859 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in phi1
14.859 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in phi1
14.859 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in phi1
14.859 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in phi1
14.859 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1
14.859 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
14.859 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
14.859 * [taylor]: Taking taylor expansion of 0.5 in phi1
14.859 * [backup-simplify]: Simplify 0.5 into 0.5
14.859 * [taylor]: Taking taylor expansion of phi2 in phi1
14.859 * [backup-simplify]: Simplify phi2 into phi2
14.859 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
14.859 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
14.859 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
14.859 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
14.860 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
14.860 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
14.860 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1
14.860 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
14.860 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
14.860 * [taylor]: Taking taylor expansion of 0.5 in phi1
14.860 * [backup-simplify]: Simplify 0.5 into 0.5
14.860 * [taylor]: Taking taylor expansion of phi1 in phi1
14.860 * [backup-simplify]: Simplify 0 into 0
14.860 * [backup-simplify]: Simplify 1 into 1
14.860 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
14.861 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
14.861 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in phi1
14.861 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1
14.861 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
14.861 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
14.861 * [taylor]: Taking taylor expansion of 0.5 in phi1
14.861 * [backup-simplify]: Simplify 0.5 into 0.5
14.861 * [taylor]: Taking taylor expansion of phi2 in phi1
14.861 * [backup-simplify]: Simplify phi2 into phi2
14.861 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
14.861 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
14.861 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
14.861 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
14.861 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
14.862 * [backup-simplify]: Simplify (- 0) into 0
14.862 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
14.862 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1
14.862 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
14.862 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
14.862 * [taylor]: Taking taylor expansion of 0.5 in phi1
14.862 * [backup-simplify]: Simplify 0.5 into 0.5
14.862 * [taylor]: Taking taylor expansion of phi1 in phi1
14.862 * [backup-simplify]: Simplify 0 into 0
14.862 * [backup-simplify]: Simplify 1 into 1
14.862 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
14.863 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
14.863 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in phi1
14.863 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in phi1
14.863 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
14.863 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
14.863 * [taylor]: Taking taylor expansion of 0.5 in phi1
14.863 * [backup-simplify]: Simplify 0.5 into 0.5
14.863 * [taylor]: Taking taylor expansion of phi2 in phi1
14.863 * [backup-simplify]: Simplify phi2 into phi2
14.863 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
14.863 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
14.863 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
14.863 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in phi1
14.863 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
14.863 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
14.863 * [taylor]: Taking taylor expansion of 0.5 in phi1
14.863 * [backup-simplify]: Simplify 0.5 into 0.5
14.863 * [taylor]: Taking taylor expansion of phi1 in phi1
14.863 * [backup-simplify]: Simplify 0 into 0
14.863 * [backup-simplify]: Simplify 1 into 1
14.864 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
14.864 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
14.864 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in phi1
14.864 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
14.864 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
14.864 * [taylor]: Taking taylor expansion of 0.5 in phi1
14.864 * [backup-simplify]: Simplify 0.5 into 0.5
14.864 * [taylor]: Taking taylor expansion of phi2 in phi1
14.864 * [backup-simplify]: Simplify phi2 into phi2
14.864 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
14.864 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
14.864 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
14.864 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
14.864 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
14.864 * [taylor]: Taking taylor expansion of 0.5 in phi1
14.864 * [backup-simplify]: Simplify 0.5 into 0.5
14.864 * [taylor]: Taking taylor expansion of phi1 in phi1
14.864 * [backup-simplify]: Simplify 0 into 0
14.864 * [backup-simplify]: Simplify 1 into 1
14.865 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
14.865 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
14.865 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in phi1
14.865 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
14.865 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
14.865 * [taylor]: Taking taylor expansion of 0.5 in phi1
14.865 * [backup-simplify]: Simplify 0.5 into 0.5
14.865 * [taylor]: Taking taylor expansion of phi2 in phi1
14.865 * [backup-simplify]: Simplify phi2 into phi2
14.865 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
14.866 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
14.866 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
14.866 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in phi1
14.866 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
14.866 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
14.866 * [taylor]: Taking taylor expansion of 0.5 in phi1
14.866 * [backup-simplify]: Simplify 0.5 into 0.5
14.866 * [taylor]: Taking taylor expansion of phi1 in phi1
14.866 * [backup-simplify]: Simplify 0 into 0
14.866 * [backup-simplify]: Simplify 1 into 1
14.866 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
14.866 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
14.866 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in phi1
14.866 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
14.866 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
14.866 * [taylor]: Taking taylor expansion of 0.5 in phi1
14.866 * [backup-simplify]: Simplify 0.5 into 0.5
14.866 * [taylor]: Taking taylor expansion of phi2 in phi1
14.866 * [backup-simplify]: Simplify phi2 into phi2
14.866 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
14.866 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
14.866 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
14.866 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
14.866 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
14.866 * [taylor]: Taking taylor expansion of 0.5 in phi1
14.866 * [backup-simplify]: Simplify 0.5 into 0.5
14.866 * [taylor]: Taking taylor expansion of phi1 in phi1
14.866 * [backup-simplify]: Simplify 0 into 0
14.866 * [backup-simplify]: Simplify 1 into 1
14.867 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
14.867 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
14.867 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
14.867 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
14.867 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
14.867 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
14.867 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
14.868 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
14.868 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
14.868 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
14.868 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
14.868 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
14.868 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
14.868 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
14.869 * [backup-simplify]: Simplify (- 0) into 0
14.869 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
14.869 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
14.869 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
14.869 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
14.869 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
14.869 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
14.870 * [backup-simplify]: Simplify (- 0) into 0
14.870 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
14.870 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
14.870 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
14.870 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
14.870 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
14.870 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
14.870 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
14.871 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))
14.871 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
14.872 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
14.873 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
14.874 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
14.874 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
14.875 * [backup-simplify]: Simplify (+ 0) into 0
14.875 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
14.875 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
14.876 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.876 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
14.876 * [backup-simplify]: Simplify (+ 0 0) into 0
14.876 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
14.876 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
14.877 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
14.877 * [backup-simplify]: Simplify (+ 0) into 0
14.877 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
14.877 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
14.878 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.878 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
14.878 * [backup-simplify]: Simplify (- 0) into 0
14.878 * [backup-simplify]: Simplify (+ 0 0) into 0
14.879 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
14.879 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
14.879 * [backup-simplify]: Simplify (+ 0 0) into 0
14.879 * [backup-simplify]: Simplify (+ 0) into 0
14.880 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
14.880 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
14.880 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.880 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
14.881 * [backup-simplify]: Simplify (- 0) into 0
14.881 * [backup-simplify]: Simplify (+ 0 0) into 0
14.881 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
14.881 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
14.881 * [backup-simplify]: Simplify (+ 0) into 0
14.882 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
14.882 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
14.882 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.883 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
14.883 * [backup-simplify]: Simplify (+ 0 0) into 0
14.883 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
14.883 * [backup-simplify]: Simplify (+ 0) into 0
14.884 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
14.884 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
14.884 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.884 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
14.885 * [backup-simplify]: Simplify (+ 0 0) into 0
14.885 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
14.885 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
14.885 * [backup-simplify]: Simplify (+ 0) into 0
14.885 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
14.886 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
14.886 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.886 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
14.887 * [backup-simplify]: Simplify (- 0) into 0
14.887 * [backup-simplify]: Simplify (+ 0 0) into 0
14.887 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
14.887 * [backup-simplify]: Simplify (+ 0 0) into 0
14.887 * [backup-simplify]: Simplify (- 0) into 0
14.888 * [backup-simplify]: Simplify (+ 0 0) into 0
14.890 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
14.891 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
14.891 * [taylor]: Taking taylor expansion of (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) in phi1
14.891 * [taylor]: Taking taylor expansion of (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) in phi1
14.891 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in phi1
14.891 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
14.891 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
14.891 * [taylor]: Taking taylor expansion of 0.5 in phi1
14.891 * [backup-simplify]: Simplify 0.5 into 0.5
14.891 * [taylor]: Taking taylor expansion of phi2 in phi1
14.891 * [backup-simplify]: Simplify phi2 into phi2
14.891 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
14.891 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
14.891 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
14.891 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in phi1
14.891 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
14.891 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
14.891 * [taylor]: Taking taylor expansion of 0.5 in phi1
14.891 * [backup-simplify]: Simplify 0.5 into 0.5
14.891 * [taylor]: Taking taylor expansion of phi1 in phi1
14.891 * [backup-simplify]: Simplify 0 into 0
14.891 * [backup-simplify]: Simplify 1 into 1
14.892 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
14.892 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
14.892 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in phi1
14.892 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
14.892 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
14.892 * [taylor]: Taking taylor expansion of 0.5 in phi1
14.892 * [backup-simplify]: Simplify 0.5 into 0.5
14.892 * [taylor]: Taking taylor expansion of phi2 in phi1
14.892 * [backup-simplify]: Simplify phi2 into phi2
14.892 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
14.892 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
14.892 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
14.892 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
14.892 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
14.892 * [taylor]: Taking taylor expansion of 0.5 in phi1
14.892 * [backup-simplify]: Simplify 0.5 into 0.5
14.892 * [taylor]: Taking taylor expansion of phi1 in phi1
14.892 * [backup-simplify]: Simplify 0 into 0
14.892 * [backup-simplify]: Simplify 1 into 1
14.893 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
14.893 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
14.893 * [taylor]: Taking taylor expansion of R in phi1
14.893 * [backup-simplify]: Simplify R into R
14.893 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
14.893 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
14.893 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
14.893 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
14.893 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
14.893 * [backup-simplify]: Simplify (- 0) into 0
14.893 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
14.894 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
14.894 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
14.894 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
14.894 * [backup-simplify]: Simplify (/ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) R) into (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R)
14.894 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in phi1
14.895 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in phi1
14.895 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in phi1
14.895 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in phi1
14.895 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in phi1
14.895 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1
14.895 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
14.895 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
14.895 * [taylor]: Taking taylor expansion of 0.5 in phi1
14.895 * [backup-simplify]: Simplify 0.5 into 0.5
14.895 * [taylor]: Taking taylor expansion of phi2 in phi1
14.895 * [backup-simplify]: Simplify phi2 into phi2
14.895 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
14.895 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
14.895 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
14.895 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
14.895 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
14.896 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
14.896 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1
14.896 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
14.896 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
14.896 * [taylor]: Taking taylor expansion of 0.5 in phi1
14.896 * [backup-simplify]: Simplify 0.5 into 0.5
14.896 * [taylor]: Taking taylor expansion of phi1 in phi1
14.896 * [backup-simplify]: Simplify 0 into 0
14.896 * [backup-simplify]: Simplify 1 into 1
14.896 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
14.896 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
14.896 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in phi1
14.897 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1
14.897 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
14.897 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
14.897 * [taylor]: Taking taylor expansion of 0.5 in phi1
14.897 * [backup-simplify]: Simplify 0.5 into 0.5
14.897 * [taylor]: Taking taylor expansion of phi2 in phi1
14.897 * [backup-simplify]: Simplify phi2 into phi2
14.897 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
14.897 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
14.897 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
14.898 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
14.898 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
14.898 * [backup-simplify]: Simplify (- 0) into 0
14.898 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
14.898 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1
14.898 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
14.898 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
14.898 * [taylor]: Taking taylor expansion of 0.5 in phi1
14.898 * [backup-simplify]: Simplify 0.5 into 0.5
14.899 * [taylor]: Taking taylor expansion of phi1 in phi1
14.899 * [backup-simplify]: Simplify 0 into 0
14.899 * [backup-simplify]: Simplify 1 into 1
14.899 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
14.899 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
14.899 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in phi1
14.899 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in phi1
14.899 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
14.899 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
14.899 * [taylor]: Taking taylor expansion of 0.5 in phi1
14.899 * [backup-simplify]: Simplify 0.5 into 0.5
14.899 * [taylor]: Taking taylor expansion of phi2 in phi1
14.900 * [backup-simplify]: Simplify phi2 into phi2
14.900 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
14.900 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
14.900 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
14.900 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in phi1
14.900 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
14.900 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
14.900 * [taylor]: Taking taylor expansion of 0.5 in phi1
14.900 * [backup-simplify]: Simplify 0.5 into 0.5
14.900 * [taylor]: Taking taylor expansion of phi1 in phi1
14.900 * [backup-simplify]: Simplify 0 into 0
14.900 * [backup-simplify]: Simplify 1 into 1
14.901 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
14.901 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
14.901 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in phi1
14.901 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
14.901 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
14.901 * [taylor]: Taking taylor expansion of 0.5 in phi1
14.901 * [backup-simplify]: Simplify 0.5 into 0.5
14.901 * [taylor]: Taking taylor expansion of phi2 in phi1
14.901 * [backup-simplify]: Simplify phi2 into phi2
14.901 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
14.901 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
14.902 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
14.902 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
14.902 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
14.902 * [taylor]: Taking taylor expansion of 0.5 in phi1
14.902 * [backup-simplify]: Simplify 0.5 into 0.5
14.902 * [taylor]: Taking taylor expansion of phi1 in phi1
14.902 * [backup-simplify]: Simplify 0 into 0
14.902 * [backup-simplify]: Simplify 1 into 1
14.902 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
14.902 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
14.902 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in phi1
14.902 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
14.903 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
14.903 * [taylor]: Taking taylor expansion of 0.5 in phi1
14.903 * [backup-simplify]: Simplify 0.5 into 0.5
14.903 * [taylor]: Taking taylor expansion of phi2 in phi1
14.903 * [backup-simplify]: Simplify phi2 into phi2
14.903 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
14.903 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
14.903 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
14.903 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in phi1
14.903 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
14.903 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
14.903 * [taylor]: Taking taylor expansion of 0.5 in phi1
14.903 * [backup-simplify]: Simplify 0.5 into 0.5
14.903 * [taylor]: Taking taylor expansion of phi1 in phi1
14.903 * [backup-simplify]: Simplify 0 into 0
14.903 * [backup-simplify]: Simplify 1 into 1
14.904 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
14.904 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
14.904 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in phi1
14.904 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
14.904 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
14.904 * [taylor]: Taking taylor expansion of 0.5 in phi1
14.904 * [backup-simplify]: Simplify 0.5 into 0.5
14.904 * [taylor]: Taking taylor expansion of phi2 in phi1
14.904 * [backup-simplify]: Simplify phi2 into phi2
14.904 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
14.904 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
14.904 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
14.904 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
14.904 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
14.904 * [taylor]: Taking taylor expansion of 0.5 in phi1
14.904 * [backup-simplify]: Simplify 0.5 into 0.5
14.904 * [taylor]: Taking taylor expansion of phi1 in phi1
14.904 * [backup-simplify]: Simplify 0 into 0
14.904 * [backup-simplify]: Simplify 1 into 1
14.905 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
14.905 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
14.905 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
14.905 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
14.906 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
14.906 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
14.906 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
14.907 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
14.908 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
14.908 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
14.908 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
14.908 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
14.908 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
14.908 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
14.909 * [backup-simplify]: Simplify (- 0) into 0
14.909 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
14.909 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
14.909 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
14.910 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
14.910 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
14.910 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
14.910 * [backup-simplify]: Simplify (- 0) into 0
14.910 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
14.910 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
14.911 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
14.911 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
14.911 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
14.911 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
14.911 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
14.912 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))
14.913 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
14.914 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
14.915 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
14.916 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
14.916 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
14.917 * [backup-simplify]: Simplify (+ 0) into 0
14.917 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
14.917 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
14.918 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.918 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
14.918 * [backup-simplify]: Simplify (+ 0 0) into 0
14.918 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
14.919 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
14.919 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
14.919 * [backup-simplify]: Simplify (+ 0) into 0
14.919 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
14.919 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
14.920 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.920 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
14.920 * [backup-simplify]: Simplify (- 0) into 0
14.921 * [backup-simplify]: Simplify (+ 0 0) into 0
14.921 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
14.921 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
14.921 * [backup-simplify]: Simplify (+ 0 0) into 0
14.922 * [backup-simplify]: Simplify (+ 0) into 0
14.922 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
14.922 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
14.922 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.923 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
14.923 * [backup-simplify]: Simplify (- 0) into 0
14.923 * [backup-simplify]: Simplify (+ 0 0) into 0
14.923 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
14.923 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
14.924 * [backup-simplify]: Simplify (+ 0) into 0
14.924 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
14.924 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
14.925 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.925 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
14.925 * [backup-simplify]: Simplify (+ 0 0) into 0
14.925 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
14.925 * [backup-simplify]: Simplify (+ 0) into 0
14.926 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
14.926 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
14.926 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.927 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
14.927 * [backup-simplify]: Simplify (+ 0 0) into 0
14.927 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
14.927 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
14.927 * [backup-simplify]: Simplify (+ 0) into 0
14.928 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
14.928 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
14.928 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.929 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
14.929 * [backup-simplify]: Simplify (- 0) into 0
14.929 * [backup-simplify]: Simplify (+ 0 0) into 0
14.929 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
14.929 * [backup-simplify]: Simplify (+ 0 0) into 0
14.930 * [backup-simplify]: Simplify (- 0) into 0
14.930 * [backup-simplify]: Simplify (+ 0 0) into 0
14.932 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
14.933 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
14.933 * [taylor]: Taking taylor expansion of (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) in phi1
14.933 * [taylor]: Taking taylor expansion of (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) in phi1
14.933 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) R) in phi1
14.933 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in phi1
14.933 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1
14.933 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
14.933 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
14.933 * [taylor]: Taking taylor expansion of 0.5 in phi1
14.933 * [backup-simplify]: Simplify 0.5 into 0.5
14.933 * [taylor]: Taking taylor expansion of phi2 in phi1
14.933 * [backup-simplify]: Simplify phi2 into phi2
14.933 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
14.933 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
14.934 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
14.934 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
14.934 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
14.934 * [backup-simplify]: Simplify (- 0) into 0
14.934 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
14.934 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1
14.934 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
14.934 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
14.934 * [taylor]: Taking taylor expansion of 0.5 in phi1
14.934 * [backup-simplify]: Simplify 0.5 into 0.5
14.934 * [taylor]: Taking taylor expansion of phi1 in phi1
14.934 * [backup-simplify]: Simplify 0 into 0
14.934 * [backup-simplify]: Simplify 1 into 1
14.935 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
14.935 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
14.935 * [taylor]: Taking taylor expansion of R in phi1
14.935 * [backup-simplify]: Simplify R into R
14.935 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
14.935 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
14.935 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
14.935 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) R) into (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) R)
14.935 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in phi1
14.935 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in phi1
14.935 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in phi1
14.935 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in phi1
14.935 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in phi1
14.935 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1
14.935 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
14.935 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
14.935 * [taylor]: Taking taylor expansion of 0.5 in phi1
14.936 * [backup-simplify]: Simplify 0.5 into 0.5
14.936 * [taylor]: Taking taylor expansion of phi2 in phi1
14.936 * [backup-simplify]: Simplify phi2 into phi2
14.936 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
14.936 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
14.936 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
14.936 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
14.936 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
14.936 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
14.936 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1
14.936 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
14.936 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
14.936 * [taylor]: Taking taylor expansion of 0.5 in phi1
14.936 * [backup-simplify]: Simplify 0.5 into 0.5
14.936 * [taylor]: Taking taylor expansion of phi1 in phi1
14.936 * [backup-simplify]: Simplify 0 into 0
14.936 * [backup-simplify]: Simplify 1 into 1
14.936 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
14.936 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
14.936 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in phi1
14.936 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1
14.936 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
14.936 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
14.937 * [taylor]: Taking taylor expansion of 0.5 in phi1
14.937 * [backup-simplify]: Simplify 0.5 into 0.5
14.937 * [taylor]: Taking taylor expansion of phi2 in phi1
14.937 * [backup-simplify]: Simplify phi2 into phi2
14.937 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
14.937 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
14.937 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
14.937 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
14.937 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
14.937 * [backup-simplify]: Simplify (- 0) into 0
14.937 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
14.937 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1
14.937 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
14.937 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
14.937 * [taylor]: Taking taylor expansion of 0.5 in phi1
14.937 * [backup-simplify]: Simplify 0.5 into 0.5
14.937 * [taylor]: Taking taylor expansion of phi1 in phi1
14.937 * [backup-simplify]: Simplify 0 into 0
14.937 * [backup-simplify]: Simplify 1 into 1
14.938 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
14.938 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
14.938 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in phi1
14.938 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in phi1
14.938 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
14.938 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
14.938 * [taylor]: Taking taylor expansion of 0.5 in phi1
14.938 * [backup-simplify]: Simplify 0.5 into 0.5
14.938 * [taylor]: Taking taylor expansion of phi2 in phi1
14.938 * [backup-simplify]: Simplify phi2 into phi2
14.938 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
14.938 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
14.938 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
14.938 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in phi1
14.938 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
14.938 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
14.938 * [taylor]: Taking taylor expansion of 0.5 in phi1
14.938 * [backup-simplify]: Simplify 0.5 into 0.5
14.938 * [taylor]: Taking taylor expansion of phi1 in phi1
14.938 * [backup-simplify]: Simplify 0 into 0
14.938 * [backup-simplify]: Simplify 1 into 1
14.938 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
14.938 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
14.938 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in phi1
14.939 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
14.939 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
14.939 * [taylor]: Taking taylor expansion of 0.5 in phi1
14.939 * [backup-simplify]: Simplify 0.5 into 0.5
14.939 * [taylor]: Taking taylor expansion of phi2 in phi1
14.939 * [backup-simplify]: Simplify phi2 into phi2
14.939 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
14.939 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
14.939 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
14.939 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
14.939 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
14.939 * [taylor]: Taking taylor expansion of 0.5 in phi1
14.939 * [backup-simplify]: Simplify 0.5 into 0.5
14.939 * [taylor]: Taking taylor expansion of phi1 in phi1
14.939 * [backup-simplify]: Simplify 0 into 0
14.939 * [backup-simplify]: Simplify 1 into 1
14.939 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
14.939 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
14.939 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in phi1
14.939 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
14.939 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
14.939 * [taylor]: Taking taylor expansion of 0.5 in phi1
14.939 * [backup-simplify]: Simplify 0.5 into 0.5
14.939 * [taylor]: Taking taylor expansion of phi2 in phi1
14.939 * [backup-simplify]: Simplify phi2 into phi2
14.939 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
14.939 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
14.939 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
14.939 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in phi1
14.940 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
14.940 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
14.940 * [taylor]: Taking taylor expansion of 0.5 in phi1
14.940 * [backup-simplify]: Simplify 0.5 into 0.5
14.940 * [taylor]: Taking taylor expansion of phi1 in phi1
14.940 * [backup-simplify]: Simplify 0 into 0
14.940 * [backup-simplify]: Simplify 1 into 1
14.940 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
14.940 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
14.940 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in phi1
14.940 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
14.940 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
14.940 * [taylor]: Taking taylor expansion of 0.5 in phi1
14.940 * [backup-simplify]: Simplify 0.5 into 0.5
14.940 * [taylor]: Taking taylor expansion of phi2 in phi1
14.940 * [backup-simplify]: Simplify phi2 into phi2
14.940 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
14.940 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
14.940 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
14.940 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
14.940 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
14.940 * [taylor]: Taking taylor expansion of 0.5 in phi1
14.940 * [backup-simplify]: Simplify 0.5 into 0.5
14.940 * [taylor]: Taking taylor expansion of phi1 in phi1
14.940 * [backup-simplify]: Simplify 0 into 0
14.940 * [backup-simplify]: Simplify 1 into 1
14.941 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
14.941 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
14.941 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
14.941 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
14.941 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
14.941 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
14.941 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
14.942 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
14.942 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
14.943 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
14.943 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
14.943 * [backup-simplify]: Simplify (- 0) into 0
14.943 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
14.943 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
14.943 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
14.944 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
14.944 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
14.944 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
14.944 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
14.944 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
14.945 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
14.945 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
14.945 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
14.945 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
14.945 * [backup-simplify]: Simplify (- 0) into 0
14.945 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
14.946 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
14.946 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
14.946 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
14.947 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))
14.948 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
14.950 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
14.952 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
14.954 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
14.954 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
14.954 * [backup-simplify]: Simplify (+ 0) into 0
14.955 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
14.955 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
14.955 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.956 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
14.956 * [backup-simplify]: Simplify (+ 0 0) into 0
14.956 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
14.956 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
14.957 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
14.957 * [backup-simplify]: Simplify (+ 0) into 0
14.957 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
14.957 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
14.958 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.958 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
14.958 * [backup-simplify]: Simplify (- 0) into 0
14.959 * [backup-simplify]: Simplify (+ 0 0) into 0
14.959 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
14.959 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
14.959 * [backup-simplify]: Simplify (+ 0 0) into 0
14.959 * [backup-simplify]: Simplify (+ 0) into 0
14.960 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
14.960 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
14.960 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.961 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
14.961 * [backup-simplify]: Simplify (+ 0 0) into 0
14.961 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
14.961 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
14.961 * [backup-simplify]: Simplify (+ 0) into 0
14.962 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
14.962 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
14.962 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.962 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
14.963 * [backup-simplify]: Simplify (- 0) into 0
14.963 * [backup-simplify]: Simplify (+ 0 0) into 0
14.963 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
14.963 * [backup-simplify]: Simplify (+ 0) into 0
14.964 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
14.964 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
14.964 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.965 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
14.965 * [backup-simplify]: Simplify (- 0) into 0
14.965 * [backup-simplify]: Simplify (+ 0 0) into 0
14.965 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
14.965 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
14.966 * [backup-simplify]: Simplify (+ 0) into 0
14.966 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
14.966 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
14.967 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.967 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
14.968 * [backup-simplify]: Simplify (+ 0 0) into 0
14.968 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
14.968 * [backup-simplify]: Simplify (+ 0 0) into 0
14.968 * [backup-simplify]: Simplify (- 0) into 0
14.969 * [backup-simplify]: Simplify (+ 0 0) into 0
14.971 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
14.972 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
14.972 * [taylor]: Taking taylor expansion of (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) in phi1
14.972 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) R) in phi1
14.972 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in phi1
14.972 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1
14.972 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
14.972 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
14.972 * [taylor]: Taking taylor expansion of 0.5 in phi1
14.972 * [backup-simplify]: Simplify 0.5 into 0.5
14.972 * [taylor]: Taking taylor expansion of phi2 in phi1
14.972 * [backup-simplify]: Simplify phi2 into phi2
14.972 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
14.972 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
14.973 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
14.973 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
14.973 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
14.973 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
14.973 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1
14.973 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
14.973 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
14.973 * [taylor]: Taking taylor expansion of 0.5 in phi1
14.973 * [backup-simplify]: Simplify 0.5 into 0.5
14.973 * [taylor]: Taking taylor expansion of phi1 in phi1
14.973 * [backup-simplify]: Simplify 0 into 0
14.973 * [backup-simplify]: Simplify 1 into 1
14.973 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
14.973 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
14.973 * [taylor]: Taking taylor expansion of R in phi1
14.973 * [backup-simplify]: Simplify R into R
14.973 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
14.974 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
14.974 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
14.974 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) R) into (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) R)
14.974 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in phi1
14.974 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in phi1
14.974 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in phi1
14.974 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in phi1
14.974 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in phi1
14.974 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1
14.974 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
14.974 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
14.974 * [taylor]: Taking taylor expansion of 0.5 in phi1
14.974 * [backup-simplify]: Simplify 0.5 into 0.5
14.974 * [taylor]: Taking taylor expansion of phi2 in phi1
14.974 * [backup-simplify]: Simplify phi2 into phi2
14.974 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
14.974 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
14.974 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
14.974 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
14.975 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
14.975 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
14.975 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1
14.975 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
14.975 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
14.975 * [taylor]: Taking taylor expansion of 0.5 in phi1
14.975 * [backup-simplify]: Simplify 0.5 into 0.5
14.975 * [taylor]: Taking taylor expansion of phi1 in phi1
14.975 * [backup-simplify]: Simplify 0 into 0
14.975 * [backup-simplify]: Simplify 1 into 1
14.977 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
14.977 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
14.977 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in phi1
14.977 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1
14.977 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
14.977 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
14.977 * [taylor]: Taking taylor expansion of 0.5 in phi1
14.977 * [backup-simplify]: Simplify 0.5 into 0.5
14.977 * [taylor]: Taking taylor expansion of phi2 in phi1
14.977 * [backup-simplify]: Simplify phi2 into phi2
14.978 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
14.978 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
14.978 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
14.978 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
14.978 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
14.978 * [backup-simplify]: Simplify (- 0) into 0
14.978 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
14.978 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1
14.978 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
14.978 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
14.978 * [taylor]: Taking taylor expansion of 0.5 in phi1
14.978 * [backup-simplify]: Simplify 0.5 into 0.5
14.978 * [taylor]: Taking taylor expansion of phi1 in phi1
14.978 * [backup-simplify]: Simplify 0 into 0
14.978 * [backup-simplify]: Simplify 1 into 1
14.979 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
14.979 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
14.979 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in phi1
14.979 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in phi1
14.979 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
14.979 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
14.979 * [taylor]: Taking taylor expansion of 0.5 in phi1
14.979 * [backup-simplify]: Simplify 0.5 into 0.5
14.979 * [taylor]: Taking taylor expansion of phi2 in phi1
14.979 * [backup-simplify]: Simplify phi2 into phi2
14.979 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
14.979 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
14.979 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
14.979 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in phi1
14.979 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
14.979 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
14.979 * [taylor]: Taking taylor expansion of 0.5 in phi1
14.979 * [backup-simplify]: Simplify 0.5 into 0.5
14.979 * [taylor]: Taking taylor expansion of phi1 in phi1
14.979 * [backup-simplify]: Simplify 0 into 0
14.979 * [backup-simplify]: Simplify 1 into 1
14.979 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
14.980 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
14.980 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in phi1
14.980 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
14.980 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
14.980 * [taylor]: Taking taylor expansion of 0.5 in phi1
14.980 * [backup-simplify]: Simplify 0.5 into 0.5
14.980 * [taylor]: Taking taylor expansion of phi2 in phi1
14.980 * [backup-simplify]: Simplify phi2 into phi2
14.980 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
14.980 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
14.980 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
14.980 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
14.980 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
14.980 * [taylor]: Taking taylor expansion of 0.5 in phi1
14.980 * [backup-simplify]: Simplify 0.5 into 0.5
14.980 * [taylor]: Taking taylor expansion of phi1 in phi1
14.980 * [backup-simplify]: Simplify 0 into 0
14.980 * [backup-simplify]: Simplify 1 into 1
14.980 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
14.980 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
14.980 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in phi1
14.980 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
14.980 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
14.980 * [taylor]: Taking taylor expansion of 0.5 in phi1
14.980 * [backup-simplify]: Simplify 0.5 into 0.5
14.980 * [taylor]: Taking taylor expansion of phi2 in phi1
14.980 * [backup-simplify]: Simplify phi2 into phi2
14.980 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
14.980 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
14.981 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
14.981 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in phi1
14.981 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
14.981 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
14.981 * [taylor]: Taking taylor expansion of 0.5 in phi1
14.981 * [backup-simplify]: Simplify 0.5 into 0.5
14.981 * [taylor]: Taking taylor expansion of phi1 in phi1
14.981 * [backup-simplify]: Simplify 0 into 0
14.981 * [backup-simplify]: Simplify 1 into 1
14.981 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
14.981 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
14.981 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in phi1
14.981 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
14.981 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
14.981 * [taylor]: Taking taylor expansion of 0.5 in phi1
14.981 * [backup-simplify]: Simplify 0.5 into 0.5
14.981 * [taylor]: Taking taylor expansion of phi2 in phi1
14.981 * [backup-simplify]: Simplify phi2 into phi2
14.981 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
14.981 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
14.981 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
14.981 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
14.981 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
14.981 * [taylor]: Taking taylor expansion of 0.5 in phi1
14.981 * [backup-simplify]: Simplify 0.5 into 0.5
14.981 * [taylor]: Taking taylor expansion of phi1 in phi1
14.981 * [backup-simplify]: Simplify 0 into 0
14.981 * [backup-simplify]: Simplify 1 into 1
14.982 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
14.982 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
14.982 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
14.982 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
14.982 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
14.982 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
14.982 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
14.983 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
14.983 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
14.983 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
14.983 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
14.983 * [backup-simplify]: Simplify (- 0) into 0
14.984 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
14.984 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
14.984 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
14.984 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
14.984 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
14.984 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
14.984 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
14.984 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
14.984 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
14.984 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
14.984 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
14.984 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
14.985 * [backup-simplify]: Simplify (- 0) into 0
14.985 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
14.985 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
14.985 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
14.985 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
14.985 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))
14.986 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
14.987 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
14.988 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
14.989 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
14.989 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
14.989 * [backup-simplify]: Simplify (+ 0) into 0
14.990 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
14.990 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
14.990 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.991 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
14.991 * [backup-simplify]: Simplify (+ 0 0) into 0
14.991 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
14.991 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
14.991 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
14.992 * [backup-simplify]: Simplify (+ 0) into 0
14.992 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
14.992 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
14.993 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.993 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
14.993 * [backup-simplify]: Simplify (- 0) into 0
14.994 * [backup-simplify]: Simplify (+ 0 0) into 0
14.994 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
14.994 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
14.994 * [backup-simplify]: Simplify (+ 0 0) into 0
14.994 * [backup-simplify]: Simplify (+ 0) into 0
14.995 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
14.995 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
14.995 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.996 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
14.996 * [backup-simplify]: Simplify (+ 0 0) into 0
14.996 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
14.996 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
14.996 * [backup-simplify]: Simplify (+ 0) into 0
14.997 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
14.997 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
14.997 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.997 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
14.998 * [backup-simplify]: Simplify (- 0) into 0
14.998 * [backup-simplify]: Simplify (+ 0 0) into 0
14.998 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
14.998 * [backup-simplify]: Simplify (+ 0) into 0
14.999 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
14.999 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
14.999 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.000 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
15.000 * [backup-simplify]: Simplify (- 0) into 0
15.000 * [backup-simplify]: Simplify (+ 0 0) into 0
15.000 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
15.000 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
15.001 * [backup-simplify]: Simplify (+ 0) into 0
15.001 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
15.001 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
15.001 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.002 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
15.002 * [backup-simplify]: Simplify (+ 0 0) into 0
15.002 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
15.002 * [backup-simplify]: Simplify (+ 0 0) into 0
15.003 * [backup-simplify]: Simplify (- 0) into 0
15.003 * [backup-simplify]: Simplify (+ 0 0) into 0
15.005 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
15.007 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
15.009 * [backup-simplify]: Simplify (* (sqrt (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 1 R)) into (* (sqrt (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 1 R))
15.009 * [taylor]: Taking taylor expansion of (* (sqrt (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 1 R)) in phi1
15.009 * [taylor]: Taking taylor expansion of (sqrt (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in phi1
15.009 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in phi1
15.009 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in phi1
15.009 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in phi1
15.009 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1
15.009 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
15.010 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
15.010 * [taylor]: Taking taylor expansion of 0.5 in phi1
15.010 * [backup-simplify]: Simplify 0.5 into 0.5
15.010 * [taylor]: Taking taylor expansion of phi2 in phi1
15.010 * [backup-simplify]: Simplify phi2 into phi2
15.010 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
15.010 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
15.010 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
15.010 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
15.010 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
15.010 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
15.010 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1
15.010 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
15.010 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
15.010 * [taylor]: Taking taylor expansion of 0.5 in phi1
15.010 * [backup-simplify]: Simplify 0.5 into 0.5
15.010 * [taylor]: Taking taylor expansion of phi1 in phi1
15.010 * [backup-simplify]: Simplify 0 into 0
15.010 * [backup-simplify]: Simplify 1 into 1
15.011 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
15.011 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
15.011 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in phi1
15.011 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1
15.011 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
15.011 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
15.011 * [taylor]: Taking taylor expansion of 0.5 in phi1
15.011 * [backup-simplify]: Simplify 0.5 into 0.5
15.011 * [taylor]: Taking taylor expansion of phi2 in phi1
15.011 * [backup-simplify]: Simplify phi2 into phi2
15.011 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
15.012 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
15.012 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
15.012 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
15.012 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
15.012 * [backup-simplify]: Simplify (- 0) into 0
15.012 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
15.012 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1
15.012 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
15.012 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
15.012 * [taylor]: Taking taylor expansion of 0.5 in phi1
15.012 * [backup-simplify]: Simplify 0.5 into 0.5
15.013 * [taylor]: Taking taylor expansion of phi1 in phi1
15.013 * [backup-simplify]: Simplify 0 into 0
15.013 * [backup-simplify]: Simplify 1 into 1
15.013 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
15.013 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
15.013 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in phi1
15.013 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in phi1
15.013 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
15.013 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
15.013 * [taylor]: Taking taylor expansion of 0.5 in phi1
15.013 * [backup-simplify]: Simplify 0.5 into 0.5
15.013 * [taylor]: Taking taylor expansion of phi2 in phi1
15.013 * [backup-simplify]: Simplify phi2 into phi2
15.013 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
15.014 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
15.014 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
15.014 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in phi1
15.014 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
15.014 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
15.014 * [taylor]: Taking taylor expansion of 0.5 in phi1
15.014 * [backup-simplify]: Simplify 0.5 into 0.5
15.014 * [taylor]: Taking taylor expansion of phi1 in phi1
15.014 * [backup-simplify]: Simplify 0 into 0
15.014 * [backup-simplify]: Simplify 1 into 1
15.014 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
15.014 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
15.014 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in phi1
15.014 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
15.014 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
15.015 * [taylor]: Taking taylor expansion of 0.5 in phi1
15.015 * [backup-simplify]: Simplify 0.5 into 0.5
15.015 * [taylor]: Taking taylor expansion of phi2 in phi1
15.015 * [backup-simplify]: Simplify phi2 into phi2
15.015 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
15.015 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
15.015 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
15.015 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
15.015 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
15.015 * [taylor]: Taking taylor expansion of 0.5 in phi1
15.015 * [backup-simplify]: Simplify 0.5 into 0.5
15.015 * [taylor]: Taking taylor expansion of phi1 in phi1
15.015 * [backup-simplify]: Simplify 0 into 0
15.015 * [backup-simplify]: Simplify 1 into 1
15.016 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
15.016 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
15.016 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in phi1
15.016 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
15.016 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
15.016 * [taylor]: Taking taylor expansion of 0.5 in phi1
15.016 * [backup-simplify]: Simplify 0.5 into 0.5
15.016 * [taylor]: Taking taylor expansion of phi2 in phi1
15.016 * [backup-simplify]: Simplify phi2 into phi2
15.016 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
15.016 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
15.016 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
15.016 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in phi1
15.016 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
15.016 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
15.016 * [taylor]: Taking taylor expansion of 0.5 in phi1
15.016 * [backup-simplify]: Simplify 0.5 into 0.5
15.016 * [taylor]: Taking taylor expansion of phi1 in phi1
15.016 * [backup-simplify]: Simplify 0 into 0
15.016 * [backup-simplify]: Simplify 1 into 1
15.017 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
15.017 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
15.017 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in phi1
15.017 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
15.017 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
15.017 * [taylor]: Taking taylor expansion of 0.5 in phi1
15.017 * [backup-simplify]: Simplify 0.5 into 0.5
15.017 * [taylor]: Taking taylor expansion of phi2 in phi1
15.017 * [backup-simplify]: Simplify phi2 into phi2
15.017 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
15.017 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
15.017 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
15.017 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
15.017 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
15.017 * [taylor]: Taking taylor expansion of 0.5 in phi1
15.017 * [backup-simplify]: Simplify 0.5 into 0.5
15.017 * [taylor]: Taking taylor expansion of phi1 in phi1
15.018 * [backup-simplify]: Simplify 0 into 0
15.018 * [backup-simplify]: Simplify 1 into 1
15.018 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
15.018 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
15.018 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
15.018 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
15.019 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
15.019 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
15.019 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
15.019 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
15.020 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
15.020 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
15.020 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
15.021 * [backup-simplify]: Simplify (- 0) into 0
15.021 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
15.021 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
15.021 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
15.021 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
15.022 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
15.022 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
15.022 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
15.022 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
15.022 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
15.022 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
15.023 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
15.023 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
15.023 * [backup-simplify]: Simplify (- 0) into 0
15.023 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
15.023 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
15.024 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
15.024 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
15.025 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))
15.025 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
15.027 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
15.029 * [backup-simplify]: Simplify (sqrt (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (sqrt (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
15.029 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
15.030 * [backup-simplify]: Simplify (+ 0) into 0
15.031 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
15.031 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
15.031 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.032 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
15.032 * [backup-simplify]: Simplify (+ 0 0) into 0
15.033 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
15.033 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
15.033 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
15.034 * [backup-simplify]: Simplify (+ 0) into 0
15.034 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
15.034 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
15.035 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.035 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
15.036 * [backup-simplify]: Simplify (- 0) into 0
15.036 * [backup-simplify]: Simplify (+ 0 0) into 0
15.036 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
15.037 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
15.037 * [backup-simplify]: Simplify (+ 0 0) into 0
15.038 * [backup-simplify]: Simplify (+ 0) into 0
15.038 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
15.038 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
15.039 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.039 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
15.040 * [backup-simplify]: Simplify (+ 0 0) into 0
15.040 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
15.040 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
15.041 * [backup-simplify]: Simplify (+ 0) into 0
15.041 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
15.041 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
15.042 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.042 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
15.043 * [backup-simplify]: Simplify (- 0) into 0
15.043 * [backup-simplify]: Simplify (+ 0 0) into 0
15.044 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
15.044 * [backup-simplify]: Simplify (+ 0) into 0
15.045 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
15.045 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
15.045 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.046 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
15.046 * [backup-simplify]: Simplify (- 0) into 0
15.047 * [backup-simplify]: Simplify (+ 0 0) into 0
15.047 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
15.047 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
15.048 * [backup-simplify]: Simplify (+ 0) into 0
15.048 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
15.048 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
15.049 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.050 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
15.050 * [backup-simplify]: Simplify (+ 0 0) into 0
15.050 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
15.051 * [backup-simplify]: Simplify (+ 0 0) into 0
15.051 * [backup-simplify]: Simplify (- 0) into 0
15.051 * [backup-simplify]: Simplify (+ 0 0) into 0
15.053 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into 0
15.053 * [taylor]: Taking taylor expansion of (/ 1 R) in phi1
15.053 * [taylor]: Taking taylor expansion of R in phi1
15.053 * [backup-simplify]: Simplify R into R
15.053 * [backup-simplify]: Simplify (/ 1 R) into (/ 1 R)
15.055 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)))) into 0
15.055 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)))) into 0
15.055 * [backup-simplify]: Simplify (- 0) into 0
15.056 * [backup-simplify]: Simplify (+ 0 0) into 0
15.057 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
15.058 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
15.058 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
15.059 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
15.059 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
15.060 * [backup-simplify]: Simplify (- 0) into 0
15.060 * [backup-simplify]: Simplify (+ 0 0) into 0
15.061 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
15.062 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
15.062 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
15.063 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
15.064 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
15.064 * [backup-simplify]: Simplify (- 0) into 0
15.064 * [backup-simplify]: Simplify (+ 0 0) into 0
15.065 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
15.066 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
15.067 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
15.067 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
15.068 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
15.068 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
15.069 * [backup-simplify]: Simplify (+ 0 0) into 0
15.069 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
15.070 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
15.070 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
15.071 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
15.072 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
15.072 * [backup-simplify]: Simplify (+ 0 0) into 0
15.073 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
15.073 * [backup-simplify]: Simplify (- 0) into 0
15.073 * [backup-simplify]: Simplify (+ 0 0) into 0
15.074 * [backup-simplify]: Simplify (+ (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) 0) (+ (* 0 (- (/ 1 lambda2))) (* 0 1))) into 0
15.075 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)))) into 0
15.075 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)))) into 0
15.076 * [backup-simplify]: Simplify (- 0) into 0
15.076 * [backup-simplify]: Simplify (+ 0 0) into 0
15.077 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
15.078 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
15.078 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
15.079 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
15.079 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
15.080 * [backup-simplify]: Simplify (- 0) into 0
15.080 * [backup-simplify]: Simplify (+ 0 0) into 0
15.081 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
15.082 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
15.082 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
15.083 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
15.083 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
15.083 * [backup-simplify]: Simplify (- 0) into 0
15.084 * [backup-simplify]: Simplify (+ 0 0) into 0
15.084 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
15.085 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
15.086 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
15.086 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
15.087 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
15.088 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
15.088 * [backup-simplify]: Simplify (+ 0 0) into 0
15.089 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
15.090 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
15.090 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
15.091 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
15.091 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
15.091 * [backup-simplify]: Simplify (+ 0 0) into 0
15.092 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
15.092 * [backup-simplify]: Simplify (- 0) into 0
15.093 * [backup-simplify]: Simplify (+ 0 0) into 0
15.094 * [backup-simplify]: Simplify (+ (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) 0) (+ (* 0 (- (/ 1 lambda2))) (* 0 1))) into 0
15.096 * [backup-simplify]: Simplify (+ (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) 0) (+ (* (- (/ (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) lambda2) (/ (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) lambda2)) (- (/ (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) lambda2) (/ (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) lambda2))) (* 0 (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into (- (+ (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (pow lambda2 2))) (+ (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (pow lambda2 2)) (/ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (pow lambda2 2))))
15.096 * [backup-simplify]: Simplify (- (/ 1 phi2)) into (- (/ 1 phi2))
15.096 * [backup-simplify]: Simplify (+ (/ 1 phi1) (- (/ 1 phi2))) into (- (/ 1 phi1) (/ 1 phi2))
15.096 * [backup-simplify]: Simplify (- (/ 1 phi2)) into (- (/ 1 phi2))
15.096 * [backup-simplify]: Simplify (+ (/ 1 phi1) (- (/ 1 phi2))) into (- (/ 1 phi1) (/ 1 phi2))
15.097 * [backup-simplify]: Simplify (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2))) into (pow (- (/ 1 phi1) (/ 1 phi2)) 2)
15.100 * [backup-simplify]: Simplify (+ (- (+ (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (pow lambda2 2))) (+ (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (pow lambda2 2)) (/ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (pow lambda2 2)))) (pow (- (/ 1 phi1) (/ 1 phi2)) 2)) into (- (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (pow lambda2 2)) (/ 1 (pow phi1 2))))) (+ (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (pow lambda2 2)) (* 2 (/ 1 (* phi1 phi2))))))
15.115 * [backup-simplify]: Simplify (/ (- (- (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (pow lambda2 2)) (/ 1 (pow phi1 2))))) (+ (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (pow lambda2 2)) (* 2 (/ 1 (* phi1 phi2)))))) (pow (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (- (+ (* 2 (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) lambda2)) (* 2 (/ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) lambda2))) (+ (* 2 (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) lambda2)) (* 2 (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) lambda2)))))) 2) (+)) (* 2 (sqrt (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (- (+ (/ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (pow (cos (/ 0.5 phi2)) 3) (pow (cos (/ 0.5 phi1)) 3)))) (* (pow lambda2 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (+ (* 2 (/ (* (sin (/ 0.5 phi1)) (* (pow (cos (/ 0.5 phi2)) 3) (* (pow (cos (/ 0.5 phi1)) 3) (sin (/ 0.5 phi2))))) (* (pow lambda2 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (+ (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (pow lambda2 2)) (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 3) (* (pow (sin (/ 0.5 phi1)) 3) (cos (/ 0.5 phi2))))) (* (pow lambda2 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ 0.5 phi2)) 3) (* (pow (cos (/ 0.5 phi1)) 3) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (pow lambda2 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (+ (/ 1 (pow phi2 2)) (+ (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)))) (* (pow lambda2 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (+ (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ 0.5 phi2)) 3) (* (pow (sin (/ 0.5 phi1)) 3) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (pow lambda2 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))))))))) (+ (/ (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)) (* (pow lambda2 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (+ (* 2 (/ 1 (* phi1 phi2))) (+ (* 2 (/ (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) (* (pow lambda2 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (+ (/ (* (pow (cos (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi1)) 4)) (* (pow lambda2 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (+ (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)))) (* (pow lambda2 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (+ (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)))) (* (pow lambda2 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (* 2 (/ (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))) (* (pow lambda2 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))))))))))))
15.178 * [backup-simplify]: Simplify (- (/ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (- (+ (/ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (pow (cos (/ 0.5 phi2)) 3) (pow (cos (/ 0.5 phi1)) 3)))) (* (pow lambda2 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (+ (* 2 (/ (* (sin (/ 0.5 phi1)) (* (pow (cos (/ 0.5 phi2)) 3) (* (pow (cos (/ 0.5 phi1)) 3) (sin (/ 0.5 phi2))))) (* (pow lambda2 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (+ (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (pow lambda2 2)) (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 3) (* (pow (sin (/ 0.5 phi1)) 3) (cos (/ 0.5 phi2))))) (* (pow lambda2 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ 0.5 phi2)) 3) (* (pow (cos (/ 0.5 phi1)) 3) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (pow lambda2 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (+ (/ 1 (pow phi2 2)) (+ (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)))) (* (pow lambda2 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (+ (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ 0.5 phi2)) 3) (* (pow (sin (/ 0.5 phi1)) 3) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (pow lambda2 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))))))))) (+ (/ (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)) (* (pow lambda2 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (+ (* 2 (/ 1 (* phi1 phi2))) (+ (* 2 (/ (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) (* (pow lambda2 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (+ (/ (* (pow (cos (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi1)) 4)) (* (pow lambda2 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (+ (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)))) (* (pow lambda2 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (+ (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)))) (* (pow lambda2 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (* 2 (/ (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))) (* (pow lambda2 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))))))))))) R) (+ (* (* (sqrt (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 1 R)) (/ 0 R)) (* (- (+ (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* R lambda2)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* R lambda2)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* R lambda2)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (* R lambda2)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) (/ 0 R)))) into (- (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* R (pow lambda2 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 1 (* R (pow phi2 2))))) (+ (* 3/2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 2 (* (/ (* (sin (/ 0.5 phi2)) (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (cos (/ 0.5 phi2)) 3) (sin (/ 0.5 phi1))))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ 1 (* R (pow phi1 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 3) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 3)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (* R (pow lambda2 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* R (pow lambda2 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* R (pow lambda2 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi1)) 4)) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 3 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (* (/ 1 (* R (* phi1 phi2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))))))
15.179 * [taylor]: Taking taylor expansion of (- (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* R (pow lambda2 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 1 (* R (pow phi2 2))))) (+ (* 3/2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 2 (* (/ (* (sin (/ 0.5 phi2)) (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (cos (/ 0.5 phi2)) 3) (sin (/ 0.5 phi1))))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ 1 (* R (pow phi1 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 3) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 3)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (* R (pow lambda2 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* R (pow lambda2 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* R (pow lambda2 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi1)) 4)) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 3 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (* (/ 1 (* R (* phi1 phi2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))))))) in lambda2
15.179 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* R (pow lambda2 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 1 (* R (pow phi2 2))))) (+ (* 3/2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 2 (* (/ (* (sin (/ 0.5 phi2)) (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (cos (/ 0.5 phi2)) 3) (sin (/ 0.5 phi1))))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ 1 (* R (pow phi1 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 3) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 3)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (* R (pow lambda2 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))))))) in lambda2
15.179 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* R (pow lambda2 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) in lambda2
15.179 * [taylor]: Taking taylor expansion of 1/2 in lambda2
15.179 * [backup-simplify]: Simplify 1/2 into 1/2
15.179 * [taylor]: Taking taylor expansion of (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* R (pow lambda2 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) in lambda2
15.179 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* R (pow lambda2 2))) in lambda2
15.179 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
15.179 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
15.179 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
15.179 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
15.179 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.179 * [backup-simplify]: Simplify 0.5 into 0.5
15.179 * [taylor]: Taking taylor expansion of phi2 in lambda2
15.179 * [backup-simplify]: Simplify phi2 into phi2
15.179 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
15.180 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
15.180 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
15.180 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
15.180 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
15.180 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
15.180 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
15.180 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
15.180 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
15.180 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.180 * [backup-simplify]: Simplify 0.5 into 0.5
15.180 * [taylor]: Taking taylor expansion of phi1 in lambda2
15.180 * [backup-simplify]: Simplify phi1 into phi1
15.180 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
15.180 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
15.180 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
15.180 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
15.180 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
15.180 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
15.180 * [taylor]: Taking taylor expansion of (* R (pow lambda2 2)) in lambda2
15.180 * [taylor]: Taking taylor expansion of R in lambda2
15.180 * [backup-simplify]: Simplify R into R
15.180 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
15.180 * [taylor]: Taking taylor expansion of lambda2 in lambda2
15.180 * [backup-simplify]: Simplify 0 into 0
15.180 * [backup-simplify]: Simplify 1 into 1
15.180 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
15.181 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
15.181 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
15.181 * [backup-simplify]: Simplify (* 1 1) into 1
15.181 * [backup-simplify]: Simplify (* R 1) into R
15.182 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) R) into (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) R)
15.182 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in lambda2
15.182 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in lambda2
15.182 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
15.182 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
15.182 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
15.182 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
15.182 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
15.182 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
15.182 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.182 * [backup-simplify]: Simplify 0.5 into 0.5
15.182 * [taylor]: Taking taylor expansion of phi2 in lambda2
15.182 * [backup-simplify]: Simplify phi2 into phi2
15.182 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
15.182 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
15.182 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
15.182 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
15.182 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
15.182 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
15.182 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
15.182 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
15.182 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
15.182 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.182 * [backup-simplify]: Simplify 0.5 into 0.5
15.182 * [taylor]: Taking taylor expansion of phi1 in lambda2
15.182 * [backup-simplify]: Simplify phi1 into phi1
15.182 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
15.182 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
15.182 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
15.182 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
15.183 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
15.183 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
15.183 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
15.183 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
15.183 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
15.183 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
15.183 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.183 * [backup-simplify]: Simplify 0.5 into 0.5
15.183 * [taylor]: Taking taylor expansion of phi2 in lambda2
15.183 * [backup-simplify]: Simplify phi2 into phi2
15.183 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
15.183 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
15.183 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
15.183 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
15.183 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
15.183 * [backup-simplify]: Simplify (- 0) into 0
15.183 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
15.183 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
15.183 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
15.183 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
15.183 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.183 * [backup-simplify]: Simplify 0.5 into 0.5
15.184 * [taylor]: Taking taylor expansion of phi1 in lambda2
15.184 * [backup-simplify]: Simplify phi1 into phi1
15.184 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
15.184 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
15.184 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
15.184 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
15.184 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
15.184 * [backup-simplify]: Simplify (- 0) into 0
15.184 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
15.184 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
15.184 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
15.184 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
15.184 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
15.184 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.184 * [backup-simplify]: Simplify 0.5 into 0.5
15.184 * [taylor]: Taking taylor expansion of phi2 in lambda2
15.184 * [backup-simplify]: Simplify phi2 into phi2
15.184 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
15.184 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
15.184 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
15.184 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
15.184 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
15.184 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
15.185 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.185 * [backup-simplify]: Simplify 0.5 into 0.5
15.185 * [taylor]: Taking taylor expansion of phi1 in lambda2
15.185 * [backup-simplify]: Simplify phi1 into phi1
15.185 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
15.185 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
15.185 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
15.185 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
15.185 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
15.185 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
15.185 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.185 * [backup-simplify]: Simplify 0.5 into 0.5
15.185 * [taylor]: Taking taylor expansion of phi2 in lambda2
15.185 * [backup-simplify]: Simplify phi2 into phi2
15.185 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
15.185 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
15.185 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
15.185 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
15.185 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
15.185 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.185 * [backup-simplify]: Simplify 0.5 into 0.5
15.185 * [taylor]: Taking taylor expansion of phi1 in lambda2
15.185 * [backup-simplify]: Simplify phi1 into phi1
15.185 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
15.185 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
15.185 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
15.185 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
15.185 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
15.185 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
15.185 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.185 * [backup-simplify]: Simplify 0.5 into 0.5
15.185 * [taylor]: Taking taylor expansion of phi2 in lambda2
15.185 * [backup-simplify]: Simplify phi2 into phi2
15.185 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
15.185 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
15.185 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
15.185 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
15.186 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
15.186 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
15.186 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.186 * [backup-simplify]: Simplify 0.5 into 0.5
15.186 * [taylor]: Taking taylor expansion of phi1 in lambda2
15.186 * [backup-simplify]: Simplify phi1 into phi1
15.186 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
15.186 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
15.186 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
15.186 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
15.186 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
15.186 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
15.186 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.186 * [backup-simplify]: Simplify 0.5 into 0.5
15.186 * [taylor]: Taking taylor expansion of phi2 in lambda2
15.186 * [backup-simplify]: Simplify phi2 into phi2
15.186 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
15.186 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
15.186 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
15.186 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
15.186 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
15.186 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.186 * [backup-simplify]: Simplify 0.5 into 0.5
15.186 * [taylor]: Taking taylor expansion of phi1 in lambda2
15.186 * [backup-simplify]: Simplify phi1 into phi1
15.186 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
15.186 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
15.186 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
15.186 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
15.186 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
15.187 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
15.187 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
15.187 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
15.187 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
15.187 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
15.188 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
15.188 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
15.188 * [backup-simplify]: Simplify (- 0) into 0
15.188 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
15.188 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
15.188 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
15.188 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
15.188 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
15.188 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
15.188 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
15.188 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
15.188 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
15.189 * [backup-simplify]: Simplify (- 0) into 0
15.189 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
15.189 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
15.189 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
15.189 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
15.189 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
15.189 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
15.189 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
15.189 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
15.190 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
15.190 * [backup-simplify]: Simplify (- 0) into 0
15.190 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
15.190 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
15.190 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
15.190 * [backup-simplify]: Simplify (- 0) into 0
15.190 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
15.190 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
15.190 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
15.190 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
15.191 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
15.191 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
15.191 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
15.191 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))
15.192 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
15.193 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
15.194 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
15.195 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
15.195 * [backup-simplify]: Simplify (+ 0) into 0
15.195 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
15.196 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
15.196 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.196 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
15.197 * [backup-simplify]: Simplify (+ 0 0) into 0
15.197 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
15.197 * [backup-simplify]: Simplify (+ 0) into 0
15.197 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
15.197 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
15.198 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.198 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
15.198 * [backup-simplify]: Simplify (+ 0 0) into 0
15.198 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
15.199 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
15.199 * [backup-simplify]: Simplify (+ 0) into 0
15.199 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
15.199 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
15.200 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.200 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
15.200 * [backup-simplify]: Simplify (- 0) into 0
15.201 * [backup-simplify]: Simplify (+ 0 0) into 0
15.201 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
15.201 * [backup-simplify]: Simplify (+ 0) into 0
15.201 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
15.201 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
15.202 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.203 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
15.203 * [backup-simplify]: Simplify (- 0) into 0
15.203 * [backup-simplify]: Simplify (+ 0 0) into 0
15.204 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
15.204 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
15.204 * [backup-simplify]: Simplify (+ 0 0) into 0
15.205 * [backup-simplify]: Simplify (+ 0) into 0
15.205 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
15.205 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
15.206 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.207 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
15.207 * [backup-simplify]: Simplify (- 0) into 0
15.207 * [backup-simplify]: Simplify (+ 0 0) into 0
15.208 * [backup-simplify]: Simplify (+ 0) into 0
15.208 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
15.209 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
15.209 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.210 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
15.210 * [backup-simplify]: Simplify (+ 0 0) into 0
15.210 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
15.211 * [backup-simplify]: Simplify (+ 0) into 0
15.211 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
15.212 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
15.212 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.213 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
15.213 * [backup-simplify]: Simplify (+ 0 0) into 0
15.213 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
15.214 * [backup-simplify]: Simplify (+ 0) into 0
15.214 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
15.214 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
15.215 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.216 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
15.216 * [backup-simplify]: Simplify (- 0) into 0
15.216 * [backup-simplify]: Simplify (+ 0 0) into 0
15.217 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
15.217 * [backup-simplify]: Simplify (+ 0) into 0
15.218 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
15.218 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
15.219 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.219 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
15.220 * [backup-simplify]: Simplify (+ 0 0) into 0
15.220 * [backup-simplify]: Simplify (+ 0) into 0
15.221 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
15.221 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
15.222 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.222 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
15.223 * [backup-simplify]: Simplify (- 0) into 0
15.223 * [backup-simplify]: Simplify (+ 0 0) into 0
15.223 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
15.224 * [backup-simplify]: Simplify (+ 0) into 0
15.224 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
15.224 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
15.225 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.226 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
15.226 * [backup-simplify]: Simplify (- 0) into 0
15.226 * [backup-simplify]: Simplify (+ 0 0) into 0
15.227 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
15.227 * [backup-simplify]: Simplify (+ 0) into 0
15.227 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
15.228 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
15.229 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.229 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
15.230 * [backup-simplify]: Simplify (+ 0 0) into 0
15.230 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
15.231 * [backup-simplify]: Simplify (+ 0 0) into 0
15.231 * [backup-simplify]: Simplify (- 0) into 0
15.231 * [backup-simplify]: Simplify (+ 0 0) into 0
15.235 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
15.238 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
15.238 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 1 (* R (pow phi2 2))))) (+ (* 3/2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 2 (* (/ (* (sin (/ 0.5 phi2)) (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (cos (/ 0.5 phi2)) 3) (sin (/ 0.5 phi1))))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ 1 (* R (pow phi1 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 3) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 3)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (* R (pow lambda2 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))))))) in lambda2
15.238 * [taylor]: Taking taylor expansion of (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 1 (* R (pow phi2 2))))) in lambda2
15.238 * [taylor]: Taking taylor expansion of 1/2 in lambda2
15.238 * [backup-simplify]: Simplify 1/2 into 1/2
15.238 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 1 (* R (pow phi2 2)))) in lambda2
15.238 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in lambda2
15.238 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in lambda2
15.238 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
15.238 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
15.238 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
15.238 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
15.238 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
15.239 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
15.239 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.239 * [backup-simplify]: Simplify 0.5 into 0.5
15.239 * [taylor]: Taking taylor expansion of phi2 in lambda2
15.239 * [backup-simplify]: Simplify phi2 into phi2
15.239 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
15.239 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
15.239 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
15.239 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
15.239 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
15.239 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
15.239 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
15.239 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
15.239 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
15.239 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.239 * [backup-simplify]: Simplify 0.5 into 0.5
15.239 * [taylor]: Taking taylor expansion of phi1 in lambda2
15.239 * [backup-simplify]: Simplify phi1 into phi1
15.239 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
15.240 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
15.240 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
15.240 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
15.240 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
15.240 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
15.240 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
15.240 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
15.240 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
15.240 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
15.240 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.240 * [backup-simplify]: Simplify 0.5 into 0.5
15.240 * [taylor]: Taking taylor expansion of phi2 in lambda2
15.240 * [backup-simplify]: Simplify phi2 into phi2
15.240 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
15.240 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
15.241 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
15.241 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
15.241 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
15.241 * [backup-simplify]: Simplify (- 0) into 0
15.241 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
15.241 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
15.242 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
15.242 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
15.242 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.242 * [backup-simplify]: Simplify 0.5 into 0.5
15.242 * [taylor]: Taking taylor expansion of phi1 in lambda2
15.242 * [backup-simplify]: Simplify phi1 into phi1
15.242 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
15.242 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
15.242 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
15.242 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
15.242 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
15.243 * [backup-simplify]: Simplify (- 0) into 0
15.243 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
15.243 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
15.243 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
15.243 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
15.243 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
15.243 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.243 * [backup-simplify]: Simplify 0.5 into 0.5
15.243 * [taylor]: Taking taylor expansion of phi2 in lambda2
15.243 * [backup-simplify]: Simplify phi2 into phi2
15.243 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
15.243 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
15.243 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
15.243 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
15.243 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
15.243 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
15.243 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.243 * [backup-simplify]: Simplify 0.5 into 0.5
15.243 * [taylor]: Taking taylor expansion of phi1 in lambda2
15.243 * [backup-simplify]: Simplify phi1 into phi1
15.243 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
15.244 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
15.244 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
15.244 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
15.244 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
15.244 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
15.244 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.244 * [backup-simplify]: Simplify 0.5 into 0.5
15.244 * [taylor]: Taking taylor expansion of phi2 in lambda2
15.244 * [backup-simplify]: Simplify phi2 into phi2
15.244 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
15.244 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
15.244 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
15.244 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
15.244 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
15.244 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.244 * [backup-simplify]: Simplify 0.5 into 0.5
15.244 * [taylor]: Taking taylor expansion of phi1 in lambda2
15.244 * [backup-simplify]: Simplify phi1 into phi1
15.244 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
15.244 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
15.245 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
15.245 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
15.245 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
15.245 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
15.245 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.245 * [backup-simplify]: Simplify 0.5 into 0.5
15.245 * [taylor]: Taking taylor expansion of phi2 in lambda2
15.245 * [backup-simplify]: Simplify phi2 into phi2
15.245 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
15.245 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
15.245 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
15.245 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
15.245 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
15.245 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
15.245 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.245 * [backup-simplify]: Simplify 0.5 into 0.5
15.245 * [taylor]: Taking taylor expansion of phi1 in lambda2
15.245 * [backup-simplify]: Simplify phi1 into phi1
15.245 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
15.245 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
15.246 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
15.246 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
15.246 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
15.246 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
15.246 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.246 * [backup-simplify]: Simplify 0.5 into 0.5
15.246 * [taylor]: Taking taylor expansion of phi2 in lambda2
15.246 * [backup-simplify]: Simplify phi2 into phi2
15.246 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
15.246 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
15.246 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
15.246 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
15.246 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
15.246 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.246 * [backup-simplify]: Simplify 0.5 into 0.5
15.246 * [taylor]: Taking taylor expansion of phi1 in lambda2
15.246 * [backup-simplify]: Simplify phi1 into phi1
15.246 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
15.246 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
15.246 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
15.247 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
15.247 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
15.247 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
15.247 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
15.248 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
15.248 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
15.249 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
15.249 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
15.249 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
15.249 * [backup-simplify]: Simplify (- 0) into 0
15.250 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
15.250 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
15.250 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
15.250 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
15.250 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
15.250 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
15.250 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
15.250 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
15.251 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
15.251 * [backup-simplify]: Simplify (- 0) into 0
15.251 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
15.251 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
15.251 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
15.252 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
15.252 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
15.252 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
15.252 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
15.252 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
15.252 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
15.253 * [backup-simplify]: Simplify (- 0) into 0
15.253 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
15.253 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
15.253 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
15.254 * [backup-simplify]: Simplify (- 0) into 0
15.254 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
15.254 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
15.254 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
15.254 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
15.254 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
15.254 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
15.255 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
15.256 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))
15.256 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
15.258 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
15.260 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
15.262 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
15.266 * [backup-simplify]: Simplify (+ 0) into 0
15.267 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
15.267 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
15.268 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.268 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
15.268 * [backup-simplify]: Simplify (+ 0 0) into 0
15.269 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
15.269 * [backup-simplify]: Simplify (+ 0) into 0
15.270 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
15.270 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
15.271 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.271 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
15.271 * [backup-simplify]: Simplify (+ 0 0) into 0
15.272 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
15.272 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
15.273 * [backup-simplify]: Simplify (+ 0) into 0
15.273 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
15.273 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
15.274 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.275 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
15.275 * [backup-simplify]: Simplify (- 0) into 0
15.275 * [backup-simplify]: Simplify (+ 0 0) into 0
15.275 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
15.276 * [backup-simplify]: Simplify (+ 0) into 0
15.276 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
15.277 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
15.277 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.278 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
15.278 * [backup-simplify]: Simplify (- 0) into 0
15.279 * [backup-simplify]: Simplify (+ 0 0) into 0
15.279 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
15.279 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
15.280 * [backup-simplify]: Simplify (+ 0 0) into 0
15.280 * [backup-simplify]: Simplify (+ 0) into 0
15.281 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
15.281 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
15.282 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.282 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
15.282 * [backup-simplify]: Simplify (- 0) into 0
15.283 * [backup-simplify]: Simplify (+ 0 0) into 0
15.283 * [backup-simplify]: Simplify (+ 0) into 0
15.284 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
15.284 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
15.285 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.285 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
15.286 * [backup-simplify]: Simplify (+ 0 0) into 0
15.286 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
15.286 * [backup-simplify]: Simplify (+ 0) into 0
15.287 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
15.287 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
15.288 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.288 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
15.289 * [backup-simplify]: Simplify (+ 0 0) into 0
15.289 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
15.290 * [backup-simplify]: Simplify (+ 0) into 0
15.290 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
15.290 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
15.291 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.292 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
15.292 * [backup-simplify]: Simplify (- 0) into 0
15.292 * [backup-simplify]: Simplify (+ 0 0) into 0
15.293 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
15.293 * [backup-simplify]: Simplify (+ 0) into 0
15.294 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
15.294 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
15.295 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.295 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
15.295 * [backup-simplify]: Simplify (+ 0 0) into 0
15.296 * [backup-simplify]: Simplify (+ 0) into 0
15.296 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
15.297 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
15.297 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.298 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
15.298 * [backup-simplify]: Simplify (- 0) into 0
15.299 * [backup-simplify]: Simplify (+ 0 0) into 0
15.299 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
15.299 * [backup-simplify]: Simplify (+ 0) into 0
15.300 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
15.300 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
15.301 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.301 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
15.302 * [backup-simplify]: Simplify (- 0) into 0
15.302 * [backup-simplify]: Simplify (+ 0 0) into 0
15.302 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
15.302 * [backup-simplify]: Simplify (+ 0) into 0
15.302 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
15.303 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
15.303 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.303 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
15.304 * [backup-simplify]: Simplify (+ 0 0) into 0
15.304 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
15.304 * [backup-simplify]: Simplify (+ 0 0) into 0
15.304 * [backup-simplify]: Simplify (- 0) into 0
15.304 * [backup-simplify]: Simplify (+ 0 0) into 0
15.307 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
15.308 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
15.308 * [taylor]: Taking taylor expansion of (/ 1 (* R (pow phi2 2))) in lambda2
15.308 * [taylor]: Taking taylor expansion of (* R (pow phi2 2)) in lambda2
15.308 * [taylor]: Taking taylor expansion of R in lambda2
15.308 * [backup-simplify]: Simplify R into R
15.308 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2
15.308 * [taylor]: Taking taylor expansion of phi2 in lambda2
15.308 * [backup-simplify]: Simplify phi2 into phi2
15.308 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
15.308 * [backup-simplify]: Simplify (* R (pow phi2 2)) into (* R (pow phi2 2))
15.308 * [backup-simplify]: Simplify (/ 1 (* R (pow phi2 2))) into (/ 1 (* R (pow phi2 2)))
15.308 * [taylor]: Taking taylor expansion of (+ (* 3/2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 2 (* (/ (* (sin (/ 0.5 phi2)) (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (cos (/ 0.5 phi2)) 3) (sin (/ 0.5 phi1))))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ 1 (* R (pow phi1 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 3) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 3)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (* R (pow lambda2 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))))) in lambda2
15.308 * [taylor]: Taking taylor expansion of (* 3/2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) in lambda2
15.308 * [taylor]: Taking taylor expansion of 3/2 in lambda2
15.308 * [backup-simplify]: Simplify 3/2 into 3/2
15.308 * [taylor]: Taking taylor expansion of (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3)))) in lambda2
15.308 * [taylor]: Taking taylor expansion of (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)))) (* R (pow lambda2 2))) in lambda2
15.308 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)))) in lambda2
15.308 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
15.308 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
15.308 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.308 * [backup-simplify]: Simplify 0.5 into 0.5
15.308 * [taylor]: Taking taylor expansion of phi2 in lambda2
15.308 * [backup-simplify]: Simplify phi2 into phi2
15.308 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
15.308 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
15.309 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
15.309 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3))) in lambda2
15.309 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
15.309 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
15.309 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.309 * [backup-simplify]: Simplify 0.5 into 0.5
15.309 * [taylor]: Taking taylor expansion of phi1 in lambda2
15.309 * [backup-simplify]: Simplify phi1 into phi1
15.309 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
15.309 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
15.309 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
15.309 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)) in lambda2
15.309 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 3) in lambda2
15.309 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
15.309 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
15.309 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.309 * [backup-simplify]: Simplify 0.5 into 0.5
15.309 * [taylor]: Taking taylor expansion of phi2 in lambda2
15.309 * [backup-simplify]: Simplify phi2 into phi2
15.309 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
15.309 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
15.309 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
15.309 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
15.309 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
15.309 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
15.309 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 3) in lambda2
15.309 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
15.309 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
15.309 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.309 * [backup-simplify]: Simplify 0.5 into 0.5
15.309 * [taylor]: Taking taylor expansion of phi1 in lambda2
15.309 * [backup-simplify]: Simplify phi1 into phi1
15.309 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
15.309 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
15.310 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
15.310 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
15.310 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
15.310 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
15.310 * [taylor]: Taking taylor expansion of (* R (pow lambda2 2)) in lambda2
15.310 * [taylor]: Taking taylor expansion of R in lambda2
15.310 * [backup-simplify]: Simplify R into R
15.310 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
15.310 * [taylor]: Taking taylor expansion of lambda2 in lambda2
15.310 * [backup-simplify]: Simplify 0 into 0
15.310 * [backup-simplify]: Simplify 1 into 1
15.310 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
15.310 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
15.310 * [backup-simplify]: Simplify (- 0) into 0
15.310 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
15.310 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
15.311 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
15.311 * [backup-simplify]: Simplify (- 0) into 0
15.311 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
15.311 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
15.311 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (pow (sin (/ 0.5 phi2)) 2)) into (pow (sin (/ 0.5 phi2)) 3)
15.311 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
15.311 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (pow (sin (/ 0.5 phi1)) 2)) into (pow (sin (/ 0.5 phi1)) 3)
15.312 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)) into (* (pow (sin (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3))
15.312 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3))) into (* (pow (sin (/ 0.5 phi1)) 3) (* (pow (sin (/ 0.5 phi2)) 3) (cos (/ 0.5 phi1))))
15.312 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (pow (sin (/ 0.5 phi1)) 3) (* (pow (sin (/ 0.5 phi2)) 3) (cos (/ 0.5 phi1))))) into (* (pow (sin (/ 0.5 phi2)) 3) (* (pow (sin (/ 0.5 phi1)) 3) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
15.312 * [backup-simplify]: Simplify (* 1 1) into 1
15.313 * [backup-simplify]: Simplify (* R 1) into R
15.313 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi2)) 3) (* (pow (sin (/ 0.5 phi1)) 3) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) R) into (/ (* (pow (sin (/ 0.5 phi2)) 3) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 3)))) R)
15.313 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))) in lambda2
15.313 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3)) in lambda2
15.313 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3) in lambda2
15.313 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
15.313 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
15.313 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
15.313 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
15.313 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
15.313 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
15.313 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.313 * [backup-simplify]: Simplify 0.5 into 0.5
15.313 * [taylor]: Taking taylor expansion of phi2 in lambda2
15.313 * [backup-simplify]: Simplify phi2 into phi2
15.313 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
15.313 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
15.313 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
15.313 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
15.313 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
15.313 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
15.314 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
15.314 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
15.314 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
15.314 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.314 * [backup-simplify]: Simplify 0.5 into 0.5
15.314 * [taylor]: Taking taylor expansion of phi1 in lambda2
15.314 * [backup-simplify]: Simplify phi1 into phi1
15.314 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
15.314 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
15.314 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
15.314 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
15.314 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
15.314 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
15.314 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
15.314 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
15.314 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
15.314 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
15.314 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.314 * [backup-simplify]: Simplify 0.5 into 0.5
15.314 * [taylor]: Taking taylor expansion of phi2 in lambda2
15.314 * [backup-simplify]: Simplify phi2 into phi2
15.314 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
15.314 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
15.314 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
15.314 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
15.314 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
15.315 * [backup-simplify]: Simplify (- 0) into 0
15.315 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
15.315 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
15.315 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
15.315 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
15.315 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.315 * [backup-simplify]: Simplify 0.5 into 0.5
15.315 * [taylor]: Taking taylor expansion of phi1 in lambda2
15.315 * [backup-simplify]: Simplify phi1 into phi1
15.315 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
15.315 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
15.315 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
15.315 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
15.315 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
15.315 * [backup-simplify]: Simplify (- 0) into 0
15.315 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
15.315 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
15.315 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
15.315 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
15.316 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
15.316 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.316 * [backup-simplify]: Simplify 0.5 into 0.5
15.316 * [taylor]: Taking taylor expansion of phi2 in lambda2
15.316 * [backup-simplify]: Simplify phi2 into phi2
15.316 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
15.316 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
15.316 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
15.316 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
15.316 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
15.316 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
15.316 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.316 * [backup-simplify]: Simplify 0.5 into 0.5
15.316 * [taylor]: Taking taylor expansion of phi1 in lambda2
15.316 * [backup-simplify]: Simplify phi1 into phi1
15.316 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
15.316 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
15.316 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
15.316 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
15.316 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
15.316 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
15.316 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.316 * [backup-simplify]: Simplify 0.5 into 0.5
15.316 * [taylor]: Taking taylor expansion of phi2 in lambda2
15.316 * [backup-simplify]: Simplify phi2 into phi2
15.316 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
15.316 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
15.316 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
15.316 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
15.316 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
15.316 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.316 * [backup-simplify]: Simplify 0.5 into 0.5
15.316 * [taylor]: Taking taylor expansion of phi1 in lambda2
15.316 * [backup-simplify]: Simplify phi1 into phi1
15.316 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
15.316 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
15.316 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
15.317 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
15.317 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
15.317 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
15.317 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.317 * [backup-simplify]: Simplify 0.5 into 0.5
15.317 * [taylor]: Taking taylor expansion of phi2 in lambda2
15.317 * [backup-simplify]: Simplify phi2 into phi2
15.317 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
15.317 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
15.317 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
15.317 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
15.317 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
15.317 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
15.317 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.317 * [backup-simplify]: Simplify 0.5 into 0.5
15.317 * [taylor]: Taking taylor expansion of phi1 in lambda2
15.317 * [backup-simplify]: Simplify phi1 into phi1
15.317 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
15.317 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
15.317 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
15.317 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
15.317 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
15.317 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
15.317 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.317 * [backup-simplify]: Simplify 0.5 into 0.5
15.317 * [taylor]: Taking taylor expansion of phi2 in lambda2
15.317 * [backup-simplify]: Simplify phi2 into phi2
15.317 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
15.317 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
15.317 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
15.317 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
15.317 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
15.317 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.317 * [backup-simplify]: Simplify 0.5 into 0.5
15.317 * [taylor]: Taking taylor expansion of phi1 in lambda2
15.317 * [backup-simplify]: Simplify phi1 into phi1
15.317 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
15.317 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
15.318 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
15.318 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
15.318 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
15.318 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
15.318 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
15.318 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
15.318 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
15.319 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
15.319 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
15.319 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
15.319 * [backup-simplify]: Simplify (- 0) into 0
15.319 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
15.319 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
15.319 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
15.319 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
15.320 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
15.320 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
15.320 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
15.320 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
15.320 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
15.320 * [backup-simplify]: Simplify (- 0) into 0
15.320 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
15.320 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
15.320 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
15.320 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
15.321 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
15.321 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
15.321 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
15.321 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
15.321 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
15.321 * [backup-simplify]: Simplify (- 0) into 0
15.321 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
15.321 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
15.321 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
15.322 * [backup-simplify]: Simplify (- 0) into 0
15.322 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
15.322 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
15.322 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
15.322 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
15.322 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
15.322 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
15.322 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
15.323 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))
15.323 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
15.324 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
15.326 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)
15.328 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)) into (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2))
15.331 * [backup-simplify]: Simplify (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2))) into (/ 1 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
15.335 * [backup-simplify]: Simplify (sqrt (/ 1 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
15.336 * [backup-simplify]: Simplify (+ 0) into 0
15.337 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
15.337 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
15.338 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.338 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
15.339 * [backup-simplify]: Simplify (+ 0 0) into 0
15.339 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
15.339 * [backup-simplify]: Simplify (+ 0) into 0
15.340 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
15.340 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
15.341 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.341 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
15.342 * [backup-simplify]: Simplify (+ 0 0) into 0
15.342 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
15.342 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
15.343 * [backup-simplify]: Simplify (+ 0) into 0
15.343 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
15.343 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
15.344 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.345 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
15.345 * [backup-simplify]: Simplify (- 0) into 0
15.345 * [backup-simplify]: Simplify (+ 0 0) into 0
15.346 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
15.346 * [backup-simplify]: Simplify (+ 0) into 0
15.347 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
15.347 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
15.348 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.348 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
15.348 * [backup-simplify]: Simplify (- 0) into 0
15.349 * [backup-simplify]: Simplify (+ 0 0) into 0
15.349 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
15.350 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
15.350 * [backup-simplify]: Simplify (+ 0 0) into 0
15.351 * [backup-simplify]: Simplify (+ 0) into 0
15.351 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
15.351 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
15.352 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.352 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
15.353 * [backup-simplify]: Simplify (- 0) into 0
15.353 * [backup-simplify]: Simplify (+ 0 0) into 0
15.354 * [backup-simplify]: Simplify (+ 0) into 0
15.354 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
15.354 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
15.355 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.356 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
15.356 * [backup-simplify]: Simplify (+ 0 0) into 0
15.356 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
15.356 * [backup-simplify]: Simplify (+ 0) into 0
15.357 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
15.357 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
15.358 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.358 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
15.359 * [backup-simplify]: Simplify (+ 0 0) into 0
15.359 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
15.359 * [backup-simplify]: Simplify (+ 0) into 0
15.360 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
15.360 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
15.361 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.361 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
15.362 * [backup-simplify]: Simplify (- 0) into 0
15.362 * [backup-simplify]: Simplify (+ 0 0) into 0
15.363 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
15.363 * [backup-simplify]: Simplify (+ 0) into 0
15.363 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
15.364 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
15.364 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.365 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
15.365 * [backup-simplify]: Simplify (+ 0 0) into 0
15.366 * [backup-simplify]: Simplify (+ 0) into 0
15.366 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
15.366 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
15.367 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.368 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
15.368 * [backup-simplify]: Simplify (- 0) into 0
15.368 * [backup-simplify]: Simplify (+ 0 0) into 0
15.369 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
15.369 * [backup-simplify]: Simplify (+ 0) into 0
15.370 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
15.370 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
15.370 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.371 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
15.371 * [backup-simplify]: Simplify (- 0) into 0
15.372 * [backup-simplify]: Simplify (+ 0 0) into 0
15.372 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
15.372 * [backup-simplify]: Simplify (+ 0) into 0
15.373 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
15.373 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
15.374 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.374 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
15.375 * [backup-simplify]: Simplify (+ 0 0) into 0
15.375 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
15.375 * [backup-simplify]: Simplify (+ 0 0) into 0
15.376 * [backup-simplify]: Simplify (- 0) into 0
15.376 * [backup-simplify]: Simplify (+ 0 0) into 0
15.380 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into 0
15.384 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2))) into 0
15.393 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)))))) into 0
15.397 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
15.397 * [taylor]: Taking taylor expansion of (+ (* 2 (* (/ (* (sin (/ 0.5 phi2)) (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (cos (/ 0.5 phi2)) 3) (sin (/ 0.5 phi1))))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ 1 (* R (pow phi1 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 3) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 3)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (* R (pow lambda2 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))))) in lambda2
15.397 * [taylor]: Taking taylor expansion of (* 2 (* (/ (* (sin (/ 0.5 phi2)) (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (cos (/ 0.5 phi2)) 3) (sin (/ 0.5 phi1))))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) in lambda2
15.398 * [taylor]: Taking taylor expansion of 2 in lambda2
15.398 * [backup-simplify]: Simplify 2 into 2
15.398 * [taylor]: Taking taylor expansion of (* (/ (* (sin (/ 0.5 phi2)) (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (cos (/ 0.5 phi2)) 3) (sin (/ 0.5 phi1))))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3)))) in lambda2
15.398 * [taylor]: Taking taylor expansion of (/ (* (sin (/ 0.5 phi2)) (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (cos (/ 0.5 phi2)) 3) (sin (/ 0.5 phi1))))) (* R (pow lambda2 2))) in lambda2
15.398 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (cos (/ 0.5 phi2)) 3) (sin (/ 0.5 phi1))))) in lambda2
15.398 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
15.398 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
15.398 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.398 * [backup-simplify]: Simplify 0.5 into 0.5
15.398 * [taylor]: Taking taylor expansion of phi2 in lambda2
15.398 * [backup-simplify]: Simplify phi2 into phi2
15.398 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
15.398 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
15.398 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
15.398 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (cos (/ 0.5 phi2)) 3) (sin (/ 0.5 phi1)))) in lambda2
15.398 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 3) in lambda2
15.398 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
15.398 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
15.398 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.398 * [backup-simplify]: Simplify 0.5 into 0.5
15.398 * [taylor]: Taking taylor expansion of phi1 in lambda2
15.398 * [backup-simplify]: Simplify phi1 into phi1
15.398 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
15.399 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
15.399 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
15.399 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
15.399 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
15.399 * [backup-simplify]: Simplify (- 0) into 0
15.400 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
15.400 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 3) (sin (/ 0.5 phi1))) in lambda2
15.400 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 3) in lambda2
15.400 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
15.400 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
15.400 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.400 * [backup-simplify]: Simplify 0.5 into 0.5
15.400 * [taylor]: Taking taylor expansion of phi2 in lambda2
15.400 * [backup-simplify]: Simplify phi2 into phi2
15.400 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
15.400 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
15.400 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
15.400 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
15.400 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
15.401 * [backup-simplify]: Simplify (- 0) into 0
15.401 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
15.401 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
15.401 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
15.401 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.401 * [backup-simplify]: Simplify 0.5 into 0.5
15.401 * [taylor]: Taking taylor expansion of phi1 in lambda2
15.401 * [backup-simplify]: Simplify phi1 into phi1
15.401 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
15.401 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
15.401 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
15.401 * [taylor]: Taking taylor expansion of (* R (pow lambda2 2)) in lambda2
15.401 * [taylor]: Taking taylor expansion of R in lambda2
15.401 * [backup-simplify]: Simplify R into R
15.401 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
15.401 * [taylor]: Taking taylor expansion of lambda2 in lambda2
15.401 * [backup-simplify]: Simplify 0 into 0
15.401 * [backup-simplify]: Simplify 1 into 1
15.402 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
15.402 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
15.402 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
15.402 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
15.402 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (pow (cos (/ 0.5 phi1)) 2)) into (pow (cos (/ 0.5 phi1)) 3)
15.402 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
15.403 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (pow (cos (/ 0.5 phi2)) 2)) into (pow (cos (/ 0.5 phi2)) 3)
15.403 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
15.403 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
15.403 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
15.403 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 3) (sin (/ 0.5 phi1))) into (* (pow (cos (/ 0.5 phi2)) 3) (sin (/ 0.5 phi1)))
15.404 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (cos (/ 0.5 phi2)) 3) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (pow (cos (/ 0.5 phi2)) 3) (pow (cos (/ 0.5 phi1)) 3)))
15.404 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (pow (cos (/ 0.5 phi2)) 3) (pow (cos (/ 0.5 phi1)) 3)))) into (* (pow (cos (/ 0.5 phi2)) 3) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (pow (cos (/ 0.5 phi1)) 3))))
15.405 * [backup-simplify]: Simplify (* 1 1) into 1
15.405 * [backup-simplify]: Simplify (* R 1) into R
15.405 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi2)) 3) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (pow (cos (/ 0.5 phi1)) 3)))) R) into (/ (* (pow (cos (/ 0.5 phi2)) 3) (* (pow (cos (/ 0.5 phi1)) 3) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R)
15.405 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))) in lambda2
15.406 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3)) in lambda2
15.406 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3) in lambda2
15.406 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
15.406 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
15.406 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
15.406 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
15.406 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
15.406 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
15.406 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.406 * [backup-simplify]: Simplify 0.5 into 0.5
15.406 * [taylor]: Taking taylor expansion of phi2 in lambda2
15.406 * [backup-simplify]: Simplify phi2 into phi2
15.406 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
15.406 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
15.406 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
15.406 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
15.406 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
15.407 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
15.407 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
15.407 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
15.407 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
15.407 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.407 * [backup-simplify]: Simplify 0.5 into 0.5
15.407 * [taylor]: Taking taylor expansion of phi1 in lambda2
15.407 * [backup-simplify]: Simplify phi1 into phi1
15.407 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
15.407 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
15.407 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
15.407 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
15.407 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
15.407 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
15.407 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
15.407 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
15.407 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
15.407 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
15.407 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.408 * [backup-simplify]: Simplify 0.5 into 0.5
15.408 * [taylor]: Taking taylor expansion of phi2 in lambda2
15.408 * [backup-simplify]: Simplify phi2 into phi2
15.408 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
15.408 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
15.408 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
15.408 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
15.408 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
15.409 * [backup-simplify]: Simplify (- 0) into 0
15.409 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
15.409 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
15.409 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
15.409 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
15.409 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.409 * [backup-simplify]: Simplify 0.5 into 0.5
15.409 * [taylor]: Taking taylor expansion of phi1 in lambda2
15.409 * [backup-simplify]: Simplify phi1 into phi1
15.409 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
15.409 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
15.409 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
15.409 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
15.409 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
15.410 * [backup-simplify]: Simplify (- 0) into 0
15.410 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
15.410 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
15.410 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
15.410 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
15.410 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
15.410 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.410 * [backup-simplify]: Simplify 0.5 into 0.5
15.410 * [taylor]: Taking taylor expansion of phi2 in lambda2
15.410 * [backup-simplify]: Simplify phi2 into phi2
15.411 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
15.411 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
15.411 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
15.411 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
15.411 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
15.411 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
15.411 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.411 * [backup-simplify]: Simplify 0.5 into 0.5
15.411 * [taylor]: Taking taylor expansion of phi1 in lambda2
15.411 * [backup-simplify]: Simplify phi1 into phi1
15.411 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
15.411 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
15.411 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
15.411 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
15.411 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
15.411 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
15.411 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.411 * [backup-simplify]: Simplify 0.5 into 0.5
15.411 * [taylor]: Taking taylor expansion of phi2 in lambda2
15.411 * [backup-simplify]: Simplify phi2 into phi2
15.411 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
15.412 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
15.412 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
15.412 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
15.412 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
15.412 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.412 * [backup-simplify]: Simplify 0.5 into 0.5
15.412 * [taylor]: Taking taylor expansion of phi1 in lambda2
15.412 * [backup-simplify]: Simplify phi1 into phi1
15.412 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
15.412 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
15.412 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
15.412 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
15.412 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
15.412 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
15.412 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.412 * [backup-simplify]: Simplify 0.5 into 0.5
15.412 * [taylor]: Taking taylor expansion of phi2 in lambda2
15.412 * [backup-simplify]: Simplify phi2 into phi2
15.412 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
15.412 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
15.412 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
15.413 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
15.413 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
15.413 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
15.413 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.413 * [backup-simplify]: Simplify 0.5 into 0.5
15.413 * [taylor]: Taking taylor expansion of phi1 in lambda2
15.413 * [backup-simplify]: Simplify phi1 into phi1
15.413 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
15.413 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
15.413 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
15.413 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
15.413 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
15.413 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
15.413 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.413 * [backup-simplify]: Simplify 0.5 into 0.5
15.413 * [taylor]: Taking taylor expansion of phi2 in lambda2
15.413 * [backup-simplify]: Simplify phi2 into phi2
15.413 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
15.413 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
15.413 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
15.413 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
15.413 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
15.413 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.414 * [backup-simplify]: Simplify 0.5 into 0.5
15.414 * [taylor]: Taking taylor expansion of phi1 in lambda2
15.414 * [backup-simplify]: Simplify phi1 into phi1
15.414 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
15.414 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
15.414 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
15.414 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
15.414 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
15.415 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
15.415 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
15.415 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
15.415 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
15.416 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
15.416 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
15.416 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
15.420 * [backup-simplify]: Simplify (- 0) into 0
15.420 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
15.420 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
15.420 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
15.420 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
15.420 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
15.421 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
15.421 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
15.421 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
15.421 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
15.422 * [backup-simplify]: Simplify (- 0) into 0
15.422 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
15.422 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
15.422 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
15.422 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
15.423 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
15.423 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
15.423 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
15.423 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
15.423 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
15.423 * [backup-simplify]: Simplify (- 0) into 0
15.424 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
15.424 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
15.424 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
15.424 * [backup-simplify]: Simplify (- 0) into 0
15.424 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
15.424 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
15.425 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
15.425 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
15.425 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
15.425 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
15.425 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
15.426 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))
15.427 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
15.429 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
15.433 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)
15.437 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)) into (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2))
15.441 * [backup-simplify]: Simplify (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2))) into (/ 1 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
15.445 * [backup-simplify]: Simplify (sqrt (/ 1 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
15.446 * [backup-simplify]: Simplify (+ 0) into 0
15.447 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
15.447 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
15.448 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.448 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
15.449 * [backup-simplify]: Simplify (+ 0 0) into 0
15.449 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
15.449 * [backup-simplify]: Simplify (+ 0) into 0
15.450 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
15.450 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
15.451 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.451 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
15.452 * [backup-simplify]: Simplify (+ 0 0) into 0
15.452 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
15.452 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
15.453 * [backup-simplify]: Simplify (+ 0) into 0
15.453 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
15.453 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
15.454 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.454 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
15.455 * [backup-simplify]: Simplify (- 0) into 0
15.455 * [backup-simplify]: Simplify (+ 0 0) into 0
15.455 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
15.456 * [backup-simplify]: Simplify (+ 0) into 0
15.456 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
15.456 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
15.457 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.458 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
15.458 * [backup-simplify]: Simplify (- 0) into 0
15.459 * [backup-simplify]: Simplify (+ 0 0) into 0
15.459 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
15.459 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
15.460 * [backup-simplify]: Simplify (+ 0 0) into 0
15.460 * [backup-simplify]: Simplify (+ 0) into 0
15.460 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
15.461 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
15.462 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.462 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
15.463 * [backup-simplify]: Simplify (- 0) into 0
15.463 * [backup-simplify]: Simplify (+ 0 0) into 0
15.463 * [backup-simplify]: Simplify (+ 0) into 0
15.464 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
15.464 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
15.465 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.465 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
15.466 * [backup-simplify]: Simplify (+ 0 0) into 0
15.466 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
15.466 * [backup-simplify]: Simplify (+ 0) into 0
15.467 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
15.467 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
15.468 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.468 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
15.468 * [backup-simplify]: Simplify (+ 0 0) into 0
15.469 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
15.469 * [backup-simplify]: Simplify (+ 0) into 0
15.470 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
15.470 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
15.471 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.471 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
15.472 * [backup-simplify]: Simplify (- 0) into 0
15.472 * [backup-simplify]: Simplify (+ 0 0) into 0
15.472 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
15.473 * [backup-simplify]: Simplify (+ 0) into 0
15.473 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
15.473 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
15.474 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.475 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
15.475 * [backup-simplify]: Simplify (+ 0 0) into 0
15.475 * [backup-simplify]: Simplify (+ 0) into 0
15.476 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
15.476 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
15.477 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.477 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
15.478 * [backup-simplify]: Simplify (- 0) into 0
15.478 * [backup-simplify]: Simplify (+ 0 0) into 0
15.478 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
15.479 * [backup-simplify]: Simplify (+ 0) into 0
15.479 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
15.479 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
15.480 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.480 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
15.481 * [backup-simplify]: Simplify (- 0) into 0
15.481 * [backup-simplify]: Simplify (+ 0 0) into 0
15.482 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
15.482 * [backup-simplify]: Simplify (+ 0) into 0
15.482 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
15.483 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
15.483 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.484 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
15.484 * [backup-simplify]: Simplify (+ 0 0) into 0
15.485 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
15.485 * [backup-simplify]: Simplify (+ 0 0) into 0
15.485 * [backup-simplify]: Simplify (- 0) into 0
15.486 * [backup-simplify]: Simplify (+ 0 0) into 0
15.489 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into 0
15.493 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2))) into 0
15.501 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)))))) into 0
15.505 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
15.506 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (/ 1 (* R (pow phi1 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 3) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 3)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (* R (pow lambda2 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))) in lambda2
15.506 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ 1 (* R (pow phi1 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) in lambda2
15.506 * [taylor]: Taking taylor expansion of 1/2 in lambda2
15.506 * [backup-simplify]: Simplify 1/2 into 1/2
15.506 * [taylor]: Taking taylor expansion of (* (/ 1 (* R (pow phi1 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) in lambda2
15.506 * [taylor]: Taking taylor expansion of (/ 1 (* R (pow phi1 2))) in lambda2
15.506 * [taylor]: Taking taylor expansion of (* R (pow phi1 2)) in lambda2
15.506 * [taylor]: Taking taylor expansion of R in lambda2
15.506 * [backup-simplify]: Simplify R into R
15.506 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2
15.506 * [taylor]: Taking taylor expansion of phi1 in lambda2
15.506 * [backup-simplify]: Simplify phi1 into phi1
15.506 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
15.506 * [backup-simplify]: Simplify (* R (pow phi1 2)) into (* (pow phi1 2) R)
15.506 * [backup-simplify]: Simplify (/ 1 (* (pow phi1 2) R)) into (/ 1 (* (pow phi1 2) R))
15.507 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in lambda2
15.507 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in lambda2
15.507 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
15.507 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
15.507 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
15.507 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
15.507 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
15.507 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
15.507 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.507 * [backup-simplify]: Simplify 0.5 into 0.5
15.507 * [taylor]: Taking taylor expansion of phi2 in lambda2
15.507 * [backup-simplify]: Simplify phi2 into phi2
15.507 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
15.507 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
15.507 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
15.507 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
15.507 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
15.507 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
15.508 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
15.508 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
15.508 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
15.508 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.508 * [backup-simplify]: Simplify 0.5 into 0.5
15.508 * [taylor]: Taking taylor expansion of phi1 in lambda2
15.508 * [backup-simplify]: Simplify phi1 into phi1
15.508 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
15.508 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
15.508 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
15.508 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
15.508 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
15.508 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
15.508 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
15.508 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
15.508 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
15.508 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
15.508 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.508 * [backup-simplify]: Simplify 0.5 into 0.5
15.508 * [taylor]: Taking taylor expansion of phi2 in lambda2
15.508 * [backup-simplify]: Simplify phi2 into phi2
15.508 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
15.509 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
15.509 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
15.509 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
15.509 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
15.509 * [backup-simplify]: Simplify (- 0) into 0
15.510 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
15.510 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
15.510 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
15.510 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
15.510 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.510 * [backup-simplify]: Simplify 0.5 into 0.5
15.510 * [taylor]: Taking taylor expansion of phi1 in lambda2
15.510 * [backup-simplify]: Simplify phi1 into phi1
15.510 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
15.510 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
15.510 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
15.510 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
15.510 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
15.511 * [backup-simplify]: Simplify (- 0) into 0
15.511 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
15.511 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
15.511 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
15.511 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
15.511 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
15.511 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.511 * [backup-simplify]: Simplify 0.5 into 0.5
15.511 * [taylor]: Taking taylor expansion of phi2 in lambda2
15.511 * [backup-simplify]: Simplify phi2 into phi2
15.511 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
15.511 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
15.511 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
15.511 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
15.511 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
15.511 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
15.511 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.511 * [backup-simplify]: Simplify 0.5 into 0.5
15.511 * [taylor]: Taking taylor expansion of phi1 in lambda2
15.511 * [backup-simplify]: Simplify phi1 into phi1
15.512 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
15.512 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
15.512 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
15.512 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
15.512 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
15.512 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
15.512 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.512 * [backup-simplify]: Simplify 0.5 into 0.5
15.512 * [taylor]: Taking taylor expansion of phi2 in lambda2
15.512 * [backup-simplify]: Simplify phi2 into phi2
15.512 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
15.512 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
15.512 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
15.512 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
15.512 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
15.512 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.512 * [backup-simplify]: Simplify 0.5 into 0.5
15.512 * [taylor]: Taking taylor expansion of phi1 in lambda2
15.512 * [backup-simplify]: Simplify phi1 into phi1
15.512 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
15.512 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
15.512 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
15.513 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
15.513 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
15.513 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
15.513 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.513 * [backup-simplify]: Simplify 0.5 into 0.5
15.513 * [taylor]: Taking taylor expansion of phi2 in lambda2
15.513 * [backup-simplify]: Simplify phi2 into phi2
15.513 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
15.513 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
15.513 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
15.513 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
15.513 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
15.513 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
15.513 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.513 * [backup-simplify]: Simplify 0.5 into 0.5
15.513 * [taylor]: Taking taylor expansion of phi1 in lambda2
15.513 * [backup-simplify]: Simplify phi1 into phi1
15.513 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
15.513 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
15.513 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
15.513 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
15.513 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
15.513 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
15.513 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.514 * [backup-simplify]: Simplify 0.5 into 0.5
15.514 * [taylor]: Taking taylor expansion of phi2 in lambda2
15.514 * [backup-simplify]: Simplify phi2 into phi2
15.514 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
15.514 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
15.514 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
15.514 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
15.514 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
15.514 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.514 * [backup-simplify]: Simplify 0.5 into 0.5
15.514 * [taylor]: Taking taylor expansion of phi1 in lambda2
15.514 * [backup-simplify]: Simplify phi1 into phi1
15.514 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
15.514 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
15.514 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
15.514 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
15.515 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
15.515 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
15.515 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
15.515 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
15.516 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
15.516 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
15.516 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
15.517 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
15.517 * [backup-simplify]: Simplify (- 0) into 0
15.517 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
15.517 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
15.517 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
15.518 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
15.518 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
15.518 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
15.518 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
15.518 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
15.518 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
15.518 * [backup-simplify]: Simplify (- 0) into 0
15.519 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
15.519 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
15.519 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
15.519 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
15.519 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
15.520 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
15.520 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
15.520 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
15.520 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
15.520 * [backup-simplify]: Simplify (- 0) into 0
15.521 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
15.521 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
15.521 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
15.521 * [backup-simplify]: Simplify (- 0) into 0
15.521 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
15.521 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
15.522 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
15.522 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
15.522 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
15.522 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
15.522 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
15.523 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))
15.524 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
15.526 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
15.528 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
15.530 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
15.531 * [backup-simplify]: Simplify (+ 0) into 0
15.532 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
15.532 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
15.533 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.533 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
15.533 * [backup-simplify]: Simplify (+ 0 0) into 0
15.534 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
15.534 * [backup-simplify]: Simplify (+ 0) into 0
15.535 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
15.535 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
15.535 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.536 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
15.536 * [backup-simplify]: Simplify (+ 0 0) into 0
15.536 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
15.537 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
15.537 * [backup-simplify]: Simplify (+ 0) into 0
15.538 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
15.538 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
15.539 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.539 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
15.540 * [backup-simplify]: Simplify (- 0) into 0
15.540 * [backup-simplify]: Simplify (+ 0 0) into 0
15.540 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
15.541 * [backup-simplify]: Simplify (+ 0) into 0
15.541 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
15.541 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
15.542 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.543 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
15.543 * [backup-simplify]: Simplify (- 0) into 0
15.543 * [backup-simplify]: Simplify (+ 0 0) into 0
15.544 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
15.544 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
15.545 * [backup-simplify]: Simplify (+ 0 0) into 0
15.545 * [backup-simplify]: Simplify (+ 0) into 0
15.545 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
15.546 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
15.546 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.547 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
15.547 * [backup-simplify]: Simplify (- 0) into 0
15.548 * [backup-simplify]: Simplify (+ 0 0) into 0
15.548 * [backup-simplify]: Simplify (+ 0) into 0
15.549 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
15.549 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
15.550 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.551 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
15.551 * [backup-simplify]: Simplify (+ 0 0) into 0
15.551 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
15.552 * [backup-simplify]: Simplify (+ 0) into 0
15.552 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
15.552 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
15.553 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.554 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
15.554 * [backup-simplify]: Simplify (+ 0 0) into 0
15.554 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
15.555 * [backup-simplify]: Simplify (+ 0) into 0
15.555 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
15.555 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
15.556 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.557 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
15.557 * [backup-simplify]: Simplify (- 0) into 0
15.557 * [backup-simplify]: Simplify (+ 0 0) into 0
15.558 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
15.558 * [backup-simplify]: Simplify (+ 0) into 0
15.559 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
15.559 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
15.560 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.560 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
15.561 * [backup-simplify]: Simplify (+ 0 0) into 0
15.561 * [backup-simplify]: Simplify (+ 0) into 0
15.562 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
15.562 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
15.563 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.563 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
15.564 * [backup-simplify]: Simplify (- 0) into 0
15.564 * [backup-simplify]: Simplify (+ 0 0) into 0
15.564 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
15.565 * [backup-simplify]: Simplify (+ 0) into 0
15.565 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
15.565 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
15.566 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.567 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
15.567 * [backup-simplify]: Simplify (- 0) into 0
15.567 * [backup-simplify]: Simplify (+ 0 0) into 0
15.568 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
15.568 * [backup-simplify]: Simplify (+ 0) into 0
15.569 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
15.569 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
15.570 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.570 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
15.571 * [backup-simplify]: Simplify (+ 0 0) into 0
15.571 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
15.571 * [backup-simplify]: Simplify (+ 0 0) into 0
15.572 * [backup-simplify]: Simplify (- 0) into 0
15.572 * [backup-simplify]: Simplify (+ 0 0) into 0
15.575 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
15.576 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
15.576 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 3) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 3)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (* R (pow lambda2 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) in lambda2
15.576 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 3) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 3)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) in lambda2
15.576 * [taylor]: Taking taylor expansion of 1/2 in lambda2
15.576 * [backup-simplify]: Simplify 1/2 into 1/2
15.576 * [taylor]: Taking taylor expansion of (* (/ (* (pow (sin (/ 0.5 phi2)) 3) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 3)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3)))) in lambda2
15.576 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi2)) 3) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 3)))) (* R (pow lambda2 2))) in lambda2
15.576 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 3) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 3)))) in lambda2
15.576 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 3) in lambda2
15.576 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
15.576 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
15.576 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.576 * [backup-simplify]: Simplify 0.5 into 0.5
15.576 * [taylor]: Taking taylor expansion of phi2 in lambda2
15.576 * [backup-simplify]: Simplify phi2 into phi2
15.576 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
15.577 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
15.577 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
15.577 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
15.577 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
15.577 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
15.577 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 3))) in lambda2
15.577 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
15.577 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
15.577 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.577 * [backup-simplify]: Simplify 0.5 into 0.5
15.577 * [taylor]: Taking taylor expansion of phi1 in lambda2
15.577 * [backup-simplify]: Simplify phi1 into phi1
15.577 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
15.577 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
15.577 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
15.577 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 3)) in lambda2
15.577 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
15.577 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
15.577 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.577 * [backup-simplify]: Simplify 0.5 into 0.5
15.577 * [taylor]: Taking taylor expansion of phi2 in lambda2
15.577 * [backup-simplify]: Simplify phi2 into phi2
15.577 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
15.577 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
15.577 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
15.577 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 3) in lambda2
15.577 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
15.577 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
15.577 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.577 * [backup-simplify]: Simplify 0.5 into 0.5
15.577 * [taylor]: Taking taylor expansion of phi1 in lambda2
15.577 * [backup-simplify]: Simplify phi1 into phi1
15.577 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
15.578 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
15.578 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
15.578 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
15.578 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
15.578 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
15.578 * [taylor]: Taking taylor expansion of (* R (pow lambda2 2)) in lambda2
15.578 * [taylor]: Taking taylor expansion of R in lambda2
15.578 * [backup-simplify]: Simplify R into R
15.578 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
15.578 * [taylor]: Taking taylor expansion of lambda2 in lambda2
15.578 * [backup-simplify]: Simplify 0 into 0
15.578 * [backup-simplify]: Simplify 1 into 1
15.578 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
15.578 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (pow (sin (/ 0.5 phi2)) 2)) into (pow (sin (/ 0.5 phi2)) 3)
15.578 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
15.578 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
15.579 * [backup-simplify]: Simplify (- 0) into 0
15.579 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
15.579 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
15.579 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
15.579 * [backup-simplify]: Simplify (- 0) into 0
15.579 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
15.579 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
15.580 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (pow (sin (/ 0.5 phi1)) 2)) into (pow (sin (/ 0.5 phi1)) 3)
15.580 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 3)) into (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 3))
15.580 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 3))) into (* (pow (sin (/ 0.5 phi1)) 3) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
15.580 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 3) (* (pow (sin (/ 0.5 phi1)) 3) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (pow (sin (/ 0.5 phi1)) 3) (* (pow (sin (/ 0.5 phi2)) 3) (cos (/ 0.5 phi1)))))
15.581 * [backup-simplify]: Simplify (* 1 1) into 1
15.581 * [backup-simplify]: Simplify (* R 1) into R
15.581 * [backup-simplify]: Simplify (/ (* (cos (/ 0.5 phi2)) (* (pow (sin (/ 0.5 phi1)) 3) (* (pow (sin (/ 0.5 phi2)) 3) (cos (/ 0.5 phi1))))) R) into (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)))) R)
15.581 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))) in lambda2
15.581 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3)) in lambda2
15.581 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3) in lambda2
15.581 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
15.581 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
15.581 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
15.581 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
15.581 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
15.581 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
15.581 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.581 * [backup-simplify]: Simplify 0.5 into 0.5
15.581 * [taylor]: Taking taylor expansion of phi2 in lambda2
15.581 * [backup-simplify]: Simplify phi2 into phi2
15.581 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
15.581 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
15.581 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
15.582 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
15.582 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
15.582 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
15.582 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
15.582 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
15.582 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
15.582 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.582 * [backup-simplify]: Simplify 0.5 into 0.5
15.582 * [taylor]: Taking taylor expansion of phi1 in lambda2
15.582 * [backup-simplify]: Simplify phi1 into phi1
15.582 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
15.582 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
15.582 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
15.582 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
15.582 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
15.582 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
15.582 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
15.582 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
15.582 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
15.582 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
15.582 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.582 * [backup-simplify]: Simplify 0.5 into 0.5
15.582 * [taylor]: Taking taylor expansion of phi2 in lambda2
15.582 * [backup-simplify]: Simplify phi2 into phi2
15.582 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
15.582 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
15.582 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
15.582 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
15.583 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
15.585 * [backup-simplify]: Simplify (- 0) into 0
15.585 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
15.585 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
15.585 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
15.585 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
15.586 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.586 * [backup-simplify]: Simplify 0.5 into 0.5
15.586 * [taylor]: Taking taylor expansion of phi1 in lambda2
15.586 * [backup-simplify]: Simplify phi1 into phi1
15.586 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
15.586 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
15.586 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
15.586 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
15.586 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
15.586 * [backup-simplify]: Simplify (- 0) into 0
15.586 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
15.586 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
15.586 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
15.586 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
15.586 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
15.586 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.587 * [backup-simplify]: Simplify 0.5 into 0.5
15.587 * [taylor]: Taking taylor expansion of phi2 in lambda2
15.587 * [backup-simplify]: Simplify phi2 into phi2
15.587 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
15.587 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
15.587 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
15.587 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
15.587 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
15.587 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
15.587 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.587 * [backup-simplify]: Simplify 0.5 into 0.5
15.587 * [taylor]: Taking taylor expansion of phi1 in lambda2
15.587 * [backup-simplify]: Simplify phi1 into phi1
15.587 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
15.587 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
15.587 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
15.587 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
15.587 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
15.587 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
15.587 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.587 * [backup-simplify]: Simplify 0.5 into 0.5
15.587 * [taylor]: Taking taylor expansion of phi2 in lambda2
15.587 * [backup-simplify]: Simplify phi2 into phi2
15.587 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
15.587 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
15.587 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
15.587 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
15.587 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
15.587 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.587 * [backup-simplify]: Simplify 0.5 into 0.5
15.587 * [taylor]: Taking taylor expansion of phi1 in lambda2
15.587 * [backup-simplify]: Simplify phi1 into phi1
15.587 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
15.587 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
15.587 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
15.588 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
15.588 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
15.588 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
15.588 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.588 * [backup-simplify]: Simplify 0.5 into 0.5
15.588 * [taylor]: Taking taylor expansion of phi2 in lambda2
15.588 * [backup-simplify]: Simplify phi2 into phi2
15.588 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
15.588 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
15.588 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
15.588 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
15.588 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
15.588 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
15.588 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.588 * [backup-simplify]: Simplify 0.5 into 0.5
15.588 * [taylor]: Taking taylor expansion of phi1 in lambda2
15.588 * [backup-simplify]: Simplify phi1 into phi1
15.588 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
15.588 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
15.588 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
15.588 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
15.588 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
15.588 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
15.588 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.588 * [backup-simplify]: Simplify 0.5 into 0.5
15.588 * [taylor]: Taking taylor expansion of phi2 in lambda2
15.588 * [backup-simplify]: Simplify phi2 into phi2
15.588 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
15.588 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
15.588 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
15.588 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
15.588 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
15.588 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.588 * [backup-simplify]: Simplify 0.5 into 0.5
15.588 * [taylor]: Taking taylor expansion of phi1 in lambda2
15.588 * [backup-simplify]: Simplify phi1 into phi1
15.588 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
15.588 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
15.589 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
15.589 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
15.589 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
15.589 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
15.589 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
15.589 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
15.589 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
15.590 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
15.590 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
15.590 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
15.590 * [backup-simplify]: Simplify (- 0) into 0
15.590 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
15.590 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
15.591 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
15.591 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
15.591 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
15.591 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
15.591 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
15.591 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
15.591 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
15.591 * [backup-simplify]: Simplify (- 0) into 0
15.591 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
15.591 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
15.592 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
15.592 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
15.592 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
15.592 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
15.592 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
15.592 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
15.592 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
15.592 * [backup-simplify]: Simplify (- 0) into 0
15.592 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
15.592 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
15.592 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
15.593 * [backup-simplify]: Simplify (- 0) into 0
15.593 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
15.593 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
15.593 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
15.593 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
15.593 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
15.593 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
15.593 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
15.594 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))
15.594 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
15.595 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
15.598 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)
15.600 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)) into (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2))
15.602 * [backup-simplify]: Simplify (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2))) into (/ 1 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
15.607 * [backup-simplify]: Simplify (sqrt (/ 1 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
15.607 * [backup-simplify]: Simplify (+ 0) into 0
15.608 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
15.608 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
15.609 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.610 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
15.610 * [backup-simplify]: Simplify (+ 0 0) into 0
15.610 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
15.611 * [backup-simplify]: Simplify (+ 0) into 0
15.611 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
15.611 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
15.612 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.613 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
15.613 * [backup-simplify]: Simplify (+ 0 0) into 0
15.613 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
15.614 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
15.614 * [backup-simplify]: Simplify (+ 0) into 0
15.615 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
15.615 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
15.616 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.616 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
15.616 * [backup-simplify]: Simplify (- 0) into 0
15.617 * [backup-simplify]: Simplify (+ 0 0) into 0
15.617 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
15.617 * [backup-simplify]: Simplify (+ 0) into 0
15.618 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
15.618 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
15.619 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.619 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
15.620 * [backup-simplify]: Simplify (- 0) into 0
15.620 * [backup-simplify]: Simplify (+ 0 0) into 0
15.620 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
15.620 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
15.621 * [backup-simplify]: Simplify (+ 0 0) into 0
15.621 * [backup-simplify]: Simplify (+ 0) into 0
15.622 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
15.622 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
15.623 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.623 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
15.624 * [backup-simplify]: Simplify (- 0) into 0
15.624 * [backup-simplify]: Simplify (+ 0 0) into 0
15.624 * [backup-simplify]: Simplify (+ 0) into 0
15.625 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
15.625 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
15.626 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.626 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
15.627 * [backup-simplify]: Simplify (+ 0 0) into 0
15.627 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
15.627 * [backup-simplify]: Simplify (+ 0) into 0
15.628 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
15.628 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
15.629 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.629 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
15.630 * [backup-simplify]: Simplify (+ 0 0) into 0
15.630 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
15.630 * [backup-simplify]: Simplify (+ 0) into 0
15.631 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
15.631 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
15.632 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.632 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
15.633 * [backup-simplify]: Simplify (- 0) into 0
15.633 * [backup-simplify]: Simplify (+ 0 0) into 0
15.633 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
15.634 * [backup-simplify]: Simplify (+ 0) into 0
15.634 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
15.634 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
15.635 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.636 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
15.636 * [backup-simplify]: Simplify (+ 0 0) into 0
15.636 * [backup-simplify]: Simplify (+ 0) into 0
15.637 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
15.637 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
15.638 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.638 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
15.639 * [backup-simplify]: Simplify (- 0) into 0
15.639 * [backup-simplify]: Simplify (+ 0 0) into 0
15.640 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
15.640 * [backup-simplify]: Simplify (+ 0) into 0
15.641 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
15.641 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
15.642 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.642 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
15.643 * [backup-simplify]: Simplify (- 0) into 0
15.643 * [backup-simplify]: Simplify (+ 0 0) into 0
15.643 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
15.644 * [backup-simplify]: Simplify (+ 0) into 0
15.644 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
15.644 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
15.645 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.646 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
15.646 * [backup-simplify]: Simplify (+ 0 0) into 0
15.646 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
15.647 * [backup-simplify]: Simplify (+ 0 0) into 0
15.647 * [backup-simplify]: Simplify (- 0) into 0
15.647 * [backup-simplify]: Simplify (+ 0 0) into 0
15.651 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into 0
15.655 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2))) into 0
15.664 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)))))) into 0
15.669 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
15.669 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (* R (pow lambda2 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) in lambda2
15.669 * [taylor]: Taking taylor expansion of 1/2 in lambda2
15.669 * [backup-simplify]: Simplify 1/2 into 1/2
15.669 * [taylor]: Taking taylor expansion of (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (* R (pow lambda2 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) in lambda2
15.669 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (* R (pow lambda2 2))) in lambda2
15.669 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
15.669 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
15.669 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
15.669 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
15.669 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.669 * [backup-simplify]: Simplify 0.5 into 0.5
15.669 * [taylor]: Taking taylor expansion of phi2 in lambda2
15.669 * [backup-simplify]: Simplify phi2 into phi2
15.669 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
15.669 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
15.669 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
15.669 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
15.670 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
15.670 * [backup-simplify]: Simplify (- 0) into 0
15.670 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
15.670 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
15.670 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
15.670 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
15.670 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.670 * [backup-simplify]: Simplify 0.5 into 0.5
15.670 * [taylor]: Taking taylor expansion of phi1 in lambda2
15.670 * [backup-simplify]: Simplify phi1 into phi1
15.671 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
15.671 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
15.671 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
15.671 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
15.671 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
15.671 * [backup-simplify]: Simplify (- 0) into 0
15.671 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
15.671 * [taylor]: Taking taylor expansion of (* R (pow lambda2 2)) in lambda2
15.672 * [taylor]: Taking taylor expansion of R in lambda2
15.672 * [backup-simplify]: Simplify R into R
15.672 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
15.672 * [taylor]: Taking taylor expansion of lambda2 in lambda2
15.672 * [backup-simplify]: Simplify 0 into 0
15.672 * [backup-simplify]: Simplify 1 into 1
15.672 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
15.672 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
15.672 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
15.673 * [backup-simplify]: Simplify (* 1 1) into 1
15.673 * [backup-simplify]: Simplify (* R 1) into R
15.673 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) R) into (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) R)
15.673 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in lambda2
15.673 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in lambda2
15.673 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
15.673 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
15.674 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
15.674 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
15.674 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
15.674 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
15.674 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.674 * [backup-simplify]: Simplify 0.5 into 0.5
15.674 * [taylor]: Taking taylor expansion of phi2 in lambda2
15.674 * [backup-simplify]: Simplify phi2 into phi2
15.674 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
15.674 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
15.674 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
15.674 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
15.674 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
15.674 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
15.674 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
15.674 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
15.674 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
15.674 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.674 * [backup-simplify]: Simplify 0.5 into 0.5
15.674 * [taylor]: Taking taylor expansion of phi1 in lambda2
15.674 * [backup-simplify]: Simplify phi1 into phi1
15.675 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
15.675 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
15.675 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
15.675 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
15.675 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
15.675 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
15.675 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
15.675 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
15.675 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
15.675 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
15.675 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.675 * [backup-simplify]: Simplify 0.5 into 0.5
15.675 * [taylor]: Taking taylor expansion of phi2 in lambda2
15.675 * [backup-simplify]: Simplify phi2 into phi2
15.675 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
15.675 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
15.675 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
15.676 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
15.676 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
15.676 * [backup-simplify]: Simplify (- 0) into 0
15.676 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
15.676 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
15.676 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
15.676 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
15.676 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.676 * [backup-simplify]: Simplify 0.5 into 0.5
15.676 * [taylor]: Taking taylor expansion of phi1 in lambda2
15.676 * [backup-simplify]: Simplify phi1 into phi1
15.677 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
15.677 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
15.677 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
15.677 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
15.677 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
15.677 * [backup-simplify]: Simplify (- 0) into 0
15.677 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
15.678 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
15.678 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
15.678 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
15.678 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
15.678 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.678 * [backup-simplify]: Simplify 0.5 into 0.5
15.678 * [taylor]: Taking taylor expansion of phi2 in lambda2
15.678 * [backup-simplify]: Simplify phi2 into phi2
15.678 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
15.678 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
15.678 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
15.678 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
15.678 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
15.678 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
15.678 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.678 * [backup-simplify]: Simplify 0.5 into 0.5
15.678 * [taylor]: Taking taylor expansion of phi1 in lambda2
15.678 * [backup-simplify]: Simplify phi1 into phi1
15.678 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
15.678 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
15.678 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
15.678 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
15.678 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
15.678 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
15.679 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.679 * [backup-simplify]: Simplify 0.5 into 0.5
15.679 * [taylor]: Taking taylor expansion of phi2 in lambda2
15.679 * [backup-simplify]: Simplify phi2 into phi2
15.679 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
15.679 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
15.679 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
15.679 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
15.679 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
15.679 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.679 * [backup-simplify]: Simplify 0.5 into 0.5
15.679 * [taylor]: Taking taylor expansion of phi1 in lambda2
15.679 * [backup-simplify]: Simplify phi1 into phi1
15.679 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
15.679 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
15.679 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
15.679 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
15.679 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
15.679 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
15.679 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.679 * [backup-simplify]: Simplify 0.5 into 0.5
15.679 * [taylor]: Taking taylor expansion of phi2 in lambda2
15.679 * [backup-simplify]: Simplify phi2 into phi2
15.679 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
15.680 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
15.680 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
15.680 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
15.680 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
15.680 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
15.680 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.680 * [backup-simplify]: Simplify 0.5 into 0.5
15.680 * [taylor]: Taking taylor expansion of phi1 in lambda2
15.680 * [backup-simplify]: Simplify phi1 into phi1
15.680 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
15.680 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
15.680 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
15.680 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
15.680 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
15.680 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
15.680 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.680 * [backup-simplify]: Simplify 0.5 into 0.5
15.680 * [taylor]: Taking taylor expansion of phi2 in lambda2
15.680 * [backup-simplify]: Simplify phi2 into phi2
15.680 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
15.680 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
15.680 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
15.681 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
15.681 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
15.681 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.681 * [backup-simplify]: Simplify 0.5 into 0.5
15.681 * [taylor]: Taking taylor expansion of phi1 in lambda2
15.681 * [backup-simplify]: Simplify phi1 into phi1
15.681 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
15.681 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
15.681 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
15.681 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
15.681 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
15.682 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
15.682 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
15.682 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
15.682 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
15.683 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
15.683 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
15.683 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
15.684 * [backup-simplify]: Simplify (- 0) into 0
15.684 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
15.684 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
15.684 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
15.684 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
15.684 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
15.684 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
15.685 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
15.685 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
15.685 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
15.685 * [backup-simplify]: Simplify (- 0) into 0
15.685 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
15.686 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
15.686 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
15.686 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
15.686 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
15.686 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
15.686 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
15.687 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
15.687 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
15.687 * [backup-simplify]: Simplify (- 0) into 0
15.687 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
15.687 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
15.687 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
15.688 * [backup-simplify]: Simplify (- 0) into 0
15.688 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
15.688 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
15.688 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
15.688 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
15.688 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
15.689 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
15.689 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
15.690 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))
15.691 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
15.692 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
15.694 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
15.696 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
15.697 * [backup-simplify]: Simplify (+ 0) into 0
15.698 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
15.698 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
15.699 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.699 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
15.699 * [backup-simplify]: Simplify (+ 0 0) into 0
15.700 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
15.700 * [backup-simplify]: Simplify (+ 0) into 0
15.701 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
15.701 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
15.702 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.702 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
15.703 * [backup-simplify]: Simplify (+ 0 0) into 0
15.703 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
15.704 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
15.704 * [backup-simplify]: Simplify (+ 0) into 0
15.705 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
15.705 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
15.706 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.706 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
15.706 * [backup-simplify]: Simplify (- 0) into 0
15.707 * [backup-simplify]: Simplify (+ 0 0) into 0
15.707 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
15.707 * [backup-simplify]: Simplify (+ 0) into 0
15.708 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
15.708 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
15.709 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.709 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
15.710 * [backup-simplify]: Simplify (- 0) into 0
15.710 * [backup-simplify]: Simplify (+ 0 0) into 0
15.710 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
15.711 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
15.711 * [backup-simplify]: Simplify (+ 0 0) into 0
15.712 * [backup-simplify]: Simplify (+ 0) into 0
15.712 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
15.712 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
15.713 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.714 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
15.714 * [backup-simplify]: Simplify (- 0) into 0
15.714 * [backup-simplify]: Simplify (+ 0 0) into 0
15.715 * [backup-simplify]: Simplify (+ 0) into 0
15.715 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
15.715 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
15.716 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.717 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
15.717 * [backup-simplify]: Simplify (+ 0 0) into 0
15.717 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
15.718 * [backup-simplify]: Simplify (+ 0) into 0
15.718 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
15.718 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
15.719 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.720 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
15.720 * [backup-simplify]: Simplify (+ 0 0) into 0
15.720 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
15.721 * [backup-simplify]: Simplify (+ 0) into 0
15.721 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
15.721 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
15.722 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.722 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
15.722 * [backup-simplify]: Simplify (- 0) into 0
15.723 * [backup-simplify]: Simplify (+ 0 0) into 0
15.723 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
15.723 * [backup-simplify]: Simplify (+ 0) into 0
15.723 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
15.723 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
15.724 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.724 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
15.724 * [backup-simplify]: Simplify (+ 0 0) into 0
15.725 * [backup-simplify]: Simplify (+ 0) into 0
15.725 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
15.725 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
15.726 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.726 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
15.726 * [backup-simplify]: Simplify (- 0) into 0
15.726 * [backup-simplify]: Simplify (+ 0 0) into 0
15.726 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
15.727 * [backup-simplify]: Simplify (+ 0) into 0
15.727 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
15.727 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
15.728 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.728 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
15.728 * [backup-simplify]: Simplify (- 0) into 0
15.728 * [backup-simplify]: Simplify (+ 0 0) into 0
15.728 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
15.729 * [backup-simplify]: Simplify (+ 0) into 0
15.729 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
15.729 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
15.730 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.730 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
15.730 * [backup-simplify]: Simplify (+ 0 0) into 0
15.730 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
15.731 * [backup-simplify]: Simplify (+ 0 0) into 0
15.731 * [backup-simplify]: Simplify (- 0) into 0
15.731 * [backup-simplify]: Simplify (+ 0 0) into 0
15.733 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
15.734 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
15.734 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* R (pow lambda2 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* R (pow lambda2 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi1)) 4)) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 3 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (* (/ 1 (* R (* phi1 phi2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))))) in lambda2
15.734 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) in lambda2
15.734 * [taylor]: Taking taylor expansion of 1/2 in lambda2
15.734 * [backup-simplify]: Simplify 1/2 into 1/2
15.734 * [taylor]: Taking taylor expansion of (* (/ (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3)))) in lambda2
15.734 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)) (* R (pow lambda2 2))) in lambda2
15.735 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)) in lambda2
15.735 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 4) in lambda2
15.735 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
15.735 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
15.735 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.735 * [backup-simplify]: Simplify 0.5 into 0.5
15.735 * [taylor]: Taking taylor expansion of phi2 in lambda2
15.735 * [backup-simplify]: Simplify phi2 into phi2
15.735 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
15.735 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
15.735 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
15.735 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
15.735 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
15.735 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
15.735 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 4) in lambda2
15.735 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
15.735 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
15.735 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.735 * [backup-simplify]: Simplify 0.5 into 0.5
15.735 * [taylor]: Taking taylor expansion of phi1 in lambda2
15.735 * [backup-simplify]: Simplify phi1 into phi1
15.735 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
15.735 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
15.735 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
15.735 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
15.735 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
15.735 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
15.735 * [taylor]: Taking taylor expansion of (* R (pow lambda2 2)) in lambda2
15.735 * [taylor]: Taking taylor expansion of R in lambda2
15.735 * [backup-simplify]: Simplify R into R
15.735 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
15.735 * [taylor]: Taking taylor expansion of lambda2 in lambda2
15.736 * [backup-simplify]: Simplify 0 into 0
15.736 * [backup-simplify]: Simplify 1 into 1
15.736 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
15.736 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (pow (sin (/ 0.5 phi2)) 4)
15.736 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
15.736 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (pow (sin (/ 0.5 phi1)) 4)
15.736 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)) into (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4))
15.739 * [backup-simplify]: Simplify (* 1 1) into 1
15.739 * [backup-simplify]: Simplify (* R 1) into R
15.739 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)) R) into (/ (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)) R)
15.739 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))) in lambda2
15.739 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3)) in lambda2
15.739 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3) in lambda2
15.739 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
15.739 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
15.739 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
15.739 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
15.739 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
15.739 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
15.739 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.739 * [backup-simplify]: Simplify 0.5 into 0.5
15.739 * [taylor]: Taking taylor expansion of phi2 in lambda2
15.739 * [backup-simplify]: Simplify phi2 into phi2
15.740 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
15.740 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
15.740 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
15.740 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
15.740 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
15.740 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
15.740 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
15.740 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
15.740 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
15.740 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.740 * [backup-simplify]: Simplify 0.5 into 0.5
15.740 * [taylor]: Taking taylor expansion of phi1 in lambda2
15.740 * [backup-simplify]: Simplify phi1 into phi1
15.740 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
15.740 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
15.740 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
15.740 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
15.740 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
15.740 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
15.740 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
15.740 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
15.740 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
15.740 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
15.740 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.740 * [backup-simplify]: Simplify 0.5 into 0.5
15.740 * [taylor]: Taking taylor expansion of phi2 in lambda2
15.740 * [backup-simplify]: Simplify phi2 into phi2
15.740 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
15.741 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
15.741 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
15.741 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
15.741 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
15.741 * [backup-simplify]: Simplify (- 0) into 0
15.741 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
15.741 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
15.741 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
15.741 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
15.741 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.741 * [backup-simplify]: Simplify 0.5 into 0.5
15.741 * [taylor]: Taking taylor expansion of phi1 in lambda2
15.741 * [backup-simplify]: Simplify phi1 into phi1
15.741 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
15.741 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
15.741 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
15.742 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
15.742 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
15.742 * [backup-simplify]: Simplify (- 0) into 0
15.742 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
15.742 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
15.742 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
15.742 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
15.742 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
15.742 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.742 * [backup-simplify]: Simplify 0.5 into 0.5
15.742 * [taylor]: Taking taylor expansion of phi2 in lambda2
15.742 * [backup-simplify]: Simplify phi2 into phi2
15.742 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
15.742 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
15.742 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
15.742 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
15.742 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
15.742 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
15.742 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.742 * [backup-simplify]: Simplify 0.5 into 0.5
15.742 * [taylor]: Taking taylor expansion of phi1 in lambda2
15.742 * [backup-simplify]: Simplify phi1 into phi1
15.742 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
15.742 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
15.743 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
15.743 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
15.743 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
15.743 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
15.743 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.743 * [backup-simplify]: Simplify 0.5 into 0.5
15.743 * [taylor]: Taking taylor expansion of phi2 in lambda2
15.743 * [backup-simplify]: Simplify phi2 into phi2
15.743 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
15.743 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
15.743 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
15.743 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
15.743 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
15.743 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.743 * [backup-simplify]: Simplify 0.5 into 0.5
15.743 * [taylor]: Taking taylor expansion of phi1 in lambda2
15.743 * [backup-simplify]: Simplify phi1 into phi1
15.743 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
15.743 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
15.743 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
15.743 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
15.743 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
15.743 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
15.743 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.743 * [backup-simplify]: Simplify 0.5 into 0.5
15.743 * [taylor]: Taking taylor expansion of phi2 in lambda2
15.743 * [backup-simplify]: Simplify phi2 into phi2
15.743 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
15.743 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
15.743 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
15.743 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
15.743 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
15.743 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
15.743 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.743 * [backup-simplify]: Simplify 0.5 into 0.5
15.743 * [taylor]: Taking taylor expansion of phi1 in lambda2
15.743 * [backup-simplify]: Simplify phi1 into phi1
15.743 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
15.744 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
15.744 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
15.744 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
15.744 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
15.744 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
15.744 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.744 * [backup-simplify]: Simplify 0.5 into 0.5
15.744 * [taylor]: Taking taylor expansion of phi2 in lambda2
15.744 * [backup-simplify]: Simplify phi2 into phi2
15.744 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
15.744 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
15.744 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
15.744 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
15.744 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
15.744 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.744 * [backup-simplify]: Simplify 0.5 into 0.5
15.744 * [taylor]: Taking taylor expansion of phi1 in lambda2
15.744 * [backup-simplify]: Simplify phi1 into phi1
15.744 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
15.744 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
15.744 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
15.744 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
15.744 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
15.744 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
15.745 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
15.745 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
15.745 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
15.745 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
15.745 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
15.745 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
15.746 * [backup-simplify]: Simplify (- 0) into 0
15.746 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
15.746 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
15.746 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
15.746 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
15.746 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
15.746 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
15.746 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
15.746 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
15.746 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
15.747 * [backup-simplify]: Simplify (- 0) into 0
15.747 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
15.747 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
15.747 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
15.747 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
15.747 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
15.747 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
15.747 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
15.747 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
15.747 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
15.748 * [backup-simplify]: Simplify (- 0) into 0
15.748 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
15.748 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
15.748 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
15.748 * [backup-simplify]: Simplify (- 0) into 0
15.748 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
15.748 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
15.748 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
15.748 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
15.749 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
15.749 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
15.749 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
15.749 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))
15.750 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
15.751 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
15.753 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)
15.755 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)) into (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2))
15.757 * [backup-simplify]: Simplify (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2))) into (/ 1 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
15.761 * [backup-simplify]: Simplify (sqrt (/ 1 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
15.761 * [backup-simplify]: Simplify (+ 0) into 0
15.762 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
15.763 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
15.763 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.764 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
15.764 * [backup-simplify]: Simplify (+ 0 0) into 0
15.765 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
15.765 * [backup-simplify]: Simplify (+ 0) into 0
15.765 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
15.766 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
15.766 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.767 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
15.767 * [backup-simplify]: Simplify (+ 0 0) into 0
15.767 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
15.768 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
15.768 * [backup-simplify]: Simplify (+ 0) into 0
15.769 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
15.769 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
15.770 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.770 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
15.771 * [backup-simplify]: Simplify (- 0) into 0
15.771 * [backup-simplify]: Simplify (+ 0 0) into 0
15.771 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
15.772 * [backup-simplify]: Simplify (+ 0) into 0
15.772 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
15.772 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
15.773 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.774 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
15.774 * [backup-simplify]: Simplify (- 0) into 0
15.774 * [backup-simplify]: Simplify (+ 0 0) into 0
15.774 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
15.775 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
15.775 * [backup-simplify]: Simplify (+ 0 0) into 0
15.776 * [backup-simplify]: Simplify (+ 0) into 0
15.776 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
15.776 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
15.777 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.778 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
15.778 * [backup-simplify]: Simplify (- 0) into 0
15.779 * [backup-simplify]: Simplify (+ 0 0) into 0
15.779 * [backup-simplify]: Simplify (+ 0) into 0
15.780 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
15.780 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
15.781 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.781 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
15.782 * [backup-simplify]: Simplify (+ 0 0) into 0
15.782 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
15.782 * [backup-simplify]: Simplify (+ 0) into 0
15.783 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
15.783 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
15.784 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.784 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
15.784 * [backup-simplify]: Simplify (+ 0 0) into 0
15.785 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
15.785 * [backup-simplify]: Simplify (+ 0) into 0
15.786 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
15.786 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
15.787 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.787 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
15.788 * [backup-simplify]: Simplify (- 0) into 0
15.788 * [backup-simplify]: Simplify (+ 0 0) into 0
15.788 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
15.789 * [backup-simplify]: Simplify (+ 0) into 0
15.789 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
15.789 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
15.790 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.791 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
15.791 * [backup-simplify]: Simplify (+ 0 0) into 0
15.791 * [backup-simplify]: Simplify (+ 0) into 0
15.792 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
15.792 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
15.793 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.793 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
15.794 * [backup-simplify]: Simplify (- 0) into 0
15.794 * [backup-simplify]: Simplify (+ 0 0) into 0
15.794 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
15.795 * [backup-simplify]: Simplify (+ 0) into 0
15.795 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
15.795 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
15.796 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.797 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
15.797 * [backup-simplify]: Simplify (- 0) into 0
15.797 * [backup-simplify]: Simplify (+ 0 0) into 0
15.798 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
15.798 * [backup-simplify]: Simplify (+ 0) into 0
15.799 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
15.799 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
15.799 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.800 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
15.800 * [backup-simplify]: Simplify (+ 0 0) into 0
15.801 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
15.801 * [backup-simplify]: Simplify (+ 0 0) into 0
15.801 * [backup-simplify]: Simplify (- 0) into 0
15.802 * [backup-simplify]: Simplify (+ 0 0) into 0
15.806 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into 0
15.810 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2))) into 0
15.819 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)))))) into 0
15.824 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
15.824 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* R (pow lambda2 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* R (pow lambda2 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi1)) 4)) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 3 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (* (/ 1 (* R (* phi1 phi2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))))) in lambda2
15.824 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* R (pow lambda2 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) in lambda2
15.824 * [taylor]: Taking taylor expansion of 1/2 in lambda2
15.824 * [backup-simplify]: Simplify 1/2 into 1/2
15.824 * [taylor]: Taking taylor expansion of (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* R (pow lambda2 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) in lambda2
15.824 * [taylor]: Taking taylor expansion of (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* R (pow lambda2 2))) in lambda2
15.824 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
15.824 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
15.824 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
15.824 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.824 * [backup-simplify]: Simplify 0.5 into 0.5
15.824 * [taylor]: Taking taylor expansion of phi2 in lambda2
15.824 * [backup-simplify]: Simplify phi2 into phi2
15.825 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
15.825 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
15.825 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
15.825 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
15.825 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
15.825 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
15.825 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.825 * [backup-simplify]: Simplify 0.5 into 0.5
15.825 * [taylor]: Taking taylor expansion of phi1 in lambda2
15.825 * [backup-simplify]: Simplify phi1 into phi1
15.825 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
15.825 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
15.825 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
15.825 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
15.825 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
15.825 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
15.825 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.825 * [backup-simplify]: Simplify 0.5 into 0.5
15.825 * [taylor]: Taking taylor expansion of phi2 in lambda2
15.825 * [backup-simplify]: Simplify phi2 into phi2
15.825 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
15.826 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
15.826 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
15.826 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
15.826 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
15.826 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.826 * [backup-simplify]: Simplify 0.5 into 0.5
15.826 * [taylor]: Taking taylor expansion of phi1 in lambda2
15.826 * [backup-simplify]: Simplify phi1 into phi1
15.826 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
15.826 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
15.826 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
15.826 * [taylor]: Taking taylor expansion of (* R (pow lambda2 2)) in lambda2
15.826 * [taylor]: Taking taylor expansion of R in lambda2
15.826 * [backup-simplify]: Simplify R into R
15.826 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
15.826 * [taylor]: Taking taylor expansion of lambda2 in lambda2
15.826 * [backup-simplify]: Simplify 0 into 0
15.826 * [backup-simplify]: Simplify 1 into 1
15.826 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
15.826 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
15.827 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
15.827 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
15.827 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
15.827 * [backup-simplify]: Simplify (- 0) into 0
15.828 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
15.828 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
15.828 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
15.828 * [backup-simplify]: Simplify (- 0) into 0
15.828 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
15.828 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
15.829 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
15.829 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
15.829 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
15.829 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
15.829 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
15.830 * [backup-simplify]: Simplify (* 1 1) into 1
15.830 * [backup-simplify]: Simplify (* R 1) into R
15.830 * [backup-simplify]: Simplify (/ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) R) into (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R)
15.830 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in lambda2
15.830 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in lambda2
15.831 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
15.831 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
15.831 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
15.831 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
15.831 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
15.831 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
15.831 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.831 * [backup-simplify]: Simplify 0.5 into 0.5
15.831 * [taylor]: Taking taylor expansion of phi2 in lambda2
15.831 * [backup-simplify]: Simplify phi2 into phi2
15.831 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
15.831 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
15.831 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
15.831 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
15.831 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
15.831 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
15.831 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
15.831 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
15.831 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
15.831 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.832 * [backup-simplify]: Simplify 0.5 into 0.5
15.832 * [taylor]: Taking taylor expansion of phi1 in lambda2
15.832 * [backup-simplify]: Simplify phi1 into phi1
15.832 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
15.832 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
15.832 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
15.832 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
15.832 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
15.832 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
15.832 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
15.832 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
15.832 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
15.832 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
15.832 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.832 * [backup-simplify]: Simplify 0.5 into 0.5
15.832 * [taylor]: Taking taylor expansion of phi2 in lambda2
15.832 * [backup-simplify]: Simplify phi2 into phi2
15.832 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
15.832 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
15.833 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
15.833 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
15.833 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
15.833 * [backup-simplify]: Simplify (- 0) into 0
15.833 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
15.833 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
15.833 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
15.833 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
15.833 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.833 * [backup-simplify]: Simplify 0.5 into 0.5
15.834 * [taylor]: Taking taylor expansion of phi1 in lambda2
15.834 * [backup-simplify]: Simplify phi1 into phi1
15.834 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
15.834 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
15.834 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
15.834 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
15.834 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
15.834 * [backup-simplify]: Simplify (- 0) into 0
15.835 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
15.835 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
15.835 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
15.835 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
15.835 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
15.835 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.835 * [backup-simplify]: Simplify 0.5 into 0.5
15.835 * [taylor]: Taking taylor expansion of phi2 in lambda2
15.835 * [backup-simplify]: Simplify phi2 into phi2
15.835 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
15.835 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
15.835 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
15.835 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
15.835 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
15.835 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
15.835 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.835 * [backup-simplify]: Simplify 0.5 into 0.5
15.835 * [taylor]: Taking taylor expansion of phi1 in lambda2
15.835 * [backup-simplify]: Simplify phi1 into phi1
15.835 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
15.835 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
15.836 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
15.836 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
15.836 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
15.836 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
15.836 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.836 * [backup-simplify]: Simplify 0.5 into 0.5
15.836 * [taylor]: Taking taylor expansion of phi2 in lambda2
15.836 * [backup-simplify]: Simplify phi2 into phi2
15.836 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
15.836 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
15.836 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
15.836 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
15.836 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
15.836 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.836 * [backup-simplify]: Simplify 0.5 into 0.5
15.836 * [taylor]: Taking taylor expansion of phi1 in lambda2
15.836 * [backup-simplify]: Simplify phi1 into phi1
15.836 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
15.836 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
15.836 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
15.836 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
15.836 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
15.837 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
15.837 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.837 * [backup-simplify]: Simplify 0.5 into 0.5
15.837 * [taylor]: Taking taylor expansion of phi2 in lambda2
15.837 * [backup-simplify]: Simplify phi2 into phi2
15.837 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
15.837 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
15.837 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
15.837 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
15.837 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
15.837 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
15.837 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.837 * [backup-simplify]: Simplify 0.5 into 0.5
15.837 * [taylor]: Taking taylor expansion of phi1 in lambda2
15.837 * [backup-simplify]: Simplify phi1 into phi1
15.837 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
15.837 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
15.837 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
15.837 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
15.837 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
15.837 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
15.837 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.837 * [backup-simplify]: Simplify 0.5 into 0.5
15.837 * [taylor]: Taking taylor expansion of phi2 in lambda2
15.838 * [backup-simplify]: Simplify phi2 into phi2
15.838 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
15.838 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
15.838 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
15.838 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
15.838 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
15.838 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.838 * [backup-simplify]: Simplify 0.5 into 0.5
15.838 * [taylor]: Taking taylor expansion of phi1 in lambda2
15.838 * [backup-simplify]: Simplify phi1 into phi1
15.838 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
15.838 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
15.838 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
15.838 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
15.839 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
15.839 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
15.839 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
15.839 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
15.840 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
15.840 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
15.841 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
15.841 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
15.841 * [backup-simplify]: Simplify (- 0) into 0
15.842 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
15.842 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
15.842 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
15.842 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
15.842 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
15.842 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
15.842 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
15.843 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
15.843 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
15.843 * [backup-simplify]: Simplify (- 0) into 0
15.843 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
15.843 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
15.844 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
15.844 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
15.844 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
15.844 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
15.844 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
15.845 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
15.845 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
15.845 * [backup-simplify]: Simplify (- 0) into 0
15.845 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
15.845 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
15.845 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
15.846 * [backup-simplify]: Simplify (- 0) into 0
15.846 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
15.846 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
15.846 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
15.846 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
15.847 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
15.847 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
15.847 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
15.848 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))
15.849 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
15.851 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
15.853 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
15.855 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
15.855 * [backup-simplify]: Simplify (+ 0) into 0
15.856 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
15.856 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
15.857 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.858 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
15.858 * [backup-simplify]: Simplify (+ 0 0) into 0
15.858 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
15.858 * [backup-simplify]: Simplify (+ 0) into 0
15.859 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
15.859 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
15.860 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.860 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
15.861 * [backup-simplify]: Simplify (+ 0 0) into 0
15.861 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
15.861 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
15.862 * [backup-simplify]: Simplify (+ 0) into 0
15.862 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
15.863 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
15.863 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.864 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
15.864 * [backup-simplify]: Simplify (- 0) into 0
15.865 * [backup-simplify]: Simplify (+ 0 0) into 0
15.865 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
15.865 * [backup-simplify]: Simplify (+ 0) into 0
15.866 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
15.866 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
15.867 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.867 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
15.868 * [backup-simplify]: Simplify (- 0) into 0
15.868 * [backup-simplify]: Simplify (+ 0 0) into 0
15.868 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
15.869 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
15.869 * [backup-simplify]: Simplify (+ 0 0) into 0
15.870 * [backup-simplify]: Simplify (+ 0) into 0
15.870 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
15.870 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
15.871 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.872 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
15.872 * [backup-simplify]: Simplify (- 0) into 0
15.873 * [backup-simplify]: Simplify (+ 0 0) into 0
15.873 * [backup-simplify]: Simplify (+ 0) into 0
15.874 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
15.874 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
15.875 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.875 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
15.875 * [backup-simplify]: Simplify (+ 0 0) into 0
15.876 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
15.876 * [backup-simplify]: Simplify (+ 0) into 0
15.877 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
15.877 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
15.878 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.878 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
15.879 * [backup-simplify]: Simplify (+ 0 0) into 0
15.879 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
15.879 * [backup-simplify]: Simplify (+ 0) into 0
15.880 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
15.880 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
15.881 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.881 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
15.882 * [backup-simplify]: Simplify (- 0) into 0
15.882 * [backup-simplify]: Simplify (+ 0 0) into 0
15.883 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
15.883 * [backup-simplify]: Simplify (+ 0) into 0
15.884 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
15.884 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
15.885 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.885 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
15.886 * [backup-simplify]: Simplify (+ 0 0) into 0
15.886 * [backup-simplify]: Simplify (+ 0) into 0
15.887 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
15.887 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
15.888 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.888 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
15.889 * [backup-simplify]: Simplify (- 0) into 0
15.889 * [backup-simplify]: Simplify (+ 0 0) into 0
15.889 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
15.890 * [backup-simplify]: Simplify (+ 0) into 0
15.890 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
15.890 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
15.891 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.892 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
15.892 * [backup-simplify]: Simplify (- 0) into 0
15.892 * [backup-simplify]: Simplify (+ 0 0) into 0
15.893 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
15.893 * [backup-simplify]: Simplify (+ 0) into 0
15.894 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
15.894 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
15.895 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.895 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
15.895 * [backup-simplify]: Simplify (+ 0 0) into 0
15.896 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
15.896 * [backup-simplify]: Simplify (+ 0 0) into 0
15.897 * [backup-simplify]: Simplify (- 0) into 0
15.901 * [backup-simplify]: Simplify (+ 0 0) into 0
15.905 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
15.907 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
15.907 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* R (pow lambda2 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi1)) 4)) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 3 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (* (/ 1 (* R (* phi1 phi2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))) in lambda2
15.907 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* R (pow lambda2 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) in lambda2
15.907 * [taylor]: Taking taylor expansion of 1/2 in lambda2
15.908 * [backup-simplify]: Simplify 1/2 into 1/2
15.908 * [taylor]: Taking taylor expansion of (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* R (pow lambda2 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) in lambda2
15.908 * [taylor]: Taking taylor expansion of (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* R (pow lambda2 2))) in lambda2
15.908 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
15.908 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
15.908 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
15.908 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.908 * [backup-simplify]: Simplify 0.5 into 0.5
15.908 * [taylor]: Taking taylor expansion of phi2 in lambda2
15.908 * [backup-simplify]: Simplify phi2 into phi2
15.908 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
15.908 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
15.908 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
15.908 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
15.908 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
15.908 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
15.908 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.908 * [backup-simplify]: Simplify 0.5 into 0.5
15.908 * [taylor]: Taking taylor expansion of phi1 in lambda2
15.908 * [backup-simplify]: Simplify phi1 into phi1
15.908 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
15.908 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
15.908 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
15.908 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
15.909 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
15.909 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
15.909 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.909 * [backup-simplify]: Simplify 0.5 into 0.5
15.909 * [taylor]: Taking taylor expansion of phi2 in lambda2
15.909 * [backup-simplify]: Simplify phi2 into phi2
15.909 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
15.909 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
15.909 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
15.909 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
15.909 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
15.909 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.909 * [backup-simplify]: Simplify 0.5 into 0.5
15.909 * [taylor]: Taking taylor expansion of phi1 in lambda2
15.909 * [backup-simplify]: Simplify phi1 into phi1
15.909 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
15.909 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
15.909 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
15.909 * [taylor]: Taking taylor expansion of (* R (pow lambda2 2)) in lambda2
15.909 * [taylor]: Taking taylor expansion of R in lambda2
15.909 * [backup-simplify]: Simplify R into R
15.910 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
15.910 * [taylor]: Taking taylor expansion of lambda2 in lambda2
15.910 * [backup-simplify]: Simplify 0 into 0
15.910 * [backup-simplify]: Simplify 1 into 1
15.910 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
15.910 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
15.910 * [backup-simplify]: Simplify (- 0) into 0
15.911 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
15.911 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
15.911 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
15.911 * [backup-simplify]: Simplify (- 0) into 0
15.911 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
15.911 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
15.912 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
15.912 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
15.912 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
15.912 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
15.912 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
15.912 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
15.912 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
15.913 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
15.913 * [backup-simplify]: Simplify (* 1 1) into 1
15.913 * [backup-simplify]: Simplify (* R 1) into R
15.914 * [backup-simplify]: Simplify (/ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) R) into (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R)
15.914 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in lambda2
15.914 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in lambda2
15.914 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
15.914 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
15.914 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
15.914 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
15.914 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
15.914 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
15.914 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.914 * [backup-simplify]: Simplify 0.5 into 0.5
15.914 * [taylor]: Taking taylor expansion of phi2 in lambda2
15.914 * [backup-simplify]: Simplify phi2 into phi2
15.914 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
15.914 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
15.914 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
15.914 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
15.915 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
15.915 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
15.915 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
15.915 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
15.915 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
15.915 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.915 * [backup-simplify]: Simplify 0.5 into 0.5
15.915 * [taylor]: Taking taylor expansion of phi1 in lambda2
15.915 * [backup-simplify]: Simplify phi1 into phi1
15.915 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
15.915 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
15.915 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
15.915 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
15.915 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
15.915 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
15.915 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
15.915 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
15.915 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
15.916 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
15.916 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.916 * [backup-simplify]: Simplify 0.5 into 0.5
15.916 * [taylor]: Taking taylor expansion of phi2 in lambda2
15.916 * [backup-simplify]: Simplify phi2 into phi2
15.916 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
15.916 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
15.916 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
15.916 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
15.916 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
15.917 * [backup-simplify]: Simplify (- 0) into 0
15.917 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
15.917 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
15.917 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
15.917 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
15.917 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.917 * [backup-simplify]: Simplify 0.5 into 0.5
15.917 * [taylor]: Taking taylor expansion of phi1 in lambda2
15.917 * [backup-simplify]: Simplify phi1 into phi1
15.917 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
15.917 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
15.917 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
15.917 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
15.917 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
15.918 * [backup-simplify]: Simplify (- 0) into 0
15.918 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
15.918 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
15.918 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
15.918 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
15.918 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
15.918 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.918 * [backup-simplify]: Simplify 0.5 into 0.5
15.918 * [taylor]: Taking taylor expansion of phi2 in lambda2
15.918 * [backup-simplify]: Simplify phi2 into phi2
15.918 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
15.918 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
15.918 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
15.918 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
15.918 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
15.918 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
15.918 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.918 * [backup-simplify]: Simplify 0.5 into 0.5
15.918 * [taylor]: Taking taylor expansion of phi1 in lambda2
15.918 * [backup-simplify]: Simplify phi1 into phi1
15.918 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
15.918 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
15.918 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
15.918 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
15.918 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
15.918 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
15.918 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.918 * [backup-simplify]: Simplify 0.5 into 0.5
15.918 * [taylor]: Taking taylor expansion of phi2 in lambda2
15.918 * [backup-simplify]: Simplify phi2 into phi2
15.918 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
15.918 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
15.919 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
15.919 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
15.919 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
15.919 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.919 * [backup-simplify]: Simplify 0.5 into 0.5
15.919 * [taylor]: Taking taylor expansion of phi1 in lambda2
15.919 * [backup-simplify]: Simplify phi1 into phi1
15.919 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
15.919 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
15.919 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
15.919 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
15.919 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
15.919 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
15.919 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.919 * [backup-simplify]: Simplify 0.5 into 0.5
15.919 * [taylor]: Taking taylor expansion of phi2 in lambda2
15.919 * [backup-simplify]: Simplify phi2 into phi2
15.919 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
15.919 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
15.919 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
15.919 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
15.919 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
15.919 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
15.919 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.919 * [backup-simplify]: Simplify 0.5 into 0.5
15.919 * [taylor]: Taking taylor expansion of phi1 in lambda2
15.919 * [backup-simplify]: Simplify phi1 into phi1
15.919 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
15.919 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
15.919 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
15.919 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
15.919 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
15.919 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
15.919 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.919 * [backup-simplify]: Simplify 0.5 into 0.5
15.919 * [taylor]: Taking taylor expansion of phi2 in lambda2
15.919 * [backup-simplify]: Simplify phi2 into phi2
15.919 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
15.920 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
15.920 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
15.920 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
15.920 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
15.920 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.920 * [backup-simplify]: Simplify 0.5 into 0.5
15.920 * [taylor]: Taking taylor expansion of phi1 in lambda2
15.920 * [backup-simplify]: Simplify phi1 into phi1
15.920 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
15.920 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
15.920 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
15.920 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
15.920 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
15.920 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
15.920 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
15.920 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
15.921 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
15.921 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
15.921 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
15.921 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
15.922 * [backup-simplify]: Simplify (- 0) into 0
15.922 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
15.922 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
15.922 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
15.922 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
15.922 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
15.922 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
15.922 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
15.922 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
15.922 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
15.923 * [backup-simplify]: Simplify (- 0) into 0
15.923 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
15.923 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
15.923 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
15.923 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
15.923 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
15.923 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
15.923 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
15.923 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
15.923 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
15.924 * [backup-simplify]: Simplify (- 0) into 0
15.924 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
15.924 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
15.924 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
15.924 * [backup-simplify]: Simplify (- 0) into 0
15.924 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
15.924 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
15.924 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
15.924 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
15.925 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
15.925 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
15.925 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
15.925 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))
15.926 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
15.927 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
15.928 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
15.929 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
15.929 * [backup-simplify]: Simplify (+ 0) into 0
15.929 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
15.930 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
15.930 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.930 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
15.931 * [backup-simplify]: Simplify (+ 0 0) into 0
15.931 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
15.931 * [backup-simplify]: Simplify (+ 0) into 0
15.931 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
15.931 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
15.932 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.932 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
15.932 * [backup-simplify]: Simplify (+ 0 0) into 0
15.932 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
15.933 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
15.933 * [backup-simplify]: Simplify (+ 0) into 0
15.934 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
15.934 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
15.934 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.934 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
15.935 * [backup-simplify]: Simplify (- 0) into 0
15.935 * [backup-simplify]: Simplify (+ 0 0) into 0
15.935 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
15.935 * [backup-simplify]: Simplify (+ 0) into 0
15.936 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
15.936 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
15.936 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.936 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
15.937 * [backup-simplify]: Simplify (- 0) into 0
15.937 * [backup-simplify]: Simplify (+ 0 0) into 0
15.937 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
15.937 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
15.937 * [backup-simplify]: Simplify (+ 0 0) into 0
15.938 * [backup-simplify]: Simplify (+ 0) into 0
15.938 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
15.938 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
15.939 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.939 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
15.939 * [backup-simplify]: Simplify (- 0) into 0
15.939 * [backup-simplify]: Simplify (+ 0 0) into 0
15.940 * [backup-simplify]: Simplify (+ 0) into 0
15.940 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
15.940 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
15.940 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.941 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
15.941 * [backup-simplify]: Simplify (+ 0 0) into 0
15.941 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
15.941 * [backup-simplify]: Simplify (+ 0) into 0
15.942 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
15.942 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
15.943 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.943 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
15.943 * [backup-simplify]: Simplify (+ 0 0) into 0
15.943 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
15.944 * [backup-simplify]: Simplify (+ 0) into 0
15.944 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
15.944 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
15.945 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.945 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
15.945 * [backup-simplify]: Simplify (- 0) into 0
15.945 * [backup-simplify]: Simplify (+ 0 0) into 0
15.946 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
15.946 * [backup-simplify]: Simplify (+ 0) into 0
15.947 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
15.947 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
15.947 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.948 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
15.948 * [backup-simplify]: Simplify (+ 0 0) into 0
15.948 * [backup-simplify]: Simplify (+ 0) into 0
15.949 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
15.949 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
15.949 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.950 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
15.950 * [backup-simplify]: Simplify (- 0) into 0
15.951 * [backup-simplify]: Simplify (+ 0 0) into 0
15.951 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
15.951 * [backup-simplify]: Simplify (+ 0) into 0
15.951 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
15.951 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
15.952 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.952 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
15.952 * [backup-simplify]: Simplify (- 0) into 0
15.953 * [backup-simplify]: Simplify (+ 0 0) into 0
15.953 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
15.953 * [backup-simplify]: Simplify (+ 0) into 0
15.954 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
15.954 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
15.954 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.955 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
15.955 * [backup-simplify]: Simplify (+ 0 0) into 0
15.955 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
15.956 * [backup-simplify]: Simplify (+ 0 0) into 0
15.956 * [backup-simplify]: Simplify (- 0) into 0
15.956 * [backup-simplify]: Simplify (+ 0 0) into 0
15.959 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
15.960 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
15.960 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi1)) 4)) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 3 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (* (/ 1 (* R (* phi1 phi2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) in lambda2
15.961 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi1)) 4)) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) in lambda2
15.961 * [taylor]: Taking taylor expansion of 1/2 in lambda2
15.961 * [backup-simplify]: Simplify 1/2 into 1/2
15.961 * [taylor]: Taking taylor expansion of (* (/ (* (pow (cos (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi1)) 4)) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3)))) in lambda2
15.961 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi1)) 4)) (* R (pow lambda2 2))) in lambda2
15.961 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi1)) 4)) in lambda2
15.961 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 4) in lambda2
15.961 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
15.961 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
15.961 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.961 * [backup-simplify]: Simplify 0.5 into 0.5
15.961 * [taylor]: Taking taylor expansion of phi2 in lambda2
15.961 * [backup-simplify]: Simplify phi2 into phi2
15.961 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
15.961 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
15.961 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
15.961 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
15.961 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
15.962 * [backup-simplify]: Simplify (- 0) into 0
15.962 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
15.962 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 4) in lambda2
15.962 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
15.962 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
15.962 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.962 * [backup-simplify]: Simplify 0.5 into 0.5
15.962 * [taylor]: Taking taylor expansion of phi1 in lambda2
15.962 * [backup-simplify]: Simplify phi1 into phi1
15.962 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
15.962 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
15.962 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
15.962 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
15.962 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
15.963 * [backup-simplify]: Simplify (- 0) into 0
15.963 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
15.963 * [taylor]: Taking taylor expansion of (* R (pow lambda2 2)) in lambda2
15.963 * [taylor]: Taking taylor expansion of R in lambda2
15.963 * [backup-simplify]: Simplify R into R
15.963 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
15.963 * [taylor]: Taking taylor expansion of lambda2 in lambda2
15.963 * [backup-simplify]: Simplify 0 into 0
15.963 * [backup-simplify]: Simplify 1 into 1
15.963 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
15.963 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (pow (cos (/ 0.5 phi2)) 4)
15.963 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
15.964 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (pow (cos (/ 0.5 phi1)) 4)
15.964 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi1)) 4)) into (* (pow (cos (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi1)) 4))
15.964 * [backup-simplify]: Simplify (* 1 1) into 1
15.964 * [backup-simplify]: Simplify (* R 1) into R
15.964 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi1)) 4)) R) into (/ (* (pow (cos (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi1)) 4)) R)
15.964 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))) in lambda2
15.964 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3)) in lambda2
15.965 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3) in lambda2
15.965 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
15.965 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
15.965 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
15.965 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
15.965 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
15.965 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
15.965 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.965 * [backup-simplify]: Simplify 0.5 into 0.5
15.965 * [taylor]: Taking taylor expansion of phi2 in lambda2
15.965 * [backup-simplify]: Simplify phi2 into phi2
15.965 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
15.965 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
15.965 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
15.965 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
15.965 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
15.965 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
15.965 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
15.965 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
15.965 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
15.965 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.965 * [backup-simplify]: Simplify 0.5 into 0.5
15.965 * [taylor]: Taking taylor expansion of phi1 in lambda2
15.965 * [backup-simplify]: Simplify phi1 into phi1
15.965 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
15.965 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
15.965 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
15.965 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
15.965 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
15.966 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
15.966 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
15.966 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
15.966 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
15.966 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
15.966 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.966 * [backup-simplify]: Simplify 0.5 into 0.5
15.966 * [taylor]: Taking taylor expansion of phi2 in lambda2
15.966 * [backup-simplify]: Simplify phi2 into phi2
15.966 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
15.966 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
15.966 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
15.966 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
15.966 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
15.966 * [backup-simplify]: Simplify (- 0) into 0
15.966 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
15.966 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
15.966 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
15.966 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
15.966 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.966 * [backup-simplify]: Simplify 0.5 into 0.5
15.966 * [taylor]: Taking taylor expansion of phi1 in lambda2
15.966 * [backup-simplify]: Simplify phi1 into phi1
15.966 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
15.966 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
15.967 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
15.967 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
15.967 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
15.967 * [backup-simplify]: Simplify (- 0) into 0
15.967 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
15.967 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
15.967 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
15.967 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
15.967 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
15.967 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.967 * [backup-simplify]: Simplify 0.5 into 0.5
15.967 * [taylor]: Taking taylor expansion of phi2 in lambda2
15.967 * [backup-simplify]: Simplify phi2 into phi2
15.967 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
15.967 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
15.967 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
15.967 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
15.967 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
15.967 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
15.967 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.967 * [backup-simplify]: Simplify 0.5 into 0.5
15.967 * [taylor]: Taking taylor expansion of phi1 in lambda2
15.967 * [backup-simplify]: Simplify phi1 into phi1
15.967 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
15.968 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
15.968 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
15.968 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
15.968 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
15.968 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
15.968 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.968 * [backup-simplify]: Simplify 0.5 into 0.5
15.968 * [taylor]: Taking taylor expansion of phi2 in lambda2
15.968 * [backup-simplify]: Simplify phi2 into phi2
15.968 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
15.968 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
15.968 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
15.968 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
15.968 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
15.968 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.968 * [backup-simplify]: Simplify 0.5 into 0.5
15.968 * [taylor]: Taking taylor expansion of phi1 in lambda2
15.968 * [backup-simplify]: Simplify phi1 into phi1
15.968 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
15.968 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
15.968 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
15.968 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
15.968 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
15.968 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
15.968 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.968 * [backup-simplify]: Simplify 0.5 into 0.5
15.968 * [taylor]: Taking taylor expansion of phi2 in lambda2
15.968 * [backup-simplify]: Simplify phi2 into phi2
15.968 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
15.968 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
15.968 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
15.968 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
15.968 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
15.968 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
15.968 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.968 * [backup-simplify]: Simplify 0.5 into 0.5
15.968 * [taylor]: Taking taylor expansion of phi1 in lambda2
15.968 * [backup-simplify]: Simplify phi1 into phi1
15.968 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
15.969 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
15.969 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
15.969 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
15.969 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
15.969 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
15.969 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.969 * [backup-simplify]: Simplify 0.5 into 0.5
15.969 * [taylor]: Taking taylor expansion of phi2 in lambda2
15.969 * [backup-simplify]: Simplify phi2 into phi2
15.969 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
15.969 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
15.969 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
15.969 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
15.969 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
15.969 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.969 * [backup-simplify]: Simplify 0.5 into 0.5
15.969 * [taylor]: Taking taylor expansion of phi1 in lambda2
15.969 * [backup-simplify]: Simplify phi1 into phi1
15.969 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
15.969 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
15.969 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
15.969 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
15.969 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
15.970 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
15.970 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
15.970 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
15.970 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
15.970 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
15.970 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
15.970 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
15.971 * [backup-simplify]: Simplify (- 0) into 0
15.971 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
15.971 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
15.971 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
15.971 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
15.971 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
15.971 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
15.971 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
15.971 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
15.971 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
15.972 * [backup-simplify]: Simplify (- 0) into 0
15.972 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
15.972 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
15.972 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
15.972 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
15.972 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
15.972 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
15.972 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
15.972 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
15.972 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
15.973 * [backup-simplify]: Simplify (- 0) into 0
15.973 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
15.973 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
15.973 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
15.973 * [backup-simplify]: Simplify (- 0) into 0
15.973 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
15.973 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
15.973 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
15.973 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
15.974 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
15.974 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
15.974 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
15.974 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))
15.975 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
15.976 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
15.978 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)
15.980 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)) into (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2))
15.984 * [backup-simplify]: Simplify (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2))) into (/ 1 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
15.988 * [backup-simplify]: Simplify (sqrt (/ 1 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
15.989 * [backup-simplify]: Simplify (+ 0) into 0
15.989 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
15.990 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
15.990 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.991 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
15.991 * [backup-simplify]: Simplify (+ 0 0) into 0
15.991 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
15.992 * [backup-simplify]: Simplify (+ 0) into 0
15.992 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
15.993 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
15.993 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.994 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
15.994 * [backup-simplify]: Simplify (+ 0 0) into 0
15.994 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
15.995 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
15.995 * [backup-simplify]: Simplify (+ 0) into 0
15.996 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
15.996 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
15.997 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.997 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
15.997 * [backup-simplify]: Simplify (- 0) into 0
15.998 * [backup-simplify]: Simplify (+ 0 0) into 0
15.998 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
15.998 * [backup-simplify]: Simplify (+ 0) into 0
15.999 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
15.999 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
16.000 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
16.000 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
16.001 * [backup-simplify]: Simplify (- 0) into 0
16.001 * [backup-simplify]: Simplify (+ 0 0) into 0
16.001 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
16.002 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
16.002 * [backup-simplify]: Simplify (+ 0 0) into 0
16.002 * [backup-simplify]: Simplify (+ 0) into 0
16.003 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
16.003 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
16.004 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
16.004 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
16.005 * [backup-simplify]: Simplify (- 0) into 0
16.005 * [backup-simplify]: Simplify (+ 0 0) into 0
16.005 * [backup-simplify]: Simplify (+ 0) into 0
16.006 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
16.006 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
16.007 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
16.007 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
16.008 * [backup-simplify]: Simplify (+ 0 0) into 0
16.008 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
16.008 * [backup-simplify]: Simplify (+ 0) into 0
16.009 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
16.009 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
16.010 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
16.010 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
16.011 * [backup-simplify]: Simplify (+ 0 0) into 0
16.011 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
16.011 * [backup-simplify]: Simplify (+ 0) into 0
16.012 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
16.012 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
16.013 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
16.013 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
16.014 * [backup-simplify]: Simplify (- 0) into 0
16.014 * [backup-simplify]: Simplify (+ 0 0) into 0
16.015 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
16.015 * [backup-simplify]: Simplify (+ 0) into 0
16.016 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
16.016 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
16.017 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
16.017 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
16.018 * [backup-simplify]: Simplify (+ 0 0) into 0
16.018 * [backup-simplify]: Simplify (+ 0) into 0
16.019 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
16.019 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
16.020 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
16.020 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
16.021 * [backup-simplify]: Simplify (- 0) into 0
16.021 * [backup-simplify]: Simplify (+ 0 0) into 0
16.021 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
16.022 * [backup-simplify]: Simplify (+ 0) into 0
16.022 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
16.022 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
16.023 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
16.024 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
16.024 * [backup-simplify]: Simplify (- 0) into 0
16.025 * [backup-simplify]: Simplify (+ 0 0) into 0
16.025 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
16.025 * [backup-simplify]: Simplify (+ 0) into 0
16.026 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
16.026 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
16.027 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
16.027 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
16.028 * [backup-simplify]: Simplify (+ 0 0) into 0
16.028 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
16.029 * [backup-simplify]: Simplify (+ 0 0) into 0
16.029 * [backup-simplify]: Simplify (- 0) into 0
16.029 * [backup-simplify]: Simplify (+ 0 0) into 0
16.033 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into 0
16.037 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2))) into 0
16.049 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)))))) into 0
16.053 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
16.053 * [taylor]: Taking taylor expansion of (+ (* 3 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (* (/ 1 (* R (* phi1 phi2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) in lambda2
16.054 * [taylor]: Taking taylor expansion of (* 3 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) in lambda2
16.054 * [taylor]: Taking taylor expansion of 3 in lambda2
16.054 * [backup-simplify]: Simplify 3 into 3
16.054 * [taylor]: Taking taylor expansion of (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3)))) in lambda2
16.054 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) (* R (pow lambda2 2))) in lambda2
16.054 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) in lambda2
16.054 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
16.054 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
16.054 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
16.054 * [taylor]: Taking taylor expansion of 0.5 in lambda2
16.054 * [backup-simplify]: Simplify 0.5 into 0.5
16.054 * [taylor]: Taking taylor expansion of phi2 in lambda2
16.054 * [backup-simplify]: Simplify phi2 into phi2
16.054 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
16.054 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
16.054 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
16.054 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
16.054 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
16.055 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
16.055 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))) in lambda2
16.055 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
16.055 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
16.055 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
16.055 * [taylor]: Taking taylor expansion of 0.5 in lambda2
16.055 * [backup-simplify]: Simplify 0.5 into 0.5
16.055 * [taylor]: Taking taylor expansion of phi1 in lambda2
16.055 * [backup-simplify]: Simplify phi1 into phi1
16.055 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
16.055 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
16.055 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
16.055 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
16.055 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
16.056 * [backup-simplify]: Simplify (- 0) into 0
16.056 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
16.056 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
16.056 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
16.056 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
16.056 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
16.056 * [taylor]: Taking taylor expansion of 0.5 in lambda2
16.056 * [backup-simplify]: Simplify 0.5 into 0.5
16.056 * [taylor]: Taking taylor expansion of phi2 in lambda2
16.056 * [backup-simplify]: Simplify phi2 into phi2
16.056 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
16.056 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
16.056 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
16.057 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
16.057 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
16.057 * [backup-simplify]: Simplify (- 0) into 0
16.057 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
16.057 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
16.057 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
16.057 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
16.057 * [taylor]: Taking taylor expansion of 0.5 in lambda2
16.057 * [backup-simplify]: Simplify 0.5 into 0.5
16.057 * [taylor]: Taking taylor expansion of phi1 in lambda2
16.057 * [backup-simplify]: Simplify phi1 into phi1
16.058 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
16.058 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
16.058 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
16.058 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
16.058 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
16.058 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
16.058 * [taylor]: Taking taylor expansion of (* R (pow lambda2 2)) in lambda2
16.058 * [taylor]: Taking taylor expansion of R in lambda2
16.058 * [backup-simplify]: Simplify R into R
16.058 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
16.058 * [taylor]: Taking taylor expansion of lambda2 in lambda2
16.058 * [backup-simplify]: Simplify 0 into 0
16.058 * [backup-simplify]: Simplify 1 into 1
16.058 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
16.059 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
16.059 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
16.059 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
16.059 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
16.060 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))) into (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
16.061 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))) into (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))))
16.061 * [backup-simplify]: Simplify (* 1 1) into 1
16.061 * [backup-simplify]: Simplify (* R 1) into R
16.062 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))) R) into (/ (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) R)
16.062 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))) in lambda2
16.062 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3)) in lambda2
16.062 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3) in lambda2
16.062 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
16.062 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
16.062 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
16.062 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
16.062 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
16.062 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
16.063 * [taylor]: Taking taylor expansion of 0.5 in lambda2
16.063 * [backup-simplify]: Simplify 0.5 into 0.5
16.063 * [taylor]: Taking taylor expansion of phi2 in lambda2
16.063 * [backup-simplify]: Simplify phi2 into phi2
16.063 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
16.063 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
16.063 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
16.063 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
16.063 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
16.063 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
16.063 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
16.063 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
16.063 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
16.063 * [taylor]: Taking taylor expansion of 0.5 in lambda2
16.063 * [backup-simplify]: Simplify 0.5 into 0.5
16.063 * [taylor]: Taking taylor expansion of phi1 in lambda2
16.063 * [backup-simplify]: Simplify phi1 into phi1
16.063 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
16.063 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
16.064 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
16.064 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
16.064 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
16.064 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
16.064 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
16.064 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
16.064 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
16.064 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
16.064 * [taylor]: Taking taylor expansion of 0.5 in lambda2
16.064 * [backup-simplify]: Simplify 0.5 into 0.5
16.064 * [taylor]: Taking taylor expansion of phi2 in lambda2
16.064 * [backup-simplify]: Simplify phi2 into phi2
16.064 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
16.064 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
16.065 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
16.065 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
16.065 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
16.065 * [backup-simplify]: Simplify (- 0) into 0
16.066 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
16.066 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
16.066 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
16.066 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
16.066 * [taylor]: Taking taylor expansion of 0.5 in lambda2
16.066 * [backup-simplify]: Simplify 0.5 into 0.5
16.066 * [taylor]: Taking taylor expansion of phi1 in lambda2
16.066 * [backup-simplify]: Simplify phi1 into phi1
16.066 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
16.066 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
16.066 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
16.066 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
16.066 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
16.067 * [backup-simplify]: Simplify (- 0) into 0
16.067 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
16.067 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
16.067 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
16.067 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
16.067 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
16.067 * [taylor]: Taking taylor expansion of 0.5 in lambda2
16.067 * [backup-simplify]: Simplify 0.5 into 0.5
16.067 * [taylor]: Taking taylor expansion of phi2 in lambda2
16.067 * [backup-simplify]: Simplify phi2 into phi2
16.067 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
16.067 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
16.067 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
16.067 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
16.067 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
16.067 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
16.068 * [taylor]: Taking taylor expansion of 0.5 in lambda2
16.068 * [backup-simplify]: Simplify 0.5 into 0.5
16.068 * [taylor]: Taking taylor expansion of phi1 in lambda2
16.068 * [backup-simplify]: Simplify phi1 into phi1
16.068 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
16.068 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
16.068 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
16.068 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
16.068 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
16.068 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
16.068 * [taylor]: Taking taylor expansion of 0.5 in lambda2
16.068 * [backup-simplify]: Simplify 0.5 into 0.5
16.068 * [taylor]: Taking taylor expansion of phi2 in lambda2
16.068 * [backup-simplify]: Simplify phi2 into phi2
16.068 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
16.068 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
16.068 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
16.068 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
16.068 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
16.068 * [taylor]: Taking taylor expansion of 0.5 in lambda2
16.068 * [backup-simplify]: Simplify 0.5 into 0.5
16.068 * [taylor]: Taking taylor expansion of phi1 in lambda2
16.068 * [backup-simplify]: Simplify phi1 into phi1
16.069 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
16.069 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
16.069 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
16.069 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
16.069 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
16.069 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
16.069 * [taylor]: Taking taylor expansion of 0.5 in lambda2
16.069 * [backup-simplify]: Simplify 0.5 into 0.5
16.069 * [taylor]: Taking taylor expansion of phi2 in lambda2
16.069 * [backup-simplify]: Simplify phi2 into phi2
16.069 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
16.069 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
16.069 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
16.069 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
16.069 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
16.069 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
16.069 * [taylor]: Taking taylor expansion of 0.5 in lambda2
16.069 * [backup-simplify]: Simplify 0.5 into 0.5
16.069 * [taylor]: Taking taylor expansion of phi1 in lambda2
16.069 * [backup-simplify]: Simplify phi1 into phi1
16.069 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
16.069 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
16.070 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
16.070 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
16.070 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
16.070 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
16.070 * [taylor]: Taking taylor expansion of 0.5 in lambda2
16.070 * [backup-simplify]: Simplify 0.5 into 0.5
16.070 * [taylor]: Taking taylor expansion of phi2 in lambda2
16.070 * [backup-simplify]: Simplify phi2 into phi2
16.070 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
16.070 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
16.070 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
16.070 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
16.070 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
16.070 * [taylor]: Taking taylor expansion of 0.5 in lambda2
16.070 * [backup-simplify]: Simplify 0.5 into 0.5
16.070 * [taylor]: Taking taylor expansion of phi1 in lambda2
16.070 * [backup-simplify]: Simplify phi1 into phi1
16.070 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
16.070 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
16.070 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
16.071 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
16.071 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
16.071 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
16.071 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
16.071 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
16.072 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
16.073 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
16.073 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
16.073 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
16.073 * [backup-simplify]: Simplify (- 0) into 0
16.074 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
16.074 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
16.074 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
16.074 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
16.074 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
16.074 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
16.074 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
16.074 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
16.074 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
16.075 * [backup-simplify]: Simplify (- 0) into 0
16.075 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
16.075 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
16.075 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
16.076 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
16.076 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
16.076 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
16.076 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
16.076 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
16.076 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
16.077 * [backup-simplify]: Simplify (- 0) into 0
16.077 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
16.077 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
16.077 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
16.077 * [backup-simplify]: Simplify (- 0) into 0
16.077 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
16.078 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
16.078 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
16.078 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
16.078 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
16.078 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
16.079 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
16.079 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))
16.080 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
16.082 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
16.086 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)
16.090 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)) into (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2))
16.095 * [backup-simplify]: Simplify (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2))) into (/ 1 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
16.099 * [backup-simplify]: Simplify (sqrt (/ 1 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
16.100 * [backup-simplify]: Simplify (+ 0) into 0
16.100 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
16.100 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
16.101 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
16.102 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
16.102 * [backup-simplify]: Simplify (+ 0 0) into 0
16.102 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
16.103 * [backup-simplify]: Simplify (+ 0) into 0
16.103 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
16.104 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
16.104 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
16.105 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
16.105 * [backup-simplify]: Simplify (+ 0 0) into 0
16.105 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
16.106 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
16.106 * [backup-simplify]: Simplify (+ 0) into 0
16.107 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
16.107 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
16.108 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
16.108 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
16.109 * [backup-simplify]: Simplify (- 0) into 0
16.109 * [backup-simplify]: Simplify (+ 0 0) into 0
16.109 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
16.109 * [backup-simplify]: Simplify (+ 0) into 0
16.110 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
16.110 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
16.110 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
16.111 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
16.111 * [backup-simplify]: Simplify (- 0) into 0
16.111 * [backup-simplify]: Simplify (+ 0 0) into 0
16.111 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
16.111 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
16.112 * [backup-simplify]: Simplify (+ 0 0) into 0
16.112 * [backup-simplify]: Simplify (+ 0) into 0
16.112 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
16.112 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
16.113 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
16.113 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
16.113 * [backup-simplify]: Simplify (- 0) into 0
16.114 * [backup-simplify]: Simplify (+ 0 0) into 0
16.114 * [backup-simplify]: Simplify (+ 0) into 0
16.114 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
16.114 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
16.115 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
16.115 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
16.115 * [backup-simplify]: Simplify (+ 0 0) into 0
16.115 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
16.116 * [backup-simplify]: Simplify (+ 0) into 0
16.116 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
16.116 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
16.117 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
16.117 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
16.117 * [backup-simplify]: Simplify (+ 0 0) into 0
16.117 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
16.117 * [backup-simplify]: Simplify (+ 0) into 0
16.118 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
16.118 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
16.118 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
16.119 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
16.119 * [backup-simplify]: Simplify (- 0) into 0
16.119 * [backup-simplify]: Simplify (+ 0 0) into 0
16.119 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
16.120 * [backup-simplify]: Simplify (+ 0) into 0
16.120 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
16.120 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
16.120 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
16.121 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
16.121 * [backup-simplify]: Simplify (+ 0 0) into 0
16.121 * [backup-simplify]: Simplify (+ 0) into 0
16.122 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
16.122 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
16.122 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
16.123 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
16.123 * [backup-simplify]: Simplify (- 0) into 0
16.123 * [backup-simplify]: Simplify (+ 0 0) into 0
16.123 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
16.123 * [backup-simplify]: Simplify (+ 0) into 0
16.124 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
16.124 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
16.125 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
16.125 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
16.125 * [backup-simplify]: Simplify (- 0) into 0
16.126 * [backup-simplify]: Simplify (+ 0 0) into 0
16.126 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
16.126 * [backup-simplify]: Simplify (+ 0) into 0
16.126 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
16.126 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
16.127 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
16.127 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
16.127 * [backup-simplify]: Simplify (+ 0 0) into 0
16.128 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
16.128 * [backup-simplify]: Simplify (+ 0 0) into 0
16.128 * [backup-simplify]: Simplify (- 0) into 0
16.128 * [backup-simplify]: Simplify (+ 0 0) into 0
16.130 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into 0
16.132 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2))) into 0
16.137 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)))))) into 0
16.139 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
16.139 * [taylor]: Taking taylor expansion of (* (/ 1 (* R (* phi1 phi2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) in lambda2
16.139 * [taylor]: Taking taylor expansion of (/ 1 (* R (* phi1 phi2))) in lambda2
16.139 * [taylor]: Taking taylor expansion of (* R (* phi1 phi2)) in lambda2
16.139 * [taylor]: Taking taylor expansion of R in lambda2
16.139 * [backup-simplify]: Simplify R into R
16.139 * [taylor]: Taking taylor expansion of (* phi1 phi2) in lambda2
16.139 * [taylor]: Taking taylor expansion of phi1 in lambda2
16.139 * [backup-simplify]: Simplify phi1 into phi1
16.139 * [taylor]: Taking taylor expansion of phi2 in lambda2
16.139 * [backup-simplify]: Simplify phi2 into phi2
16.139 * [backup-simplify]: Simplify (* phi1 phi2) into (* phi1 phi2)
16.140 * [backup-simplify]: Simplify (* R (* phi1 phi2)) into (* phi1 (* R phi2))
16.140 * [backup-simplify]: Simplify (/ 1 (* phi1 (* R phi2))) into (/ 1 (* phi1 (* R phi2)))
16.140 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in lambda2
16.140 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in lambda2
16.140 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
16.140 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
16.140 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
16.140 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
16.140 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
16.140 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
16.140 * [taylor]: Taking taylor expansion of 0.5 in lambda2
16.140 * [backup-simplify]: Simplify 0.5 into 0.5
16.140 * [taylor]: Taking taylor expansion of phi2 in lambda2
16.140 * [backup-simplify]: Simplify phi2 into phi2
16.140 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
16.140 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
16.140 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
16.140 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
16.140 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
16.140 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
16.140 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
16.140 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
16.140 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
16.140 * [taylor]: Taking taylor expansion of 0.5 in lambda2
16.140 * [backup-simplify]: Simplify 0.5 into 0.5
16.140 * [taylor]: Taking taylor expansion of phi1 in lambda2
16.140 * [backup-simplify]: Simplify phi1 into phi1
16.140 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
16.140 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
16.140 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
16.141 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
16.141 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
16.141 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
16.141 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
16.141 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
16.141 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
16.141 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
16.141 * [taylor]: Taking taylor expansion of 0.5 in lambda2
16.141 * [backup-simplify]: Simplify 0.5 into 0.5
16.141 * [taylor]: Taking taylor expansion of phi2 in lambda2
16.141 * [backup-simplify]: Simplify phi2 into phi2
16.141 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
16.141 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
16.141 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
16.141 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
16.141 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
16.142 * [backup-simplify]: Simplify (- 0) into 0
16.142 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
16.142 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
16.142 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
16.142 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
16.142 * [taylor]: Taking taylor expansion of 0.5 in lambda2
16.142 * [backup-simplify]: Simplify 0.5 into 0.5
16.142 * [taylor]: Taking taylor expansion of phi1 in lambda2
16.142 * [backup-simplify]: Simplify phi1 into phi1
16.142 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
16.142 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
16.142 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
16.142 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
16.142 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
16.143 * [backup-simplify]: Simplify (- 0) into 0
16.143 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
16.143 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
16.143 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
16.143 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
16.143 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
16.143 * [taylor]: Taking taylor expansion of 0.5 in lambda2
16.143 * [backup-simplify]: Simplify 0.5 into 0.5
16.143 * [taylor]: Taking taylor expansion of phi2 in lambda2
16.143 * [backup-simplify]: Simplify phi2 into phi2
16.143 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
16.143 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
16.144 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
16.144 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
16.144 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
16.144 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
16.144 * [taylor]: Taking taylor expansion of 0.5 in lambda2
16.144 * [backup-simplify]: Simplify 0.5 into 0.5
16.144 * [taylor]: Taking taylor expansion of phi1 in lambda2
16.144 * [backup-simplify]: Simplify phi1 into phi1
16.144 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
16.144 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
16.144 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
16.144 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
16.144 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
16.144 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
16.144 * [taylor]: Taking taylor expansion of 0.5 in lambda2
16.144 * [backup-simplify]: Simplify 0.5 into 0.5
16.144 * [taylor]: Taking taylor expansion of phi2 in lambda2
16.144 * [backup-simplify]: Simplify phi2 into phi2
16.144 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
16.144 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
16.144 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
16.144 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
16.144 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
16.145 * [taylor]: Taking taylor expansion of 0.5 in lambda2
16.145 * [backup-simplify]: Simplify 0.5 into 0.5
16.145 * [taylor]: Taking taylor expansion of phi1 in lambda2
16.145 * [backup-simplify]: Simplify phi1 into phi1
16.145 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
16.145 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
16.145 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
16.145 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
16.145 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
16.145 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
16.145 * [taylor]: Taking taylor expansion of 0.5 in lambda2
16.145 * [backup-simplify]: Simplify 0.5 into 0.5
16.145 * [taylor]: Taking taylor expansion of phi2 in lambda2
16.145 * [backup-simplify]: Simplify phi2 into phi2
16.145 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
16.145 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
16.145 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
16.145 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
16.145 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
16.145 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
16.145 * [taylor]: Taking taylor expansion of 0.5 in lambda2
16.145 * [backup-simplify]: Simplify 0.5 into 0.5
16.145 * [taylor]: Taking taylor expansion of phi1 in lambda2
16.146 * [backup-simplify]: Simplify phi1 into phi1
16.146 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
16.146 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
16.146 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
16.146 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
16.146 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
16.146 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
16.146 * [taylor]: Taking taylor expansion of 0.5 in lambda2
16.146 * [backup-simplify]: Simplify 0.5 into 0.5
16.146 * [taylor]: Taking taylor expansion of phi2 in lambda2
16.146 * [backup-simplify]: Simplify phi2 into phi2
16.146 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
16.146 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
16.146 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
16.146 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
16.146 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
16.146 * [taylor]: Taking taylor expansion of 0.5 in lambda2
16.146 * [backup-simplify]: Simplify 0.5 into 0.5
16.146 * [taylor]: Taking taylor expansion of phi1 in lambda2
16.146 * [backup-simplify]: Simplify phi1 into phi1
16.146 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
16.147 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
16.147 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
16.147 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
16.147 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
16.147 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
16.148 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
16.148 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
16.148 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
16.149 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
16.149 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
16.149 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
16.150 * [backup-simplify]: Simplify (- 0) into 0
16.150 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
16.150 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
16.150 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
16.150 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
16.150 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
16.150 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
16.150 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
16.151 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
16.151 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
16.151 * [backup-simplify]: Simplify (- 0) into 0
16.151 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
16.151 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
16.152 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
16.152 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
16.152 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
16.152 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
16.152 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
16.152 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
16.153 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
16.153 * [backup-simplify]: Simplify (- 0) into 0
16.153 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
16.153 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
16.153 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
16.154 * [backup-simplify]: Simplify (- 0) into 0
16.154 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
16.154 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
16.154 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
16.155 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
16.155 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
16.155 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
16.155 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
16.156 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))
16.157 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
16.159 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
16.161 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
16.163 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
16.163 * [backup-simplify]: Simplify (+ 0) into 0
16.164 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
16.164 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
16.165 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
16.166 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
16.166 * [backup-simplify]: Simplify (+ 0 0) into 0
16.166 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
16.167 * [backup-simplify]: Simplify (+ 0) into 0
16.167 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
16.167 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
16.168 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
16.169 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
16.169 * [backup-simplify]: Simplify (+ 0 0) into 0
16.169 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
16.170 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
16.170 * [backup-simplify]: Simplify (+ 0) into 0
16.170 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
16.171 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
16.171 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
16.172 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
16.172 * [backup-simplify]: Simplify (- 0) into 0
16.173 * [backup-simplify]: Simplify (+ 0 0) into 0
16.173 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
16.173 * [backup-simplify]: Simplify (+ 0) into 0
16.174 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
16.174 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
16.175 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
16.175 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
16.176 * [backup-simplify]: Simplify (- 0) into 0
16.176 * [backup-simplify]: Simplify (+ 0 0) into 0
16.176 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
16.177 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
16.177 * [backup-simplify]: Simplify (+ 0 0) into 0
16.177 * [backup-simplify]: Simplify (+ 0) into 0
16.178 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
16.178 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
16.179 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
16.179 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
16.180 * [backup-simplify]: Simplify (- 0) into 0
16.180 * [backup-simplify]: Simplify (+ 0 0) into 0
16.180 * [backup-simplify]: Simplify (+ 0) into 0
16.181 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
16.181 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
16.182 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
16.182 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
16.183 * [backup-simplify]: Simplify (+ 0 0) into 0
16.183 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
16.183 * [backup-simplify]: Simplify (+ 0) into 0
16.184 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
16.184 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
16.185 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
16.186 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
16.186 * [backup-simplify]: Simplify (+ 0 0) into 0
16.186 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
16.187 * [backup-simplify]: Simplify (+ 0) into 0
16.187 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
16.188 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
16.188 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
16.189 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
16.190 * [backup-simplify]: Simplify (- 0) into 0
16.190 * [backup-simplify]: Simplify (+ 0 0) into 0
16.190 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
16.190 * [backup-simplify]: Simplify (+ 0) into 0
16.191 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
16.191 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
16.191 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
16.191 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
16.192 * [backup-simplify]: Simplify (+ 0 0) into 0
16.192 * [backup-simplify]: Simplify (+ 0) into 0
16.192 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
16.192 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
16.193 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
16.193 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
16.193 * [backup-simplify]: Simplify (- 0) into 0
16.193 * [backup-simplify]: Simplify (+ 0 0) into 0
16.194 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
16.196 * [backup-simplify]: Simplify (+ 0) into 0
16.196 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
16.196 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
16.197 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
16.197 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
16.197 * [backup-simplify]: Simplify (- 0) into 0
16.198 * [backup-simplify]: Simplify (+ 0 0) into 0
16.198 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
16.198 * [backup-simplify]: Simplify (+ 0) into 0
16.198 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
16.199 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
16.199 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
16.199 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
16.200 * [backup-simplify]: Simplify (+ 0 0) into 0
16.200 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
16.200 * [backup-simplify]: Simplify (+ 0 0) into 0
16.200 * [backup-simplify]: Simplify (- 0) into 0
16.200 * [backup-simplify]: Simplify (+ 0 0) into 0
16.202 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
16.204 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
16.204 * [backup-simplify]: Simplify (+ 0) into 0
16.205 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
16.205 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
16.205 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
16.205 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
16.206 * [backup-simplify]: Simplify (+ 0 0) into 0
16.206 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
16.206 * [backup-simplify]: Simplify (+ 0) into 0
16.206 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
16.206 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
16.207 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
16.207 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
16.207 * [backup-simplify]: Simplify (+ 0 0) into 0
16.207 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
16.208 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
16.208 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
16.208 * [backup-simplify]: Simplify (+ (* R 0) (* 0 1)) into 0
16.209 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) R) (/ 0 R)))) into 0
16.211 * [backup-simplify]: Simplify (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) R) 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
16.213 * [backup-simplify]: Simplify (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))
16.216 * [backup-simplify]: Simplify (+ (* 1/2 0) (* 0 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
16.217 * [backup-simplify]: Simplify (+ 0) into 0
16.217 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
16.217 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
16.218 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
16.219 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
16.219 * [backup-simplify]: Simplify (+ 0 0) into 0
16.219 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
16.220 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
16.220 * [backup-simplify]: Simplify (+ 0) into 0
16.221 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
16.221 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
16.221 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
16.222 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
16.222 * [backup-simplify]: Simplify (+ 0 0) into 0
16.223 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
16.223 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0
16.223 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 3) 0) (* 0 (pow (sin (/ 0.5 phi1)) 3))) into 0
16.224 * [backup-simplify]: Simplify (+ 0) into 0
16.224 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
16.224 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
16.225 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
16.226 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
16.226 * [backup-simplify]: Simplify (- 0) into 0
16.226 * [backup-simplify]: Simplify (+ 0 0) into 0
16.227 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (pow (sin (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)))) into 0
16.227 * [backup-simplify]: Simplify (+ 0) into 0
16.228 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
16.228 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
16.229 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
16.229 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
16.230 * [backup-simplify]: Simplify (- 0) into 0
16.230 * [backup-simplify]: Simplify (+ 0 0) into 0
16.231 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (pow (sin (/ 0.5 phi1)) 3) (* (pow (sin (/ 0.5 phi2)) 3) (cos (/ 0.5 phi1)))))) into 0
16.231 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
16.232 * [backup-simplify]: Simplify (+ (* R 0) (* 0 1)) into 0
16.233 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 3) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 3)))) R) (/ 0 R)))) into 0
16.237 * [backup-simplify]: Simplify (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 3) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 3)))) R) 0) (* 0 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
16.242 * [backup-simplify]: Simplify (* (/ (* (pow (sin (/ 0.5 phi2)) 3) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 3)))) R) (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))
16.248 * [backup-simplify]: Simplify (+ (* 3/2 0) (* 0 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
16.248 * [backup-simplify]: Simplify (+ 0) into 0
16.249 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
16.249 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
16.250 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
16.250 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
16.251 * [backup-simplify]: Simplify (+ 0 0) into 0
16.251 * [backup-simplify]: Simplify (+ 0) into 0
16.252 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
16.252 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
16.253 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
16.253 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
16.254 * [backup-simplify]: Simplify (- 0) into 0
16.254 * [backup-simplify]: Simplify (+ 0 0) into 0
16.254 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
16.255 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0
16.255 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 3) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
16.256 * [backup-simplify]: Simplify (+ 0) into 0
16.256 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
16.256 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
16.257 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
16.258 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
16.258 * [backup-simplify]: Simplify (- 0) into 0
16.258 * [backup-simplify]: Simplify (+ 0 0) into 0
16.259 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
16.259 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
16.259 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 3) 0) (* 0 (* (pow (cos (/ 0.5 phi2)) 3) (sin (/ 0.5 phi1))))) into 0
16.260 * [backup-simplify]: Simplify (+ 0) into 0
16.260 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
16.260 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
16.261 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
16.262 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
16.262 * [backup-simplify]: Simplify (+ 0 0) into 0
16.263 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (pow (cos (/ 0.5 phi2)) 3) (pow (cos (/ 0.5 phi1)) 3))))) into 0
16.263 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
16.264 * [backup-simplify]: Simplify (+ (* R 0) (* 0 1)) into 0
16.265 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 3) (* (pow (cos (/ 0.5 phi1)) 3) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (/ 0 R)))) into 0
16.269 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 3) (* (pow (cos (/ 0.5 phi1)) 3) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) 0) (* 0 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
16.274 * [backup-simplify]: Simplify (* (/ (* (pow (cos (/ 0.5 phi2)) 3) (* (pow (cos (/ 0.5 phi1)) 3) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into (* (/ (* (sin (/ 0.5 phi2)) (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (cos (/ 0.5 phi2)) 3) (sin (/ 0.5 phi1))))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))
16.280 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (/ (* (sin (/ 0.5 phi2)) (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (cos (/ 0.5 phi2)) 3) (sin (/ 0.5 phi1))))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
16.281 * [backup-simplify]: Simplify (+ 0) into 0
16.281 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
16.282 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
16.282 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
16.283 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
16.283 * [backup-simplify]: Simplify (+ 0 0) into 0
16.283 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
16.284 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
16.284 * [backup-simplify]: Simplify (+ 0) into 0
16.285 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
16.285 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
16.286 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
16.286 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
16.287 * [backup-simplify]: Simplify (- 0) into 0
16.287 * [backup-simplify]: Simplify (+ 0 0) into 0
16.287 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (pow (sin (/ 0.5 phi1)) 3))) into 0
16.288 * [backup-simplify]: Simplify (+ 0) into 0
16.288 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
16.288 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
16.289 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
16.290 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
16.290 * [backup-simplify]: Simplify (- 0) into 0
16.290 * [backup-simplify]: Simplify (+ 0 0) into 0
16.291 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 3)))) into 0
16.291 * [backup-simplify]: Simplify (+ 0) into 0
16.292 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
16.292 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
16.293 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
16.293 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
16.294 * [backup-simplify]: Simplify (+ 0 0) into 0
16.294 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
16.294 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0
16.295 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 3) 0) (* 0 (* (pow (sin (/ 0.5 phi1)) 3) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
16.295 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
16.296 * [backup-simplify]: Simplify (+ (* R 0) (* 0 1)) into 0
16.297 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)))) R) (/ 0 R)))) into 0
16.299 * [backup-simplify]: Simplify (+ (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)))) R) 0) (* 0 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
16.302 * [backup-simplify]: Simplify (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)))) R) (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into (* (/ (* (pow (sin (/ 0.5 phi2)) 3) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 3)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))
16.305 * [backup-simplify]: Simplify (+ (* 1/2 0) (* 0 (* (/ (* (pow (sin (/ 0.5 phi2)) 3) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 3)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
16.305 * [backup-simplify]: Simplify (+ 0) into 0
16.305 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
16.305 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
16.306 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
16.306 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
16.307 * [backup-simplify]: Simplify (- 0) into 0
16.307 * [backup-simplify]: Simplify (+ 0 0) into 0
16.307 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
16.307 * [backup-simplify]: Simplify (+ 0) into 0
16.307 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
16.308 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
16.308 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
16.308 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
16.308 * [backup-simplify]: Simplify (- 0) into 0
16.309 * [backup-simplify]: Simplify (+ 0 0) into 0
16.309 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
16.309 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
16.309 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
16.310 * [backup-simplify]: Simplify (+ (* R 0) (* 0 1)) into 0
16.310 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) R) (/ 0 R)))) into 0
16.311 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) R) 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
16.313 * [backup-simplify]: Simplify (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))
16.314 * [backup-simplify]: Simplify (+ (* 1/2 0) (* 0 (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
16.314 * [backup-simplify]: Simplify (+ 0 0) into 0
16.315 * [backup-simplify]: Simplify (+ 0 0) into 0
16.315 * [backup-simplify]: Simplify (+ 0 0) into 0
16.315 * [backup-simplify]: Simplify (+ 0 0) into 0
16.316 * [backup-simplify]: Simplify (+ 0 0) into 0
16.316 * [backup-simplify]: Simplify (+ 0 0) into 0
16.316 * [backup-simplify]: Simplify (+ 0) into 0
16.317 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
16.317 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
16.317 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
16.317 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
16.318 * [backup-simplify]: Simplify (+ 0 0) into 0
16.318 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
16.318 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
16.318 * [backup-simplify]: Simplify (+ 0) into 0
16.319 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
16.319 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
16.319 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
16.319 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
16.320 * [backup-simplify]: Simplify (+ 0 0) into 0
16.320 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
16.320 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0
16.320 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 4) 0) (* 0 (pow (sin (/ 0.5 phi1)) 4))) into 0
16.321 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
16.321 * [backup-simplify]: Simplify (+ (* R 0) (* 0 1)) into 0
16.321 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)) R) (/ 0 R)))) into 0
16.324 * [backup-simplify]: Simplify (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)) R) 0) (* 0 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
16.326 * [backup-simplify]: Simplify (* (/ (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)) R) (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into (* (/ (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))
16.335 * [backup-simplify]: Simplify (+ (* 1/2 0) (* 0 (* (/ (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
16.335 * [backup-simplify]: Simplify (+ 0) into 0
16.336 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
16.336 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
16.337 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
16.338 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
16.338 * [backup-simplify]: Simplify (+ 0 0) into 0
16.338 * [backup-simplify]: Simplify (+ 0) into 0
16.339 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
16.339 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
16.340 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
16.340 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
16.341 * [backup-simplify]: Simplify (- 0) into 0
16.341 * [backup-simplify]: Simplify (+ 0 0) into 0
16.341 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
16.342 * [backup-simplify]: Simplify (+ 0) into 0
16.342 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
16.342 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
16.342 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
16.343 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
16.343 * [backup-simplify]: Simplify (- 0) into 0
16.343 * [backup-simplify]: Simplify (+ 0 0) into 0
16.343 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
16.344 * [backup-simplify]: Simplify (+ 0) into 0
16.344 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
16.344 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
16.344 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
16.345 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
16.345 * [backup-simplify]: Simplify (+ 0 0) into 0
16.345 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
16.346 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
16.346 * [backup-simplify]: Simplify (+ (* R 0) (* 0 1)) into 0
16.346 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (/ 0 R)))) into 0
16.348 * [backup-simplify]: Simplify (+ (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
16.349 * [backup-simplify]: Simplify (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))
16.351 * [backup-simplify]: Simplify (+ (* 1/2 0) (* 0 (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
16.351 * [backup-simplify]: Simplify (+ 0) into 0
16.351 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
16.351 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
16.352 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
16.352 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
16.352 * [backup-simplify]: Simplify (+ 0 0) into 0
16.353 * [backup-simplify]: Simplify (+ 0) into 0
16.353 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
16.353 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
16.354 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
16.354 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
16.354 * [backup-simplify]: Simplify (+ 0 0) into 0
16.354 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
16.354 * [backup-simplify]: Simplify (+ 0) into 0
16.355 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
16.355 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
16.355 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
16.356 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
16.356 * [backup-simplify]: Simplify (- 0) into 0
16.356 * [backup-simplify]: Simplify (+ 0 0) into 0
16.357 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
16.357 * [backup-simplify]: Simplify (+ 0) into 0
16.357 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
16.357 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
16.358 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
16.358 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
16.358 * [backup-simplify]: Simplify (- 0) into 0
16.359 * [backup-simplify]: Simplify (+ 0 0) into 0
16.359 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
16.359 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
16.360 * [backup-simplify]: Simplify (+ (* R 0) (* 0 1)) into 0
16.360 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (/ 0 R)))) into 0
16.361 * [backup-simplify]: Simplify (+ (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
16.363 * [backup-simplify]: Simplify (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))
16.364 * [backup-simplify]: Simplify (+ (* 1/2 0) (* 0 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
16.365 * [backup-simplify]: Simplify (+ 0) into 0
16.365 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
16.365 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
16.366 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
16.366 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
16.367 * [backup-simplify]: Simplify (- 0) into 0
16.367 * [backup-simplify]: Simplify (+ 0 0) into 0
16.367 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
16.367 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
16.367 * [backup-simplify]: Simplify (+ 0) into 0
16.368 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
16.368 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
16.368 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
16.369 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
16.369 * [backup-simplify]: Simplify (- 0) into 0
16.369 * [backup-simplify]: Simplify (+ 0 0) into 0
16.369 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
16.370 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0
16.370 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 4) 0) (* 0 (pow (cos (/ 0.5 phi1)) 4))) into 0
16.371 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
16.371 * [backup-simplify]: Simplify (+ (* R 0) (* 0 1)) into 0
16.372 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi1)) 4)) R) (/ 0 R)))) into 0
16.376 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi1)) 4)) R) 0) (* 0 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
16.380 * [backup-simplify]: Simplify (* (/ (* (pow (cos (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi1)) 4)) R) (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into (* (/ (* (pow (cos (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi1)) 4)) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))
16.385 * [backup-simplify]: Simplify (+ (* 1/2 0) (* 0 (* (/ (* (pow (cos (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi1)) 4)) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
16.386 * [backup-simplify]: Simplify (+ 0) into 0
16.386 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
16.386 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
16.387 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
16.387 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
16.387 * [backup-simplify]: Simplify (+ 0 0) into 0
16.388 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
16.388 * [backup-simplify]: Simplify (+ 0) into 0
16.388 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
16.388 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
16.389 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
16.389 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
16.389 * [backup-simplify]: Simplify (- 0) into 0
16.390 * [backup-simplify]: Simplify (+ 0 0) into 0
16.390 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
16.390 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
16.390 * [backup-simplify]: Simplify (+ 0) into 0
16.391 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
16.391 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
16.391 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
16.391 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
16.392 * [backup-simplify]: Simplify (- 0) into 0
16.392 * [backup-simplify]: Simplify (+ 0 0) into 0
16.392 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
16.392 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) into 0
16.393 * [backup-simplify]: Simplify (+ 0) into 0
16.393 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
16.393 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
16.393 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
16.394 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
16.394 * [backup-simplify]: Simplify (+ 0 0) into 0
16.394 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
16.395 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))))) into 0
16.395 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
16.395 * [backup-simplify]: Simplify (+ (* R 0) (* 0 1)) into 0
16.396 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) R) (/ 0 R)))) into 0
16.398 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) R) 0) (* 0 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
16.401 * [backup-simplify]: Simplify (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) R) (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))
16.404 * [backup-simplify]: Simplify (+ (* 3 0) (* 0 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
16.404 * [backup-simplify]: Simplify (+ 0 0) into 0
16.405 * [backup-simplify]: Simplify (+ 0 0) into 0
16.405 * [backup-simplify]: Simplify (+ 0 0) into 0
16.405 * [backup-simplify]: Simplify (+ 0 0) into 0
16.405 * [backup-simplify]: Simplify (+ 0 0) into 0
16.406 * [backup-simplify]: Simplify (- 0) into 0
16.406 * [backup-simplify]: Simplify (+ 0 0) into 0
16.406 * [taylor]: Taking taylor expansion of 0 in phi1
16.406 * [backup-simplify]: Simplify 0 into 0
16.406 * [backup-simplify]: Simplify (+ 0) into 0
16.407 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
16.407 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
16.407 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
16.408 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
16.408 * [backup-simplify]: Simplify (+ 0 0) into 0
16.408 * [backup-simplify]: Simplify (+ 0) into 0
16.408 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
16.408 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
16.409 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
16.409 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
16.410 * [backup-simplify]: Simplify (- 0) into 0
16.410 * [backup-simplify]: Simplify (+ 0 0) into 0
16.410 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
16.410 * [backup-simplify]: Simplify (+ 0) into 0
16.410 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
16.411 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
16.411 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
16.411 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
16.412 * [backup-simplify]: Simplify (- 0) into 0
16.412 * [backup-simplify]: Simplify (+ 0 0) into 0
16.412 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
16.412 * [backup-simplify]: Simplify (+ 0) into 0
16.413 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
16.413 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
16.413 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
16.414 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
16.414 * [backup-simplify]: Simplify (+ 0 0) into 0
16.415 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
16.415 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 1) (* 0 0))) into 0
16.416 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (/ 0 R)))) into 0
16.419 * [backup-simplify]: Simplify (+ (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
16.419 * [backup-simplify]: Simplify (+ 0) into 0
16.420 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
16.420 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
16.421 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
16.421 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
16.422 * [backup-simplify]: Simplify (+ 0 0) into 0
16.422 * [backup-simplify]: Simplify (+ 0) into 0
16.423 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
16.423 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
16.424 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
16.424 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
16.425 * [backup-simplify]: Simplify (+ 0 0) into 0
16.425 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
16.425 * [backup-simplify]: Simplify (+ 0) into 0
16.426 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
16.426 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
16.427 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
16.427 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
16.428 * [backup-simplify]: Simplify (- 0) into 0
16.428 * [backup-simplify]: Simplify (+ 0 0) into 0
16.428 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
16.429 * [backup-simplify]: Simplify (+ 0) into 0
16.430 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
16.430 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
16.431 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
16.431 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
16.431 * [backup-simplify]: Simplify (- 0) into 0
16.432 * [backup-simplify]: Simplify (+ 0 0) into 0
16.432 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
16.433 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 1) (* 0 0))) into 0
16.433 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (/ 0 R)))) into 0
16.436 * [backup-simplify]: Simplify (+ (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
16.436 * [backup-simplify]: Simplify (+ 0 0) into 0
16.437 * [backup-simplify]: Simplify (+ 0) into 0
16.437 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
16.438 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
16.438 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
16.439 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
16.439 * [backup-simplify]: Simplify (+ 0 0) into 0
16.439 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
16.440 * [backup-simplify]: Simplify (+ 0) into 0
16.440 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
16.440 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
16.441 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
16.441 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
16.442 * [backup-simplify]: Simplify (+ 0 0) into 0
16.442 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
16.442 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
16.443 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 1) (* 0 0))) into 0
16.444 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) R) (/ 0 R)))) into 0
16.446 * [backup-simplify]: Simplify (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) R) 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
16.447 * [backup-simplify]: Simplify (+ 0) into 0
16.447 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
16.447 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
16.448 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
16.448 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
16.449 * [backup-simplify]: Simplify (- 0) into 0
16.449 * [backup-simplify]: Simplify (+ 0 0) into 0
16.449 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
16.450 * [backup-simplify]: Simplify (+ 0) into 0
16.450 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
16.451 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
16.451 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
16.452 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
16.455 * [backup-simplify]: Simplify (- 0) into 0
16.455 * [backup-simplify]: Simplify (+ 0 0) into 0
16.455 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
16.456 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
16.457 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 1) (* 0 0))) into 0
16.457 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) R) (/ 0 R)))) into 0
16.459 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) R) 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
16.460 * [backup-simplify]: Simplify (+ 0 0) into 0
16.461 * [backup-simplify]: Simplify (- 0) into 0
16.461 * [backup-simplify]: Simplify (+ 0 0) into 0
16.461 * [taylor]: Taking taylor expansion of 0 in phi1
16.461 * [backup-simplify]: Simplify 0 into 0
16.461 * [backup-simplify]: Simplify (- (+ (* (/ 1 R) (/ 0 R)))) into 0
16.463 * [backup-simplify]: Simplify (+ (* (sqrt (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) 0) (* 0 (/ 1 R))) into 0
16.463 * [taylor]: Taking taylor expansion of 0 in phi1
16.463 * [backup-simplify]: Simplify 0 into 0
16.467 * [backup-simplify]: Simplify (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))
16.469 * [backup-simplify]: Simplify (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))
16.474 * [backup-simplify]: Simplify (+ (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into (+ (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))
16.477 * [backup-simplify]: Simplify (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))
16.479 * [backup-simplify]: Simplify (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))
16.484 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))
16.490 * [backup-simplify]: Simplify (- (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into (- (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))
16.502 * [backup-simplify]: Simplify (+ (+ (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (- (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))) into (- (+ (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))
16.502 * [taylor]: Taking taylor expansion of (- (+ (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) in phi2
16.502 * [taylor]: Taking taylor expansion of (+ (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) in phi2
16.502 * [taylor]: Taking taylor expansion of (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) in phi2
16.503 * [taylor]: Taking taylor expansion of (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) in phi2
16.503 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in phi2
16.503 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
16.503 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
16.503 * [taylor]: Taking taylor expansion of 0.5 in phi2
16.503 * [backup-simplify]: Simplify 0.5 into 0.5
16.503 * [taylor]: Taking taylor expansion of phi2 in phi2
16.503 * [backup-simplify]: Simplify 0 into 0
16.503 * [backup-simplify]: Simplify 1 into 1
16.504 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
16.504 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
16.504 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in phi2
16.504 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
16.504 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
16.504 * [taylor]: Taking taylor expansion of 0.5 in phi2
16.504 * [backup-simplify]: Simplify 0.5 into 0.5
16.504 * [taylor]: Taking taylor expansion of phi1 in phi2
16.504 * [backup-simplify]: Simplify phi1 into phi1
16.504 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
16.504 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
16.504 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
16.504 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in phi2
16.504 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
16.504 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
16.504 * [taylor]: Taking taylor expansion of 0.5 in phi2
16.504 * [backup-simplify]: Simplify 0.5 into 0.5
16.504 * [taylor]: Taking taylor expansion of phi2 in phi2
16.504 * [backup-simplify]: Simplify 0 into 0
16.504 * [backup-simplify]: Simplify 1 into 1
16.505 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
16.505 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
16.505 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
16.505 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
16.506 * [taylor]: Taking taylor expansion of 0.5 in phi2
16.506 * [backup-simplify]: Simplify 0.5 into 0.5
16.506 * [taylor]: Taking taylor expansion of phi1 in phi2
16.506 * [backup-simplify]: Simplify phi1 into phi1
16.506 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
16.506 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
16.506 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
16.506 * [taylor]: Taking taylor expansion of R in phi2
16.506 * [backup-simplify]: Simplify R into R
16.506 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
16.506 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
16.507 * [backup-simplify]: Simplify (- 0) into 0
16.507 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
16.507 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
16.507 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
16.507 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
16.507 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
16.508 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
16.508 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
16.508 * [backup-simplify]: Simplify (/ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) R) into (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R)
16.508 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in phi2
16.508 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in phi2
16.509 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in phi2
16.509 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in phi2
16.509 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in phi2
16.509 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi2
16.509 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
16.509 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
16.509 * [taylor]: Taking taylor expansion of 0.5 in phi2
16.509 * [backup-simplify]: Simplify 0.5 into 0.5
16.509 * [taylor]: Taking taylor expansion of phi2 in phi2
16.509 * [backup-simplify]: Simplify 0 into 0
16.509 * [backup-simplify]: Simplify 1 into 1
16.509 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
16.510 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
16.510 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi2
16.510 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
16.510 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
16.510 * [taylor]: Taking taylor expansion of 0.5 in phi2
16.510 * [backup-simplify]: Simplify 0.5 into 0.5
16.510 * [taylor]: Taking taylor expansion of phi1 in phi2
16.510 * [backup-simplify]: Simplify phi1 into phi1
16.510 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
16.510 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
16.510 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
16.510 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
16.510 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
16.510 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
16.510 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in phi2
16.510 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi2
16.510 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
16.510 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
16.511 * [taylor]: Taking taylor expansion of 0.5 in phi2
16.511 * [backup-simplify]: Simplify 0.5 into 0.5
16.511 * [taylor]: Taking taylor expansion of phi2 in phi2
16.511 * [backup-simplify]: Simplify 0 into 0
16.511 * [backup-simplify]: Simplify 1 into 1
16.511 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
16.511 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
16.512 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi2
16.512 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
16.512 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
16.512 * [taylor]: Taking taylor expansion of 0.5 in phi2
16.512 * [backup-simplify]: Simplify 0.5 into 0.5
16.512 * [taylor]: Taking taylor expansion of phi1 in phi2
16.512 * [backup-simplify]: Simplify phi1 into phi1
16.512 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
16.512 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
16.512 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
16.512 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
16.512 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
16.513 * [backup-simplify]: Simplify (- 0) into 0
16.513 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
16.513 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in phi2
16.513 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in phi2
16.513 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
16.513 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
16.513 * [taylor]: Taking taylor expansion of 0.5 in phi2
16.513 * [backup-simplify]: Simplify 0.5 into 0.5
16.513 * [taylor]: Taking taylor expansion of phi2 in phi2
16.513 * [backup-simplify]: Simplify 0 into 0
16.513 * [backup-simplify]: Simplify 1 into 1
16.514 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
16.514 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
16.514 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in phi2
16.514 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
16.514 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
16.514 * [taylor]: Taking taylor expansion of 0.5 in phi2
16.514 * [backup-simplify]: Simplify 0.5 into 0.5
16.514 * [taylor]: Taking taylor expansion of phi1 in phi2
16.514 * [backup-simplify]: Simplify phi1 into phi1
16.514 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
16.514 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
16.514 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
16.514 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in phi2
16.514 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
16.514 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
16.514 * [taylor]: Taking taylor expansion of 0.5 in phi2
16.514 * [backup-simplify]: Simplify 0.5 into 0.5
16.514 * [taylor]: Taking taylor expansion of phi2 in phi2
16.514 * [backup-simplify]: Simplify 0 into 0
16.514 * [backup-simplify]: Simplify 1 into 1
16.515 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
16.515 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
16.515 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
16.515 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
16.515 * [taylor]: Taking taylor expansion of 0.5 in phi2
16.515 * [backup-simplify]: Simplify 0.5 into 0.5
16.515 * [taylor]: Taking taylor expansion of phi1 in phi2
16.515 * [backup-simplify]: Simplify phi1 into phi1
16.515 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
16.515 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
16.516 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
16.516 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in phi2
16.516 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
16.516 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
16.516 * [taylor]: Taking taylor expansion of 0.5 in phi2
16.516 * [backup-simplify]: Simplify 0.5 into 0.5
16.516 * [taylor]: Taking taylor expansion of phi2 in phi2
16.516 * [backup-simplify]: Simplify 0 into 0
16.516 * [backup-simplify]: Simplify 1 into 1
16.516 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
16.517 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
16.517 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in phi2
16.517 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
16.517 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
16.517 * [taylor]: Taking taylor expansion of 0.5 in phi2
16.517 * [backup-simplify]: Simplify 0.5 into 0.5
16.517 * [taylor]: Taking taylor expansion of phi1 in phi2
16.517 * [backup-simplify]: Simplify phi1 into phi1
16.517 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
16.517 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
16.517 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
16.517 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in phi2
16.517 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
16.517 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
16.517 * [taylor]: Taking taylor expansion of 0.5 in phi2
16.517 * [backup-simplify]: Simplify 0.5 into 0.5
16.517 * [taylor]: Taking taylor expansion of phi2 in phi2
16.517 * [backup-simplify]: Simplify 0 into 0
16.517 * [backup-simplify]: Simplify 1 into 1
16.518 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
16.518 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
16.518 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
16.518 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
16.518 * [taylor]: Taking taylor expansion of 0.5 in phi2
16.518 * [backup-simplify]: Simplify 0.5 into 0.5
16.518 * [taylor]: Taking taylor expansion of phi1 in phi2
16.518 * [backup-simplify]: Simplify phi1 into phi1
16.518 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
16.518 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
16.518 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
16.519 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
16.519 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
16.519 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
16.519 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
16.519 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
16.520 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
16.521 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
16.521 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
16.521 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
16.521 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
16.521 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
16.521 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
16.522 * [backup-simplify]: Simplify (- 0) into 0
16.522 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
16.522 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
16.522 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
16.523 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
16.523 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
16.523 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
16.523 * [backup-simplify]: Simplify (- 0) into 0
16.523 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
16.524 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
16.524 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
16.524 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
16.524 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
16.524 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
16.525 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
16.525 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))
16.527 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
16.529 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
16.530 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
16.532 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
16.533 * [backup-simplify]: Simplify (+ 0) into 0
16.534 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
16.534 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
16.535 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
16.535 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
16.536 * [backup-simplify]: Simplify (+ 0 0) into 0
16.536 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
16.536 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
16.537 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
16.537 * [backup-simplify]: Simplify (+ 0) into 0
16.537 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
16.538 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
16.538 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
16.538 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
16.539 * [backup-simplify]: Simplify (- 0) into 0
16.539 * [backup-simplify]: Simplify (+ 0 0) into 0
16.539 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
16.539 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
16.539 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
16.540 * [backup-simplify]: Simplify (+ 0 0) into 0
16.540 * [backup-simplify]: Simplify (+ 0) into 0
16.540 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
16.540 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
16.541 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
16.541 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
16.541 * [backup-simplify]: Simplify (- 0) into 0
16.542 * [backup-simplify]: Simplify (+ 0 0) into 0
16.542 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
16.542 * [backup-simplify]: Simplify (+ 0) into 0
16.542 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
16.542 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
16.543 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
16.543 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
16.543 * [backup-simplify]: Simplify (+ 0 0) into 0
16.543 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
16.544 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
16.544 * [backup-simplify]: Simplify (+ 0) into 0
16.544 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
16.544 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
16.545 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
16.545 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
16.545 * [backup-simplify]: Simplify (+ 0 0) into 0
16.545 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
16.546 * [backup-simplify]: Simplify (+ 0) into 0
16.546 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
16.546 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
16.547 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
16.547 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
16.547 * [backup-simplify]: Simplify (- 0) into 0
16.547 * [backup-simplify]: Simplify (+ 0 0) into 0
16.547 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
16.548 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
16.548 * [backup-simplify]: Simplify (+ 0 0) into 0
16.548 * [backup-simplify]: Simplify (- 0) into 0
16.548 * [backup-simplify]: Simplify (+ 0 0) into 0
16.551 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
16.552 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
16.552 * [taylor]: Taking taylor expansion of (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) in phi2
16.552 * [taylor]: Taking taylor expansion of (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) in phi2
16.552 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in phi2
16.552 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
16.552 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
16.552 * [taylor]: Taking taylor expansion of 0.5 in phi2
16.552 * [backup-simplify]: Simplify 0.5 into 0.5
16.552 * [taylor]: Taking taylor expansion of phi2 in phi2
16.552 * [backup-simplify]: Simplify 0 into 0
16.552 * [backup-simplify]: Simplify 1 into 1
16.553 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
16.553 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
16.553 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in phi2
16.553 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
16.553 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
16.553 * [taylor]: Taking taylor expansion of 0.5 in phi2
16.553 * [backup-simplify]: Simplify 0.5 into 0.5
16.553 * [taylor]: Taking taylor expansion of phi1 in phi2
16.553 * [backup-simplify]: Simplify phi1 into phi1
16.553 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
16.553 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
16.553 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
16.553 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in phi2
16.553 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
16.553 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
16.553 * [taylor]: Taking taylor expansion of 0.5 in phi2
16.553 * [backup-simplify]: Simplify 0.5 into 0.5
16.553 * [taylor]: Taking taylor expansion of phi2 in phi2
16.553 * [backup-simplify]: Simplify 0 into 0
16.553 * [backup-simplify]: Simplify 1 into 1
16.554 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
16.554 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
16.554 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
16.554 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
16.554 * [taylor]: Taking taylor expansion of 0.5 in phi2
16.554 * [backup-simplify]: Simplify 0.5 into 0.5
16.554 * [taylor]: Taking taylor expansion of phi1 in phi2
16.554 * [backup-simplify]: Simplify phi1 into phi1
16.554 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
16.554 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
16.554 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
16.554 * [taylor]: Taking taylor expansion of R in phi2
16.554 * [backup-simplify]: Simplify R into R
16.554 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
16.554 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
16.554 * [backup-simplify]: Simplify (- 0) into 0
16.554 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
16.554 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
16.555 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
16.555 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
16.555 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
16.555 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
16.555 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
16.555 * [backup-simplify]: Simplify (/ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) R) into (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R)
16.555 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in phi2
16.555 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in phi2
16.555 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in phi2
16.555 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in phi2
16.555 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in phi2
16.555 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi2
16.555 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
16.555 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
16.555 * [taylor]: Taking taylor expansion of 0.5 in phi2
16.555 * [backup-simplify]: Simplify 0.5 into 0.5
16.555 * [taylor]: Taking taylor expansion of phi2 in phi2
16.555 * [backup-simplify]: Simplify 0 into 0
16.556 * [backup-simplify]: Simplify 1 into 1
16.556 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
16.556 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
16.556 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi2
16.556 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
16.556 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
16.556 * [taylor]: Taking taylor expansion of 0.5 in phi2
16.556 * [backup-simplify]: Simplify 0.5 into 0.5
16.556 * [taylor]: Taking taylor expansion of phi1 in phi2
16.556 * [backup-simplify]: Simplify phi1 into phi1
16.556 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
16.556 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
16.556 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
16.556 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
16.556 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
16.556 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
16.556 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in phi2
16.556 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi2
16.556 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
16.557 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
16.557 * [taylor]: Taking taylor expansion of 0.5 in phi2
16.557 * [backup-simplify]: Simplify 0.5 into 0.5
16.557 * [taylor]: Taking taylor expansion of phi2 in phi2
16.557 * [backup-simplify]: Simplify 0 into 0
16.557 * [backup-simplify]: Simplify 1 into 1
16.557 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
16.557 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
16.557 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi2
16.557 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
16.557 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
16.557 * [taylor]: Taking taylor expansion of 0.5 in phi2
16.557 * [backup-simplify]: Simplify 0.5 into 0.5
16.557 * [taylor]: Taking taylor expansion of phi1 in phi2
16.557 * [backup-simplify]: Simplify phi1 into phi1
16.557 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
16.557 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
16.557 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
16.557 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
16.557 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
16.558 * [backup-simplify]: Simplify (- 0) into 0
16.558 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
16.558 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in phi2
16.558 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in phi2
16.558 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
16.558 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
16.558 * [taylor]: Taking taylor expansion of 0.5 in phi2
16.558 * [backup-simplify]: Simplify 0.5 into 0.5
16.558 * [taylor]: Taking taylor expansion of phi2 in phi2
16.558 * [backup-simplify]: Simplify 0 into 0
16.558 * [backup-simplify]: Simplify 1 into 1
16.558 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
16.558 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
16.558 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in phi2
16.558 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
16.558 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
16.558 * [taylor]: Taking taylor expansion of 0.5 in phi2
16.559 * [backup-simplify]: Simplify 0.5 into 0.5
16.559 * [taylor]: Taking taylor expansion of phi1 in phi2
16.559 * [backup-simplify]: Simplify phi1 into phi1
16.559 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
16.559 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
16.559 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
16.559 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in phi2
16.559 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
16.559 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
16.559 * [taylor]: Taking taylor expansion of 0.5 in phi2
16.559 * [backup-simplify]: Simplify 0.5 into 0.5
16.559 * [taylor]: Taking taylor expansion of phi2 in phi2
16.559 * [backup-simplify]: Simplify 0 into 0
16.559 * [backup-simplify]: Simplify 1 into 1
16.559 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
16.560 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
16.560 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
16.560 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
16.560 * [taylor]: Taking taylor expansion of 0.5 in phi2
16.560 * [backup-simplify]: Simplify 0.5 into 0.5
16.560 * [taylor]: Taking taylor expansion of phi1 in phi2
16.560 * [backup-simplify]: Simplify phi1 into phi1
16.560 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
16.560 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
16.560 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
16.560 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in phi2
16.560 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
16.560 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
16.560 * [taylor]: Taking taylor expansion of 0.5 in phi2
16.560 * [backup-simplify]: Simplify 0.5 into 0.5
16.560 * [taylor]: Taking taylor expansion of phi2 in phi2
16.560 * [backup-simplify]: Simplify 0 into 0
16.560 * [backup-simplify]: Simplify 1 into 1
16.560 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
16.560 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
16.560 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in phi2
16.560 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
16.560 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
16.560 * [taylor]: Taking taylor expansion of 0.5 in phi2
16.560 * [backup-simplify]: Simplify 0.5 into 0.5
16.560 * [taylor]: Taking taylor expansion of phi1 in phi2
16.560 * [backup-simplify]: Simplify phi1 into phi1
16.561 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
16.561 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
16.561 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
16.561 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in phi2
16.561 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
16.561 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
16.561 * [taylor]: Taking taylor expansion of 0.5 in phi2
16.561 * [backup-simplify]: Simplify 0.5 into 0.5
16.561 * [taylor]: Taking taylor expansion of phi2 in phi2
16.561 * [backup-simplify]: Simplify 0 into 0
16.561 * [backup-simplify]: Simplify 1 into 1
16.561 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
16.561 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
16.561 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
16.561 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
16.561 * [taylor]: Taking taylor expansion of 0.5 in phi2
16.561 * [backup-simplify]: Simplify 0.5 into 0.5
16.561 * [taylor]: Taking taylor expansion of phi1 in phi2
16.561 * [backup-simplify]: Simplify phi1 into phi1
16.561 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
16.561 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
16.561 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
16.562 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
16.562 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
16.562 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
16.562 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
16.562 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
16.562 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
16.563 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
16.563 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
16.563 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
16.563 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
16.563 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
16.563 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
16.563 * [backup-simplify]: Simplify (- 0) into 0
16.563 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
16.563 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
16.564 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
16.564 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
16.564 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
16.564 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
16.564 * [backup-simplify]: Simplify (- 0) into 0
16.564 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
16.564 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
16.564 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
16.564 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
16.565 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
16.565 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
16.565 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
16.565 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))
16.566 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
16.568 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
16.570 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
16.572 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
16.573 * [backup-simplify]: Simplify (+ 0) into 0
16.573 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
16.573 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
16.574 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
16.575 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
16.575 * [backup-simplify]: Simplify (+ 0 0) into 0
16.575 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
16.576 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
16.576 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
16.577 * [backup-simplify]: Simplify (+ 0) into 0
16.577 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
16.578 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
16.578 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
16.579 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
16.579 * [backup-simplify]: Simplify (- 0) into 0
16.580 * [backup-simplify]: Simplify (+ 0 0) into 0
16.580 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
16.580 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
16.580 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
16.581 * [backup-simplify]: Simplify (+ 0 0) into 0
16.581 * [backup-simplify]: Simplify (+ 0) into 0
16.582 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
16.582 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
16.583 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
16.583 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
16.583 * [backup-simplify]: Simplify (- 0) into 0
16.584 * [backup-simplify]: Simplify (+ 0 0) into 0
16.584 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
16.584 * [backup-simplify]: Simplify (+ 0) into 0
16.585 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
16.585 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
16.586 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
16.586 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
16.587 * [backup-simplify]: Simplify (+ 0 0) into 0
16.587 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
16.587 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
16.588 * [backup-simplify]: Simplify (+ 0) into 0
16.588 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
16.589 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
16.589 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
16.590 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
16.591 * [backup-simplify]: Simplify (+ 0 0) into 0
16.591 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
16.591 * [backup-simplify]: Simplify (+ 0) into 0
16.592 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
16.592 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
16.593 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
16.593 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
16.594 * [backup-simplify]: Simplify (- 0) into 0
16.594 * [backup-simplify]: Simplify (+ 0 0) into 0
16.594 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
16.595 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
16.595 * [backup-simplify]: Simplify (+ 0 0) into 0
16.595 * [backup-simplify]: Simplify (- 0) into 0
16.596 * [backup-simplify]: Simplify (+ 0 0) into 0
16.600 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
16.602 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
16.602 * [taylor]: Taking taylor expansion of (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) in phi2
16.602 * [taylor]: Taking taylor expansion of (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) in phi2
16.602 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) R) in phi2
16.602 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in phi2
16.602 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi2
16.602 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
16.602 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
16.602 * [taylor]: Taking taylor expansion of 0.5 in phi2
16.602 * [backup-simplify]: Simplify 0.5 into 0.5
16.602 * [taylor]: Taking taylor expansion of phi2 in phi2
16.602 * [backup-simplify]: Simplify 0 into 0
16.602 * [backup-simplify]: Simplify 1 into 1
16.602 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
16.603 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
16.603 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi2
16.603 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
16.603 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
16.603 * [taylor]: Taking taylor expansion of 0.5 in phi2
16.603 * [backup-simplify]: Simplify 0.5 into 0.5
16.603 * [taylor]: Taking taylor expansion of phi1 in phi2
16.603 * [backup-simplify]: Simplify phi1 into phi1
16.603 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
16.603 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
16.603 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
16.603 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
16.603 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
16.603 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
16.603 * [taylor]: Taking taylor expansion of R in phi2
16.603 * [backup-simplify]: Simplify R into R
16.603 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
16.603 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
16.603 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
16.604 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) R) into (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) R)
16.604 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in phi2
16.604 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in phi2
16.604 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in phi2
16.604 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in phi2
16.604 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in phi2
16.604 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi2
16.604 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
16.604 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
16.604 * [taylor]: Taking taylor expansion of 0.5 in phi2
16.604 * [backup-simplify]: Simplify 0.5 into 0.5
16.604 * [taylor]: Taking taylor expansion of phi2 in phi2
16.604 * [backup-simplify]: Simplify 0 into 0
16.604 * [backup-simplify]: Simplify 1 into 1
16.604 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
16.604 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
16.604 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi2
16.604 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
16.604 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
16.605 * [taylor]: Taking taylor expansion of 0.5 in phi2
16.605 * [backup-simplify]: Simplify 0.5 into 0.5
16.605 * [taylor]: Taking taylor expansion of phi1 in phi2
16.605 * [backup-simplify]: Simplify phi1 into phi1
16.605 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
16.605 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
16.605 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
16.605 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
16.605 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
16.605 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
16.605 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in phi2
16.605 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi2
16.605 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
16.605 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
16.605 * [taylor]: Taking taylor expansion of 0.5 in phi2
16.605 * [backup-simplify]: Simplify 0.5 into 0.5
16.605 * [taylor]: Taking taylor expansion of phi2 in phi2
16.605 * [backup-simplify]: Simplify 0 into 0
16.605 * [backup-simplify]: Simplify 1 into 1
16.605 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
16.605 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
16.605 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi2
16.605 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
16.605 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
16.605 * [taylor]: Taking taylor expansion of 0.5 in phi2
16.606 * [backup-simplify]: Simplify 0.5 into 0.5
16.606 * [taylor]: Taking taylor expansion of phi1 in phi2
16.606 * [backup-simplify]: Simplify phi1 into phi1
16.606 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
16.606 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
16.606 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
16.606 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
16.606 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
16.606 * [backup-simplify]: Simplify (- 0) into 0
16.606 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
16.606 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in phi2
16.606 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in phi2
16.606 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
16.606 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
16.606 * [taylor]: Taking taylor expansion of 0.5 in phi2
16.606 * [backup-simplify]: Simplify 0.5 into 0.5
16.606 * [taylor]: Taking taylor expansion of phi2 in phi2
16.606 * [backup-simplify]: Simplify 0 into 0
16.606 * [backup-simplify]: Simplify 1 into 1
16.607 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
16.607 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
16.607 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in phi2
16.607 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
16.607 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
16.607 * [taylor]: Taking taylor expansion of 0.5 in phi2
16.607 * [backup-simplify]: Simplify 0.5 into 0.5
16.607 * [taylor]: Taking taylor expansion of phi1 in phi2
16.607 * [backup-simplify]: Simplify phi1 into phi1
16.607 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
16.607 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
16.607 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
16.607 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in phi2
16.607 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
16.607 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
16.607 * [taylor]: Taking taylor expansion of 0.5 in phi2
16.607 * [backup-simplify]: Simplify 0.5 into 0.5
16.607 * [taylor]: Taking taylor expansion of phi2 in phi2
16.607 * [backup-simplify]: Simplify 0 into 0
16.607 * [backup-simplify]: Simplify 1 into 1
16.607 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
16.607 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
16.607 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
16.607 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
16.607 * [taylor]: Taking taylor expansion of 0.5 in phi2
16.608 * [backup-simplify]: Simplify 0.5 into 0.5
16.608 * [taylor]: Taking taylor expansion of phi1 in phi2
16.608 * [backup-simplify]: Simplify phi1 into phi1
16.608 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
16.608 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
16.608 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
16.608 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in phi2
16.608 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
16.608 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
16.608 * [taylor]: Taking taylor expansion of 0.5 in phi2
16.608 * [backup-simplify]: Simplify 0.5 into 0.5
16.608 * [taylor]: Taking taylor expansion of phi2 in phi2
16.608 * [backup-simplify]: Simplify 0 into 0
16.608 * [backup-simplify]: Simplify 1 into 1
16.608 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
16.608 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
16.608 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in phi2
16.608 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
16.608 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
16.608 * [taylor]: Taking taylor expansion of 0.5 in phi2
16.608 * [backup-simplify]: Simplify 0.5 into 0.5
16.608 * [taylor]: Taking taylor expansion of phi1 in phi2
16.608 * [backup-simplify]: Simplify phi1 into phi1
16.608 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
16.608 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
16.608 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
16.608 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in phi2
16.608 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
16.608 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
16.609 * [taylor]: Taking taylor expansion of 0.5 in phi2
16.609 * [backup-simplify]: Simplify 0.5 into 0.5
16.609 * [taylor]: Taking taylor expansion of phi2 in phi2
16.609 * [backup-simplify]: Simplify 0 into 0
16.609 * [backup-simplify]: Simplify 1 into 1
16.609 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
16.609 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
16.609 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
16.609 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
16.609 * [taylor]: Taking taylor expansion of 0.5 in phi2
16.609 * [backup-simplify]: Simplify 0.5 into 0.5
16.609 * [taylor]: Taking taylor expansion of phi1 in phi2
16.609 * [backup-simplify]: Simplify phi1 into phi1
16.609 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
16.609 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
16.609 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
16.609 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
16.609 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
16.610 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
16.610 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
16.610 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
16.610 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
16.610 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
16.611 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
16.611 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
16.611 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
16.611 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
16.611 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
16.611 * [backup-simplify]: Simplify (- 0) into 0
16.611 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
16.611 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
16.611 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
16.611 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
16.612 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
16.612 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
16.612 * [backup-simplify]: Simplify (- 0) into 0
16.612 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
16.612 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
16.612 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
16.612 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
16.612 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
16.612 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
16.613 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
16.613 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))
16.613 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
16.614 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
16.615 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
16.619 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
16.620 * [backup-simplify]: Simplify (+ 0) into 0
16.620 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
16.620 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
16.621 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
16.621 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
16.621 * [backup-simplify]: Simplify (+ 0 0) into 0
16.621 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
16.621 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
16.622 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
16.622 * [backup-simplify]: Simplify (+ 0) into 0
16.622 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
16.622 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
16.623 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
16.623 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
16.623 * [backup-simplify]: Simplify (- 0) into 0
16.624 * [backup-simplify]: Simplify (+ 0 0) into 0
16.624 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
16.624 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
16.624 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
16.624 * [backup-simplify]: Simplify (+ 0 0) into 0
16.625 * [backup-simplify]: Simplify (+ 0) into 0
16.625 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
16.625 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
16.626 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
16.626 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
16.626 * [backup-simplify]: Simplify (- 0) into 0
16.626 * [backup-simplify]: Simplify (+ 0 0) into 0
16.626 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
16.627 * [backup-simplify]: Simplify (+ 0) into 0
16.627 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
16.627 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
16.628 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
16.628 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
16.628 * [backup-simplify]: Simplify (+ 0 0) into 0
16.628 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
16.628 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
16.629 * [backup-simplify]: Simplify (+ 0) into 0
16.629 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
16.629 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
16.630 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
16.630 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
16.631 * [backup-simplify]: Simplify (+ 0 0) into 0
16.631 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
16.631 * [backup-simplify]: Simplify (+ 0) into 0
16.632 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
16.632 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
16.633 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
16.633 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
16.634 * [backup-simplify]: Simplify (- 0) into 0
16.634 * [backup-simplify]: Simplify (+ 0 0) into 0
16.634 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
16.635 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
16.635 * [backup-simplify]: Simplify (+ 0 0) into 0
16.636 * [backup-simplify]: Simplify (- 0) into 0
16.636 * [backup-simplify]: Simplify (+ 0 0) into 0
16.640 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
16.642 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
16.642 * [taylor]: Taking taylor expansion of (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) in phi2
16.642 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) R) in phi2
16.643 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in phi2
16.643 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi2
16.643 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
16.643 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
16.643 * [taylor]: Taking taylor expansion of 0.5 in phi2
16.643 * [backup-simplify]: Simplify 0.5 into 0.5
16.643 * [taylor]: Taking taylor expansion of phi2 in phi2
16.643 * [backup-simplify]: Simplify 0 into 0
16.643 * [backup-simplify]: Simplify 1 into 1
16.643 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
16.644 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
16.644 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi2
16.644 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
16.644 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
16.644 * [taylor]: Taking taylor expansion of 0.5 in phi2
16.644 * [backup-simplify]: Simplify 0.5 into 0.5
16.644 * [taylor]: Taking taylor expansion of phi1 in phi2
16.644 * [backup-simplify]: Simplify phi1 into phi1
16.644 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
16.644 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
16.644 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
16.644 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
16.644 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
16.645 * [backup-simplify]: Simplify (- 0) into 0
16.645 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
16.645 * [taylor]: Taking taylor expansion of R in phi2
16.645 * [backup-simplify]: Simplify R into R
16.645 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
16.645 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
16.646 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
16.646 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) R) into (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) R)
16.646 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in phi2
16.646 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in phi2
16.646 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in phi2
16.646 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in phi2
16.646 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in phi2
16.646 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi2
16.646 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
16.646 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
16.646 * [taylor]: Taking taylor expansion of 0.5 in phi2
16.646 * [backup-simplify]: Simplify 0.5 into 0.5
16.646 * [taylor]: Taking taylor expansion of phi2 in phi2
16.646 * [backup-simplify]: Simplify 0 into 0
16.646 * [backup-simplify]: Simplify 1 into 1
16.647 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
16.647 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
16.647 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi2
16.647 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
16.647 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
16.647 * [taylor]: Taking taylor expansion of 0.5 in phi2
16.647 * [backup-simplify]: Simplify 0.5 into 0.5
16.647 * [taylor]: Taking taylor expansion of phi1 in phi2
16.647 * [backup-simplify]: Simplify phi1 into phi1
16.647 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
16.647 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
16.648 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
16.648 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
16.648 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
16.648 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
16.648 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in phi2
16.648 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi2
16.648 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
16.648 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
16.648 * [taylor]: Taking taylor expansion of 0.5 in phi2
16.648 * [backup-simplify]: Simplify 0.5 into 0.5
16.648 * [taylor]: Taking taylor expansion of phi2 in phi2
16.648 * [backup-simplify]: Simplify 0 into 0
16.648 * [backup-simplify]: Simplify 1 into 1
16.649 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
16.649 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
16.649 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi2
16.649 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
16.649 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
16.649 * [taylor]: Taking taylor expansion of 0.5 in phi2
16.649 * [backup-simplify]: Simplify 0.5 into 0.5
16.649 * [taylor]: Taking taylor expansion of phi1 in phi2
16.649 * [backup-simplify]: Simplify phi1 into phi1
16.649 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
16.649 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
16.649 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
16.650 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
16.650 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
16.650 * [backup-simplify]: Simplify (- 0) into 0
16.650 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
16.650 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in phi2
16.650 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in phi2
16.650 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
16.650 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
16.650 * [taylor]: Taking taylor expansion of 0.5 in phi2
16.650 * [backup-simplify]: Simplify 0.5 into 0.5
16.650 * [taylor]: Taking taylor expansion of phi2 in phi2
16.651 * [backup-simplify]: Simplify 0 into 0
16.651 * [backup-simplify]: Simplify 1 into 1
16.651 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
16.651 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
16.651 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in phi2
16.651 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
16.651 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
16.651 * [taylor]: Taking taylor expansion of 0.5 in phi2
16.651 * [backup-simplify]: Simplify 0.5 into 0.5
16.651 * [taylor]: Taking taylor expansion of phi1 in phi2
16.651 * [backup-simplify]: Simplify phi1 into phi1
16.651 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
16.652 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
16.652 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
16.652 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in phi2
16.652 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
16.652 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
16.652 * [taylor]: Taking taylor expansion of 0.5 in phi2
16.652 * [backup-simplify]: Simplify 0.5 into 0.5
16.652 * [taylor]: Taking taylor expansion of phi2 in phi2
16.652 * [backup-simplify]: Simplify 0 into 0
16.652 * [backup-simplify]: Simplify 1 into 1
16.652 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
16.652 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
16.652 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
16.653 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
16.653 * [taylor]: Taking taylor expansion of 0.5 in phi2
16.653 * [backup-simplify]: Simplify 0.5 into 0.5
16.653 * [taylor]: Taking taylor expansion of phi1 in phi2
16.653 * [backup-simplify]: Simplify phi1 into phi1
16.653 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
16.653 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
16.653 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
16.653 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in phi2
16.653 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
16.653 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
16.653 * [taylor]: Taking taylor expansion of 0.5 in phi2
16.653 * [backup-simplify]: Simplify 0.5 into 0.5
16.653 * [taylor]: Taking taylor expansion of phi2 in phi2
16.653 * [backup-simplify]: Simplify 0 into 0
16.653 * [backup-simplify]: Simplify 1 into 1
16.654 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
16.654 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
16.654 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in phi2
16.654 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
16.654 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
16.654 * [taylor]: Taking taylor expansion of 0.5 in phi2
16.654 * [backup-simplify]: Simplify 0.5 into 0.5
16.654 * [taylor]: Taking taylor expansion of phi1 in phi2
16.654 * [backup-simplify]: Simplify phi1 into phi1
16.654 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
16.654 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
16.654 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
16.654 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in phi2
16.654 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
16.654 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
16.655 * [taylor]: Taking taylor expansion of 0.5 in phi2
16.655 * [backup-simplify]: Simplify 0.5 into 0.5
16.655 * [taylor]: Taking taylor expansion of phi2 in phi2
16.655 * [backup-simplify]: Simplify 0 into 0
16.655 * [backup-simplify]: Simplify 1 into 1
16.655 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
16.656 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
16.656 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
16.656 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
16.656 * [taylor]: Taking taylor expansion of 0.5 in phi2
16.656 * [backup-simplify]: Simplify 0.5 into 0.5
16.656 * [taylor]: Taking taylor expansion of phi1 in phi2
16.656 * [backup-simplify]: Simplify phi1 into phi1
16.656 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
16.656 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
16.656 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
16.656 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
16.657 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
16.657 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
16.657 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
16.657 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
16.658 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
16.659 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
16.659 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
16.659 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
16.659 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
16.659 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
16.659 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
16.660 * [backup-simplify]: Simplify (- 0) into 0
16.660 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
16.660 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
16.660 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
16.661 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
16.661 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
16.661 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
16.661 * [backup-simplify]: Simplify (- 0) into 0
16.662 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
16.662 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
16.662 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
16.662 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
16.662 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
16.662 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
16.663 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
16.664 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))
16.664 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
16.667 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
16.669 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
16.671 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
16.671 * [backup-simplify]: Simplify (+ 0) into 0
16.672 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
16.672 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
16.673 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
16.673 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
16.674 * [backup-simplify]: Simplify (+ 0 0) into 0
16.674 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
16.674 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
16.674 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
16.675 * [backup-simplify]: Simplify (+ 0) into 0
16.675 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
16.676 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
16.676 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
16.677 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
16.677 * [backup-simplify]: Simplify (- 0) into 0
16.678 * [backup-simplify]: Simplify (+ 0 0) into 0
16.678 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
16.678 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
16.678 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
16.679 * [backup-simplify]: Simplify (+ 0 0) into 0
16.679 * [backup-simplify]: Simplify (+ 0) into 0
16.680 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
16.680 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
16.681 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
16.681 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
16.682 * [backup-simplify]: Simplify (- 0) into 0
16.682 * [backup-simplify]: Simplify (+ 0 0) into 0
16.682 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
16.683 * [backup-simplify]: Simplify (+ 0) into 0
16.683 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
16.683 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
16.684 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
16.684 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
16.685 * [backup-simplify]: Simplify (+ 0 0) into 0
16.685 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
16.686 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
16.686 * [backup-simplify]: Simplify (+ 0) into 0
16.686 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
16.687 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
16.687 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
16.688 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
16.688 * [backup-simplify]: Simplify (+ 0 0) into 0
16.688 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
16.689 * [backup-simplify]: Simplify (+ 0) into 0
16.689 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
16.689 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
16.690 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
16.691 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
16.691 * [backup-simplify]: Simplify (- 0) into 0
16.691 * [backup-simplify]: Simplify (+ 0 0) into 0
16.692 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
16.692 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
16.692 * [backup-simplify]: Simplify (+ 0 0) into 0
16.693 * [backup-simplify]: Simplify (- 0) into 0
16.693 * [backup-simplify]: Simplify (+ 0 0) into 0
16.697 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
16.699 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
16.701 * [backup-simplify]: Simplify (* (sqrt (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 1 R)) into (* (sqrt (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 1 R))
16.702 * [taylor]: Taking taylor expansion of (* (sqrt (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 1 R)) in phi2
16.702 * [taylor]: Taking taylor expansion of (sqrt (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in phi2
16.702 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in phi2
16.702 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in phi2
16.702 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in phi2
16.702 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi2
16.702 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
16.702 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
16.702 * [taylor]: Taking taylor expansion of 0.5 in phi2
16.702 * [backup-simplify]: Simplify 0.5 into 0.5
16.702 * [taylor]: Taking taylor expansion of phi2 in phi2
16.702 * [backup-simplify]: Simplify 0 into 0
16.702 * [backup-simplify]: Simplify 1 into 1
16.703 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
16.703 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
16.703 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi2
16.703 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
16.703 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
16.703 * [taylor]: Taking taylor expansion of 0.5 in phi2
16.703 * [backup-simplify]: Simplify 0.5 into 0.5
16.703 * [taylor]: Taking taylor expansion of phi1 in phi2
16.703 * [backup-simplify]: Simplify phi1 into phi1
16.703 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
16.703 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
16.703 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
16.703 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
16.704 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
16.704 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
16.704 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in phi2
16.704 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi2
16.704 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
16.704 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
16.704 * [taylor]: Taking taylor expansion of 0.5 in phi2
16.704 * [backup-simplify]: Simplify 0.5 into 0.5
16.704 * [taylor]: Taking taylor expansion of phi2 in phi2
16.704 * [backup-simplify]: Simplify 0 into 0
16.704 * [backup-simplify]: Simplify 1 into 1
16.704 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
16.705 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
16.705 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi2
16.705 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
16.705 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
16.705 * [taylor]: Taking taylor expansion of 0.5 in phi2
16.705 * [backup-simplify]: Simplify 0.5 into 0.5
16.705 * [taylor]: Taking taylor expansion of phi1 in phi2
16.705 * [backup-simplify]: Simplify phi1 into phi1
16.705 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
16.705 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
16.705 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
16.705 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
16.705 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
16.706 * [backup-simplify]: Simplify (- 0) into 0
16.706 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
16.706 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in phi2
16.706 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in phi2
16.706 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
16.706 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
16.706 * [taylor]: Taking taylor expansion of 0.5 in phi2
16.706 * [backup-simplify]: Simplify 0.5 into 0.5
16.706 * [taylor]: Taking taylor expansion of phi2 in phi2
16.706 * [backup-simplify]: Simplify 0 into 0
16.706 * [backup-simplify]: Simplify 1 into 1
16.706 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
16.706 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
16.706 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in phi2
16.706 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
16.706 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
16.706 * [taylor]: Taking taylor expansion of 0.5 in phi2
16.706 * [backup-simplify]: Simplify 0.5 into 0.5
16.706 * [taylor]: Taking taylor expansion of phi1 in phi2
16.706 * [backup-simplify]: Simplify phi1 into phi1
16.706 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
16.706 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
16.707 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
16.707 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in phi2
16.707 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
16.707 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
16.707 * [taylor]: Taking taylor expansion of 0.5 in phi2
16.707 * [backup-simplify]: Simplify 0.5 into 0.5
16.707 * [taylor]: Taking taylor expansion of phi2 in phi2
16.707 * [backup-simplify]: Simplify 0 into 0
16.707 * [backup-simplify]: Simplify 1 into 1
16.707 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
16.707 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
16.707 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
16.707 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
16.707 * [taylor]: Taking taylor expansion of 0.5 in phi2
16.707 * [backup-simplify]: Simplify 0.5 into 0.5
16.707 * [taylor]: Taking taylor expansion of phi1 in phi2
16.707 * [backup-simplify]: Simplify phi1 into phi1
16.707 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
16.707 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
16.707 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
16.707 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in phi2
16.707 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
16.707 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
16.707 * [taylor]: Taking taylor expansion of 0.5 in phi2
16.707 * [backup-simplify]: Simplify 0.5 into 0.5
16.707 * [taylor]: Taking taylor expansion of phi2 in phi2
16.707 * [backup-simplify]: Simplify 0 into 0
16.707 * [backup-simplify]: Simplify 1 into 1
16.708 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
16.708 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
16.708 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in phi2
16.708 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
16.708 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
16.708 * [taylor]: Taking taylor expansion of 0.5 in phi2
16.708 * [backup-simplify]: Simplify 0.5 into 0.5
16.708 * [taylor]: Taking taylor expansion of phi1 in phi2
16.708 * [backup-simplify]: Simplify phi1 into phi1
16.708 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
16.708 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
16.708 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
16.708 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in phi2
16.708 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
16.708 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
16.708 * [taylor]: Taking taylor expansion of 0.5 in phi2
16.708 * [backup-simplify]: Simplify 0.5 into 0.5
16.708 * [taylor]: Taking taylor expansion of phi2 in phi2
16.708 * [backup-simplify]: Simplify 0 into 0
16.708 * [backup-simplify]: Simplify 1 into 1
16.709 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
16.709 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
16.709 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
16.709 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
16.709 * [taylor]: Taking taylor expansion of 0.5 in phi2
16.709 * [backup-simplify]: Simplify 0.5 into 0.5
16.709 * [taylor]: Taking taylor expansion of phi1 in phi2
16.709 * [backup-simplify]: Simplify phi1 into phi1
16.709 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
16.709 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
16.709 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
16.709 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
16.709 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
16.709 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
16.709 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
16.709 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
16.710 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
16.710 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
16.710 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
16.710 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
16.710 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
16.710 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
16.710 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
16.711 * [backup-simplify]: Simplify (- 0) into 0
16.711 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
16.711 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
16.711 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
16.711 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
16.711 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
16.711 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
16.712 * [backup-simplify]: Simplify (- 0) into 0
16.712 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
16.712 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
16.712 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
16.712 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
16.712 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
16.712 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
16.712 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
16.713 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))
16.713 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
16.714 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
16.715 * [backup-simplify]: Simplify (sqrt (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (sqrt (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
16.715 * [backup-simplify]: Simplify (+ 0) into 0
16.716 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
16.716 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
16.716 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
16.717 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
16.717 * [backup-simplify]: Simplify (+ 0 0) into 0
16.717 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
16.717 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
16.717 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
16.718 * [backup-simplify]: Simplify (+ 0) into 0
16.718 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
16.718 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
16.718 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
16.719 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
16.719 * [backup-simplify]: Simplify (- 0) into 0
16.719 * [backup-simplify]: Simplify (+ 0 0) into 0
16.719 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
16.719 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
16.720 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
16.720 * [backup-simplify]: Simplify (+ 0 0) into 0
16.720 * [backup-simplify]: Simplify (+ 0) into 0
16.720 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
16.721 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
16.721 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
16.721 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
16.721 * [backup-simplify]: Simplify (- 0) into 0
16.722 * [backup-simplify]: Simplify (+ 0 0) into 0
16.722 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
16.722 * [backup-simplify]: Simplify (+ 0) into 0
16.722 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
16.723 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
16.723 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
16.723 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
16.723 * [backup-simplify]: Simplify (+ 0 0) into 0
16.724 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
16.724 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
16.724 * [backup-simplify]: Simplify (+ 0) into 0
16.724 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
16.725 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
16.725 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
16.725 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
16.726 * [backup-simplify]: Simplify (+ 0 0) into 0
16.726 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
16.726 * [backup-simplify]: Simplify (+ 0) into 0
16.726 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
16.726 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
16.727 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
16.727 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
16.727 * [backup-simplify]: Simplify (- 0) into 0
16.728 * [backup-simplify]: Simplify (+ 0 0) into 0
16.728 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
16.728 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
16.728 * [backup-simplify]: Simplify (+ 0 0) into 0
16.728 * [backup-simplify]: Simplify (- 0) into 0
16.729 * [backup-simplify]: Simplify (+ 0 0) into 0
16.730 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into 0
16.730 * [taylor]: Taking taylor expansion of (/ 1 R) in phi2
16.730 * [taylor]: Taking taylor expansion of R in phi2
16.730 * [backup-simplify]: Simplify R into R
16.730 * [backup-simplify]: Simplify (/ 1 R) into (/ 1 R)
16.731 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)) (* 0 (/ 0 1)))) into 0
16.732 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)) (* 0 (/ 0 lambda2)))) into 0
16.732 * [backup-simplify]: Simplify (- 0) into 0
16.732 * [backup-simplify]: Simplify (+ 0 0) into 0
16.733 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0
16.734 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0
16.734 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
16.736 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0
16.737 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0
16.737 * [backup-simplify]: Simplify (- 0) into 0
16.738 * [backup-simplify]: Simplify (+ 0 0) into 0
16.738 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0
16.739 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0
16.740 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
16.741 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0
16.742 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0
16.742 * [backup-simplify]: Simplify (- 0) into 0
16.743 * [backup-simplify]: Simplify (+ 0 0) into 0
16.744 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1)))))) into 0
16.745 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0
16.745 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0
16.746 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
16.747 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0
16.748 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0
16.749 * [backup-simplify]: Simplify (+ 0 0) into 0
16.749 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0
16.750 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0
16.751 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
16.752 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0
16.753 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0
16.754 * [backup-simplify]: Simplify (+ 0 0) into 0
16.755 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1)))))) into 0
16.755 * [backup-simplify]: Simplify (- 0) into 0
16.755 * [backup-simplify]: Simplify (+ 0 0) into 0
16.757 * [backup-simplify]: Simplify (+ (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) 0) (+ (* 0 0) (+ (* 0 (- (/ 1 lambda2))) (* 0 1)))) into 0
16.758 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)) (* 0 (/ 0 1)))) into 0
16.758 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)) (* 0 (/ 0 lambda2)))) into 0
16.758 * [backup-simplify]: Simplify (- 0) into 0
16.759 * [backup-simplify]: Simplify (+ 0 0) into 0
16.759 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0
16.760 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0
16.761 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
16.762 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0
16.763 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0
16.763 * [backup-simplify]: Simplify (- 0) into 0
16.763 * [backup-simplify]: Simplify (+ 0 0) into 0
16.767 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0
16.768 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0
16.768 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
16.770 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0
16.771 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0
16.771 * [backup-simplify]: Simplify (- 0) into 0
16.771 * [backup-simplify]: Simplify (+ 0 0) into 0
16.772 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1)))))) into 0
16.773 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0
16.774 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0
16.774 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
16.776 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0
16.776 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0
16.777 * [backup-simplify]: Simplify (+ 0 0) into 0
16.778 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0
16.778 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0
16.779 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
16.780 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0
16.781 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0
16.781 * [backup-simplify]: Simplify (+ 0 0) into 0
16.782 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1)))))) into 0
16.783 * [backup-simplify]: Simplify (- 0) into 0
16.783 * [backup-simplify]: Simplify (+ 0 0) into 0
16.784 * [backup-simplify]: Simplify (+ (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) 0) (+ (* 0 0) (+ (* 0 (- (/ 1 lambda2))) (* 0 1)))) into 0
16.786 * [backup-simplify]: Simplify (+ (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) 0) (+ (* (- (/ (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) lambda2) (/ (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) lambda2)) 0) (+ (* 0 (- (/ (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) lambda2) (/ (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) lambda2))) (* 0 (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into 0
16.786 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
16.787 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
16.787 * [backup-simplify]: Simplify (- 0) into 0
16.787 * [backup-simplify]: Simplify (+ 0 0) into 0
16.788 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
16.788 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
16.788 * [backup-simplify]: Simplify (- 0) into 0
16.788 * [backup-simplify]: Simplify (+ 0 0) into 0
16.789 * [backup-simplify]: Simplify (+ (* (- (/ 1 phi1) (/ 1 phi2)) 0) (* 0 (- (/ 1 phi1) (/ 1 phi2)))) into 0
16.789 * [backup-simplify]: Simplify (+ 0 0) into 0
16.885 * [backup-simplify]: Simplify (/ (- 0 (+ (* 2 (* (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (- (+ (* 2 (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) lambda2)) (* 2 (/ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) lambda2))) (+ (* 2 (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) lambda2)) (* 2 (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) lambda2)))))) (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (- (+ (/ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (pow (cos (/ 0.5 phi2)) 3) (pow (cos (/ 0.5 phi1)) 3)))) (* (pow lambda2 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (+ (* 2 (/ (* (sin (/ 0.5 phi1)) (* (pow (cos (/ 0.5 phi2)) 3) (* (pow (cos (/ 0.5 phi1)) 3) (sin (/ 0.5 phi2))))) (* (pow lambda2 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (+ (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (pow lambda2 2)) (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 3) (* (pow (sin (/ 0.5 phi1)) 3) (cos (/ 0.5 phi2))))) (* (pow lambda2 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ 0.5 phi2)) 3) (* (pow (cos (/ 0.5 phi1)) 3) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (pow lambda2 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (+ (/ 1 (pow phi2 2)) (+ (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)))) (* (pow lambda2 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (+ (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ 0.5 phi2)) 3) (* (pow (sin (/ 0.5 phi1)) 3) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (pow lambda2 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))))))))) (+ (/ (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)) (* (pow lambda2 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (+ (* 2 (/ 1 (* phi1 phi2))) (+ (* 2 (/ (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) (* (pow lambda2 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (+ (/ (* (pow (cos (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi1)) 4)) (* (pow lambda2 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (+ (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)))) (* (pow lambda2 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (+ (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)))) (* (pow lambda2 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (* 2 (/ (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))) (* (pow lambda2 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))))))))))))))) (* 2 (sqrt (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into (* 1/2 (* (- (+ (* 3 (* (/ (* (pow (sin (/ 0.5 phi2)) 5) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 5)))) (pow lambda2 3)) (sqrt (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3)))))) (+ (* 2 (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* phi1 (* lambda2 phi2))) (sqrt (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) (+ (* 3 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) (pow lambda2 3)) (sqrt (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow phi1 2) lambda2)) (sqrt (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 3 (* (/ (* (pow (cos (/ 0.5 phi2)) 3) (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (sin (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)))) (pow lambda2 3)) (sqrt (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3)))))) (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (* lambda2 (pow phi2 2))) (sqrt (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 3 (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) (pow lambda2 3)) (sqrt (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* lambda2 (pow phi2 2))) (sqrt (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 2 (* (/ (* (pow (cos (/ 0.5 phi2)) 5) (* (pow (cos (/ 0.5 phi1)) 5) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (pow lambda2 3)) (sqrt (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3)))))) (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)) (pow 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phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 6) (pow (sin (/ 0.5 phi1)) 6)) (pow lambda2 3)) (sqrt (/ 1 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 6) (pow (cos (/ 0.5 phi1)) 6)) (pow lambda2 3)) (sqrt (/ 1 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* lambda2 (pow phi2 2))) (sqrt (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 9 (* (/ (* (pow (sin (/ 0.5 phi2)) 4) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 4)))) (pow lambda2 3)) (sqrt (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3)))))) (+ (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* lambda2 (pow phi2 2))) (sqrt (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 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(pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* lambda2 (* phi1 phi2))) (sqrt (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) (+ (* 2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 (* phi1 phi2))) (sqrt (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos 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phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 9 (* (/ (* (pow (sin (/ 0.5 phi2)) 4) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 4)))) (pow lambda2 3)) (sqrt (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3)))))) (+ (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* lambda2 (pow phi2 2))) (sqrt (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 6 (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)))) (pow lambda2 3)) (sqrt (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3)))))) (+ (* 2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* lambda2 (* phi1 phi2))) (sqrt (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) (+ (* 2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 (* phi1 phi2))) (sqrt (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) (+ (* 4 (* (/ (* (pow (sin (/ 0.5 phi2)) 3) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 3)))) (pow lambda2 3)) (sqrt (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (pow phi1 2) lambda2)) (sqrt (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))))))))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) R) (+ (* (* (sqrt (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 1 R)) (/ 0 R)) (* (- (+ (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* R lambda2)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* R lambda2)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* R lambda2)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (* R lambda2)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) (/ 0 R)) (* (- (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* R (pow lambda2 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 1 (* R (pow phi2 2))))) (+ (* 3/2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 2 (* (/ (* (sin (/ 0.5 phi2)) (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (cos (/ 0.5 phi2)) 3) (sin (/ 0.5 phi1))))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ 1 (* R (pow phi1 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 3) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 3)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (* R (pow lambda2 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* R (pow lambda2 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* R (pow lambda2 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi1)) 4)) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 3 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (* (/ 1 (* R (* phi1 phi2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))))))) (/ 0 R)))) into (- (+ (* 3/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 3) (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (sin (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 3/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 5) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 5)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 3/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (* lambda2 (* phi1 phi2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (+ (* 17/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 3) (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (cos (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (* lambda2 (* phi1 phi2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* lambda2 (* R (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow phi2 2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 5) (* (pow (cos (/ 0.5 phi1)) 5) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3)))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* lambda2 (* (pow phi1 2) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi1)) 4)) (* R (* (pow lambda2 3) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)) (* R (* (pow lambda2 3) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 2 (* (/ (* (sin (/ 0.5 phi2)) (* (pow (cos (/ 0.5 phi1)) 5) (* (pow (cos (/ 0.5 phi2)) 5) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 (* (pow phi1 2) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 (* R (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow phi2 2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 3/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (* 3/2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 5) (pow (sin (/ 0.5 phi1)) 5)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3)))))))))))))))))))) (+ (* 2 (* (/ (* (pow (cos (/ 0.5 phi2)) 3) (* (pow (cos (/ 0.5 phi1)) 3) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* lambda2 (* phi1 (* R (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) phi2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (+ (* 1/2 (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (* lambda2 (pow phi2 2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 6) (pow (cos (/ 0.5 phi1)) 6)) (* R (* (pow lambda2 3) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 2 (* (/ (* (pow (sin (/ 0.5 phi2)) 3) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 3)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* (pow phi1 2) (* lambda2 R)))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (+ (* 3 (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 6) (pow (sin (/ 0.5 phi1)) 6)) (* R (* (pow lambda2 3) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 15/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 4) (* (pow (cos (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 2)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 9/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 4) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 4)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 (* phi1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R phi2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* 1/2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (* lambda2 (pow phi2 2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))))))))))))))
17.222 * [taylor]: Taking taylor expansion of (- (+ (* 3/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 3) (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (sin (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 3/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 5) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 5)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 3/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (* lambda2 (* phi1 phi2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (+ (* 17/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 3) (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (cos (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (* lambda2 (* phi1 phi2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* lambda2 (* R (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow phi2 2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 5) (* (pow (cos (/ 0.5 phi1)) 5) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3)))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* lambda2 (* (pow phi1 2) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi1)) 4)) (* R (* (pow lambda2 3) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)) (* R (* (pow lambda2 3) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 2 (* (/ (* (sin (/ 0.5 phi2)) (* (pow (cos (/ 0.5 phi1)) 5) (* (pow (cos (/ 0.5 phi2)) 5) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 (* (pow phi1 2) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 (* R (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow phi2 2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 3/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (* 3/2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 5) (pow (sin (/ 0.5 phi1)) 5)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3)))))))))))))))))))) (+ (* 2 (* (/ (* (pow (cos (/ 0.5 phi2)) 3) (* (pow (cos (/ 0.5 phi1)) 3) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* lambda2 (* phi1 (* R (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) phi2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (+ (* 1/2 (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (* lambda2 (pow phi2 2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 6) (pow (cos (/ 0.5 phi1)) 6)) (* R (* (pow lambda2 3) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 2 (* (/ (* (pow (sin (/ 0.5 phi2)) 3) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 3)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* (pow phi1 2) (* lambda2 R)))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (+ (* 3 (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 6) (pow (sin (/ 0.5 phi1)) 6)) (* R (* (pow lambda2 3) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 15/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 4) (* (pow (cos (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 2)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 9/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 4) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 4)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 (* phi1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R phi2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* 1/2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (* lambda2 (pow phi2 2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))))))))))))) in lambda2
17.223 * [taylor]: Taking taylor expansion of (+ (* 3/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 3) (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (sin (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 3/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 5) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 5)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 3/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (* lambda2 (* phi1 phi2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (+ (* 17/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 3) (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (cos (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (* lambda2 (* phi1 phi2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* lambda2 (* R (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow phi2 2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 5) (* (pow (cos (/ 0.5 phi1)) 5) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3)))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* lambda2 (* (pow phi1 2) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi1)) 4)) (* R (* (pow lambda2 3) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)) (* R (* (pow lambda2 3) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 2 (* (/ (* (sin (/ 0.5 phi2)) (* (pow (cos (/ 0.5 phi1)) 5) (* (pow (cos (/ 0.5 phi2)) 5) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 (* (pow phi1 2) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 (* R (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow phi2 2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 3/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (* 3/2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 5) (pow (sin (/ 0.5 phi1)) 5)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3)))))))))))))))))))) in lambda2
17.224 * [taylor]: Taking taylor expansion of (* 3/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 3) (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (sin (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) in lambda2
17.224 * [taylor]: Taking taylor expansion of 3/2 in lambda2
17.224 * [backup-simplify]: Simplify 3/2 into 3/2
17.224 * [taylor]: Taking taylor expansion of (* (/ (* (pow (cos (/ 0.5 phi2)) 3) (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (sin (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3)))) in lambda2
17.224 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi2)) 3) (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (sin (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) in lambda2
17.224 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 3) (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (sin (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)))) in lambda2
17.224 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 3) in lambda2
17.224 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
17.224 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
17.224 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.224 * [backup-simplify]: Simplify 0.5 into 0.5
17.224 * [taylor]: Taking taylor expansion of phi2 in lambda2
17.224 * [backup-simplify]: Simplify phi2 into phi2
17.224 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
17.224 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
17.224 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
17.224 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
17.224 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
17.225 * [backup-simplify]: Simplify (- 0) into 0
17.225 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
17.225 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (sin (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3))) in lambda2
17.225 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 3) in lambda2
17.225 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
17.225 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
17.225 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.225 * [backup-simplify]: Simplify 0.5 into 0.5
17.225 * [taylor]: Taking taylor expansion of phi1 in lambda2
17.225 * [backup-simplify]: Simplify phi1 into phi1
17.225 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
17.225 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
17.225 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
17.225 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
17.225 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
17.226 * [backup-simplify]: Simplify (- 0) into 0
17.226 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
17.226 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)) in lambda2
17.226 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 3) in lambda2
17.226 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
17.226 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
17.226 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.226 * [backup-simplify]: Simplify 0.5 into 0.5
17.226 * [taylor]: Taking taylor expansion of phi2 in lambda2
17.226 * [backup-simplify]: Simplify phi2 into phi2
17.226 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
17.226 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
17.226 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
17.226 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
17.226 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
17.226 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
17.226 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 3) in lambda2
17.226 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
17.226 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
17.226 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.226 * [backup-simplify]: Simplify 0.5 into 0.5
17.226 * [taylor]: Taking taylor expansion of phi1 in lambda2
17.226 * [backup-simplify]: Simplify phi1 into phi1
17.226 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
17.226 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
17.227 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
17.227 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
17.227 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
17.227 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
17.227 * [taylor]: Taking taylor expansion of (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3))) in lambda2
17.227 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
17.227 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
17.227 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
17.227 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
17.227 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
17.227 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
17.227 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.227 * [backup-simplify]: Simplify 0.5 into 0.5
17.227 * [taylor]: Taking taylor expansion of phi2 in lambda2
17.227 * [backup-simplify]: Simplify phi2 into phi2
17.227 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
17.227 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
17.227 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
17.227 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
17.227 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
17.227 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
17.227 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
17.227 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
17.227 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
17.227 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.227 * [backup-simplify]: Simplify 0.5 into 0.5
17.227 * [taylor]: Taking taylor expansion of phi1 in lambda2
17.227 * [backup-simplify]: Simplify phi1 into phi1
17.227 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
17.228 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
17.228 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
17.228 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
17.228 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
17.228 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
17.228 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
17.228 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
17.228 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
17.228 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
17.228 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.228 * [backup-simplify]: Simplify 0.5 into 0.5
17.228 * [taylor]: Taking taylor expansion of phi2 in lambda2
17.228 * [backup-simplify]: Simplify phi2 into phi2
17.228 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
17.228 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
17.228 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
17.228 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
17.228 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
17.228 * [backup-simplify]: Simplify (- 0) into 0
17.229 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
17.229 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
17.229 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
17.229 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
17.229 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.229 * [backup-simplify]: Simplify 0.5 into 0.5
17.229 * [taylor]: Taking taylor expansion of phi1 in lambda2
17.229 * [backup-simplify]: Simplify phi1 into phi1
17.229 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
17.229 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
17.229 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
17.229 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
17.229 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
17.229 * [backup-simplify]: Simplify (- 0) into 0
17.229 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
17.229 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
17.229 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
17.229 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
17.229 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
17.230 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.230 * [backup-simplify]: Simplify 0.5 into 0.5
17.230 * [taylor]: Taking taylor expansion of phi2 in lambda2
17.230 * [backup-simplify]: Simplify phi2 into phi2
17.230 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
17.230 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
17.230 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
17.230 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
17.230 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
17.230 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
17.230 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.230 * [backup-simplify]: Simplify 0.5 into 0.5
17.230 * [taylor]: Taking taylor expansion of phi1 in lambda2
17.230 * [backup-simplify]: Simplify phi1 into phi1
17.230 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
17.230 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
17.230 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
17.230 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
17.230 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
17.230 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
17.231 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.231 * [backup-simplify]: Simplify 0.5 into 0.5
17.231 * [taylor]: Taking taylor expansion of phi2 in lambda2
17.231 * [backup-simplify]: Simplify phi2 into phi2
17.231 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
17.231 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
17.231 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
17.231 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
17.231 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
17.231 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.231 * [backup-simplify]: Simplify 0.5 into 0.5
17.231 * [taylor]: Taking taylor expansion of phi1 in lambda2
17.231 * [backup-simplify]: Simplify phi1 into phi1
17.231 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
17.231 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
17.231 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
17.231 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
17.231 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
17.231 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
17.231 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.231 * [backup-simplify]: Simplify 0.5 into 0.5
17.231 * [taylor]: Taking taylor expansion of phi2 in lambda2
17.232 * [backup-simplify]: Simplify phi2 into phi2
17.232 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
17.232 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
17.232 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
17.232 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
17.232 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
17.232 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
17.232 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.232 * [backup-simplify]: Simplify 0.5 into 0.5
17.232 * [taylor]: Taking taylor expansion of phi1 in lambda2
17.232 * [backup-simplify]: Simplify phi1 into phi1
17.232 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
17.232 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
17.232 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
17.232 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
17.232 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
17.232 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
17.232 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.232 * [backup-simplify]: Simplify 0.5 into 0.5
17.232 * [taylor]: Taking taylor expansion of phi2 in lambda2
17.232 * [backup-simplify]: Simplify phi2 into phi2
17.232 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
17.233 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
17.233 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
17.233 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
17.233 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
17.233 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.233 * [backup-simplify]: Simplify 0.5 into 0.5
17.233 * [taylor]: Taking taylor expansion of phi1 in lambda2
17.233 * [backup-simplify]: Simplify phi1 into phi1
17.233 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
17.233 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
17.233 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
17.233 * [taylor]: Taking taylor expansion of (* R (pow lambda2 3)) in lambda2
17.233 * [taylor]: Taking taylor expansion of R in lambda2
17.233 * [backup-simplify]: Simplify R into R
17.233 * [taylor]: Taking taylor expansion of (pow lambda2 3) in lambda2
17.233 * [taylor]: Taking taylor expansion of lambda2 in lambda2
17.233 * [backup-simplify]: Simplify 0 into 0
17.233 * [backup-simplify]: Simplify 1 into 1
17.233 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
17.234 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (pow (cos (/ 0.5 phi2)) 2)) into (pow (cos (/ 0.5 phi2)) 3)
17.234 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
17.234 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (pow (cos (/ 0.5 phi1)) 2)) into (pow (cos (/ 0.5 phi1)) 3)
17.234 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
17.235 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (pow (sin (/ 0.5 phi2)) 2)) into (pow (sin (/ 0.5 phi2)) 3)
17.235 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
17.235 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (pow (sin (/ 0.5 phi1)) 2)) into (pow (sin (/ 0.5 phi1)) 3)
17.235 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)) into (* (pow (sin (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3))
17.236 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (sin (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3))) into (* (pow (sin (/ 0.5 phi1)) 3) (* (pow (sin (/ 0.5 phi2)) 3) (pow (cos (/ 0.5 phi1)) 3)))
17.237 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 3) (* (pow (sin (/ 0.5 phi1)) 3) (* (pow (sin (/ 0.5 phi2)) 3) (pow (cos (/ 0.5 phi1)) 3)))) into (* (pow (sin (/ 0.5 phi2)) 3) (* (pow (sin (/ 0.5 phi1)) 3) (* (pow (cos (/ 0.5 phi2)) 3) (pow (cos (/ 0.5 phi1)) 3))))
17.237 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
17.237 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
17.237 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
17.237 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
17.237 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
17.238 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
17.238 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
17.238 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
17.238 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
17.239 * [backup-simplify]: Simplify (- 0) into 0
17.239 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
17.239 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
17.239 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
17.239 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
17.239 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
17.239 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
17.239 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
17.239 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
17.239 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
17.240 * [backup-simplify]: Simplify (- 0) into 0
17.240 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
17.240 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
17.240 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
17.240 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
17.240 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
17.240 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
17.240 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
17.240 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
17.240 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
17.241 * [backup-simplify]: Simplify (- 0) into 0
17.241 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
17.241 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
17.241 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
17.241 * [backup-simplify]: Simplify (- 0) into 0
17.241 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
17.241 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
17.241 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
17.241 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
17.242 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
17.242 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
17.242 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
17.242 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))
17.243 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
17.244 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
17.244 * [backup-simplify]: Simplify (* 1 1) into 1
17.244 * [backup-simplify]: Simplify (* 1 1) into 1
17.244 * [backup-simplify]: Simplify (* R 1) into R
17.245 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R) into (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)
17.247 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi2)) 3) (* (pow (sin (/ 0.5 phi1)) 3) (* (pow (cos (/ 0.5 phi2)) 3) (pow (cos (/ 0.5 phi1)) 3)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) into (/ (* (pow (sin (/ 0.5 phi2)) 3) (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (cos (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
17.247 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))) in lambda2
17.247 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3)) in lambda2
17.247 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3) in lambda2
17.247 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
17.247 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
17.247 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
17.247 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
17.247 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
17.247 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
17.247 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.247 * [backup-simplify]: Simplify 0.5 into 0.5
17.247 * [taylor]: Taking taylor expansion of phi2 in lambda2
17.247 * [backup-simplify]: Simplify phi2 into phi2
17.247 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
17.247 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
17.247 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
17.247 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
17.247 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
17.247 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
17.247 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
17.247 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
17.247 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
17.247 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.247 * [backup-simplify]: Simplify 0.5 into 0.5
17.247 * [taylor]: Taking taylor expansion of phi1 in lambda2
17.247 * [backup-simplify]: Simplify phi1 into phi1
17.247 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
17.247 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
17.248 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
17.248 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
17.248 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
17.248 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
17.248 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
17.248 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
17.248 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
17.248 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
17.248 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.248 * [backup-simplify]: Simplify 0.5 into 0.5
17.248 * [taylor]: Taking taylor expansion of phi2 in lambda2
17.248 * [backup-simplify]: Simplify phi2 into phi2
17.248 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
17.248 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
17.248 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
17.248 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
17.248 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
17.248 * [backup-simplify]: Simplify (- 0) into 0
17.249 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
17.249 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
17.249 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
17.249 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
17.249 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.249 * [backup-simplify]: Simplify 0.5 into 0.5
17.249 * [taylor]: Taking taylor expansion of phi1 in lambda2
17.249 * [backup-simplify]: Simplify phi1 into phi1
17.249 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
17.249 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
17.249 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
17.249 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
17.249 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
17.249 * [backup-simplify]: Simplify (- 0) into 0
17.249 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
17.249 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
17.249 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
17.249 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
17.249 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
17.249 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.249 * [backup-simplify]: Simplify 0.5 into 0.5
17.249 * [taylor]: Taking taylor expansion of phi2 in lambda2
17.250 * [backup-simplify]: Simplify phi2 into phi2
17.250 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
17.250 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
17.250 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
17.250 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
17.250 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
17.250 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
17.250 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.250 * [backup-simplify]: Simplify 0.5 into 0.5
17.250 * [taylor]: Taking taylor expansion of phi1 in lambda2
17.250 * [backup-simplify]: Simplify phi1 into phi1
17.250 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
17.250 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
17.250 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
17.250 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
17.250 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
17.250 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
17.250 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.250 * [backup-simplify]: Simplify 0.5 into 0.5
17.250 * [taylor]: Taking taylor expansion of phi2 in lambda2
17.250 * [backup-simplify]: Simplify phi2 into phi2
17.250 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
17.250 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
17.250 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
17.250 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
17.250 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
17.250 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.250 * [backup-simplify]: Simplify 0.5 into 0.5
17.250 * [taylor]: Taking taylor expansion of phi1 in lambda2
17.250 * [backup-simplify]: Simplify phi1 into phi1
17.250 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
17.251 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
17.251 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
17.251 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
17.251 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
17.251 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
17.251 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.251 * [backup-simplify]: Simplify 0.5 into 0.5
17.251 * [taylor]: Taking taylor expansion of phi2 in lambda2
17.251 * [backup-simplify]: Simplify phi2 into phi2
17.251 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
17.251 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
17.251 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
17.251 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
17.251 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
17.251 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
17.251 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.251 * [backup-simplify]: Simplify 0.5 into 0.5
17.251 * [taylor]: Taking taylor expansion of phi1 in lambda2
17.251 * [backup-simplify]: Simplify phi1 into phi1
17.251 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
17.251 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
17.251 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
17.251 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
17.251 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
17.251 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
17.251 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.251 * [backup-simplify]: Simplify 0.5 into 0.5
17.251 * [taylor]: Taking taylor expansion of phi2 in lambda2
17.251 * [backup-simplify]: Simplify phi2 into phi2
17.251 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
17.251 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
17.251 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
17.251 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
17.251 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
17.251 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.251 * [backup-simplify]: Simplify 0.5 into 0.5
17.251 * [taylor]: Taking taylor expansion of phi1 in lambda2
17.251 * [backup-simplify]: Simplify phi1 into phi1
17.252 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
17.252 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
17.252 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
17.252 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
17.252 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
17.252 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
17.252 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
17.252 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
17.252 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
17.253 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
17.253 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
17.253 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
17.253 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
17.253 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
17.253 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
17.253 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
17.253 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
17.253 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
17.254 * [backup-simplify]: Simplify (- 0) into 0
17.254 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
17.254 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
17.254 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
17.254 * [backup-simplify]: Simplify (- 0) into 0
17.254 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
17.254 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
17.254 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
17.255 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
17.255 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
17.255 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
17.255 * [backup-simplify]: Simplify (- 0) into 0
17.255 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
17.255 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
17.255 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
17.255 * [backup-simplify]: Simplify (- 0) into 0
17.255 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
17.256 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
17.256 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
17.256 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
17.256 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
17.256 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
17.256 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
17.256 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
17.256 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
17.256 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
17.257 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))
17.257 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
17.258 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
17.260 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)
17.262 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)) into (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
17.264 * [backup-simplify]: Simplify (/ 1 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)))
17.267 * [backup-simplify]: Simplify (sqrt (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)))) into (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))
17.268 * [backup-simplify]: Simplify (+ 0) into 0
17.268 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
17.268 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
17.269 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
17.270 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
17.270 * [backup-simplify]: Simplify (+ 0 0) into 0
17.270 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
17.270 * [backup-simplify]: Simplify (+ 0) into 0
17.271 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
17.271 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
17.272 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
17.272 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
17.273 * [backup-simplify]: Simplify (+ 0 0) into 0
17.273 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
17.273 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
17.274 * [backup-simplify]: Simplify (+ 0) into 0
17.274 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
17.274 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
17.275 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
17.276 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
17.276 * [backup-simplify]: Simplify (- 0) into 0
17.276 * [backup-simplify]: Simplify (+ 0 0) into 0
17.277 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
17.277 * [backup-simplify]: Simplify (+ 0) into 0
17.278 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
17.278 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
17.278 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
17.279 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
17.279 * [backup-simplify]: Simplify (- 0) into 0
17.280 * [backup-simplify]: Simplify (+ 0 0) into 0
17.280 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
17.280 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
17.281 * [backup-simplify]: Simplify (+ 0 0) into 0
17.281 * [backup-simplify]: Simplify (+ 0) into 0
17.282 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
17.282 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
17.282 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
17.283 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
17.283 * [backup-simplify]: Simplify (- 0) into 0
17.284 * [backup-simplify]: Simplify (+ 0 0) into 0
17.284 * [backup-simplify]: Simplify (+ 0) into 0
17.285 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
17.285 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
17.285 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
17.286 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
17.286 * [backup-simplify]: Simplify (- 0) into 0
17.287 * [backup-simplify]: Simplify (+ 0 0) into 0
17.287 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
17.287 * [backup-simplify]: Simplify (+ 0) into 0
17.288 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
17.288 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
17.289 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
17.289 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
17.290 * [backup-simplify]: Simplify (+ 0 0) into 0
17.290 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
17.291 * [backup-simplify]: Simplify (+ 0) into 0
17.291 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
17.291 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
17.292 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
17.293 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
17.293 * [backup-simplify]: Simplify (+ 0 0) into 0
17.293 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
17.294 * [backup-simplify]: Simplify (+ 0) into 0
17.294 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
17.294 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
17.295 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
17.296 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
17.296 * [backup-simplify]: Simplify (+ 0 0) into 0
17.296 * [backup-simplify]: Simplify (+ 0) into 0
17.297 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
17.297 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
17.298 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
17.298 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
17.298 * [backup-simplify]: Simplify (+ 0 0) into 0
17.298 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
17.298 * [backup-simplify]: Simplify (+ 0) into 0
17.299 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
17.299 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
17.299 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
17.300 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
17.300 * [backup-simplify]: Simplify (- 0) into 0
17.300 * [backup-simplify]: Simplify (+ 0 0) into 0
17.300 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
17.301 * [backup-simplify]: Simplify (+ 0) into 0
17.301 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
17.301 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
17.302 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
17.302 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
17.302 * [backup-simplify]: Simplify (- 0) into 0
17.302 * [backup-simplify]: Simplify (+ 0 0) into 0
17.303 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
17.303 * [backup-simplify]: Simplify (+ 0 0) into 0
17.303 * [backup-simplify]: Simplify (- 0) into 0
17.303 * [backup-simplify]: Simplify (+ 0 0) into 0
17.305 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into 0
17.307 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2))) into 0
17.312 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2))) (/ 0 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
17.314 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)))))) into 0
17.314 * [taylor]: Taking taylor expansion of (+ (* 3/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 5) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 5)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 3/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (* lambda2 (* phi1 phi2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (+ (* 17/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 3) (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (cos (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (* lambda2 (* phi1 phi2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* lambda2 (* R (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow phi2 2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 5) (* (pow (cos (/ 0.5 phi1)) 5) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3)))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* lambda2 (* (pow phi1 2) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi1)) 4)) (* R (* (pow lambda2 3) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)) (* R (* (pow lambda2 3) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 2 (* (/ (* (sin (/ 0.5 phi2)) (* (pow (cos (/ 0.5 phi1)) 5) (* (pow (cos (/ 0.5 phi2)) 5) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 (* (pow phi1 2) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 (* R (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow phi2 2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 3/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (* 3/2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 5) (pow (sin (/ 0.5 phi1)) 5)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))))))))))))))))) in lambda2
17.317 * [taylor]: Taking taylor expansion of (* 3/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 5) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 5)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) in lambda2
17.317 * [taylor]: Taking taylor expansion of 3/2 in lambda2
17.317 * [backup-simplify]: Simplify 3/2 into 3/2
17.317 * [taylor]: Taking taylor expansion of (* (/ (* (pow (sin (/ 0.5 phi2)) 5) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 5)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3)))) in lambda2
17.317 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi2)) 5) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 5)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) in lambda2
17.317 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 5) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 5)))) in lambda2
17.317 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 5) in lambda2
17.317 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
17.317 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
17.317 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.317 * [backup-simplify]: Simplify 0.5 into 0.5
17.317 * [taylor]: Taking taylor expansion of phi2 in lambda2
17.317 * [backup-simplify]: Simplify phi2 into phi2
17.317 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
17.317 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
17.317 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
17.317 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
17.317 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
17.317 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
17.317 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 5))) in lambda2
17.317 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
17.317 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
17.317 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.317 * [backup-simplify]: Simplify 0.5 into 0.5
17.317 * [taylor]: Taking taylor expansion of phi1 in lambda2
17.317 * [backup-simplify]: Simplify phi1 into phi1
17.317 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
17.318 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
17.318 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
17.318 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 5)) in lambda2
17.318 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
17.318 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
17.318 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.318 * [backup-simplify]: Simplify 0.5 into 0.5
17.318 * [taylor]: Taking taylor expansion of phi2 in lambda2
17.318 * [backup-simplify]: Simplify phi2 into phi2
17.318 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
17.318 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
17.318 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
17.318 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 5) in lambda2
17.318 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
17.318 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
17.318 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.318 * [backup-simplify]: Simplify 0.5 into 0.5
17.318 * [taylor]: Taking taylor expansion of phi1 in lambda2
17.318 * [backup-simplify]: Simplify phi1 into phi1
17.318 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
17.318 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
17.318 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
17.318 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
17.318 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
17.318 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
17.318 * [taylor]: Taking taylor expansion of (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3))) in lambda2
17.318 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
17.318 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
17.318 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
17.318 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
17.318 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
17.318 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
17.318 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.318 * [backup-simplify]: Simplify 0.5 into 0.5
17.319 * [taylor]: Taking taylor expansion of phi2 in lambda2
17.319 * [backup-simplify]: Simplify phi2 into phi2
17.319 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
17.319 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
17.319 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
17.319 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
17.319 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
17.319 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
17.319 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
17.319 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
17.319 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
17.319 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.319 * [backup-simplify]: Simplify 0.5 into 0.5
17.319 * [taylor]: Taking taylor expansion of phi1 in lambda2
17.319 * [backup-simplify]: Simplify phi1 into phi1
17.319 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
17.319 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
17.319 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
17.319 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
17.319 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
17.319 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
17.319 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
17.319 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
17.319 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
17.319 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
17.319 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.319 * [backup-simplify]: Simplify 0.5 into 0.5
17.319 * [taylor]: Taking taylor expansion of phi2 in lambda2
17.319 * [backup-simplify]: Simplify phi2 into phi2
17.319 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
17.320 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
17.320 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
17.320 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
17.320 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
17.320 * [backup-simplify]: Simplify (- 0) into 0
17.320 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
17.320 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
17.320 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
17.320 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
17.320 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.320 * [backup-simplify]: Simplify 0.5 into 0.5
17.320 * [taylor]: Taking taylor expansion of phi1 in lambda2
17.320 * [backup-simplify]: Simplify phi1 into phi1
17.320 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
17.320 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
17.320 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
17.321 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
17.321 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
17.321 * [backup-simplify]: Simplify (- 0) into 0
17.321 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
17.321 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
17.321 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
17.321 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
17.321 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
17.321 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.321 * [backup-simplify]: Simplify 0.5 into 0.5
17.321 * [taylor]: Taking taylor expansion of phi2 in lambda2
17.321 * [backup-simplify]: Simplify phi2 into phi2
17.321 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
17.321 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
17.321 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
17.321 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
17.321 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
17.321 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
17.321 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.321 * [backup-simplify]: Simplify 0.5 into 0.5
17.321 * [taylor]: Taking taylor expansion of phi1 in lambda2
17.321 * [backup-simplify]: Simplify phi1 into phi1
17.321 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
17.322 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
17.322 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
17.322 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
17.322 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
17.322 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
17.322 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.322 * [backup-simplify]: Simplify 0.5 into 0.5
17.322 * [taylor]: Taking taylor expansion of phi2 in lambda2
17.322 * [backup-simplify]: Simplify phi2 into phi2
17.322 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
17.322 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
17.322 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
17.322 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
17.322 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
17.322 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.322 * [backup-simplify]: Simplify 0.5 into 0.5
17.322 * [taylor]: Taking taylor expansion of phi1 in lambda2
17.322 * [backup-simplify]: Simplify phi1 into phi1
17.322 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
17.322 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
17.322 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
17.322 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
17.322 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
17.322 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
17.322 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.322 * [backup-simplify]: Simplify 0.5 into 0.5
17.322 * [taylor]: Taking taylor expansion of phi2 in lambda2
17.322 * [backup-simplify]: Simplify phi2 into phi2
17.322 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
17.322 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
17.322 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
17.322 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
17.322 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
17.322 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
17.322 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.322 * [backup-simplify]: Simplify 0.5 into 0.5
17.322 * [taylor]: Taking taylor expansion of phi1 in lambda2
17.322 * [backup-simplify]: Simplify phi1 into phi1
17.322 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
17.323 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
17.323 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
17.323 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
17.323 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
17.323 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
17.323 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.323 * [backup-simplify]: Simplify 0.5 into 0.5
17.323 * [taylor]: Taking taylor expansion of phi2 in lambda2
17.323 * [backup-simplify]: Simplify phi2 into phi2
17.323 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
17.323 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
17.323 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
17.323 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
17.323 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
17.323 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.323 * [backup-simplify]: Simplify 0.5 into 0.5
17.323 * [taylor]: Taking taylor expansion of phi1 in lambda2
17.323 * [backup-simplify]: Simplify phi1 into phi1
17.323 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
17.323 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
17.323 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
17.323 * [taylor]: Taking taylor expansion of (* R (pow lambda2 3)) in lambda2
17.323 * [taylor]: Taking taylor expansion of R in lambda2
17.323 * [backup-simplify]: Simplify R into R
17.323 * [taylor]: Taking taylor expansion of (pow lambda2 3) in lambda2
17.323 * [taylor]: Taking taylor expansion of lambda2 in lambda2
17.323 * [backup-simplify]: Simplify 0 into 0
17.323 * [backup-simplify]: Simplify 1 into 1
17.323 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
17.324 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (pow (sin (/ 0.5 phi2)) 4)
17.324 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (pow (sin (/ 0.5 phi2)) 4)) into (pow (sin (/ 0.5 phi2)) 5)
17.324 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
17.324 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
17.324 * [backup-simplify]: Simplify (- 0) into 0
17.324 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
17.324 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
17.324 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
17.325 * [backup-simplify]: Simplify (- 0) into 0
17.325 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
17.325 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
17.325 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (pow (sin (/ 0.5 phi1)) 4)
17.325 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (pow (sin (/ 0.5 phi1)) 4)) into (pow (sin (/ 0.5 phi1)) 5)
17.325 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 5)) into (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 5))
17.326 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 5))) into (* (pow (sin (/ 0.5 phi1)) 5) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
17.326 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 5) (* (pow (sin (/ 0.5 phi1)) 5) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (pow (sin (/ 0.5 phi1)) 5) (* (pow (sin (/ 0.5 phi2)) 5) (cos (/ 0.5 phi1)))))
17.326 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
17.326 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
17.327 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
17.327 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
17.327 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
17.327 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
17.328 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
17.328 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
17.328 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
17.329 * [backup-simplify]: Simplify (- 0) into 0
17.329 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
17.329 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
17.329 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
17.329 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
17.329 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
17.330 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
17.330 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
17.330 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
17.330 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
17.330 * [backup-simplify]: Simplify (- 0) into 0
17.330 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
17.331 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
17.331 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
17.331 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
17.331 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
17.331 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
17.331 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
17.332 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
17.332 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
17.332 * [backup-simplify]: Simplify (- 0) into 0
17.332 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
17.332 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
17.332 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
17.333 * [backup-simplify]: Simplify (- 0) into 0
17.333 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
17.333 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
17.333 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
17.333 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
17.333 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
17.334 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
17.334 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
17.335 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))
17.336 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
17.338 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
17.338 * [backup-simplify]: Simplify (* 1 1) into 1
17.338 * [backup-simplify]: Simplify (* 1 1) into 1
17.339 * [backup-simplify]: Simplify (* R 1) into R
17.340 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R) into (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)
17.343 * [backup-simplify]: Simplify (/ (* (cos (/ 0.5 phi2)) (* (pow (sin (/ 0.5 phi1)) 5) (* (pow (sin (/ 0.5 phi2)) 5) (cos (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) into (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 5) (pow (sin (/ 0.5 phi1)) 5)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
17.343 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))) in lambda2
17.343 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3)) in lambda2
17.343 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3) in lambda2
17.343 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
17.343 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
17.343 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
17.343 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
17.343 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
17.343 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
17.343 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.343 * [backup-simplify]: Simplify 0.5 into 0.5
17.343 * [taylor]: Taking taylor expansion of phi2 in lambda2
17.343 * [backup-simplify]: Simplify phi2 into phi2
17.343 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
17.344 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
17.344 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
17.344 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
17.344 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
17.344 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
17.344 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
17.344 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
17.344 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
17.344 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.344 * [backup-simplify]: Simplify 0.5 into 0.5
17.344 * [taylor]: Taking taylor expansion of phi1 in lambda2
17.344 * [backup-simplify]: Simplify phi1 into phi1
17.344 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
17.344 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
17.344 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
17.345 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
17.345 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
17.345 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
17.345 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
17.345 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
17.345 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
17.345 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
17.345 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.345 * [backup-simplify]: Simplify 0.5 into 0.5
17.345 * [taylor]: Taking taylor expansion of phi2 in lambda2
17.345 * [backup-simplify]: Simplify phi2 into phi2
17.345 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
17.345 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
17.345 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
17.345 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
17.345 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
17.346 * [backup-simplify]: Simplify (- 0) into 0
17.346 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
17.346 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
17.346 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
17.346 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
17.346 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.346 * [backup-simplify]: Simplify 0.5 into 0.5
17.346 * [taylor]: Taking taylor expansion of phi1 in lambda2
17.346 * [backup-simplify]: Simplify phi1 into phi1
17.346 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
17.346 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
17.347 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
17.347 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
17.347 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
17.347 * [backup-simplify]: Simplify (- 0) into 0
17.347 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
17.347 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
17.347 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
17.347 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
17.347 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
17.347 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.347 * [backup-simplify]: Simplify 0.5 into 0.5
17.348 * [taylor]: Taking taylor expansion of phi2 in lambda2
17.348 * [backup-simplify]: Simplify phi2 into phi2
17.348 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
17.348 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
17.348 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
17.348 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
17.348 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
17.348 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
17.348 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.348 * [backup-simplify]: Simplify 0.5 into 0.5
17.348 * [taylor]: Taking taylor expansion of phi1 in lambda2
17.348 * [backup-simplify]: Simplify phi1 into phi1
17.348 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
17.348 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
17.348 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
17.348 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
17.348 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
17.348 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
17.348 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.348 * [backup-simplify]: Simplify 0.5 into 0.5
17.348 * [taylor]: Taking taylor expansion of phi2 in lambda2
17.348 * [backup-simplify]: Simplify phi2 into phi2
17.349 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
17.349 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
17.349 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
17.349 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
17.349 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
17.349 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.349 * [backup-simplify]: Simplify 0.5 into 0.5
17.349 * [taylor]: Taking taylor expansion of phi1 in lambda2
17.349 * [backup-simplify]: Simplify phi1 into phi1
17.349 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
17.349 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
17.349 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
17.349 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
17.349 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
17.349 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
17.349 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.349 * [backup-simplify]: Simplify 0.5 into 0.5
17.349 * [taylor]: Taking taylor expansion of phi2 in lambda2
17.349 * [backup-simplify]: Simplify phi2 into phi2
17.349 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
17.349 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
17.350 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
17.350 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
17.350 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
17.350 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
17.350 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.350 * [backup-simplify]: Simplify 0.5 into 0.5
17.350 * [taylor]: Taking taylor expansion of phi1 in lambda2
17.350 * [backup-simplify]: Simplify phi1 into phi1
17.350 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
17.350 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
17.350 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
17.350 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
17.350 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
17.350 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
17.350 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.350 * [backup-simplify]: Simplify 0.5 into 0.5
17.350 * [taylor]: Taking taylor expansion of phi2 in lambda2
17.350 * [backup-simplify]: Simplify phi2 into phi2
17.350 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
17.350 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
17.350 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
17.351 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
17.351 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
17.351 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.351 * [backup-simplify]: Simplify 0.5 into 0.5
17.351 * [taylor]: Taking taylor expansion of phi1 in lambda2
17.351 * [backup-simplify]: Simplify phi1 into phi1
17.351 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
17.351 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
17.351 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
17.351 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
17.352 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
17.352 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
17.352 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
17.352 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
17.353 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
17.353 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
17.353 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
17.355 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
17.355 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
17.355 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
17.355 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
17.355 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
17.355 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
17.355 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
17.356 * [backup-simplify]: Simplify (- 0) into 0
17.356 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
17.356 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
17.356 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
17.356 * [backup-simplify]: Simplify (- 0) into 0
17.357 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
17.357 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
17.357 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
17.357 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
17.357 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
17.358 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
17.358 * [backup-simplify]: Simplify (- 0) into 0
17.358 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
17.358 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
17.358 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
17.359 * [backup-simplify]: Simplify (- 0) into 0
17.359 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
17.359 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
17.359 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
17.359 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
17.359 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
17.359 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
17.359 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
17.359 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
17.360 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
17.360 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
17.361 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))
17.362 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
17.364 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
17.367 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)
17.371 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)) into (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
17.375 * [backup-simplify]: Simplify (/ 1 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)))
17.380 * [backup-simplify]: Simplify (sqrt (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)))) into (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))
17.381 * [backup-simplify]: Simplify (+ 0) into 0
17.382 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
17.382 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
17.383 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
17.383 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
17.384 * [backup-simplify]: Simplify (+ 0 0) into 0
17.384 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
17.384 * [backup-simplify]: Simplify (+ 0) into 0
17.385 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
17.385 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
17.386 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
17.386 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
17.387 * [backup-simplify]: Simplify (+ 0 0) into 0
17.387 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
17.387 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
17.388 * [backup-simplify]: Simplify (+ 0) into 0
17.388 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
17.389 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
17.389 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
17.390 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
17.390 * [backup-simplify]: Simplify (- 0) into 0
17.391 * [backup-simplify]: Simplify (+ 0 0) into 0
17.391 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
17.391 * [backup-simplify]: Simplify (+ 0) into 0
17.392 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
17.392 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
17.393 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
17.393 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
17.393 * [backup-simplify]: Simplify (- 0) into 0
17.394 * [backup-simplify]: Simplify (+ 0 0) into 0
17.394 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
17.395 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
17.395 * [backup-simplify]: Simplify (+ 0 0) into 0
17.395 * [backup-simplify]: Simplify (+ 0) into 0
17.396 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
17.396 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
17.397 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
17.397 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
17.398 * [backup-simplify]: Simplify (- 0) into 0
17.398 * [backup-simplify]: Simplify (+ 0 0) into 0
17.398 * [backup-simplify]: Simplify (+ 0) into 0
17.399 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
17.399 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
17.400 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
17.400 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
17.400 * [backup-simplify]: Simplify (- 0) into 0
17.401 * [backup-simplify]: Simplify (+ 0 0) into 0
17.401 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
17.401 * [backup-simplify]: Simplify (+ 0) into 0
17.402 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
17.402 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
17.403 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
17.403 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
17.404 * [backup-simplify]: Simplify (+ 0 0) into 0
17.404 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
17.405 * [backup-simplify]: Simplify (+ 0) into 0
17.405 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
17.405 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
17.406 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
17.406 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
17.407 * [backup-simplify]: Simplify (+ 0 0) into 0
17.407 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
17.408 * [backup-simplify]: Simplify (+ 0) into 0
17.408 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
17.408 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
17.409 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
17.409 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
17.410 * [backup-simplify]: Simplify (+ 0 0) into 0
17.410 * [backup-simplify]: Simplify (+ 0) into 0
17.411 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
17.411 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
17.412 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
17.412 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
17.413 * [backup-simplify]: Simplify (+ 0 0) into 0
17.413 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
17.413 * [backup-simplify]: Simplify (+ 0) into 0
17.414 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
17.414 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
17.415 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
17.415 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
17.416 * [backup-simplify]: Simplify (- 0) into 0
17.416 * [backup-simplify]: Simplify (+ 0 0) into 0
17.416 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
17.417 * [backup-simplify]: Simplify (+ 0) into 0
17.417 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
17.417 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
17.418 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
17.419 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
17.419 * [backup-simplify]: Simplify (- 0) into 0
17.419 * [backup-simplify]: Simplify (+ 0 0) into 0
17.420 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
17.420 * [backup-simplify]: Simplify (+ 0 0) into 0
17.420 * [backup-simplify]: Simplify (- 0) into 0
17.421 * [backup-simplify]: Simplify (+ 0 0) into 0
17.425 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into 0
17.429 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2))) into 0
17.437 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2))) (/ 0 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
17.441 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)))))) into 0
17.442 * [taylor]: Taking taylor expansion of (+ (* 3/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (* lambda2 (* phi1 phi2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (+ (* 17/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 3) (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (cos (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (* lambda2 (* phi1 phi2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* lambda2 (* R (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow phi2 2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 5) (* (pow (cos (/ 0.5 phi1)) 5) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3)))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* lambda2 (* (pow phi1 2) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi1)) 4)) (* R (* (pow lambda2 3) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)) (* R (* (pow lambda2 3) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 2 (* (/ (* (sin (/ 0.5 phi2)) (* (pow (cos (/ 0.5 phi1)) 5) (* (pow (cos (/ 0.5 phi2)) 5) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 (* (pow phi1 2) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 (* R (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow phi2 2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 3/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (* 3/2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 5) (pow (sin (/ 0.5 phi1)) 5)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3)))))))))))))))))) in lambda2
17.442 * [taylor]: Taking taylor expansion of (* 3/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) in lambda2
17.443 * [taylor]: Taking taylor expansion of 3/2 in lambda2
17.443 * [backup-simplify]: Simplify 3/2 into 3/2
17.443 * [taylor]: Taking taylor expansion of (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) in lambda2
17.443 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) in lambda2
17.443 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) in lambda2
17.443 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
17.443 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
17.443 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
17.443 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.443 * [backup-simplify]: Simplify 0.5 into 0.5
17.443 * [taylor]: Taking taylor expansion of phi2 in lambda2
17.443 * [backup-simplify]: Simplify phi2 into phi2
17.443 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
17.443 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
17.443 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
17.443 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
17.444 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
17.444 * [backup-simplify]: Simplify (- 0) into 0
17.444 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
17.444 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))) in lambda2
17.444 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
17.444 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
17.444 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
17.444 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.444 * [backup-simplify]: Simplify 0.5 into 0.5
17.444 * [taylor]: Taking taylor expansion of phi1 in lambda2
17.444 * [backup-simplify]: Simplify phi1 into phi1
17.445 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
17.445 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
17.445 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
17.445 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
17.445 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
17.445 * [backup-simplify]: Simplify (- 0) into 0
17.445 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
17.445 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
17.445 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
17.445 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
17.445 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
17.446 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.446 * [backup-simplify]: Simplify 0.5 into 0.5
17.446 * [taylor]: Taking taylor expansion of phi2 in lambda2
17.446 * [backup-simplify]: Simplify phi2 into phi2
17.446 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
17.446 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
17.446 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
17.446 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
17.446 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
17.446 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
17.446 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
17.446 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
17.446 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
17.446 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.446 * [backup-simplify]: Simplify 0.5 into 0.5
17.446 * [taylor]: Taking taylor expansion of phi1 in lambda2
17.446 * [backup-simplify]: Simplify phi1 into phi1
17.446 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
17.446 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
17.446 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
17.446 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
17.446 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
17.446 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
17.446 * [taylor]: Taking taylor expansion of (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3))) in lambda2
17.446 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
17.446 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
17.446 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
17.446 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
17.446 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
17.447 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
17.447 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.447 * [backup-simplify]: Simplify 0.5 into 0.5
17.447 * [taylor]: Taking taylor expansion of phi2 in lambda2
17.447 * [backup-simplify]: Simplify phi2 into phi2
17.447 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
17.447 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
17.447 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
17.447 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
17.447 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
17.447 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
17.447 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
17.447 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
17.447 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
17.447 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.447 * [backup-simplify]: Simplify 0.5 into 0.5
17.447 * [taylor]: Taking taylor expansion of phi1 in lambda2
17.447 * [backup-simplify]: Simplify phi1 into phi1
17.447 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
17.447 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
17.447 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
17.447 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
17.447 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
17.447 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
17.447 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
17.447 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
17.447 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
17.447 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
17.447 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.447 * [backup-simplify]: Simplify 0.5 into 0.5
17.447 * [taylor]: Taking taylor expansion of phi2 in lambda2
17.447 * [backup-simplify]: Simplify phi2 into phi2
17.448 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
17.448 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
17.448 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
17.448 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
17.448 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
17.448 * [backup-simplify]: Simplify (- 0) into 0
17.448 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
17.448 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
17.448 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
17.448 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
17.448 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.448 * [backup-simplify]: Simplify 0.5 into 0.5
17.448 * [taylor]: Taking taylor expansion of phi1 in lambda2
17.448 * [backup-simplify]: Simplify phi1 into phi1
17.448 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
17.448 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
17.448 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
17.448 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
17.448 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
17.449 * [backup-simplify]: Simplify (- 0) into 0
17.449 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
17.449 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
17.449 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
17.449 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
17.449 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
17.449 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.449 * [backup-simplify]: Simplify 0.5 into 0.5
17.449 * [taylor]: Taking taylor expansion of phi2 in lambda2
17.449 * [backup-simplify]: Simplify phi2 into phi2
17.449 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
17.449 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
17.449 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
17.449 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
17.449 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
17.449 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
17.449 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.449 * [backup-simplify]: Simplify 0.5 into 0.5
17.449 * [taylor]: Taking taylor expansion of phi1 in lambda2
17.449 * [backup-simplify]: Simplify phi1 into phi1
17.449 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
17.449 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
17.449 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
17.449 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
17.449 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
17.449 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
17.449 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.449 * [backup-simplify]: Simplify 0.5 into 0.5
17.449 * [taylor]: Taking taylor expansion of phi2 in lambda2
17.450 * [backup-simplify]: Simplify phi2 into phi2
17.450 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
17.450 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
17.450 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
17.450 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
17.450 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
17.450 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.450 * [backup-simplify]: Simplify 0.5 into 0.5
17.450 * [taylor]: Taking taylor expansion of phi1 in lambda2
17.450 * [backup-simplify]: Simplify phi1 into phi1
17.450 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
17.450 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
17.450 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
17.450 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
17.450 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
17.450 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
17.450 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.450 * [backup-simplify]: Simplify 0.5 into 0.5
17.450 * [taylor]: Taking taylor expansion of phi2 in lambda2
17.450 * [backup-simplify]: Simplify phi2 into phi2
17.450 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
17.450 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
17.450 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
17.450 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
17.450 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
17.450 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
17.450 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.450 * [backup-simplify]: Simplify 0.5 into 0.5
17.450 * [taylor]: Taking taylor expansion of phi1 in lambda2
17.450 * [backup-simplify]: Simplify phi1 into phi1
17.450 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
17.450 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
17.450 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
17.450 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
17.450 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
17.450 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
17.450 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.450 * [backup-simplify]: Simplify 0.5 into 0.5
17.451 * [taylor]: Taking taylor expansion of phi2 in lambda2
17.451 * [backup-simplify]: Simplify phi2 into phi2
17.451 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
17.451 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
17.451 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
17.451 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
17.451 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
17.451 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.451 * [backup-simplify]: Simplify 0.5 into 0.5
17.451 * [taylor]: Taking taylor expansion of phi1 in lambda2
17.451 * [backup-simplify]: Simplify phi1 into phi1
17.451 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
17.451 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
17.451 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
17.451 * [taylor]: Taking taylor expansion of (* R (pow lambda2 3)) in lambda2
17.451 * [taylor]: Taking taylor expansion of R in lambda2
17.451 * [backup-simplify]: Simplify R into R
17.451 * [taylor]: Taking taylor expansion of (pow lambda2 3) in lambda2
17.451 * [taylor]: Taking taylor expansion of lambda2 in lambda2
17.451 * [backup-simplify]: Simplify 0 into 0
17.451 * [backup-simplify]: Simplify 1 into 1
17.451 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
17.451 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
17.451 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
17.451 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
17.452 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
17.452 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))) into (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
17.452 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))) into (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))))
17.452 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
17.452 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
17.453 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
17.453 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
17.453 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
17.453 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
17.453 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
17.454 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
17.454 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
17.454 * [backup-simplify]: Simplify (- 0) into 0
17.454 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
17.454 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
17.454 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
17.454 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
17.454 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
17.454 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
17.454 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
17.455 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
17.455 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
17.455 * [backup-simplify]: Simplify (- 0) into 0
17.455 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
17.455 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
17.455 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
17.455 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
17.455 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
17.455 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
17.455 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
17.456 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
17.456 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
17.456 * [backup-simplify]: Simplify (- 0) into 0
17.456 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
17.456 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
17.456 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
17.456 * [backup-simplify]: Simplify (- 0) into 0
17.456 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
17.456 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
17.456 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
17.457 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
17.457 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
17.457 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
17.457 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
17.457 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))
17.458 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
17.459 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
17.459 * [backup-simplify]: Simplify (* 1 1) into 1
17.459 * [backup-simplify]: Simplify (* 1 1) into 1
17.459 * [backup-simplify]: Simplify (* R 1) into R
17.460 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R) into (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)
17.462 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) into (/ (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
17.462 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in lambda2
17.462 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in lambda2
17.462 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
17.462 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
17.462 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
17.462 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
17.462 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
17.462 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
17.462 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.462 * [backup-simplify]: Simplify 0.5 into 0.5
17.462 * [taylor]: Taking taylor expansion of phi2 in lambda2
17.462 * [backup-simplify]: Simplify phi2 into phi2
17.462 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
17.462 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
17.462 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
17.462 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
17.462 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
17.462 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
17.463 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
17.463 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
17.463 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
17.463 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.463 * [backup-simplify]: Simplify 0.5 into 0.5
17.463 * [taylor]: Taking taylor expansion of phi1 in lambda2
17.463 * [backup-simplify]: Simplify phi1 into phi1
17.463 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
17.463 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
17.463 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
17.463 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
17.463 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
17.463 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
17.463 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
17.463 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
17.463 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
17.463 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
17.463 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.463 * [backup-simplify]: Simplify 0.5 into 0.5
17.463 * [taylor]: Taking taylor expansion of phi2 in lambda2
17.463 * [backup-simplify]: Simplify phi2 into phi2
17.463 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
17.463 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
17.463 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
17.463 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
17.463 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
17.464 * [backup-simplify]: Simplify (- 0) into 0
17.464 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
17.464 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
17.464 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
17.464 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
17.464 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.464 * [backup-simplify]: Simplify 0.5 into 0.5
17.464 * [taylor]: Taking taylor expansion of phi1 in lambda2
17.464 * [backup-simplify]: Simplify phi1 into phi1
17.464 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
17.464 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
17.464 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
17.464 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
17.464 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
17.464 * [backup-simplify]: Simplify (- 0) into 0
17.464 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
17.465 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
17.465 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
17.465 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
17.465 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
17.465 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.465 * [backup-simplify]: Simplify 0.5 into 0.5
17.465 * [taylor]: Taking taylor expansion of phi2 in lambda2
17.465 * [backup-simplify]: Simplify phi2 into phi2
17.465 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
17.465 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
17.465 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
17.465 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
17.465 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
17.465 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
17.465 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.465 * [backup-simplify]: Simplify 0.5 into 0.5
17.465 * [taylor]: Taking taylor expansion of phi1 in lambda2
17.465 * [backup-simplify]: Simplify phi1 into phi1
17.465 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
17.465 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
17.465 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
17.465 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
17.465 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
17.465 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
17.465 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.465 * [backup-simplify]: Simplify 0.5 into 0.5
17.465 * [taylor]: Taking taylor expansion of phi2 in lambda2
17.465 * [backup-simplify]: Simplify phi2 into phi2
17.465 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
17.465 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
17.465 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
17.465 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
17.465 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
17.465 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.465 * [backup-simplify]: Simplify 0.5 into 0.5
17.465 * [taylor]: Taking taylor expansion of phi1 in lambda2
17.465 * [backup-simplify]: Simplify phi1 into phi1
17.465 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
17.466 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
17.466 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
17.466 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
17.466 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
17.466 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
17.466 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.466 * [backup-simplify]: Simplify 0.5 into 0.5
17.466 * [taylor]: Taking taylor expansion of phi2 in lambda2
17.466 * [backup-simplify]: Simplify phi2 into phi2
17.466 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
17.466 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
17.466 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
17.466 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
17.466 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
17.466 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
17.466 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.466 * [backup-simplify]: Simplify 0.5 into 0.5
17.466 * [taylor]: Taking taylor expansion of phi1 in lambda2
17.466 * [backup-simplify]: Simplify phi1 into phi1
17.466 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
17.466 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
17.466 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
17.466 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
17.466 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
17.466 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
17.466 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.466 * [backup-simplify]: Simplify 0.5 into 0.5
17.466 * [taylor]: Taking taylor expansion of phi2 in lambda2
17.466 * [backup-simplify]: Simplify phi2 into phi2
17.466 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
17.466 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
17.466 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
17.466 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
17.466 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
17.466 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.466 * [backup-simplify]: Simplify 0.5 into 0.5
17.466 * [taylor]: Taking taylor expansion of phi1 in lambda2
17.466 * [backup-simplify]: Simplify phi1 into phi1
17.466 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
17.467 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
17.467 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
17.467 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
17.467 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
17.467 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
17.467 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
17.467 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
17.467 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
17.468 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
17.468 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
17.468 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
17.468 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
17.468 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
17.468 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
17.468 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
17.468 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
17.468 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
17.469 * [backup-simplify]: Simplify (- 0) into 0
17.469 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
17.469 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
17.469 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
17.469 * [backup-simplify]: Simplify (- 0) into 0
17.469 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
17.469 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
17.469 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
17.470 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
17.470 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
17.470 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
17.470 * [backup-simplify]: Simplify (- 0) into 0
17.470 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
17.470 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
17.470 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
17.470 * [backup-simplify]: Simplify (- 0) into 0
17.470 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
17.471 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
17.471 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
17.471 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
17.471 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
17.471 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
17.471 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
17.471 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
17.471 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
17.471 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
17.472 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))
17.472 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
17.473 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
17.474 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
17.475 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
17.476 * [backup-simplify]: Simplify (+ 0) into 0
17.479 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
17.479 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
17.479 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
17.480 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
17.480 * [backup-simplify]: Simplify (+ 0 0) into 0
17.480 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
17.480 * [backup-simplify]: Simplify (+ 0) into 0
17.481 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
17.481 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
17.481 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
17.481 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
17.482 * [backup-simplify]: Simplify (+ 0 0) into 0
17.482 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
17.482 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
17.482 * [backup-simplify]: Simplify (+ 0) into 0
17.483 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
17.483 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
17.483 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
17.483 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
17.484 * [backup-simplify]: Simplify (- 0) into 0
17.484 * [backup-simplify]: Simplify (+ 0 0) into 0
17.484 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
17.484 * [backup-simplify]: Simplify (+ 0) into 0
17.485 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
17.485 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
17.485 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
17.486 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
17.486 * [backup-simplify]: Simplify (- 0) into 0
17.486 * [backup-simplify]: Simplify (+ 0 0) into 0
17.486 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
17.487 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
17.487 * [backup-simplify]: Simplify (+ 0 0) into 0
17.488 * [backup-simplify]: Simplify (+ 0) into 0
17.488 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
17.488 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
17.489 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
17.490 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
17.490 * [backup-simplify]: Simplify (- 0) into 0
17.490 * [backup-simplify]: Simplify (+ 0 0) into 0
17.491 * [backup-simplify]: Simplify (+ 0) into 0
17.491 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
17.491 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
17.492 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
17.493 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
17.493 * [backup-simplify]: Simplify (- 0) into 0
17.493 * [backup-simplify]: Simplify (+ 0 0) into 0
17.493 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
17.494 * [backup-simplify]: Simplify (+ 0) into 0
17.494 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
17.494 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
17.495 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
17.495 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
17.495 * [backup-simplify]: Simplify (+ 0 0) into 0
17.495 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
17.495 * [backup-simplify]: Simplify (+ 0) into 0
17.496 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
17.496 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
17.496 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
17.497 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
17.497 * [backup-simplify]: Simplify (+ 0 0) into 0
17.497 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
17.497 * [backup-simplify]: Simplify (+ 0) into 0
17.498 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
17.498 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
17.498 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
17.498 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
17.499 * [backup-simplify]: Simplify (+ 0 0) into 0
17.499 * [backup-simplify]: Simplify (+ 0) into 0
17.499 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
17.499 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
17.500 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
17.500 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
17.500 * [backup-simplify]: Simplify (+ 0 0) into 0
17.501 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
17.501 * [backup-simplify]: Simplify (+ 0) into 0
17.501 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
17.501 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
17.502 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
17.502 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
17.502 * [backup-simplify]: Simplify (- 0) into 0
17.503 * [backup-simplify]: Simplify (+ 0 0) into 0
17.503 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
17.503 * [backup-simplify]: Simplify (+ 0) into 0
17.503 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
17.503 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
17.504 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
17.504 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
17.504 * [backup-simplify]: Simplify (- 0) into 0
17.505 * [backup-simplify]: Simplify (+ 0 0) into 0
17.505 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
17.505 * [backup-simplify]: Simplify (+ 0 0) into 0
17.505 * [backup-simplify]: Simplify (- 0) into 0
17.506 * [backup-simplify]: Simplify (+ 0 0) into 0
17.508 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
17.509 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
17.509 * [taylor]: Taking taylor expansion of (+ (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (* lambda2 (* phi1 phi2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (+ (* 17/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 3) (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (cos (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (* lambda2 (* phi1 phi2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* lambda2 (* R (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow phi2 2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 5) (* (pow (cos (/ 0.5 phi1)) 5) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3)))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* lambda2 (* (pow phi1 2) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi1)) 4)) (* R (* (pow lambda2 3) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)) (* R (* (pow lambda2 3) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 2 (* (/ (* (sin (/ 0.5 phi2)) (* (pow (cos (/ 0.5 phi1)) 5) (* (pow (cos (/ 0.5 phi2)) 5) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 (* (pow phi1 2) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 (* R (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow phi2 2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 3/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (* 3/2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 5) (pow (sin (/ 0.5 phi1)) 5)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))))))))))))))) in lambda2
17.509 * [taylor]: Taking taylor expansion of (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (* lambda2 (* phi1 phi2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) in lambda2
17.509 * [taylor]: Taking taylor expansion of (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (* lambda2 (* phi1 phi2))))) in lambda2
17.509 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
17.509 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
17.509 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
17.509 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.509 * [backup-simplify]: Simplify 0.5 into 0.5
17.509 * [taylor]: Taking taylor expansion of phi2 in lambda2
17.509 * [backup-simplify]: Simplify phi2 into phi2
17.509 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
17.510 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
17.510 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
17.510 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
17.510 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
17.510 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
17.510 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.510 * [backup-simplify]: Simplify 0.5 into 0.5
17.510 * [taylor]: Taking taylor expansion of phi1 in lambda2
17.510 * [backup-simplify]: Simplify phi1 into phi1
17.510 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
17.510 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
17.510 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
17.510 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
17.510 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
17.510 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
17.510 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.510 * [backup-simplify]: Simplify 0.5 into 0.5
17.510 * [taylor]: Taking taylor expansion of phi2 in lambda2
17.510 * [backup-simplify]: Simplify phi2 into phi2
17.510 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
17.510 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
17.510 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
17.510 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
17.510 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
17.510 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.510 * [backup-simplify]: Simplify 0.5 into 0.5
17.510 * [taylor]: Taking taylor expansion of phi1 in lambda2
17.510 * [backup-simplify]: Simplify phi1 into phi1
17.510 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
17.510 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
17.510 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
17.510 * [taylor]: Taking taylor expansion of (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (* lambda2 (* phi1 phi2)))) in lambda2
17.510 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
17.510 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
17.510 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
17.511 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
17.511 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
17.511 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
17.511 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.511 * [backup-simplify]: Simplify 0.5 into 0.5
17.511 * [taylor]: Taking taylor expansion of phi2 in lambda2
17.511 * [backup-simplify]: Simplify phi2 into phi2
17.511 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
17.511 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
17.511 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
17.511 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
17.511 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
17.511 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
17.511 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
17.511 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
17.511 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
17.511 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.511 * [backup-simplify]: Simplify 0.5 into 0.5
17.511 * [taylor]: Taking taylor expansion of phi1 in lambda2
17.511 * [backup-simplify]: Simplify phi1 into phi1
17.511 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
17.511 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
17.511 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
17.511 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
17.511 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
17.511 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
17.511 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
17.511 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
17.511 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
17.511 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
17.511 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.512 * [backup-simplify]: Simplify 0.5 into 0.5
17.512 * [taylor]: Taking taylor expansion of phi2 in lambda2
17.512 * [backup-simplify]: Simplify phi2 into phi2
17.512 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
17.512 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
17.512 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
17.512 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
17.512 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
17.512 * [backup-simplify]: Simplify (- 0) into 0
17.512 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
17.512 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
17.512 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
17.512 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
17.512 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.512 * [backup-simplify]: Simplify 0.5 into 0.5
17.512 * [taylor]: Taking taylor expansion of phi1 in lambda2
17.512 * [backup-simplify]: Simplify phi1 into phi1
17.512 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
17.512 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
17.513 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
17.513 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
17.513 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
17.513 * [backup-simplify]: Simplify (- 0) into 0
17.513 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
17.513 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
17.513 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
17.513 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
17.513 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
17.513 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.513 * [backup-simplify]: Simplify 0.5 into 0.5
17.513 * [taylor]: Taking taylor expansion of phi2 in lambda2
17.513 * [backup-simplify]: Simplify phi2 into phi2
17.513 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
17.513 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
17.513 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
17.513 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
17.513 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
17.513 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
17.513 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.513 * [backup-simplify]: Simplify 0.5 into 0.5
17.513 * [taylor]: Taking taylor expansion of phi1 in lambda2
17.513 * [backup-simplify]: Simplify phi1 into phi1
17.513 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
17.514 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
17.514 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
17.514 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
17.514 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
17.514 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
17.514 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.514 * [backup-simplify]: Simplify 0.5 into 0.5
17.514 * [taylor]: Taking taylor expansion of phi2 in lambda2
17.514 * [backup-simplify]: Simplify phi2 into phi2
17.514 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
17.514 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
17.514 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
17.514 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
17.514 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
17.514 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.514 * [backup-simplify]: Simplify 0.5 into 0.5
17.514 * [taylor]: Taking taylor expansion of phi1 in lambda2
17.514 * [backup-simplify]: Simplify phi1 into phi1
17.514 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
17.514 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
17.514 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
17.514 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
17.514 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
17.514 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
17.514 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.514 * [backup-simplify]: Simplify 0.5 into 0.5
17.514 * [taylor]: Taking taylor expansion of phi2 in lambda2
17.514 * [backup-simplify]: Simplify phi2 into phi2
17.514 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
17.514 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
17.514 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
17.514 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
17.514 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
17.514 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
17.514 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.514 * [backup-simplify]: Simplify 0.5 into 0.5
17.514 * [taylor]: Taking taylor expansion of phi1 in lambda2
17.514 * [backup-simplify]: Simplify phi1 into phi1
17.514 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
17.515 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
17.515 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
17.515 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
17.515 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
17.515 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
17.515 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.515 * [backup-simplify]: Simplify 0.5 into 0.5
17.515 * [taylor]: Taking taylor expansion of phi2 in lambda2
17.515 * [backup-simplify]: Simplify phi2 into phi2
17.515 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
17.515 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
17.515 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
17.515 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
17.515 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
17.515 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.515 * [backup-simplify]: Simplify 0.5 into 0.5
17.515 * [taylor]: Taking taylor expansion of phi1 in lambda2
17.515 * [backup-simplify]: Simplify phi1 into phi1
17.515 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
17.515 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
17.515 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
17.515 * [taylor]: Taking taylor expansion of (* R (* lambda2 (* phi1 phi2))) in lambda2
17.515 * [taylor]: Taking taylor expansion of R in lambda2
17.515 * [backup-simplify]: Simplify R into R
17.515 * [taylor]: Taking taylor expansion of (* lambda2 (* phi1 phi2)) in lambda2
17.515 * [taylor]: Taking taylor expansion of lambda2 in lambda2
17.515 * [backup-simplify]: Simplify 0 into 0
17.515 * [backup-simplify]: Simplify 1 into 1
17.515 * [taylor]: Taking taylor expansion of (* phi1 phi2) in lambda2
17.515 * [taylor]: Taking taylor expansion of phi1 in lambda2
17.515 * [backup-simplify]: Simplify phi1 into phi1
17.515 * [taylor]: Taking taylor expansion of phi2 in lambda2
17.515 * [backup-simplify]: Simplify phi2 into phi2
17.515 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
17.515 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
17.516 * [backup-simplify]: Simplify (- 0) into 0
17.516 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
17.516 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
17.516 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
17.516 * [backup-simplify]: Simplify (- 0) into 0
17.516 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
17.516 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
17.516 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
17.516 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
17.516 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
17.517 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
17.517 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
17.517 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
17.517 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
17.517 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
17.517 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
17.517 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
17.517 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
17.517 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
17.518 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
17.518 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
17.518 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
17.518 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
17.518 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
17.519 * [backup-simplify]: Simplify (- 0) into 0
17.519 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
17.519 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
17.519 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
17.519 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
17.519 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
17.519 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
17.519 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
17.519 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
17.519 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
17.519 * [backup-simplify]: Simplify (- 0) into 0
17.520 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
17.520 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
17.520 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
17.520 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
17.520 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
17.520 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
17.520 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
17.520 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
17.520 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
17.520 * [backup-simplify]: Simplify (- 0) into 0
17.521 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
17.521 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
17.521 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
17.521 * [backup-simplify]: Simplify (- 0) into 0
17.521 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
17.521 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
17.521 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
17.521 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
17.521 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
17.521 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
17.522 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
17.522 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))
17.523 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
17.524 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
17.524 * [backup-simplify]: Simplify (* phi1 phi2) into (* phi1 phi2)
17.524 * [backup-simplify]: Simplify (* 0 (* phi1 phi2)) into 0
17.524 * [backup-simplify]: Simplify (* R 0) into 0
17.525 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) into 0
17.525 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi2)) into 0
17.525 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* phi1 phi2))) into (* phi1 phi2)
17.526 * [backup-simplify]: Simplify (+ (* R (* phi1 phi2)) (* 0 0)) into (* R (* phi1 phi2))
17.526 * [backup-simplify]: Simplify (+ 0) into 0
17.526 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
17.526 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
17.527 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
17.527 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
17.527 * [backup-simplify]: Simplify (+ 0 0) into 0
17.527 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
17.528 * [backup-simplify]: Simplify (+ 0) into 0
17.528 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
17.528 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
17.528 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
17.529 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
17.529 * [backup-simplify]: Simplify (+ 0 0) into 0
17.529 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
17.529 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
17.530 * [backup-simplify]: Simplify (+ 0) into 0
17.530 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
17.530 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
17.530 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
17.531 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
17.531 * [backup-simplify]: Simplify (- 0) into 0
17.531 * [backup-simplify]: Simplify (+ 0 0) into 0
17.531 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
17.532 * [backup-simplify]: Simplify (+ 0) into 0
17.532 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
17.532 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
17.532 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
17.533 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
17.533 * [backup-simplify]: Simplify (- 0) into 0
17.533 * [backup-simplify]: Simplify (+ 0 0) into 0
17.533 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
17.534 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
17.534 * [backup-simplify]: Simplify (+ 0 0) into 0
17.534 * [backup-simplify]: Simplify (+ 0) into 0
17.534 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
17.534 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
17.535 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
17.535 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
17.535 * [backup-simplify]: Simplify (- 0) into 0
17.536 * [backup-simplify]: Simplify (+ 0 0) into 0
17.536 * [backup-simplify]: Simplify (+ 0) into 0
17.536 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
17.536 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
17.537 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
17.537 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
17.537 * [backup-simplify]: Simplify (+ 0 0) into 0
17.537 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
17.538 * [backup-simplify]: Simplify (+ 0) into 0
17.538 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
17.538 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
17.538 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
17.539 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
17.539 * [backup-simplify]: Simplify (+ 0 0) into 0
17.539 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
17.539 * [backup-simplify]: Simplify (+ 0) into 0
17.540 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
17.540 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
17.540 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
17.541 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
17.541 * [backup-simplify]: Simplify (- 0) into 0
17.541 * [backup-simplify]: Simplify (+ 0 0) into 0
17.541 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
17.542 * [backup-simplify]: Simplify (+ 0) into 0
17.542 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
17.542 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
17.542 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
17.543 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
17.543 * [backup-simplify]: Simplify (+ 0 0) into 0
17.543 * [backup-simplify]: Simplify (+ 0) into 0
17.544 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
17.544 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
17.544 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
17.544 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
17.545 * [backup-simplify]: Simplify (- 0) into 0
17.545 * [backup-simplify]: Simplify (+ 0 0) into 0
17.545 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
17.545 * [backup-simplify]: Simplify (+ 0) into 0
17.546 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
17.546 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
17.547 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
17.547 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
17.547 * [backup-simplify]: Simplify (- 0) into 0
17.548 * [backup-simplify]: Simplify (+ 0 0) into 0
17.548 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
17.548 * [backup-simplify]: Simplify (+ 0) into 0
17.549 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
17.549 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
17.550 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
17.550 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
17.551 * [backup-simplify]: Simplify (+ 0 0) into 0
17.551 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
17.551 * [backup-simplify]: Simplify (+ 0 0) into 0
17.552 * [backup-simplify]: Simplify (- 0) into 0
17.552 * [backup-simplify]: Simplify (+ 0 0) into 0
17.555 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (* phi1 phi2))) (* 0 0)) into (- (+ (* phi1 (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (* phi1 (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))))))
17.559 * [backup-simplify]: Simplify (/ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (- (+ (* phi1 (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (* phi1 (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))))))) into (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* phi1 phi2)))) (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* phi1 phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))))
17.559 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in lambda2
17.559 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in lambda2
17.559 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
17.559 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
17.559 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
17.559 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
17.559 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
17.559 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
17.559 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.559 * [backup-simplify]: Simplify 0.5 into 0.5
17.559 * [taylor]: Taking taylor expansion of phi2 in lambda2
17.559 * [backup-simplify]: Simplify phi2 into phi2
17.559 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
17.559 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
17.559 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
17.560 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
17.560 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
17.560 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
17.560 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
17.560 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
17.560 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
17.560 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.560 * [backup-simplify]: Simplify 0.5 into 0.5
17.560 * [taylor]: Taking taylor expansion of phi1 in lambda2
17.560 * [backup-simplify]: Simplify phi1 into phi1
17.560 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
17.560 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
17.560 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
17.560 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
17.560 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
17.561 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
17.561 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
17.561 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
17.561 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
17.561 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
17.561 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.561 * [backup-simplify]: Simplify 0.5 into 0.5
17.561 * [taylor]: Taking taylor expansion of phi2 in lambda2
17.561 * [backup-simplify]: Simplify phi2 into phi2
17.561 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
17.561 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
17.561 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
17.561 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
17.561 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
17.562 * [backup-simplify]: Simplify (- 0) into 0
17.562 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
17.562 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
17.562 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
17.562 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
17.562 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.562 * [backup-simplify]: Simplify 0.5 into 0.5
17.562 * [taylor]: Taking taylor expansion of phi1 in lambda2
17.562 * [backup-simplify]: Simplify phi1 into phi1
17.562 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
17.562 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
17.562 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
17.562 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
17.563 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
17.563 * [backup-simplify]: Simplify (- 0) into 0
17.563 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
17.563 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
17.563 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
17.563 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
17.563 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
17.563 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.563 * [backup-simplify]: Simplify 0.5 into 0.5
17.563 * [taylor]: Taking taylor expansion of phi2 in lambda2
17.563 * [backup-simplify]: Simplify phi2 into phi2
17.563 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
17.564 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
17.564 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
17.564 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
17.564 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
17.564 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
17.564 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.564 * [backup-simplify]: Simplify 0.5 into 0.5
17.564 * [taylor]: Taking taylor expansion of phi1 in lambda2
17.564 * [backup-simplify]: Simplify phi1 into phi1
17.564 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
17.564 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
17.564 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
17.564 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
17.564 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
17.564 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
17.564 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.564 * [backup-simplify]: Simplify 0.5 into 0.5
17.564 * [taylor]: Taking taylor expansion of phi2 in lambda2
17.564 * [backup-simplify]: Simplify phi2 into phi2
17.564 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
17.564 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
17.565 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
17.565 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
17.565 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
17.565 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.565 * [backup-simplify]: Simplify 0.5 into 0.5
17.565 * [taylor]: Taking taylor expansion of phi1 in lambda2
17.565 * [backup-simplify]: Simplify phi1 into phi1
17.565 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
17.565 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
17.565 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
17.565 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
17.565 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
17.565 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
17.565 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.565 * [backup-simplify]: Simplify 0.5 into 0.5
17.565 * [taylor]: Taking taylor expansion of phi2 in lambda2
17.565 * [backup-simplify]: Simplify phi2 into phi2
17.565 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
17.565 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
17.565 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
17.565 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
17.565 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
17.565 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
17.566 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.566 * [backup-simplify]: Simplify 0.5 into 0.5
17.566 * [taylor]: Taking taylor expansion of phi1 in lambda2
17.566 * [backup-simplify]: Simplify phi1 into phi1
17.566 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
17.566 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
17.566 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
17.566 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
17.566 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
17.566 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
17.566 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.566 * [backup-simplify]: Simplify 0.5 into 0.5
17.566 * [taylor]: Taking taylor expansion of phi2 in lambda2
17.566 * [backup-simplify]: Simplify phi2 into phi2
17.566 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
17.566 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
17.566 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
17.566 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
17.566 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
17.566 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.566 * [backup-simplify]: Simplify 0.5 into 0.5
17.566 * [taylor]: Taking taylor expansion of phi1 in lambda2
17.566 * [backup-simplify]: Simplify phi1 into phi1
17.566 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
17.567 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
17.567 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
17.567 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
17.567 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
17.567 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
17.568 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
17.568 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
17.568 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
17.569 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
17.569 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
17.569 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
17.569 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
17.569 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
17.569 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
17.570 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
17.570 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
17.570 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
17.570 * [backup-simplify]: Simplify (- 0) into 0
17.570 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
17.571 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
17.571 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
17.571 * [backup-simplify]: Simplify (- 0) into 0
17.571 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
17.571 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
17.572 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
17.572 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
17.572 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
17.572 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
17.573 * [backup-simplify]: Simplify (- 0) into 0
17.573 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
17.573 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
17.573 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
17.573 * [backup-simplify]: Simplify (- 0) into 0
17.574 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
17.574 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
17.574 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
17.574 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
17.574 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
17.574 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
17.574 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
17.574 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
17.575 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
17.575 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
17.576 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))
17.576 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
17.578 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
17.581 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
17.583 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
17.584 * [backup-simplify]: Simplify (+ 0) into 0
17.584 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
17.584 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
17.585 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
17.585 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
17.586 * [backup-simplify]: Simplify (+ 0 0) into 0
17.586 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
17.586 * [backup-simplify]: Simplify (+ 0) into 0
17.587 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
17.587 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
17.588 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
17.588 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
17.589 * [backup-simplify]: Simplify (+ 0 0) into 0
17.589 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
17.589 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
17.590 * [backup-simplify]: Simplify (+ 0) into 0
17.590 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
17.590 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
17.591 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
17.592 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
17.592 * [backup-simplify]: Simplify (- 0) into 0
17.592 * [backup-simplify]: Simplify (+ 0 0) into 0
17.593 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
17.593 * [backup-simplify]: Simplify (+ 0) into 0
17.593 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
17.594 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
17.594 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
17.595 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
17.595 * [backup-simplify]: Simplify (- 0) into 0
17.595 * [backup-simplify]: Simplify (+ 0 0) into 0
17.596 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
17.596 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
17.596 * [backup-simplify]: Simplify (+ 0 0) into 0
17.597 * [backup-simplify]: Simplify (+ 0) into 0
17.597 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
17.597 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
17.598 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
17.598 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
17.598 * [backup-simplify]: Simplify (- 0) into 0
17.599 * [backup-simplify]: Simplify (+ 0 0) into 0
17.601 * [backup-simplify]: Simplify (+ 0) into 0
17.601 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
17.601 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
17.602 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
17.602 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
17.602 * [backup-simplify]: Simplify (- 0) into 0
17.603 * [backup-simplify]: Simplify (+ 0 0) into 0
17.603 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
17.603 * [backup-simplify]: Simplify (+ 0) into 0
17.604 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
17.604 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
17.604 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
17.604 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
17.605 * [backup-simplify]: Simplify (+ 0 0) into 0
17.605 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
17.605 * [backup-simplify]: Simplify (+ 0) into 0
17.605 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
17.605 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
17.606 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
17.606 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
17.606 * [backup-simplify]: Simplify (+ 0 0) into 0
17.607 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
17.607 * [backup-simplify]: Simplify (+ 0) into 0
17.607 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
17.607 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
17.608 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
17.608 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
17.608 * [backup-simplify]: Simplify (+ 0 0) into 0
17.609 * [backup-simplify]: Simplify (+ 0) into 0
17.609 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
17.609 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
17.609 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
17.610 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
17.610 * [backup-simplify]: Simplify (+ 0 0) into 0
17.610 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
17.610 * [backup-simplify]: Simplify (+ 0) into 0
17.611 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
17.611 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
17.611 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
17.612 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
17.612 * [backup-simplify]: Simplify (- 0) into 0
17.612 * [backup-simplify]: Simplify (+ 0 0) into 0
17.612 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
17.612 * [backup-simplify]: Simplify (+ 0) into 0
17.613 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
17.613 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
17.613 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
17.614 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
17.614 * [backup-simplify]: Simplify (- 0) into 0
17.614 * [backup-simplify]: Simplify (+ 0 0) into 0
17.614 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
17.615 * [backup-simplify]: Simplify (+ 0 0) into 0
17.615 * [backup-simplify]: Simplify (- 0) into 0
17.615 * [backup-simplify]: Simplify (+ 0 0) into 0
17.617 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
17.618 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
17.618 * [taylor]: Taking taylor expansion of (+ (* 17/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 3) (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (cos (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (* lambda2 (* phi1 phi2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* lambda2 (* R (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow phi2 2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 5) (* (pow (cos (/ 0.5 phi1)) 5) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3)))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* lambda2 (* (pow phi1 2) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi1)) 4)) (* R (* (pow lambda2 3) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)) (* R (* (pow lambda2 3) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 2 (* (/ (* (sin (/ 0.5 phi2)) (* (pow (cos (/ 0.5 phi1)) 5) (* (pow (cos (/ 0.5 phi2)) 5) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 (* (pow phi1 2) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 (* R (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow phi2 2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 3/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (* 3/2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 5) (pow (sin (/ 0.5 phi1)) 5)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3)))))))))))))))) in lambda2
17.619 * [taylor]: Taking taylor expansion of (* 17/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 3) (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (cos (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) in lambda2
17.619 * [taylor]: Taking taylor expansion of 17/2 in lambda2
17.619 * [backup-simplify]: Simplify 17/2 into 17/2
17.619 * [taylor]: Taking taylor expansion of (* (/ (* (pow (sin (/ 0.5 phi2)) 3) (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (cos (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3)))) in lambda2
17.619 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi2)) 3) (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (cos (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) in lambda2
17.619 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 3) (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (cos (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)))) in lambda2
17.619 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 3) in lambda2
17.619 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
17.619 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
17.619 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.619 * [backup-simplify]: Simplify 0.5 into 0.5
17.619 * [taylor]: Taking taylor expansion of phi2 in lambda2
17.619 * [backup-simplify]: Simplify phi2 into phi2
17.619 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
17.619 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
17.619 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
17.619 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
17.619 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
17.619 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
17.619 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (cos (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3))) in lambda2
17.619 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 3) in lambda2
17.619 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
17.619 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
17.619 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.619 * [backup-simplify]: Simplify 0.5 into 0.5
17.619 * [taylor]: Taking taylor expansion of phi1 in lambda2
17.619 * [backup-simplify]: Simplify phi1 into phi1
17.619 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
17.619 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
17.620 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
17.620 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
17.620 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
17.620 * [backup-simplify]: Simplify (- 0) into 0
17.620 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
17.620 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)) in lambda2
17.620 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 3) in lambda2
17.620 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
17.620 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
17.620 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.620 * [backup-simplify]: Simplify 0.5 into 0.5
17.620 * [taylor]: Taking taylor expansion of phi2 in lambda2
17.620 * [backup-simplify]: Simplify phi2 into phi2
17.620 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
17.620 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
17.620 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
17.620 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
17.620 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
17.621 * [backup-simplify]: Simplify (- 0) into 0
17.621 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
17.621 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 3) in lambda2
17.621 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
17.621 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
17.621 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.621 * [backup-simplify]: Simplify 0.5 into 0.5
17.621 * [taylor]: Taking taylor expansion of phi1 in lambda2
17.621 * [backup-simplify]: Simplify phi1 into phi1
17.621 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
17.621 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
17.621 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
17.621 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
17.621 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
17.621 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
17.621 * [taylor]: Taking taylor expansion of (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3))) in lambda2
17.621 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
17.621 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
17.621 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
17.621 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
17.621 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
17.621 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
17.621 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.621 * [backup-simplify]: Simplify 0.5 into 0.5
17.621 * [taylor]: Taking taylor expansion of phi2 in lambda2
17.621 * [backup-simplify]: Simplify phi2 into phi2
17.621 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
17.622 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
17.622 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
17.622 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
17.622 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
17.622 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
17.622 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
17.622 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
17.622 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
17.622 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.622 * [backup-simplify]: Simplify 0.5 into 0.5
17.622 * [taylor]: Taking taylor expansion of phi1 in lambda2
17.622 * [backup-simplify]: Simplify phi1 into phi1
17.622 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
17.622 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
17.622 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
17.622 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
17.622 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
17.622 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
17.622 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
17.622 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
17.622 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
17.622 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
17.622 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.622 * [backup-simplify]: Simplify 0.5 into 0.5
17.623 * [taylor]: Taking taylor expansion of phi2 in lambda2
17.623 * [backup-simplify]: Simplify phi2 into phi2
17.623 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
17.623 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
17.623 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
17.623 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
17.623 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
17.623 * [backup-simplify]: Simplify (- 0) into 0
17.623 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
17.623 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
17.623 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
17.623 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
17.623 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.623 * [backup-simplify]: Simplify 0.5 into 0.5
17.623 * [taylor]: Taking taylor expansion of phi1 in lambda2
17.623 * [backup-simplify]: Simplify phi1 into phi1
17.623 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
17.623 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
17.623 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
17.624 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
17.624 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
17.624 * [backup-simplify]: Simplify (- 0) into 0
17.624 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
17.624 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
17.624 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
17.624 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
17.624 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
17.624 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.624 * [backup-simplify]: Simplify 0.5 into 0.5
17.624 * [taylor]: Taking taylor expansion of phi2 in lambda2
17.624 * [backup-simplify]: Simplify phi2 into phi2
17.624 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
17.624 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
17.624 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
17.624 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
17.624 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
17.624 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
17.624 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.624 * [backup-simplify]: Simplify 0.5 into 0.5
17.624 * [taylor]: Taking taylor expansion of phi1 in lambda2
17.624 * [backup-simplify]: Simplify phi1 into phi1
17.624 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
17.624 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
17.624 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
17.625 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
17.625 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
17.625 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
17.625 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.625 * [backup-simplify]: Simplify 0.5 into 0.5
17.625 * [taylor]: Taking taylor expansion of phi2 in lambda2
17.625 * [backup-simplify]: Simplify phi2 into phi2
17.625 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
17.625 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
17.625 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
17.625 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
17.625 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
17.625 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.625 * [backup-simplify]: Simplify 0.5 into 0.5
17.625 * [taylor]: Taking taylor expansion of phi1 in lambda2
17.625 * [backup-simplify]: Simplify phi1 into phi1
17.625 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
17.625 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
17.625 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
17.625 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
17.625 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
17.625 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
17.625 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.625 * [backup-simplify]: Simplify 0.5 into 0.5
17.625 * [taylor]: Taking taylor expansion of phi2 in lambda2
17.625 * [backup-simplify]: Simplify phi2 into phi2
17.625 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
17.625 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
17.625 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
17.625 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
17.625 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
17.625 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
17.625 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.625 * [backup-simplify]: Simplify 0.5 into 0.5
17.625 * [taylor]: Taking taylor expansion of phi1 in lambda2
17.625 * [backup-simplify]: Simplify phi1 into phi1
17.625 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
17.625 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
17.626 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
17.626 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
17.626 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
17.626 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
17.626 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.626 * [backup-simplify]: Simplify 0.5 into 0.5
17.626 * [taylor]: Taking taylor expansion of phi2 in lambda2
17.626 * [backup-simplify]: Simplify phi2 into phi2
17.626 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
17.626 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
17.626 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
17.626 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
17.626 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
17.626 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.626 * [backup-simplify]: Simplify 0.5 into 0.5
17.626 * [taylor]: Taking taylor expansion of phi1 in lambda2
17.626 * [backup-simplify]: Simplify phi1 into phi1
17.626 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
17.626 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
17.626 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
17.626 * [taylor]: Taking taylor expansion of (* R (pow lambda2 3)) in lambda2
17.626 * [taylor]: Taking taylor expansion of R in lambda2
17.626 * [backup-simplify]: Simplify R into R
17.626 * [taylor]: Taking taylor expansion of (pow lambda2 3) in lambda2
17.626 * [taylor]: Taking taylor expansion of lambda2 in lambda2
17.626 * [backup-simplify]: Simplify 0 into 0
17.626 * [backup-simplify]: Simplify 1 into 1
17.626 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
17.626 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (pow (sin (/ 0.5 phi2)) 2)) into (pow (sin (/ 0.5 phi2)) 3)
17.626 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
17.627 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (pow (cos (/ 0.5 phi1)) 2)) into (pow (cos (/ 0.5 phi1)) 3)
17.627 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
17.627 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (pow (cos (/ 0.5 phi2)) 2)) into (pow (cos (/ 0.5 phi2)) 3)
17.627 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
17.627 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (pow (sin (/ 0.5 phi1)) 2)) into (pow (sin (/ 0.5 phi1)) 3)
17.627 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)) into (* (pow (cos (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3))
17.628 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (cos (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3))) into (* (pow (sin (/ 0.5 phi1)) 3) (* (pow (cos (/ 0.5 phi2)) 3) (pow (cos (/ 0.5 phi1)) 3)))
17.628 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 3) (* (pow (sin (/ 0.5 phi1)) 3) (* (pow (cos (/ 0.5 phi2)) 3) (pow (cos (/ 0.5 phi1)) 3)))) into (* (pow (cos (/ 0.5 phi2)) 3) (* (pow (sin (/ 0.5 phi1)) 3) (* (pow (sin (/ 0.5 phi2)) 3) (pow (cos (/ 0.5 phi1)) 3))))
17.628 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
17.628 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
17.628 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
17.628 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
17.629 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
17.629 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
17.629 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
17.629 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
17.629 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
17.630 * [backup-simplify]: Simplify (- 0) into 0
17.630 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
17.630 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
17.630 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
17.630 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
17.630 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
17.630 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
17.630 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
17.630 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
17.630 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
17.630 * [backup-simplify]: Simplify (- 0) into 0
17.631 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
17.631 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
17.631 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
17.631 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
17.631 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
17.631 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
17.631 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
17.631 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
17.631 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
17.631 * [backup-simplify]: Simplify (- 0) into 0
17.632 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
17.632 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
17.632 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
17.632 * [backup-simplify]: Simplify (- 0) into 0
17.632 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
17.632 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
17.632 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
17.632 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
17.632 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
17.632 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
17.633 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
17.633 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))
17.633 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
17.634 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
17.635 * [backup-simplify]: Simplify (* 1 1) into 1
17.635 * [backup-simplify]: Simplify (* 1 1) into 1
17.635 * [backup-simplify]: Simplify (* R 1) into R
17.636 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R) into (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)
17.638 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi2)) 3) (* (pow (sin (/ 0.5 phi1)) 3) (* (pow (sin (/ 0.5 phi2)) 3) (pow (cos (/ 0.5 phi1)) 3)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) into (/ (* (pow (cos (/ 0.5 phi2)) 3) (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (sin (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
17.638 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))) in lambda2
17.638 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3)) in lambda2
17.638 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3) in lambda2
17.638 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
17.638 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
17.638 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
17.638 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
17.638 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
17.638 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
17.638 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.638 * [backup-simplify]: Simplify 0.5 into 0.5
17.638 * [taylor]: Taking taylor expansion of phi2 in lambda2
17.639 * [backup-simplify]: Simplify phi2 into phi2
17.639 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
17.639 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
17.639 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
17.639 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
17.639 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
17.639 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
17.639 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
17.639 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
17.639 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
17.639 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.639 * [backup-simplify]: Simplify 0.5 into 0.5
17.639 * [taylor]: Taking taylor expansion of phi1 in lambda2
17.639 * [backup-simplify]: Simplify phi1 into phi1
17.639 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
17.639 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
17.640 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
17.640 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
17.640 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
17.640 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
17.640 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
17.640 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
17.640 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
17.640 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
17.640 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.640 * [backup-simplify]: Simplify 0.5 into 0.5
17.640 * [taylor]: Taking taylor expansion of phi2 in lambda2
17.640 * [backup-simplify]: Simplify phi2 into phi2
17.640 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
17.640 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
17.640 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
17.641 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
17.641 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
17.641 * [backup-simplify]: Simplify (- 0) into 0
17.641 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
17.641 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
17.641 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
17.641 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
17.641 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.641 * [backup-simplify]: Simplify 0.5 into 0.5
17.641 * [taylor]: Taking taylor expansion of phi1 in lambda2
17.641 * [backup-simplify]: Simplify phi1 into phi1
17.642 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
17.642 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
17.642 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
17.642 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
17.642 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
17.642 * [backup-simplify]: Simplify (- 0) into 0
17.642 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
17.642 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
17.643 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
17.643 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
17.643 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
17.643 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.643 * [backup-simplify]: Simplify 0.5 into 0.5
17.643 * [taylor]: Taking taylor expansion of phi2 in lambda2
17.643 * [backup-simplify]: Simplify phi2 into phi2
17.643 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
17.643 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
17.643 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
17.643 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
17.643 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
17.643 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
17.643 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.643 * [backup-simplify]: Simplify 0.5 into 0.5
17.643 * [taylor]: Taking taylor expansion of phi1 in lambda2
17.643 * [backup-simplify]: Simplify phi1 into phi1
17.643 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
17.643 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
17.643 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
17.643 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
17.644 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
17.644 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
17.644 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.644 * [backup-simplify]: Simplify 0.5 into 0.5
17.644 * [taylor]: Taking taylor expansion of phi2 in lambda2
17.644 * [backup-simplify]: Simplify phi2 into phi2
17.644 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
17.644 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
17.644 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
17.644 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
17.644 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
17.644 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.644 * [backup-simplify]: Simplify 0.5 into 0.5
17.644 * [taylor]: Taking taylor expansion of phi1 in lambda2
17.644 * [backup-simplify]: Simplify phi1 into phi1
17.644 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
17.644 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
17.644 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
17.644 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
17.644 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
17.644 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
17.644 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.644 * [backup-simplify]: Simplify 0.5 into 0.5
17.645 * [taylor]: Taking taylor expansion of phi2 in lambda2
17.645 * [backup-simplify]: Simplify phi2 into phi2
17.645 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
17.645 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
17.645 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
17.645 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
17.645 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
17.645 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
17.645 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.645 * [backup-simplify]: Simplify 0.5 into 0.5
17.645 * [taylor]: Taking taylor expansion of phi1 in lambda2
17.645 * [backup-simplify]: Simplify phi1 into phi1
17.645 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
17.645 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
17.645 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
17.645 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
17.645 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
17.645 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
17.645 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.645 * [backup-simplify]: Simplify 0.5 into 0.5
17.645 * [taylor]: Taking taylor expansion of phi2 in lambda2
17.645 * [backup-simplify]: Simplify phi2 into phi2
17.646 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
17.646 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
17.646 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
17.646 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
17.646 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
17.646 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.646 * [backup-simplify]: Simplify 0.5 into 0.5
17.646 * [taylor]: Taking taylor expansion of phi1 in lambda2
17.646 * [backup-simplify]: Simplify phi1 into phi1
17.646 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
17.646 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
17.646 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
17.646 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
17.646 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
17.647 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
17.647 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
17.647 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
17.648 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
17.648 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
17.648 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
17.649 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
17.649 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
17.649 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
17.649 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
17.649 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
17.649 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
17.649 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
17.650 * [backup-simplify]: Simplify (- 0) into 0
17.650 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
17.650 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
17.650 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
17.650 * [backup-simplify]: Simplify (- 0) into 0
17.650 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
17.651 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
17.651 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
17.651 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
17.651 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
17.651 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
17.652 * [backup-simplify]: Simplify (- 0) into 0
17.652 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
17.652 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
17.652 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
17.652 * [backup-simplify]: Simplify (- 0) into 0
17.653 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
17.653 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
17.653 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
17.653 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
17.653 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
17.653 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
17.653 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
17.653 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
17.654 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
17.654 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
17.655 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))
17.656 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
17.658 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
17.662 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)
17.666 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)) into (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
17.670 * [backup-simplify]: Simplify (/ 1 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)))
17.675 * [backup-simplify]: Simplify (sqrt (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)))) into (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))
17.675 * [backup-simplify]: Simplify (+ 0) into 0
17.676 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
17.676 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
17.677 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
17.677 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
17.678 * [backup-simplify]: Simplify (+ 0 0) into 0
17.678 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
17.678 * [backup-simplify]: Simplify (+ 0) into 0
17.679 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
17.679 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
17.680 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
17.680 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
17.681 * [backup-simplify]: Simplify (+ 0 0) into 0
17.681 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
17.681 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
17.682 * [backup-simplify]: Simplify (+ 0) into 0
17.682 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
17.683 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
17.684 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
17.684 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
17.685 * [backup-simplify]: Simplify (- 0) into 0
17.685 * [backup-simplify]: Simplify (+ 0 0) into 0
17.685 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
17.686 * [backup-simplify]: Simplify (+ 0) into 0
17.686 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
17.686 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
17.687 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
17.688 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
17.688 * [backup-simplify]: Simplify (- 0) into 0
17.688 * [backup-simplify]: Simplify (+ 0 0) into 0
17.689 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
17.689 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
17.689 * [backup-simplify]: Simplify (+ 0 0) into 0
17.690 * [backup-simplify]: Simplify (+ 0) into 0
17.690 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
17.690 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
17.691 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
17.692 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
17.692 * [backup-simplify]: Simplify (- 0) into 0
17.692 * [backup-simplify]: Simplify (+ 0 0) into 0
17.693 * [backup-simplify]: Simplify (+ 0) into 0
17.693 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
17.693 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
17.694 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
17.695 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
17.695 * [backup-simplify]: Simplify (- 0) into 0
17.695 * [backup-simplify]: Simplify (+ 0 0) into 0
17.696 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
17.696 * [backup-simplify]: Simplify (+ 0) into 0
17.696 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
17.697 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
17.697 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
17.698 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
17.698 * [backup-simplify]: Simplify (+ 0 0) into 0
17.698 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
17.699 * [backup-simplify]: Simplify (+ 0) into 0
17.699 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
17.700 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
17.700 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
17.701 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
17.701 * [backup-simplify]: Simplify (+ 0 0) into 0
17.701 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
17.702 * [backup-simplify]: Simplify (+ 0) into 0
17.702 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
17.702 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
17.703 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
17.703 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
17.703 * [backup-simplify]: Simplify (+ 0 0) into 0
17.703 * [backup-simplify]: Simplify (+ 0) into 0
17.704 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
17.704 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
17.704 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
17.704 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
17.705 * [backup-simplify]: Simplify (+ 0 0) into 0
17.705 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
17.705 * [backup-simplify]: Simplify (+ 0) into 0
17.706 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
17.706 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
17.706 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
17.706 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
17.707 * [backup-simplify]: Simplify (- 0) into 0
17.707 * [backup-simplify]: Simplify (+ 0 0) into 0
17.707 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
17.707 * [backup-simplify]: Simplify (+ 0) into 0
17.708 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
17.708 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
17.708 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
17.708 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
17.709 * [backup-simplify]: Simplify (- 0) into 0
17.709 * [backup-simplify]: Simplify (+ 0 0) into 0
17.709 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
17.709 * [backup-simplify]: Simplify (+ 0 0) into 0
17.709 * [backup-simplify]: Simplify (- 0) into 0
17.710 * [backup-simplify]: Simplify (+ 0 0) into 0
17.712 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into 0
17.714 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2))) into 0
17.718 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2))) (/ 0 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
17.720 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)))))) into 0
17.720 * [taylor]: Taking taylor expansion of (+ (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (* lambda2 (* phi1 phi2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* lambda2 (* R (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow phi2 2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 5) (* (pow (cos (/ 0.5 phi1)) 5) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3)))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* lambda2 (* (pow phi1 2) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi1)) 4)) (* R (* (pow lambda2 3) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)) (* R (* (pow lambda2 3) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 2 (* (/ (* (sin (/ 0.5 phi2)) (* (pow (cos (/ 0.5 phi1)) 5) (* (pow (cos (/ 0.5 phi2)) 5) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 (* (pow phi1 2) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 (* R (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow phi2 2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 3/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (* 3/2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 5) (pow (sin (/ 0.5 phi1)) 5)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))))))))))))) in lambda2
17.721 * [taylor]: Taking taylor expansion of (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (* lambda2 (* phi1 phi2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) in lambda2
17.721 * [taylor]: Taking taylor expansion of (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (* lambda2 (* phi1 phi2))))) in lambda2
17.721 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
17.721 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
17.721 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
17.721 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.721 * [backup-simplify]: Simplify 0.5 into 0.5
17.721 * [taylor]: Taking taylor expansion of phi2 in lambda2
17.721 * [backup-simplify]: Simplify phi2 into phi2
17.721 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
17.721 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
17.721 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
17.721 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
17.721 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
17.721 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
17.721 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.721 * [backup-simplify]: Simplify 0.5 into 0.5
17.721 * [taylor]: Taking taylor expansion of phi1 in lambda2
17.721 * [backup-simplify]: Simplify phi1 into phi1
17.721 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
17.721 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
17.721 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
17.721 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
17.721 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
17.721 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
17.722 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.722 * [backup-simplify]: Simplify 0.5 into 0.5
17.722 * [taylor]: Taking taylor expansion of phi2 in lambda2
17.722 * [backup-simplify]: Simplify phi2 into phi2
17.722 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
17.722 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
17.722 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
17.722 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
17.722 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
17.722 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.722 * [backup-simplify]: Simplify 0.5 into 0.5
17.722 * [taylor]: Taking taylor expansion of phi1 in lambda2
17.722 * [backup-simplify]: Simplify phi1 into phi1
17.722 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
17.722 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
17.722 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
17.722 * [taylor]: Taking taylor expansion of (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (* lambda2 (* phi1 phi2)))) in lambda2
17.722 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
17.722 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
17.722 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
17.722 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
17.722 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
17.722 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
17.722 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.722 * [backup-simplify]: Simplify 0.5 into 0.5
17.722 * [taylor]: Taking taylor expansion of phi2 in lambda2
17.722 * [backup-simplify]: Simplify phi2 into phi2
17.722 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
17.722 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
17.722 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
17.722 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
17.722 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
17.722 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
17.723 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
17.723 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
17.723 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
17.723 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.723 * [backup-simplify]: Simplify 0.5 into 0.5
17.723 * [taylor]: Taking taylor expansion of phi1 in lambda2
17.723 * [backup-simplify]: Simplify phi1 into phi1
17.723 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
17.723 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
17.723 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
17.723 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
17.723 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
17.723 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
17.723 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
17.723 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
17.723 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
17.723 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
17.723 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.723 * [backup-simplify]: Simplify 0.5 into 0.5
17.723 * [taylor]: Taking taylor expansion of phi2 in lambda2
17.723 * [backup-simplify]: Simplify phi2 into phi2
17.723 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
17.723 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
17.723 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
17.723 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
17.724 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
17.724 * [backup-simplify]: Simplify (- 0) into 0
17.724 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
17.724 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
17.724 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
17.724 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
17.724 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.724 * [backup-simplify]: Simplify 0.5 into 0.5
17.724 * [taylor]: Taking taylor expansion of phi1 in lambda2
17.724 * [backup-simplify]: Simplify phi1 into phi1
17.724 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
17.724 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
17.724 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
17.724 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
17.724 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
17.725 * [backup-simplify]: Simplify (- 0) into 0
17.725 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
17.725 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
17.725 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
17.725 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
17.725 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
17.725 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.725 * [backup-simplify]: Simplify 0.5 into 0.5
17.725 * [taylor]: Taking taylor expansion of phi2 in lambda2
17.725 * [backup-simplify]: Simplify phi2 into phi2
17.725 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
17.725 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
17.725 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
17.725 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
17.725 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
17.725 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
17.725 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.725 * [backup-simplify]: Simplify 0.5 into 0.5
17.725 * [taylor]: Taking taylor expansion of phi1 in lambda2
17.725 * [backup-simplify]: Simplify phi1 into phi1
17.725 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
17.725 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
17.725 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
17.725 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
17.725 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
17.725 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
17.725 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.725 * [backup-simplify]: Simplify 0.5 into 0.5
17.725 * [taylor]: Taking taylor expansion of phi2 in lambda2
17.725 * [backup-simplify]: Simplify phi2 into phi2
17.725 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
17.725 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
17.725 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
17.726 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
17.726 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
17.726 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.726 * [backup-simplify]: Simplify 0.5 into 0.5
17.726 * [taylor]: Taking taylor expansion of phi1 in lambda2
17.726 * [backup-simplify]: Simplify phi1 into phi1
17.726 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
17.726 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
17.726 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
17.726 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
17.726 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
17.726 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
17.726 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.726 * [backup-simplify]: Simplify 0.5 into 0.5
17.726 * [taylor]: Taking taylor expansion of phi2 in lambda2
17.726 * [backup-simplify]: Simplify phi2 into phi2
17.726 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
17.726 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
17.726 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
17.726 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
17.726 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
17.726 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
17.726 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.726 * [backup-simplify]: Simplify 0.5 into 0.5
17.726 * [taylor]: Taking taylor expansion of phi1 in lambda2
17.726 * [backup-simplify]: Simplify phi1 into phi1
17.726 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
17.726 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
17.726 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
17.726 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
17.726 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
17.726 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
17.726 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.726 * [backup-simplify]: Simplify 0.5 into 0.5
17.726 * [taylor]: Taking taylor expansion of phi2 in lambda2
17.726 * [backup-simplify]: Simplify phi2 into phi2
17.726 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
17.726 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
17.726 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
17.727 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
17.727 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
17.727 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.727 * [backup-simplify]: Simplify 0.5 into 0.5
17.727 * [taylor]: Taking taylor expansion of phi1 in lambda2
17.727 * [backup-simplify]: Simplify phi1 into phi1
17.727 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
17.727 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
17.727 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
17.727 * [taylor]: Taking taylor expansion of (* R (* lambda2 (* phi1 phi2))) in lambda2
17.727 * [taylor]: Taking taylor expansion of R in lambda2
17.727 * [backup-simplify]: Simplify R into R
17.727 * [taylor]: Taking taylor expansion of (* lambda2 (* phi1 phi2)) in lambda2
17.727 * [taylor]: Taking taylor expansion of lambda2 in lambda2
17.727 * [backup-simplify]: Simplify 0 into 0
17.727 * [backup-simplify]: Simplify 1 into 1
17.727 * [taylor]: Taking taylor expansion of (* phi1 phi2) in lambda2
17.727 * [taylor]: Taking taylor expansion of phi1 in lambda2
17.727 * [backup-simplify]: Simplify phi1 into phi1
17.727 * [taylor]: Taking taylor expansion of phi2 in lambda2
17.727 * [backup-simplify]: Simplify phi2 into phi2
17.727 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
17.727 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
17.727 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
17.727 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
17.727 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
17.727 * [backup-simplify]: Simplify (- 0) into 0
17.728 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
17.728 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
17.728 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
17.728 * [backup-simplify]: Simplify (- 0) into 0
17.728 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
17.728 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
17.728 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
17.728 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
17.728 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
17.728 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
17.729 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
17.729 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
17.729 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
17.729 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
17.729 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
17.729 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
17.729 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
17.730 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
17.730 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
17.730 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
17.734 * [backup-simplify]: Simplify (- 0) into 0
17.734 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
17.734 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
17.734 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
17.734 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
17.734 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
17.735 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
17.735 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
17.735 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
17.735 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
17.736 * [backup-simplify]: Simplify (- 0) into 0
17.736 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
17.736 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
17.736 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
17.736 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
17.737 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
17.737 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
17.737 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
17.737 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
17.737 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
17.737 * [backup-simplify]: Simplify (- 0) into 0
17.738 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
17.738 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
17.738 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
17.738 * [backup-simplify]: Simplify (- 0) into 0
17.738 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
17.738 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
17.739 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
17.739 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
17.739 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
17.739 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
17.739 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
17.740 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))
17.741 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
17.743 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
17.743 * [backup-simplify]: Simplify (* phi1 phi2) into (* phi1 phi2)
17.743 * [backup-simplify]: Simplify (* 0 (* phi1 phi2)) into 0
17.743 * [backup-simplify]: Simplify (* R 0) into 0
17.745 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) into 0
17.745 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi2)) into 0
17.746 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* phi1 phi2))) into (* phi1 phi2)
17.746 * [backup-simplify]: Simplify (+ (* R (* phi1 phi2)) (* 0 0)) into (* R (* phi1 phi2))
17.746 * [backup-simplify]: Simplify (+ 0) into 0
17.747 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
17.747 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
17.747 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
17.748 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
17.748 * [backup-simplify]: Simplify (+ 0 0) into 0
17.748 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
17.748 * [backup-simplify]: Simplify (+ 0) into 0
17.749 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
17.749 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
17.749 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
17.750 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
17.750 * [backup-simplify]: Simplify (+ 0 0) into 0
17.750 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
17.750 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
17.751 * [backup-simplify]: Simplify (+ 0) into 0
17.751 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
17.751 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
17.751 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
17.752 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
17.752 * [backup-simplify]: Simplify (- 0) into 0
17.752 * [backup-simplify]: Simplify (+ 0 0) into 0
17.752 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
17.753 * [backup-simplify]: Simplify (+ 0) into 0
17.753 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
17.753 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
17.753 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
17.754 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
17.754 * [backup-simplify]: Simplify (- 0) into 0
17.754 * [backup-simplify]: Simplify (+ 0 0) into 0
17.754 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
17.755 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
17.755 * [backup-simplify]: Simplify (+ 0 0) into 0
17.755 * [backup-simplify]: Simplify (+ 0) into 0
17.755 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
17.755 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
17.756 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
17.756 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
17.756 * [backup-simplify]: Simplify (- 0) into 0
17.757 * [backup-simplify]: Simplify (+ 0 0) into 0
17.757 * [backup-simplify]: Simplify (+ 0) into 0
17.757 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
17.757 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
17.758 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
17.758 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
17.758 * [backup-simplify]: Simplify (+ 0 0) into 0
17.758 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
17.759 * [backup-simplify]: Simplify (+ 0) into 0
17.759 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
17.759 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
17.759 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
17.760 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
17.760 * [backup-simplify]: Simplify (+ 0 0) into 0
17.760 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
17.760 * [backup-simplify]: Simplify (+ 0) into 0
17.761 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
17.761 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
17.761 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
17.762 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
17.762 * [backup-simplify]: Simplify (- 0) into 0
17.762 * [backup-simplify]: Simplify (+ 0 0) into 0
17.762 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
17.763 * [backup-simplify]: Simplify (+ 0) into 0
17.763 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
17.763 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
17.764 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
17.764 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
17.764 * [backup-simplify]: Simplify (+ 0 0) into 0
17.764 * [backup-simplify]: Simplify (+ 0) into 0
17.765 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
17.765 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
17.765 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
17.766 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
17.766 * [backup-simplify]: Simplify (- 0) into 0
17.766 * [backup-simplify]: Simplify (+ 0 0) into 0
17.766 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
17.766 * [backup-simplify]: Simplify (+ 0) into 0
17.767 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
17.767 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
17.767 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
17.768 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
17.768 * [backup-simplify]: Simplify (- 0) into 0
17.768 * [backup-simplify]: Simplify (+ 0 0) into 0
17.768 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
17.768 * [backup-simplify]: Simplify (+ 0) into 0
17.769 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
17.769 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
17.769 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
17.770 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
17.770 * [backup-simplify]: Simplify (+ 0 0) into 0
17.770 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
17.770 * [backup-simplify]: Simplify (+ 0 0) into 0
17.770 * [backup-simplify]: Simplify (- 0) into 0
17.771 * [backup-simplify]: Simplify (+ 0 0) into 0
17.772 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (* phi1 phi2))) (* 0 0)) into (- (+ (* phi1 (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (* phi1 (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))))))
17.775 * [backup-simplify]: Simplify (/ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (- (+ (* phi1 (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (* phi1 (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))))))) into (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* phi1 phi2)))) (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* phi1 phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))))
17.776 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in lambda2
17.776 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in lambda2
17.776 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
17.776 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
17.776 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
17.776 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
17.776 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
17.776 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
17.776 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.776 * [backup-simplify]: Simplify 0.5 into 0.5
17.776 * [taylor]: Taking taylor expansion of phi2 in lambda2
17.776 * [backup-simplify]: Simplify phi2 into phi2
17.776 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
17.776 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
17.776 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
17.776 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
17.777 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
17.777 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
17.777 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
17.777 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
17.777 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
17.777 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.777 * [backup-simplify]: Simplify 0.5 into 0.5
17.777 * [taylor]: Taking taylor expansion of phi1 in lambda2
17.777 * [backup-simplify]: Simplify phi1 into phi1
17.777 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
17.777 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
17.777 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
17.777 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
17.777 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
17.777 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
17.777 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
17.778 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
17.778 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
17.778 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
17.778 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.778 * [backup-simplify]: Simplify 0.5 into 0.5
17.778 * [taylor]: Taking taylor expansion of phi2 in lambda2
17.778 * [backup-simplify]: Simplify phi2 into phi2
17.778 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
17.778 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
17.778 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
17.778 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
17.778 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
17.779 * [backup-simplify]: Simplify (- 0) into 0
17.779 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
17.779 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
17.779 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
17.779 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
17.779 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.779 * [backup-simplify]: Simplify 0.5 into 0.5
17.779 * [taylor]: Taking taylor expansion of phi1 in lambda2
17.779 * [backup-simplify]: Simplify phi1 into phi1
17.779 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
17.779 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
17.779 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
17.779 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
17.780 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
17.780 * [backup-simplify]: Simplify (- 0) into 0
17.780 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
17.780 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
17.780 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
17.780 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
17.780 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
17.780 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.780 * [backup-simplify]: Simplify 0.5 into 0.5
17.780 * [taylor]: Taking taylor expansion of phi2 in lambda2
17.780 * [backup-simplify]: Simplify phi2 into phi2
17.780 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
17.780 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
17.781 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
17.781 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
17.781 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
17.781 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
17.781 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.781 * [backup-simplify]: Simplify 0.5 into 0.5
17.781 * [taylor]: Taking taylor expansion of phi1 in lambda2
17.781 * [backup-simplify]: Simplify phi1 into phi1
17.781 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
17.781 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
17.781 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
17.781 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
17.781 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
17.781 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
17.781 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.781 * [backup-simplify]: Simplify 0.5 into 0.5
17.781 * [taylor]: Taking taylor expansion of phi2 in lambda2
17.781 * [backup-simplify]: Simplify phi2 into phi2
17.781 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
17.781 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
17.781 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
17.781 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
17.781 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
17.781 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.782 * [backup-simplify]: Simplify 0.5 into 0.5
17.782 * [taylor]: Taking taylor expansion of phi1 in lambda2
17.782 * [backup-simplify]: Simplify phi1 into phi1
17.782 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
17.782 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
17.782 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
17.782 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
17.782 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
17.782 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
17.782 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.782 * [backup-simplify]: Simplify 0.5 into 0.5
17.782 * [taylor]: Taking taylor expansion of phi2 in lambda2
17.782 * [backup-simplify]: Simplify phi2 into phi2
17.782 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
17.782 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
17.782 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
17.782 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
17.782 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
17.782 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
17.782 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.782 * [backup-simplify]: Simplify 0.5 into 0.5
17.782 * [taylor]: Taking taylor expansion of phi1 in lambda2
17.782 * [backup-simplify]: Simplify phi1 into phi1
17.782 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
17.783 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
17.783 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
17.783 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
17.783 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
17.783 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
17.783 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.783 * [backup-simplify]: Simplify 0.5 into 0.5
17.783 * [taylor]: Taking taylor expansion of phi2 in lambda2
17.783 * [backup-simplify]: Simplify phi2 into phi2
17.783 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
17.783 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
17.783 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
17.783 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
17.783 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
17.783 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.783 * [backup-simplify]: Simplify 0.5 into 0.5
17.783 * [taylor]: Taking taylor expansion of phi1 in lambda2
17.783 * [backup-simplify]: Simplify phi1 into phi1
17.783 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
17.783 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
17.783 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
17.784 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
17.784 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
17.784 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
17.784 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
17.785 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
17.785 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
17.786 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
17.786 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
17.786 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
17.786 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
17.786 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
17.786 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
17.786 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
17.786 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
17.787 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
17.787 * [backup-simplify]: Simplify (- 0) into 0
17.787 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
17.787 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
17.787 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
17.788 * [backup-simplify]: Simplify (- 0) into 0
17.788 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
17.788 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
17.788 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
17.789 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
17.789 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
17.789 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
17.789 * [backup-simplify]: Simplify (- 0) into 0
17.789 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
17.789 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
17.790 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
17.790 * [backup-simplify]: Simplify (- 0) into 0
17.790 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
17.790 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
17.790 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
17.790 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
17.791 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
17.791 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
17.791 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
17.791 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
17.791 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
17.791 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
17.792 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))
17.793 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
17.795 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
17.797 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
17.799 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
17.799 * [backup-simplify]: Simplify (+ 0) into 0
17.800 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
17.800 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
17.801 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
17.801 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
17.801 * [backup-simplify]: Simplify (+ 0 0) into 0
17.801 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
17.802 * [backup-simplify]: Simplify (+ 0) into 0
17.802 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
17.802 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
17.803 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
17.803 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
17.803 * [backup-simplify]: Simplify (+ 0 0) into 0
17.803 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
17.803 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
17.804 * [backup-simplify]: Simplify (+ 0) into 0
17.804 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
17.804 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
17.805 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
17.805 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
17.805 * [backup-simplify]: Simplify (- 0) into 0
17.805 * [backup-simplify]: Simplify (+ 0 0) into 0
17.805 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
17.806 * [backup-simplify]: Simplify (+ 0) into 0
17.806 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
17.806 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
17.807 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
17.807 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
17.807 * [backup-simplify]: Simplify (- 0) into 0
17.807 * [backup-simplify]: Simplify (+ 0 0) into 0
17.807 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
17.808 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
17.808 * [backup-simplify]: Simplify (+ 0 0) into 0
17.808 * [backup-simplify]: Simplify (+ 0) into 0
17.808 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
17.809 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
17.809 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
17.809 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
17.810 * [backup-simplify]: Simplify (- 0) into 0
17.810 * [backup-simplify]: Simplify (+ 0 0) into 0
17.810 * [backup-simplify]: Simplify (+ 0) into 0
17.810 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
17.810 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
17.811 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
17.811 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
17.811 * [backup-simplify]: Simplify (- 0) into 0
17.812 * [backup-simplify]: Simplify (+ 0 0) into 0
17.812 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
17.812 * [backup-simplify]: Simplify (+ 0) into 0
17.812 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
17.812 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
17.813 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
17.813 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
17.813 * [backup-simplify]: Simplify (+ 0 0) into 0
17.814 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
17.814 * [backup-simplify]: Simplify (+ 0) into 0
17.814 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
17.814 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
17.815 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
17.815 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
17.815 * [backup-simplify]: Simplify (+ 0 0) into 0
17.815 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
17.816 * [backup-simplify]: Simplify (+ 0) into 0
17.816 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
17.816 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
17.817 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
17.817 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
17.817 * [backup-simplify]: Simplify (+ 0 0) into 0
17.817 * [backup-simplify]: Simplify (+ 0) into 0
17.818 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
17.818 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
17.818 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
17.819 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
17.819 * [backup-simplify]: Simplify (+ 0 0) into 0
17.819 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
17.819 * [backup-simplify]: Simplify (+ 0) into 0
17.820 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
17.820 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
17.820 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
17.820 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
17.821 * [backup-simplify]: Simplify (- 0) into 0
17.821 * [backup-simplify]: Simplify (+ 0 0) into 0
17.821 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
17.821 * [backup-simplify]: Simplify (+ 0) into 0
17.822 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
17.822 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
17.822 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
17.822 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
17.823 * [backup-simplify]: Simplify (- 0) into 0
17.823 * [backup-simplify]: Simplify (+ 0 0) into 0
17.823 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
17.823 * [backup-simplify]: Simplify (+ 0 0) into 0
17.824 * [backup-simplify]: Simplify (- 0) into 0
17.824 * [backup-simplify]: Simplify (+ 0 0) into 0
17.826 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
17.828 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
17.828 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* lambda2 (* R (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow phi2 2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 5) (* (pow (cos (/ 0.5 phi1)) 5) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3)))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* lambda2 (* (pow phi1 2) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi1)) 4)) (* R (* (pow lambda2 3) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)) (* R (* (pow lambda2 3) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 2 (* (/ (* (sin (/ 0.5 phi2)) (* (pow (cos (/ 0.5 phi1)) 5) (* (pow (cos (/ 0.5 phi2)) 5) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 (* (pow phi1 2) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 (* R (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow phi2 2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 3/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (* 3/2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 5) (pow (sin (/ 0.5 phi1)) 5)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3)))))))))))))) in lambda2
17.828 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* lambda2 (* R (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow phi2 2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) in lambda2
17.828 * [taylor]: Taking taylor expansion of 1/2 in lambda2
17.828 * [backup-simplify]: Simplify 1/2 into 1/2
17.828 * [taylor]: Taking taylor expansion of (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* lambda2 (* R (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow phi2 2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) in lambda2
17.828 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* lambda2 (* R (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow phi2 2))))) in lambda2
17.828 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
17.828 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
17.828 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
17.828 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
17.828 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.828 * [backup-simplify]: Simplify 0.5 into 0.5
17.828 * [taylor]: Taking taylor expansion of phi2 in lambda2
17.828 * [backup-simplify]: Simplify phi2 into phi2
17.828 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
17.828 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
17.828 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
17.829 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
17.829 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
17.829 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
17.829 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
17.829 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
17.829 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
17.829 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.829 * [backup-simplify]: Simplify 0.5 into 0.5
17.829 * [taylor]: Taking taylor expansion of phi1 in lambda2
17.829 * [backup-simplify]: Simplify phi1 into phi1
17.829 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
17.829 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
17.829 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
17.829 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
17.829 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
17.829 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
17.829 * [taylor]: Taking taylor expansion of (* lambda2 (* R (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow phi2 2)))) in lambda2
17.829 * [taylor]: Taking taylor expansion of lambda2 in lambda2
17.829 * [backup-simplify]: Simplify 0 into 0
17.829 * [backup-simplify]: Simplify 1 into 1
17.829 * [taylor]: Taking taylor expansion of (* R (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow phi2 2))) in lambda2
17.829 * [taylor]: Taking taylor expansion of R in lambda2
17.829 * [backup-simplify]: Simplify R into R
17.829 * [taylor]: Taking taylor expansion of (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow phi2 2)) in lambda2
17.829 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
17.829 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
17.829 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
17.829 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
17.829 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
17.829 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
17.829 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.829 * [backup-simplify]: Simplify 0.5 into 0.5
17.829 * [taylor]: Taking taylor expansion of phi2 in lambda2
17.830 * [backup-simplify]: Simplify phi2 into phi2
17.830 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
17.830 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
17.830 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
17.830 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
17.830 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
17.830 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
17.830 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
17.830 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
17.830 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
17.830 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.830 * [backup-simplify]: Simplify 0.5 into 0.5
17.830 * [taylor]: Taking taylor expansion of phi1 in lambda2
17.830 * [backup-simplify]: Simplify phi1 into phi1
17.830 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
17.830 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
17.830 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
17.830 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
17.830 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
17.830 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
17.830 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
17.830 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
17.830 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
17.830 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
17.830 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.830 * [backup-simplify]: Simplify 0.5 into 0.5
17.830 * [taylor]: Taking taylor expansion of phi2 in lambda2
17.830 * [backup-simplify]: Simplify phi2 into phi2
17.830 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
17.831 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
17.831 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
17.831 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
17.831 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
17.831 * [backup-simplify]: Simplify (- 0) into 0
17.831 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
17.831 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
17.831 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
17.831 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
17.831 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.831 * [backup-simplify]: Simplify 0.5 into 0.5
17.831 * [taylor]: Taking taylor expansion of phi1 in lambda2
17.831 * [backup-simplify]: Simplify phi1 into phi1
17.831 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
17.831 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
17.831 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
17.832 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
17.832 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
17.832 * [backup-simplify]: Simplify (- 0) into 0
17.832 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
17.832 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
17.832 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
17.832 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
17.832 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
17.832 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.832 * [backup-simplify]: Simplify 0.5 into 0.5
17.832 * [taylor]: Taking taylor expansion of phi2 in lambda2
17.832 * [backup-simplify]: Simplify phi2 into phi2
17.832 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
17.832 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
17.832 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
17.832 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
17.832 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
17.832 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
17.832 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.832 * [backup-simplify]: Simplify 0.5 into 0.5
17.832 * [taylor]: Taking taylor expansion of phi1 in lambda2
17.832 * [backup-simplify]: Simplify phi1 into phi1
17.832 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
17.833 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
17.833 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
17.833 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
17.833 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
17.833 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
17.833 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.833 * [backup-simplify]: Simplify 0.5 into 0.5
17.833 * [taylor]: Taking taylor expansion of phi2 in lambda2
17.833 * [backup-simplify]: Simplify phi2 into phi2
17.833 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
17.833 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
17.833 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
17.833 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
17.833 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
17.833 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.833 * [backup-simplify]: Simplify 0.5 into 0.5
17.833 * [taylor]: Taking taylor expansion of phi1 in lambda2
17.833 * [backup-simplify]: Simplify phi1 into phi1
17.833 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
17.833 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
17.833 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
17.833 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
17.833 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
17.833 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
17.833 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.833 * [backup-simplify]: Simplify 0.5 into 0.5
17.833 * [taylor]: Taking taylor expansion of phi2 in lambda2
17.833 * [backup-simplify]: Simplify phi2 into phi2
17.833 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
17.833 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
17.833 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
17.833 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
17.833 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
17.833 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
17.833 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.833 * [backup-simplify]: Simplify 0.5 into 0.5
17.833 * [taylor]: Taking taylor expansion of phi1 in lambda2
17.833 * [backup-simplify]: Simplify phi1 into phi1
17.834 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
17.834 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
17.834 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
17.834 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
17.834 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
17.834 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
17.834 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.834 * [backup-simplify]: Simplify 0.5 into 0.5
17.834 * [taylor]: Taking taylor expansion of phi2 in lambda2
17.834 * [backup-simplify]: Simplify phi2 into phi2
17.834 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
17.834 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
17.834 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
17.834 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
17.834 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
17.834 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.834 * [backup-simplify]: Simplify 0.5 into 0.5
17.834 * [taylor]: Taking taylor expansion of phi1 in lambda2
17.834 * [backup-simplify]: Simplify phi1 into phi1
17.834 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
17.834 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
17.834 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
17.834 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2
17.834 * [taylor]: Taking taylor expansion of phi2 in lambda2
17.834 * [backup-simplify]: Simplify phi2 into phi2
17.834 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
17.834 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
17.835 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
17.835 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
17.835 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
17.835 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
17.835 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
17.835 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
17.835 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
17.836 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
17.836 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
17.836 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
17.836 * [backup-simplify]: Simplify (- 0) into 0
17.836 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
17.836 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
17.836 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
17.837 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
17.837 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
17.837 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
17.837 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
17.837 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
17.837 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
17.837 * [backup-simplify]: Simplify (- 0) into 0
17.837 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
17.837 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
17.837 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
17.838 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
17.838 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
17.838 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
17.838 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
17.838 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
17.838 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
17.838 * [backup-simplify]: Simplify (- 0) into 0
17.838 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
17.838 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
17.838 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
17.839 * [backup-simplify]: Simplify (- 0) into 0
17.839 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
17.839 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
17.839 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
17.839 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
17.839 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
17.839 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
17.839 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
17.840 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))
17.840 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
17.841 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
17.841 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
17.843 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow phi2 2)) into (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow phi2 2))
17.845 * [backup-simplify]: Simplify (* R (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow phi2 2))) into (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow phi2 2)))
17.847 * [backup-simplify]: Simplify (* 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow phi2 2)))) into 0
17.847 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0
17.848 * [backup-simplify]: Simplify (+ 0) into 0
17.849 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
17.849 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
17.850 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
17.850 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
17.850 * [backup-simplify]: Simplify (+ 0 0) into 0
17.851 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
17.851 * [backup-simplify]: Simplify (+ 0) into 0
17.852 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
17.852 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
17.852 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
17.853 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
17.853 * [backup-simplify]: Simplify (+ 0 0) into 0
17.853 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
17.854 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
17.854 * [backup-simplify]: Simplify (+ 0) into 0
17.855 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
17.855 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
17.856 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
17.856 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
17.856 * [backup-simplify]: Simplify (- 0) into 0
17.859 * [backup-simplify]: Simplify (+ 0 0) into 0
17.860 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
17.860 * [backup-simplify]: Simplify (+ 0) into 0
17.861 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
17.861 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
17.862 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
17.862 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
17.863 * [backup-simplify]: Simplify (- 0) into 0
17.863 * [backup-simplify]: Simplify (+ 0 0) into 0
17.863 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
17.864 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
17.864 * [backup-simplify]: Simplify (+ 0 0) into 0
17.865 * [backup-simplify]: Simplify (+ 0) into 0
17.865 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
17.865 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
17.866 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
17.867 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
17.867 * [backup-simplify]: Simplify (- 0) into 0
17.867 * [backup-simplify]: Simplify (+ 0 0) into 0
17.868 * [backup-simplify]: Simplify (+ 0) into 0
17.868 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
17.869 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
17.869 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
17.870 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
17.870 * [backup-simplify]: Simplify (+ 0 0) into 0
17.871 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
17.871 * [backup-simplify]: Simplify (+ 0) into 0
17.872 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
17.872 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
17.873 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
17.873 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
17.873 * [backup-simplify]: Simplify (+ 0 0) into 0
17.874 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
17.874 * [backup-simplify]: Simplify (+ 0) into 0
17.875 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
17.875 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
17.876 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
17.876 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
17.877 * [backup-simplify]: Simplify (- 0) into 0
17.877 * [backup-simplify]: Simplify (+ 0 0) into 0
17.877 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
17.878 * [backup-simplify]: Simplify (+ 0) into 0
17.878 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
17.878 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
17.879 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
17.880 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
17.880 * [backup-simplify]: Simplify (+ 0 0) into 0
17.880 * [backup-simplify]: Simplify (+ 0) into 0
17.881 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
17.881 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
17.882 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
17.882 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
17.883 * [backup-simplify]: Simplify (- 0) into 0
17.883 * [backup-simplify]: Simplify (+ 0 0) into 0
17.883 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
17.884 * [backup-simplify]: Simplify (+ 0) into 0
17.884 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
17.884 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
17.885 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
17.886 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
17.886 * [backup-simplify]: Simplify (- 0) into 0
17.886 * [backup-simplify]: Simplify (+ 0 0) into 0
17.887 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
17.887 * [backup-simplify]: Simplify (+ 0) into 0
17.887 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
17.888 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
17.888 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
17.889 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
17.889 * [backup-simplify]: Simplify (+ 0 0) into 0
17.890 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
17.890 * [backup-simplify]: Simplify (+ 0 0) into 0
17.891 * [backup-simplify]: Simplify (- 0) into 0
17.891 * [backup-simplify]: Simplify (+ 0 0) into 0
17.893 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (* 0 (pow phi2 2))) into 0
17.895 * [backup-simplify]: Simplify (+ (* R 0) (* 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow phi2 2)))) into 0
17.898 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow phi2 2))))) into (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))
17.902 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) into (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2)))))))))
17.902 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in lambda2
17.902 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in lambda2
17.902 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
17.902 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
17.902 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
17.902 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
17.902 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
17.902 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
17.902 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.902 * [backup-simplify]: Simplify 0.5 into 0.5
17.902 * [taylor]: Taking taylor expansion of phi2 in lambda2
17.902 * [backup-simplify]: Simplify phi2 into phi2
17.903 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
17.903 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
17.903 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
17.903 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
17.903 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
17.903 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
17.903 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
17.903 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
17.903 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
17.903 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.903 * [backup-simplify]: Simplify 0.5 into 0.5
17.903 * [taylor]: Taking taylor expansion of phi1 in lambda2
17.903 * [backup-simplify]: Simplify phi1 into phi1
17.903 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
17.903 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
17.904 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
17.904 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
17.904 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
17.904 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
17.904 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
17.904 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
17.904 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
17.904 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
17.904 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.904 * [backup-simplify]: Simplify 0.5 into 0.5
17.904 * [taylor]: Taking taylor expansion of phi2 in lambda2
17.904 * [backup-simplify]: Simplify phi2 into phi2
17.904 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
17.904 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
17.904 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
17.904 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
17.905 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
17.905 * [backup-simplify]: Simplify (- 0) into 0
17.905 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
17.905 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
17.905 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
17.905 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
17.905 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.905 * [backup-simplify]: Simplify 0.5 into 0.5
17.905 * [taylor]: Taking taylor expansion of phi1 in lambda2
17.905 * [backup-simplify]: Simplify phi1 into phi1
17.906 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
17.906 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
17.906 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
17.906 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
17.906 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
17.906 * [backup-simplify]: Simplify (- 0) into 0
17.906 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
17.907 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
17.907 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
17.907 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
17.907 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
17.907 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.907 * [backup-simplify]: Simplify 0.5 into 0.5
17.907 * [taylor]: Taking taylor expansion of phi2 in lambda2
17.907 * [backup-simplify]: Simplify phi2 into phi2
17.907 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
17.907 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
17.907 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
17.907 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
17.907 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
17.907 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
17.907 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.907 * [backup-simplify]: Simplify 0.5 into 0.5
17.907 * [taylor]: Taking taylor expansion of phi1 in lambda2
17.907 * [backup-simplify]: Simplify phi1 into phi1
17.907 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
17.907 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
17.907 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
17.908 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
17.908 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
17.908 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
17.908 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.908 * [backup-simplify]: Simplify 0.5 into 0.5
17.908 * [taylor]: Taking taylor expansion of phi2 in lambda2
17.908 * [backup-simplify]: Simplify phi2 into phi2
17.908 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
17.908 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
17.908 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
17.908 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
17.908 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
17.908 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.908 * [backup-simplify]: Simplify 0.5 into 0.5
17.908 * [taylor]: Taking taylor expansion of phi1 in lambda2
17.908 * [backup-simplify]: Simplify phi1 into phi1
17.908 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
17.908 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
17.908 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
17.908 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
17.908 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
17.908 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
17.908 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.909 * [backup-simplify]: Simplify 0.5 into 0.5
17.909 * [taylor]: Taking taylor expansion of phi2 in lambda2
17.909 * [backup-simplify]: Simplify phi2 into phi2
17.909 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
17.909 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
17.909 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
17.909 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
17.909 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
17.909 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
17.909 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.909 * [backup-simplify]: Simplify 0.5 into 0.5
17.909 * [taylor]: Taking taylor expansion of phi1 in lambda2
17.909 * [backup-simplify]: Simplify phi1 into phi1
17.909 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
17.909 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
17.909 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
17.909 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
17.909 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
17.909 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
17.909 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.909 * [backup-simplify]: Simplify 0.5 into 0.5
17.909 * [taylor]: Taking taylor expansion of phi2 in lambda2
17.910 * [backup-simplify]: Simplify phi2 into phi2
17.910 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
17.910 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
17.910 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
17.910 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
17.910 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
17.910 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.910 * [backup-simplify]: Simplify 0.5 into 0.5
17.910 * [taylor]: Taking taylor expansion of phi1 in lambda2
17.910 * [backup-simplify]: Simplify phi1 into phi1
17.910 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
17.910 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
17.910 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
17.910 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
17.911 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
17.911 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
17.911 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
17.911 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
17.912 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
17.912 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
17.913 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
17.913 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
17.913 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
17.913 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
17.913 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
17.913 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
17.913 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
17.913 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
17.914 * [backup-simplify]: Simplify (- 0) into 0
17.914 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
17.914 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
17.915 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
17.915 * [backup-simplify]: Simplify (- 0) into 0
17.915 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
17.916 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
17.916 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
17.916 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
17.916 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
17.916 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
17.917 * [backup-simplify]: Simplify (- 0) into 0
17.917 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
17.917 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
17.917 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
17.918 * [backup-simplify]: Simplify (- 0) into 0
17.918 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
17.918 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
17.918 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
17.918 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
17.918 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
17.918 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
17.918 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
17.919 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
17.919 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
17.919 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
17.920 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))
17.921 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
17.922 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
17.923 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
17.924 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
17.924 * [backup-simplify]: Simplify (+ 0) into 0
17.925 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
17.925 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
17.925 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
17.926 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
17.926 * [backup-simplify]: Simplify (+ 0 0) into 0
17.926 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
17.926 * [backup-simplify]: Simplify (+ 0) into 0
17.927 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
17.927 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
17.927 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
17.928 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
17.928 * [backup-simplify]: Simplify (+ 0 0) into 0
17.928 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
17.928 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
17.928 * [backup-simplify]: Simplify (+ 0) into 0
17.929 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
17.929 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
17.929 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
17.930 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
17.930 * [backup-simplify]: Simplify (- 0) into 0
17.930 * [backup-simplify]: Simplify (+ 0 0) into 0
17.930 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
17.931 * [backup-simplify]: Simplify (+ 0) into 0
17.931 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
17.931 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
17.932 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
17.932 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
17.932 * [backup-simplify]: Simplify (- 0) into 0
17.932 * [backup-simplify]: Simplify (+ 0 0) into 0
17.932 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
17.933 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
17.933 * [backup-simplify]: Simplify (+ 0 0) into 0
17.933 * [backup-simplify]: Simplify (+ 0) into 0
17.934 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
17.934 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
17.934 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
17.935 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
17.935 * [backup-simplify]: Simplify (- 0) into 0
17.935 * [backup-simplify]: Simplify (+ 0 0) into 0
17.935 * [backup-simplify]: Simplify (+ 0) into 0
17.936 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
17.936 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
17.936 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
17.936 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
17.937 * [backup-simplify]: Simplify (- 0) into 0
17.937 * [backup-simplify]: Simplify (+ 0 0) into 0
17.937 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
17.937 * [backup-simplify]: Simplify (+ 0) into 0
17.938 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
17.938 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
17.938 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
17.939 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
17.939 * [backup-simplify]: Simplify (+ 0 0) into 0
17.939 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
17.939 * [backup-simplify]: Simplify (+ 0) into 0
17.940 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
17.940 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
17.940 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
17.941 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
17.941 * [backup-simplify]: Simplify (+ 0 0) into 0
17.941 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
17.941 * [backup-simplify]: Simplify (+ 0) into 0
17.942 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
17.942 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
17.942 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
17.943 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
17.943 * [backup-simplify]: Simplify (+ 0 0) into 0
17.943 * [backup-simplify]: Simplify (+ 0) into 0
17.943 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
17.943 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
17.944 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
17.944 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
17.944 * [backup-simplify]: Simplify (+ 0 0) into 0
17.945 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
17.945 * [backup-simplify]: Simplify (+ 0) into 0
17.945 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
17.945 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
17.946 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
17.946 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
17.946 * [backup-simplify]: Simplify (- 0) into 0
17.947 * [backup-simplify]: Simplify (+ 0 0) into 0
17.947 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
17.947 * [backup-simplify]: Simplify (+ 0) into 0
17.947 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
17.947 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
17.948 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
17.948 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
17.948 * [backup-simplify]: Simplify (- 0) into 0
17.949 * [backup-simplify]: Simplify (+ 0 0) into 0
17.949 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
17.949 * [backup-simplify]: Simplify (+ 0 0) into 0
17.949 * [backup-simplify]: Simplify (- 0) into 0
17.950 * [backup-simplify]: Simplify (+ 0 0) into 0
17.952 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
17.953 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
17.953 * [taylor]: Taking taylor expansion of (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 5) (* (pow (cos (/ 0.5 phi1)) 5) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3)))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* lambda2 (* (pow phi1 2) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi1)) 4)) (* R (* (pow lambda2 3) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)) (* R (* (pow lambda2 3) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 2 (* (/ (* (sin (/ 0.5 phi2)) (* (pow (cos (/ 0.5 phi1)) 5) (* (pow (cos (/ 0.5 phi2)) 5) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 (* (pow phi1 2) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 (* R (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow phi2 2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 3/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (* 3/2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 5) (pow (sin (/ 0.5 phi1)) 5)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))))))))))) in lambda2
17.953 * [taylor]: Taking taylor expansion of (* (/ (* (pow (cos (/ 0.5 phi2)) 5) (* (pow (cos (/ 0.5 phi1)) 5) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3)))) in lambda2
17.953 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi2)) 5) (* (pow (cos (/ 0.5 phi1)) 5) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) in lambda2
17.953 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 5) (* (pow (cos (/ 0.5 phi1)) 5) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
17.953 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 5) in lambda2
17.953 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
17.953 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
17.953 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.953 * [backup-simplify]: Simplify 0.5 into 0.5
17.953 * [taylor]: Taking taylor expansion of phi2 in lambda2
17.953 * [backup-simplify]: Simplify phi2 into phi2
17.954 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
17.954 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
17.954 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
17.954 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
17.954 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
17.954 * [backup-simplify]: Simplify (- 0) into 0
17.954 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
17.954 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 5) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
17.954 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 5) in lambda2
17.954 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
17.954 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
17.954 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.954 * [backup-simplify]: Simplify 0.5 into 0.5
17.954 * [taylor]: Taking taylor expansion of phi1 in lambda2
17.954 * [backup-simplify]: Simplify phi1 into phi1
17.954 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
17.954 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
17.954 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
17.955 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
17.955 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
17.955 * [backup-simplify]: Simplify (- 0) into 0
17.955 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
17.955 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
17.955 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
17.955 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
17.955 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.955 * [backup-simplify]: Simplify 0.5 into 0.5
17.955 * [taylor]: Taking taylor expansion of phi2 in lambda2
17.955 * [backup-simplify]: Simplify phi2 into phi2
17.955 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
17.955 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
17.955 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
17.955 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
17.955 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
17.955 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.955 * [backup-simplify]: Simplify 0.5 into 0.5
17.955 * [taylor]: Taking taylor expansion of phi1 in lambda2
17.955 * [backup-simplify]: Simplify phi1 into phi1
17.955 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
17.955 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
17.955 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
17.956 * [taylor]: Taking taylor expansion of (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3))) in lambda2
17.956 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
17.956 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
17.956 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
17.956 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
17.956 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
17.956 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
17.956 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.956 * [backup-simplify]: Simplify 0.5 into 0.5
17.956 * [taylor]: Taking taylor expansion of phi2 in lambda2
17.956 * [backup-simplify]: Simplify phi2 into phi2
17.956 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
17.956 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
17.956 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
17.956 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
17.956 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
17.956 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
17.956 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
17.956 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
17.956 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
17.956 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.956 * [backup-simplify]: Simplify 0.5 into 0.5
17.956 * [taylor]: Taking taylor expansion of phi1 in lambda2
17.956 * [backup-simplify]: Simplify phi1 into phi1
17.956 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
17.956 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
17.956 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
17.956 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
17.956 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
17.956 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
17.957 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
17.957 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
17.957 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
17.957 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
17.957 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.957 * [backup-simplify]: Simplify 0.5 into 0.5
17.957 * [taylor]: Taking taylor expansion of phi2 in lambda2
17.957 * [backup-simplify]: Simplify phi2 into phi2
17.957 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
17.957 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
17.957 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
17.957 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
17.957 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
17.957 * [backup-simplify]: Simplify (- 0) into 0
17.957 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
17.957 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
17.957 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
17.957 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
17.957 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.957 * [backup-simplify]: Simplify 0.5 into 0.5
17.957 * [taylor]: Taking taylor expansion of phi1 in lambda2
17.958 * [backup-simplify]: Simplify phi1 into phi1
17.958 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
17.958 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
17.958 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
17.958 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
17.958 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
17.958 * [backup-simplify]: Simplify (- 0) into 0
17.959 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
17.959 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
17.959 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
17.959 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
17.959 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
17.959 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.959 * [backup-simplify]: Simplify 0.5 into 0.5
17.959 * [taylor]: Taking taylor expansion of phi2 in lambda2
17.959 * [backup-simplify]: Simplify phi2 into phi2
17.959 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
17.959 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
17.959 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
17.959 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
17.959 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
17.959 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
17.959 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.959 * [backup-simplify]: Simplify 0.5 into 0.5
17.959 * [taylor]: Taking taylor expansion of phi1 in lambda2
17.959 * [backup-simplify]: Simplify phi1 into phi1
17.959 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
17.959 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
17.960 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
17.960 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
17.960 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
17.960 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
17.960 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.960 * [backup-simplify]: Simplify 0.5 into 0.5
17.960 * [taylor]: Taking taylor expansion of phi2 in lambda2
17.960 * [backup-simplify]: Simplify phi2 into phi2
17.960 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
17.960 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
17.960 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
17.960 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
17.960 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
17.960 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.960 * [backup-simplify]: Simplify 0.5 into 0.5
17.960 * [taylor]: Taking taylor expansion of phi1 in lambda2
17.960 * [backup-simplify]: Simplify phi1 into phi1
17.960 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
17.960 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
17.960 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
17.960 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
17.961 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
17.961 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
17.961 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.961 * [backup-simplify]: Simplify 0.5 into 0.5
17.961 * [taylor]: Taking taylor expansion of phi2 in lambda2
17.961 * [backup-simplify]: Simplify phi2 into phi2
17.961 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
17.961 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
17.961 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
17.961 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
17.961 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
17.961 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
17.961 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.961 * [backup-simplify]: Simplify 0.5 into 0.5
17.961 * [taylor]: Taking taylor expansion of phi1 in lambda2
17.961 * [backup-simplify]: Simplify phi1 into phi1
17.961 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
17.961 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
17.961 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
17.961 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
17.961 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
17.961 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
17.962 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.962 * [backup-simplify]: Simplify 0.5 into 0.5
17.962 * [taylor]: Taking taylor expansion of phi2 in lambda2
17.962 * [backup-simplify]: Simplify phi2 into phi2
17.962 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
17.962 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
17.962 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
17.962 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
17.962 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
17.962 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.962 * [backup-simplify]: Simplify 0.5 into 0.5
17.962 * [taylor]: Taking taylor expansion of phi1 in lambda2
17.962 * [backup-simplify]: Simplify phi1 into phi1
17.962 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
17.962 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
17.962 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
17.962 * [taylor]: Taking taylor expansion of (* R (pow lambda2 3)) in lambda2
17.962 * [taylor]: Taking taylor expansion of R in lambda2
17.962 * [backup-simplify]: Simplify R into R
17.962 * [taylor]: Taking taylor expansion of (pow lambda2 3) in lambda2
17.962 * [taylor]: Taking taylor expansion of lambda2 in lambda2
17.962 * [backup-simplify]: Simplify 0 into 0
17.962 * [backup-simplify]: Simplify 1 into 1
17.963 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
17.963 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (pow (cos (/ 0.5 phi2)) 4)
17.963 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (pow (cos (/ 0.5 phi2)) 4)) into (pow (cos (/ 0.5 phi2)) 5)
17.963 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
17.964 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (pow (cos (/ 0.5 phi1)) 4)
17.964 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (pow (cos (/ 0.5 phi1)) 4)) into (pow (cos (/ 0.5 phi1)) 5)
17.964 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
17.964 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
17.964 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
17.965 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
17.965 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
17.965 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
17.965 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
17.965 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 5) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (pow (cos (/ 0.5 phi1)) 5)))
17.966 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 5) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (pow (cos (/ 0.5 phi1)) 5)))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (pow (cos (/ 0.5 phi2)) 5) (pow (cos (/ 0.5 phi1)) 5))))
17.966 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
17.966 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
17.966 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
17.966 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
17.966 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
17.966 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
17.967 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
17.967 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
17.967 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
17.968 * [backup-simplify]: Simplify (- 0) into 0
17.968 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
17.968 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
17.968 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
17.968 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
17.968 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
17.968 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
17.968 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
17.969 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
17.969 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
17.969 * [backup-simplify]: Simplify (- 0) into 0
17.969 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
17.969 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
17.969 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
17.969 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
17.969 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
17.969 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
17.970 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
17.970 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
17.970 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
17.970 * [backup-simplify]: Simplify (- 0) into 0
17.970 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
17.970 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
17.970 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
17.970 * [backup-simplify]: Simplify (- 0) into 0
17.970 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
17.971 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
17.971 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
17.971 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
17.971 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
17.971 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
17.971 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
17.971 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))
17.972 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
17.973 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
17.973 * [backup-simplify]: Simplify (* 1 1) into 1
17.974 * [backup-simplify]: Simplify (* 1 1) into 1
17.974 * [backup-simplify]: Simplify (* R 1) into R
17.975 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R) into (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)
17.976 * [backup-simplify]: Simplify (/ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (pow (cos (/ 0.5 phi2)) 5) (pow (cos (/ 0.5 phi1)) 5)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) into (/ (* (sin (/ 0.5 phi2)) (* (pow (cos (/ 0.5 phi1)) 5) (* (pow (cos (/ 0.5 phi2)) 5) (sin (/ 0.5 phi1))))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
17.976 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))) in lambda2
17.976 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3)) in lambda2
17.976 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3) in lambda2
17.976 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
17.976 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
17.976 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
17.976 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
17.976 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
17.976 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
17.976 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.976 * [backup-simplify]: Simplify 0.5 into 0.5
17.976 * [taylor]: Taking taylor expansion of phi2 in lambda2
17.976 * [backup-simplify]: Simplify phi2 into phi2
17.976 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
17.976 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
17.976 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
17.977 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
17.977 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
17.977 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
17.977 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
17.977 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
17.977 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
17.977 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.977 * [backup-simplify]: Simplify 0.5 into 0.5
17.977 * [taylor]: Taking taylor expansion of phi1 in lambda2
17.977 * [backup-simplify]: Simplify phi1 into phi1
17.977 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
17.977 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
17.977 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
17.977 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
17.977 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
17.977 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
17.977 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
17.977 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
17.977 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
17.977 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
17.977 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.977 * [backup-simplify]: Simplify 0.5 into 0.5
17.977 * [taylor]: Taking taylor expansion of phi2 in lambda2
17.977 * [backup-simplify]: Simplify phi2 into phi2
17.977 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
17.977 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
17.977 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
17.977 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
17.978 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
17.978 * [backup-simplify]: Simplify (- 0) into 0
17.978 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
17.978 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
17.978 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
17.978 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
17.978 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.978 * [backup-simplify]: Simplify 0.5 into 0.5
17.978 * [taylor]: Taking taylor expansion of phi1 in lambda2
17.978 * [backup-simplify]: Simplify phi1 into phi1
17.978 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
17.978 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
17.978 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
17.978 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
17.978 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
17.979 * [backup-simplify]: Simplify (- 0) into 0
17.979 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
17.979 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
17.979 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
17.979 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
17.979 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
17.979 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.979 * [backup-simplify]: Simplify 0.5 into 0.5
17.979 * [taylor]: Taking taylor expansion of phi2 in lambda2
17.979 * [backup-simplify]: Simplify phi2 into phi2
17.979 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
17.979 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
17.979 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
17.979 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
17.979 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
17.979 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
17.979 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.979 * [backup-simplify]: Simplify 0.5 into 0.5
17.979 * [taylor]: Taking taylor expansion of phi1 in lambda2
17.979 * [backup-simplify]: Simplify phi1 into phi1
17.979 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
17.979 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
17.979 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
17.979 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
17.979 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
17.979 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
17.979 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.979 * [backup-simplify]: Simplify 0.5 into 0.5
17.979 * [taylor]: Taking taylor expansion of phi2 in lambda2
17.979 * [backup-simplify]: Simplify phi2 into phi2
17.979 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
17.979 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
17.980 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
17.980 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
17.980 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
17.980 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.980 * [backup-simplify]: Simplify 0.5 into 0.5
17.980 * [taylor]: Taking taylor expansion of phi1 in lambda2
17.980 * [backup-simplify]: Simplify phi1 into phi1
17.980 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
17.980 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
17.980 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
17.980 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
17.980 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
17.980 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
17.980 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.980 * [backup-simplify]: Simplify 0.5 into 0.5
17.980 * [taylor]: Taking taylor expansion of phi2 in lambda2
17.980 * [backup-simplify]: Simplify phi2 into phi2
17.980 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
17.980 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
17.980 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
17.980 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
17.980 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
17.980 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
17.980 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.980 * [backup-simplify]: Simplify 0.5 into 0.5
17.980 * [taylor]: Taking taylor expansion of phi1 in lambda2
17.980 * [backup-simplify]: Simplify phi1 into phi1
17.980 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
17.980 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
17.980 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
17.980 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
17.980 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
17.980 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
17.980 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.980 * [backup-simplify]: Simplify 0.5 into 0.5
17.980 * [taylor]: Taking taylor expansion of phi2 in lambda2
17.980 * [backup-simplify]: Simplify phi2 into phi2
17.980 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
17.980 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
17.981 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
17.981 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
17.981 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
17.981 * [taylor]: Taking taylor expansion of 0.5 in lambda2
17.981 * [backup-simplify]: Simplify 0.5 into 0.5
17.981 * [taylor]: Taking taylor expansion of phi1 in lambda2
17.981 * [backup-simplify]: Simplify phi1 into phi1
17.981 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
17.981 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
17.981 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
17.981 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
17.981 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
17.981 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
17.981 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
17.981 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
17.982 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
17.982 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
17.982 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
17.982 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
17.982 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
17.982 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
17.982 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
17.982 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
17.983 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
17.983 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
17.983 * [backup-simplify]: Simplify (- 0) into 0
17.983 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
17.983 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
17.983 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
17.983 * [backup-simplify]: Simplify (- 0) into 0
17.984 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
17.984 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
17.984 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
17.984 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
17.984 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
17.984 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
17.985 * [backup-simplify]: Simplify (- 0) into 0
17.985 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
17.985 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
17.985 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
17.985 * [backup-simplify]: Simplify (- 0) into 0
17.986 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
17.986 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
17.986 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
17.986 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
17.986 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
17.986 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
17.986 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
17.986 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
17.986 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
17.986 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
17.987 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))
17.987 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
17.988 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
17.990 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)
17.992 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)) into (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
17.994 * [backup-simplify]: Simplify (/ 1 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)))
17.996 * [backup-simplify]: Simplify (sqrt (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)))) into (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))
17.999 * [backup-simplify]: Simplify (+ 0) into 0
18.000 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
18.000 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
18.000 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.001 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
18.001 * [backup-simplify]: Simplify (+ 0 0) into 0
18.001 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
18.001 * [backup-simplify]: Simplify (+ 0) into 0
18.002 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
18.002 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
18.003 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.004 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
18.004 * [backup-simplify]: Simplify (+ 0 0) into 0
18.004 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
18.005 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
18.005 * [backup-simplify]: Simplify (+ 0) into 0
18.006 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
18.006 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
18.007 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.007 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
18.008 * [backup-simplify]: Simplify (- 0) into 0
18.008 * [backup-simplify]: Simplify (+ 0 0) into 0
18.008 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
18.009 * [backup-simplify]: Simplify (+ 0) into 0
18.009 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
18.009 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
18.010 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.010 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
18.010 * [backup-simplify]: Simplify (- 0) into 0
18.011 * [backup-simplify]: Simplify (+ 0 0) into 0
18.011 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
18.011 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
18.011 * [backup-simplify]: Simplify (+ 0 0) into 0
18.011 * [backup-simplify]: Simplify (+ 0) into 0
18.012 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
18.012 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
18.012 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.013 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
18.013 * [backup-simplify]: Simplify (- 0) into 0
18.013 * [backup-simplify]: Simplify (+ 0 0) into 0
18.013 * [backup-simplify]: Simplify (+ 0) into 0
18.014 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
18.014 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
18.014 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.015 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
18.015 * [backup-simplify]: Simplify (- 0) into 0
18.015 * [backup-simplify]: Simplify (+ 0 0) into 0
18.015 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
18.015 * [backup-simplify]: Simplify (+ 0) into 0
18.016 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
18.016 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
18.016 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.017 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
18.017 * [backup-simplify]: Simplify (+ 0 0) into 0
18.017 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
18.017 * [backup-simplify]: Simplify (+ 0) into 0
18.018 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
18.018 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
18.018 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.018 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
18.019 * [backup-simplify]: Simplify (+ 0 0) into 0
18.019 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
18.019 * [backup-simplify]: Simplify (+ 0) into 0
18.019 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
18.020 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
18.020 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.020 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
18.021 * [backup-simplify]: Simplify (+ 0 0) into 0
18.021 * [backup-simplify]: Simplify (+ 0) into 0
18.021 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
18.021 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
18.022 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.022 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
18.022 * [backup-simplify]: Simplify (+ 0 0) into 0
18.022 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
18.023 * [backup-simplify]: Simplify (+ 0) into 0
18.023 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
18.023 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
18.023 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.024 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
18.024 * [backup-simplify]: Simplify (- 0) into 0
18.024 * [backup-simplify]: Simplify (+ 0 0) into 0
18.024 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
18.025 * [backup-simplify]: Simplify (+ 0) into 0
18.025 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
18.025 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
18.026 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.026 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
18.026 * [backup-simplify]: Simplify (- 0) into 0
18.026 * [backup-simplify]: Simplify (+ 0 0) into 0
18.027 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
18.027 * [backup-simplify]: Simplify (+ 0 0) into 0
18.027 * [backup-simplify]: Simplify (- 0) into 0
18.027 * [backup-simplify]: Simplify (+ 0 0) into 0
18.029 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into 0
18.031 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2))) into 0
18.036 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2))) (/ 0 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
18.039 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)))))) into 0
18.039 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* lambda2 (* (pow phi1 2) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi1)) 4)) (* R (* (pow lambda2 3) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)) (* R (* (pow lambda2 3) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 2 (* (/ (* (sin (/ 0.5 phi2)) (* (pow (cos (/ 0.5 phi1)) 5) (* (pow (cos (/ 0.5 phi2)) 5) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 (* (pow phi1 2) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 (* R (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow phi2 2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 3/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (* 3/2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 5) (pow (sin (/ 0.5 phi1)) 5)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3)))))))))))) in lambda2
18.039 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* lambda2 (* (pow phi1 2) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) in lambda2
18.039 * [taylor]: Taking taylor expansion of 1/2 in lambda2
18.039 * [backup-simplify]: Simplify 1/2 into 1/2
18.039 * [taylor]: Taking taylor expansion of (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* lambda2 (* (pow phi1 2) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) in lambda2
18.039 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* lambda2 (* (pow phi1 2) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) in lambda2
18.040 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
18.040 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
18.040 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
18.040 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
18.040 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.040 * [backup-simplify]: Simplify 0.5 into 0.5
18.040 * [taylor]: Taking taylor expansion of phi2 in lambda2
18.040 * [backup-simplify]: Simplify phi2 into phi2
18.040 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
18.040 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
18.040 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
18.040 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
18.040 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
18.040 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
18.040 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
18.040 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
18.040 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
18.040 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.040 * [backup-simplify]: Simplify 0.5 into 0.5
18.040 * [taylor]: Taking taylor expansion of phi1 in lambda2
18.041 * [backup-simplify]: Simplify phi1 into phi1
18.041 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
18.041 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
18.041 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
18.041 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
18.041 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
18.041 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
18.041 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow phi1 2) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) in lambda2
18.041 * [taylor]: Taking taylor expansion of lambda2 in lambda2
18.041 * [backup-simplify]: Simplify 0 into 0
18.041 * [backup-simplify]: Simplify 1 into 1
18.041 * [taylor]: Taking taylor expansion of (* (pow phi1 2) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in lambda2
18.041 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2
18.041 * [taylor]: Taking taylor expansion of phi1 in lambda2
18.041 * [backup-simplify]: Simplify phi1 into phi1
18.041 * [taylor]: Taking taylor expansion of (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in lambda2
18.041 * [taylor]: Taking taylor expansion of R in lambda2
18.041 * [backup-simplify]: Simplify R into R
18.041 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
18.042 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
18.042 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
18.042 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
18.042 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
18.042 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
18.042 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.042 * [backup-simplify]: Simplify 0.5 into 0.5
18.042 * [taylor]: Taking taylor expansion of phi2 in lambda2
18.042 * [backup-simplify]: Simplify phi2 into phi2
18.042 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
18.042 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
18.042 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
18.042 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
18.042 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
18.042 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
18.042 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
18.042 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
18.042 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
18.042 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.042 * [backup-simplify]: Simplify 0.5 into 0.5
18.042 * [taylor]: Taking taylor expansion of phi1 in lambda2
18.042 * [backup-simplify]: Simplify phi1 into phi1
18.043 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
18.043 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
18.043 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
18.043 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
18.043 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
18.043 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
18.043 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
18.043 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
18.043 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
18.043 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
18.043 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.043 * [backup-simplify]: Simplify 0.5 into 0.5
18.043 * [taylor]: Taking taylor expansion of phi2 in lambda2
18.043 * [backup-simplify]: Simplify phi2 into phi2
18.043 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
18.043 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
18.043 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
18.044 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
18.044 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
18.044 * [backup-simplify]: Simplify (- 0) into 0
18.044 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
18.044 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
18.044 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
18.044 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
18.044 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.044 * [backup-simplify]: Simplify 0.5 into 0.5
18.045 * [taylor]: Taking taylor expansion of phi1 in lambda2
18.045 * [backup-simplify]: Simplify phi1 into phi1
18.045 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
18.045 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
18.045 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
18.045 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
18.045 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
18.046 * [backup-simplify]: Simplify (- 0) into 0
18.046 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
18.046 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
18.046 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
18.046 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
18.046 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
18.046 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.046 * [backup-simplify]: Simplify 0.5 into 0.5
18.046 * [taylor]: Taking taylor expansion of phi2 in lambda2
18.046 * [backup-simplify]: Simplify phi2 into phi2
18.046 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
18.046 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
18.046 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
18.046 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
18.046 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
18.046 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
18.047 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.047 * [backup-simplify]: Simplify 0.5 into 0.5
18.047 * [taylor]: Taking taylor expansion of phi1 in lambda2
18.047 * [backup-simplify]: Simplify phi1 into phi1
18.047 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
18.047 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
18.047 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
18.047 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
18.047 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
18.047 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
18.047 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.047 * [backup-simplify]: Simplify 0.5 into 0.5
18.047 * [taylor]: Taking taylor expansion of phi2 in lambda2
18.047 * [backup-simplify]: Simplify phi2 into phi2
18.047 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
18.047 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
18.047 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
18.047 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
18.047 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
18.047 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.047 * [backup-simplify]: Simplify 0.5 into 0.5
18.047 * [taylor]: Taking taylor expansion of phi1 in lambda2
18.047 * [backup-simplify]: Simplify phi1 into phi1
18.047 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
18.047 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
18.048 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
18.048 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
18.048 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
18.048 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
18.048 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.048 * [backup-simplify]: Simplify 0.5 into 0.5
18.048 * [taylor]: Taking taylor expansion of phi2 in lambda2
18.048 * [backup-simplify]: Simplify phi2 into phi2
18.048 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
18.048 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
18.048 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
18.048 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
18.048 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
18.048 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
18.048 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.048 * [backup-simplify]: Simplify 0.5 into 0.5
18.048 * [taylor]: Taking taylor expansion of phi1 in lambda2
18.048 * [backup-simplify]: Simplify phi1 into phi1
18.048 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
18.049 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
18.049 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
18.049 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
18.049 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
18.049 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
18.049 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.049 * [backup-simplify]: Simplify 0.5 into 0.5
18.049 * [taylor]: Taking taylor expansion of phi2 in lambda2
18.049 * [backup-simplify]: Simplify phi2 into phi2
18.049 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
18.049 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
18.049 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
18.049 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
18.049 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
18.049 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.049 * [backup-simplify]: Simplify 0.5 into 0.5
18.049 * [taylor]: Taking taylor expansion of phi1 in lambda2
18.049 * [backup-simplify]: Simplify phi1 into phi1
18.049 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
18.049 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
18.049 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
18.050 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
18.050 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
18.050 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
18.050 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
18.050 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
18.051 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
18.051 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
18.051 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
18.051 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
18.052 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
18.052 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
18.053 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
18.053 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
18.053 * [backup-simplify]: Simplify (- 0) into 0
18.053 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
18.053 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
18.054 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
18.054 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
18.054 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
18.054 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
18.054 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
18.054 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
18.054 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
18.055 * [backup-simplify]: Simplify (- 0) into 0
18.055 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
18.055 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
18.055 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
18.055 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
18.056 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
18.056 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
18.056 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
18.056 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
18.056 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
18.056 * [backup-simplify]: Simplify (- 0) into 0
18.057 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
18.057 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
18.057 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
18.057 * [backup-simplify]: Simplify (- 0) into 0
18.057 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
18.057 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
18.058 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
18.058 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
18.058 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
18.058 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
18.058 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
18.059 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))
18.060 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
18.062 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
18.064 * [backup-simplify]: Simplify (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)
18.066 * [backup-simplify]: Simplify (* (pow phi1 2) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) into (* R (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow phi1 2)))
18.068 * [backup-simplify]: Simplify (* 0 (* R (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow phi1 2)))) into 0
18.069 * [backup-simplify]: Simplify (+ 0) into 0
18.070 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
18.070 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
18.071 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.071 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
18.072 * [backup-simplify]: Simplify (+ 0 0) into 0
18.072 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
18.073 * [backup-simplify]: Simplify (+ 0) into 0
18.073 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
18.073 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
18.075 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.075 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
18.076 * [backup-simplify]: Simplify (+ 0 0) into 0
18.076 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
18.076 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
18.077 * [backup-simplify]: Simplify (+ 0) into 0
18.077 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
18.077 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
18.078 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.079 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
18.079 * [backup-simplify]: Simplify (- 0) into 0
18.079 * [backup-simplify]: Simplify (+ 0 0) into 0
18.080 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
18.080 * [backup-simplify]: Simplify (+ 0) into 0
18.080 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
18.081 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
18.081 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.082 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
18.082 * [backup-simplify]: Simplify (- 0) into 0
18.083 * [backup-simplify]: Simplify (+ 0 0) into 0
18.083 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
18.083 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
18.084 * [backup-simplify]: Simplify (+ 0 0) into 0
18.084 * [backup-simplify]: Simplify (+ 0) into 0
18.085 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
18.085 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
18.086 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.086 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
18.086 * [backup-simplify]: Simplify (- 0) into 0
18.087 * [backup-simplify]: Simplify (+ 0 0) into 0
18.087 * [backup-simplify]: Simplify (+ 0) into 0
18.088 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
18.088 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
18.089 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.089 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
18.090 * [backup-simplify]: Simplify (+ 0 0) into 0
18.090 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
18.090 * [backup-simplify]: Simplify (+ 0) into 0
18.091 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
18.091 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
18.092 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.092 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
18.092 * [backup-simplify]: Simplify (+ 0 0) into 0
18.093 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
18.093 * [backup-simplify]: Simplify (+ 0) into 0
18.094 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
18.094 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
18.095 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.095 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
18.096 * [backup-simplify]: Simplify (- 0) into 0
18.096 * [backup-simplify]: Simplify (+ 0 0) into 0
18.096 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
18.097 * [backup-simplify]: Simplify (+ 0) into 0
18.097 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
18.097 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
18.098 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.099 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
18.099 * [backup-simplify]: Simplify (+ 0 0) into 0
18.099 * [backup-simplify]: Simplify (+ 0) into 0
18.100 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
18.100 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
18.101 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.102 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
18.102 * [backup-simplify]: Simplify (- 0) into 0
18.102 * [backup-simplify]: Simplify (+ 0 0) into 0
18.102 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
18.103 * [backup-simplify]: Simplify (+ 0) into 0
18.103 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
18.104 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
18.105 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.105 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
18.106 * [backup-simplify]: Simplify (- 0) into 0
18.106 * [backup-simplify]: Simplify (+ 0 0) into 0
18.106 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
18.107 * [backup-simplify]: Simplify (+ 0) into 0
18.107 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
18.108 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
18.108 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.109 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
18.109 * [backup-simplify]: Simplify (+ 0 0) into 0
18.110 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
18.110 * [backup-simplify]: Simplify (+ 0 0) into 0
18.110 * [backup-simplify]: Simplify (- 0) into 0
18.111 * [backup-simplify]: Simplify (+ 0 0) into 0
18.113 * [backup-simplify]: Simplify (+ (* R 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into 0
18.113 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0
18.115 * [backup-simplify]: Simplify (+ (* (pow phi1 2) 0) (* 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R))) into 0
18.118 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* R (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow phi1 2))))) into (- (+ (* (pow phi1 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (* (pow phi1 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)))) (+ (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R))))) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R)))))))
18.122 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* (pow phi1 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (* (pow phi1 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)))) (+ (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R))))) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R)))))))) into (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)))) (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2))))) (+ (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))
18.122 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in lambda2
18.122 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in lambda2
18.122 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
18.122 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
18.122 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
18.122 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
18.122 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
18.122 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
18.122 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.122 * [backup-simplify]: Simplify 0.5 into 0.5
18.122 * [taylor]: Taking taylor expansion of phi2 in lambda2
18.122 * [backup-simplify]: Simplify phi2 into phi2
18.122 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
18.122 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
18.122 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
18.123 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
18.123 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
18.123 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
18.123 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
18.123 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
18.123 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
18.123 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.123 * [backup-simplify]: Simplify 0.5 into 0.5
18.123 * [taylor]: Taking taylor expansion of phi1 in lambda2
18.123 * [backup-simplify]: Simplify phi1 into phi1
18.123 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
18.123 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
18.123 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
18.123 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
18.124 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
18.124 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
18.124 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
18.124 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
18.124 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
18.124 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
18.124 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.124 * [backup-simplify]: Simplify 0.5 into 0.5
18.124 * [taylor]: Taking taylor expansion of phi2 in lambda2
18.124 * [backup-simplify]: Simplify phi2 into phi2
18.124 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
18.124 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
18.124 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
18.124 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
18.124 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
18.125 * [backup-simplify]: Simplify (- 0) into 0
18.125 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
18.125 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
18.125 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
18.125 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
18.125 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.125 * [backup-simplify]: Simplify 0.5 into 0.5
18.125 * [taylor]: Taking taylor expansion of phi1 in lambda2
18.125 * [backup-simplify]: Simplify phi1 into phi1
18.125 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
18.126 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
18.126 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
18.126 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
18.126 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
18.126 * [backup-simplify]: Simplify (- 0) into 0
18.126 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
18.126 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
18.126 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
18.127 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
18.127 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
18.127 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.127 * [backup-simplify]: Simplify 0.5 into 0.5
18.127 * [taylor]: Taking taylor expansion of phi2 in lambda2
18.127 * [backup-simplify]: Simplify phi2 into phi2
18.127 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
18.127 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
18.127 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
18.127 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
18.127 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
18.127 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
18.127 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.127 * [backup-simplify]: Simplify 0.5 into 0.5
18.127 * [taylor]: Taking taylor expansion of phi1 in lambda2
18.127 * [backup-simplify]: Simplify phi1 into phi1
18.127 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
18.127 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
18.127 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
18.127 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
18.127 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
18.127 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
18.128 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.128 * [backup-simplify]: Simplify 0.5 into 0.5
18.128 * [taylor]: Taking taylor expansion of phi2 in lambda2
18.128 * [backup-simplify]: Simplify phi2 into phi2
18.128 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
18.128 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
18.128 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
18.128 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
18.128 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
18.128 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.128 * [backup-simplify]: Simplify 0.5 into 0.5
18.128 * [taylor]: Taking taylor expansion of phi1 in lambda2
18.128 * [backup-simplify]: Simplify phi1 into phi1
18.128 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
18.128 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
18.128 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
18.128 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
18.128 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
18.128 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
18.128 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.128 * [backup-simplify]: Simplify 0.5 into 0.5
18.128 * [taylor]: Taking taylor expansion of phi2 in lambda2
18.128 * [backup-simplify]: Simplify phi2 into phi2
18.129 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
18.129 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
18.129 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
18.129 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
18.129 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
18.129 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
18.129 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.129 * [backup-simplify]: Simplify 0.5 into 0.5
18.129 * [taylor]: Taking taylor expansion of phi1 in lambda2
18.129 * [backup-simplify]: Simplify phi1 into phi1
18.129 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
18.129 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
18.129 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
18.129 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
18.129 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
18.129 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
18.129 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.129 * [backup-simplify]: Simplify 0.5 into 0.5
18.129 * [taylor]: Taking taylor expansion of phi2 in lambda2
18.129 * [backup-simplify]: Simplify phi2 into phi2
18.129 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
18.130 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
18.130 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
18.130 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
18.130 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
18.130 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.130 * [backup-simplify]: Simplify 0.5 into 0.5
18.130 * [taylor]: Taking taylor expansion of phi1 in lambda2
18.130 * [backup-simplify]: Simplify phi1 into phi1
18.130 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
18.130 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
18.130 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
18.130 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
18.130 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
18.131 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
18.131 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
18.131 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
18.131 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
18.132 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
18.132 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
18.132 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
18.133 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
18.133 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
18.133 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
18.133 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
18.133 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
18.133 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
18.134 * [backup-simplify]: Simplify (- 0) into 0
18.134 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
18.134 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
18.134 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
18.134 * [backup-simplify]: Simplify (- 0) into 0
18.134 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
18.135 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
18.135 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
18.135 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
18.135 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
18.135 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
18.136 * [backup-simplify]: Simplify (- 0) into 0
18.136 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
18.136 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
18.136 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
18.137 * [backup-simplify]: Simplify (- 0) into 0
18.137 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
18.137 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
18.137 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
18.137 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
18.137 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
18.137 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
18.137 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
18.138 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
18.138 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
18.138 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
18.139 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))
18.140 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
18.142 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
18.144 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
18.145 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
18.146 * [backup-simplify]: Simplify (+ 0) into 0
18.149 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
18.150 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
18.151 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.151 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
18.152 * [backup-simplify]: Simplify (+ 0 0) into 0
18.152 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
18.152 * [backup-simplify]: Simplify (+ 0) into 0
18.153 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
18.153 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
18.154 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.154 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
18.155 * [backup-simplify]: Simplify (+ 0 0) into 0
18.155 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
18.155 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
18.156 * [backup-simplify]: Simplify (+ 0) into 0
18.156 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
18.156 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
18.157 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.158 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
18.158 * [backup-simplify]: Simplify (- 0) into 0
18.158 * [backup-simplify]: Simplify (+ 0 0) into 0
18.159 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
18.159 * [backup-simplify]: Simplify (+ 0) into 0
18.159 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
18.160 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
18.160 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.161 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
18.161 * [backup-simplify]: Simplify (- 0) into 0
18.162 * [backup-simplify]: Simplify (+ 0 0) into 0
18.162 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
18.162 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
18.163 * [backup-simplify]: Simplify (+ 0 0) into 0
18.163 * [backup-simplify]: Simplify (+ 0) into 0
18.164 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
18.164 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
18.165 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.165 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
18.166 * [backup-simplify]: Simplify (- 0) into 0
18.166 * [backup-simplify]: Simplify (+ 0 0) into 0
18.167 * [backup-simplify]: Simplify (+ 0) into 0
18.167 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
18.167 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
18.168 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.169 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
18.169 * [backup-simplify]: Simplify (- 0) into 0
18.170 * [backup-simplify]: Simplify (+ 0 0) into 0
18.170 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
18.170 * [backup-simplify]: Simplify (+ 0) into 0
18.171 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
18.171 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
18.172 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.172 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
18.172 * [backup-simplify]: Simplify (+ 0 0) into 0
18.173 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
18.173 * [backup-simplify]: Simplify (+ 0) into 0
18.174 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
18.174 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
18.175 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.175 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
18.175 * [backup-simplify]: Simplify (+ 0 0) into 0
18.176 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
18.176 * [backup-simplify]: Simplify (+ 0) into 0
18.177 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
18.177 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
18.177 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.178 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
18.178 * [backup-simplify]: Simplify (+ 0 0) into 0
18.179 * [backup-simplify]: Simplify (+ 0) into 0
18.179 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
18.179 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
18.180 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.180 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
18.181 * [backup-simplify]: Simplify (+ 0 0) into 0
18.181 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
18.181 * [backup-simplify]: Simplify (+ 0) into 0
18.182 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
18.182 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
18.183 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.184 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
18.184 * [backup-simplify]: Simplify (- 0) into 0
18.184 * [backup-simplify]: Simplify (+ 0 0) into 0
18.185 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
18.185 * [backup-simplify]: Simplify (+ 0) into 0
18.186 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
18.186 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
18.187 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.187 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
18.187 * [backup-simplify]: Simplify (- 0) into 0
18.188 * [backup-simplify]: Simplify (+ 0 0) into 0
18.188 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
18.189 * [backup-simplify]: Simplify (+ 0 0) into 0
18.189 * [backup-simplify]: Simplify (- 0) into 0
18.189 * [backup-simplify]: Simplify (+ 0 0) into 0
18.193 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
18.195 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
18.195 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi1)) 4)) (* R (* (pow lambda2 3) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)) (* R (* (pow lambda2 3) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 2 (* (/ (* (sin (/ 0.5 phi2)) (* (pow (cos (/ 0.5 phi1)) 5) (* (pow (cos (/ 0.5 phi2)) 5) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 (* (pow phi1 2) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 (* R (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow phi2 2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 3/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (* 3/2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 5) (pow (sin (/ 0.5 phi1)) 5)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))))))))) in lambda2
18.196 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi1)) 4)) (* R (* (pow lambda2 3) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) in lambda2
18.196 * [taylor]: Taking taylor expansion of 1/2 in lambda2
18.196 * [backup-simplify]: Simplify 1/2 into 1/2
18.196 * [taylor]: Taking taylor expansion of (* (/ (* (pow (cos (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi1)) 4)) (* R (* (pow lambda2 3) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) in lambda2
18.196 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi1)) 4)) (* R (* (pow lambda2 3) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) in lambda2
18.196 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi1)) 4)) in lambda2
18.196 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 4) in lambda2
18.196 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
18.196 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
18.196 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.196 * [backup-simplify]: Simplify 0.5 into 0.5
18.196 * [taylor]: Taking taylor expansion of phi2 in lambda2
18.196 * [backup-simplify]: Simplify phi2 into phi2
18.197 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
18.197 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
18.197 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
18.197 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
18.197 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
18.197 * [backup-simplify]: Simplify (- 0) into 0
18.198 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
18.198 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 4) in lambda2
18.198 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
18.198 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
18.198 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.198 * [backup-simplify]: Simplify 0.5 into 0.5
18.198 * [taylor]: Taking taylor expansion of phi1 in lambda2
18.198 * [backup-simplify]: Simplify phi1 into phi1
18.198 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
18.198 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
18.198 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
18.198 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
18.198 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
18.199 * [backup-simplify]: Simplify (- 0) into 0
18.199 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
18.199 * [taylor]: Taking taylor expansion of (* R (* (pow lambda2 3) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in lambda2
18.199 * [taylor]: Taking taylor expansion of R in lambda2
18.199 * [backup-simplify]: Simplify R into R
18.199 * [taylor]: Taking taylor expansion of (* (pow lambda2 3) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in lambda2
18.199 * [taylor]: Taking taylor expansion of (pow lambda2 3) in lambda2
18.199 * [taylor]: Taking taylor expansion of lambda2 in lambda2
18.199 * [backup-simplify]: Simplify 0 into 0
18.199 * [backup-simplify]: Simplify 1 into 1
18.199 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
18.199 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
18.199 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
18.199 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
18.199 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
18.199 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
18.199 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.199 * [backup-simplify]: Simplify 0.5 into 0.5
18.199 * [taylor]: Taking taylor expansion of phi2 in lambda2
18.199 * [backup-simplify]: Simplify phi2 into phi2
18.199 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
18.200 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
18.200 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
18.200 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
18.200 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
18.200 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
18.200 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
18.200 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
18.200 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
18.200 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.200 * [backup-simplify]: Simplify 0.5 into 0.5
18.200 * [taylor]: Taking taylor expansion of phi1 in lambda2
18.200 * [backup-simplify]: Simplify phi1 into phi1
18.200 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
18.200 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
18.200 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
18.201 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
18.201 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
18.201 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
18.201 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
18.201 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
18.201 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
18.201 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
18.201 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.201 * [backup-simplify]: Simplify 0.5 into 0.5
18.201 * [taylor]: Taking taylor expansion of phi2 in lambda2
18.201 * [backup-simplify]: Simplify phi2 into phi2
18.201 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
18.201 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
18.201 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
18.201 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
18.201 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
18.202 * [backup-simplify]: Simplify (- 0) into 0
18.202 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
18.202 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
18.202 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
18.202 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
18.202 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.202 * [backup-simplify]: Simplify 0.5 into 0.5
18.202 * [taylor]: Taking taylor expansion of phi1 in lambda2
18.202 * [backup-simplify]: Simplify phi1 into phi1
18.202 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
18.202 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
18.202 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
18.202 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
18.202 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
18.202 * [backup-simplify]: Simplify (- 0) into 0
18.202 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
18.203 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
18.203 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
18.203 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
18.203 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
18.203 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.203 * [backup-simplify]: Simplify 0.5 into 0.5
18.203 * [taylor]: Taking taylor expansion of phi2 in lambda2
18.203 * [backup-simplify]: Simplify phi2 into phi2
18.203 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
18.203 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
18.203 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
18.203 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
18.203 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
18.203 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
18.203 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.203 * [backup-simplify]: Simplify 0.5 into 0.5
18.203 * [taylor]: Taking taylor expansion of phi1 in lambda2
18.203 * [backup-simplify]: Simplify phi1 into phi1
18.203 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
18.203 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
18.203 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
18.203 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
18.203 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
18.203 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
18.203 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.203 * [backup-simplify]: Simplify 0.5 into 0.5
18.203 * [taylor]: Taking taylor expansion of phi2 in lambda2
18.203 * [backup-simplify]: Simplify phi2 into phi2
18.203 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
18.203 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
18.203 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
18.203 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
18.203 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
18.203 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.203 * [backup-simplify]: Simplify 0.5 into 0.5
18.203 * [taylor]: Taking taylor expansion of phi1 in lambda2
18.203 * [backup-simplify]: Simplify phi1 into phi1
18.203 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
18.203 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
18.204 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
18.204 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
18.204 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
18.204 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
18.204 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.204 * [backup-simplify]: Simplify 0.5 into 0.5
18.204 * [taylor]: Taking taylor expansion of phi2 in lambda2
18.204 * [backup-simplify]: Simplify phi2 into phi2
18.204 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
18.204 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
18.204 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
18.204 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
18.204 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
18.204 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
18.204 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.204 * [backup-simplify]: Simplify 0.5 into 0.5
18.204 * [taylor]: Taking taylor expansion of phi1 in lambda2
18.204 * [backup-simplify]: Simplify phi1 into phi1
18.204 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
18.204 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
18.204 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
18.204 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
18.204 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
18.204 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
18.204 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.204 * [backup-simplify]: Simplify 0.5 into 0.5
18.204 * [taylor]: Taking taylor expansion of phi2 in lambda2
18.204 * [backup-simplify]: Simplify phi2 into phi2
18.204 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
18.204 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
18.204 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
18.204 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
18.204 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
18.204 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.204 * [backup-simplify]: Simplify 0.5 into 0.5
18.204 * [taylor]: Taking taylor expansion of phi1 in lambda2
18.204 * [backup-simplify]: Simplify phi1 into phi1
18.204 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
18.205 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
18.205 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
18.205 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
18.205 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (pow (cos (/ 0.5 phi2)) 4)
18.205 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
18.205 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (pow (cos (/ 0.5 phi1)) 4)
18.205 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi1)) 4)) into (* (pow (cos (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi1)) 4))
18.206 * [backup-simplify]: Simplify (* 1 1) into 1
18.206 * [backup-simplify]: Simplify (* 1 1) into 1
18.206 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
18.206 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
18.206 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
18.206 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
18.207 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
18.207 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
18.207 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
18.207 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
18.207 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
18.208 * [backup-simplify]: Simplify (- 0) into 0
18.208 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
18.208 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
18.208 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
18.208 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
18.208 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
18.208 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
18.208 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
18.208 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
18.208 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
18.208 * [backup-simplify]: Simplify (- 0) into 0
18.208 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
18.209 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
18.209 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
18.209 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
18.209 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
18.209 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
18.209 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
18.209 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
18.209 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
18.209 * [backup-simplify]: Simplify (- 0) into 0
18.210 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
18.210 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
18.210 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
18.210 * [backup-simplify]: Simplify (- 0) into 0
18.210 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
18.210 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
18.210 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
18.210 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
18.210 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
18.210 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
18.211 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
18.211 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))
18.211 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
18.212 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
18.213 * [backup-simplify]: Simplify (* 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
18.214 * [backup-simplify]: Simplify (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)
18.215 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi1)) 4)) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) into (/ (* (pow (cos (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi1)) 4)) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
18.216 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in lambda2
18.216 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in lambda2
18.216 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
18.216 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
18.216 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
18.216 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
18.216 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
18.216 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
18.216 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.216 * [backup-simplify]: Simplify 0.5 into 0.5
18.216 * [taylor]: Taking taylor expansion of phi2 in lambda2
18.216 * [backup-simplify]: Simplify phi2 into phi2
18.216 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
18.216 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
18.216 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
18.216 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
18.216 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
18.216 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
18.216 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
18.216 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
18.216 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
18.216 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.216 * [backup-simplify]: Simplify 0.5 into 0.5
18.216 * [taylor]: Taking taylor expansion of phi1 in lambda2
18.216 * [backup-simplify]: Simplify phi1 into phi1
18.216 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
18.216 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
18.216 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
18.216 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
18.217 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
18.217 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
18.217 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
18.217 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
18.217 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
18.217 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
18.217 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.217 * [backup-simplify]: Simplify 0.5 into 0.5
18.217 * [taylor]: Taking taylor expansion of phi2 in lambda2
18.217 * [backup-simplify]: Simplify phi2 into phi2
18.217 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
18.217 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
18.217 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
18.217 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
18.217 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
18.217 * [backup-simplify]: Simplify (- 0) into 0
18.217 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
18.217 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
18.217 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
18.217 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
18.218 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.218 * [backup-simplify]: Simplify 0.5 into 0.5
18.218 * [taylor]: Taking taylor expansion of phi1 in lambda2
18.218 * [backup-simplify]: Simplify phi1 into phi1
18.218 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
18.218 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
18.218 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
18.218 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
18.218 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
18.218 * [backup-simplify]: Simplify (- 0) into 0
18.218 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
18.218 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
18.218 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
18.218 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
18.218 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
18.218 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.218 * [backup-simplify]: Simplify 0.5 into 0.5
18.218 * [taylor]: Taking taylor expansion of phi2 in lambda2
18.218 * [backup-simplify]: Simplify phi2 into phi2
18.218 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
18.218 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
18.218 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
18.219 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
18.219 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
18.219 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
18.219 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.219 * [backup-simplify]: Simplify 0.5 into 0.5
18.219 * [taylor]: Taking taylor expansion of phi1 in lambda2
18.219 * [backup-simplify]: Simplify phi1 into phi1
18.219 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
18.219 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
18.219 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
18.219 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
18.219 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
18.219 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
18.219 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.219 * [backup-simplify]: Simplify 0.5 into 0.5
18.219 * [taylor]: Taking taylor expansion of phi2 in lambda2
18.219 * [backup-simplify]: Simplify phi2 into phi2
18.219 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
18.219 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
18.219 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
18.219 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
18.219 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
18.219 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.219 * [backup-simplify]: Simplify 0.5 into 0.5
18.219 * [taylor]: Taking taylor expansion of phi1 in lambda2
18.219 * [backup-simplify]: Simplify phi1 into phi1
18.219 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
18.219 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
18.219 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
18.219 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
18.219 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
18.219 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
18.219 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.219 * [backup-simplify]: Simplify 0.5 into 0.5
18.219 * [taylor]: Taking taylor expansion of phi2 in lambda2
18.219 * [backup-simplify]: Simplify phi2 into phi2
18.219 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
18.219 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
18.219 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
18.220 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
18.220 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
18.220 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
18.220 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.220 * [backup-simplify]: Simplify 0.5 into 0.5
18.220 * [taylor]: Taking taylor expansion of phi1 in lambda2
18.220 * [backup-simplify]: Simplify phi1 into phi1
18.220 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
18.220 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
18.220 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
18.220 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
18.220 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
18.220 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
18.220 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.220 * [backup-simplify]: Simplify 0.5 into 0.5
18.220 * [taylor]: Taking taylor expansion of phi2 in lambda2
18.220 * [backup-simplify]: Simplify phi2 into phi2
18.220 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
18.220 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
18.220 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
18.220 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
18.220 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
18.220 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.220 * [backup-simplify]: Simplify 0.5 into 0.5
18.220 * [taylor]: Taking taylor expansion of phi1 in lambda2
18.220 * [backup-simplify]: Simplify phi1 into phi1
18.220 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
18.220 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
18.220 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
18.220 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
18.220 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
18.221 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
18.221 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
18.221 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
18.221 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
18.221 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
18.222 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
18.222 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
18.222 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
18.222 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
18.222 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
18.222 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
18.222 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
18.222 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
18.222 * [backup-simplify]: Simplify (- 0) into 0
18.222 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
18.222 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
18.222 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
18.223 * [backup-simplify]: Simplify (- 0) into 0
18.223 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
18.223 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
18.223 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
18.223 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
18.223 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
18.223 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
18.224 * [backup-simplify]: Simplify (- 0) into 0
18.224 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
18.224 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
18.224 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
18.224 * [backup-simplify]: Simplify (- 0) into 0
18.224 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
18.224 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
18.224 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
18.224 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
18.224 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
18.224 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
18.224 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
18.225 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
18.225 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
18.225 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
18.225 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))
18.226 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
18.227 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
18.228 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
18.229 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
18.229 * [backup-simplify]: Simplify (+ 0) into 0
18.230 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
18.230 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
18.231 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.231 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
18.232 * [backup-simplify]: Simplify (+ 0 0) into 0
18.232 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
18.232 * [backup-simplify]: Simplify (+ 0) into 0
18.233 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
18.233 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
18.234 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.234 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
18.235 * [backup-simplify]: Simplify (+ 0 0) into 0
18.235 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
18.235 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
18.236 * [backup-simplify]: Simplify (+ 0) into 0
18.236 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
18.236 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
18.237 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.238 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
18.238 * [backup-simplify]: Simplify (- 0) into 0
18.238 * [backup-simplify]: Simplify (+ 0 0) into 0
18.238 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
18.239 * [backup-simplify]: Simplify (+ 0) into 0
18.239 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
18.240 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
18.240 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.241 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
18.241 * [backup-simplify]: Simplify (- 0) into 0
18.241 * [backup-simplify]: Simplify (+ 0 0) into 0
18.241 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
18.242 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
18.242 * [backup-simplify]: Simplify (+ 0 0) into 0
18.242 * [backup-simplify]: Simplify (+ 0) into 0
18.242 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
18.243 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
18.243 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.243 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
18.244 * [backup-simplify]: Simplify (- 0) into 0
18.244 * [backup-simplify]: Simplify (+ 0 0) into 0
18.244 * [backup-simplify]: Simplify (+ 0) into 0
18.244 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
18.244 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
18.245 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.245 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
18.245 * [backup-simplify]: Simplify (- 0) into 0
18.246 * [backup-simplify]: Simplify (+ 0 0) into 0
18.246 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
18.246 * [backup-simplify]: Simplify (+ 0) into 0
18.246 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
18.246 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
18.247 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.247 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
18.247 * [backup-simplify]: Simplify (+ 0 0) into 0
18.248 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
18.248 * [backup-simplify]: Simplify (+ 0) into 0
18.248 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
18.248 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
18.249 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.249 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
18.249 * [backup-simplify]: Simplify (+ 0 0) into 0
18.249 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
18.250 * [backup-simplify]: Simplify (+ 0) into 0
18.250 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
18.250 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
18.251 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.251 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
18.251 * [backup-simplify]: Simplify (+ 0 0) into 0
18.251 * [backup-simplify]: Simplify (+ 0) into 0
18.252 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
18.252 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
18.252 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.252 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
18.253 * [backup-simplify]: Simplify (+ 0 0) into 0
18.253 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
18.253 * [backup-simplify]: Simplify (+ 0) into 0
18.253 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
18.254 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
18.254 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.254 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
18.255 * [backup-simplify]: Simplify (- 0) into 0
18.255 * [backup-simplify]: Simplify (+ 0 0) into 0
18.255 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
18.255 * [backup-simplify]: Simplify (+ 0) into 0
18.256 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
18.256 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
18.256 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.256 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
18.257 * [backup-simplify]: Simplify (- 0) into 0
18.257 * [backup-simplify]: Simplify (+ 0 0) into 0
18.257 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
18.257 * [backup-simplify]: Simplify (+ 0 0) into 0
18.257 * [backup-simplify]: Simplify (- 0) into 0
18.258 * [backup-simplify]: Simplify (+ 0 0) into 0
18.260 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
18.261 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
18.261 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)) (* R (* (pow lambda2 3) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 2 (* (/ (* (sin (/ 0.5 phi2)) (* (pow (cos (/ 0.5 phi1)) 5) (* (pow (cos (/ 0.5 phi2)) 5) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 (* (pow phi1 2) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 (* R (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow phi2 2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 3/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (* 3/2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 5) (pow (sin (/ 0.5 phi1)) 5)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3)))))))))) in lambda2
18.261 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)) (* R (* (pow lambda2 3) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) in lambda2
18.261 * [taylor]: Taking taylor expansion of 1/2 in lambda2
18.261 * [backup-simplify]: Simplify 1/2 into 1/2
18.261 * [taylor]: Taking taylor expansion of (* (/ (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)) (* R (* (pow lambda2 3) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) in lambda2
18.261 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)) (* R (* (pow lambda2 3) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) in lambda2
18.261 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)) in lambda2
18.261 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 4) in lambda2
18.261 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
18.261 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
18.261 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.261 * [backup-simplify]: Simplify 0.5 into 0.5
18.261 * [taylor]: Taking taylor expansion of phi2 in lambda2
18.261 * [backup-simplify]: Simplify phi2 into phi2
18.262 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
18.262 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
18.262 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
18.262 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
18.262 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
18.262 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
18.262 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 4) in lambda2
18.262 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
18.262 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
18.262 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.262 * [backup-simplify]: Simplify 0.5 into 0.5
18.262 * [taylor]: Taking taylor expansion of phi1 in lambda2
18.262 * [backup-simplify]: Simplify phi1 into phi1
18.262 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
18.262 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
18.262 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
18.262 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
18.262 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
18.262 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
18.262 * [taylor]: Taking taylor expansion of (* R (* (pow lambda2 3) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in lambda2
18.262 * [taylor]: Taking taylor expansion of R in lambda2
18.262 * [backup-simplify]: Simplify R into R
18.262 * [taylor]: Taking taylor expansion of (* (pow lambda2 3) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in lambda2
18.262 * [taylor]: Taking taylor expansion of (pow lambda2 3) in lambda2
18.262 * [taylor]: Taking taylor expansion of lambda2 in lambda2
18.262 * [backup-simplify]: Simplify 0 into 0
18.262 * [backup-simplify]: Simplify 1 into 1
18.262 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
18.263 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
18.263 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
18.263 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
18.263 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
18.263 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
18.263 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.263 * [backup-simplify]: Simplify 0.5 into 0.5
18.263 * [taylor]: Taking taylor expansion of phi2 in lambda2
18.263 * [backup-simplify]: Simplify phi2 into phi2
18.263 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
18.263 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
18.263 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
18.263 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
18.263 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
18.263 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
18.263 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
18.263 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
18.263 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
18.263 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.263 * [backup-simplify]: Simplify 0.5 into 0.5
18.263 * [taylor]: Taking taylor expansion of phi1 in lambda2
18.263 * [backup-simplify]: Simplify phi1 into phi1
18.263 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
18.263 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
18.263 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
18.263 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
18.264 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
18.264 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
18.264 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
18.264 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
18.264 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
18.264 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
18.264 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.264 * [backup-simplify]: Simplify 0.5 into 0.5
18.264 * [taylor]: Taking taylor expansion of phi2 in lambda2
18.264 * [backup-simplify]: Simplify phi2 into phi2
18.264 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
18.264 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
18.264 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
18.264 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
18.264 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
18.264 * [backup-simplify]: Simplify (- 0) into 0
18.265 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
18.265 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
18.265 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
18.265 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
18.265 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.265 * [backup-simplify]: Simplify 0.5 into 0.5
18.265 * [taylor]: Taking taylor expansion of phi1 in lambda2
18.265 * [backup-simplify]: Simplify phi1 into phi1
18.265 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
18.265 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
18.265 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
18.265 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
18.265 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
18.265 * [backup-simplify]: Simplify (- 0) into 0
18.265 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
18.265 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
18.265 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
18.265 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
18.265 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
18.265 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.266 * [backup-simplify]: Simplify 0.5 into 0.5
18.266 * [taylor]: Taking taylor expansion of phi2 in lambda2
18.266 * [backup-simplify]: Simplify phi2 into phi2
18.266 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
18.266 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
18.266 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
18.266 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
18.266 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
18.266 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
18.266 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.266 * [backup-simplify]: Simplify 0.5 into 0.5
18.266 * [taylor]: Taking taylor expansion of phi1 in lambda2
18.266 * [backup-simplify]: Simplify phi1 into phi1
18.266 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
18.266 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
18.266 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
18.266 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
18.266 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
18.266 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
18.266 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.266 * [backup-simplify]: Simplify 0.5 into 0.5
18.266 * [taylor]: Taking taylor expansion of phi2 in lambda2
18.266 * [backup-simplify]: Simplify phi2 into phi2
18.267 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
18.267 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
18.267 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
18.267 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
18.267 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
18.267 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.267 * [backup-simplify]: Simplify 0.5 into 0.5
18.267 * [taylor]: Taking taylor expansion of phi1 in lambda2
18.267 * [backup-simplify]: Simplify phi1 into phi1
18.267 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
18.267 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
18.267 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
18.267 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
18.267 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
18.267 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
18.267 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.267 * [backup-simplify]: Simplify 0.5 into 0.5
18.267 * [taylor]: Taking taylor expansion of phi2 in lambda2
18.267 * [backup-simplify]: Simplify phi2 into phi2
18.267 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
18.268 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
18.268 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
18.268 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
18.268 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
18.268 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
18.268 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.268 * [backup-simplify]: Simplify 0.5 into 0.5
18.268 * [taylor]: Taking taylor expansion of phi1 in lambda2
18.268 * [backup-simplify]: Simplify phi1 into phi1
18.268 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
18.268 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
18.268 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
18.268 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
18.268 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
18.268 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
18.268 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.268 * [backup-simplify]: Simplify 0.5 into 0.5
18.268 * [taylor]: Taking taylor expansion of phi2 in lambda2
18.268 * [backup-simplify]: Simplify phi2 into phi2
18.268 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
18.268 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
18.268 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
18.269 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
18.269 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
18.269 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.269 * [backup-simplify]: Simplify 0.5 into 0.5
18.269 * [taylor]: Taking taylor expansion of phi1 in lambda2
18.269 * [backup-simplify]: Simplify phi1 into phi1
18.269 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
18.269 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
18.269 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
18.269 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
18.269 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (pow (sin (/ 0.5 phi2)) 4)
18.270 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
18.270 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (pow (sin (/ 0.5 phi1)) 4)
18.270 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)) into (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4))
18.271 * [backup-simplify]: Simplify (* 1 1) into 1
18.271 * [backup-simplify]: Simplify (* 1 1) into 1
18.271 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
18.272 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
18.272 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
18.272 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
18.272 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
18.273 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
18.273 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
18.274 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
18.274 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
18.274 * [backup-simplify]: Simplify (- 0) into 0
18.274 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
18.274 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
18.274 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
18.274 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
18.275 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
18.275 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
18.275 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
18.275 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
18.275 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
18.275 * [backup-simplify]: Simplify (- 0) into 0
18.276 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
18.276 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
18.276 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
18.277 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
18.277 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
18.277 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
18.277 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
18.277 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
18.277 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
18.278 * [backup-simplify]: Simplify (- 0) into 0
18.278 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
18.278 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
18.278 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
18.278 * [backup-simplify]: Simplify (- 0) into 0
18.278 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
18.279 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
18.279 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
18.279 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
18.279 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
18.279 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
18.279 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
18.280 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))
18.281 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
18.283 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
18.285 * [backup-simplify]: Simplify (* 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
18.287 * [backup-simplify]: Simplify (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)
18.289 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) into (/ (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
18.289 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in lambda2
18.289 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in lambda2
18.289 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
18.290 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
18.290 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
18.290 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
18.290 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
18.290 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
18.290 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.290 * [backup-simplify]: Simplify 0.5 into 0.5
18.290 * [taylor]: Taking taylor expansion of phi2 in lambda2
18.290 * [backup-simplify]: Simplify phi2 into phi2
18.290 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
18.290 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
18.290 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
18.290 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
18.290 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
18.290 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
18.290 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
18.290 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
18.290 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
18.290 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.291 * [backup-simplify]: Simplify 0.5 into 0.5
18.291 * [taylor]: Taking taylor expansion of phi1 in lambda2
18.291 * [backup-simplify]: Simplify phi1 into phi1
18.291 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
18.291 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
18.291 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
18.291 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
18.291 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
18.291 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
18.291 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
18.291 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
18.291 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
18.291 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
18.291 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.291 * [backup-simplify]: Simplify 0.5 into 0.5
18.291 * [taylor]: Taking taylor expansion of phi2 in lambda2
18.291 * [backup-simplify]: Simplify phi2 into phi2
18.291 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
18.292 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
18.292 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
18.292 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
18.292 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
18.296 * [backup-simplify]: Simplify (- 0) into 0
18.296 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
18.296 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
18.296 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
18.296 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
18.296 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.296 * [backup-simplify]: Simplify 0.5 into 0.5
18.296 * [taylor]: Taking taylor expansion of phi1 in lambda2
18.296 * [backup-simplify]: Simplify phi1 into phi1
18.296 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
18.296 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
18.297 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
18.297 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
18.297 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
18.297 * [backup-simplify]: Simplify (- 0) into 0
18.298 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
18.298 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
18.298 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
18.298 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
18.298 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
18.298 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.298 * [backup-simplify]: Simplify 0.5 into 0.5
18.298 * [taylor]: Taking taylor expansion of phi2 in lambda2
18.298 * [backup-simplify]: Simplify phi2 into phi2
18.298 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
18.298 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
18.298 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
18.298 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
18.298 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
18.298 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
18.298 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.298 * [backup-simplify]: Simplify 0.5 into 0.5
18.298 * [taylor]: Taking taylor expansion of phi1 in lambda2
18.298 * [backup-simplify]: Simplify phi1 into phi1
18.298 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
18.299 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
18.299 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
18.299 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
18.299 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
18.299 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
18.299 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.299 * [backup-simplify]: Simplify 0.5 into 0.5
18.299 * [taylor]: Taking taylor expansion of phi2 in lambda2
18.299 * [backup-simplify]: Simplify phi2 into phi2
18.299 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
18.299 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
18.299 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
18.299 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
18.299 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
18.299 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.299 * [backup-simplify]: Simplify 0.5 into 0.5
18.299 * [taylor]: Taking taylor expansion of phi1 in lambda2
18.299 * [backup-simplify]: Simplify phi1 into phi1
18.299 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
18.299 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
18.299 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
18.300 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
18.300 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
18.300 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
18.300 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.300 * [backup-simplify]: Simplify 0.5 into 0.5
18.300 * [taylor]: Taking taylor expansion of phi2 in lambda2
18.300 * [backup-simplify]: Simplify phi2 into phi2
18.300 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
18.300 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
18.300 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
18.300 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
18.300 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
18.300 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
18.300 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.300 * [backup-simplify]: Simplify 0.5 into 0.5
18.300 * [taylor]: Taking taylor expansion of phi1 in lambda2
18.300 * [backup-simplify]: Simplify phi1 into phi1
18.300 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
18.300 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
18.300 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
18.300 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
18.300 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
18.300 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
18.301 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.301 * [backup-simplify]: Simplify 0.5 into 0.5
18.301 * [taylor]: Taking taylor expansion of phi2 in lambda2
18.301 * [backup-simplify]: Simplify phi2 into phi2
18.301 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
18.301 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
18.301 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
18.301 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
18.301 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
18.301 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.301 * [backup-simplify]: Simplify 0.5 into 0.5
18.301 * [taylor]: Taking taylor expansion of phi1 in lambda2
18.301 * [backup-simplify]: Simplify phi1 into phi1
18.301 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
18.301 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
18.301 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
18.301 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
18.302 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
18.302 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
18.302 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
18.302 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
18.303 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
18.303 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
18.304 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
18.304 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
18.304 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
18.304 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
18.304 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
18.304 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
18.304 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
18.304 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
18.305 * [backup-simplify]: Simplify (- 0) into 0
18.305 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
18.305 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
18.305 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
18.306 * [backup-simplify]: Simplify (- 0) into 0
18.306 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
18.306 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
18.306 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
18.307 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
18.307 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
18.307 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
18.307 * [backup-simplify]: Simplify (- 0) into 0
18.307 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
18.307 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
18.308 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
18.308 * [backup-simplify]: Simplify (- 0) into 0
18.308 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
18.308 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
18.308 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
18.308 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
18.308 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
18.309 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
18.309 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
18.309 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
18.309 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
18.309 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
18.310 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))
18.310 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
18.311 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
18.312 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
18.313 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
18.314 * [backup-simplify]: Simplify (+ 0) into 0
18.314 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
18.314 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
18.314 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.315 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
18.315 * [backup-simplify]: Simplify (+ 0 0) into 0
18.315 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
18.315 * [backup-simplify]: Simplify (+ 0) into 0
18.316 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
18.316 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
18.316 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.317 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
18.317 * [backup-simplify]: Simplify (+ 0 0) into 0
18.317 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
18.317 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
18.317 * [backup-simplify]: Simplify (+ 0) into 0
18.318 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
18.318 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
18.318 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.319 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
18.319 * [backup-simplify]: Simplify (- 0) into 0
18.319 * [backup-simplify]: Simplify (+ 0 0) into 0
18.319 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
18.319 * [backup-simplify]: Simplify (+ 0) into 0
18.320 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
18.320 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
18.320 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.321 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
18.321 * [backup-simplify]: Simplify (- 0) into 0
18.321 * [backup-simplify]: Simplify (+ 0 0) into 0
18.321 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
18.321 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
18.322 * [backup-simplify]: Simplify (+ 0 0) into 0
18.322 * [backup-simplify]: Simplify (+ 0) into 0
18.322 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
18.322 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
18.323 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.323 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
18.323 * [backup-simplify]: Simplify (- 0) into 0
18.324 * [backup-simplify]: Simplify (+ 0 0) into 0
18.324 * [backup-simplify]: Simplify (+ 0) into 0
18.324 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
18.324 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
18.325 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.325 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
18.325 * [backup-simplify]: Simplify (- 0) into 0
18.325 * [backup-simplify]: Simplify (+ 0 0) into 0
18.326 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
18.326 * [backup-simplify]: Simplify (+ 0) into 0
18.326 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
18.326 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
18.327 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.327 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
18.327 * [backup-simplify]: Simplify (+ 0 0) into 0
18.327 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
18.328 * [backup-simplify]: Simplify (+ 0) into 0
18.328 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
18.328 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
18.328 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.329 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
18.329 * [backup-simplify]: Simplify (+ 0 0) into 0
18.329 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
18.330 * [backup-simplify]: Simplify (+ 0) into 0
18.330 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
18.330 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
18.330 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.331 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
18.331 * [backup-simplify]: Simplify (+ 0 0) into 0
18.331 * [backup-simplify]: Simplify (+ 0) into 0
18.331 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
18.332 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
18.332 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.332 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
18.333 * [backup-simplify]: Simplify (+ 0 0) into 0
18.333 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
18.333 * [backup-simplify]: Simplify (+ 0) into 0
18.333 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
18.333 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
18.334 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.334 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
18.334 * [backup-simplify]: Simplify (- 0) into 0
18.335 * [backup-simplify]: Simplify (+ 0 0) into 0
18.335 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
18.335 * [backup-simplify]: Simplify (+ 0) into 0
18.335 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
18.335 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
18.336 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.336 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
18.336 * [backup-simplify]: Simplify (- 0) into 0
18.337 * [backup-simplify]: Simplify (+ 0 0) into 0
18.337 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
18.337 * [backup-simplify]: Simplify (+ 0 0) into 0
18.338 * [backup-simplify]: Simplify (- 0) into 0
18.338 * [backup-simplify]: Simplify (+ 0 0) into 0
18.342 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
18.344 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
18.344 * [taylor]: Taking taylor expansion of (+ (* 2 (* (/ (* (sin (/ 0.5 phi2)) (* (pow (cos (/ 0.5 phi1)) 5) (* (pow (cos (/ 0.5 phi2)) 5) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 (* (pow phi1 2) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 (* R (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow phi2 2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 3/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (* 3/2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 5) (pow (sin (/ 0.5 phi1)) 5)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))))))) in lambda2
18.345 * [taylor]: Taking taylor expansion of (* 2 (* (/ (* (sin (/ 0.5 phi2)) (* (pow (cos (/ 0.5 phi1)) 5) (* (pow (cos (/ 0.5 phi2)) 5) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) in lambda2
18.345 * [taylor]: Taking taylor expansion of 2 in lambda2
18.345 * [backup-simplify]: Simplify 2 into 2
18.345 * [taylor]: Taking taylor expansion of (* (/ (* (sin (/ 0.5 phi2)) (* (pow (cos (/ 0.5 phi1)) 5) (* (pow (cos (/ 0.5 phi2)) 5) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3)))) in lambda2
18.345 * [taylor]: Taking taylor expansion of (/ (* (sin (/ 0.5 phi2)) (* (pow (cos (/ 0.5 phi1)) 5) (* (pow (cos (/ 0.5 phi2)) 5) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) in lambda2
18.345 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (pow (cos (/ 0.5 phi1)) 5) (* (pow (cos (/ 0.5 phi2)) 5) (sin (/ 0.5 phi1))))) in lambda2
18.345 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
18.345 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
18.345 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.345 * [backup-simplify]: Simplify 0.5 into 0.5
18.345 * [taylor]: Taking taylor expansion of phi2 in lambda2
18.345 * [backup-simplify]: Simplify phi2 into phi2
18.345 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
18.345 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
18.346 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
18.346 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 5) (* (pow (cos (/ 0.5 phi2)) 5) (sin (/ 0.5 phi1)))) in lambda2
18.346 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 5) in lambda2
18.346 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
18.346 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
18.346 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.346 * [backup-simplify]: Simplify 0.5 into 0.5
18.346 * [taylor]: Taking taylor expansion of phi1 in lambda2
18.346 * [backup-simplify]: Simplify phi1 into phi1
18.346 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
18.346 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
18.346 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
18.346 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
18.346 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
18.347 * [backup-simplify]: Simplify (- 0) into 0
18.347 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
18.347 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 5) (sin (/ 0.5 phi1))) in lambda2
18.347 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 5) in lambda2
18.347 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
18.347 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
18.347 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.347 * [backup-simplify]: Simplify 0.5 into 0.5
18.347 * [taylor]: Taking taylor expansion of phi2 in lambda2
18.347 * [backup-simplify]: Simplify phi2 into phi2
18.347 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
18.347 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
18.347 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
18.348 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
18.348 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
18.348 * [backup-simplify]: Simplify (- 0) into 0
18.348 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
18.348 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
18.348 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
18.348 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.348 * [backup-simplify]: Simplify 0.5 into 0.5
18.348 * [taylor]: Taking taylor expansion of phi1 in lambda2
18.348 * [backup-simplify]: Simplify phi1 into phi1
18.348 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
18.349 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
18.349 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
18.349 * [taylor]: Taking taylor expansion of (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3))) in lambda2
18.349 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
18.349 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
18.349 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
18.349 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
18.349 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
18.349 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
18.349 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.349 * [backup-simplify]: Simplify 0.5 into 0.5
18.349 * [taylor]: Taking taylor expansion of phi2 in lambda2
18.349 * [backup-simplify]: Simplify phi2 into phi2
18.349 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
18.349 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
18.349 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
18.349 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
18.350 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
18.350 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
18.350 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
18.350 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
18.350 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
18.350 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.350 * [backup-simplify]: Simplify 0.5 into 0.5
18.350 * [taylor]: Taking taylor expansion of phi1 in lambda2
18.350 * [backup-simplify]: Simplify phi1 into phi1
18.350 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
18.350 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
18.350 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
18.350 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
18.350 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
18.350 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
18.350 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
18.350 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
18.351 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
18.351 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
18.351 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.351 * [backup-simplify]: Simplify 0.5 into 0.5
18.351 * [taylor]: Taking taylor expansion of phi2 in lambda2
18.351 * [backup-simplify]: Simplify phi2 into phi2
18.351 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
18.351 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
18.351 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
18.351 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
18.351 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
18.352 * [backup-simplify]: Simplify (- 0) into 0
18.352 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
18.352 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
18.352 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
18.352 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
18.352 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.352 * [backup-simplify]: Simplify 0.5 into 0.5
18.352 * [taylor]: Taking taylor expansion of phi1 in lambda2
18.352 * [backup-simplify]: Simplify phi1 into phi1
18.352 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
18.352 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
18.352 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
18.352 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
18.352 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
18.353 * [backup-simplify]: Simplify (- 0) into 0
18.353 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
18.353 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
18.353 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
18.353 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
18.353 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
18.353 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.353 * [backup-simplify]: Simplify 0.5 into 0.5
18.353 * [taylor]: Taking taylor expansion of phi2 in lambda2
18.353 * [backup-simplify]: Simplify phi2 into phi2
18.353 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
18.353 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
18.353 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
18.353 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
18.353 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
18.354 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
18.354 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.354 * [backup-simplify]: Simplify 0.5 into 0.5
18.354 * [taylor]: Taking taylor expansion of phi1 in lambda2
18.354 * [backup-simplify]: Simplify phi1 into phi1
18.354 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
18.354 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
18.354 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
18.354 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
18.354 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
18.354 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
18.354 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.354 * [backup-simplify]: Simplify 0.5 into 0.5
18.354 * [taylor]: Taking taylor expansion of phi2 in lambda2
18.354 * [backup-simplify]: Simplify phi2 into phi2
18.354 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
18.354 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
18.354 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
18.354 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
18.354 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
18.354 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.354 * [backup-simplify]: Simplify 0.5 into 0.5
18.354 * [taylor]: Taking taylor expansion of phi1 in lambda2
18.355 * [backup-simplify]: Simplify phi1 into phi1
18.355 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
18.355 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
18.355 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
18.355 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
18.355 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
18.355 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
18.355 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.355 * [backup-simplify]: Simplify 0.5 into 0.5
18.355 * [taylor]: Taking taylor expansion of phi2 in lambda2
18.355 * [backup-simplify]: Simplify phi2 into phi2
18.355 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
18.355 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
18.355 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
18.355 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
18.355 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
18.355 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
18.355 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.355 * [backup-simplify]: Simplify 0.5 into 0.5
18.355 * [taylor]: Taking taylor expansion of phi1 in lambda2
18.355 * [backup-simplify]: Simplify phi1 into phi1
18.356 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
18.356 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
18.356 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
18.356 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
18.356 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
18.356 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
18.356 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.356 * [backup-simplify]: Simplify 0.5 into 0.5
18.356 * [taylor]: Taking taylor expansion of phi2 in lambda2
18.356 * [backup-simplify]: Simplify phi2 into phi2
18.356 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
18.356 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
18.356 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
18.356 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
18.356 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
18.356 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.356 * [backup-simplify]: Simplify 0.5 into 0.5
18.356 * [taylor]: Taking taylor expansion of phi1 in lambda2
18.356 * [backup-simplify]: Simplify phi1 into phi1
18.356 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
18.356 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
18.357 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
18.357 * [taylor]: Taking taylor expansion of (* R (pow lambda2 3)) in lambda2
18.357 * [taylor]: Taking taylor expansion of R in lambda2
18.357 * [backup-simplify]: Simplify R into R
18.357 * [taylor]: Taking taylor expansion of (pow lambda2 3) in lambda2
18.357 * [taylor]: Taking taylor expansion of lambda2 in lambda2
18.357 * [backup-simplify]: Simplify 0 into 0
18.357 * [backup-simplify]: Simplify 1 into 1
18.357 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
18.357 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
18.357 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
18.357 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
18.358 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (pow (cos (/ 0.5 phi1)) 4)
18.358 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (pow (cos (/ 0.5 phi1)) 4)) into (pow (cos (/ 0.5 phi1)) 5)
18.358 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
18.358 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (pow (cos (/ 0.5 phi2)) 4)
18.359 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (pow (cos (/ 0.5 phi2)) 4)) into (pow (cos (/ 0.5 phi2)) 5)
18.359 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
18.359 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
18.359 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
18.359 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 5) (sin (/ 0.5 phi1))) into (* (pow (cos (/ 0.5 phi2)) 5) (sin (/ 0.5 phi1)))
18.360 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 5) (* (pow (cos (/ 0.5 phi2)) 5) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (pow (cos (/ 0.5 phi2)) 5) (pow (cos (/ 0.5 phi1)) 5)))
18.360 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (pow (cos (/ 0.5 phi2)) 5) (pow (cos (/ 0.5 phi1)) 5)))) into (* (pow (cos (/ 0.5 phi2)) 5) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (pow (cos (/ 0.5 phi1)) 5))))
18.361 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
18.361 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
18.361 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
18.361 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
18.362 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
18.362 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
18.363 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
18.363 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
18.363 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
18.364 * [backup-simplify]: Simplify (- 0) into 0
18.364 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
18.364 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
18.364 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
18.364 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
18.364 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
18.364 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
18.364 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
18.364 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
18.365 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
18.365 * [backup-simplify]: Simplify (- 0) into 0
18.365 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
18.365 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
18.365 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
18.366 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
18.366 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
18.366 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
18.366 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
18.366 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
18.366 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
18.367 * [backup-simplify]: Simplify (- 0) into 0
18.367 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
18.367 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
18.367 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
18.368 * [backup-simplify]: Simplify (- 0) into 0
18.368 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
18.368 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
18.368 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
18.368 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
18.368 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
18.368 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
18.369 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
18.370 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))
18.370 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
18.373 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
18.373 * [backup-simplify]: Simplify (* 1 1) into 1
18.374 * [backup-simplify]: Simplify (* 1 1) into 1
18.374 * [backup-simplify]: Simplify (* R 1) into R
18.376 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R) into (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)
18.378 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi2)) 5) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (pow (cos (/ 0.5 phi1)) 5)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) into (/ (* (pow (cos (/ 0.5 phi2)) 5) (* (pow (cos (/ 0.5 phi1)) 5) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
18.378 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))) in lambda2
18.378 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3)) in lambda2
18.378 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3) in lambda2
18.379 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
18.379 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
18.379 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
18.379 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
18.379 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
18.379 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
18.379 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.379 * [backup-simplify]: Simplify 0.5 into 0.5
18.379 * [taylor]: Taking taylor expansion of phi2 in lambda2
18.379 * [backup-simplify]: Simplify phi2 into phi2
18.379 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
18.379 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
18.379 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
18.379 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
18.379 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
18.379 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
18.379 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
18.379 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
18.379 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
18.380 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.380 * [backup-simplify]: Simplify 0.5 into 0.5
18.380 * [taylor]: Taking taylor expansion of phi1 in lambda2
18.380 * [backup-simplify]: Simplify phi1 into phi1
18.380 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
18.380 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
18.380 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
18.380 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
18.380 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
18.380 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
18.380 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
18.380 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
18.380 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
18.380 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
18.380 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.380 * [backup-simplify]: Simplify 0.5 into 0.5
18.380 * [taylor]: Taking taylor expansion of phi2 in lambda2
18.380 * [backup-simplify]: Simplify phi2 into phi2
18.380 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
18.381 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
18.381 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
18.381 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
18.381 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
18.381 * [backup-simplify]: Simplify (- 0) into 0
18.381 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
18.381 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
18.382 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
18.382 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
18.382 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.382 * [backup-simplify]: Simplify 0.5 into 0.5
18.382 * [taylor]: Taking taylor expansion of phi1 in lambda2
18.382 * [backup-simplify]: Simplify phi1 into phi1
18.382 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
18.382 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
18.382 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
18.382 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
18.382 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
18.382 * [backup-simplify]: Simplify (- 0) into 0
18.383 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
18.383 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
18.383 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
18.383 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
18.383 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
18.383 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.383 * [backup-simplify]: Simplify 0.5 into 0.5
18.383 * [taylor]: Taking taylor expansion of phi2 in lambda2
18.383 * [backup-simplify]: Simplify phi2 into phi2
18.383 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
18.383 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
18.383 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
18.383 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
18.383 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
18.383 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
18.383 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.383 * [backup-simplify]: Simplify 0.5 into 0.5
18.383 * [taylor]: Taking taylor expansion of phi1 in lambda2
18.383 * [backup-simplify]: Simplify phi1 into phi1
18.383 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
18.383 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
18.384 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
18.384 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
18.384 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
18.384 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
18.384 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.384 * [backup-simplify]: Simplify 0.5 into 0.5
18.384 * [taylor]: Taking taylor expansion of phi2 in lambda2
18.384 * [backup-simplify]: Simplify phi2 into phi2
18.384 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
18.384 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
18.384 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
18.384 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
18.384 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
18.384 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.384 * [backup-simplify]: Simplify 0.5 into 0.5
18.384 * [taylor]: Taking taylor expansion of phi1 in lambda2
18.384 * [backup-simplify]: Simplify phi1 into phi1
18.384 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
18.384 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
18.384 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
18.384 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
18.384 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
18.384 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
18.385 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.385 * [backup-simplify]: Simplify 0.5 into 0.5
18.385 * [taylor]: Taking taylor expansion of phi2 in lambda2
18.385 * [backup-simplify]: Simplify phi2 into phi2
18.385 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
18.385 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
18.385 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
18.385 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
18.385 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
18.385 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
18.385 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.385 * [backup-simplify]: Simplify 0.5 into 0.5
18.385 * [taylor]: Taking taylor expansion of phi1 in lambda2
18.385 * [backup-simplify]: Simplify phi1 into phi1
18.385 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
18.385 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
18.385 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
18.385 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
18.385 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
18.385 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
18.385 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.385 * [backup-simplify]: Simplify 0.5 into 0.5
18.386 * [taylor]: Taking taylor expansion of phi2 in lambda2
18.386 * [backup-simplify]: Simplify phi2 into phi2
18.386 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
18.386 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
18.386 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
18.386 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
18.386 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
18.386 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.386 * [backup-simplify]: Simplify 0.5 into 0.5
18.386 * [taylor]: Taking taylor expansion of phi1 in lambda2
18.386 * [backup-simplify]: Simplify phi1 into phi1
18.386 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
18.386 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
18.386 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
18.386 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
18.387 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
18.387 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
18.387 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
18.388 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
18.388 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
18.389 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
18.389 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
18.389 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
18.389 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
18.389 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
18.389 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
18.389 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
18.389 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
18.390 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
18.390 * [backup-simplify]: Simplify (- 0) into 0
18.390 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
18.390 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
18.390 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
18.391 * [backup-simplify]: Simplify (- 0) into 0
18.391 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
18.391 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
18.391 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
18.392 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
18.392 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
18.392 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
18.392 * [backup-simplify]: Simplify (- 0) into 0
18.392 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
18.392 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
18.392 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
18.393 * [backup-simplify]: Simplify (- 0) into 0
18.393 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
18.393 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
18.393 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
18.393 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
18.393 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
18.393 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
18.394 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
18.394 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
18.394 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
18.394 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
18.395 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))
18.396 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
18.398 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
18.401 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)
18.405 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)) into (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
18.409 * [backup-simplify]: Simplify (/ 1 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)))
18.413 * [backup-simplify]: Simplify (sqrt (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)))) into (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))
18.414 * [backup-simplify]: Simplify (+ 0) into 0
18.415 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
18.415 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
18.416 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.416 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
18.417 * [backup-simplify]: Simplify (+ 0 0) into 0
18.417 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
18.417 * [backup-simplify]: Simplify (+ 0) into 0
18.418 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
18.418 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
18.419 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.419 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
18.419 * [backup-simplify]: Simplify (+ 0 0) into 0
18.420 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
18.420 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
18.420 * [backup-simplify]: Simplify (+ 0) into 0
18.421 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
18.421 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
18.422 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.422 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
18.423 * [backup-simplify]: Simplify (- 0) into 0
18.423 * [backup-simplify]: Simplify (+ 0 0) into 0
18.423 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
18.424 * [backup-simplify]: Simplify (+ 0) into 0
18.424 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
18.424 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
18.425 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.426 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
18.426 * [backup-simplify]: Simplify (- 0) into 0
18.426 * [backup-simplify]: Simplify (+ 0 0) into 0
18.427 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
18.427 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
18.427 * [backup-simplify]: Simplify (+ 0 0) into 0
18.428 * [backup-simplify]: Simplify (+ 0) into 0
18.428 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
18.428 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
18.429 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.430 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
18.430 * [backup-simplify]: Simplify (- 0) into 0
18.430 * [backup-simplify]: Simplify (+ 0 0) into 0
18.431 * [backup-simplify]: Simplify (+ 0) into 0
18.431 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
18.432 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
18.432 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.433 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
18.433 * [backup-simplify]: Simplify (- 0) into 0
18.433 * [backup-simplify]: Simplify (+ 0 0) into 0
18.434 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
18.434 * [backup-simplify]: Simplify (+ 0) into 0
18.435 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
18.435 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
18.435 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.436 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
18.436 * [backup-simplify]: Simplify (+ 0 0) into 0
18.437 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
18.437 * [backup-simplify]: Simplify (+ 0) into 0
18.438 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
18.438 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
18.439 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.439 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
18.440 * [backup-simplify]: Simplify (+ 0 0) into 0
18.440 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
18.440 * [backup-simplify]: Simplify (+ 0) into 0
18.441 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
18.441 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
18.442 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.442 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
18.443 * [backup-simplify]: Simplify (+ 0 0) into 0
18.443 * [backup-simplify]: Simplify (+ 0) into 0
18.444 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
18.444 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
18.445 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.445 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
18.445 * [backup-simplify]: Simplify (+ 0 0) into 0
18.446 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
18.446 * [backup-simplify]: Simplify (+ 0) into 0
18.447 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
18.447 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
18.448 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.448 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
18.448 * [backup-simplify]: Simplify (- 0) into 0
18.449 * [backup-simplify]: Simplify (+ 0 0) into 0
18.449 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
18.453 * [backup-simplify]: Simplify (+ 0) into 0
18.453 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
18.454 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
18.454 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.455 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
18.455 * [backup-simplify]: Simplify (- 0) into 0
18.456 * [backup-simplify]: Simplify (+ 0 0) into 0
18.456 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
18.457 * [backup-simplify]: Simplify (+ 0 0) into 0
18.457 * [backup-simplify]: Simplify (- 0) into 0
18.457 * [backup-simplify]: Simplify (+ 0 0) into 0
18.461 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into 0
18.466 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2))) into 0
18.474 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2))) (/ 0 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
18.479 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)))))) into 0
18.479 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 (* (pow phi1 2) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 (* R (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow phi2 2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 3/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (* 3/2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 5) (pow (sin (/ 0.5 phi1)) 5)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3)))))))) in lambda2
18.480 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 (* (pow phi1 2) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) in lambda2
18.480 * [taylor]: Taking taylor expansion of 1/2 in lambda2
18.480 * [backup-simplify]: Simplify 1/2 into 1/2
18.480 * [taylor]: Taking taylor expansion of (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 (* (pow phi1 2) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) in lambda2
18.480 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 (* (pow phi1 2) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)))) in lambda2
18.480 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in lambda2
18.480 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
18.480 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
18.480 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
18.480 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.480 * [backup-simplify]: Simplify 0.5 into 0.5
18.480 * [taylor]: Taking taylor expansion of phi1 in lambda2
18.480 * [backup-simplify]: Simplify phi1 into phi1
18.480 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
18.480 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
18.480 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
18.480 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
18.481 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
18.481 * [backup-simplify]: Simplify (- 0) into 0
18.481 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
18.481 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
18.481 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
18.481 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
18.481 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.481 * [backup-simplify]: Simplify 0.5 into 0.5
18.481 * [taylor]: Taking taylor expansion of phi2 in lambda2
18.481 * [backup-simplify]: Simplify phi2 into phi2
18.481 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
18.482 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
18.482 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
18.482 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
18.482 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
18.482 * [backup-simplify]: Simplify (- 0) into 0
18.482 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
18.482 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow phi1 2) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R))) in lambda2
18.482 * [taylor]: Taking taylor expansion of lambda2 in lambda2
18.483 * [backup-simplify]: Simplify 0 into 0
18.483 * [backup-simplify]: Simplify 1 into 1
18.483 * [taylor]: Taking taylor expansion of (* (pow phi1 2) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) in lambda2
18.483 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2
18.483 * [taylor]: Taking taylor expansion of phi1 in lambda2
18.483 * [backup-simplify]: Simplify phi1 into phi1
18.483 * [taylor]: Taking taylor expansion of (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R) in lambda2
18.483 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
18.483 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
18.483 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
18.483 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
18.483 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
18.483 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
18.483 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.483 * [backup-simplify]: Simplify 0.5 into 0.5
18.483 * [taylor]: Taking taylor expansion of phi2 in lambda2
18.483 * [backup-simplify]: Simplify phi2 into phi2
18.483 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
18.483 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
18.483 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
18.483 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
18.484 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
18.484 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
18.484 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
18.484 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
18.484 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
18.484 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.484 * [backup-simplify]: Simplify 0.5 into 0.5
18.484 * [taylor]: Taking taylor expansion of phi1 in lambda2
18.484 * [backup-simplify]: Simplify phi1 into phi1
18.484 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
18.484 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
18.484 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
18.484 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
18.484 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
18.484 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
18.484 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
18.484 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
18.484 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
18.484 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
18.484 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.485 * [backup-simplify]: Simplify 0.5 into 0.5
18.485 * [taylor]: Taking taylor expansion of phi2 in lambda2
18.485 * [backup-simplify]: Simplify phi2 into phi2
18.485 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
18.485 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
18.485 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
18.485 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
18.485 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
18.485 * [backup-simplify]: Simplify (- 0) into 0
18.486 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
18.486 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
18.486 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
18.486 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
18.486 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.486 * [backup-simplify]: Simplify 0.5 into 0.5
18.486 * [taylor]: Taking taylor expansion of phi1 in lambda2
18.486 * [backup-simplify]: Simplify phi1 into phi1
18.486 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
18.486 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
18.486 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
18.486 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
18.486 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
18.487 * [backup-simplify]: Simplify (- 0) into 0
18.487 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
18.487 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
18.487 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
18.487 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
18.487 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
18.487 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.487 * [backup-simplify]: Simplify 0.5 into 0.5
18.487 * [taylor]: Taking taylor expansion of phi2 in lambda2
18.487 * [backup-simplify]: Simplify phi2 into phi2
18.487 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
18.487 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
18.487 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
18.487 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
18.487 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
18.487 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
18.487 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.487 * [backup-simplify]: Simplify 0.5 into 0.5
18.487 * [taylor]: Taking taylor expansion of phi1 in lambda2
18.487 * [backup-simplify]: Simplify phi1 into phi1
18.488 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
18.488 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
18.488 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
18.488 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
18.488 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
18.488 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
18.488 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.488 * [backup-simplify]: Simplify 0.5 into 0.5
18.488 * [taylor]: Taking taylor expansion of phi2 in lambda2
18.488 * [backup-simplify]: Simplify phi2 into phi2
18.488 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
18.488 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
18.488 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
18.488 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
18.488 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
18.488 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.488 * [backup-simplify]: Simplify 0.5 into 0.5
18.488 * [taylor]: Taking taylor expansion of phi1 in lambda2
18.488 * [backup-simplify]: Simplify phi1 into phi1
18.488 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
18.488 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
18.489 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
18.489 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
18.489 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
18.489 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
18.489 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.489 * [backup-simplify]: Simplify 0.5 into 0.5
18.489 * [taylor]: Taking taylor expansion of phi2 in lambda2
18.489 * [backup-simplify]: Simplify phi2 into phi2
18.489 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
18.489 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
18.489 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
18.489 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
18.489 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
18.489 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
18.489 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.489 * [backup-simplify]: Simplify 0.5 into 0.5
18.489 * [taylor]: Taking taylor expansion of phi1 in lambda2
18.489 * [backup-simplify]: Simplify phi1 into phi1
18.489 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
18.489 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
18.489 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
18.489 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
18.489 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
18.489 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
18.490 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.490 * [backup-simplify]: Simplify 0.5 into 0.5
18.490 * [taylor]: Taking taylor expansion of phi2 in lambda2
18.490 * [backup-simplify]: Simplify phi2 into phi2
18.490 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
18.490 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
18.490 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
18.490 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
18.490 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
18.490 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.490 * [backup-simplify]: Simplify 0.5 into 0.5
18.490 * [taylor]: Taking taylor expansion of phi1 in lambda2
18.490 * [backup-simplify]: Simplify phi1 into phi1
18.490 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
18.490 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
18.490 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
18.490 * [taylor]: Taking taylor expansion of R in lambda2
18.490 * [backup-simplify]: Simplify R into R
18.490 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
18.491 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
18.491 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
18.491 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
18.491 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
18.491 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
18.492 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
18.492 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
18.492 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
18.492 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
18.493 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
18.493 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
18.493 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
18.494 * [backup-simplify]: Simplify (- 0) into 0
18.494 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
18.494 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
18.494 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
18.494 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
18.494 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
18.495 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
18.495 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
18.495 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
18.495 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
18.495 * [backup-simplify]: Simplify (- 0) into 0
18.495 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
18.496 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
18.496 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
18.496 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
18.496 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
18.496 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
18.496 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
18.497 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
18.497 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
18.497 * [backup-simplify]: Simplify (- 0) into 0
18.497 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
18.497 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
18.497 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
18.498 * [backup-simplify]: Simplify (- 0) into 0
18.498 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
18.498 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
18.499 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
18.499 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
18.499 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
18.499 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
18.499 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
18.500 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))
18.501 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
18.503 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
18.505 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R) into (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)
18.507 * [backup-simplify]: Simplify (* (pow phi1 2) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) into (* R (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow phi1 2)))
18.509 * [backup-simplify]: Simplify (* 0 (* R (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow phi1 2)))) into 0
18.510 * [backup-simplify]: Simplify (+ 0) into 0
18.510 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
18.510 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
18.511 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.512 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
18.512 * [backup-simplify]: Simplify (+ 0 0) into 0
18.512 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
18.513 * [backup-simplify]: Simplify (+ 0) into 0
18.513 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
18.513 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
18.514 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.515 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
18.515 * [backup-simplify]: Simplify (+ 0 0) into 0
18.515 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
18.516 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
18.516 * [backup-simplify]: Simplify (+ 0) into 0
18.517 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
18.517 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
18.518 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.518 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
18.518 * [backup-simplify]: Simplify (- 0) into 0
18.519 * [backup-simplify]: Simplify (+ 0 0) into 0
18.519 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
18.519 * [backup-simplify]: Simplify (+ 0) into 0
18.520 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
18.520 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
18.521 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.521 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
18.522 * [backup-simplify]: Simplify (- 0) into 0
18.522 * [backup-simplify]: Simplify (+ 0 0) into 0
18.522 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
18.523 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
18.523 * [backup-simplify]: Simplify (+ 0 0) into 0
18.523 * [backup-simplify]: Simplify (+ 0) into 0
18.524 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
18.524 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
18.525 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.525 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
18.526 * [backup-simplify]: Simplify (- 0) into 0
18.526 * [backup-simplify]: Simplify (+ 0 0) into 0
18.527 * [backup-simplify]: Simplify (+ 0) into 0
18.527 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
18.527 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
18.528 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.529 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
18.529 * [backup-simplify]: Simplify (+ 0 0) into 0
18.529 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
18.529 * [backup-simplify]: Simplify (+ 0) into 0
18.530 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
18.530 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
18.531 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.531 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
18.532 * [backup-simplify]: Simplify (+ 0 0) into 0
18.532 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
18.532 * [backup-simplify]: Simplify (+ 0) into 0
18.533 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
18.533 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
18.534 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.534 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
18.535 * [backup-simplify]: Simplify (- 0) into 0
18.535 * [backup-simplify]: Simplify (+ 0 0) into 0
18.536 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
18.536 * [backup-simplify]: Simplify (+ 0) into 0
18.536 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
18.537 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
18.537 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.538 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
18.538 * [backup-simplify]: Simplify (+ 0 0) into 0
18.539 * [backup-simplify]: Simplify (+ 0) into 0
18.539 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
18.539 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
18.540 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.541 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
18.541 * [backup-simplify]: Simplify (- 0) into 0
18.541 * [backup-simplify]: Simplify (+ 0 0) into 0
18.541 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
18.542 * [backup-simplify]: Simplify (+ 0) into 0
18.542 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
18.542 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
18.543 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.543 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
18.543 * [backup-simplify]: Simplify (- 0) into 0
18.543 * [backup-simplify]: Simplify (+ 0 0) into 0
18.543 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
18.544 * [backup-simplify]: Simplify (+ 0) into 0
18.544 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
18.544 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
18.545 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.545 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
18.545 * [backup-simplify]: Simplify (+ 0 0) into 0
18.545 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
18.546 * [backup-simplify]: Simplify (+ 0 0) into 0
18.546 * [backup-simplify]: Simplify (- 0) into 0
18.546 * [backup-simplify]: Simplify (+ 0 0) into 0
18.547 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (* 0 R)) into 0
18.547 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0
18.548 * [backup-simplify]: Simplify (+ (* (pow phi1 2) 0) (* 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R))) into 0
18.550 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* R (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow phi1 2))))) into (- (+ (* (pow phi1 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (* (pow phi1 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)))) (+ (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R))))) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R)))))))
18.552 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow phi1 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (* (pow phi1 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)))) (+ (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R))))) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R)))))))) into (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)))) (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2))))) (+ (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))
18.552 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in lambda2
18.552 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in lambda2
18.552 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
18.552 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
18.552 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
18.552 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
18.552 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
18.552 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
18.552 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.552 * [backup-simplify]: Simplify 0.5 into 0.5
18.552 * [taylor]: Taking taylor expansion of phi2 in lambda2
18.552 * [backup-simplify]: Simplify phi2 into phi2
18.552 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
18.552 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
18.552 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
18.552 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
18.553 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
18.553 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
18.553 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
18.553 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
18.553 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
18.553 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.553 * [backup-simplify]: Simplify 0.5 into 0.5
18.553 * [taylor]: Taking taylor expansion of phi1 in lambda2
18.553 * [backup-simplify]: Simplify phi1 into phi1
18.553 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
18.553 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
18.553 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
18.553 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
18.553 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
18.553 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
18.553 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
18.553 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
18.553 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
18.553 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
18.553 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.553 * [backup-simplify]: Simplify 0.5 into 0.5
18.553 * [taylor]: Taking taylor expansion of phi2 in lambda2
18.553 * [backup-simplify]: Simplify phi2 into phi2
18.553 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
18.553 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
18.553 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
18.553 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
18.553 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
18.554 * [backup-simplify]: Simplify (- 0) into 0
18.554 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
18.554 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
18.554 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
18.554 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
18.554 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.554 * [backup-simplify]: Simplify 0.5 into 0.5
18.554 * [taylor]: Taking taylor expansion of phi1 in lambda2
18.554 * [backup-simplify]: Simplify phi1 into phi1
18.554 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
18.554 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
18.554 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
18.554 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
18.554 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
18.555 * [backup-simplify]: Simplify (- 0) into 0
18.555 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
18.555 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
18.555 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
18.555 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
18.555 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
18.555 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.555 * [backup-simplify]: Simplify 0.5 into 0.5
18.555 * [taylor]: Taking taylor expansion of phi2 in lambda2
18.555 * [backup-simplify]: Simplify phi2 into phi2
18.555 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
18.555 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
18.555 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
18.555 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
18.555 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
18.555 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
18.555 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.555 * [backup-simplify]: Simplify 0.5 into 0.5
18.555 * [taylor]: Taking taylor expansion of phi1 in lambda2
18.555 * [backup-simplify]: Simplify phi1 into phi1
18.555 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
18.555 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
18.555 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
18.555 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
18.555 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
18.555 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
18.555 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.555 * [backup-simplify]: Simplify 0.5 into 0.5
18.555 * [taylor]: Taking taylor expansion of phi2 in lambda2
18.555 * [backup-simplify]: Simplify phi2 into phi2
18.555 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
18.556 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
18.556 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
18.556 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
18.556 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
18.556 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.556 * [backup-simplify]: Simplify 0.5 into 0.5
18.556 * [taylor]: Taking taylor expansion of phi1 in lambda2
18.556 * [backup-simplify]: Simplify phi1 into phi1
18.556 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
18.556 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
18.556 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
18.556 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
18.556 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
18.556 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
18.556 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.556 * [backup-simplify]: Simplify 0.5 into 0.5
18.556 * [taylor]: Taking taylor expansion of phi2 in lambda2
18.556 * [backup-simplify]: Simplify phi2 into phi2
18.556 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
18.556 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
18.556 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
18.556 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
18.556 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
18.556 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
18.556 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.556 * [backup-simplify]: Simplify 0.5 into 0.5
18.556 * [taylor]: Taking taylor expansion of phi1 in lambda2
18.556 * [backup-simplify]: Simplify phi1 into phi1
18.556 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
18.556 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
18.556 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
18.556 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
18.556 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
18.556 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
18.556 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.556 * [backup-simplify]: Simplify 0.5 into 0.5
18.556 * [taylor]: Taking taylor expansion of phi2 in lambda2
18.556 * [backup-simplify]: Simplify phi2 into phi2
18.557 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
18.557 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
18.557 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
18.557 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
18.557 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
18.557 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.557 * [backup-simplify]: Simplify 0.5 into 0.5
18.557 * [taylor]: Taking taylor expansion of phi1 in lambda2
18.557 * [backup-simplify]: Simplify phi1 into phi1
18.557 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
18.557 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
18.557 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
18.557 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
18.557 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
18.557 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
18.557 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
18.557 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
18.558 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
18.558 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
18.558 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
18.558 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
18.558 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
18.559 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
18.559 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
18.559 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
18.559 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
18.559 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
18.559 * [backup-simplify]: Simplify (- 0) into 0
18.559 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
18.559 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
18.559 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
18.560 * [backup-simplify]: Simplify (- 0) into 0
18.560 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
18.560 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
18.560 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
18.560 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
18.560 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
18.560 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
18.561 * [backup-simplify]: Simplify (- 0) into 0
18.561 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
18.561 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
18.561 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
18.561 * [backup-simplify]: Simplify (- 0) into 0
18.561 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
18.561 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
18.561 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
18.561 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
18.561 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
18.561 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
18.561 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
18.562 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
18.562 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
18.562 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
18.562 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))
18.563 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
18.564 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
18.565 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
18.566 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
18.566 * [backup-simplify]: Simplify (+ 0) into 0
18.567 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
18.567 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
18.567 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.568 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
18.568 * [backup-simplify]: Simplify (+ 0 0) into 0
18.568 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
18.568 * [backup-simplify]: Simplify (+ 0) into 0
18.569 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
18.569 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
18.569 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.569 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
18.570 * [backup-simplify]: Simplify (+ 0 0) into 0
18.570 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
18.570 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
18.570 * [backup-simplify]: Simplify (+ 0) into 0
18.571 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
18.571 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
18.571 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.572 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
18.572 * [backup-simplify]: Simplify (- 0) into 0
18.572 * [backup-simplify]: Simplify (+ 0 0) into 0
18.572 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
18.572 * [backup-simplify]: Simplify (+ 0) into 0
18.573 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
18.573 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
18.573 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.574 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
18.574 * [backup-simplify]: Simplify (- 0) into 0
18.575 * [backup-simplify]: Simplify (+ 0 0) into 0
18.575 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
18.575 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
18.576 * [backup-simplify]: Simplify (+ 0 0) into 0
18.576 * [backup-simplify]: Simplify (+ 0) into 0
18.577 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
18.577 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
18.578 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.578 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
18.578 * [backup-simplify]: Simplify (- 0) into 0
18.579 * [backup-simplify]: Simplify (+ 0 0) into 0
18.579 * [backup-simplify]: Simplify (+ 0) into 0
18.580 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
18.580 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
18.581 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.581 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
18.582 * [backup-simplify]: Simplify (- 0) into 0
18.582 * [backup-simplify]: Simplify (+ 0 0) into 0
18.582 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
18.583 * [backup-simplify]: Simplify (+ 0) into 0
18.583 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
18.583 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
18.584 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.585 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
18.585 * [backup-simplify]: Simplify (+ 0 0) into 0
18.585 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
18.586 * [backup-simplify]: Simplify (+ 0) into 0
18.586 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
18.586 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
18.587 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.587 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
18.588 * [backup-simplify]: Simplify (+ 0 0) into 0
18.588 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
18.589 * [backup-simplify]: Simplify (+ 0) into 0
18.589 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
18.589 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
18.590 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.591 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
18.591 * [backup-simplify]: Simplify (+ 0 0) into 0
18.591 * [backup-simplify]: Simplify (+ 0) into 0
18.592 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
18.592 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
18.593 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.593 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
18.594 * [backup-simplify]: Simplify (+ 0 0) into 0
18.594 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
18.594 * [backup-simplify]: Simplify (+ 0) into 0
18.595 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
18.595 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
18.596 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.596 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
18.597 * [backup-simplify]: Simplify (- 0) into 0
18.597 * [backup-simplify]: Simplify (+ 0 0) into 0
18.597 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
18.600 * [backup-simplify]: Simplify (+ 0) into 0
18.601 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
18.601 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
18.602 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.603 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
18.603 * [backup-simplify]: Simplify (- 0) into 0
18.603 * [backup-simplify]: Simplify (+ 0 0) into 0
18.604 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
18.604 * [backup-simplify]: Simplify (+ 0 0) into 0
18.604 * [backup-simplify]: Simplify (- 0) into 0
18.605 * [backup-simplify]: Simplify (+ 0 0) into 0
18.609 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
18.611 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
18.611 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 (* R (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow phi2 2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 3/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (* 3/2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 5) (pow (sin (/ 0.5 phi1)) 5)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))))) in lambda2
18.612 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 (* R (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow phi2 2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) in lambda2
18.612 * [taylor]: Taking taylor expansion of 1/2 in lambda2
18.612 * [backup-simplify]: Simplify 1/2 into 1/2
18.612 * [taylor]: Taking taylor expansion of (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 (* R (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow phi2 2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) in lambda2
18.612 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 (* R (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow phi2 2))))) in lambda2
18.612 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in lambda2
18.612 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
18.612 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
18.612 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
18.612 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.612 * [backup-simplify]: Simplify 0.5 into 0.5
18.612 * [taylor]: Taking taylor expansion of phi1 in lambda2
18.612 * [backup-simplify]: Simplify phi1 into phi1
18.612 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
18.612 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
18.613 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
18.613 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
18.613 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
18.613 * [backup-simplify]: Simplify (- 0) into 0
18.614 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
18.614 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
18.614 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
18.614 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
18.614 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.614 * [backup-simplify]: Simplify 0.5 into 0.5
18.614 * [taylor]: Taking taylor expansion of phi2 in lambda2
18.614 * [backup-simplify]: Simplify phi2 into phi2
18.614 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
18.614 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
18.614 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
18.614 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
18.614 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
18.615 * [backup-simplify]: Simplify (- 0) into 0
18.615 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
18.615 * [taylor]: Taking taylor expansion of (* lambda2 (* R (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow phi2 2)))) in lambda2
18.615 * [taylor]: Taking taylor expansion of lambda2 in lambda2
18.615 * [backup-simplify]: Simplify 0 into 0
18.615 * [backup-simplify]: Simplify 1 into 1
18.615 * [taylor]: Taking taylor expansion of (* R (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow phi2 2))) in lambda2
18.615 * [taylor]: Taking taylor expansion of R in lambda2
18.615 * [backup-simplify]: Simplify R into R
18.615 * [taylor]: Taking taylor expansion of (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow phi2 2)) in lambda2
18.615 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
18.615 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
18.615 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
18.615 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
18.615 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
18.615 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
18.615 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.615 * [backup-simplify]: Simplify 0.5 into 0.5
18.615 * [taylor]: Taking taylor expansion of phi2 in lambda2
18.615 * [backup-simplify]: Simplify phi2 into phi2
18.615 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
18.616 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
18.616 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
18.616 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
18.616 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
18.616 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
18.616 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
18.616 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
18.616 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
18.616 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.616 * [backup-simplify]: Simplify 0.5 into 0.5
18.616 * [taylor]: Taking taylor expansion of phi1 in lambda2
18.616 * [backup-simplify]: Simplify phi1 into phi1
18.616 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
18.616 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
18.616 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
18.617 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
18.617 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
18.617 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
18.617 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
18.617 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
18.617 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
18.617 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
18.617 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.617 * [backup-simplify]: Simplify 0.5 into 0.5
18.617 * [taylor]: Taking taylor expansion of phi2 in lambda2
18.617 * [backup-simplify]: Simplify phi2 into phi2
18.617 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
18.617 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
18.617 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
18.617 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
18.617 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
18.618 * [backup-simplify]: Simplify (- 0) into 0
18.618 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
18.618 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
18.618 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
18.618 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
18.618 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.618 * [backup-simplify]: Simplify 0.5 into 0.5
18.618 * [taylor]: Taking taylor expansion of phi1 in lambda2
18.618 * [backup-simplify]: Simplify phi1 into phi1
18.618 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
18.618 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
18.619 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
18.619 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
18.619 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
18.619 * [backup-simplify]: Simplify (- 0) into 0
18.619 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
18.619 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
18.619 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
18.619 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
18.619 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
18.619 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.619 * [backup-simplify]: Simplify 0.5 into 0.5
18.620 * [taylor]: Taking taylor expansion of phi2 in lambda2
18.620 * [backup-simplify]: Simplify phi2 into phi2
18.620 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
18.620 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
18.620 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
18.620 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
18.620 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
18.620 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
18.620 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.620 * [backup-simplify]: Simplify 0.5 into 0.5
18.620 * [taylor]: Taking taylor expansion of phi1 in lambda2
18.620 * [backup-simplify]: Simplify phi1 into phi1
18.620 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
18.620 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
18.620 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
18.620 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
18.620 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
18.620 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
18.620 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.620 * [backup-simplify]: Simplify 0.5 into 0.5
18.620 * [taylor]: Taking taylor expansion of phi2 in lambda2
18.620 * [backup-simplify]: Simplify phi2 into phi2
18.620 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
18.621 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
18.621 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
18.621 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
18.621 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
18.621 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.621 * [backup-simplify]: Simplify 0.5 into 0.5
18.621 * [taylor]: Taking taylor expansion of phi1 in lambda2
18.621 * [backup-simplify]: Simplify phi1 into phi1
18.621 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
18.621 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
18.621 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
18.621 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
18.621 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
18.621 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
18.621 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.621 * [backup-simplify]: Simplify 0.5 into 0.5
18.621 * [taylor]: Taking taylor expansion of phi2 in lambda2
18.621 * [backup-simplify]: Simplify phi2 into phi2
18.621 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
18.621 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
18.622 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
18.622 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
18.622 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
18.622 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
18.622 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.622 * [backup-simplify]: Simplify 0.5 into 0.5
18.622 * [taylor]: Taking taylor expansion of phi1 in lambda2
18.622 * [backup-simplify]: Simplify phi1 into phi1
18.622 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
18.622 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
18.622 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
18.622 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
18.622 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
18.622 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
18.622 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.622 * [backup-simplify]: Simplify 0.5 into 0.5
18.622 * [taylor]: Taking taylor expansion of phi2 in lambda2
18.622 * [backup-simplify]: Simplify phi2 into phi2
18.622 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
18.622 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
18.622 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
18.622 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
18.623 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
18.623 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.623 * [backup-simplify]: Simplify 0.5 into 0.5
18.623 * [taylor]: Taking taylor expansion of phi1 in lambda2
18.623 * [backup-simplify]: Simplify phi1 into phi1
18.623 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
18.623 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
18.623 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
18.623 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2
18.623 * [taylor]: Taking taylor expansion of phi2 in lambda2
18.623 * [backup-simplify]: Simplify phi2 into phi2
18.623 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
18.623 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
18.624 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
18.624 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
18.624 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
18.624 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
18.625 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
18.625 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
18.625 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
18.626 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
18.626 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
18.626 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
18.627 * [backup-simplify]: Simplify (- 0) into 0
18.627 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
18.627 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
18.627 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
18.627 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
18.627 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
18.627 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
18.628 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
18.628 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
18.628 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
18.628 * [backup-simplify]: Simplify (- 0) into 0
18.628 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
18.628 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
18.629 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
18.629 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
18.629 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
18.629 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
18.629 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
18.630 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
18.630 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
18.630 * [backup-simplify]: Simplify (- 0) into 0
18.630 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
18.630 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
18.631 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
18.631 * [backup-simplify]: Simplify (- 0) into 0
18.631 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
18.631 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
18.631 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
18.631 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
18.632 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
18.632 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
18.632 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
18.633 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))
18.634 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
18.636 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
18.636 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
18.638 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow phi2 2)) into (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow phi2 2))
18.640 * [backup-simplify]: Simplify (* R (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow phi2 2))) into (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow phi2 2)))
18.642 * [backup-simplify]: Simplify (* 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow phi2 2)))) into 0
18.643 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0
18.643 * [backup-simplify]: Simplify (+ 0) into 0
18.644 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
18.644 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
18.645 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.646 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
18.646 * [backup-simplify]: Simplify (+ 0 0) into 0
18.646 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
18.647 * [backup-simplify]: Simplify (+ 0) into 0
18.647 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
18.647 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
18.648 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.649 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
18.649 * [backup-simplify]: Simplify (+ 0 0) into 0
18.649 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
18.650 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
18.650 * [backup-simplify]: Simplify (+ 0) into 0
18.651 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
18.651 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
18.652 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.652 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
18.652 * [backup-simplify]: Simplify (- 0) into 0
18.653 * [backup-simplify]: Simplify (+ 0 0) into 0
18.653 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
18.653 * [backup-simplify]: Simplify (+ 0) into 0
18.654 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
18.654 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
18.655 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.655 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
18.656 * [backup-simplify]: Simplify (- 0) into 0
18.656 * [backup-simplify]: Simplify (+ 0 0) into 0
18.656 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
18.657 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
18.657 * [backup-simplify]: Simplify (+ 0 0) into 0
18.658 * [backup-simplify]: Simplify (+ 0) into 0
18.658 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
18.658 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
18.659 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.659 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
18.660 * [backup-simplify]: Simplify (- 0) into 0
18.660 * [backup-simplify]: Simplify (+ 0 0) into 0
18.661 * [backup-simplify]: Simplify (+ 0) into 0
18.661 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
18.661 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
18.662 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.663 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
18.663 * [backup-simplify]: Simplify (+ 0 0) into 0
18.663 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
18.663 * [backup-simplify]: Simplify (+ 0) into 0
18.664 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
18.664 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
18.665 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.665 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
18.666 * [backup-simplify]: Simplify (+ 0 0) into 0
18.666 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
18.666 * [backup-simplify]: Simplify (+ 0) into 0
18.667 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
18.667 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
18.668 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.668 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
18.669 * [backup-simplify]: Simplify (- 0) into 0
18.669 * [backup-simplify]: Simplify (+ 0 0) into 0
18.670 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
18.670 * [backup-simplify]: Simplify (+ 0) into 0
18.671 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
18.671 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
18.672 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.672 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
18.672 * [backup-simplify]: Simplify (+ 0 0) into 0
18.673 * [backup-simplify]: Simplify (+ 0) into 0
18.673 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
18.673 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
18.674 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.675 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
18.675 * [backup-simplify]: Simplify (- 0) into 0
18.675 * [backup-simplify]: Simplify (+ 0 0) into 0
18.676 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
18.676 * [backup-simplify]: Simplify (+ 0) into 0
18.677 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
18.677 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
18.678 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.678 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
18.678 * [backup-simplify]: Simplify (- 0) into 0
18.679 * [backup-simplify]: Simplify (+ 0 0) into 0
18.679 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
18.679 * [backup-simplify]: Simplify (+ 0) into 0
18.680 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
18.680 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
18.681 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.681 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
18.682 * [backup-simplify]: Simplify (+ 0 0) into 0
18.682 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
18.682 * [backup-simplify]: Simplify (+ 0 0) into 0
18.683 * [backup-simplify]: Simplify (- 0) into 0
18.683 * [backup-simplify]: Simplify (+ 0 0) into 0
18.685 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (* 0 (pow phi2 2))) into 0
18.687 * [backup-simplify]: Simplify (+ (* R 0) (* 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow phi2 2)))) into 0
18.690 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow phi2 2))))) into (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))
18.694 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) into (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2)))))))))
18.694 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in lambda2
18.694 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in lambda2
18.694 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
18.694 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
18.694 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
18.694 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
18.695 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
18.695 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
18.695 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.695 * [backup-simplify]: Simplify 0.5 into 0.5
18.695 * [taylor]: Taking taylor expansion of phi2 in lambda2
18.695 * [backup-simplify]: Simplify phi2 into phi2
18.695 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
18.695 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
18.695 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
18.695 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
18.695 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
18.695 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
18.695 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
18.695 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
18.695 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
18.695 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.695 * [backup-simplify]: Simplify 0.5 into 0.5
18.695 * [taylor]: Taking taylor expansion of phi1 in lambda2
18.695 * [backup-simplify]: Simplify phi1 into phi1
18.696 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
18.696 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
18.696 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
18.696 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
18.696 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
18.696 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
18.696 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
18.696 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
18.696 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
18.696 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
18.696 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.696 * [backup-simplify]: Simplify 0.5 into 0.5
18.696 * [taylor]: Taking taylor expansion of phi2 in lambda2
18.696 * [backup-simplify]: Simplify phi2 into phi2
18.696 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
18.696 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
18.697 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
18.697 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
18.697 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
18.698 * [backup-simplify]: Simplify (- 0) into 0
18.698 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
18.698 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
18.698 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
18.698 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
18.698 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.698 * [backup-simplify]: Simplify 0.5 into 0.5
18.698 * [taylor]: Taking taylor expansion of phi1 in lambda2
18.698 * [backup-simplify]: Simplify phi1 into phi1
18.698 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
18.698 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
18.698 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
18.698 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
18.699 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
18.699 * [backup-simplify]: Simplify (- 0) into 0
18.699 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
18.699 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
18.699 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
18.699 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
18.699 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
18.699 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.699 * [backup-simplify]: Simplify 0.5 into 0.5
18.699 * [taylor]: Taking taylor expansion of phi2 in lambda2
18.699 * [backup-simplify]: Simplify phi2 into phi2
18.700 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
18.700 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
18.700 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
18.700 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
18.700 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
18.700 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
18.700 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.700 * [backup-simplify]: Simplify 0.5 into 0.5
18.700 * [taylor]: Taking taylor expansion of phi1 in lambda2
18.700 * [backup-simplify]: Simplify phi1 into phi1
18.700 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
18.700 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
18.700 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
18.700 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
18.700 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
18.700 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
18.700 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.700 * [backup-simplify]: Simplify 0.5 into 0.5
18.700 * [taylor]: Taking taylor expansion of phi2 in lambda2
18.700 * [backup-simplify]: Simplify phi2 into phi2
18.700 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
18.701 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
18.701 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
18.701 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
18.701 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
18.701 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.701 * [backup-simplify]: Simplify 0.5 into 0.5
18.701 * [taylor]: Taking taylor expansion of phi1 in lambda2
18.701 * [backup-simplify]: Simplify phi1 into phi1
18.701 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
18.701 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
18.701 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
18.701 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
18.701 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
18.701 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
18.701 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.701 * [backup-simplify]: Simplify 0.5 into 0.5
18.701 * [taylor]: Taking taylor expansion of phi2 in lambda2
18.701 * [backup-simplify]: Simplify phi2 into phi2
18.701 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
18.701 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
18.702 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
18.702 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
18.702 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
18.702 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
18.702 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.702 * [backup-simplify]: Simplify 0.5 into 0.5
18.702 * [taylor]: Taking taylor expansion of phi1 in lambda2
18.702 * [backup-simplify]: Simplify phi1 into phi1
18.702 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
18.702 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
18.702 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
18.702 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
18.702 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
18.702 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
18.702 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.702 * [backup-simplify]: Simplify 0.5 into 0.5
18.702 * [taylor]: Taking taylor expansion of phi2 in lambda2
18.702 * [backup-simplify]: Simplify phi2 into phi2
18.702 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
18.702 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
18.702 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
18.703 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
18.703 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
18.703 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.703 * [backup-simplify]: Simplify 0.5 into 0.5
18.703 * [taylor]: Taking taylor expansion of phi1 in lambda2
18.703 * [backup-simplify]: Simplify phi1 into phi1
18.703 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
18.703 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
18.703 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
18.703 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
18.703 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
18.704 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
18.704 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
18.704 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
18.705 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
18.706 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
18.706 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
18.706 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
18.706 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
18.706 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
18.706 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
18.706 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
18.706 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
18.706 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
18.707 * [backup-simplify]: Simplify (- 0) into 0
18.707 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
18.708 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
18.708 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
18.708 * [backup-simplify]: Simplify (- 0) into 0
18.708 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
18.709 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
18.709 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
18.709 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
18.709 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
18.709 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
18.710 * [backup-simplify]: Simplify (- 0) into 0
18.710 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
18.710 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
18.710 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
18.711 * [backup-simplify]: Simplify (- 0) into 0
18.711 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
18.711 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
18.711 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
18.711 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
18.711 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
18.711 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
18.711 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
18.712 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
18.712 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
18.712 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
18.713 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))
18.714 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
18.716 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
18.718 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
18.720 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
18.720 * [backup-simplify]: Simplify (+ 0) into 0
18.721 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
18.721 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
18.722 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.722 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
18.723 * [backup-simplify]: Simplify (+ 0 0) into 0
18.723 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
18.723 * [backup-simplify]: Simplify (+ 0) into 0
18.724 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
18.724 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
18.725 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.725 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
18.726 * [backup-simplify]: Simplify (+ 0 0) into 0
18.726 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
18.727 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
18.727 * [backup-simplify]: Simplify (+ 0) into 0
18.727 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
18.728 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
18.728 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.729 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
18.730 * [backup-simplify]: Simplify (- 0) into 0
18.730 * [backup-simplify]: Simplify (+ 0 0) into 0
18.730 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
18.731 * [backup-simplify]: Simplify (+ 0) into 0
18.731 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
18.731 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
18.732 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.733 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
18.733 * [backup-simplify]: Simplify (- 0) into 0
18.733 * [backup-simplify]: Simplify (+ 0 0) into 0
18.733 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
18.734 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
18.734 * [backup-simplify]: Simplify (+ 0 0) into 0
18.735 * [backup-simplify]: Simplify (+ 0) into 0
18.735 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
18.735 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
18.736 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.737 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
18.737 * [backup-simplify]: Simplify (- 0) into 0
18.737 * [backup-simplify]: Simplify (+ 0 0) into 0
18.738 * [backup-simplify]: Simplify (+ 0) into 0
18.738 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
18.738 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
18.739 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.740 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
18.740 * [backup-simplify]: Simplify (- 0) into 0
18.740 * [backup-simplify]: Simplify (+ 0 0) into 0
18.741 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
18.741 * [backup-simplify]: Simplify (+ 0) into 0
18.742 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
18.742 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
18.742 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.743 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
18.743 * [backup-simplify]: Simplify (+ 0 0) into 0
18.744 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
18.744 * [backup-simplify]: Simplify (+ 0) into 0
18.745 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
18.745 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
18.745 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.746 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
18.746 * [backup-simplify]: Simplify (+ 0 0) into 0
18.747 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
18.747 * [backup-simplify]: Simplify (+ 0) into 0
18.748 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
18.748 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
18.749 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.749 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
18.749 * [backup-simplify]: Simplify (+ 0 0) into 0
18.750 * [backup-simplify]: Simplify (+ 0) into 0
18.750 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
18.750 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
18.751 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.752 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
18.752 * [backup-simplify]: Simplify (+ 0 0) into 0
18.752 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
18.752 * [backup-simplify]: Simplify (+ 0) into 0
18.753 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
18.753 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
18.754 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.754 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
18.755 * [backup-simplify]: Simplify (- 0) into 0
18.755 * [backup-simplify]: Simplify (+ 0 0) into 0
18.755 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
18.756 * [backup-simplify]: Simplify (+ 0) into 0
18.756 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
18.756 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
18.757 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.757 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
18.758 * [backup-simplify]: Simplify (- 0) into 0
18.758 * [backup-simplify]: Simplify (+ 0 0) into 0
18.759 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
18.759 * [backup-simplify]: Simplify (+ 0 0) into 0
18.759 * [backup-simplify]: Simplify (- 0) into 0
18.760 * [backup-simplify]: Simplify (+ 0 0) into 0
18.762 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
18.764 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
18.764 * [taylor]: Taking taylor expansion of (+ (* 3/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (* 3/2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 5) (pow (sin (/ 0.5 phi1)) 5)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3)))))) in lambda2
18.764 * [taylor]: Taking taylor expansion of (* 3/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) in lambda2
18.764 * [taylor]: Taking taylor expansion of 3/2 in lambda2
18.764 * [backup-simplify]: Simplify 3/2 into 3/2
18.764 * [taylor]: Taking taylor expansion of (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) in lambda2
18.764 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) in lambda2
18.764 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) in lambda2
18.764 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
18.764 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
18.764 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
18.764 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.764 * [backup-simplify]: Simplify 0.5 into 0.5
18.764 * [taylor]: Taking taylor expansion of phi2 in lambda2
18.764 * [backup-simplify]: Simplify phi2 into phi2
18.764 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
18.764 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
18.764 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
18.764 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
18.764 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
18.764 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
18.764 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))) in lambda2
18.764 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
18.764 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
18.764 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
18.764 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.764 * [backup-simplify]: Simplify 0.5 into 0.5
18.765 * [taylor]: Taking taylor expansion of phi1 in lambda2
18.765 * [backup-simplify]: Simplify phi1 into phi1
18.765 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
18.765 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
18.765 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
18.765 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
18.765 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
18.765 * [backup-simplify]: Simplify (- 0) into 0
18.765 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
18.765 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
18.765 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
18.765 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
18.765 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
18.765 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.765 * [backup-simplify]: Simplify 0.5 into 0.5
18.765 * [taylor]: Taking taylor expansion of phi2 in lambda2
18.765 * [backup-simplify]: Simplify phi2 into phi2
18.765 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
18.765 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
18.766 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
18.766 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
18.766 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
18.766 * [backup-simplify]: Simplify (- 0) into 0
18.766 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
18.766 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
18.766 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
18.766 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
18.766 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.766 * [backup-simplify]: Simplify 0.5 into 0.5
18.766 * [taylor]: Taking taylor expansion of phi1 in lambda2
18.766 * [backup-simplify]: Simplify phi1 into phi1
18.766 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
18.766 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
18.766 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
18.766 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
18.766 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
18.766 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
18.766 * [taylor]: Taking taylor expansion of (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3))) in lambda2
18.767 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
18.767 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
18.767 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
18.767 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
18.767 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
18.767 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
18.767 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.767 * [backup-simplify]: Simplify 0.5 into 0.5
18.767 * [taylor]: Taking taylor expansion of phi2 in lambda2
18.767 * [backup-simplify]: Simplify phi2 into phi2
18.767 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
18.767 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
18.767 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
18.767 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
18.767 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
18.767 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
18.767 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
18.767 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
18.767 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
18.767 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.767 * [backup-simplify]: Simplify 0.5 into 0.5
18.767 * [taylor]: Taking taylor expansion of phi1 in lambda2
18.767 * [backup-simplify]: Simplify phi1 into phi1
18.767 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
18.767 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
18.767 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
18.767 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
18.767 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
18.767 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
18.768 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
18.768 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
18.768 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
18.768 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
18.768 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.768 * [backup-simplify]: Simplify 0.5 into 0.5
18.768 * [taylor]: Taking taylor expansion of phi2 in lambda2
18.768 * [backup-simplify]: Simplify phi2 into phi2
18.768 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
18.768 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
18.768 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
18.768 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
18.768 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
18.770 * [backup-simplify]: Simplify (- 0) into 0
18.770 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
18.770 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
18.770 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
18.770 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
18.770 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.771 * [backup-simplify]: Simplify 0.5 into 0.5
18.771 * [taylor]: Taking taylor expansion of phi1 in lambda2
18.771 * [backup-simplify]: Simplify phi1 into phi1
18.771 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
18.771 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
18.771 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
18.771 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
18.771 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
18.771 * [backup-simplify]: Simplify (- 0) into 0
18.771 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
18.771 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
18.771 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
18.771 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
18.771 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
18.771 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.771 * [backup-simplify]: Simplify 0.5 into 0.5
18.771 * [taylor]: Taking taylor expansion of phi2 in lambda2
18.771 * [backup-simplify]: Simplify phi2 into phi2
18.772 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
18.772 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
18.772 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
18.772 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
18.772 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
18.772 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
18.772 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.772 * [backup-simplify]: Simplify 0.5 into 0.5
18.772 * [taylor]: Taking taylor expansion of phi1 in lambda2
18.772 * [backup-simplify]: Simplify phi1 into phi1
18.772 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
18.772 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
18.772 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
18.772 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
18.772 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
18.772 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
18.772 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.772 * [backup-simplify]: Simplify 0.5 into 0.5
18.772 * [taylor]: Taking taylor expansion of phi2 in lambda2
18.772 * [backup-simplify]: Simplify phi2 into phi2
18.772 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
18.772 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
18.772 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
18.772 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
18.772 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
18.772 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.772 * [backup-simplify]: Simplify 0.5 into 0.5
18.772 * [taylor]: Taking taylor expansion of phi1 in lambda2
18.772 * [backup-simplify]: Simplify phi1 into phi1
18.772 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
18.772 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
18.772 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
18.772 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
18.772 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
18.772 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
18.773 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.773 * [backup-simplify]: Simplify 0.5 into 0.5
18.773 * [taylor]: Taking taylor expansion of phi2 in lambda2
18.773 * [backup-simplify]: Simplify phi2 into phi2
18.773 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
18.773 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
18.773 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
18.773 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
18.773 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
18.773 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
18.773 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.773 * [backup-simplify]: Simplify 0.5 into 0.5
18.773 * [taylor]: Taking taylor expansion of phi1 in lambda2
18.773 * [backup-simplify]: Simplify phi1 into phi1
18.773 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
18.773 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
18.773 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
18.773 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
18.773 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
18.773 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
18.773 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.773 * [backup-simplify]: Simplify 0.5 into 0.5
18.773 * [taylor]: Taking taylor expansion of phi2 in lambda2
18.773 * [backup-simplify]: Simplify phi2 into phi2
18.773 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
18.773 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
18.773 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
18.773 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
18.773 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
18.773 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.773 * [backup-simplify]: Simplify 0.5 into 0.5
18.773 * [taylor]: Taking taylor expansion of phi1 in lambda2
18.773 * [backup-simplify]: Simplify phi1 into phi1
18.773 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
18.773 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
18.773 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
18.774 * [taylor]: Taking taylor expansion of (* R (pow lambda2 3)) in lambda2
18.774 * [taylor]: Taking taylor expansion of R in lambda2
18.774 * [backup-simplify]: Simplify R into R
18.774 * [taylor]: Taking taylor expansion of (pow lambda2 3) in lambda2
18.774 * [taylor]: Taking taylor expansion of lambda2 in lambda2
18.774 * [backup-simplify]: Simplify 0 into 0
18.774 * [backup-simplify]: Simplify 1 into 1
18.774 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
18.774 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
18.774 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
18.774 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
18.774 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
18.775 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))) into (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
18.775 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))) into (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))))
18.775 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
18.775 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
18.776 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
18.776 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
18.776 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
18.776 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
18.776 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
18.777 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
18.777 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
18.777 * [backup-simplify]: Simplify (- 0) into 0
18.777 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
18.777 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
18.777 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
18.777 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
18.777 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
18.777 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
18.778 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
18.778 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
18.778 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
18.778 * [backup-simplify]: Simplify (- 0) into 0
18.778 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
18.778 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
18.778 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
18.778 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
18.779 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
18.779 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
18.779 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
18.779 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
18.779 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
18.779 * [backup-simplify]: Simplify (- 0) into 0
18.779 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
18.779 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
18.779 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
18.780 * [backup-simplify]: Simplify (- 0) into 0
18.780 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
18.780 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
18.780 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
18.780 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
18.780 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
18.780 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
18.780 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
18.781 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))
18.781 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
18.782 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
18.783 * [backup-simplify]: Simplify (* 1 1) into 1
18.783 * [backup-simplify]: Simplify (* 1 1) into 1
18.783 * [backup-simplify]: Simplify (* R 1) into R
18.784 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R) into (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)
18.785 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) into (/ (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
18.785 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in lambda2
18.785 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in lambda2
18.786 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
18.786 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
18.786 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
18.786 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
18.787 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
18.787 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
18.787 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.787 * [backup-simplify]: Simplify 0.5 into 0.5
18.787 * [taylor]: Taking taylor expansion of phi2 in lambda2
18.787 * [backup-simplify]: Simplify phi2 into phi2
18.787 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
18.787 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
18.787 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
18.787 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
18.787 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
18.787 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
18.787 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
18.787 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
18.787 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
18.787 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.787 * [backup-simplify]: Simplify 0.5 into 0.5
18.787 * [taylor]: Taking taylor expansion of phi1 in lambda2
18.787 * [backup-simplify]: Simplify phi1 into phi1
18.787 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
18.787 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
18.787 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
18.787 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
18.787 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
18.788 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
18.788 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
18.788 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
18.788 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
18.788 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
18.788 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.788 * [backup-simplify]: Simplify 0.5 into 0.5
18.788 * [taylor]: Taking taylor expansion of phi2 in lambda2
18.788 * [backup-simplify]: Simplify phi2 into phi2
18.788 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
18.788 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
18.788 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
18.788 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
18.788 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
18.789 * [backup-simplify]: Simplify (- 0) into 0
18.789 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
18.789 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
18.789 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
18.789 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
18.789 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.789 * [backup-simplify]: Simplify 0.5 into 0.5
18.789 * [taylor]: Taking taylor expansion of phi1 in lambda2
18.789 * [backup-simplify]: Simplify phi1 into phi1
18.789 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
18.789 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
18.789 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
18.789 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
18.789 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
18.790 * [backup-simplify]: Simplify (- 0) into 0
18.790 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
18.790 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
18.790 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
18.790 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
18.790 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
18.790 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.790 * [backup-simplify]: Simplify 0.5 into 0.5
18.790 * [taylor]: Taking taylor expansion of phi2 in lambda2
18.790 * [backup-simplify]: Simplify phi2 into phi2
18.790 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
18.790 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
18.790 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
18.790 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
18.790 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
18.790 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
18.790 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.790 * [backup-simplify]: Simplify 0.5 into 0.5
18.790 * [taylor]: Taking taylor expansion of phi1 in lambda2
18.790 * [backup-simplify]: Simplify phi1 into phi1
18.790 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
18.790 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
18.790 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
18.790 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
18.790 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
18.790 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
18.790 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.790 * [backup-simplify]: Simplify 0.5 into 0.5
18.790 * [taylor]: Taking taylor expansion of phi2 in lambda2
18.790 * [backup-simplify]: Simplify phi2 into phi2
18.790 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
18.790 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
18.790 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
18.790 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
18.790 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
18.791 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.791 * [backup-simplify]: Simplify 0.5 into 0.5
18.791 * [taylor]: Taking taylor expansion of phi1 in lambda2
18.791 * [backup-simplify]: Simplify phi1 into phi1
18.791 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
18.791 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
18.791 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
18.791 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
18.791 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
18.791 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
18.791 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.791 * [backup-simplify]: Simplify 0.5 into 0.5
18.791 * [taylor]: Taking taylor expansion of phi2 in lambda2
18.791 * [backup-simplify]: Simplify phi2 into phi2
18.791 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
18.791 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
18.791 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
18.791 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
18.791 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
18.791 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
18.791 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.791 * [backup-simplify]: Simplify 0.5 into 0.5
18.791 * [taylor]: Taking taylor expansion of phi1 in lambda2
18.791 * [backup-simplify]: Simplify phi1 into phi1
18.791 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
18.791 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
18.791 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
18.791 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
18.791 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
18.791 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
18.791 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.791 * [backup-simplify]: Simplify 0.5 into 0.5
18.791 * [taylor]: Taking taylor expansion of phi2 in lambda2
18.791 * [backup-simplify]: Simplify phi2 into phi2
18.791 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
18.791 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
18.791 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
18.792 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
18.792 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
18.792 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.792 * [backup-simplify]: Simplify 0.5 into 0.5
18.792 * [taylor]: Taking taylor expansion of phi1 in lambda2
18.792 * [backup-simplify]: Simplify phi1 into phi1
18.792 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
18.792 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
18.792 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
18.792 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
18.792 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
18.792 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
18.792 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
18.792 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
18.793 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
18.793 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
18.793 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
18.793 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
18.793 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
18.793 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
18.793 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
18.793 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
18.793 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
18.794 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
18.794 * [backup-simplify]: Simplify (- 0) into 0
18.794 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
18.794 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
18.794 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
18.794 * [backup-simplify]: Simplify (- 0) into 0
18.794 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
18.794 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
18.795 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
18.795 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
18.795 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
18.795 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
18.795 * [backup-simplify]: Simplify (- 0) into 0
18.795 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
18.795 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
18.795 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
18.796 * [backup-simplify]: Simplify (- 0) into 0
18.796 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
18.796 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
18.796 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
18.796 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
18.796 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
18.796 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
18.796 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
18.796 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
18.796 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
18.796 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
18.797 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))
18.798 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
18.800 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
18.801 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
18.803 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
18.804 * [backup-simplify]: Simplify (+ 0) into 0
18.804 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
18.805 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
18.805 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.806 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
18.806 * [backup-simplify]: Simplify (+ 0 0) into 0
18.806 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
18.807 * [backup-simplify]: Simplify (+ 0) into 0
18.807 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
18.808 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
18.808 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.809 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
18.809 * [backup-simplify]: Simplify (+ 0 0) into 0
18.809 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
18.810 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
18.810 * [backup-simplify]: Simplify (+ 0) into 0
18.811 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
18.811 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
18.812 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.812 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
18.812 * [backup-simplify]: Simplify (- 0) into 0
18.813 * [backup-simplify]: Simplify (+ 0 0) into 0
18.813 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
18.813 * [backup-simplify]: Simplify (+ 0) into 0
18.814 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
18.814 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
18.815 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.815 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
18.816 * [backup-simplify]: Simplify (- 0) into 0
18.816 * [backup-simplify]: Simplify (+ 0 0) into 0
18.816 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
18.817 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
18.817 * [backup-simplify]: Simplify (+ 0 0) into 0
18.818 * [backup-simplify]: Simplify (+ 0) into 0
18.818 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
18.818 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
18.819 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.820 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
18.820 * [backup-simplify]: Simplify (- 0) into 0
18.820 * [backup-simplify]: Simplify (+ 0 0) into 0
18.821 * [backup-simplify]: Simplify (+ 0) into 0
18.821 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
18.821 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
18.822 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.823 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
18.823 * [backup-simplify]: Simplify (- 0) into 0
18.824 * [backup-simplify]: Simplify (+ 0 0) into 0
18.824 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
18.824 * [backup-simplify]: Simplify (+ 0) into 0
18.825 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
18.825 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
18.826 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.826 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
18.827 * [backup-simplify]: Simplify (+ 0 0) into 0
18.827 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
18.827 * [backup-simplify]: Simplify (+ 0) into 0
18.828 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
18.828 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
18.829 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.829 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
18.829 * [backup-simplify]: Simplify (+ 0 0) into 0
18.830 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
18.830 * [backup-simplify]: Simplify (+ 0) into 0
18.830 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
18.830 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
18.831 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.831 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
18.831 * [backup-simplify]: Simplify (+ 0 0) into 0
18.832 * [backup-simplify]: Simplify (+ 0) into 0
18.832 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
18.832 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
18.833 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.833 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
18.833 * [backup-simplify]: Simplify (+ 0 0) into 0
18.833 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
18.833 * [backup-simplify]: Simplify (+ 0) into 0
18.834 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
18.834 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
18.834 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.835 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
18.835 * [backup-simplify]: Simplify (- 0) into 0
18.835 * [backup-simplify]: Simplify (+ 0 0) into 0
18.835 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
18.835 * [backup-simplify]: Simplify (+ 0) into 0
18.836 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
18.836 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
18.836 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.837 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
18.837 * [backup-simplify]: Simplify (- 0) into 0
18.837 * [backup-simplify]: Simplify (+ 0 0) into 0
18.837 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
18.838 * [backup-simplify]: Simplify (+ 0 0) into 0
18.838 * [backup-simplify]: Simplify (- 0) into 0
18.838 * [backup-simplify]: Simplify (+ 0 0) into 0
18.840 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
18.842 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
18.842 * [taylor]: Taking taylor expansion of (* 3/2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 5) (pow (sin (/ 0.5 phi1)) 5)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) in lambda2
18.842 * [taylor]: Taking taylor expansion of 3/2 in lambda2
18.842 * [backup-simplify]: Simplify 3/2 into 3/2
18.842 * [taylor]: Taking taylor expansion of (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 5) (pow (sin (/ 0.5 phi1)) 5)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3)))) in lambda2
18.842 * [taylor]: Taking taylor expansion of (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 5) (pow (sin (/ 0.5 phi1)) 5)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) in lambda2
18.842 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 5) (pow (sin (/ 0.5 phi1)) 5)))) in lambda2
18.842 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
18.842 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
18.842 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.842 * [backup-simplify]: Simplify 0.5 into 0.5
18.842 * [taylor]: Taking taylor expansion of phi2 in lambda2
18.842 * [backup-simplify]: Simplify phi2 into phi2
18.842 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
18.842 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
18.842 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
18.842 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 5) (pow (sin (/ 0.5 phi1)) 5))) in lambda2
18.842 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
18.842 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
18.842 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.842 * [backup-simplify]: Simplify 0.5 into 0.5
18.842 * [taylor]: Taking taylor expansion of phi1 in lambda2
18.842 * [backup-simplify]: Simplify phi1 into phi1
18.842 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
18.842 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
18.842 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
18.842 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 5) (pow (sin (/ 0.5 phi1)) 5)) in lambda2
18.842 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 5) in lambda2
18.842 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
18.842 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
18.842 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.842 * [backup-simplify]: Simplify 0.5 into 0.5
18.842 * [taylor]: Taking taylor expansion of phi2 in lambda2
18.843 * [backup-simplify]: Simplify phi2 into phi2
18.843 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
18.843 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
18.843 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
18.843 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
18.843 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
18.843 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
18.843 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 5) in lambda2
18.843 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
18.843 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
18.843 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.843 * [backup-simplify]: Simplify 0.5 into 0.5
18.843 * [taylor]: Taking taylor expansion of phi1 in lambda2
18.843 * [backup-simplify]: Simplify phi1 into phi1
18.843 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
18.843 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
18.843 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
18.843 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
18.843 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
18.843 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
18.843 * [taylor]: Taking taylor expansion of (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3))) in lambda2
18.843 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
18.843 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
18.843 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
18.843 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
18.843 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
18.843 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
18.843 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.844 * [backup-simplify]: Simplify 0.5 into 0.5
18.844 * [taylor]: Taking taylor expansion of phi2 in lambda2
18.844 * [backup-simplify]: Simplify phi2 into phi2
18.844 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
18.844 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
18.844 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
18.844 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
18.844 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
18.844 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
18.844 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
18.844 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
18.844 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
18.844 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.844 * [backup-simplify]: Simplify 0.5 into 0.5
18.844 * [taylor]: Taking taylor expansion of phi1 in lambda2
18.844 * [backup-simplify]: Simplify phi1 into phi1
18.844 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
18.844 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
18.844 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
18.844 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
18.844 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
18.845 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
18.845 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
18.845 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
18.845 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
18.845 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
18.845 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.845 * [backup-simplify]: Simplify 0.5 into 0.5
18.845 * [taylor]: Taking taylor expansion of phi2 in lambda2
18.845 * [backup-simplify]: Simplify phi2 into phi2
18.845 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
18.845 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
18.845 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
18.845 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
18.845 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
18.845 * [backup-simplify]: Simplify (- 0) into 0
18.845 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
18.845 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
18.845 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
18.845 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
18.846 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.846 * [backup-simplify]: Simplify 0.5 into 0.5
18.846 * [taylor]: Taking taylor expansion of phi1 in lambda2
18.846 * [backup-simplify]: Simplify phi1 into phi1
18.846 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
18.846 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
18.846 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
18.846 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
18.846 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
18.846 * [backup-simplify]: Simplify (- 0) into 0
18.846 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
18.846 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
18.846 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
18.846 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
18.846 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
18.846 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.846 * [backup-simplify]: Simplify 0.5 into 0.5
18.846 * [taylor]: Taking taylor expansion of phi2 in lambda2
18.846 * [backup-simplify]: Simplify phi2 into phi2
18.846 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
18.846 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
18.846 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
18.847 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
18.847 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
18.847 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
18.847 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.847 * [backup-simplify]: Simplify 0.5 into 0.5
18.847 * [taylor]: Taking taylor expansion of phi1 in lambda2
18.847 * [backup-simplify]: Simplify phi1 into phi1
18.847 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
18.847 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
18.847 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
18.847 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
18.847 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
18.847 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
18.847 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.847 * [backup-simplify]: Simplify 0.5 into 0.5
18.847 * [taylor]: Taking taylor expansion of phi2 in lambda2
18.847 * [backup-simplify]: Simplify phi2 into phi2
18.847 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
18.847 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
18.847 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
18.847 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
18.847 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
18.847 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.847 * [backup-simplify]: Simplify 0.5 into 0.5
18.847 * [taylor]: Taking taylor expansion of phi1 in lambda2
18.847 * [backup-simplify]: Simplify phi1 into phi1
18.847 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
18.847 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
18.847 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
18.847 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
18.847 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
18.847 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
18.847 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.847 * [backup-simplify]: Simplify 0.5 into 0.5
18.847 * [taylor]: Taking taylor expansion of phi2 in lambda2
18.847 * [backup-simplify]: Simplify phi2 into phi2
18.847 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
18.847 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
18.848 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
18.848 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
18.848 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
18.848 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
18.848 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.848 * [backup-simplify]: Simplify 0.5 into 0.5
18.848 * [taylor]: Taking taylor expansion of phi1 in lambda2
18.848 * [backup-simplify]: Simplify phi1 into phi1
18.848 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
18.848 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
18.848 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
18.848 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
18.848 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
18.848 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
18.848 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.848 * [backup-simplify]: Simplify 0.5 into 0.5
18.848 * [taylor]: Taking taylor expansion of phi2 in lambda2
18.848 * [backup-simplify]: Simplify phi2 into phi2
18.848 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
18.848 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
18.848 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
18.848 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
18.848 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
18.848 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.848 * [backup-simplify]: Simplify 0.5 into 0.5
18.848 * [taylor]: Taking taylor expansion of phi1 in lambda2
18.848 * [backup-simplify]: Simplify phi1 into phi1
18.848 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
18.848 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
18.848 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
18.848 * [taylor]: Taking taylor expansion of (* R (pow lambda2 3)) in lambda2
18.848 * [taylor]: Taking taylor expansion of R in lambda2
18.848 * [backup-simplify]: Simplify R into R
18.848 * [taylor]: Taking taylor expansion of (pow lambda2 3) in lambda2
18.848 * [taylor]: Taking taylor expansion of lambda2 in lambda2
18.848 * [backup-simplify]: Simplify 0 into 0
18.848 * [backup-simplify]: Simplify 1 into 1
18.848 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
18.849 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
18.849 * [backup-simplify]: Simplify (- 0) into 0
18.849 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
18.849 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
18.849 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
18.849 * [backup-simplify]: Simplify (- 0) into 0
18.849 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
18.850 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
18.850 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (pow (sin (/ 0.5 phi2)) 4)
18.850 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (pow (sin (/ 0.5 phi2)) 4)) into (pow (sin (/ 0.5 phi2)) 5)
18.850 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
18.850 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (pow (sin (/ 0.5 phi1)) 4)
18.850 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (pow (sin (/ 0.5 phi1)) 4)) into (pow (sin (/ 0.5 phi1)) 5)
18.851 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 5) (pow (sin (/ 0.5 phi1)) 5)) into (* (pow (sin (/ 0.5 phi2)) 5) (pow (sin (/ 0.5 phi1)) 5))
18.851 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 5) (pow (sin (/ 0.5 phi1)) 5))) into (* (pow (sin (/ 0.5 phi1)) 5) (* (pow (sin (/ 0.5 phi2)) 5) (cos (/ 0.5 phi1))))
18.851 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (pow (sin (/ 0.5 phi1)) 5) (* (pow (sin (/ 0.5 phi2)) 5) (cos (/ 0.5 phi1))))) into (* (pow (sin (/ 0.5 phi2)) 5) (* (pow (sin (/ 0.5 phi1)) 5) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
18.851 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
18.851 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
18.851 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
18.852 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
18.852 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
18.852 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
18.852 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
18.852 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
18.852 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
18.853 * [backup-simplify]: Simplify (- 0) into 0
18.853 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
18.853 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
18.853 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
18.853 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
18.853 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
18.853 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
18.853 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
18.853 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
18.853 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
18.854 * [backup-simplify]: Simplify (- 0) into 0
18.854 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
18.854 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
18.854 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
18.854 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
18.854 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
18.854 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
18.854 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
18.854 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
18.854 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
18.855 * [backup-simplify]: Simplify (- 0) into 0
18.855 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
18.855 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
18.855 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
18.855 * [backup-simplify]: Simplify (- 0) into 0
18.855 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
18.855 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
18.855 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
18.855 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
18.855 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
18.856 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
18.856 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
18.856 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))
18.857 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
18.858 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
18.858 * [backup-simplify]: Simplify (* 1 1) into 1
18.859 * [backup-simplify]: Simplify (* 1 1) into 1
18.859 * [backup-simplify]: Simplify (* R 1) into R
18.861 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R) into (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)
18.863 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi2)) 5) (* (pow (sin (/ 0.5 phi1)) 5) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) into (/ (* (pow (sin (/ 0.5 phi2)) 5) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 5)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
18.864 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))) in lambda2
18.864 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3)) in lambda2
18.864 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3) in lambda2
18.864 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
18.864 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
18.864 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
18.864 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
18.864 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
18.864 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
18.864 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.864 * [backup-simplify]: Simplify 0.5 into 0.5
18.864 * [taylor]: Taking taylor expansion of phi2 in lambda2
18.864 * [backup-simplify]: Simplify phi2 into phi2
18.864 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
18.864 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
18.864 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
18.865 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
18.865 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
18.865 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
18.865 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
18.865 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
18.865 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
18.865 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.865 * [backup-simplify]: Simplify 0.5 into 0.5
18.865 * [taylor]: Taking taylor expansion of phi1 in lambda2
18.865 * [backup-simplify]: Simplify phi1 into phi1
18.865 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
18.865 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
18.865 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
18.865 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
18.865 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
18.866 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
18.866 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
18.866 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
18.866 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
18.866 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
18.866 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.866 * [backup-simplify]: Simplify 0.5 into 0.5
18.866 * [taylor]: Taking taylor expansion of phi2 in lambda2
18.866 * [backup-simplify]: Simplify phi2 into phi2
18.866 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
18.866 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
18.866 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
18.866 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
18.866 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
18.867 * [backup-simplify]: Simplify (- 0) into 0
18.867 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
18.867 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
18.867 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
18.867 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
18.867 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.867 * [backup-simplify]: Simplify 0.5 into 0.5
18.867 * [taylor]: Taking taylor expansion of phi1 in lambda2
18.867 * [backup-simplify]: Simplify phi1 into phi1
18.867 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
18.868 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
18.868 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
18.868 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
18.868 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
18.869 * [backup-simplify]: Simplify (- 0) into 0
18.869 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
18.869 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
18.869 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
18.869 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
18.869 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
18.869 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.869 * [backup-simplify]: Simplify 0.5 into 0.5
18.869 * [taylor]: Taking taylor expansion of phi2 in lambda2
18.869 * [backup-simplify]: Simplify phi2 into phi2
18.869 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
18.869 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
18.869 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
18.869 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
18.870 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
18.870 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
18.870 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.870 * [backup-simplify]: Simplify 0.5 into 0.5
18.870 * [taylor]: Taking taylor expansion of phi1 in lambda2
18.870 * [backup-simplify]: Simplify phi1 into phi1
18.870 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
18.870 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
18.870 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
18.870 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
18.870 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
18.870 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
18.870 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.870 * [backup-simplify]: Simplify 0.5 into 0.5
18.870 * [taylor]: Taking taylor expansion of phi2 in lambda2
18.870 * [backup-simplify]: Simplify phi2 into phi2
18.870 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
18.870 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
18.870 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
18.871 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
18.871 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
18.871 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.871 * [backup-simplify]: Simplify 0.5 into 0.5
18.871 * [taylor]: Taking taylor expansion of phi1 in lambda2
18.871 * [backup-simplify]: Simplify phi1 into phi1
18.871 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
18.871 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
18.871 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
18.871 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
18.871 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
18.871 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
18.871 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.871 * [backup-simplify]: Simplify 0.5 into 0.5
18.871 * [taylor]: Taking taylor expansion of phi2 in lambda2
18.871 * [backup-simplify]: Simplify phi2 into phi2
18.871 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
18.871 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
18.871 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
18.871 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
18.872 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
18.872 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
18.872 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.872 * [backup-simplify]: Simplify 0.5 into 0.5
18.872 * [taylor]: Taking taylor expansion of phi1 in lambda2
18.872 * [backup-simplify]: Simplify phi1 into phi1
18.872 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
18.872 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
18.872 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
18.872 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
18.872 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
18.872 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
18.872 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.872 * [backup-simplify]: Simplify 0.5 into 0.5
18.872 * [taylor]: Taking taylor expansion of phi2 in lambda2
18.872 * [backup-simplify]: Simplify phi2 into phi2
18.872 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
18.872 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
18.872 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
18.872 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
18.873 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
18.873 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.873 * [backup-simplify]: Simplify 0.5 into 0.5
18.873 * [taylor]: Taking taylor expansion of phi1 in lambda2
18.873 * [backup-simplify]: Simplify phi1 into phi1
18.873 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
18.873 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
18.873 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
18.873 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
18.873 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
18.874 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
18.874 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
18.874 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
18.874 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
18.875 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
18.875 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
18.876 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
18.876 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
18.876 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
18.876 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
18.876 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
18.876 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
18.876 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
18.877 * [backup-simplify]: Simplify (- 0) into 0
18.877 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
18.877 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
18.877 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
18.878 * [backup-simplify]: Simplify (- 0) into 0
18.878 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
18.878 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
18.878 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
18.879 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
18.879 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
18.879 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
18.879 * [backup-simplify]: Simplify (- 0) into 0
18.879 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
18.879 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
18.880 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
18.880 * [backup-simplify]: Simplify (- 0) into 0
18.880 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
18.880 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
18.880 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
18.881 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
18.881 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
18.881 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
18.881 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
18.881 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
18.881 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
18.882 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
18.883 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))
18.884 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
18.886 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
18.890 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)
18.895 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)) into (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
18.900 * [backup-simplify]: Simplify (/ 1 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)))
18.904 * [backup-simplify]: Simplify (sqrt (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)))) into (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))
18.905 * [backup-simplify]: Simplify (+ 0) into 0
18.905 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
18.906 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
18.906 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.906 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
18.907 * [backup-simplify]: Simplify (+ 0 0) into 0
18.907 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
18.907 * [backup-simplify]: Simplify (+ 0) into 0
18.907 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
18.907 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
18.908 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.908 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
18.908 * [backup-simplify]: Simplify (+ 0 0) into 0
18.909 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
18.909 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
18.909 * [backup-simplify]: Simplify (+ 0) into 0
18.909 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
18.910 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
18.910 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.910 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
18.911 * [backup-simplify]: Simplify (- 0) into 0
18.911 * [backup-simplify]: Simplify (+ 0 0) into 0
18.911 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
18.911 * [backup-simplify]: Simplify (+ 0) into 0
18.911 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
18.912 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
18.912 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.912 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
18.913 * [backup-simplify]: Simplify (- 0) into 0
18.913 * [backup-simplify]: Simplify (+ 0 0) into 0
18.913 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
18.913 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
18.913 * [backup-simplify]: Simplify (+ 0 0) into 0
18.914 * [backup-simplify]: Simplify (+ 0) into 0
18.914 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
18.914 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
18.917 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.917 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
18.918 * [backup-simplify]: Simplify (- 0) into 0
18.918 * [backup-simplify]: Simplify (+ 0 0) into 0
18.918 * [backup-simplify]: Simplify (+ 0) into 0
18.918 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
18.919 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
18.919 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.919 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
18.920 * [backup-simplify]: Simplify (- 0) into 0
18.920 * [backup-simplify]: Simplify (+ 0 0) into 0
18.920 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
18.920 * [backup-simplify]: Simplify (+ 0) into 0
18.920 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
18.921 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
18.921 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.921 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
18.922 * [backup-simplify]: Simplify (+ 0 0) into 0
18.922 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
18.922 * [backup-simplify]: Simplify (+ 0) into 0
18.922 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
18.922 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
18.923 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.923 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
18.924 * [backup-simplify]: Simplify (+ 0 0) into 0
18.924 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
18.924 * [backup-simplify]: Simplify (+ 0) into 0
18.924 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
18.925 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
18.925 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.925 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
18.926 * [backup-simplify]: Simplify (+ 0 0) into 0
18.926 * [backup-simplify]: Simplify (+ 0) into 0
18.926 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
18.926 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
18.927 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.927 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
18.927 * [backup-simplify]: Simplify (+ 0 0) into 0
18.927 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
18.928 * [backup-simplify]: Simplify (+ 0) into 0
18.928 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
18.928 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
18.929 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.929 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
18.929 * [backup-simplify]: Simplify (- 0) into 0
18.929 * [backup-simplify]: Simplify (+ 0 0) into 0
18.929 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
18.930 * [backup-simplify]: Simplify (+ 0) into 0
18.930 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
18.930 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
18.931 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.931 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
18.931 * [backup-simplify]: Simplify (- 0) into 0
18.931 * [backup-simplify]: Simplify (+ 0 0) into 0
18.932 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
18.932 * [backup-simplify]: Simplify (+ 0 0) into 0
18.932 * [backup-simplify]: Simplify (- 0) into 0
18.932 * [backup-simplify]: Simplify (+ 0 0) into 0
18.935 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into 0
18.939 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2))) into 0
18.949 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2))) (/ 0 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
18.952 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)))))) into 0
18.952 * [taylor]: Taking taylor expansion of (+ (* 2 (* (/ (* (pow (cos (/ 0.5 phi2)) 3) (* (pow (cos (/ 0.5 phi1)) 3) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* lambda2 (* phi1 (* R (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) phi2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (+ (* 1/2 (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (* lambda2 (pow phi2 2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 6) (pow (cos (/ 0.5 phi1)) 6)) (* R (* (pow lambda2 3) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 2 (* (/ (* (pow (sin (/ 0.5 phi2)) 3) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 3)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* (pow phi1 2) (* lambda2 R)))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (+ (* 3 (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 6) (pow (sin (/ 0.5 phi1)) 6)) (* R (* (pow lambda2 3) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 15/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 4) (* (pow (cos (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 2)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 9/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 4) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 4)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 (* phi1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R phi2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* 1/2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (* lambda2 (pow phi2 2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))))))))))))) in lambda2
18.952 * [taylor]: Taking taylor expansion of (* 2 (* (/ (* (pow (cos (/ 0.5 phi2)) 3) (* (pow (cos (/ 0.5 phi1)) 3) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) in lambda2
18.952 * [taylor]: Taking taylor expansion of 2 in lambda2
18.952 * [backup-simplify]: Simplify 2 into 2
18.952 * [taylor]: Taking taylor expansion of (* (/ (* (pow (cos (/ 0.5 phi2)) 3) (* (pow (cos (/ 0.5 phi1)) 3) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) in lambda2
18.952 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi2)) 3) (* (pow (cos (/ 0.5 phi1)) 3) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) in lambda2
18.952 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 3) (* (pow (cos (/ 0.5 phi1)) 3) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
18.952 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 3) in lambda2
18.952 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
18.952 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
18.952 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.952 * [backup-simplify]: Simplify 0.5 into 0.5
18.952 * [taylor]: Taking taylor expansion of phi2 in lambda2
18.952 * [backup-simplify]: Simplify phi2 into phi2
18.952 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
18.953 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
18.953 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
18.953 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
18.953 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
18.953 * [backup-simplify]: Simplify (- 0) into 0
18.953 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
18.953 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 3) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
18.953 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 3) in lambda2
18.953 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
18.953 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
18.953 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.953 * [backup-simplify]: Simplify 0.5 into 0.5
18.953 * [taylor]: Taking taylor expansion of phi1 in lambda2
18.953 * [backup-simplify]: Simplify phi1 into phi1
18.953 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
18.953 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
18.953 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
18.954 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
18.954 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
18.954 * [backup-simplify]: Simplify (- 0) into 0
18.954 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
18.954 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
18.954 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
18.954 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
18.954 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.954 * [backup-simplify]: Simplify 0.5 into 0.5
18.954 * [taylor]: Taking taylor expansion of phi2 in lambda2
18.954 * [backup-simplify]: Simplify phi2 into phi2
18.954 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
18.954 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
18.954 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
18.954 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
18.954 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
18.954 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.954 * [backup-simplify]: Simplify 0.5 into 0.5
18.954 * [taylor]: Taking taylor expansion of phi1 in lambda2
18.954 * [backup-simplify]: Simplify phi1 into phi1
18.954 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
18.954 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
18.954 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
18.955 * [taylor]: Taking taylor expansion of (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3))) in lambda2
18.955 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
18.955 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
18.955 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
18.955 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
18.955 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
18.955 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
18.955 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.955 * [backup-simplify]: Simplify 0.5 into 0.5
18.955 * [taylor]: Taking taylor expansion of phi2 in lambda2
18.955 * [backup-simplify]: Simplify phi2 into phi2
18.955 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
18.955 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
18.955 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
18.955 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
18.955 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
18.955 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
18.955 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
18.955 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
18.955 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
18.955 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.955 * [backup-simplify]: Simplify 0.5 into 0.5
18.955 * [taylor]: Taking taylor expansion of phi1 in lambda2
18.955 * [backup-simplify]: Simplify phi1 into phi1
18.955 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
18.955 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
18.955 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
18.955 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
18.955 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
18.955 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
18.956 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
18.956 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
18.956 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
18.956 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
18.956 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.956 * [backup-simplify]: Simplify 0.5 into 0.5
18.956 * [taylor]: Taking taylor expansion of phi2 in lambda2
18.956 * [backup-simplify]: Simplify phi2 into phi2
18.956 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
18.956 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
18.956 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
18.956 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
18.956 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
18.956 * [backup-simplify]: Simplify (- 0) into 0
18.956 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
18.956 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
18.956 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
18.956 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
18.956 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.956 * [backup-simplify]: Simplify 0.5 into 0.5
18.956 * [taylor]: Taking taylor expansion of phi1 in lambda2
18.956 * [backup-simplify]: Simplify phi1 into phi1
18.956 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
18.956 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
18.957 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
18.957 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
18.957 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
18.957 * [backup-simplify]: Simplify (- 0) into 0
18.957 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
18.957 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
18.957 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
18.957 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
18.957 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
18.957 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.957 * [backup-simplify]: Simplify 0.5 into 0.5
18.957 * [taylor]: Taking taylor expansion of phi2 in lambda2
18.957 * [backup-simplify]: Simplify phi2 into phi2
18.957 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
18.957 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
18.957 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
18.957 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
18.957 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
18.957 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
18.957 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.957 * [backup-simplify]: Simplify 0.5 into 0.5
18.957 * [taylor]: Taking taylor expansion of phi1 in lambda2
18.957 * [backup-simplify]: Simplify phi1 into phi1
18.957 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
18.958 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
18.958 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
18.958 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
18.958 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
18.958 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
18.958 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.958 * [backup-simplify]: Simplify 0.5 into 0.5
18.958 * [taylor]: Taking taylor expansion of phi2 in lambda2
18.958 * [backup-simplify]: Simplify phi2 into phi2
18.958 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
18.958 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
18.958 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
18.958 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
18.958 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
18.958 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.958 * [backup-simplify]: Simplify 0.5 into 0.5
18.958 * [taylor]: Taking taylor expansion of phi1 in lambda2
18.958 * [backup-simplify]: Simplify phi1 into phi1
18.958 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
18.958 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
18.958 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
18.958 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
18.958 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
18.958 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
18.958 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.958 * [backup-simplify]: Simplify 0.5 into 0.5
18.958 * [taylor]: Taking taylor expansion of phi2 in lambda2
18.958 * [backup-simplify]: Simplify phi2 into phi2
18.958 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
18.958 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
18.958 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
18.958 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
18.958 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
18.958 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
18.958 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.958 * [backup-simplify]: Simplify 0.5 into 0.5
18.958 * [taylor]: Taking taylor expansion of phi1 in lambda2
18.958 * [backup-simplify]: Simplify phi1 into phi1
18.959 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
18.959 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
18.959 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
18.959 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
18.959 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
18.959 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
18.959 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.959 * [backup-simplify]: Simplify 0.5 into 0.5
18.959 * [taylor]: Taking taylor expansion of phi2 in lambda2
18.959 * [backup-simplify]: Simplify phi2 into phi2
18.959 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
18.959 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
18.959 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
18.959 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
18.959 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
18.959 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.959 * [backup-simplify]: Simplify 0.5 into 0.5
18.959 * [taylor]: Taking taylor expansion of phi1 in lambda2
18.959 * [backup-simplify]: Simplify phi1 into phi1
18.959 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
18.959 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
18.959 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
18.959 * [taylor]: Taking taylor expansion of (* R (pow lambda2 3)) in lambda2
18.959 * [taylor]: Taking taylor expansion of R in lambda2
18.959 * [backup-simplify]: Simplify R into R
18.959 * [taylor]: Taking taylor expansion of (pow lambda2 3) in lambda2
18.959 * [taylor]: Taking taylor expansion of lambda2 in lambda2
18.959 * [backup-simplify]: Simplify 0 into 0
18.959 * [backup-simplify]: Simplify 1 into 1
18.959 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
18.960 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (pow (cos (/ 0.5 phi2)) 2)) into (pow (cos (/ 0.5 phi2)) 3)
18.960 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
18.960 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (pow (cos (/ 0.5 phi1)) 2)) into (pow (cos (/ 0.5 phi1)) 3)
18.960 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
18.960 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
18.960 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
18.960 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
18.960 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
18.960 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
18.960 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
18.960 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 3) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (pow (cos (/ 0.5 phi1)) 3)))
18.961 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 3) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (pow (cos (/ 0.5 phi1)) 3)))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (pow (cos (/ 0.5 phi2)) 3) (pow (cos (/ 0.5 phi1)) 3))))
18.961 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
18.961 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
18.961 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
18.961 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
18.961 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
18.962 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
18.962 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
18.962 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
18.962 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
18.962 * [backup-simplify]: Simplify (- 0) into 0
18.962 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
18.963 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
18.963 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
18.963 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
18.963 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
18.963 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
18.963 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
18.963 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
18.963 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
18.963 * [backup-simplify]: Simplify (- 0) into 0
18.963 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
18.963 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
18.964 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
18.964 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
18.964 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
18.964 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
18.964 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
18.964 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
18.964 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
18.964 * [backup-simplify]: Simplify (- 0) into 0
18.964 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
18.964 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
18.965 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
18.965 * [backup-simplify]: Simplify (- 0) into 0
18.965 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
18.965 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
18.965 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
18.965 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
18.965 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
18.965 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
18.965 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
18.966 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))
18.966 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
18.967 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
18.968 * [backup-simplify]: Simplify (* 1 1) into 1
18.968 * [backup-simplify]: Simplify (* 1 1) into 1
18.968 * [backup-simplify]: Simplify (* R 1) into R
18.969 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R) into (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)
18.970 * [backup-simplify]: Simplify (/ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (pow (cos (/ 0.5 phi2)) 3) (pow (cos (/ 0.5 phi1)) 3)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) into (/ (* (sin (/ 0.5 phi2)) (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (cos (/ 0.5 phi2)) 3) (sin (/ 0.5 phi1))))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
18.970 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in lambda2
18.970 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in lambda2
18.970 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
18.971 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
18.971 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
18.971 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
18.971 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
18.971 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
18.971 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.971 * [backup-simplify]: Simplify 0.5 into 0.5
18.971 * [taylor]: Taking taylor expansion of phi2 in lambda2
18.971 * [backup-simplify]: Simplify phi2 into phi2
18.971 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
18.971 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
18.971 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
18.971 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
18.971 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
18.971 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
18.971 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
18.971 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
18.971 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
18.971 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.971 * [backup-simplify]: Simplify 0.5 into 0.5
18.971 * [taylor]: Taking taylor expansion of phi1 in lambda2
18.971 * [backup-simplify]: Simplify phi1 into phi1
18.971 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
18.971 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
18.971 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
18.971 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
18.971 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
18.971 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
18.971 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
18.971 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
18.971 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
18.972 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
18.972 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.972 * [backup-simplify]: Simplify 0.5 into 0.5
18.972 * [taylor]: Taking taylor expansion of phi2 in lambda2
18.972 * [backup-simplify]: Simplify phi2 into phi2
18.972 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
18.972 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
18.972 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
18.972 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
18.972 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
18.972 * [backup-simplify]: Simplify (- 0) into 0
18.972 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
18.972 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
18.972 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
18.972 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
18.972 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.972 * [backup-simplify]: Simplify 0.5 into 0.5
18.972 * [taylor]: Taking taylor expansion of phi1 in lambda2
18.972 * [backup-simplify]: Simplify phi1 into phi1
18.972 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
18.972 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
18.973 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
18.973 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
18.973 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
18.973 * [backup-simplify]: Simplify (- 0) into 0
18.973 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
18.973 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
18.973 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
18.973 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
18.973 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
18.973 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.973 * [backup-simplify]: Simplify 0.5 into 0.5
18.973 * [taylor]: Taking taylor expansion of phi2 in lambda2
18.973 * [backup-simplify]: Simplify phi2 into phi2
18.973 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
18.973 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
18.973 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
18.973 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
18.973 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
18.973 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
18.973 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.973 * [backup-simplify]: Simplify 0.5 into 0.5
18.973 * [taylor]: Taking taylor expansion of phi1 in lambda2
18.973 * [backup-simplify]: Simplify phi1 into phi1
18.973 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
18.974 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
18.974 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
18.974 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
18.974 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
18.974 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
18.974 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.974 * [backup-simplify]: Simplify 0.5 into 0.5
18.974 * [taylor]: Taking taylor expansion of phi2 in lambda2
18.974 * [backup-simplify]: Simplify phi2 into phi2
18.974 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
18.974 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
18.974 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
18.974 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
18.974 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
18.974 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.974 * [backup-simplify]: Simplify 0.5 into 0.5
18.974 * [taylor]: Taking taylor expansion of phi1 in lambda2
18.974 * [backup-simplify]: Simplify phi1 into phi1
18.974 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
18.974 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
18.974 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
18.974 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
18.974 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
18.974 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
18.974 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.974 * [backup-simplify]: Simplify 0.5 into 0.5
18.974 * [taylor]: Taking taylor expansion of phi2 in lambda2
18.974 * [backup-simplify]: Simplify phi2 into phi2
18.974 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
18.974 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
18.974 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
18.974 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
18.974 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
18.974 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
18.974 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.974 * [backup-simplify]: Simplify 0.5 into 0.5
18.974 * [taylor]: Taking taylor expansion of phi1 in lambda2
18.974 * [backup-simplify]: Simplify phi1 into phi1
18.974 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
18.975 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
18.975 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
18.975 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
18.975 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
18.975 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
18.975 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.975 * [backup-simplify]: Simplify 0.5 into 0.5
18.975 * [taylor]: Taking taylor expansion of phi2 in lambda2
18.975 * [backup-simplify]: Simplify phi2 into phi2
18.975 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
18.975 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
18.975 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
18.975 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
18.975 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
18.975 * [taylor]: Taking taylor expansion of 0.5 in lambda2
18.975 * [backup-simplify]: Simplify 0.5 into 0.5
18.975 * [taylor]: Taking taylor expansion of phi1 in lambda2
18.975 * [backup-simplify]: Simplify phi1 into phi1
18.975 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
18.975 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
18.975 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
18.975 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
18.975 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
18.976 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
18.976 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
18.976 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
18.976 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
18.976 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
18.976 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
18.976 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
18.977 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
18.977 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
18.977 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
18.977 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
18.977 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
18.977 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
18.977 * [backup-simplify]: Simplify (- 0) into 0
18.977 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
18.977 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
18.977 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
18.978 * [backup-simplify]: Simplify (- 0) into 0
18.978 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
18.978 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
18.978 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
18.979 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
18.979 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
18.979 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
18.979 * [backup-simplify]: Simplify (- 0) into 0
18.979 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
18.979 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
18.980 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
18.980 * [backup-simplify]: Simplify (- 0) into 0
18.980 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
18.980 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
18.980 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
18.980 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
18.980 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
18.981 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
18.981 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
18.981 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
18.981 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
18.981 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
18.982 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))
18.983 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
18.985 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
18.987 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
18.989 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
18.989 * [backup-simplify]: Simplify (+ 0) into 0
18.990 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
18.990 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
18.991 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.991 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
18.992 * [backup-simplify]: Simplify (+ 0 0) into 0
18.992 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
18.992 * [backup-simplify]: Simplify (+ 0) into 0
18.993 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
18.993 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
18.994 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.995 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
18.995 * [backup-simplify]: Simplify (+ 0 0) into 0
18.995 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
18.995 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
18.996 * [backup-simplify]: Simplify (+ 0) into 0
18.996 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
18.997 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
18.997 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
18.998 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
18.998 * [backup-simplify]: Simplify (- 0) into 0
18.999 * [backup-simplify]: Simplify (+ 0 0) into 0
18.999 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
18.999 * [backup-simplify]: Simplify (+ 0) into 0
19.000 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
19.000 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
19.001 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.001 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
19.002 * [backup-simplify]: Simplify (- 0) into 0
19.002 * [backup-simplify]: Simplify (+ 0 0) into 0
19.002 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
19.003 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
19.003 * [backup-simplify]: Simplify (+ 0 0) into 0
19.004 * [backup-simplify]: Simplify (+ 0) into 0
19.004 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
19.004 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
19.005 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.005 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
19.006 * [backup-simplify]: Simplify (- 0) into 0
19.006 * [backup-simplify]: Simplify (+ 0 0) into 0
19.007 * [backup-simplify]: Simplify (+ 0) into 0
19.007 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
19.007 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
19.008 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.008 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
19.009 * [backup-simplify]: Simplify (- 0) into 0
19.009 * [backup-simplify]: Simplify (+ 0 0) into 0
19.009 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
19.010 * [backup-simplify]: Simplify (+ 0) into 0
19.010 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
19.010 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
19.011 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.012 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
19.012 * [backup-simplify]: Simplify (+ 0 0) into 0
19.012 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
19.013 * [backup-simplify]: Simplify (+ 0) into 0
19.013 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
19.013 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
19.014 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.015 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
19.015 * [backup-simplify]: Simplify (+ 0 0) into 0
19.015 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
19.016 * [backup-simplify]: Simplify (+ 0) into 0
19.016 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
19.017 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
19.017 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.018 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
19.018 * [backup-simplify]: Simplify (+ 0 0) into 0
19.019 * [backup-simplify]: Simplify (+ 0) into 0
19.019 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
19.019 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
19.020 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.021 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
19.021 * [backup-simplify]: Simplify (+ 0 0) into 0
19.021 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
19.021 * [backup-simplify]: Simplify (+ 0) into 0
19.022 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
19.022 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
19.023 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.023 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
19.024 * [backup-simplify]: Simplify (- 0) into 0
19.024 * [backup-simplify]: Simplify (+ 0 0) into 0
19.024 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
19.025 * [backup-simplify]: Simplify (+ 0) into 0
19.025 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
19.026 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
19.026 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.027 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
19.027 * [backup-simplify]: Simplify (- 0) into 0
19.028 * [backup-simplify]: Simplify (+ 0 0) into 0
19.028 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
19.028 * [backup-simplify]: Simplify (+ 0 0) into 0
19.029 * [backup-simplify]: Simplify (- 0) into 0
19.029 * [backup-simplify]: Simplify (+ 0 0) into 0
19.033 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
19.035 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
19.035 * [taylor]: Taking taylor expansion of (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* lambda2 (* phi1 (* R (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) phi2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (+ (* 1/2 (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (* lambda2 (pow phi2 2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 6) (pow (cos (/ 0.5 phi1)) 6)) (* R (* (pow lambda2 3) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 2 (* (/ (* (pow (sin (/ 0.5 phi2)) 3) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 3)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* (pow phi1 2) (* lambda2 R)))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (+ (* 3 (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 6) (pow (sin (/ 0.5 phi1)) 6)) (* R (* (pow lambda2 3) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 15/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 4) (* (pow (cos (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 2)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 9/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 4) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 4)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 (* phi1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R phi2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* 1/2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (* lambda2 (pow phi2 2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))))))))))) in lambda2
19.036 * [taylor]: Taking taylor expansion of (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* lambda2 (* phi1 (* R (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) phi2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) in lambda2
19.036 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* lambda2 (* phi1 (* R (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) phi2))))) in lambda2
19.036 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
19.036 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
19.036 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
19.036 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
19.036 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.036 * [backup-simplify]: Simplify 0.5 into 0.5
19.036 * [taylor]: Taking taylor expansion of phi2 in lambda2
19.036 * [backup-simplify]: Simplify phi2 into phi2
19.036 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
19.036 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
19.036 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
19.036 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
19.036 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
19.036 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
19.037 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
19.037 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
19.037 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
19.037 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.037 * [backup-simplify]: Simplify 0.5 into 0.5
19.037 * [taylor]: Taking taylor expansion of phi1 in lambda2
19.037 * [backup-simplify]: Simplify phi1 into phi1
19.037 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
19.037 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
19.037 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
19.037 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
19.037 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
19.037 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
19.037 * [taylor]: Taking taylor expansion of (* lambda2 (* phi1 (* R (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) phi2)))) in lambda2
19.037 * [taylor]: Taking taylor expansion of lambda2 in lambda2
19.037 * [backup-simplify]: Simplify 0 into 0
19.037 * [backup-simplify]: Simplify 1 into 1
19.037 * [taylor]: Taking taylor expansion of (* phi1 (* R (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) phi2))) in lambda2
19.037 * [taylor]: Taking taylor expansion of phi1 in lambda2
19.038 * [backup-simplify]: Simplify phi1 into phi1
19.038 * [taylor]: Taking taylor expansion of (* R (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) phi2)) in lambda2
19.038 * [taylor]: Taking taylor expansion of R in lambda2
19.038 * [backup-simplify]: Simplify R into R
19.038 * [taylor]: Taking taylor expansion of (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) phi2) in lambda2
19.038 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
19.038 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
19.038 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
19.038 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
19.038 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
19.038 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
19.038 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.038 * [backup-simplify]: Simplify 0.5 into 0.5
19.038 * [taylor]: Taking taylor expansion of phi2 in lambda2
19.038 * [backup-simplify]: Simplify phi2 into phi2
19.038 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
19.038 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
19.038 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
19.038 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
19.038 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
19.039 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
19.039 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
19.039 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
19.039 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
19.039 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.039 * [backup-simplify]: Simplify 0.5 into 0.5
19.039 * [taylor]: Taking taylor expansion of phi1 in lambda2
19.039 * [backup-simplify]: Simplify phi1 into phi1
19.039 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
19.039 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
19.039 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
19.039 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
19.039 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
19.039 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
19.039 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
19.039 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
19.039 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
19.039 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
19.039 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.039 * [backup-simplify]: Simplify 0.5 into 0.5
19.039 * [taylor]: Taking taylor expansion of phi2 in lambda2
19.039 * [backup-simplify]: Simplify phi2 into phi2
19.040 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
19.040 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
19.040 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
19.040 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
19.040 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
19.040 * [backup-simplify]: Simplify (- 0) into 0
19.041 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
19.041 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
19.041 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
19.041 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
19.041 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.041 * [backup-simplify]: Simplify 0.5 into 0.5
19.041 * [taylor]: Taking taylor expansion of phi1 in lambda2
19.041 * [backup-simplify]: Simplify phi1 into phi1
19.041 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
19.041 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
19.041 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
19.041 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
19.041 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
19.042 * [backup-simplify]: Simplify (- 0) into 0
19.042 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
19.042 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
19.042 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
19.042 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
19.042 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
19.042 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.042 * [backup-simplify]: Simplify 0.5 into 0.5
19.042 * [taylor]: Taking taylor expansion of phi2 in lambda2
19.042 * [backup-simplify]: Simplify phi2 into phi2
19.042 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
19.042 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
19.042 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
19.042 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
19.042 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
19.042 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
19.042 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.042 * [backup-simplify]: Simplify 0.5 into 0.5
19.042 * [taylor]: Taking taylor expansion of phi1 in lambda2
19.043 * [backup-simplify]: Simplify phi1 into phi1
19.043 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
19.043 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
19.043 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
19.043 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
19.043 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
19.043 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
19.043 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.043 * [backup-simplify]: Simplify 0.5 into 0.5
19.043 * [taylor]: Taking taylor expansion of phi2 in lambda2
19.043 * [backup-simplify]: Simplify phi2 into phi2
19.043 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
19.043 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
19.043 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
19.043 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
19.043 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
19.043 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.043 * [backup-simplify]: Simplify 0.5 into 0.5
19.043 * [taylor]: Taking taylor expansion of phi1 in lambda2
19.043 * [backup-simplify]: Simplify phi1 into phi1
19.043 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
19.043 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
19.044 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
19.044 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
19.044 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
19.044 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
19.044 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.044 * [backup-simplify]: Simplify 0.5 into 0.5
19.044 * [taylor]: Taking taylor expansion of phi2 in lambda2
19.044 * [backup-simplify]: Simplify phi2 into phi2
19.044 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
19.044 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
19.044 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
19.044 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
19.044 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
19.044 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
19.044 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.044 * [backup-simplify]: Simplify 0.5 into 0.5
19.044 * [taylor]: Taking taylor expansion of phi1 in lambda2
19.044 * [backup-simplify]: Simplify phi1 into phi1
19.044 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
19.044 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
19.045 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
19.045 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
19.045 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
19.045 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
19.045 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.045 * [backup-simplify]: Simplify 0.5 into 0.5
19.045 * [taylor]: Taking taylor expansion of phi2 in lambda2
19.045 * [backup-simplify]: Simplify phi2 into phi2
19.045 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
19.045 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
19.045 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
19.045 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
19.045 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
19.045 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.045 * [backup-simplify]: Simplify 0.5 into 0.5
19.045 * [taylor]: Taking taylor expansion of phi1 in lambda2
19.045 * [backup-simplify]: Simplify phi1 into phi1
19.045 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
19.045 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
19.045 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
19.045 * [taylor]: Taking taylor expansion of phi2 in lambda2
19.046 * [backup-simplify]: Simplify phi2 into phi2
19.046 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
19.046 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
19.046 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
19.046 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
19.047 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
19.047 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
19.047 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
19.047 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
19.048 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
19.048 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
19.048 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
19.049 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
19.049 * [backup-simplify]: Simplify (- 0) into 0
19.049 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
19.049 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
19.049 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
19.050 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
19.050 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
19.050 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
19.050 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
19.050 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
19.050 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
19.051 * [backup-simplify]: Simplify (- 0) into 0
19.051 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
19.051 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
19.051 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
19.051 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
19.052 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
19.052 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
19.052 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
19.052 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
19.052 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
19.052 * [backup-simplify]: Simplify (- 0) into 0
19.053 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
19.053 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
19.053 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
19.053 * [backup-simplify]: Simplify (- 0) into 0
19.054 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
19.054 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
19.054 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
19.054 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
19.054 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
19.054 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
19.055 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
19.056 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))
19.056 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
19.058 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
19.060 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) phi2) into (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) phi2)
19.062 * [backup-simplify]: Simplify (* R (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) phi2)) into (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R phi2))
19.064 * [backup-simplify]: Simplify (* phi1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R phi2))) into (* R (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* phi1 phi2)))
19.066 * [backup-simplify]: Simplify (* 0 (* R (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* phi1 phi2)))) into 0
19.071 * [backup-simplify]: Simplify (+ 0) into 0
19.072 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
19.072 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
19.073 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.073 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
19.074 * [backup-simplify]: Simplify (+ 0 0) into 0
19.074 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
19.074 * [backup-simplify]: Simplify (+ 0) into 0
19.075 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
19.075 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
19.076 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.076 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
19.077 * [backup-simplify]: Simplify (+ 0 0) into 0
19.077 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
19.077 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
19.078 * [backup-simplify]: Simplify (+ 0) into 0
19.078 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
19.078 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
19.079 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.080 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
19.080 * [backup-simplify]: Simplify (- 0) into 0
19.080 * [backup-simplify]: Simplify (+ 0 0) into 0
19.080 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
19.081 * [backup-simplify]: Simplify (+ 0) into 0
19.081 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
19.081 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
19.082 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.082 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
19.082 * [backup-simplify]: Simplify (- 0) into 0
19.083 * [backup-simplify]: Simplify (+ 0 0) into 0
19.083 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
19.083 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
19.083 * [backup-simplify]: Simplify (+ 0 0) into 0
19.084 * [backup-simplify]: Simplify (+ 0) into 0
19.084 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
19.084 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
19.084 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.085 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
19.085 * [backup-simplify]: Simplify (- 0) into 0
19.085 * [backup-simplify]: Simplify (+ 0 0) into 0
19.085 * [backup-simplify]: Simplify (+ 0) into 0
19.086 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
19.086 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
19.086 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.087 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
19.087 * [backup-simplify]: Simplify (+ 0 0) into 0
19.087 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
19.087 * [backup-simplify]: Simplify (+ 0) into 0
19.088 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
19.088 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
19.088 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.088 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
19.089 * [backup-simplify]: Simplify (+ 0 0) into 0
19.089 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
19.089 * [backup-simplify]: Simplify (+ 0) into 0
19.089 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
19.089 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
19.090 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.090 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
19.090 * [backup-simplify]: Simplify (- 0) into 0
19.091 * [backup-simplify]: Simplify (+ 0 0) into 0
19.091 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
19.091 * [backup-simplify]: Simplify (+ 0) into 0
19.091 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
19.092 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
19.092 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.092 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
19.093 * [backup-simplify]: Simplify (+ 0 0) into 0
19.093 * [backup-simplify]: Simplify (+ 0) into 0
19.093 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
19.093 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
19.094 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.094 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
19.094 * [backup-simplify]: Simplify (- 0) into 0
19.094 * [backup-simplify]: Simplify (+ 0 0) into 0
19.095 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
19.095 * [backup-simplify]: Simplify (+ 0) into 0
19.095 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
19.095 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
19.096 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.096 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
19.096 * [backup-simplify]: Simplify (- 0) into 0
19.096 * [backup-simplify]: Simplify (+ 0 0) into 0
19.097 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
19.097 * [backup-simplify]: Simplify (+ 0) into 0
19.097 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
19.097 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
19.098 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.098 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
19.098 * [backup-simplify]: Simplify (+ 0 0) into 0
19.099 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
19.099 * [backup-simplify]: Simplify (+ 0 0) into 0
19.099 * [backup-simplify]: Simplify (- 0) into 0
19.099 * [backup-simplify]: Simplify (+ 0 0) into 0
19.100 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (* 0 phi2)) into 0
19.101 * [backup-simplify]: Simplify (+ (* R 0) (* 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) phi2))) into 0
19.102 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R phi2)))) into 0
19.104 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* R (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* phi1 phi2))))) into (- (+ (* phi1 (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (* phi1 (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))))))
19.106 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* phi1 (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (* phi1 (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))))))) into (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* phi1 phi2)))) (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* phi1 phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))))
19.106 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in lambda2
19.106 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in lambda2
19.106 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
19.106 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
19.106 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
19.106 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
19.106 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
19.106 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
19.106 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.106 * [backup-simplify]: Simplify 0.5 into 0.5
19.106 * [taylor]: Taking taylor expansion of phi2 in lambda2
19.106 * [backup-simplify]: Simplify phi2 into phi2
19.106 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
19.107 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
19.107 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
19.107 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
19.107 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
19.107 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
19.107 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
19.107 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
19.107 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
19.107 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.107 * [backup-simplify]: Simplify 0.5 into 0.5
19.107 * [taylor]: Taking taylor expansion of phi1 in lambda2
19.107 * [backup-simplify]: Simplify phi1 into phi1
19.107 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
19.107 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
19.107 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
19.107 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
19.107 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
19.107 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
19.107 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
19.107 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
19.107 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
19.107 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
19.107 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.107 * [backup-simplify]: Simplify 0.5 into 0.5
19.107 * [taylor]: Taking taylor expansion of phi2 in lambda2
19.107 * [backup-simplify]: Simplify phi2 into phi2
19.108 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
19.108 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
19.108 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
19.108 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
19.108 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
19.108 * [backup-simplify]: Simplify (- 0) into 0
19.108 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
19.108 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
19.108 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
19.108 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
19.108 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.108 * [backup-simplify]: Simplify 0.5 into 0.5
19.108 * [taylor]: Taking taylor expansion of phi1 in lambda2
19.108 * [backup-simplify]: Simplify phi1 into phi1
19.108 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
19.108 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
19.109 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
19.109 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
19.109 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
19.109 * [backup-simplify]: Simplify (- 0) into 0
19.109 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
19.109 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
19.109 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
19.109 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
19.110 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
19.110 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.110 * [backup-simplify]: Simplify 0.5 into 0.5
19.110 * [taylor]: Taking taylor expansion of phi2 in lambda2
19.110 * [backup-simplify]: Simplify phi2 into phi2
19.110 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
19.110 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
19.110 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
19.110 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
19.110 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
19.110 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
19.110 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.110 * [backup-simplify]: Simplify 0.5 into 0.5
19.110 * [taylor]: Taking taylor expansion of phi1 in lambda2
19.110 * [backup-simplify]: Simplify phi1 into phi1
19.110 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
19.110 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
19.110 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
19.110 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
19.110 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
19.110 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
19.110 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.111 * [backup-simplify]: Simplify 0.5 into 0.5
19.111 * [taylor]: Taking taylor expansion of phi2 in lambda2
19.111 * [backup-simplify]: Simplify phi2 into phi2
19.111 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
19.111 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
19.111 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
19.111 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
19.111 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
19.111 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.111 * [backup-simplify]: Simplify 0.5 into 0.5
19.111 * [taylor]: Taking taylor expansion of phi1 in lambda2
19.111 * [backup-simplify]: Simplify phi1 into phi1
19.111 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
19.111 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
19.112 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
19.112 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
19.112 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
19.112 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
19.112 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.112 * [backup-simplify]: Simplify 0.5 into 0.5
19.112 * [taylor]: Taking taylor expansion of phi2 in lambda2
19.112 * [backup-simplify]: Simplify phi2 into phi2
19.112 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
19.112 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
19.112 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
19.112 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
19.112 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
19.112 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
19.112 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.112 * [backup-simplify]: Simplify 0.5 into 0.5
19.112 * [taylor]: Taking taylor expansion of phi1 in lambda2
19.112 * [backup-simplify]: Simplify phi1 into phi1
19.112 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
19.112 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
19.113 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
19.113 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
19.113 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
19.113 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
19.113 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.113 * [backup-simplify]: Simplify 0.5 into 0.5
19.113 * [taylor]: Taking taylor expansion of phi2 in lambda2
19.113 * [backup-simplify]: Simplify phi2 into phi2
19.113 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
19.113 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
19.113 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
19.113 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
19.113 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
19.113 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.113 * [backup-simplify]: Simplify 0.5 into 0.5
19.113 * [taylor]: Taking taylor expansion of phi1 in lambda2
19.113 * [backup-simplify]: Simplify phi1 into phi1
19.113 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
19.113 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
19.113 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
19.114 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
19.114 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
19.114 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
19.114 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
19.115 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
19.115 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
19.116 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
19.116 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
19.116 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
19.116 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
19.116 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
19.116 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
19.116 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
19.116 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
19.117 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
19.117 * [backup-simplify]: Simplify (- 0) into 0
19.117 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
19.117 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
19.118 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
19.118 * [backup-simplify]: Simplify (- 0) into 0
19.118 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
19.118 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
19.118 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
19.119 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
19.119 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
19.119 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
19.120 * [backup-simplify]: Simplify (- 0) into 0
19.120 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
19.120 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
19.120 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
19.120 * [backup-simplify]: Simplify (- 0) into 0
19.120 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
19.121 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
19.121 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
19.121 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
19.121 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
19.121 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
19.121 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
19.121 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
19.122 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
19.122 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
19.123 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))
19.124 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
19.126 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
19.128 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
19.130 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
19.131 * [backup-simplify]: Simplify (+ 0) into 0
19.131 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
19.131 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
19.132 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.133 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
19.133 * [backup-simplify]: Simplify (+ 0 0) into 0
19.133 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
19.134 * [backup-simplify]: Simplify (+ 0) into 0
19.134 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
19.135 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
19.135 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.136 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
19.136 * [backup-simplify]: Simplify (+ 0 0) into 0
19.136 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
19.137 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
19.137 * [backup-simplify]: Simplify (+ 0) into 0
19.138 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
19.138 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
19.139 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.139 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
19.140 * [backup-simplify]: Simplify (- 0) into 0
19.140 * [backup-simplify]: Simplify (+ 0 0) into 0
19.140 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
19.141 * [backup-simplify]: Simplify (+ 0) into 0
19.141 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
19.142 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
19.142 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.143 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
19.143 * [backup-simplify]: Simplify (- 0) into 0
19.144 * [backup-simplify]: Simplify (+ 0 0) into 0
19.144 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
19.144 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
19.145 * [backup-simplify]: Simplify (+ 0 0) into 0
19.145 * [backup-simplify]: Simplify (+ 0) into 0
19.145 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
19.146 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
19.146 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.146 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
19.147 * [backup-simplify]: Simplify (- 0) into 0
19.147 * [backup-simplify]: Simplify (+ 0 0) into 0
19.147 * [backup-simplify]: Simplify (+ 0) into 0
19.147 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
19.147 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
19.148 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.148 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
19.148 * [backup-simplify]: Simplify (- 0) into 0
19.149 * [backup-simplify]: Simplify (+ 0 0) into 0
19.149 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
19.149 * [backup-simplify]: Simplify (+ 0) into 0
19.149 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
19.149 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
19.150 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.150 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
19.150 * [backup-simplify]: Simplify (+ 0 0) into 0
19.151 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
19.151 * [backup-simplify]: Simplify (+ 0) into 0
19.151 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
19.151 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
19.152 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.152 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
19.152 * [backup-simplify]: Simplify (+ 0 0) into 0
19.152 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
19.153 * [backup-simplify]: Simplify (+ 0) into 0
19.153 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
19.153 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
19.154 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.154 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
19.154 * [backup-simplify]: Simplify (+ 0 0) into 0
19.154 * [backup-simplify]: Simplify (+ 0) into 0
19.155 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
19.155 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
19.155 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.156 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
19.156 * [backup-simplify]: Simplify (+ 0 0) into 0
19.156 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
19.156 * [backup-simplify]: Simplify (+ 0) into 0
19.157 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
19.157 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
19.157 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.158 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
19.158 * [backup-simplify]: Simplify (- 0) into 0
19.158 * [backup-simplify]: Simplify (+ 0 0) into 0
19.158 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
19.158 * [backup-simplify]: Simplify (+ 0) into 0
19.159 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
19.159 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
19.159 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.160 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
19.160 * [backup-simplify]: Simplify (- 0) into 0
19.160 * [backup-simplify]: Simplify (+ 0 0) into 0
19.160 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
19.160 * [backup-simplify]: Simplify (+ 0 0) into 0
19.161 * [backup-simplify]: Simplify (- 0) into 0
19.161 * [backup-simplify]: Simplify (+ 0 0) into 0
19.163 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
19.164 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
19.164 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (* lambda2 (pow phi2 2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 6) (pow (cos (/ 0.5 phi1)) 6)) (* R (* (pow lambda2 3) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 2 (* (/ (* (pow (sin (/ 0.5 phi2)) 3) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 3)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* (pow phi1 2) (* lambda2 R)))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (+ (* 3 (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 6) (pow (sin (/ 0.5 phi1)) 6)) (* R (* (pow lambda2 3) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 15/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 4) (* (pow (cos (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 2)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 9/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 4) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 4)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 (* phi1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R phi2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* 1/2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (* lambda2 (pow phi2 2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))))))))))) in lambda2
19.165 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (* lambda2 (pow phi2 2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) in lambda2
19.165 * [taylor]: Taking taylor expansion of 1/2 in lambda2
19.165 * [backup-simplify]: Simplify 1/2 into 1/2
19.165 * [taylor]: Taking taylor expansion of (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (* lambda2 (pow phi2 2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) in lambda2
19.165 * [taylor]: Taking taylor expansion of (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (* lambda2 (pow phi2 2))))) in lambda2
19.165 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
19.165 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
19.165 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
19.165 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.165 * [backup-simplify]: Simplify 0.5 into 0.5
19.165 * [taylor]: Taking taylor expansion of phi2 in lambda2
19.165 * [backup-simplify]: Simplify phi2 into phi2
19.165 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
19.165 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
19.165 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
19.165 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
19.165 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
19.165 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
19.165 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.165 * [backup-simplify]: Simplify 0.5 into 0.5
19.165 * [taylor]: Taking taylor expansion of phi1 in lambda2
19.165 * [backup-simplify]: Simplify phi1 into phi1
19.165 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
19.165 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
19.165 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
19.165 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
19.165 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
19.165 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
19.165 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.165 * [backup-simplify]: Simplify 0.5 into 0.5
19.165 * [taylor]: Taking taylor expansion of phi2 in lambda2
19.165 * [backup-simplify]: Simplify phi2 into phi2
19.165 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
19.165 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
19.166 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
19.166 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
19.166 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
19.166 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.166 * [backup-simplify]: Simplify 0.5 into 0.5
19.166 * [taylor]: Taking taylor expansion of phi1 in lambda2
19.166 * [backup-simplify]: Simplify phi1 into phi1
19.166 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
19.166 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
19.166 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
19.166 * [taylor]: Taking taylor expansion of (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (* lambda2 (pow phi2 2)))) in lambda2
19.166 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
19.166 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
19.166 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
19.166 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
19.166 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
19.166 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
19.166 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.166 * [backup-simplify]: Simplify 0.5 into 0.5
19.166 * [taylor]: Taking taylor expansion of phi2 in lambda2
19.166 * [backup-simplify]: Simplify phi2 into phi2
19.166 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
19.166 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
19.166 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
19.166 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
19.166 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
19.166 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
19.166 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
19.166 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
19.166 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
19.166 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.166 * [backup-simplify]: Simplify 0.5 into 0.5
19.166 * [taylor]: Taking taylor expansion of phi1 in lambda2
19.166 * [backup-simplify]: Simplify phi1 into phi1
19.166 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
19.167 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
19.167 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
19.167 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
19.167 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
19.167 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
19.167 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
19.167 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
19.167 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
19.167 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
19.167 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.167 * [backup-simplify]: Simplify 0.5 into 0.5
19.167 * [taylor]: Taking taylor expansion of phi2 in lambda2
19.167 * [backup-simplify]: Simplify phi2 into phi2
19.167 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
19.167 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
19.167 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
19.167 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
19.167 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
19.168 * [backup-simplify]: Simplify (- 0) into 0
19.168 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
19.168 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
19.168 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
19.168 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
19.168 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.168 * [backup-simplify]: Simplify 0.5 into 0.5
19.168 * [taylor]: Taking taylor expansion of phi1 in lambda2
19.168 * [backup-simplify]: Simplify phi1 into phi1
19.168 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
19.168 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
19.168 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
19.168 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
19.168 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
19.168 * [backup-simplify]: Simplify (- 0) into 0
19.168 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
19.168 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
19.168 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
19.168 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
19.169 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
19.169 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.169 * [backup-simplify]: Simplify 0.5 into 0.5
19.169 * [taylor]: Taking taylor expansion of phi2 in lambda2
19.169 * [backup-simplify]: Simplify phi2 into phi2
19.169 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
19.169 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
19.169 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
19.169 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
19.169 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
19.169 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
19.169 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.169 * [backup-simplify]: Simplify 0.5 into 0.5
19.169 * [taylor]: Taking taylor expansion of phi1 in lambda2
19.169 * [backup-simplify]: Simplify phi1 into phi1
19.169 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
19.169 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
19.169 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
19.169 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
19.169 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
19.169 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
19.169 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.169 * [backup-simplify]: Simplify 0.5 into 0.5
19.169 * [taylor]: Taking taylor expansion of phi2 in lambda2
19.169 * [backup-simplify]: Simplify phi2 into phi2
19.169 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
19.169 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
19.169 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
19.169 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
19.169 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
19.169 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.169 * [backup-simplify]: Simplify 0.5 into 0.5
19.169 * [taylor]: Taking taylor expansion of phi1 in lambda2
19.169 * [backup-simplify]: Simplify phi1 into phi1
19.169 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
19.169 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
19.170 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
19.170 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
19.170 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
19.170 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
19.170 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.170 * [backup-simplify]: Simplify 0.5 into 0.5
19.170 * [taylor]: Taking taylor expansion of phi2 in lambda2
19.170 * [backup-simplify]: Simplify phi2 into phi2
19.170 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
19.170 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
19.170 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
19.170 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
19.170 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
19.170 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
19.170 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.170 * [backup-simplify]: Simplify 0.5 into 0.5
19.170 * [taylor]: Taking taylor expansion of phi1 in lambda2
19.170 * [backup-simplify]: Simplify phi1 into phi1
19.170 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
19.170 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
19.170 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
19.170 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
19.170 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
19.170 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
19.170 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.170 * [backup-simplify]: Simplify 0.5 into 0.5
19.170 * [taylor]: Taking taylor expansion of phi2 in lambda2
19.170 * [backup-simplify]: Simplify phi2 into phi2
19.170 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
19.170 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
19.170 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
19.170 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
19.170 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
19.170 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.170 * [backup-simplify]: Simplify 0.5 into 0.5
19.170 * [taylor]: Taking taylor expansion of phi1 in lambda2
19.170 * [backup-simplify]: Simplify phi1 into phi1
19.170 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
19.170 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
19.171 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
19.171 * [taylor]: Taking taylor expansion of (* R (* lambda2 (pow phi2 2))) in lambda2
19.171 * [taylor]: Taking taylor expansion of R in lambda2
19.171 * [backup-simplify]: Simplify R into R
19.171 * [taylor]: Taking taylor expansion of (* lambda2 (pow phi2 2)) in lambda2
19.171 * [taylor]: Taking taylor expansion of lambda2 in lambda2
19.171 * [backup-simplify]: Simplify 0 into 0
19.171 * [backup-simplify]: Simplify 1 into 1
19.171 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2
19.171 * [taylor]: Taking taylor expansion of phi2 in lambda2
19.171 * [backup-simplify]: Simplify phi2 into phi2
19.171 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
19.171 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
19.171 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
19.171 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
19.171 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
19.172 * [backup-simplify]: Simplify (- 0) into 0
19.172 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
19.172 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
19.172 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
19.172 * [backup-simplify]: Simplify (- 0) into 0
19.172 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
19.172 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
19.172 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
19.172 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
19.172 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
19.173 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
19.173 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
19.173 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
19.173 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
19.173 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
19.173 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
19.173 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
19.174 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
19.175 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
19.175 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
19.175 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
19.175 * [backup-simplify]: Simplify (- 0) into 0
19.175 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
19.176 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
19.176 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
19.176 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
19.176 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
19.176 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
19.176 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
19.176 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
19.176 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
19.177 * [backup-simplify]: Simplify (- 0) into 0
19.177 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
19.177 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
19.177 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
19.178 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
19.178 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
19.178 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
19.178 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
19.178 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
19.179 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
19.179 * [backup-simplify]: Simplify (- 0) into 0
19.179 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
19.179 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
19.180 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
19.180 * [backup-simplify]: Simplify (- 0) into 0
19.180 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
19.180 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
19.180 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
19.180 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
19.181 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
19.181 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
19.181 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
19.182 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))
19.183 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
19.185 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
19.185 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
19.185 * [backup-simplify]: Simplify (* 0 (pow phi2 2)) into 0
19.185 * [backup-simplify]: Simplify (* R 0) into 0
19.187 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) into 0
19.187 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0
19.188 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow phi2 2))) into (pow phi2 2)
19.189 * [backup-simplify]: Simplify (+ (* R (pow phi2 2)) (* 0 0)) into (* R (pow phi2 2))
19.189 * [backup-simplify]: Simplify (+ 0) into 0
19.190 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
19.190 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
19.191 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.191 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
19.192 * [backup-simplify]: Simplify (+ 0 0) into 0
19.192 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
19.192 * [backup-simplify]: Simplify (+ 0) into 0
19.193 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
19.193 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
19.194 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.194 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
19.195 * [backup-simplify]: Simplify (+ 0 0) into 0
19.195 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
19.195 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
19.196 * [backup-simplify]: Simplify (+ 0) into 0
19.196 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
19.197 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
19.197 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.198 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
19.198 * [backup-simplify]: Simplify (- 0) into 0
19.199 * [backup-simplify]: Simplify (+ 0 0) into 0
19.199 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
19.199 * [backup-simplify]: Simplify (+ 0) into 0
19.200 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
19.200 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
19.201 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.201 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
19.202 * [backup-simplify]: Simplify (- 0) into 0
19.202 * [backup-simplify]: Simplify (+ 0 0) into 0
19.202 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
19.203 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
19.203 * [backup-simplify]: Simplify (+ 0 0) into 0
19.209 * [backup-simplify]: Simplify (+ 0) into 0
19.210 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
19.210 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
19.211 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.212 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
19.212 * [backup-simplify]: Simplify (- 0) into 0
19.213 * [backup-simplify]: Simplify (+ 0 0) into 0
19.213 * [backup-simplify]: Simplify (+ 0) into 0
19.214 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
19.214 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
19.215 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.215 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
19.215 * [backup-simplify]: Simplify (+ 0 0) into 0
19.216 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
19.216 * [backup-simplify]: Simplify (+ 0) into 0
19.217 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
19.217 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
19.217 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.218 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
19.218 * [backup-simplify]: Simplify (+ 0 0) into 0
19.218 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
19.218 * [backup-simplify]: Simplify (+ 0) into 0
19.219 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
19.219 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
19.219 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.220 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
19.220 * [backup-simplify]: Simplify (- 0) into 0
19.220 * [backup-simplify]: Simplify (+ 0 0) into 0
19.220 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
19.221 * [backup-simplify]: Simplify (+ 0) into 0
19.221 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
19.221 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
19.221 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.222 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
19.222 * [backup-simplify]: Simplify (+ 0 0) into 0
19.222 * [backup-simplify]: Simplify (+ 0) into 0
19.223 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
19.223 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
19.223 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.224 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
19.224 * [backup-simplify]: Simplify (- 0) into 0
19.224 * [backup-simplify]: Simplify (+ 0 0) into 0
19.224 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
19.224 * [backup-simplify]: Simplify (+ 0) into 0
19.225 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
19.225 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
19.225 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.226 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
19.226 * [backup-simplify]: Simplify (- 0) into 0
19.226 * [backup-simplify]: Simplify (+ 0 0) into 0
19.226 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
19.226 * [backup-simplify]: Simplify (+ 0) into 0
19.227 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
19.227 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
19.227 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.228 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
19.228 * [backup-simplify]: Simplify (+ 0 0) into 0
19.228 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
19.228 * [backup-simplify]: Simplify (+ 0 0) into 0
19.229 * [backup-simplify]: Simplify (- 0) into 0
19.229 * [backup-simplify]: Simplify (+ 0 0) into 0
19.230 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow phi2 2))) (* 0 0)) into (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))
19.232 * [backup-simplify]: Simplify (/ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) into (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2)))))))))
19.233 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in lambda2
19.233 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in lambda2
19.233 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
19.233 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
19.233 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
19.233 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
19.233 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
19.233 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
19.233 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.233 * [backup-simplify]: Simplify 0.5 into 0.5
19.233 * [taylor]: Taking taylor expansion of phi2 in lambda2
19.233 * [backup-simplify]: Simplify phi2 into phi2
19.233 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
19.233 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
19.233 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
19.233 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
19.233 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
19.233 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
19.233 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
19.233 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
19.233 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
19.233 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.233 * [backup-simplify]: Simplify 0.5 into 0.5
19.233 * [taylor]: Taking taylor expansion of phi1 in lambda2
19.233 * [backup-simplify]: Simplify phi1 into phi1
19.233 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
19.233 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
19.233 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
19.233 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
19.234 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
19.234 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
19.234 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
19.234 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
19.234 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
19.234 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
19.234 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.234 * [backup-simplify]: Simplify 0.5 into 0.5
19.234 * [taylor]: Taking taylor expansion of phi2 in lambda2
19.234 * [backup-simplify]: Simplify phi2 into phi2
19.234 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
19.234 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
19.234 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
19.234 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
19.234 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
19.234 * [backup-simplify]: Simplify (- 0) into 0
19.234 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
19.234 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
19.234 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
19.235 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
19.235 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.235 * [backup-simplify]: Simplify 0.5 into 0.5
19.235 * [taylor]: Taking taylor expansion of phi1 in lambda2
19.235 * [backup-simplify]: Simplify phi1 into phi1
19.235 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
19.235 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
19.235 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
19.235 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
19.235 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
19.235 * [backup-simplify]: Simplify (- 0) into 0
19.235 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
19.235 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
19.235 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
19.235 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
19.235 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
19.235 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.235 * [backup-simplify]: Simplify 0.5 into 0.5
19.235 * [taylor]: Taking taylor expansion of phi2 in lambda2
19.235 * [backup-simplify]: Simplify phi2 into phi2
19.235 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
19.235 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
19.235 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
19.236 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
19.236 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
19.236 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
19.236 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.236 * [backup-simplify]: Simplify 0.5 into 0.5
19.236 * [taylor]: Taking taylor expansion of phi1 in lambda2
19.236 * [backup-simplify]: Simplify phi1 into phi1
19.236 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
19.236 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
19.236 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
19.236 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
19.236 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
19.236 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
19.236 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.236 * [backup-simplify]: Simplify 0.5 into 0.5
19.236 * [taylor]: Taking taylor expansion of phi2 in lambda2
19.236 * [backup-simplify]: Simplify phi2 into phi2
19.236 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
19.236 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
19.236 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
19.236 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
19.236 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
19.236 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.236 * [backup-simplify]: Simplify 0.5 into 0.5
19.236 * [taylor]: Taking taylor expansion of phi1 in lambda2
19.236 * [backup-simplify]: Simplify phi1 into phi1
19.236 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
19.236 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
19.236 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
19.236 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
19.236 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
19.236 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
19.236 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.236 * [backup-simplify]: Simplify 0.5 into 0.5
19.236 * [taylor]: Taking taylor expansion of phi2 in lambda2
19.236 * [backup-simplify]: Simplify phi2 into phi2
19.236 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
19.236 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
19.237 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
19.237 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
19.237 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
19.237 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
19.237 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.237 * [backup-simplify]: Simplify 0.5 into 0.5
19.237 * [taylor]: Taking taylor expansion of phi1 in lambda2
19.237 * [backup-simplify]: Simplify phi1 into phi1
19.237 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
19.237 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
19.237 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
19.237 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
19.237 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
19.237 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
19.237 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.237 * [backup-simplify]: Simplify 0.5 into 0.5
19.237 * [taylor]: Taking taylor expansion of phi2 in lambda2
19.237 * [backup-simplify]: Simplify phi2 into phi2
19.237 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
19.237 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
19.237 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
19.237 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
19.237 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
19.237 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.237 * [backup-simplify]: Simplify 0.5 into 0.5
19.237 * [taylor]: Taking taylor expansion of phi1 in lambda2
19.237 * [backup-simplify]: Simplify phi1 into phi1
19.237 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
19.237 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
19.237 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
19.237 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
19.237 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
19.238 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
19.238 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
19.238 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
19.238 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
19.239 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
19.239 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
19.239 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
19.239 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
19.239 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
19.239 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
19.239 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
19.239 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
19.239 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
19.240 * [backup-simplify]: Simplify (- 0) into 0
19.240 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
19.240 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
19.240 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
19.240 * [backup-simplify]: Simplify (- 0) into 0
19.240 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
19.240 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
19.240 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
19.241 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
19.241 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
19.241 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
19.241 * [backup-simplify]: Simplify (- 0) into 0
19.241 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
19.241 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
19.242 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
19.242 * [backup-simplify]: Simplify (- 0) into 0
19.242 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
19.242 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
19.242 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
19.242 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
19.242 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
19.242 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
19.242 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
19.242 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
19.242 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
19.243 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
19.243 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))
19.243 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
19.245 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
19.246 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
19.248 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
19.249 * [backup-simplify]: Simplify (+ 0) into 0
19.250 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
19.250 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
19.251 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.251 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
19.251 * [backup-simplify]: Simplify (+ 0 0) into 0
19.252 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
19.252 * [backup-simplify]: Simplify (+ 0) into 0
19.253 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
19.253 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
19.254 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.254 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
19.255 * [backup-simplify]: Simplify (+ 0 0) into 0
19.255 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
19.255 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
19.256 * [backup-simplify]: Simplify (+ 0) into 0
19.256 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
19.257 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
19.257 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.258 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
19.258 * [backup-simplify]: Simplify (- 0) into 0
19.259 * [backup-simplify]: Simplify (+ 0 0) into 0
19.259 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
19.259 * [backup-simplify]: Simplify (+ 0) into 0
19.260 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
19.260 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
19.261 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.261 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
19.262 * [backup-simplify]: Simplify (- 0) into 0
19.262 * [backup-simplify]: Simplify (+ 0 0) into 0
19.263 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
19.263 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
19.263 * [backup-simplify]: Simplify (+ 0 0) into 0
19.264 * [backup-simplify]: Simplify (+ 0) into 0
19.264 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
19.265 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
19.265 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.266 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
19.266 * [backup-simplify]: Simplify (- 0) into 0
19.267 * [backup-simplify]: Simplify (+ 0 0) into 0
19.267 * [backup-simplify]: Simplify (+ 0) into 0
19.268 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
19.268 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
19.269 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.269 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
19.269 * [backup-simplify]: Simplify (- 0) into 0
19.270 * [backup-simplify]: Simplify (+ 0 0) into 0
19.270 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
19.271 * [backup-simplify]: Simplify (+ 0) into 0
19.271 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
19.271 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
19.272 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.273 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
19.273 * [backup-simplify]: Simplify (+ 0 0) into 0
19.274 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
19.274 * [backup-simplify]: Simplify (+ 0) into 0
19.275 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
19.275 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
19.276 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.276 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
19.276 * [backup-simplify]: Simplify (+ 0 0) into 0
19.277 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
19.277 * [backup-simplify]: Simplify (+ 0) into 0
19.278 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
19.278 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
19.279 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.279 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
19.280 * [backup-simplify]: Simplify (+ 0 0) into 0
19.280 * [backup-simplify]: Simplify (+ 0) into 0
19.281 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
19.281 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
19.282 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.282 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
19.283 * [backup-simplify]: Simplify (+ 0 0) into 0
19.283 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
19.283 * [backup-simplify]: Simplify (+ 0) into 0
19.284 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
19.284 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
19.285 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.285 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
19.286 * [backup-simplify]: Simplify (- 0) into 0
19.286 * [backup-simplify]: Simplify (+ 0 0) into 0
19.286 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
19.287 * [backup-simplify]: Simplify (+ 0) into 0
19.287 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
19.288 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
19.288 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.289 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
19.289 * [backup-simplify]: Simplify (- 0) into 0
19.290 * [backup-simplify]: Simplify (+ 0 0) into 0
19.290 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
19.290 * [backup-simplify]: Simplify (+ 0 0) into 0
19.291 * [backup-simplify]: Simplify (- 0) into 0
19.291 * [backup-simplify]: Simplify (+ 0 0) into 0
19.295 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
19.298 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
19.298 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 6) (pow (cos (/ 0.5 phi1)) 6)) (* R (* (pow lambda2 3) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 2 (* (/ (* (pow (sin (/ 0.5 phi2)) 3) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 3)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* (pow phi1 2) (* lambda2 R)))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (+ (* 3 (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 6) (pow (sin (/ 0.5 phi1)) 6)) (* R (* (pow lambda2 3) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 15/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 4) (* (pow (cos (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 2)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 9/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 4) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 4)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 (* phi1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R phi2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* 1/2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (* lambda2 (pow phi2 2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))))))))) in lambda2
19.298 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 6) (pow (cos (/ 0.5 phi1)) 6)) (* R (* (pow lambda2 3) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) in lambda2
19.299 * [taylor]: Taking taylor expansion of 1/2 in lambda2
19.299 * [backup-simplify]: Simplify 1/2 into 1/2
19.299 * [taylor]: Taking taylor expansion of (* (/ (* (pow (cos (/ 0.5 phi2)) 6) (pow (cos (/ 0.5 phi1)) 6)) (* R (* (pow lambda2 3) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3)))) in lambda2
19.299 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi2)) 6) (pow (cos (/ 0.5 phi1)) 6)) (* R (* (pow lambda2 3) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) in lambda2
19.299 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 6) (pow (cos (/ 0.5 phi1)) 6)) in lambda2
19.299 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 6) in lambda2
19.299 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
19.299 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
19.299 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.299 * [backup-simplify]: Simplify 0.5 into 0.5
19.299 * [taylor]: Taking taylor expansion of phi2 in lambda2
19.299 * [backup-simplify]: Simplify phi2 into phi2
19.299 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
19.299 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
19.299 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
19.299 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
19.300 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
19.300 * [backup-simplify]: Simplify (- 0) into 0
19.300 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
19.300 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 6) in lambda2
19.300 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
19.300 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
19.300 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.300 * [backup-simplify]: Simplify 0.5 into 0.5
19.300 * [taylor]: Taking taylor expansion of phi1 in lambda2
19.301 * [backup-simplify]: Simplify phi1 into phi1
19.301 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
19.301 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
19.301 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
19.301 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
19.301 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
19.302 * [backup-simplify]: Simplify (- 0) into 0
19.302 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
19.302 * [taylor]: Taking taylor expansion of (* R (* (pow lambda2 3) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in lambda2
19.302 * [taylor]: Taking taylor expansion of R in lambda2
19.302 * [backup-simplify]: Simplify R into R
19.302 * [taylor]: Taking taylor expansion of (* (pow lambda2 3) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in lambda2
19.302 * [taylor]: Taking taylor expansion of (pow lambda2 3) in lambda2
19.302 * [taylor]: Taking taylor expansion of lambda2 in lambda2
19.302 * [backup-simplify]: Simplify 0 into 0
19.302 * [backup-simplify]: Simplify 1 into 1
19.302 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
19.302 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
19.302 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
19.302 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
19.302 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
19.302 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
19.302 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.302 * [backup-simplify]: Simplify 0.5 into 0.5
19.302 * [taylor]: Taking taylor expansion of phi2 in lambda2
19.302 * [backup-simplify]: Simplify phi2 into phi2
19.302 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
19.303 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
19.303 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
19.303 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
19.303 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
19.303 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
19.303 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
19.303 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
19.303 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
19.303 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.303 * [backup-simplify]: Simplify 0.5 into 0.5
19.303 * [taylor]: Taking taylor expansion of phi1 in lambda2
19.303 * [backup-simplify]: Simplify phi1 into phi1
19.303 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
19.303 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
19.303 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
19.304 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
19.304 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
19.304 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
19.304 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
19.304 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
19.304 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
19.304 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
19.304 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.304 * [backup-simplify]: Simplify 0.5 into 0.5
19.304 * [taylor]: Taking taylor expansion of phi2 in lambda2
19.304 * [backup-simplify]: Simplify phi2 into phi2
19.304 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
19.304 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
19.304 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
19.305 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
19.305 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
19.305 * [backup-simplify]: Simplify (- 0) into 0
19.305 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
19.305 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
19.306 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
19.306 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
19.306 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.306 * [backup-simplify]: Simplify 0.5 into 0.5
19.306 * [taylor]: Taking taylor expansion of phi1 in lambda2
19.306 * [backup-simplify]: Simplify phi1 into phi1
19.306 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
19.306 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
19.306 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
19.306 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
19.306 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
19.307 * [backup-simplify]: Simplify (- 0) into 0
19.307 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
19.307 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
19.307 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
19.307 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
19.307 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
19.307 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.307 * [backup-simplify]: Simplify 0.5 into 0.5
19.307 * [taylor]: Taking taylor expansion of phi2 in lambda2
19.307 * [backup-simplify]: Simplify phi2 into phi2
19.307 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
19.307 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
19.307 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
19.307 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
19.307 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
19.308 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
19.308 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.308 * [backup-simplify]: Simplify 0.5 into 0.5
19.308 * [taylor]: Taking taylor expansion of phi1 in lambda2
19.308 * [backup-simplify]: Simplify phi1 into phi1
19.308 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
19.308 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
19.308 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
19.308 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
19.308 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
19.308 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
19.308 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.308 * [backup-simplify]: Simplify 0.5 into 0.5
19.308 * [taylor]: Taking taylor expansion of phi2 in lambda2
19.308 * [backup-simplify]: Simplify phi2 into phi2
19.308 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
19.308 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
19.308 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
19.308 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
19.309 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
19.309 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.309 * [backup-simplify]: Simplify 0.5 into 0.5
19.309 * [taylor]: Taking taylor expansion of phi1 in lambda2
19.309 * [backup-simplify]: Simplify phi1 into phi1
19.309 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
19.309 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
19.309 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
19.309 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
19.309 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
19.309 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
19.309 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.309 * [backup-simplify]: Simplify 0.5 into 0.5
19.309 * [taylor]: Taking taylor expansion of phi2 in lambda2
19.309 * [backup-simplify]: Simplify phi2 into phi2
19.309 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
19.309 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
19.309 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
19.309 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
19.310 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
19.310 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
19.310 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.310 * [backup-simplify]: Simplify 0.5 into 0.5
19.310 * [taylor]: Taking taylor expansion of phi1 in lambda2
19.310 * [backup-simplify]: Simplify phi1 into phi1
19.310 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
19.310 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
19.310 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
19.310 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
19.310 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
19.310 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
19.310 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.310 * [backup-simplify]: Simplify 0.5 into 0.5
19.310 * [taylor]: Taking taylor expansion of phi2 in lambda2
19.310 * [backup-simplify]: Simplify phi2 into phi2
19.310 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
19.310 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
19.311 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
19.311 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
19.311 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
19.311 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.311 * [backup-simplify]: Simplify 0.5 into 0.5
19.311 * [taylor]: Taking taylor expansion of phi1 in lambda2
19.311 * [backup-simplify]: Simplify phi1 into phi1
19.311 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
19.311 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
19.311 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
19.312 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
19.312 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (pow (cos (/ 0.5 phi2)) 2)) into (pow (cos (/ 0.5 phi2)) 3)
19.312 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 3) (pow (cos (/ 0.5 phi2)) 3)) into (pow (cos (/ 0.5 phi2)) 6)
19.312 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
19.313 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (pow (cos (/ 0.5 phi1)) 2)) into (pow (cos (/ 0.5 phi1)) 3)
19.313 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 3) (pow (cos (/ 0.5 phi1)) 3)) into (pow (cos (/ 0.5 phi1)) 6)
19.313 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 6) (pow (cos (/ 0.5 phi1)) 6)) into (* (pow (cos (/ 0.5 phi2)) 6) (pow (cos (/ 0.5 phi1)) 6))
19.314 * [backup-simplify]: Simplify (* 1 1) into 1
19.315 * [backup-simplify]: Simplify (* 1 1) into 1
19.315 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
19.315 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
19.315 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
19.315 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
19.316 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
19.316 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
19.317 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
19.317 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
19.317 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
19.318 * [backup-simplify]: Simplify (- 0) into 0
19.318 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
19.318 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
19.318 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
19.318 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
19.318 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
19.318 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
19.318 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
19.319 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
19.319 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
19.319 * [backup-simplify]: Simplify (- 0) into 0
19.319 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
19.319 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
19.320 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
19.320 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
19.320 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
19.320 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
19.320 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
19.321 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
19.321 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
19.321 * [backup-simplify]: Simplify (- 0) into 0
19.321 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
19.322 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
19.322 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
19.322 * [backup-simplify]: Simplify (- 0) into 0
19.322 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
19.322 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
19.322 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
19.323 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
19.323 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
19.323 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
19.324 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
19.325 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))
19.326 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
19.328 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
19.330 * [backup-simplify]: Simplify (* 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
19.333 * [backup-simplify]: Simplify (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)
19.335 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi2)) 6) (pow (cos (/ 0.5 phi1)) 6)) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) into (/ (* (pow (cos (/ 0.5 phi2)) 6) (pow (cos (/ 0.5 phi1)) 6)) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
19.335 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))) in lambda2
19.335 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3)) in lambda2
19.335 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3) in lambda2
19.335 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
19.336 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
19.336 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
19.336 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
19.336 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
19.336 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
19.336 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.336 * [backup-simplify]: Simplify 0.5 into 0.5
19.336 * [taylor]: Taking taylor expansion of phi2 in lambda2
19.336 * [backup-simplify]: Simplify phi2 into phi2
19.336 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
19.336 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
19.336 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
19.336 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
19.336 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
19.336 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
19.336 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
19.337 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
19.337 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
19.337 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.337 * [backup-simplify]: Simplify 0.5 into 0.5
19.337 * [taylor]: Taking taylor expansion of phi1 in lambda2
19.337 * [backup-simplify]: Simplify phi1 into phi1
19.337 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
19.337 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
19.337 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
19.337 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
19.337 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
19.337 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
19.337 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
19.337 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
19.337 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
19.337 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
19.338 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.338 * [backup-simplify]: Simplify 0.5 into 0.5
19.338 * [taylor]: Taking taylor expansion of phi2 in lambda2
19.338 * [backup-simplify]: Simplify phi2 into phi2
19.338 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
19.338 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
19.338 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
19.338 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
19.338 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
19.339 * [backup-simplify]: Simplify (- 0) into 0
19.339 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
19.339 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
19.339 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
19.339 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
19.339 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.339 * [backup-simplify]: Simplify 0.5 into 0.5
19.339 * [taylor]: Taking taylor expansion of phi1 in lambda2
19.339 * [backup-simplify]: Simplify phi1 into phi1
19.339 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
19.339 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
19.339 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
19.339 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
19.340 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
19.340 * [backup-simplify]: Simplify (- 0) into 0
19.340 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
19.340 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
19.340 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
19.340 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
19.340 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
19.340 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.340 * [backup-simplify]: Simplify 0.5 into 0.5
19.340 * [taylor]: Taking taylor expansion of phi2 in lambda2
19.340 * [backup-simplify]: Simplify phi2 into phi2
19.341 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
19.341 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
19.341 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
19.341 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
19.341 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
19.341 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
19.341 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.341 * [backup-simplify]: Simplify 0.5 into 0.5
19.341 * [taylor]: Taking taylor expansion of phi1 in lambda2
19.341 * [backup-simplify]: Simplify phi1 into phi1
19.341 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
19.341 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
19.341 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
19.341 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
19.341 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
19.341 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
19.341 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.341 * [backup-simplify]: Simplify 0.5 into 0.5
19.341 * [taylor]: Taking taylor expansion of phi2 in lambda2
19.341 * [backup-simplify]: Simplify phi2 into phi2
19.342 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
19.342 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
19.342 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
19.342 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
19.342 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
19.342 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.342 * [backup-simplify]: Simplify 0.5 into 0.5
19.342 * [taylor]: Taking taylor expansion of phi1 in lambda2
19.342 * [backup-simplify]: Simplify phi1 into phi1
19.342 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
19.342 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
19.342 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
19.342 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
19.342 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
19.342 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
19.342 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.342 * [backup-simplify]: Simplify 0.5 into 0.5
19.342 * [taylor]: Taking taylor expansion of phi2 in lambda2
19.342 * [backup-simplify]: Simplify phi2 into phi2
19.342 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
19.343 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
19.343 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
19.343 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
19.343 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
19.343 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
19.343 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.343 * [backup-simplify]: Simplify 0.5 into 0.5
19.343 * [taylor]: Taking taylor expansion of phi1 in lambda2
19.343 * [backup-simplify]: Simplify phi1 into phi1
19.343 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
19.343 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
19.343 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
19.343 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
19.343 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
19.343 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
19.343 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.343 * [backup-simplify]: Simplify 0.5 into 0.5
19.343 * [taylor]: Taking taylor expansion of phi2 in lambda2
19.343 * [backup-simplify]: Simplify phi2 into phi2
19.343 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
19.344 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
19.344 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
19.344 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
19.344 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
19.344 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.344 * [backup-simplify]: Simplify 0.5 into 0.5
19.344 * [taylor]: Taking taylor expansion of phi1 in lambda2
19.344 * [backup-simplify]: Simplify phi1 into phi1
19.344 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
19.344 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
19.344 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
19.344 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
19.345 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
19.345 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
19.345 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
19.345 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
19.346 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
19.347 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
19.347 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
19.347 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
19.347 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
19.347 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
19.347 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
19.347 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
19.347 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
19.347 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
19.348 * [backup-simplify]: Simplify (- 0) into 0
19.348 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
19.348 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
19.348 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
19.349 * [backup-simplify]: Simplify (- 0) into 0
19.349 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
19.349 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
19.349 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
19.350 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
19.350 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
19.350 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
19.351 * [backup-simplify]: Simplify (- 0) into 0
19.351 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
19.351 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
19.351 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
19.351 * [backup-simplify]: Simplify (- 0) into 0
19.351 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
19.352 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
19.352 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
19.352 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
19.352 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
19.352 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
19.352 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
19.352 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
19.353 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
19.353 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
19.354 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))
19.355 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
19.357 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
19.361 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)
19.365 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)) into (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
19.369 * [backup-simplify]: Simplify (/ 1 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)))
19.373 * [backup-simplify]: Simplify (sqrt (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)))) into (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))
19.374 * [backup-simplify]: Simplify (+ 0) into 0
19.375 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
19.375 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
19.376 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.381 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
19.381 * [backup-simplify]: Simplify (+ 0 0) into 0
19.382 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
19.382 * [backup-simplify]: Simplify (+ 0) into 0
19.383 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
19.383 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
19.384 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.384 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
19.385 * [backup-simplify]: Simplify (+ 0 0) into 0
19.385 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
19.385 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
19.386 * [backup-simplify]: Simplify (+ 0) into 0
19.386 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
19.387 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
19.387 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.388 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
19.388 * [backup-simplify]: Simplify (- 0) into 0
19.389 * [backup-simplify]: Simplify (+ 0 0) into 0
19.389 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
19.389 * [backup-simplify]: Simplify (+ 0) into 0
19.390 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
19.390 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
19.391 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.391 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
19.392 * [backup-simplify]: Simplify (- 0) into 0
19.392 * [backup-simplify]: Simplify (+ 0 0) into 0
19.392 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
19.393 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
19.393 * [backup-simplify]: Simplify (+ 0 0) into 0
19.394 * [backup-simplify]: Simplify (+ 0) into 0
19.394 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
19.394 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
19.395 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.396 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
19.396 * [backup-simplify]: Simplify (- 0) into 0
19.396 * [backup-simplify]: Simplify (+ 0 0) into 0
19.397 * [backup-simplify]: Simplify (+ 0) into 0
19.397 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
19.398 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
19.399 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.399 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
19.399 * [backup-simplify]: Simplify (- 0) into 0
19.400 * [backup-simplify]: Simplify (+ 0 0) into 0
19.400 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
19.401 * [backup-simplify]: Simplify (+ 0) into 0
19.401 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
19.401 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
19.402 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.403 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
19.403 * [backup-simplify]: Simplify (+ 0 0) into 0
19.403 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
19.404 * [backup-simplify]: Simplify (+ 0) into 0
19.404 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
19.404 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
19.405 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.406 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
19.406 * [backup-simplify]: Simplify (+ 0 0) into 0
19.406 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
19.407 * [backup-simplify]: Simplify (+ 0) into 0
19.408 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
19.408 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
19.409 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.409 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
19.410 * [backup-simplify]: Simplify (+ 0 0) into 0
19.410 * [backup-simplify]: Simplify (+ 0) into 0
19.411 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
19.411 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
19.412 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.412 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
19.412 * [backup-simplify]: Simplify (+ 0 0) into 0
19.413 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
19.413 * [backup-simplify]: Simplify (+ 0) into 0
19.414 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
19.414 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
19.415 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.415 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
19.416 * [backup-simplify]: Simplify (- 0) into 0
19.416 * [backup-simplify]: Simplify (+ 0 0) into 0
19.416 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
19.417 * [backup-simplify]: Simplify (+ 0) into 0
19.417 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
19.418 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
19.418 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.419 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
19.419 * [backup-simplify]: Simplify (- 0) into 0
19.420 * [backup-simplify]: Simplify (+ 0 0) into 0
19.420 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
19.420 * [backup-simplify]: Simplify (+ 0 0) into 0
19.421 * [backup-simplify]: Simplify (- 0) into 0
19.421 * [backup-simplify]: Simplify (+ 0 0) into 0
19.425 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into 0
19.429 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2))) into 0
19.438 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2))) (/ 0 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
19.443 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)))))) into 0
19.443 * [taylor]: Taking taylor expansion of (+ (* 2 (* (/ (* (pow (sin (/ 0.5 phi2)) 3) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 3)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* (pow phi1 2) (* lambda2 R)))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (+ (* 3 (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 6) (pow (sin (/ 0.5 phi1)) 6)) (* R (* (pow lambda2 3) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 15/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 4) (* (pow (cos (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 2)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 9/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 4) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 4)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 (* phi1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R phi2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* 1/2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (* lambda2 (pow phi2 2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))))))))) in lambda2
19.444 * [taylor]: Taking taylor expansion of (* 2 (* (/ (* (pow (sin (/ 0.5 phi2)) 3) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 3)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) in lambda2
19.444 * [taylor]: Taking taylor expansion of 2 in lambda2
19.444 * [backup-simplify]: Simplify 2 into 2
19.444 * [taylor]: Taking taylor expansion of (* (/ (* (pow (sin (/ 0.5 phi2)) 3) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 3)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) in lambda2
19.444 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi2)) 3) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 3)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) in lambda2
19.444 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 3) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 3)))) in lambda2
19.444 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 3) in lambda2
19.444 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
19.444 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
19.444 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.444 * [backup-simplify]: Simplify 0.5 into 0.5
19.444 * [taylor]: Taking taylor expansion of phi2 in lambda2
19.444 * [backup-simplify]: Simplify phi2 into phi2
19.444 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
19.444 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
19.444 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
19.445 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
19.445 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
19.445 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
19.445 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 3))) in lambda2
19.445 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
19.445 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
19.445 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.445 * [backup-simplify]: Simplify 0.5 into 0.5
19.445 * [taylor]: Taking taylor expansion of phi1 in lambda2
19.445 * [backup-simplify]: Simplify phi1 into phi1
19.445 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
19.445 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
19.445 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
19.445 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 3)) in lambda2
19.445 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
19.445 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
19.445 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.445 * [backup-simplify]: Simplify 0.5 into 0.5
19.445 * [taylor]: Taking taylor expansion of phi2 in lambda2
19.445 * [backup-simplify]: Simplify phi2 into phi2
19.446 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
19.446 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
19.446 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
19.446 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 3) in lambda2
19.446 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
19.446 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
19.446 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.446 * [backup-simplify]: Simplify 0.5 into 0.5
19.446 * [taylor]: Taking taylor expansion of phi1 in lambda2
19.446 * [backup-simplify]: Simplify phi1 into phi1
19.446 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
19.446 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
19.446 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
19.446 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
19.446 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
19.446 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
19.446 * [taylor]: Taking taylor expansion of (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3))) in lambda2
19.447 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
19.447 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
19.447 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
19.447 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
19.447 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
19.447 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
19.447 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.447 * [backup-simplify]: Simplify 0.5 into 0.5
19.447 * [taylor]: Taking taylor expansion of phi2 in lambda2
19.447 * [backup-simplify]: Simplify phi2 into phi2
19.447 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
19.447 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
19.447 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
19.447 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
19.447 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
19.447 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
19.447 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
19.447 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
19.448 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
19.448 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.448 * [backup-simplify]: Simplify 0.5 into 0.5
19.448 * [taylor]: Taking taylor expansion of phi1 in lambda2
19.448 * [backup-simplify]: Simplify phi1 into phi1
19.448 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
19.448 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
19.448 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
19.448 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
19.448 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
19.448 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
19.448 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
19.448 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
19.448 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
19.448 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
19.448 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.448 * [backup-simplify]: Simplify 0.5 into 0.5
19.448 * [taylor]: Taking taylor expansion of phi2 in lambda2
19.448 * [backup-simplify]: Simplify phi2 into phi2
19.448 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
19.449 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
19.449 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
19.449 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
19.449 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
19.449 * [backup-simplify]: Simplify (- 0) into 0
19.450 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
19.450 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
19.450 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
19.450 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
19.450 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.450 * [backup-simplify]: Simplify 0.5 into 0.5
19.450 * [taylor]: Taking taylor expansion of phi1 in lambda2
19.450 * [backup-simplify]: Simplify phi1 into phi1
19.450 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
19.450 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
19.450 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
19.450 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
19.450 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
19.451 * [backup-simplify]: Simplify (- 0) into 0
19.451 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
19.451 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
19.451 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
19.451 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
19.451 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
19.451 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.451 * [backup-simplify]: Simplify 0.5 into 0.5
19.451 * [taylor]: Taking taylor expansion of phi2 in lambda2
19.451 * [backup-simplify]: Simplify phi2 into phi2
19.451 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
19.451 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
19.451 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
19.451 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
19.451 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
19.451 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
19.451 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.451 * [backup-simplify]: Simplify 0.5 into 0.5
19.451 * [taylor]: Taking taylor expansion of phi1 in lambda2
19.451 * [backup-simplify]: Simplify phi1 into phi1
19.451 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
19.452 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
19.452 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
19.452 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
19.452 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
19.452 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
19.452 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.452 * [backup-simplify]: Simplify 0.5 into 0.5
19.452 * [taylor]: Taking taylor expansion of phi2 in lambda2
19.452 * [backup-simplify]: Simplify phi2 into phi2
19.452 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
19.452 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
19.452 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
19.452 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
19.452 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
19.452 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.452 * [backup-simplify]: Simplify 0.5 into 0.5
19.452 * [taylor]: Taking taylor expansion of phi1 in lambda2
19.452 * [backup-simplify]: Simplify phi1 into phi1
19.452 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
19.452 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
19.452 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
19.452 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
19.453 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
19.453 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
19.453 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.453 * [backup-simplify]: Simplify 0.5 into 0.5
19.453 * [taylor]: Taking taylor expansion of phi2 in lambda2
19.453 * [backup-simplify]: Simplify phi2 into phi2
19.453 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
19.453 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
19.453 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
19.453 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
19.453 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
19.453 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
19.453 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.453 * [backup-simplify]: Simplify 0.5 into 0.5
19.453 * [taylor]: Taking taylor expansion of phi1 in lambda2
19.453 * [backup-simplify]: Simplify phi1 into phi1
19.453 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
19.453 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
19.453 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
19.453 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
19.453 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
19.453 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
19.453 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.453 * [backup-simplify]: Simplify 0.5 into 0.5
19.454 * [taylor]: Taking taylor expansion of phi2 in lambda2
19.454 * [backup-simplify]: Simplify phi2 into phi2
19.454 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
19.454 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
19.454 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
19.454 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
19.454 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
19.454 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.454 * [backup-simplify]: Simplify 0.5 into 0.5
19.454 * [taylor]: Taking taylor expansion of phi1 in lambda2
19.454 * [backup-simplify]: Simplify phi1 into phi1
19.454 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
19.454 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
19.454 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
19.454 * [taylor]: Taking taylor expansion of (* R (pow lambda2 3)) in lambda2
19.454 * [taylor]: Taking taylor expansion of R in lambda2
19.454 * [backup-simplify]: Simplify R into R
19.454 * [taylor]: Taking taylor expansion of (pow lambda2 3) in lambda2
19.454 * [taylor]: Taking taylor expansion of lambda2 in lambda2
19.454 * [backup-simplify]: Simplify 0 into 0
19.454 * [backup-simplify]: Simplify 1 into 1
19.455 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
19.455 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (pow (sin (/ 0.5 phi2)) 2)) into (pow (sin (/ 0.5 phi2)) 3)
19.455 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
19.455 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
19.455 * [backup-simplify]: Simplify (- 0) into 0
19.456 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
19.456 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
19.456 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
19.456 * [backup-simplify]: Simplify (- 0) into 0
19.456 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
19.457 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
19.457 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (pow (sin (/ 0.5 phi1)) 2)) into (pow (sin (/ 0.5 phi1)) 3)
19.457 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 3)) into (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 3))
19.457 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 3))) into (* (pow (sin (/ 0.5 phi1)) 3) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
19.458 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 3) (* (pow (sin (/ 0.5 phi1)) 3) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (pow (sin (/ 0.5 phi1)) 3) (* (pow (sin (/ 0.5 phi2)) 3) (cos (/ 0.5 phi1)))))
19.458 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
19.458 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
19.459 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
19.459 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
19.459 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
19.459 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
19.460 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
19.460 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
19.460 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
19.461 * [backup-simplify]: Simplify (- 0) into 0
19.461 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
19.461 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
19.461 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
19.461 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
19.461 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
19.461 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
19.461 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
19.462 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
19.462 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
19.462 * [backup-simplify]: Simplify (- 0) into 0
19.462 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
19.462 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
19.463 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
19.463 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
19.463 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
19.463 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
19.463 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
19.463 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
19.463 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
19.464 * [backup-simplify]: Simplify (- 0) into 0
19.464 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
19.464 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
19.464 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
19.465 * [backup-simplify]: Simplify (- 0) into 0
19.465 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
19.465 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
19.465 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
19.465 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
19.465 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
19.465 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
19.466 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
19.466 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))
19.467 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
19.469 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
19.470 * [backup-simplify]: Simplify (* 1 1) into 1
19.470 * [backup-simplify]: Simplify (* 1 1) into 1
19.470 * [backup-simplify]: Simplify (* R 1) into R
19.472 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R) into (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)
19.474 * [backup-simplify]: Simplify (/ (* (cos (/ 0.5 phi2)) (* (pow (sin (/ 0.5 phi1)) 3) (* (pow (sin (/ 0.5 phi2)) 3) (cos (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) into (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
19.475 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in lambda2
19.475 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in lambda2
19.475 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
19.475 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
19.475 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
19.475 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
19.475 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
19.475 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
19.475 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.475 * [backup-simplify]: Simplify 0.5 into 0.5
19.475 * [taylor]: Taking taylor expansion of phi2 in lambda2
19.475 * [backup-simplify]: Simplify phi2 into phi2
19.475 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
19.475 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
19.475 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
19.475 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
19.475 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
19.476 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
19.476 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
19.476 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
19.476 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
19.476 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.476 * [backup-simplify]: Simplify 0.5 into 0.5
19.476 * [taylor]: Taking taylor expansion of phi1 in lambda2
19.476 * [backup-simplify]: Simplify phi1 into phi1
19.476 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
19.476 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
19.476 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
19.476 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
19.476 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
19.476 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
19.476 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
19.476 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
19.476 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
19.476 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
19.476 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.476 * [backup-simplify]: Simplify 0.5 into 0.5
19.476 * [taylor]: Taking taylor expansion of phi2 in lambda2
19.477 * [backup-simplify]: Simplify phi2 into phi2
19.477 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
19.477 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
19.477 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
19.477 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
19.477 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
19.478 * [backup-simplify]: Simplify (- 0) into 0
19.478 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
19.478 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
19.478 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
19.478 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
19.478 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.478 * [backup-simplify]: Simplify 0.5 into 0.5
19.478 * [taylor]: Taking taylor expansion of phi1 in lambda2
19.478 * [backup-simplify]: Simplify phi1 into phi1
19.478 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
19.478 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
19.478 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
19.478 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
19.478 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
19.479 * [backup-simplify]: Simplify (- 0) into 0
19.479 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
19.479 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
19.479 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
19.479 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
19.479 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
19.479 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.479 * [backup-simplify]: Simplify 0.5 into 0.5
19.479 * [taylor]: Taking taylor expansion of phi2 in lambda2
19.479 * [backup-simplify]: Simplify phi2 into phi2
19.479 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
19.479 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
19.479 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
19.479 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
19.479 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
19.479 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
19.479 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.479 * [backup-simplify]: Simplify 0.5 into 0.5
19.479 * [taylor]: Taking taylor expansion of phi1 in lambda2
19.479 * [backup-simplify]: Simplify phi1 into phi1
19.480 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
19.480 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
19.480 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
19.480 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
19.480 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
19.480 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
19.480 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.480 * [backup-simplify]: Simplify 0.5 into 0.5
19.480 * [taylor]: Taking taylor expansion of phi2 in lambda2
19.480 * [backup-simplify]: Simplify phi2 into phi2
19.480 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
19.480 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
19.480 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
19.480 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
19.480 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
19.480 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.480 * [backup-simplify]: Simplify 0.5 into 0.5
19.480 * [taylor]: Taking taylor expansion of phi1 in lambda2
19.480 * [backup-simplify]: Simplify phi1 into phi1
19.480 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
19.480 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
19.481 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
19.481 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
19.481 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
19.481 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
19.481 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.481 * [backup-simplify]: Simplify 0.5 into 0.5
19.481 * [taylor]: Taking taylor expansion of phi2 in lambda2
19.481 * [backup-simplify]: Simplify phi2 into phi2
19.481 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
19.481 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
19.481 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
19.481 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
19.481 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
19.481 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
19.481 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.481 * [backup-simplify]: Simplify 0.5 into 0.5
19.481 * [taylor]: Taking taylor expansion of phi1 in lambda2
19.481 * [backup-simplify]: Simplify phi1 into phi1
19.481 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
19.481 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
19.481 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
19.481 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
19.482 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
19.482 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
19.482 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.482 * [backup-simplify]: Simplify 0.5 into 0.5
19.482 * [taylor]: Taking taylor expansion of phi2 in lambda2
19.482 * [backup-simplify]: Simplify phi2 into phi2
19.482 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
19.482 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
19.482 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
19.482 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
19.482 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
19.482 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.482 * [backup-simplify]: Simplify 0.5 into 0.5
19.482 * [taylor]: Taking taylor expansion of phi1 in lambda2
19.482 * [backup-simplify]: Simplify phi1 into phi1
19.482 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
19.482 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
19.482 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
19.482 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
19.483 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
19.483 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
19.483 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
19.483 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
19.484 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
19.484 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
19.485 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
19.485 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
19.485 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
19.485 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
19.485 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
19.485 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
19.485 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
19.485 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
19.486 * [backup-simplify]: Simplify (- 0) into 0
19.486 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
19.486 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
19.486 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
19.487 * [backup-simplify]: Simplify (- 0) into 0
19.487 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
19.487 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
19.487 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
19.487 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
19.488 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
19.488 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
19.488 * [backup-simplify]: Simplify (- 0) into 0
19.488 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
19.488 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
19.488 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
19.489 * [backup-simplify]: Simplify (- 0) into 0
19.489 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
19.489 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
19.489 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
19.489 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
19.489 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
19.489 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
19.489 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
19.490 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
19.490 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
19.490 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
19.491 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))
19.492 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
19.494 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
19.496 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
19.498 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
19.499 * [backup-simplify]: Simplify (+ 0) into 0
19.499 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
19.499 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
19.500 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.501 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
19.501 * [backup-simplify]: Simplify (+ 0 0) into 0
19.501 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
19.502 * [backup-simplify]: Simplify (+ 0) into 0
19.502 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
19.502 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
19.503 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.504 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
19.504 * [backup-simplify]: Simplify (+ 0 0) into 0
19.504 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
19.505 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
19.505 * [backup-simplify]: Simplify (+ 0) into 0
19.506 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
19.506 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
19.507 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.507 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
19.507 * [backup-simplify]: Simplify (- 0) into 0
19.508 * [backup-simplify]: Simplify (+ 0 0) into 0
19.508 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
19.508 * [backup-simplify]: Simplify (+ 0) into 0
19.509 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
19.509 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
19.510 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.510 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
19.511 * [backup-simplify]: Simplify (- 0) into 0
19.511 * [backup-simplify]: Simplify (+ 0 0) into 0
19.511 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
19.512 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
19.512 * [backup-simplify]: Simplify (+ 0 0) into 0
19.512 * [backup-simplify]: Simplify (+ 0) into 0
19.513 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
19.513 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
19.514 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.514 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
19.515 * [backup-simplify]: Simplify (- 0) into 0
19.515 * [backup-simplify]: Simplify (+ 0 0) into 0
19.515 * [backup-simplify]: Simplify (+ 0) into 0
19.516 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
19.516 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
19.517 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.517 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
19.518 * [backup-simplify]: Simplify (- 0) into 0
19.518 * [backup-simplify]: Simplify (+ 0 0) into 0
19.518 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
19.519 * [backup-simplify]: Simplify (+ 0) into 0
19.519 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
19.519 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
19.520 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.521 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
19.521 * [backup-simplify]: Simplify (+ 0 0) into 0
19.521 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
19.522 * [backup-simplify]: Simplify (+ 0) into 0
19.522 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
19.522 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
19.523 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.523 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
19.524 * [backup-simplify]: Simplify (+ 0 0) into 0
19.524 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
19.525 * [backup-simplify]: Simplify (+ 0) into 0
19.525 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
19.525 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
19.526 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.526 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
19.527 * [backup-simplify]: Simplify (+ 0 0) into 0
19.527 * [backup-simplify]: Simplify (+ 0) into 0
19.528 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
19.528 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
19.528 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.529 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
19.529 * [backup-simplify]: Simplify (+ 0 0) into 0
19.530 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
19.530 * [backup-simplify]: Simplify (+ 0) into 0
19.530 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
19.531 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
19.531 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.532 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
19.532 * [backup-simplify]: Simplify (- 0) into 0
19.533 * [backup-simplify]: Simplify (+ 0 0) into 0
19.533 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
19.533 * [backup-simplify]: Simplify (+ 0) into 0
19.534 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
19.534 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
19.535 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.535 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
19.536 * [backup-simplify]: Simplify (- 0) into 0
19.536 * [backup-simplify]: Simplify (+ 0 0) into 0
19.536 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
19.537 * [backup-simplify]: Simplify (+ 0 0) into 0
19.537 * [backup-simplify]: Simplify (- 0) into 0
19.537 * [backup-simplify]: Simplify (+ 0 0) into 0
19.541 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
19.544 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
19.544 * [taylor]: Taking taylor expansion of (+ (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* (pow phi1 2) (* lambda2 R)))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (+ (* 3 (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 6) (pow (sin (/ 0.5 phi1)) 6)) (* R (* (pow lambda2 3) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 15/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 4) (* (pow (cos (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 2)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 9/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 4) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 4)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 (* phi1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R phi2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* 1/2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (* lambda2 (pow phi2 2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))))))) in lambda2
19.545 * [taylor]: Taking taylor expansion of (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* (pow phi1 2) (* lambda2 R)))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) in lambda2
19.545 * [taylor]: Taking taylor expansion of (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* (pow phi1 2) (* lambda2 R)))) in lambda2
19.545 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
19.545 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
19.545 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
19.545 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.545 * [backup-simplify]: Simplify 0.5 into 0.5
19.545 * [taylor]: Taking taylor expansion of phi2 in lambda2
19.545 * [backup-simplify]: Simplify phi2 into phi2
19.545 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
19.545 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
19.545 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
19.545 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
19.545 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
19.545 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
19.545 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.545 * [backup-simplify]: Simplify 0.5 into 0.5
19.545 * [taylor]: Taking taylor expansion of phi1 in lambda2
19.545 * [backup-simplify]: Simplify phi1 into phi1
19.545 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
19.546 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
19.546 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
19.546 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
19.546 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
19.546 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
19.546 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.546 * [backup-simplify]: Simplify 0.5 into 0.5
19.546 * [taylor]: Taking taylor expansion of phi2 in lambda2
19.546 * [backup-simplify]: Simplify phi2 into phi2
19.546 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
19.546 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
19.546 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
19.546 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
19.546 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
19.546 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.546 * [backup-simplify]: Simplify 0.5 into 0.5
19.546 * [taylor]: Taking taylor expansion of phi1 in lambda2
19.546 * [backup-simplify]: Simplify phi1 into phi1
19.546 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
19.546 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
19.547 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
19.547 * [taylor]: Taking taylor expansion of (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* (pow phi1 2) (* lambda2 R))) in lambda2
19.547 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
19.547 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
19.547 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
19.547 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
19.547 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
19.547 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
19.547 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.547 * [backup-simplify]: Simplify 0.5 into 0.5
19.547 * [taylor]: Taking taylor expansion of phi2 in lambda2
19.547 * [backup-simplify]: Simplify phi2 into phi2
19.547 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
19.547 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
19.547 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
19.547 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
19.547 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
19.548 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
19.548 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
19.548 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
19.548 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
19.548 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.548 * [backup-simplify]: Simplify 0.5 into 0.5
19.548 * [taylor]: Taking taylor expansion of phi1 in lambda2
19.548 * [backup-simplify]: Simplify phi1 into phi1
19.548 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
19.548 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
19.548 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
19.548 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
19.548 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
19.548 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
19.548 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
19.548 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
19.548 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
19.548 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
19.549 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.549 * [backup-simplify]: Simplify 0.5 into 0.5
19.549 * [taylor]: Taking taylor expansion of phi2 in lambda2
19.549 * [backup-simplify]: Simplify phi2 into phi2
19.549 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
19.549 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
19.549 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
19.549 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
19.549 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
19.550 * [backup-simplify]: Simplify (- 0) into 0
19.550 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
19.550 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
19.550 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
19.550 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
19.550 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.550 * [backup-simplify]: Simplify 0.5 into 0.5
19.550 * [taylor]: Taking taylor expansion of phi1 in lambda2
19.550 * [backup-simplify]: Simplify phi1 into phi1
19.550 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
19.550 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
19.550 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
19.550 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
19.550 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
19.551 * [backup-simplify]: Simplify (- 0) into 0
19.551 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
19.551 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
19.551 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
19.551 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
19.551 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
19.551 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.551 * [backup-simplify]: Simplify 0.5 into 0.5
19.551 * [taylor]: Taking taylor expansion of phi2 in lambda2
19.551 * [backup-simplify]: Simplify phi2 into phi2
19.551 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
19.551 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
19.551 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
19.551 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
19.551 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
19.551 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
19.551 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.551 * [backup-simplify]: Simplify 0.5 into 0.5
19.552 * [taylor]: Taking taylor expansion of phi1 in lambda2
19.552 * [backup-simplify]: Simplify phi1 into phi1
19.552 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
19.552 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
19.552 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
19.552 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
19.552 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
19.552 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
19.552 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.552 * [backup-simplify]: Simplify 0.5 into 0.5
19.552 * [taylor]: Taking taylor expansion of phi2 in lambda2
19.552 * [backup-simplify]: Simplify phi2 into phi2
19.552 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
19.552 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
19.552 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
19.552 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
19.552 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
19.552 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.552 * [backup-simplify]: Simplify 0.5 into 0.5
19.552 * [taylor]: Taking taylor expansion of phi1 in lambda2
19.552 * [backup-simplify]: Simplify phi1 into phi1
19.552 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
19.552 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
19.553 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
19.553 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
19.553 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
19.553 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
19.553 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.553 * [backup-simplify]: Simplify 0.5 into 0.5
19.553 * [taylor]: Taking taylor expansion of phi2 in lambda2
19.553 * [backup-simplify]: Simplify phi2 into phi2
19.553 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
19.553 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
19.553 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
19.553 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
19.553 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
19.553 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
19.553 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.553 * [backup-simplify]: Simplify 0.5 into 0.5
19.553 * [taylor]: Taking taylor expansion of phi1 in lambda2
19.553 * [backup-simplify]: Simplify phi1 into phi1
19.553 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
19.553 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
19.553 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
19.554 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
19.554 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
19.554 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
19.554 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.554 * [backup-simplify]: Simplify 0.5 into 0.5
19.554 * [taylor]: Taking taylor expansion of phi2 in lambda2
19.554 * [backup-simplify]: Simplify phi2 into phi2
19.554 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
19.554 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
19.554 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
19.554 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
19.554 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
19.554 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.554 * [backup-simplify]: Simplify 0.5 into 0.5
19.554 * [taylor]: Taking taylor expansion of phi1 in lambda2
19.554 * [backup-simplify]: Simplify phi1 into phi1
19.554 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
19.554 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
19.554 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
19.554 * [taylor]: Taking taylor expansion of (* (pow phi1 2) (* lambda2 R)) in lambda2
19.554 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2
19.554 * [taylor]: Taking taylor expansion of phi1 in lambda2
19.554 * [backup-simplify]: Simplify phi1 into phi1
19.554 * [taylor]: Taking taylor expansion of (* lambda2 R) in lambda2
19.555 * [taylor]: Taking taylor expansion of lambda2 in lambda2
19.555 * [backup-simplify]: Simplify 0 into 0
19.555 * [backup-simplify]: Simplify 1 into 1
19.555 * [taylor]: Taking taylor expansion of R in lambda2
19.555 * [backup-simplify]: Simplify R into R
19.555 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
19.555 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
19.555 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
19.555 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
19.555 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
19.560 * [backup-simplify]: Simplify (- 0) into 0
19.560 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
19.560 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
19.560 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
19.561 * [backup-simplify]: Simplify (- 0) into 0
19.561 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
19.561 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
19.561 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
19.562 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
19.562 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
19.562 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
19.562 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
19.563 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
19.563 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
19.563 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
19.563 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
19.564 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
19.564 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
19.565 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
19.565 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
19.565 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
19.565 * [backup-simplify]: Simplify (- 0) into 0
19.565 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
19.566 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
19.566 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
19.566 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
19.566 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
19.566 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
19.566 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
19.566 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
19.566 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
19.567 * [backup-simplify]: Simplify (- 0) into 0
19.567 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
19.567 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
19.567 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
19.567 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
19.568 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
19.568 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
19.568 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
19.568 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
19.568 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
19.568 * [backup-simplify]: Simplify (- 0) into 0
19.569 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
19.569 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
19.569 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
19.569 * [backup-simplify]: Simplify (- 0) into 0
19.569 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
19.569 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
19.569 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
19.570 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
19.570 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
19.570 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
19.570 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
19.571 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))
19.572 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
19.574 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
19.574 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
19.574 * [backup-simplify]: Simplify (* 0 R) into 0
19.574 * [backup-simplify]: Simplify (* (pow phi1 2) 0) into 0
19.576 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) into 0
19.576 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 R)) into R
19.577 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0
19.577 * [backup-simplify]: Simplify (+ (* (pow phi1 2) R) (* 0 0)) into (* (pow phi1 2) R)
19.577 * [backup-simplify]: Simplify (+ 0) into 0
19.578 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
19.578 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
19.579 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.579 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
19.580 * [backup-simplify]: Simplify (+ 0 0) into 0
19.580 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
19.580 * [backup-simplify]: Simplify (+ 0) into 0
19.581 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
19.581 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
19.582 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.582 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
19.583 * [backup-simplify]: Simplify (+ 0 0) into 0
19.583 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
19.583 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
19.584 * [backup-simplify]: Simplify (+ 0) into 0
19.584 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
19.584 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
19.585 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.586 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
19.586 * [backup-simplify]: Simplify (- 0) into 0
19.586 * [backup-simplify]: Simplify (+ 0 0) into 0
19.587 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
19.587 * [backup-simplify]: Simplify (+ 0) into 0
19.587 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
19.588 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
19.588 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.589 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
19.589 * [backup-simplify]: Simplify (- 0) into 0
19.590 * [backup-simplify]: Simplify (+ 0 0) into 0
19.590 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
19.590 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
19.590 * [backup-simplify]: Simplify (+ 0 0) into 0
19.591 * [backup-simplify]: Simplify (+ 0) into 0
19.591 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
19.591 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
19.592 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.593 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
19.593 * [backup-simplify]: Simplify (- 0) into 0
19.593 * [backup-simplify]: Simplify (+ 0 0) into 0
19.594 * [backup-simplify]: Simplify (+ 0) into 0
19.594 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
19.595 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
19.595 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.596 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
19.596 * [backup-simplify]: Simplify (+ 0 0) into 0
19.596 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
19.597 * [backup-simplify]: Simplify (+ 0) into 0
19.597 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
19.597 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
19.598 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.599 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
19.599 * [backup-simplify]: Simplify (+ 0 0) into 0
19.599 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
19.600 * [backup-simplify]: Simplify (+ 0) into 0
19.600 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
19.600 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
19.601 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.602 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
19.602 * [backup-simplify]: Simplify (- 0) into 0
19.603 * [backup-simplify]: Simplify (+ 0 0) into 0
19.603 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
19.604 * [backup-simplify]: Simplify (+ 0) into 0
19.604 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
19.604 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
19.605 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.606 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
19.606 * [backup-simplify]: Simplify (+ 0 0) into 0
19.606 * [backup-simplify]: Simplify (+ 0) into 0
19.607 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
19.607 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
19.608 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.608 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
19.609 * [backup-simplify]: Simplify (- 0) into 0
19.609 * [backup-simplify]: Simplify (+ 0 0) into 0
19.609 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
19.609 * [backup-simplify]: Simplify (+ 0) into 0
19.610 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
19.610 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
19.611 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.611 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
19.612 * [backup-simplify]: Simplify (- 0) into 0
19.612 * [backup-simplify]: Simplify (+ 0 0) into 0
19.612 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
19.613 * [backup-simplify]: Simplify (+ 0) into 0
19.613 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
19.613 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
19.614 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.615 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
19.615 * [backup-simplify]: Simplify (+ 0 0) into 0
19.615 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
19.616 * [backup-simplify]: Simplify (+ 0 0) into 0
19.616 * [backup-simplify]: Simplify (- 0) into 0
19.616 * [backup-simplify]: Simplify (+ 0 0) into 0
19.619 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* (pow phi1 2) R)) (* 0 0)) into (- (+ (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)))) (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2))))) (+ (* (sin (/ 0.5 phi1)) (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow phi1 2)))))) (* (cos (/ 0.5 phi1)) (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (pow phi1 2))))))))
19.623 * [backup-simplify]: Simplify (/ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (- (+ (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)))) (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2))))) (+ (* (sin (/ 0.5 phi1)) (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow phi1 2)))))) (* (cos (/ 0.5 phi1)) (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (pow phi1 2))))))))) into (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* (pow phi1 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (* (pow phi1 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)))) (+ (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* R (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* R (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))
19.623 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in lambda2
19.623 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in lambda2
19.623 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
19.623 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
19.623 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
19.623 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
19.623 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
19.623 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
19.623 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.623 * [backup-simplify]: Simplify 0.5 into 0.5
19.624 * [taylor]: Taking taylor expansion of phi2 in lambda2
19.624 * [backup-simplify]: Simplify phi2 into phi2
19.624 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
19.624 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
19.624 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
19.624 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
19.624 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
19.624 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
19.624 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
19.624 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
19.624 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
19.624 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.624 * [backup-simplify]: Simplify 0.5 into 0.5
19.624 * [taylor]: Taking taylor expansion of phi1 in lambda2
19.624 * [backup-simplify]: Simplify phi1 into phi1
19.624 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
19.624 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
19.625 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
19.625 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
19.625 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
19.625 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
19.625 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
19.625 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
19.625 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
19.625 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
19.625 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.625 * [backup-simplify]: Simplify 0.5 into 0.5
19.625 * [taylor]: Taking taylor expansion of phi2 in lambda2
19.625 * [backup-simplify]: Simplify phi2 into phi2
19.625 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
19.625 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
19.625 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
19.625 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
19.626 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
19.626 * [backup-simplify]: Simplify (- 0) into 0
19.626 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
19.626 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
19.626 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
19.626 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
19.626 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.626 * [backup-simplify]: Simplify 0.5 into 0.5
19.626 * [taylor]: Taking taylor expansion of phi1 in lambda2
19.626 * [backup-simplify]: Simplify phi1 into phi1
19.627 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
19.627 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
19.627 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
19.627 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
19.627 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
19.627 * [backup-simplify]: Simplify (- 0) into 0
19.627 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
19.627 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
19.628 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
19.628 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
19.628 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
19.628 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.628 * [backup-simplify]: Simplify 0.5 into 0.5
19.628 * [taylor]: Taking taylor expansion of phi2 in lambda2
19.628 * [backup-simplify]: Simplify phi2 into phi2
19.628 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
19.628 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
19.628 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
19.628 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
19.628 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
19.628 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
19.628 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.628 * [backup-simplify]: Simplify 0.5 into 0.5
19.628 * [taylor]: Taking taylor expansion of phi1 in lambda2
19.628 * [backup-simplify]: Simplify phi1 into phi1
19.628 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
19.628 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
19.628 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
19.628 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
19.628 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
19.628 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
19.629 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.629 * [backup-simplify]: Simplify 0.5 into 0.5
19.629 * [taylor]: Taking taylor expansion of phi2 in lambda2
19.629 * [backup-simplify]: Simplify phi2 into phi2
19.629 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
19.629 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
19.629 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
19.629 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
19.629 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
19.629 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.629 * [backup-simplify]: Simplify 0.5 into 0.5
19.629 * [taylor]: Taking taylor expansion of phi1 in lambda2
19.629 * [backup-simplify]: Simplify phi1 into phi1
19.629 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
19.629 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
19.629 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
19.629 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
19.629 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
19.629 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
19.629 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.629 * [backup-simplify]: Simplify 0.5 into 0.5
19.629 * [taylor]: Taking taylor expansion of phi2 in lambda2
19.629 * [backup-simplify]: Simplify phi2 into phi2
19.630 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
19.630 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
19.630 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
19.630 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
19.630 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
19.630 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
19.630 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.630 * [backup-simplify]: Simplify 0.5 into 0.5
19.630 * [taylor]: Taking taylor expansion of phi1 in lambda2
19.630 * [backup-simplify]: Simplify phi1 into phi1
19.630 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
19.630 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
19.630 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
19.630 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
19.630 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
19.630 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
19.630 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.630 * [backup-simplify]: Simplify 0.5 into 0.5
19.630 * [taylor]: Taking taylor expansion of phi2 in lambda2
19.630 * [backup-simplify]: Simplify phi2 into phi2
19.631 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
19.631 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
19.631 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
19.631 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
19.631 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
19.631 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.631 * [backup-simplify]: Simplify 0.5 into 0.5
19.631 * [taylor]: Taking taylor expansion of phi1 in lambda2
19.631 * [backup-simplify]: Simplify phi1 into phi1
19.631 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
19.631 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
19.631 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
19.631 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
19.631 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
19.632 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
19.632 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
19.632 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
19.633 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
19.633 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
19.633 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
19.634 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
19.634 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
19.634 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
19.634 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
19.634 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
19.634 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
19.634 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
19.635 * [backup-simplify]: Simplify (- 0) into 0
19.635 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
19.635 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
19.635 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
19.635 * [backup-simplify]: Simplify (- 0) into 0
19.636 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
19.636 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
19.636 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
19.636 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
19.636 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
19.637 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
19.637 * [backup-simplify]: Simplify (- 0) into 0
19.637 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
19.637 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
19.637 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
19.638 * [backup-simplify]: Simplify (- 0) into 0
19.638 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
19.638 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
19.638 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
19.638 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
19.638 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
19.638 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
19.638 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
19.639 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
19.639 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
19.639 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
19.640 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))
19.641 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
19.643 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
19.644 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
19.646 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
19.647 * [backup-simplify]: Simplify (+ 0) into 0
19.648 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
19.648 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
19.649 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.649 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
19.650 * [backup-simplify]: Simplify (+ 0 0) into 0
19.650 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
19.650 * [backup-simplify]: Simplify (+ 0) into 0
19.651 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
19.651 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
19.652 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.652 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
19.653 * [backup-simplify]: Simplify (+ 0 0) into 0
19.653 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
19.653 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
19.654 * [backup-simplify]: Simplify (+ 0) into 0
19.654 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
19.655 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
19.655 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.656 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
19.656 * [backup-simplify]: Simplify (- 0) into 0
19.657 * [backup-simplify]: Simplify (+ 0 0) into 0
19.657 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
19.657 * [backup-simplify]: Simplify (+ 0) into 0
19.658 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
19.658 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
19.659 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.659 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
19.659 * [backup-simplify]: Simplify (- 0) into 0
19.660 * [backup-simplify]: Simplify (+ 0 0) into 0
19.660 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
19.660 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
19.661 * [backup-simplify]: Simplify (+ 0 0) into 0
19.661 * [backup-simplify]: Simplify (+ 0) into 0
19.662 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
19.662 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
19.663 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.663 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
19.663 * [backup-simplify]: Simplify (- 0) into 0
19.664 * [backup-simplify]: Simplify (+ 0 0) into 0
19.664 * [backup-simplify]: Simplify (+ 0) into 0
19.665 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
19.665 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
19.666 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.666 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
19.667 * [backup-simplify]: Simplify (- 0) into 0
19.667 * [backup-simplify]: Simplify (+ 0 0) into 0
19.667 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
19.667 * [backup-simplify]: Simplify (+ 0) into 0
19.668 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
19.668 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
19.669 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.670 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
19.670 * [backup-simplify]: Simplify (+ 0 0) into 0
19.670 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
19.671 * [backup-simplify]: Simplify (+ 0) into 0
19.671 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
19.671 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
19.672 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.672 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
19.673 * [backup-simplify]: Simplify (+ 0 0) into 0
19.673 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
19.674 * [backup-simplify]: Simplify (+ 0) into 0
19.674 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
19.674 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
19.675 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.676 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
19.676 * [backup-simplify]: Simplify (+ 0 0) into 0
19.676 * [backup-simplify]: Simplify (+ 0) into 0
19.677 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
19.677 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
19.678 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.678 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
19.679 * [backup-simplify]: Simplify (+ 0 0) into 0
19.679 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
19.679 * [backup-simplify]: Simplify (+ 0) into 0
19.680 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
19.680 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
19.681 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.681 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
19.681 * [backup-simplify]: Simplify (- 0) into 0
19.682 * [backup-simplify]: Simplify (+ 0 0) into 0
19.682 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
19.682 * [backup-simplify]: Simplify (+ 0) into 0
19.683 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
19.683 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
19.684 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.685 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
19.685 * [backup-simplify]: Simplify (- 0) into 0
19.685 * [backup-simplify]: Simplify (+ 0 0) into 0
19.686 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
19.686 * [backup-simplify]: Simplify (+ 0 0) into 0
19.686 * [backup-simplify]: Simplify (- 0) into 0
19.687 * [backup-simplify]: Simplify (+ 0 0) into 0
19.690 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
19.691 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
19.691 * [taylor]: Taking taylor expansion of (+ (* 3 (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 6) (pow (sin (/ 0.5 phi1)) 6)) (* R (* (pow lambda2 3) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 15/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 4) (* (pow (cos (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 2)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 9/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 4) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 4)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 (* phi1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R phi2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* 1/2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (* lambda2 (pow phi2 2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))))))) in lambda2
19.692 * [taylor]: Taking taylor expansion of (* 3 (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) in lambda2
19.692 * [taylor]: Taking taylor expansion of 3 in lambda2
19.692 * [backup-simplify]: Simplify 3 into 3
19.692 * [taylor]: Taking taylor expansion of (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3)))) in lambda2
19.692 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) in lambda2
19.692 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)))) in lambda2
19.692 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
19.692 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
19.692 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
19.692 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.692 * [backup-simplify]: Simplify 0.5 into 0.5
19.692 * [taylor]: Taking taylor expansion of phi2 in lambda2
19.692 * [backup-simplify]: Simplify phi2 into phi2
19.692 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
19.692 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
19.692 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
19.692 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
19.692 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
19.693 * [backup-simplify]: Simplify (- 0) into 0
19.693 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
19.693 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4))) in lambda2
19.693 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
19.693 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
19.693 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
19.693 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.693 * [backup-simplify]: Simplify 0.5 into 0.5
19.693 * [taylor]: Taking taylor expansion of phi1 in lambda2
19.693 * [backup-simplify]: Simplify phi1 into phi1
19.693 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
19.693 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
19.693 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
19.693 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
19.693 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
19.694 * [backup-simplify]: Simplify (- 0) into 0
19.694 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
19.694 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)) in lambda2
19.694 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 4) in lambda2
19.694 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
19.694 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
19.694 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.694 * [backup-simplify]: Simplify 0.5 into 0.5
19.694 * [taylor]: Taking taylor expansion of phi2 in lambda2
19.694 * [backup-simplify]: Simplify phi2 into phi2
19.694 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
19.694 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
19.694 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
19.694 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
19.694 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
19.694 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
19.694 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 4) in lambda2
19.694 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
19.694 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
19.694 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.694 * [backup-simplify]: Simplify 0.5 into 0.5
19.694 * [taylor]: Taking taylor expansion of phi1 in lambda2
19.694 * [backup-simplify]: Simplify phi1 into phi1
19.694 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
19.695 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
19.695 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
19.695 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
19.695 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
19.695 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
19.695 * [taylor]: Taking taylor expansion of (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3))) in lambda2
19.695 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
19.695 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
19.695 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
19.695 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
19.695 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
19.695 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
19.695 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.695 * [backup-simplify]: Simplify 0.5 into 0.5
19.695 * [taylor]: Taking taylor expansion of phi2 in lambda2
19.695 * [backup-simplify]: Simplify phi2 into phi2
19.695 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
19.695 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
19.695 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
19.695 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
19.695 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
19.695 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
19.695 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
19.695 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
19.695 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
19.695 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.695 * [backup-simplify]: Simplify 0.5 into 0.5
19.695 * [taylor]: Taking taylor expansion of phi1 in lambda2
19.695 * [backup-simplify]: Simplify phi1 into phi1
19.695 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
19.696 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
19.696 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
19.696 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
19.696 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
19.696 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
19.696 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
19.696 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
19.696 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
19.696 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
19.696 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.696 * [backup-simplify]: Simplify 0.5 into 0.5
19.696 * [taylor]: Taking taylor expansion of phi2 in lambda2
19.696 * [backup-simplify]: Simplify phi2 into phi2
19.696 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
19.696 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
19.696 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
19.696 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
19.696 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
19.696 * [backup-simplify]: Simplify (- 0) into 0
19.697 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
19.697 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
19.697 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
19.697 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
19.697 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.697 * [backup-simplify]: Simplify 0.5 into 0.5
19.697 * [taylor]: Taking taylor expansion of phi1 in lambda2
19.697 * [backup-simplify]: Simplify phi1 into phi1
19.697 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
19.697 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
19.697 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
19.697 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
19.697 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
19.697 * [backup-simplify]: Simplify (- 0) into 0
19.697 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
19.697 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
19.697 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
19.697 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
19.697 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
19.697 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.697 * [backup-simplify]: Simplify 0.5 into 0.5
19.697 * [taylor]: Taking taylor expansion of phi2 in lambda2
19.697 * [backup-simplify]: Simplify phi2 into phi2
19.698 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
19.698 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
19.698 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
19.698 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
19.698 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
19.698 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
19.698 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.698 * [backup-simplify]: Simplify 0.5 into 0.5
19.698 * [taylor]: Taking taylor expansion of phi1 in lambda2
19.698 * [backup-simplify]: Simplify phi1 into phi1
19.698 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
19.698 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
19.698 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
19.698 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
19.698 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
19.698 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
19.698 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.698 * [backup-simplify]: Simplify 0.5 into 0.5
19.698 * [taylor]: Taking taylor expansion of phi2 in lambda2
19.698 * [backup-simplify]: Simplify phi2 into phi2
19.698 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
19.698 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
19.698 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
19.698 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
19.698 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
19.698 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.698 * [backup-simplify]: Simplify 0.5 into 0.5
19.698 * [taylor]: Taking taylor expansion of phi1 in lambda2
19.698 * [backup-simplify]: Simplify phi1 into phi1
19.698 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
19.698 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
19.698 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
19.698 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
19.698 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
19.698 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
19.698 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.699 * [backup-simplify]: Simplify 0.5 into 0.5
19.699 * [taylor]: Taking taylor expansion of phi2 in lambda2
19.699 * [backup-simplify]: Simplify phi2 into phi2
19.699 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
19.699 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
19.699 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
19.699 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
19.699 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
19.699 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
19.699 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.699 * [backup-simplify]: Simplify 0.5 into 0.5
19.699 * [taylor]: Taking taylor expansion of phi1 in lambda2
19.699 * [backup-simplify]: Simplify phi1 into phi1
19.699 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
19.699 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
19.699 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
19.699 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
19.699 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
19.699 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
19.699 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.699 * [backup-simplify]: Simplify 0.5 into 0.5
19.699 * [taylor]: Taking taylor expansion of phi2 in lambda2
19.699 * [backup-simplify]: Simplify phi2 into phi2
19.699 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
19.699 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
19.699 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
19.699 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
19.699 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
19.699 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.699 * [backup-simplify]: Simplify 0.5 into 0.5
19.699 * [taylor]: Taking taylor expansion of phi1 in lambda2
19.699 * [backup-simplify]: Simplify phi1 into phi1
19.699 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
19.699 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
19.699 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
19.699 * [taylor]: Taking taylor expansion of (* R (pow lambda2 3)) in lambda2
19.699 * [taylor]: Taking taylor expansion of R in lambda2
19.700 * [backup-simplify]: Simplify R into R
19.700 * [taylor]: Taking taylor expansion of (pow lambda2 3) in lambda2
19.700 * [taylor]: Taking taylor expansion of lambda2 in lambda2
19.700 * [backup-simplify]: Simplify 0 into 0
19.700 * [backup-simplify]: Simplify 1 into 1
19.700 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
19.700 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
19.700 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
19.700 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (pow (sin (/ 0.5 phi2)) 4)
19.700 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
19.700 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (pow (sin (/ 0.5 phi1)) 4)
19.701 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)) into (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4))
19.701 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4))) into (* (pow (sin (/ 0.5 phi1)) 4) (* (pow (sin (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi1)) 2)))
19.701 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 4) (* (pow (sin (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi1)) 2)))) into (* (pow (sin (/ 0.5 phi2)) 4) (* (pow (sin (/ 0.5 phi1)) 4) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))))
19.701 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
19.701 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
19.702 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
19.702 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
19.702 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
19.702 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
19.702 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
19.702 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
19.703 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
19.703 * [backup-simplify]: Simplify (- 0) into 0
19.703 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
19.703 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
19.703 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
19.703 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
19.703 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
19.703 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
19.703 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
19.703 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
19.704 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
19.704 * [backup-simplify]: Simplify (- 0) into 0
19.704 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
19.704 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
19.704 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
19.704 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
19.704 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
19.704 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
19.705 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
19.705 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
19.705 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
19.705 * [backup-simplify]: Simplify (- 0) into 0
19.705 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
19.705 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
19.705 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
19.705 * [backup-simplify]: Simplify (- 0) into 0
19.705 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
19.706 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
19.706 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
19.706 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
19.706 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
19.706 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
19.706 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
19.706 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))
19.707 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
19.708 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
19.708 * [backup-simplify]: Simplify (* 1 1) into 1
19.708 * [backup-simplify]: Simplify (* 1 1) into 1
19.708 * [backup-simplify]: Simplify (* R 1) into R
19.709 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R) into (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)
19.711 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi2)) 4) (* (pow (sin (/ 0.5 phi1)) 4) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) into (/ (* (pow (sin (/ 0.5 phi2)) 4) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 4)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
19.711 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))) in lambda2
19.711 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3)) in lambda2
19.711 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3) in lambda2
19.711 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
19.711 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
19.711 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
19.711 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
19.711 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
19.711 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
19.711 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.711 * [backup-simplify]: Simplify 0.5 into 0.5
19.711 * [taylor]: Taking taylor expansion of phi2 in lambda2
19.711 * [backup-simplify]: Simplify phi2 into phi2
19.711 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
19.711 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
19.711 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
19.711 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
19.711 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
19.712 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
19.712 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
19.712 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
19.712 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
19.712 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.712 * [backup-simplify]: Simplify 0.5 into 0.5
19.712 * [taylor]: Taking taylor expansion of phi1 in lambda2
19.712 * [backup-simplify]: Simplify phi1 into phi1
19.712 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
19.712 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
19.712 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
19.712 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
19.712 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
19.712 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
19.712 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
19.712 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
19.712 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
19.712 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
19.712 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.712 * [backup-simplify]: Simplify 0.5 into 0.5
19.712 * [taylor]: Taking taylor expansion of phi2 in lambda2
19.712 * [backup-simplify]: Simplify phi2 into phi2
19.712 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
19.712 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
19.712 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
19.712 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
19.712 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
19.713 * [backup-simplify]: Simplify (- 0) into 0
19.713 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
19.713 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
19.713 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
19.713 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
19.713 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.713 * [backup-simplify]: Simplify 0.5 into 0.5
19.713 * [taylor]: Taking taylor expansion of phi1 in lambda2
19.713 * [backup-simplify]: Simplify phi1 into phi1
19.713 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
19.713 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
19.713 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
19.713 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
19.713 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
19.714 * [backup-simplify]: Simplify (- 0) into 0
19.714 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
19.714 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
19.714 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
19.714 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
19.714 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
19.714 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.714 * [backup-simplify]: Simplify 0.5 into 0.5
19.714 * [taylor]: Taking taylor expansion of phi2 in lambda2
19.714 * [backup-simplify]: Simplify phi2 into phi2
19.714 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
19.714 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
19.714 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
19.714 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
19.714 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
19.714 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
19.714 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.714 * [backup-simplify]: Simplify 0.5 into 0.5
19.714 * [taylor]: Taking taylor expansion of phi1 in lambda2
19.714 * [backup-simplify]: Simplify phi1 into phi1
19.714 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
19.714 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
19.714 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
19.714 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
19.714 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
19.714 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
19.714 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.714 * [backup-simplify]: Simplify 0.5 into 0.5
19.714 * [taylor]: Taking taylor expansion of phi2 in lambda2
19.715 * [backup-simplify]: Simplify phi2 into phi2
19.715 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
19.715 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
19.715 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
19.715 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
19.715 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
19.715 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.715 * [backup-simplify]: Simplify 0.5 into 0.5
19.715 * [taylor]: Taking taylor expansion of phi1 in lambda2
19.715 * [backup-simplify]: Simplify phi1 into phi1
19.715 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
19.715 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
19.715 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
19.715 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
19.715 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
19.715 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
19.715 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.715 * [backup-simplify]: Simplify 0.5 into 0.5
19.715 * [taylor]: Taking taylor expansion of phi2 in lambda2
19.715 * [backup-simplify]: Simplify phi2 into phi2
19.715 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
19.715 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
19.715 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
19.715 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
19.715 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
19.715 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
19.715 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.715 * [backup-simplify]: Simplify 0.5 into 0.5
19.715 * [taylor]: Taking taylor expansion of phi1 in lambda2
19.715 * [backup-simplify]: Simplify phi1 into phi1
19.715 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
19.715 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
19.715 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
19.715 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
19.715 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
19.715 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
19.715 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.716 * [backup-simplify]: Simplify 0.5 into 0.5
19.716 * [taylor]: Taking taylor expansion of phi2 in lambda2
19.716 * [backup-simplify]: Simplify phi2 into phi2
19.716 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
19.716 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
19.716 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
19.716 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
19.716 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
19.716 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.716 * [backup-simplify]: Simplify 0.5 into 0.5
19.716 * [taylor]: Taking taylor expansion of phi1 in lambda2
19.716 * [backup-simplify]: Simplify phi1 into phi1
19.716 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
19.716 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
19.716 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
19.716 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
19.716 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
19.716 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
19.716 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
19.717 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
19.717 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
19.717 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
19.717 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
19.717 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
19.717 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
19.717 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
19.717 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
19.718 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
19.718 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
19.718 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
19.721 * [backup-simplify]: Simplify (- 0) into 0
19.722 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
19.722 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
19.722 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
19.722 * [backup-simplify]: Simplify (- 0) into 0
19.723 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
19.723 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
19.723 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
19.723 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
19.723 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
19.724 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
19.724 * [backup-simplify]: Simplify (- 0) into 0
19.724 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
19.724 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
19.724 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
19.725 * [backup-simplify]: Simplify (- 0) into 0
19.725 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
19.725 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
19.725 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
19.725 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
19.725 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
19.725 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
19.726 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
19.726 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
19.726 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
19.726 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
19.727 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))
19.728 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
19.730 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
19.734 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)
19.738 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)) into (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
19.742 * [backup-simplify]: Simplify (/ 1 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)))
19.746 * [backup-simplify]: Simplify (sqrt (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)))) into (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))
19.747 * [backup-simplify]: Simplify (+ 0) into 0
19.747 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
19.748 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
19.748 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.749 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
19.749 * [backup-simplify]: Simplify (+ 0 0) into 0
19.749 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
19.750 * [backup-simplify]: Simplify (+ 0) into 0
19.750 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
19.751 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
19.751 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.752 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
19.752 * [backup-simplify]: Simplify (+ 0 0) into 0
19.753 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
19.753 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
19.753 * [backup-simplify]: Simplify (+ 0) into 0
19.754 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
19.754 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
19.755 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.755 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
19.756 * [backup-simplify]: Simplify (- 0) into 0
19.756 * [backup-simplify]: Simplify (+ 0 0) into 0
19.756 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
19.757 * [backup-simplify]: Simplify (+ 0) into 0
19.757 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
19.757 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
19.758 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.759 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
19.759 * [backup-simplify]: Simplify (- 0) into 0
19.759 * [backup-simplify]: Simplify (+ 0 0) into 0
19.760 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
19.760 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
19.761 * [backup-simplify]: Simplify (+ 0 0) into 0
19.761 * [backup-simplify]: Simplify (+ 0) into 0
19.761 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
19.762 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
19.762 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.763 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
19.763 * [backup-simplify]: Simplify (- 0) into 0
19.764 * [backup-simplify]: Simplify (+ 0 0) into 0
19.764 * [backup-simplify]: Simplify (+ 0) into 0
19.765 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
19.765 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
19.766 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.766 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
19.767 * [backup-simplify]: Simplify (- 0) into 0
19.767 * [backup-simplify]: Simplify (+ 0 0) into 0
19.767 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
19.768 * [backup-simplify]: Simplify (+ 0) into 0
19.768 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
19.768 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
19.769 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.770 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
19.770 * [backup-simplify]: Simplify (+ 0 0) into 0
19.770 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
19.771 * [backup-simplify]: Simplify (+ 0) into 0
19.771 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
19.771 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
19.772 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.773 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
19.773 * [backup-simplify]: Simplify (+ 0 0) into 0
19.773 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
19.774 * [backup-simplify]: Simplify (+ 0) into 0
19.774 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
19.775 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
19.775 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.776 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
19.776 * [backup-simplify]: Simplify (+ 0 0) into 0
19.777 * [backup-simplify]: Simplify (+ 0) into 0
19.777 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
19.777 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
19.778 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.778 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
19.778 * [backup-simplify]: Simplify (+ 0 0) into 0
19.778 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
19.779 * [backup-simplify]: Simplify (+ 0) into 0
19.779 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
19.779 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
19.780 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.780 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
19.780 * [backup-simplify]: Simplify (- 0) into 0
19.780 * [backup-simplify]: Simplify (+ 0 0) into 0
19.780 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
19.781 * [backup-simplify]: Simplify (+ 0) into 0
19.781 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
19.781 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
19.782 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.782 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
19.782 * [backup-simplify]: Simplify (- 0) into 0
19.782 * [backup-simplify]: Simplify (+ 0 0) into 0
19.783 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
19.783 * [backup-simplify]: Simplify (+ 0 0) into 0
19.783 * [backup-simplify]: Simplify (- 0) into 0
19.783 * [backup-simplify]: Simplify (+ 0 0) into 0
19.785 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into 0
19.787 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2))) into 0
19.792 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2))) (/ 0 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
19.794 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)))))) into 0
19.794 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 6) (pow (sin (/ 0.5 phi1)) 6)) (* R (* (pow lambda2 3) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 15/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 4) (* (pow (cos (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 2)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 9/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 4) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 4)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 (* phi1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R phi2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* 1/2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (* lambda2 (pow phi2 2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))))) in lambda2
19.794 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 6) (pow (sin (/ 0.5 phi1)) 6)) (* R (* (pow lambda2 3) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) in lambda2
19.794 * [taylor]: Taking taylor expansion of 1/2 in lambda2
19.794 * [backup-simplify]: Simplify 1/2 into 1/2
19.794 * [taylor]: Taking taylor expansion of (* (/ (* (pow (sin (/ 0.5 phi2)) 6) (pow (sin (/ 0.5 phi1)) 6)) (* R (* (pow lambda2 3) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3)))) in lambda2
19.794 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi2)) 6) (pow (sin (/ 0.5 phi1)) 6)) (* R (* (pow lambda2 3) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) in lambda2
19.795 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 6) (pow (sin (/ 0.5 phi1)) 6)) in lambda2
19.795 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 6) in lambda2
19.795 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
19.795 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
19.795 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.795 * [backup-simplify]: Simplify 0.5 into 0.5
19.795 * [taylor]: Taking taylor expansion of phi2 in lambda2
19.795 * [backup-simplify]: Simplify phi2 into phi2
19.795 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
19.795 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
19.795 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
19.795 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
19.795 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
19.795 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
19.795 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 6) in lambda2
19.795 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
19.795 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
19.795 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.795 * [backup-simplify]: Simplify 0.5 into 0.5
19.795 * [taylor]: Taking taylor expansion of phi1 in lambda2
19.795 * [backup-simplify]: Simplify phi1 into phi1
19.795 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
19.795 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
19.796 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
19.796 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
19.796 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
19.796 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
19.796 * [taylor]: Taking taylor expansion of (* R (* (pow lambda2 3) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in lambda2
19.796 * [taylor]: Taking taylor expansion of R in lambda2
19.796 * [backup-simplify]: Simplify R into R
19.796 * [taylor]: Taking taylor expansion of (* (pow lambda2 3) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in lambda2
19.796 * [taylor]: Taking taylor expansion of (pow lambda2 3) in lambda2
19.796 * [taylor]: Taking taylor expansion of lambda2 in lambda2
19.796 * [backup-simplify]: Simplify 0 into 0
19.796 * [backup-simplify]: Simplify 1 into 1
19.796 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
19.796 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
19.796 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
19.796 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
19.796 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
19.796 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
19.796 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.796 * [backup-simplify]: Simplify 0.5 into 0.5
19.796 * [taylor]: Taking taylor expansion of phi2 in lambda2
19.796 * [backup-simplify]: Simplify phi2 into phi2
19.796 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
19.796 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
19.796 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
19.796 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
19.796 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
19.796 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
19.796 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
19.796 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
19.796 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
19.797 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.797 * [backup-simplify]: Simplify 0.5 into 0.5
19.797 * [taylor]: Taking taylor expansion of phi1 in lambda2
19.797 * [backup-simplify]: Simplify phi1 into phi1
19.797 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
19.797 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
19.797 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
19.797 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
19.797 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
19.797 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
19.797 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
19.797 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
19.797 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
19.797 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
19.797 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.797 * [backup-simplify]: Simplify 0.5 into 0.5
19.797 * [taylor]: Taking taylor expansion of phi2 in lambda2
19.797 * [backup-simplify]: Simplify phi2 into phi2
19.797 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
19.797 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
19.797 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
19.797 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
19.797 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
19.798 * [backup-simplify]: Simplify (- 0) into 0
19.798 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
19.798 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
19.798 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
19.798 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
19.798 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.798 * [backup-simplify]: Simplify 0.5 into 0.5
19.798 * [taylor]: Taking taylor expansion of phi1 in lambda2
19.798 * [backup-simplify]: Simplify phi1 into phi1
19.798 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
19.798 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
19.798 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
19.798 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
19.798 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
19.799 * [backup-simplify]: Simplify (- 0) into 0
19.799 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
19.799 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
19.799 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
19.799 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
19.799 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
19.799 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.799 * [backup-simplify]: Simplify 0.5 into 0.5
19.799 * [taylor]: Taking taylor expansion of phi2 in lambda2
19.799 * [backup-simplify]: Simplify phi2 into phi2
19.799 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
19.799 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
19.799 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
19.799 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
19.799 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
19.799 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
19.799 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.799 * [backup-simplify]: Simplify 0.5 into 0.5
19.799 * [taylor]: Taking taylor expansion of phi1 in lambda2
19.799 * [backup-simplify]: Simplify phi1 into phi1
19.799 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
19.799 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
19.799 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
19.800 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
19.800 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
19.800 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
19.800 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.800 * [backup-simplify]: Simplify 0.5 into 0.5
19.800 * [taylor]: Taking taylor expansion of phi2 in lambda2
19.800 * [backup-simplify]: Simplify phi2 into phi2
19.800 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
19.800 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
19.800 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
19.800 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
19.800 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
19.800 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.800 * [backup-simplify]: Simplify 0.5 into 0.5
19.800 * [taylor]: Taking taylor expansion of phi1 in lambda2
19.800 * [backup-simplify]: Simplify phi1 into phi1
19.800 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
19.800 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
19.800 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
19.800 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
19.800 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
19.800 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
19.800 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.800 * [backup-simplify]: Simplify 0.5 into 0.5
19.800 * [taylor]: Taking taylor expansion of phi2 in lambda2
19.800 * [backup-simplify]: Simplify phi2 into phi2
19.800 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
19.800 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
19.800 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
19.800 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
19.800 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
19.800 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
19.800 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.800 * [backup-simplify]: Simplify 0.5 into 0.5
19.800 * [taylor]: Taking taylor expansion of phi1 in lambda2
19.800 * [backup-simplify]: Simplify phi1 into phi1
19.800 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
19.800 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
19.801 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
19.801 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
19.801 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
19.801 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
19.801 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.801 * [backup-simplify]: Simplify 0.5 into 0.5
19.801 * [taylor]: Taking taylor expansion of phi2 in lambda2
19.801 * [backup-simplify]: Simplify phi2 into phi2
19.801 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
19.801 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
19.801 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
19.801 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
19.801 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
19.801 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.801 * [backup-simplify]: Simplify 0.5 into 0.5
19.801 * [taylor]: Taking taylor expansion of phi1 in lambda2
19.801 * [backup-simplify]: Simplify phi1 into phi1
19.801 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
19.801 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
19.801 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
19.801 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
19.801 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (pow (sin (/ 0.5 phi2)) 2)) into (pow (sin (/ 0.5 phi2)) 3)
19.802 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi2)) 3)) into (pow (sin (/ 0.5 phi2)) 6)
19.802 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
19.802 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (pow (sin (/ 0.5 phi1)) 2)) into (pow (sin (/ 0.5 phi1)) 3)
19.802 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 3) (pow (sin (/ 0.5 phi1)) 3)) into (pow (sin (/ 0.5 phi1)) 6)
19.802 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 6) (pow (sin (/ 0.5 phi1)) 6)) into (* (pow (sin (/ 0.5 phi2)) 6) (pow (sin (/ 0.5 phi1)) 6))
19.802 * [backup-simplify]: Simplify (* 1 1) into 1
19.803 * [backup-simplify]: Simplify (* 1 1) into 1
19.803 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
19.803 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
19.803 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
19.803 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
19.803 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
19.804 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
19.804 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
19.804 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
19.804 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
19.804 * [backup-simplify]: Simplify (- 0) into 0
19.804 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
19.805 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
19.805 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
19.805 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
19.805 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
19.805 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
19.805 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
19.805 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
19.805 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
19.805 * [backup-simplify]: Simplify (- 0) into 0
19.805 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
19.805 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
19.806 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
19.806 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
19.806 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
19.806 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
19.806 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
19.806 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
19.806 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
19.806 * [backup-simplify]: Simplify (- 0) into 0
19.806 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
19.806 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
19.807 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
19.807 * [backup-simplify]: Simplify (- 0) into 0
19.807 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
19.807 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
19.807 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
19.807 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
19.807 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
19.807 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
19.807 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
19.808 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))
19.808 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
19.809 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
19.811 * [backup-simplify]: Simplify (* 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
19.813 * [backup-simplify]: Simplify (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)
19.815 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi2)) 6) (pow (sin (/ 0.5 phi1)) 6)) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) into (/ (* (pow (sin (/ 0.5 phi2)) 6) (pow (sin (/ 0.5 phi1)) 6)) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
19.815 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))) in lambda2
19.815 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3)) in lambda2
19.816 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3) in lambda2
19.816 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
19.816 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
19.816 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
19.816 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
19.816 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
19.816 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
19.816 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.816 * [backup-simplify]: Simplify 0.5 into 0.5
19.816 * [taylor]: Taking taylor expansion of phi2 in lambda2
19.816 * [backup-simplify]: Simplify phi2 into phi2
19.816 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
19.816 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
19.816 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
19.816 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
19.816 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
19.816 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
19.817 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
19.817 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
19.817 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
19.817 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.817 * [backup-simplify]: Simplify 0.5 into 0.5
19.817 * [taylor]: Taking taylor expansion of phi1 in lambda2
19.817 * [backup-simplify]: Simplify phi1 into phi1
19.817 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
19.817 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
19.817 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
19.817 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
19.817 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
19.817 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
19.817 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
19.817 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
19.817 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
19.817 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
19.817 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.817 * [backup-simplify]: Simplify 0.5 into 0.5
19.817 * [taylor]: Taking taylor expansion of phi2 in lambda2
19.817 * [backup-simplify]: Simplify phi2 into phi2
19.818 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
19.818 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
19.818 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
19.818 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
19.818 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
19.819 * [backup-simplify]: Simplify (- 0) into 0
19.819 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
19.819 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
19.819 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
19.819 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
19.819 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.819 * [backup-simplify]: Simplify 0.5 into 0.5
19.819 * [taylor]: Taking taylor expansion of phi1 in lambda2
19.819 * [backup-simplify]: Simplify phi1 into phi1
19.819 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
19.819 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
19.819 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
19.819 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
19.819 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
19.820 * [backup-simplify]: Simplify (- 0) into 0
19.820 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
19.820 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
19.820 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
19.820 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
19.820 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
19.820 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.820 * [backup-simplify]: Simplify 0.5 into 0.5
19.820 * [taylor]: Taking taylor expansion of phi2 in lambda2
19.820 * [backup-simplify]: Simplify phi2 into phi2
19.820 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
19.820 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
19.820 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
19.820 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
19.820 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
19.820 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
19.820 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.821 * [backup-simplify]: Simplify 0.5 into 0.5
19.821 * [taylor]: Taking taylor expansion of phi1 in lambda2
19.821 * [backup-simplify]: Simplify phi1 into phi1
19.821 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
19.821 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
19.821 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
19.821 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
19.821 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
19.821 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
19.821 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.821 * [backup-simplify]: Simplify 0.5 into 0.5
19.821 * [taylor]: Taking taylor expansion of phi2 in lambda2
19.821 * [backup-simplify]: Simplify phi2 into phi2
19.821 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
19.821 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
19.821 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
19.821 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
19.821 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
19.821 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.821 * [backup-simplify]: Simplify 0.5 into 0.5
19.821 * [taylor]: Taking taylor expansion of phi1 in lambda2
19.821 * [backup-simplify]: Simplify phi1 into phi1
19.822 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
19.822 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
19.822 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
19.822 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
19.822 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
19.822 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
19.822 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.822 * [backup-simplify]: Simplify 0.5 into 0.5
19.822 * [taylor]: Taking taylor expansion of phi2 in lambda2
19.822 * [backup-simplify]: Simplify phi2 into phi2
19.822 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
19.822 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
19.822 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
19.822 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
19.822 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
19.822 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
19.822 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.822 * [backup-simplify]: Simplify 0.5 into 0.5
19.822 * [taylor]: Taking taylor expansion of phi1 in lambda2
19.822 * [backup-simplify]: Simplify phi1 into phi1
19.822 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
19.822 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
19.823 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
19.823 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
19.823 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
19.823 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
19.823 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.823 * [backup-simplify]: Simplify 0.5 into 0.5
19.823 * [taylor]: Taking taylor expansion of phi2 in lambda2
19.823 * [backup-simplify]: Simplify phi2 into phi2
19.823 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
19.823 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
19.823 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
19.823 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
19.823 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
19.823 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.823 * [backup-simplify]: Simplify 0.5 into 0.5
19.823 * [taylor]: Taking taylor expansion of phi1 in lambda2
19.823 * [backup-simplify]: Simplify phi1 into phi1
19.823 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
19.823 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
19.823 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
19.824 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
19.824 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
19.824 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
19.824 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
19.825 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
19.825 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
19.826 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
19.826 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
19.826 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
19.826 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
19.826 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
19.827 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
19.827 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
19.827 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
19.827 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
19.827 * [backup-simplify]: Simplify (- 0) into 0
19.828 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
19.828 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
19.828 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
19.828 * [backup-simplify]: Simplify (- 0) into 0
19.828 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
19.828 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
19.829 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
19.829 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
19.829 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
19.829 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
19.830 * [backup-simplify]: Simplify (- 0) into 0
19.830 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
19.830 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
19.830 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
19.830 * [backup-simplify]: Simplify (- 0) into 0
19.831 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
19.831 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
19.831 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
19.831 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
19.831 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
19.831 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
19.831 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
19.831 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
19.832 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
19.832 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
19.833 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))
19.834 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
19.836 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
19.838 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)
19.840 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)) into (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
19.842 * [backup-simplify]: Simplify (/ 1 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)))
19.844 * [backup-simplify]: Simplify (sqrt (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)))) into (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))
19.845 * [backup-simplify]: Simplify (+ 0) into 0
19.845 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
19.846 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
19.846 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.846 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
19.847 * [backup-simplify]: Simplify (+ 0 0) into 0
19.847 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
19.847 * [backup-simplify]: Simplify (+ 0) into 0
19.847 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
19.847 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
19.848 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.848 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
19.848 * [backup-simplify]: Simplify (+ 0 0) into 0
19.849 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
19.849 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
19.849 * [backup-simplify]: Simplify (+ 0) into 0
19.849 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
19.849 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
19.850 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.850 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
19.850 * [backup-simplify]: Simplify (- 0) into 0
19.851 * [backup-simplify]: Simplify (+ 0 0) into 0
19.851 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
19.851 * [backup-simplify]: Simplify (+ 0) into 0
19.851 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
19.851 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
19.852 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.852 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
19.852 * [backup-simplify]: Simplify (- 0) into 0
19.853 * [backup-simplify]: Simplify (+ 0 0) into 0
19.853 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
19.853 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
19.853 * [backup-simplify]: Simplify (+ 0 0) into 0
19.854 * [backup-simplify]: Simplify (+ 0) into 0
19.854 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
19.854 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
19.854 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.855 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
19.855 * [backup-simplify]: Simplify (- 0) into 0
19.855 * [backup-simplify]: Simplify (+ 0 0) into 0
19.855 * [backup-simplify]: Simplify (+ 0) into 0
19.856 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
19.856 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
19.856 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.857 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
19.857 * [backup-simplify]: Simplify (- 0) into 0
19.861 * [backup-simplify]: Simplify (+ 0 0) into 0
19.861 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
19.861 * [backup-simplify]: Simplify (+ 0) into 0
19.862 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
19.862 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
19.862 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.863 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
19.863 * [backup-simplify]: Simplify (+ 0 0) into 0
19.863 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
19.863 * [backup-simplify]: Simplify (+ 0) into 0
19.864 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
19.864 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
19.864 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.864 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
19.865 * [backup-simplify]: Simplify (+ 0 0) into 0
19.865 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
19.865 * [backup-simplify]: Simplify (+ 0) into 0
19.866 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
19.866 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
19.867 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.867 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
19.867 * [backup-simplify]: Simplify (+ 0 0) into 0
19.868 * [backup-simplify]: Simplify (+ 0) into 0
19.868 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
19.869 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
19.869 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.870 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
19.870 * [backup-simplify]: Simplify (+ 0 0) into 0
19.870 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
19.871 * [backup-simplify]: Simplify (+ 0) into 0
19.871 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
19.872 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
19.872 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.873 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
19.873 * [backup-simplify]: Simplify (- 0) into 0
19.874 * [backup-simplify]: Simplify (+ 0 0) into 0
19.874 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
19.874 * [backup-simplify]: Simplify (+ 0) into 0
19.875 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
19.875 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
19.876 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.876 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
19.877 * [backup-simplify]: Simplify (- 0) into 0
19.877 * [backup-simplify]: Simplify (+ 0 0) into 0
19.877 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
19.878 * [backup-simplify]: Simplify (+ 0 0) into 0
19.878 * [backup-simplify]: Simplify (- 0) into 0
19.879 * [backup-simplify]: Simplify (+ 0 0) into 0
19.882 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into 0
19.884 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2))) into 0
19.888 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2))) (/ 0 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
19.891 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)))))) into 0
19.891 * [taylor]: Taking taylor expansion of (+ (* 15/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 4) (* (pow (cos (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 2)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 9/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 4) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 4)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 (* phi1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R phi2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* 1/2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (* lambda2 (pow phi2 2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))))) in lambda2
19.891 * [taylor]: Taking taylor expansion of (* 15/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 4) (* (pow (cos (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 2)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) in lambda2
19.891 * [taylor]: Taking taylor expansion of 15/2 in lambda2
19.891 * [backup-simplify]: Simplify 15/2 into 15/2
19.891 * [taylor]: Taking taylor expansion of (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 4) (* (pow (cos (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 2)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3)))) in lambda2
19.891 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 4) (* (pow (cos (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 2)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) in lambda2
19.891 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 4) (* (pow (cos (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 2)))) in lambda2
19.891 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
19.891 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
19.891 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
19.891 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.891 * [backup-simplify]: Simplify 0.5 into 0.5
19.891 * [taylor]: Taking taylor expansion of phi2 in lambda2
19.891 * [backup-simplify]: Simplify phi2 into phi2
19.891 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
19.891 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
19.891 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
19.892 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
19.892 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
19.892 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
19.892 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 4) (* (pow (cos (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 2))) in lambda2
19.892 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 4) in lambda2
19.892 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
19.892 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
19.892 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.892 * [backup-simplify]: Simplify 0.5 into 0.5
19.892 * [taylor]: Taking taylor expansion of phi1 in lambda2
19.892 * [backup-simplify]: Simplify phi1 into phi1
19.892 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
19.892 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
19.892 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
19.892 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
19.892 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
19.893 * [backup-simplify]: Simplify (- 0) into 0
19.893 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
19.893 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
19.893 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 4) in lambda2
19.893 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
19.893 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
19.893 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.893 * [backup-simplify]: Simplify 0.5 into 0.5
19.893 * [taylor]: Taking taylor expansion of phi2 in lambda2
19.893 * [backup-simplify]: Simplify phi2 into phi2
19.893 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
19.893 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
19.893 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
19.893 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
19.893 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
19.893 * [backup-simplify]: Simplify (- 0) into 0
19.893 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
19.893 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
19.893 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
19.893 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
19.893 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.894 * [backup-simplify]: Simplify 0.5 into 0.5
19.894 * [taylor]: Taking taylor expansion of phi1 in lambda2
19.894 * [backup-simplify]: Simplify phi1 into phi1
19.894 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
19.894 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
19.894 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
19.894 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
19.894 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
19.894 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
19.894 * [taylor]: Taking taylor expansion of (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3))) in lambda2
19.894 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
19.894 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
19.894 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
19.894 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
19.894 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
19.894 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
19.894 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.894 * [backup-simplify]: Simplify 0.5 into 0.5
19.894 * [taylor]: Taking taylor expansion of phi2 in lambda2
19.894 * [backup-simplify]: Simplify phi2 into phi2
19.894 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
19.894 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
19.894 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
19.894 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
19.894 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
19.894 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
19.894 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
19.894 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
19.894 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
19.895 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.895 * [backup-simplify]: Simplify 0.5 into 0.5
19.895 * [taylor]: Taking taylor expansion of phi1 in lambda2
19.895 * [backup-simplify]: Simplify phi1 into phi1
19.895 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
19.895 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
19.895 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
19.895 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
19.895 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
19.895 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
19.895 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
19.895 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
19.895 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
19.895 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
19.895 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.895 * [backup-simplify]: Simplify 0.5 into 0.5
19.895 * [taylor]: Taking taylor expansion of phi2 in lambda2
19.895 * [backup-simplify]: Simplify phi2 into phi2
19.895 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
19.895 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
19.895 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
19.895 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
19.895 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
19.896 * [backup-simplify]: Simplify (- 0) into 0
19.896 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
19.896 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
19.896 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
19.896 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
19.896 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.896 * [backup-simplify]: Simplify 0.5 into 0.5
19.896 * [taylor]: Taking taylor expansion of phi1 in lambda2
19.896 * [backup-simplify]: Simplify phi1 into phi1
19.896 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
19.896 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
19.896 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
19.896 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
19.896 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
19.896 * [backup-simplify]: Simplify (- 0) into 0
19.896 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
19.896 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
19.896 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
19.896 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
19.897 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
19.897 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.897 * [backup-simplify]: Simplify 0.5 into 0.5
19.897 * [taylor]: Taking taylor expansion of phi2 in lambda2
19.897 * [backup-simplify]: Simplify phi2 into phi2
19.897 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
19.897 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
19.897 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
19.897 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
19.897 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
19.897 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
19.897 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.897 * [backup-simplify]: Simplify 0.5 into 0.5
19.897 * [taylor]: Taking taylor expansion of phi1 in lambda2
19.897 * [backup-simplify]: Simplify phi1 into phi1
19.897 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
19.897 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
19.897 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
19.897 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
19.897 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
19.897 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
19.897 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.897 * [backup-simplify]: Simplify 0.5 into 0.5
19.897 * [taylor]: Taking taylor expansion of phi2 in lambda2
19.897 * [backup-simplify]: Simplify phi2 into phi2
19.897 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
19.897 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
19.897 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
19.897 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
19.897 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
19.897 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.897 * [backup-simplify]: Simplify 0.5 into 0.5
19.897 * [taylor]: Taking taylor expansion of phi1 in lambda2
19.897 * [backup-simplify]: Simplify phi1 into phi1
19.897 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
19.897 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
19.897 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
19.898 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
19.898 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
19.898 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
19.898 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.898 * [backup-simplify]: Simplify 0.5 into 0.5
19.898 * [taylor]: Taking taylor expansion of phi2 in lambda2
19.898 * [backup-simplify]: Simplify phi2 into phi2
19.898 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
19.898 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
19.898 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
19.898 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
19.898 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
19.898 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
19.898 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.898 * [backup-simplify]: Simplify 0.5 into 0.5
19.898 * [taylor]: Taking taylor expansion of phi1 in lambda2
19.898 * [backup-simplify]: Simplify phi1 into phi1
19.898 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
19.898 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
19.898 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
19.898 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
19.898 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
19.898 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
19.898 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.898 * [backup-simplify]: Simplify 0.5 into 0.5
19.898 * [taylor]: Taking taylor expansion of phi2 in lambda2
19.898 * [backup-simplify]: Simplify phi2 into phi2
19.898 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
19.898 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
19.898 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
19.898 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
19.898 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
19.898 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.898 * [backup-simplify]: Simplify 0.5 into 0.5
19.898 * [taylor]: Taking taylor expansion of phi1 in lambda2
19.898 * [backup-simplify]: Simplify phi1 into phi1
19.898 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
19.898 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
19.899 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
19.899 * [taylor]: Taking taylor expansion of (* R (pow lambda2 3)) in lambda2
19.899 * [taylor]: Taking taylor expansion of R in lambda2
19.899 * [backup-simplify]: Simplify R into R
19.899 * [taylor]: Taking taylor expansion of (pow lambda2 3) in lambda2
19.899 * [taylor]: Taking taylor expansion of lambda2 in lambda2
19.899 * [backup-simplify]: Simplify 0 into 0
19.899 * [backup-simplify]: Simplify 1 into 1
19.899 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
19.899 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
19.899 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (pow (cos (/ 0.5 phi1)) 4)
19.899 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
19.899 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (pow (cos (/ 0.5 phi2)) 4)
19.899 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
19.900 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 2))
19.900 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 4) (* (pow (cos (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 2))) into (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi1)) 4)))
19.900 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi1)) 4)))) into (* (pow (cos (/ 0.5 phi2)) 4) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 4))))
19.900 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
19.900 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
19.901 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
19.901 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
19.901 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
19.901 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
19.901 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
19.902 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
19.902 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
19.902 * [backup-simplify]: Simplify (- 0) into 0
19.902 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
19.902 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
19.902 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
19.902 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
19.902 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
19.902 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
19.902 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
19.903 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
19.903 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
19.903 * [backup-simplify]: Simplify (- 0) into 0
19.903 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
19.903 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
19.903 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
19.903 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
19.903 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
19.904 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
19.904 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
19.904 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
19.904 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
19.904 * [backup-simplify]: Simplify (- 0) into 0
19.904 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
19.904 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
19.904 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
19.904 * [backup-simplify]: Simplify (- 0) into 0
19.905 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
19.905 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
19.905 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
19.905 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
19.905 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
19.905 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
19.905 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
19.906 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))
19.906 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
19.907 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
19.908 * [backup-simplify]: Simplify (* 1 1) into 1
19.908 * [backup-simplify]: Simplify (* 1 1) into 1
19.908 * [backup-simplify]: Simplify (* R 1) into R
19.909 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R) into (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)
19.911 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi2)) 4) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 4)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) into (/ (* (pow (cos (/ 0.5 phi2)) 4) (* (pow (cos (/ 0.5 phi1)) 4) (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
19.911 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))) in lambda2
19.911 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3)) in lambda2
19.911 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3) in lambda2
19.911 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
19.911 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
19.912 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
19.912 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
19.912 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
19.912 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
19.912 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.912 * [backup-simplify]: Simplify 0.5 into 0.5
19.912 * [taylor]: Taking taylor expansion of phi2 in lambda2
19.912 * [backup-simplify]: Simplify phi2 into phi2
19.912 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
19.912 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
19.912 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
19.912 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
19.912 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
19.912 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
19.912 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
19.912 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
19.912 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
19.912 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.913 * [backup-simplify]: Simplify 0.5 into 0.5
19.913 * [taylor]: Taking taylor expansion of phi1 in lambda2
19.913 * [backup-simplify]: Simplify phi1 into phi1
19.913 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
19.913 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
19.913 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
19.913 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
19.913 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
19.913 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
19.913 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
19.913 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
19.913 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
19.913 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
19.913 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.913 * [backup-simplify]: Simplify 0.5 into 0.5
19.913 * [taylor]: Taking taylor expansion of phi2 in lambda2
19.913 * [backup-simplify]: Simplify phi2 into phi2
19.914 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
19.914 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
19.914 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
19.914 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
19.914 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
19.915 * [backup-simplify]: Simplify (- 0) into 0
19.915 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
19.915 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
19.915 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
19.915 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
19.915 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.915 * [backup-simplify]: Simplify 0.5 into 0.5
19.915 * [taylor]: Taking taylor expansion of phi1 in lambda2
19.915 * [backup-simplify]: Simplify phi1 into phi1
19.915 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
19.915 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
19.916 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
19.916 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
19.916 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
19.916 * [backup-simplify]: Simplify (- 0) into 0
19.916 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
19.916 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
19.916 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
19.916 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
19.917 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
19.917 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.917 * [backup-simplify]: Simplify 0.5 into 0.5
19.917 * [taylor]: Taking taylor expansion of phi2 in lambda2
19.917 * [backup-simplify]: Simplify phi2 into phi2
19.917 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
19.917 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
19.917 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
19.917 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
19.917 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
19.917 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
19.917 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.917 * [backup-simplify]: Simplify 0.5 into 0.5
19.917 * [taylor]: Taking taylor expansion of phi1 in lambda2
19.917 * [backup-simplify]: Simplify phi1 into phi1
19.917 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
19.917 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
19.917 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
19.917 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
19.917 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
19.917 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
19.918 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.918 * [backup-simplify]: Simplify 0.5 into 0.5
19.918 * [taylor]: Taking taylor expansion of phi2 in lambda2
19.918 * [backup-simplify]: Simplify phi2 into phi2
19.918 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
19.918 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
19.918 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
19.918 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
19.918 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
19.918 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.918 * [backup-simplify]: Simplify 0.5 into 0.5
19.918 * [taylor]: Taking taylor expansion of phi1 in lambda2
19.918 * [backup-simplify]: Simplify phi1 into phi1
19.918 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
19.918 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
19.918 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
19.918 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
19.918 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
19.918 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
19.918 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.918 * [backup-simplify]: Simplify 0.5 into 0.5
19.919 * [taylor]: Taking taylor expansion of phi2 in lambda2
19.919 * [backup-simplify]: Simplify phi2 into phi2
19.919 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
19.919 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
19.919 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
19.919 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
19.919 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
19.919 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
19.919 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.919 * [backup-simplify]: Simplify 0.5 into 0.5
19.919 * [taylor]: Taking taylor expansion of phi1 in lambda2
19.919 * [backup-simplify]: Simplify phi1 into phi1
19.919 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
19.919 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
19.919 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
19.919 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
19.919 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
19.919 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
19.919 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.919 * [backup-simplify]: Simplify 0.5 into 0.5
19.919 * [taylor]: Taking taylor expansion of phi2 in lambda2
19.919 * [backup-simplify]: Simplify phi2 into phi2
19.920 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
19.920 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
19.920 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
19.920 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
19.920 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
19.920 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.920 * [backup-simplify]: Simplify 0.5 into 0.5
19.920 * [taylor]: Taking taylor expansion of phi1 in lambda2
19.920 * [backup-simplify]: Simplify phi1 into phi1
19.920 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
19.920 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
19.920 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
19.920 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
19.921 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
19.921 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
19.921 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
19.921 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
19.922 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
19.922 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
19.922 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
19.922 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
19.922 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
19.922 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
19.922 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
19.922 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
19.922 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
19.922 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
19.923 * [backup-simplify]: Simplify (- 0) into 0
19.923 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
19.923 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
19.923 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
19.923 * [backup-simplify]: Simplify (- 0) into 0
19.923 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
19.924 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
19.924 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
19.924 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
19.924 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
19.924 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
19.924 * [backup-simplify]: Simplify (- 0) into 0
19.924 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
19.924 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
19.924 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
19.925 * [backup-simplify]: Simplify (- 0) into 0
19.925 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
19.925 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
19.925 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
19.925 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
19.925 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
19.925 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
19.925 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
19.925 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
19.925 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
19.926 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
19.926 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))
19.926 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
19.927 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
19.929 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)
19.931 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)) into (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
19.933 * [backup-simplify]: Simplify (/ 1 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)))
19.935 * [backup-simplify]: Simplify (sqrt (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)))) into (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))
19.936 * [backup-simplify]: Simplify (+ 0) into 0
19.937 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
19.937 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
19.937 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.938 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
19.938 * [backup-simplify]: Simplify (+ 0 0) into 0
19.938 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
19.938 * [backup-simplify]: Simplify (+ 0) into 0
19.939 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
19.939 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
19.939 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.939 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
19.940 * [backup-simplify]: Simplify (+ 0 0) into 0
19.940 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
19.940 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
19.940 * [backup-simplify]: Simplify (+ 0) into 0
19.941 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
19.941 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
19.941 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.941 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
19.942 * [backup-simplify]: Simplify (- 0) into 0
19.942 * [backup-simplify]: Simplify (+ 0 0) into 0
19.942 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
19.942 * [backup-simplify]: Simplify (+ 0) into 0
19.943 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
19.943 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
19.943 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.944 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
19.944 * [backup-simplify]: Simplify (- 0) into 0
19.944 * [backup-simplify]: Simplify (+ 0 0) into 0
19.944 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
19.944 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
19.945 * [backup-simplify]: Simplify (+ 0 0) into 0
19.945 * [backup-simplify]: Simplify (+ 0) into 0
19.945 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
19.945 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
19.946 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.946 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
19.946 * [backup-simplify]: Simplify (- 0) into 0
19.947 * [backup-simplify]: Simplify (+ 0 0) into 0
19.947 * [backup-simplify]: Simplify (+ 0) into 0
19.947 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
19.947 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
19.948 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.948 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
19.948 * [backup-simplify]: Simplify (- 0) into 0
19.948 * [backup-simplify]: Simplify (+ 0 0) into 0
19.949 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
19.949 * [backup-simplify]: Simplify (+ 0) into 0
19.949 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
19.949 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
19.950 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.950 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
19.950 * [backup-simplify]: Simplify (+ 0 0) into 0
19.950 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
19.951 * [backup-simplify]: Simplify (+ 0) into 0
19.951 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
19.951 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
19.952 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.952 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
19.952 * [backup-simplify]: Simplify (+ 0 0) into 0
19.952 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
19.953 * [backup-simplify]: Simplify (+ 0) into 0
19.953 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
19.953 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
19.954 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.954 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
19.955 * [backup-simplify]: Simplify (+ 0 0) into 0
19.955 * [backup-simplify]: Simplify (+ 0) into 0
19.956 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
19.956 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
19.956 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.957 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
19.957 * [backup-simplify]: Simplify (+ 0 0) into 0
19.958 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
19.958 * [backup-simplify]: Simplify (+ 0) into 0
19.958 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
19.959 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
19.959 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.960 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
19.960 * [backup-simplify]: Simplify (- 0) into 0
19.961 * [backup-simplify]: Simplify (+ 0 0) into 0
19.961 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
19.961 * [backup-simplify]: Simplify (+ 0) into 0
19.962 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
19.962 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
19.963 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
19.963 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
19.964 * [backup-simplify]: Simplify (- 0) into 0
19.964 * [backup-simplify]: Simplify (+ 0 0) into 0
19.964 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
19.965 * [backup-simplify]: Simplify (+ 0 0) into 0
19.965 * [backup-simplify]: Simplify (- 0) into 0
19.966 * [backup-simplify]: Simplify (+ 0 0) into 0
19.968 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into 0
19.970 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2))) into 0
19.974 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2))) (/ 0 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
19.977 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)))))) into 0
19.977 * [taylor]: Taking taylor expansion of (+ (* 9/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 4) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 4)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 (* phi1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R phi2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* 1/2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (* lambda2 (pow phi2 2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))) in lambda2
19.977 * [taylor]: Taking taylor expansion of (* 9/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 4) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 4)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) in lambda2
19.977 * [taylor]: Taking taylor expansion of 9/2 in lambda2
19.977 * [backup-simplify]: Simplify 9/2 into 9/2
19.977 * [taylor]: Taking taylor expansion of (* (/ (* (pow (sin (/ 0.5 phi2)) 4) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 4)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3)))) in lambda2
19.977 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi2)) 4) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 4)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) in lambda2
19.977 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 4) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 4)))) in lambda2
19.977 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 4) in lambda2
19.977 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
19.977 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
19.977 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.977 * [backup-simplify]: Simplify 0.5 into 0.5
19.977 * [taylor]: Taking taylor expansion of phi2 in lambda2
19.977 * [backup-simplify]: Simplify phi2 into phi2
19.977 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
19.977 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
19.977 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
19.977 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
19.977 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
19.977 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
19.977 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 4))) in lambda2
19.978 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
19.978 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
19.978 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
19.978 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.978 * [backup-simplify]: Simplify 0.5 into 0.5
19.978 * [taylor]: Taking taylor expansion of phi1 in lambda2
19.978 * [backup-simplify]: Simplify phi1 into phi1
19.978 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
19.978 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
19.978 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
19.978 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
19.978 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
19.981 * [backup-simplify]: Simplify (- 0) into 0
19.981 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
19.981 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 4)) in lambda2
19.981 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
19.981 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
19.981 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
19.981 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.981 * [backup-simplify]: Simplify 0.5 into 0.5
19.981 * [taylor]: Taking taylor expansion of phi2 in lambda2
19.981 * [backup-simplify]: Simplify phi2 into phi2
19.981 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
19.982 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
19.982 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
19.982 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
19.982 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
19.982 * [backup-simplify]: Simplify (- 0) into 0
19.982 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
19.982 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 4) in lambda2
19.982 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
19.982 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
19.982 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.982 * [backup-simplify]: Simplify 0.5 into 0.5
19.982 * [taylor]: Taking taylor expansion of phi1 in lambda2
19.982 * [backup-simplify]: Simplify phi1 into phi1
19.982 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
19.982 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
19.982 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
19.983 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
19.983 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
19.983 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
19.983 * [taylor]: Taking taylor expansion of (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3))) in lambda2
19.983 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
19.983 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
19.983 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
19.983 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
19.983 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
19.983 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
19.983 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.983 * [backup-simplify]: Simplify 0.5 into 0.5
19.983 * [taylor]: Taking taylor expansion of phi2 in lambda2
19.983 * [backup-simplify]: Simplify phi2 into phi2
19.983 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
19.983 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
19.983 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
19.983 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
19.983 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
19.983 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
19.983 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
19.983 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
19.983 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
19.983 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.983 * [backup-simplify]: Simplify 0.5 into 0.5
19.983 * [taylor]: Taking taylor expansion of phi1 in lambda2
19.983 * [backup-simplify]: Simplify phi1 into phi1
19.983 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
19.983 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
19.984 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
19.984 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
19.984 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
19.984 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
19.984 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
19.984 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
19.984 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
19.984 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
19.984 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.984 * [backup-simplify]: Simplify 0.5 into 0.5
19.984 * [taylor]: Taking taylor expansion of phi2 in lambda2
19.984 * [backup-simplify]: Simplify phi2 into phi2
19.984 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
19.984 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
19.984 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
19.984 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
19.984 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
19.984 * [backup-simplify]: Simplify (- 0) into 0
19.984 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
19.985 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
19.985 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
19.985 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
19.985 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.985 * [backup-simplify]: Simplify 0.5 into 0.5
19.985 * [taylor]: Taking taylor expansion of phi1 in lambda2
19.985 * [backup-simplify]: Simplify phi1 into phi1
19.985 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
19.985 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
19.985 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
19.985 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
19.985 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
19.985 * [backup-simplify]: Simplify (- 0) into 0
19.985 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
19.985 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
19.985 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
19.985 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
19.985 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
19.985 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.985 * [backup-simplify]: Simplify 0.5 into 0.5
19.985 * [taylor]: Taking taylor expansion of phi2 in lambda2
19.985 * [backup-simplify]: Simplify phi2 into phi2
19.985 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
19.986 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
19.986 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
19.986 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
19.986 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
19.986 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
19.986 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.986 * [backup-simplify]: Simplify 0.5 into 0.5
19.986 * [taylor]: Taking taylor expansion of phi1 in lambda2
19.986 * [backup-simplify]: Simplify phi1 into phi1
19.986 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
19.986 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
19.986 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
19.986 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
19.986 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
19.986 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
19.986 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.986 * [backup-simplify]: Simplify 0.5 into 0.5
19.986 * [taylor]: Taking taylor expansion of phi2 in lambda2
19.986 * [backup-simplify]: Simplify phi2 into phi2
19.986 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
19.986 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
19.986 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
19.986 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
19.986 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
19.986 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.986 * [backup-simplify]: Simplify 0.5 into 0.5
19.986 * [taylor]: Taking taylor expansion of phi1 in lambda2
19.986 * [backup-simplify]: Simplify phi1 into phi1
19.987 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
19.987 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
19.987 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
19.987 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
19.987 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
19.987 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
19.987 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.987 * [backup-simplify]: Simplify 0.5 into 0.5
19.987 * [taylor]: Taking taylor expansion of phi2 in lambda2
19.987 * [backup-simplify]: Simplify phi2 into phi2
19.987 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
19.987 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
19.987 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
19.987 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
19.987 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
19.987 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
19.987 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.987 * [backup-simplify]: Simplify 0.5 into 0.5
19.987 * [taylor]: Taking taylor expansion of phi1 in lambda2
19.987 * [backup-simplify]: Simplify phi1 into phi1
19.987 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
19.987 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
19.987 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
19.987 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
19.987 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
19.987 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
19.987 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.987 * [backup-simplify]: Simplify 0.5 into 0.5
19.987 * [taylor]: Taking taylor expansion of phi2 in lambda2
19.987 * [backup-simplify]: Simplify phi2 into phi2
19.987 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
19.987 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
19.987 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
19.987 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
19.987 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
19.987 * [taylor]: Taking taylor expansion of 0.5 in lambda2
19.987 * [backup-simplify]: Simplify 0.5 into 0.5
19.988 * [taylor]: Taking taylor expansion of phi1 in lambda2
19.988 * [backup-simplify]: Simplify phi1 into phi1
19.988 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
19.988 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
19.988 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
19.988 * [taylor]: Taking taylor expansion of (* R (pow lambda2 3)) in lambda2
19.988 * [taylor]: Taking taylor expansion of R in lambda2
19.988 * [backup-simplify]: Simplify R into R
19.988 * [taylor]: Taking taylor expansion of (pow lambda2 3) in lambda2
19.988 * [taylor]: Taking taylor expansion of lambda2 in lambda2
19.988 * [backup-simplify]: Simplify 0 into 0
19.988 * [backup-simplify]: Simplify 1 into 1
19.988 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
19.988 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (pow (sin (/ 0.5 phi2)) 4)
19.988 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
19.988 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
19.988 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
19.989 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (pow (sin (/ 0.5 phi1)) 4)
19.989 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 4)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 4))
19.989 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 4))) into (* (pow (sin (/ 0.5 phi1)) 4) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
19.989 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 4) (* (pow (sin (/ 0.5 phi1)) 4) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))) into (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 4) (* (pow (sin (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi1)) 2))))
19.990 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
19.990 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
19.990 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
19.990 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
19.990 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
19.990 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
19.991 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
19.991 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
19.991 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
19.991 * [backup-simplify]: Simplify (- 0) into 0
19.991 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
19.991 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
19.991 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
19.991 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
19.992 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
19.992 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
19.992 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
19.992 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
19.992 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
19.992 * [backup-simplify]: Simplify (- 0) into 0
19.992 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
19.992 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
19.992 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
19.993 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
19.993 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
19.993 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
19.993 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
19.993 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
19.993 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
19.993 * [backup-simplify]: Simplify (- 0) into 0
19.993 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
19.993 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
19.993 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
19.994 * [backup-simplify]: Simplify (- 0) into 0
19.994 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
19.994 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
19.994 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
19.994 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
19.994 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
19.995 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
19.995 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
19.996 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))
19.997 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
19.999 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
19.999 * [backup-simplify]: Simplify (* 1 1) into 1
20.000 * [backup-simplify]: Simplify (* 1 1) into 1
20.000 * [backup-simplify]: Simplify (* R 1) into R
20.002 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R) into (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)
20.005 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 4) (* (pow (sin (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi1)) 2)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) into (/ (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
20.005 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))) in lambda2
20.005 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3)) in lambda2
20.005 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3) in lambda2
20.005 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
20.005 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
20.005 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
20.005 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
20.005 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
20.005 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
20.005 * [taylor]: Taking taylor expansion of 0.5 in lambda2
20.005 * [backup-simplify]: Simplify 0.5 into 0.5
20.005 * [taylor]: Taking taylor expansion of phi2 in lambda2
20.005 * [backup-simplify]: Simplify phi2 into phi2
20.005 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
20.005 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
20.005 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
20.006 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
20.006 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
20.006 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
20.006 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
20.006 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
20.006 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
20.006 * [taylor]: Taking taylor expansion of 0.5 in lambda2
20.006 * [backup-simplify]: Simplify 0.5 into 0.5
20.006 * [taylor]: Taking taylor expansion of phi1 in lambda2
20.006 * [backup-simplify]: Simplify phi1 into phi1
20.006 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
20.006 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
20.006 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
20.006 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
20.006 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
20.007 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
20.007 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
20.007 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
20.007 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
20.007 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
20.007 * [taylor]: Taking taylor expansion of 0.5 in lambda2
20.007 * [backup-simplify]: Simplify 0.5 into 0.5
20.007 * [taylor]: Taking taylor expansion of phi2 in lambda2
20.007 * [backup-simplify]: Simplify phi2 into phi2
20.007 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
20.007 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
20.007 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
20.007 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
20.007 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
20.008 * [backup-simplify]: Simplify (- 0) into 0
20.008 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
20.008 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
20.008 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
20.008 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
20.008 * [taylor]: Taking taylor expansion of 0.5 in lambda2
20.008 * [backup-simplify]: Simplify 0.5 into 0.5
20.008 * [taylor]: Taking taylor expansion of phi1 in lambda2
20.008 * [backup-simplify]: Simplify phi1 into phi1
20.008 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
20.008 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
20.008 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
20.009 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
20.009 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
20.009 * [backup-simplify]: Simplify (- 0) into 0
20.009 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
20.009 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
20.009 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
20.009 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
20.009 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
20.009 * [taylor]: Taking taylor expansion of 0.5 in lambda2
20.009 * [backup-simplify]: Simplify 0.5 into 0.5
20.009 * [taylor]: Taking taylor expansion of phi2 in lambda2
20.010 * [backup-simplify]: Simplify phi2 into phi2
20.010 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
20.010 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
20.010 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
20.010 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
20.010 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
20.010 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
20.010 * [taylor]: Taking taylor expansion of 0.5 in lambda2
20.010 * [backup-simplify]: Simplify 0.5 into 0.5
20.010 * [taylor]: Taking taylor expansion of phi1 in lambda2
20.010 * [backup-simplify]: Simplify phi1 into phi1
20.010 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
20.010 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
20.010 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
20.010 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
20.010 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
20.010 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
20.010 * [taylor]: Taking taylor expansion of 0.5 in lambda2
20.010 * [backup-simplify]: Simplify 0.5 into 0.5
20.010 * [taylor]: Taking taylor expansion of phi2 in lambda2
20.010 * [backup-simplify]: Simplify phi2 into phi2
20.010 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
20.011 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
20.011 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
20.011 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
20.011 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
20.011 * [taylor]: Taking taylor expansion of 0.5 in lambda2
20.011 * [backup-simplify]: Simplify 0.5 into 0.5
20.011 * [taylor]: Taking taylor expansion of phi1 in lambda2
20.011 * [backup-simplify]: Simplify phi1 into phi1
20.011 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
20.011 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
20.011 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
20.011 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
20.011 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
20.011 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
20.011 * [taylor]: Taking taylor expansion of 0.5 in lambda2
20.011 * [backup-simplify]: Simplify 0.5 into 0.5
20.011 * [taylor]: Taking taylor expansion of phi2 in lambda2
20.011 * [backup-simplify]: Simplify phi2 into phi2
20.011 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
20.011 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
20.012 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
20.012 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
20.012 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
20.012 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
20.012 * [taylor]: Taking taylor expansion of 0.5 in lambda2
20.012 * [backup-simplify]: Simplify 0.5 into 0.5
20.012 * [taylor]: Taking taylor expansion of phi1 in lambda2
20.012 * [backup-simplify]: Simplify phi1 into phi1
20.012 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
20.012 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
20.012 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
20.012 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
20.012 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
20.012 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
20.012 * [taylor]: Taking taylor expansion of 0.5 in lambda2
20.012 * [backup-simplify]: Simplify 0.5 into 0.5
20.012 * [taylor]: Taking taylor expansion of phi2 in lambda2
20.012 * [backup-simplify]: Simplify phi2 into phi2
20.012 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
20.012 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
20.012 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
20.013 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
20.013 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
20.013 * [taylor]: Taking taylor expansion of 0.5 in lambda2
20.013 * [backup-simplify]: Simplify 0.5 into 0.5
20.013 * [taylor]: Taking taylor expansion of phi1 in lambda2
20.013 * [backup-simplify]: Simplify phi1 into phi1
20.013 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
20.013 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
20.013 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
20.013 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
20.013 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
20.014 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
20.014 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
20.014 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
20.014 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
20.015 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
20.015 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
20.015 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
20.016 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
20.016 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
20.016 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
20.016 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
20.016 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
20.016 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
20.017 * [backup-simplify]: Simplify (- 0) into 0
20.017 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
20.017 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
20.017 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
20.017 * [backup-simplify]: Simplify (- 0) into 0
20.018 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
20.018 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
20.018 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
20.018 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
20.018 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
20.019 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
20.019 * [backup-simplify]: Simplify (- 0) into 0
20.019 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
20.019 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
20.019 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
20.020 * [backup-simplify]: Simplify (- 0) into 0
20.020 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
20.020 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
20.020 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
20.020 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
20.020 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
20.020 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
20.021 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
20.021 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
20.021 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
20.021 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
20.022 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))
20.023 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
20.025 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
20.029 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)
20.033 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)) into (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
20.038 * [backup-simplify]: Simplify (/ 1 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)))
20.042 * [backup-simplify]: Simplify (sqrt (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)))) into (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))
20.043 * [backup-simplify]: Simplify (+ 0) into 0
20.043 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
20.044 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
20.044 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
20.045 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
20.045 * [backup-simplify]: Simplify (+ 0 0) into 0
20.046 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
20.046 * [backup-simplify]: Simplify (+ 0) into 0
20.047 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
20.047 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
20.047 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
20.048 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
20.048 * [backup-simplify]: Simplify (+ 0 0) into 0
20.049 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
20.049 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
20.049 * [backup-simplify]: Simplify (+ 0) into 0
20.050 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
20.050 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
20.051 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
20.051 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
20.052 * [backup-simplify]: Simplify (- 0) into 0
20.052 * [backup-simplify]: Simplify (+ 0 0) into 0
20.052 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
20.053 * [backup-simplify]: Simplify (+ 0) into 0
20.053 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
20.054 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
20.054 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
20.055 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
20.055 * [backup-simplify]: Simplify (- 0) into 0
20.056 * [backup-simplify]: Simplify (+ 0 0) into 0
20.056 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
20.056 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
20.057 * [backup-simplify]: Simplify (+ 0 0) into 0
20.057 * [backup-simplify]: Simplify (+ 0) into 0
20.058 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
20.058 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
20.059 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
20.059 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
20.060 * [backup-simplify]: Simplify (- 0) into 0
20.060 * [backup-simplify]: Simplify (+ 0 0) into 0
20.061 * [backup-simplify]: Simplify (+ 0) into 0
20.061 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
20.061 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
20.062 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
20.063 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
20.063 * [backup-simplify]: Simplify (- 0) into 0
20.063 * [backup-simplify]: Simplify (+ 0 0) into 0
20.064 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
20.064 * [backup-simplify]: Simplify (+ 0) into 0
20.065 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
20.065 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
20.066 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
20.066 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
20.066 * [backup-simplify]: Simplify (+ 0 0) into 0
20.067 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
20.067 * [backup-simplify]: Simplify (+ 0) into 0
20.068 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
20.068 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
20.069 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
20.069 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
20.069 * [backup-simplify]: Simplify (+ 0 0) into 0
20.070 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
20.070 * [backup-simplify]: Simplify (+ 0) into 0
20.071 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
20.071 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
20.072 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
20.072 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
20.073 * [backup-simplify]: Simplify (+ 0 0) into 0
20.073 * [backup-simplify]: Simplify (+ 0) into 0
20.074 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
20.074 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
20.074 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
20.075 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
20.075 * [backup-simplify]: Simplify (+ 0 0) into 0
20.076 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
20.076 * [backup-simplify]: Simplify (+ 0) into 0
20.076 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
20.077 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
20.077 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
20.078 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
20.078 * [backup-simplify]: Simplify (- 0) into 0
20.079 * [backup-simplify]: Simplify (+ 0 0) into 0
20.079 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
20.079 * [backup-simplify]: Simplify (+ 0) into 0
20.080 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
20.080 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
20.081 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
20.081 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
20.082 * [backup-simplify]: Simplify (- 0) into 0
20.082 * [backup-simplify]: Simplify (+ 0 0) into 0
20.082 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
20.083 * [backup-simplify]: Simplify (+ 0 0) into 0
20.083 * [backup-simplify]: Simplify (- 0) into 0
20.083 * [backup-simplify]: Simplify (+ 0 0) into 0
20.087 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into 0
20.091 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2))) into 0
20.099 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2))) (/ 0 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
20.104 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)))))) into 0
20.104 * [taylor]: Taking taylor expansion of (+ (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 (* phi1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R phi2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* 1/2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (* lambda2 (pow phi2 2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) in lambda2
20.104 * [taylor]: Taking taylor expansion of (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 (* phi1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R phi2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) in lambda2
20.104 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 (* phi1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R phi2))))) in lambda2
20.104 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in lambda2
20.104 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
20.104 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
20.104 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
20.104 * [taylor]: Taking taylor expansion of 0.5 in lambda2
20.104 * [backup-simplify]: Simplify 0.5 into 0.5
20.105 * [taylor]: Taking taylor expansion of phi1 in lambda2
20.105 * [backup-simplify]: Simplify phi1 into phi1
20.105 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
20.105 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
20.105 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
20.105 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
20.105 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
20.106 * [backup-simplify]: Simplify (- 0) into 0
20.106 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
20.106 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
20.106 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
20.106 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
20.106 * [taylor]: Taking taylor expansion of 0.5 in lambda2
20.106 * [backup-simplify]: Simplify 0.5 into 0.5
20.106 * [taylor]: Taking taylor expansion of phi2 in lambda2
20.106 * [backup-simplify]: Simplify phi2 into phi2
20.106 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
20.106 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
20.106 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
20.106 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
20.106 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
20.107 * [backup-simplify]: Simplify (- 0) into 0
20.107 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
20.107 * [taylor]: Taking taylor expansion of (* lambda2 (* phi1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R phi2)))) in lambda2
20.107 * [taylor]: Taking taylor expansion of lambda2 in lambda2
20.107 * [backup-simplify]: Simplify 0 into 0
20.107 * [backup-simplify]: Simplify 1 into 1
20.107 * [taylor]: Taking taylor expansion of (* phi1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R phi2))) in lambda2
20.107 * [taylor]: Taking taylor expansion of phi1 in lambda2
20.107 * [backup-simplify]: Simplify phi1 into phi1
20.107 * [taylor]: Taking taylor expansion of (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R phi2)) in lambda2
20.107 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
20.107 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
20.107 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
20.107 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
20.107 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
20.107 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
20.107 * [taylor]: Taking taylor expansion of 0.5 in lambda2
20.107 * [backup-simplify]: Simplify 0.5 into 0.5
20.107 * [taylor]: Taking taylor expansion of phi2 in lambda2
20.107 * [backup-simplify]: Simplify phi2 into phi2
20.107 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
20.108 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
20.108 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
20.108 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
20.108 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
20.108 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
20.108 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
20.108 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
20.108 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
20.108 * [taylor]: Taking taylor expansion of 0.5 in lambda2
20.108 * [backup-simplify]: Simplify 0.5 into 0.5
20.108 * [taylor]: Taking taylor expansion of phi1 in lambda2
20.108 * [backup-simplify]: Simplify phi1 into phi1
20.108 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
20.108 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
20.108 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
20.109 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
20.109 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
20.109 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
20.109 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
20.109 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
20.109 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
20.109 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
20.109 * [taylor]: Taking taylor expansion of 0.5 in lambda2
20.109 * [backup-simplify]: Simplify 0.5 into 0.5
20.109 * [taylor]: Taking taylor expansion of phi2 in lambda2
20.109 * [backup-simplify]: Simplify phi2 into phi2
20.109 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
20.109 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
20.109 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
20.109 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
20.109 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
20.110 * [backup-simplify]: Simplify (- 0) into 0
20.110 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
20.110 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
20.110 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
20.110 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
20.110 * [taylor]: Taking taylor expansion of 0.5 in lambda2
20.110 * [backup-simplify]: Simplify 0.5 into 0.5
20.110 * [taylor]: Taking taylor expansion of phi1 in lambda2
20.110 * [backup-simplify]: Simplify phi1 into phi1
20.110 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
20.110 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
20.110 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
20.110 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
20.111 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
20.111 * [backup-simplify]: Simplify (- 0) into 0
20.111 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
20.111 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
20.111 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
20.111 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
20.111 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
20.111 * [taylor]: Taking taylor expansion of 0.5 in lambda2
20.111 * [backup-simplify]: Simplify 0.5 into 0.5
20.111 * [taylor]: Taking taylor expansion of phi2 in lambda2
20.111 * [backup-simplify]: Simplify phi2 into phi2
20.111 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
20.111 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
20.112 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
20.112 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
20.112 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
20.112 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
20.112 * [taylor]: Taking taylor expansion of 0.5 in lambda2
20.112 * [backup-simplify]: Simplify 0.5 into 0.5
20.112 * [taylor]: Taking taylor expansion of phi1 in lambda2
20.112 * [backup-simplify]: Simplify phi1 into phi1
20.112 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
20.112 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
20.112 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
20.112 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
20.112 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
20.112 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
20.112 * [taylor]: Taking taylor expansion of 0.5 in lambda2
20.112 * [backup-simplify]: Simplify 0.5 into 0.5
20.112 * [taylor]: Taking taylor expansion of phi2 in lambda2
20.112 * [backup-simplify]: Simplify phi2 into phi2
20.112 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
20.112 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
20.112 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
20.112 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
20.113 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
20.113 * [taylor]: Taking taylor expansion of 0.5 in lambda2
20.113 * [backup-simplify]: Simplify 0.5 into 0.5
20.113 * [taylor]: Taking taylor expansion of phi1 in lambda2
20.113 * [backup-simplify]: Simplify phi1 into phi1
20.113 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
20.113 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
20.113 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
20.113 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
20.113 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
20.113 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
20.113 * [taylor]: Taking taylor expansion of 0.5 in lambda2
20.113 * [backup-simplify]: Simplify 0.5 into 0.5
20.113 * [taylor]: Taking taylor expansion of phi2 in lambda2
20.113 * [backup-simplify]: Simplify phi2 into phi2
20.113 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
20.113 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
20.113 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
20.113 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
20.113 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
20.113 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
20.113 * [taylor]: Taking taylor expansion of 0.5 in lambda2
20.114 * [backup-simplify]: Simplify 0.5 into 0.5
20.114 * [taylor]: Taking taylor expansion of phi1 in lambda2
20.114 * [backup-simplify]: Simplify phi1 into phi1
20.114 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
20.114 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
20.114 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
20.114 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
20.114 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
20.114 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
20.114 * [taylor]: Taking taylor expansion of 0.5 in lambda2
20.114 * [backup-simplify]: Simplify 0.5 into 0.5
20.114 * [taylor]: Taking taylor expansion of phi2 in lambda2
20.114 * [backup-simplify]: Simplify phi2 into phi2
20.114 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
20.114 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
20.114 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
20.114 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
20.114 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
20.114 * [taylor]: Taking taylor expansion of 0.5 in lambda2
20.114 * [backup-simplify]: Simplify 0.5 into 0.5
20.114 * [taylor]: Taking taylor expansion of phi1 in lambda2
20.115 * [backup-simplify]: Simplify phi1 into phi1
20.115 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
20.115 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
20.115 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
20.115 * [taylor]: Taking taylor expansion of (* R phi2) in lambda2
20.115 * [taylor]: Taking taylor expansion of R in lambda2
20.115 * [backup-simplify]: Simplify R into R
20.115 * [taylor]: Taking taylor expansion of phi2 in lambda2
20.115 * [backup-simplify]: Simplify phi2 into phi2
20.115 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
20.115 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
20.116 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
20.116 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
20.116 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
20.116 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
20.116 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
20.117 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
20.117 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
20.118 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
20.118 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
20.118 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
20.118 * [backup-simplify]: Simplify (- 0) into 0
20.119 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
20.119 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
20.119 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
20.119 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
20.119 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
20.119 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
20.119 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
20.119 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
20.119 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
20.120 * [backup-simplify]: Simplify (- 0) into 0
20.120 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
20.120 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
20.120 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
20.121 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
20.121 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
20.121 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
20.121 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
20.121 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
20.121 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
20.121 * [backup-simplify]: Simplify (- 0) into 0
20.122 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
20.122 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
20.122 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
20.122 * [backup-simplify]: Simplify (- 0) into 0
20.122 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
20.122 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
20.122 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
20.123 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
20.123 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
20.123 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
20.123 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
20.124 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))
20.125 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
20.127 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
20.127 * [backup-simplify]: Simplify (* R phi2) into (* R phi2)
20.129 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R phi2)) into (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R phi2))
20.131 * [backup-simplify]: Simplify (* phi1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R phi2))) into (* R (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* phi1 phi2)))
20.133 * [backup-simplify]: Simplify (* 0 (* R (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* phi1 phi2)))) into 0
20.133 * [backup-simplify]: Simplify (+ (* R 0) (* 0 phi2)) into 0
20.133 * [backup-simplify]: Simplify (+ 0) into 0
20.134 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
20.134 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
20.135 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
20.135 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
20.136 * [backup-simplify]: Simplify (+ 0 0) into 0
20.136 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
20.136 * [backup-simplify]: Simplify (+ 0) into 0
20.137 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
20.137 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
20.138 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
20.138 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
20.139 * [backup-simplify]: Simplify (+ 0 0) into 0
20.139 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
20.139 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
20.140 * [backup-simplify]: Simplify (+ 0) into 0
20.140 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
20.140 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
20.141 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
20.142 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
20.142 * [backup-simplify]: Simplify (- 0) into 0
20.142 * [backup-simplify]: Simplify (+ 0 0) into 0
20.143 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
20.143 * [backup-simplify]: Simplify (+ 0) into 0
20.144 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
20.144 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
20.145 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
20.145 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
20.145 * [backup-simplify]: Simplify (- 0) into 0
20.146 * [backup-simplify]: Simplify (+ 0 0) into 0
20.146 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
20.146 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
20.147 * [backup-simplify]: Simplify (+ 0 0) into 0
20.147 * [backup-simplify]: Simplify (+ 0) into 0
20.148 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
20.148 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
20.149 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
20.153 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
20.154 * [backup-simplify]: Simplify (- 0) into 0
20.154 * [backup-simplify]: Simplify (+ 0 0) into 0
20.155 * [backup-simplify]: Simplify (+ 0) into 0
20.155 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
20.155 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
20.156 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
20.157 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
20.157 * [backup-simplify]: Simplify (+ 0 0) into 0
20.157 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
20.157 * [backup-simplify]: Simplify (+ 0) into 0
20.158 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
20.158 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
20.159 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
20.159 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
20.160 * [backup-simplify]: Simplify (+ 0 0) into 0
20.160 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
20.161 * [backup-simplify]: Simplify (+ 0) into 0
20.161 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
20.161 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
20.162 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
20.163 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
20.163 * [backup-simplify]: Simplify (- 0) into 0
20.163 * [backup-simplify]: Simplify (+ 0 0) into 0
20.164 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
20.164 * [backup-simplify]: Simplify (+ 0) into 0
20.165 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
20.165 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
20.166 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
20.166 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
20.167 * [backup-simplify]: Simplify (+ 0 0) into 0
20.167 * [backup-simplify]: Simplify (+ 0) into 0
20.167 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
20.168 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
20.169 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
20.169 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
20.169 * [backup-simplify]: Simplify (- 0) into 0
20.170 * [backup-simplify]: Simplify (+ 0 0) into 0
20.170 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
20.170 * [backup-simplify]: Simplify (+ 0) into 0
20.171 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
20.171 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
20.172 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
20.172 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
20.173 * [backup-simplify]: Simplify (- 0) into 0
20.173 * [backup-simplify]: Simplify (+ 0 0) into 0
20.173 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
20.174 * [backup-simplify]: Simplify (+ 0) into 0
20.174 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
20.175 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
20.175 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
20.176 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
20.176 * [backup-simplify]: Simplify (+ 0 0) into 0
20.177 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
20.177 * [backup-simplify]: Simplify (+ 0 0) into 0
20.177 * [backup-simplify]: Simplify (- 0) into 0
20.178 * [backup-simplify]: Simplify (+ 0 0) into 0
20.180 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (* 0 (* R phi2))) into 0
20.182 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R phi2)))) into 0
20.185 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* R (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* phi1 phi2))))) into (- (+ (* phi1 (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (* phi1 (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))))))
20.189 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* phi1 (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (* phi1 (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))))))) into (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* phi1 phi2)))) (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* phi1 phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))))
20.189 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in lambda2
20.189 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in lambda2
20.189 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
20.189 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
20.189 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
20.189 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
20.189 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
20.189 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
20.189 * [taylor]: Taking taylor expansion of 0.5 in lambda2
20.189 * [backup-simplify]: Simplify 0.5 into 0.5
20.189 * [taylor]: Taking taylor expansion of phi2 in lambda2
20.189 * [backup-simplify]: Simplify phi2 into phi2
20.189 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
20.189 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
20.189 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
20.190 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
20.190 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
20.190 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
20.190 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
20.190 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
20.190 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
20.190 * [taylor]: Taking taylor expansion of 0.5 in lambda2
20.190 * [backup-simplify]: Simplify 0.5 into 0.5
20.190 * [taylor]: Taking taylor expansion of phi1 in lambda2
20.190 * [backup-simplify]: Simplify phi1 into phi1
20.190 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
20.190 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
20.190 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
20.190 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
20.190 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
20.191 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
20.191 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
20.191 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
20.191 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
20.191 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
20.191 * [taylor]: Taking taylor expansion of 0.5 in lambda2
20.191 * [backup-simplify]: Simplify 0.5 into 0.5
20.191 * [taylor]: Taking taylor expansion of phi2 in lambda2
20.191 * [backup-simplify]: Simplify phi2 into phi2
20.191 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
20.191 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
20.191 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
20.191 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
20.191 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
20.192 * [backup-simplify]: Simplify (- 0) into 0
20.192 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
20.192 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
20.192 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
20.192 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
20.192 * [taylor]: Taking taylor expansion of 0.5 in lambda2
20.192 * [backup-simplify]: Simplify 0.5 into 0.5
20.192 * [taylor]: Taking taylor expansion of phi1 in lambda2
20.192 * [backup-simplify]: Simplify phi1 into phi1
20.192 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
20.192 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
20.192 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
20.193 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
20.193 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
20.193 * [backup-simplify]: Simplify (- 0) into 0
20.193 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
20.193 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
20.193 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
20.193 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
20.193 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
20.193 * [taylor]: Taking taylor expansion of 0.5 in lambda2
20.193 * [backup-simplify]: Simplify 0.5 into 0.5
20.193 * [taylor]: Taking taylor expansion of phi2 in lambda2
20.193 * [backup-simplify]: Simplify phi2 into phi2
20.193 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
20.194 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
20.194 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
20.194 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
20.194 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
20.194 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
20.194 * [taylor]: Taking taylor expansion of 0.5 in lambda2
20.194 * [backup-simplify]: Simplify 0.5 into 0.5
20.194 * [taylor]: Taking taylor expansion of phi1 in lambda2
20.194 * [backup-simplify]: Simplify phi1 into phi1
20.194 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
20.194 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
20.194 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
20.194 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
20.194 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
20.194 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
20.194 * [taylor]: Taking taylor expansion of 0.5 in lambda2
20.194 * [backup-simplify]: Simplify 0.5 into 0.5
20.194 * [taylor]: Taking taylor expansion of phi2 in lambda2
20.194 * [backup-simplify]: Simplify phi2 into phi2
20.194 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
20.194 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
20.195 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
20.195 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
20.195 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
20.195 * [taylor]: Taking taylor expansion of 0.5 in lambda2
20.195 * [backup-simplify]: Simplify 0.5 into 0.5
20.195 * [taylor]: Taking taylor expansion of phi1 in lambda2
20.195 * [backup-simplify]: Simplify phi1 into phi1
20.195 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
20.195 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
20.195 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
20.195 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
20.195 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
20.195 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
20.195 * [taylor]: Taking taylor expansion of 0.5 in lambda2
20.195 * [backup-simplify]: Simplify 0.5 into 0.5
20.195 * [taylor]: Taking taylor expansion of phi2 in lambda2
20.195 * [backup-simplify]: Simplify phi2 into phi2
20.195 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
20.195 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
20.195 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
20.195 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
20.196 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
20.196 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
20.196 * [taylor]: Taking taylor expansion of 0.5 in lambda2
20.196 * [backup-simplify]: Simplify 0.5 into 0.5
20.196 * [taylor]: Taking taylor expansion of phi1 in lambda2
20.196 * [backup-simplify]: Simplify phi1 into phi1
20.196 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
20.196 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
20.196 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
20.196 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
20.196 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
20.196 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
20.196 * [taylor]: Taking taylor expansion of 0.5 in lambda2
20.196 * [backup-simplify]: Simplify 0.5 into 0.5
20.196 * [taylor]: Taking taylor expansion of phi2 in lambda2
20.196 * [backup-simplify]: Simplify phi2 into phi2
20.196 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
20.196 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
20.196 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
20.196 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
20.196 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
20.197 * [taylor]: Taking taylor expansion of 0.5 in lambda2
20.197 * [backup-simplify]: Simplify 0.5 into 0.5
20.197 * [taylor]: Taking taylor expansion of phi1 in lambda2
20.197 * [backup-simplify]: Simplify phi1 into phi1
20.197 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
20.197 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
20.197 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
20.197 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
20.197 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
20.198 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
20.198 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
20.198 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
20.198 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
20.199 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
20.199 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
20.199 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
20.199 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
20.199 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
20.199 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
20.200 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
20.200 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
20.200 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
20.200 * [backup-simplify]: Simplify (- 0) into 0
20.200 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
20.201 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
20.201 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
20.201 * [backup-simplify]: Simplify (- 0) into 0
20.201 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
20.201 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
20.202 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
20.202 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
20.202 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
20.202 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
20.202 * [backup-simplify]: Simplify (- 0) into 0
20.203 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
20.203 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
20.203 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
20.203 * [backup-simplify]: Simplify (- 0) into 0
20.203 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
20.203 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
20.204 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
20.204 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
20.204 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
20.204 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
20.204 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
20.204 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
20.204 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
20.205 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
20.206 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))
20.206 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
20.209 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
20.211 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
20.213 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
20.214 * [backup-simplify]: Simplify (+ 0) into 0
20.214 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
20.214 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
20.215 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
20.216 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
20.216 * [backup-simplify]: Simplify (+ 0 0) into 0
20.216 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
20.217 * [backup-simplify]: Simplify (+ 0) into 0
20.217 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
20.217 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
20.218 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
20.219 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
20.219 * [backup-simplify]: Simplify (+ 0 0) into 0
20.219 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
20.219 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
20.220 * [backup-simplify]: Simplify (+ 0) into 0
20.220 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
20.221 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
20.221 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
20.222 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
20.222 * [backup-simplify]: Simplify (- 0) into 0
20.223 * [backup-simplify]: Simplify (+ 0 0) into 0
20.223 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
20.223 * [backup-simplify]: Simplify (+ 0) into 0
20.224 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
20.224 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
20.225 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
20.225 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
20.226 * [backup-simplify]: Simplify (- 0) into 0
20.226 * [backup-simplify]: Simplify (+ 0 0) into 0
20.226 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
20.227 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
20.227 * [backup-simplify]: Simplify (+ 0 0) into 0
20.228 * [backup-simplify]: Simplify (+ 0) into 0
20.228 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
20.228 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
20.229 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
20.229 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
20.230 * [backup-simplify]: Simplify (- 0) into 0
20.230 * [backup-simplify]: Simplify (+ 0 0) into 0
20.231 * [backup-simplify]: Simplify (+ 0) into 0
20.231 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
20.231 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
20.232 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
20.233 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
20.233 * [backup-simplify]: Simplify (- 0) into 0
20.233 * [backup-simplify]: Simplify (+ 0 0) into 0
20.233 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
20.234 * [backup-simplify]: Simplify (+ 0) into 0
20.234 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
20.235 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
20.235 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
20.236 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
20.236 * [backup-simplify]: Simplify (+ 0 0) into 0
20.237 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
20.237 * [backup-simplify]: Simplify (+ 0) into 0
20.238 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
20.238 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
20.239 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
20.239 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
20.240 * [backup-simplify]: Simplify (+ 0 0) into 0
20.240 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
20.240 * [backup-simplify]: Simplify (+ 0) into 0
20.241 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
20.241 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
20.242 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
20.242 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
20.243 * [backup-simplify]: Simplify (+ 0 0) into 0
20.243 * [backup-simplify]: Simplify (+ 0) into 0
20.244 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
20.244 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
20.245 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
20.245 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
20.246 * [backup-simplify]: Simplify (+ 0 0) into 0
20.246 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
20.246 * [backup-simplify]: Simplify (+ 0) into 0
20.247 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
20.247 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
20.248 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
20.248 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
20.249 * [backup-simplify]: Simplify (- 0) into 0
20.249 * [backup-simplify]: Simplify (+ 0 0) into 0
20.249 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
20.250 * [backup-simplify]: Simplify (+ 0) into 0
20.250 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
20.251 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
20.251 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
20.252 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
20.252 * [backup-simplify]: Simplify (- 0) into 0
20.253 * [backup-simplify]: Simplify (+ 0 0) into 0
20.253 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
20.253 * [backup-simplify]: Simplify (+ 0 0) into 0
20.254 * [backup-simplify]: Simplify (- 0) into 0
20.254 * [backup-simplify]: Simplify (+ 0 0) into 0
20.258 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
20.260 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
20.260 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (* lambda2 (pow phi2 2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) in lambda2
20.260 * [taylor]: Taking taylor expansion of 1/2 in lambda2
20.260 * [backup-simplify]: Simplify 1/2 into 1/2
20.260 * [taylor]: Taking taylor expansion of (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (* lambda2 (pow phi2 2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) in lambda2
20.260 * [taylor]: Taking taylor expansion of (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (* lambda2 (pow phi2 2))))) in lambda2
20.261 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
20.261 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
20.261 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
20.261 * [taylor]: Taking taylor expansion of 0.5 in lambda2
20.261 * [backup-simplify]: Simplify 0.5 into 0.5
20.261 * [taylor]: Taking taylor expansion of phi2 in lambda2
20.261 * [backup-simplify]: Simplify phi2 into phi2
20.261 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
20.261 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
20.261 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
20.261 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
20.261 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
20.261 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
20.261 * [taylor]: Taking taylor expansion of 0.5 in lambda2
20.261 * [backup-simplify]: Simplify 0.5 into 0.5
20.261 * [taylor]: Taking taylor expansion of phi1 in lambda2
20.261 * [backup-simplify]: Simplify phi1 into phi1
20.261 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
20.261 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
20.261 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
20.262 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
20.262 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
20.262 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
20.262 * [taylor]: Taking taylor expansion of 0.5 in lambda2
20.262 * [backup-simplify]: Simplify 0.5 into 0.5
20.262 * [taylor]: Taking taylor expansion of phi2 in lambda2
20.262 * [backup-simplify]: Simplify phi2 into phi2
20.262 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
20.262 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
20.262 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
20.262 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
20.262 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
20.262 * [taylor]: Taking taylor expansion of 0.5 in lambda2
20.262 * [backup-simplify]: Simplify 0.5 into 0.5
20.262 * [taylor]: Taking taylor expansion of phi1 in lambda2
20.262 * [backup-simplify]: Simplify phi1 into phi1
20.262 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
20.262 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
20.262 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
20.262 * [taylor]: Taking taylor expansion of (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (* lambda2 (pow phi2 2)))) in lambda2
20.262 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
20.263 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
20.263 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
20.263 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
20.263 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
20.263 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
20.263 * [taylor]: Taking taylor expansion of 0.5 in lambda2
20.263 * [backup-simplify]: Simplify 0.5 into 0.5
20.263 * [taylor]: Taking taylor expansion of phi2 in lambda2
20.263 * [backup-simplify]: Simplify phi2 into phi2
20.263 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
20.263 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
20.263 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
20.263 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
20.263 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
20.263 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
20.263 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
20.263 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
20.263 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
20.264 * [taylor]: Taking taylor expansion of 0.5 in lambda2
20.264 * [backup-simplify]: Simplify 0.5 into 0.5
20.264 * [taylor]: Taking taylor expansion of phi1 in lambda2
20.264 * [backup-simplify]: Simplify phi1 into phi1
20.264 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
20.264 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
20.264 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
20.264 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
20.264 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
20.264 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
20.264 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
20.264 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
20.264 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
20.264 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
20.264 * [taylor]: Taking taylor expansion of 0.5 in lambda2
20.264 * [backup-simplify]: Simplify 0.5 into 0.5
20.264 * [taylor]: Taking taylor expansion of phi2 in lambda2
20.264 * [backup-simplify]: Simplify phi2 into phi2
20.264 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
20.265 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
20.265 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
20.265 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
20.265 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
20.265 * [backup-simplify]: Simplify (- 0) into 0
20.266 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
20.266 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
20.266 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
20.266 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
20.266 * [taylor]: Taking taylor expansion of 0.5 in lambda2
20.266 * [backup-simplify]: Simplify 0.5 into 0.5
20.266 * [taylor]: Taking taylor expansion of phi1 in lambda2
20.266 * [backup-simplify]: Simplify phi1 into phi1
20.266 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
20.266 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
20.266 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
20.266 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
20.266 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
20.267 * [backup-simplify]: Simplify (- 0) into 0
20.267 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
20.267 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
20.267 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
20.267 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
20.267 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
20.267 * [taylor]: Taking taylor expansion of 0.5 in lambda2
20.267 * [backup-simplify]: Simplify 0.5 into 0.5
20.267 * [taylor]: Taking taylor expansion of phi2 in lambda2
20.267 * [backup-simplify]: Simplify phi2 into phi2
20.267 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
20.267 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
20.267 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
20.267 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
20.267 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
20.267 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
20.267 * [taylor]: Taking taylor expansion of 0.5 in lambda2
20.267 * [backup-simplify]: Simplify 0.5 into 0.5
20.267 * [taylor]: Taking taylor expansion of phi1 in lambda2
20.267 * [backup-simplify]: Simplify phi1 into phi1
20.268 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
20.268 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
20.268 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
20.268 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
20.268 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
20.268 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
20.268 * [taylor]: Taking taylor expansion of 0.5 in lambda2
20.268 * [backup-simplify]: Simplify 0.5 into 0.5
20.268 * [taylor]: Taking taylor expansion of phi2 in lambda2
20.268 * [backup-simplify]: Simplify phi2 into phi2
20.268 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
20.268 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
20.268 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
20.268 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
20.268 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
20.268 * [taylor]: Taking taylor expansion of 0.5 in lambda2
20.268 * [backup-simplify]: Simplify 0.5 into 0.5
20.268 * [taylor]: Taking taylor expansion of phi1 in lambda2
20.268 * [backup-simplify]: Simplify phi1 into phi1
20.268 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
20.269 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
20.269 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
20.269 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
20.269 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
20.269 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
20.269 * [taylor]: Taking taylor expansion of 0.5 in lambda2
20.269 * [backup-simplify]: Simplify 0.5 into 0.5
20.269 * [taylor]: Taking taylor expansion of phi2 in lambda2
20.269 * [backup-simplify]: Simplify phi2 into phi2
20.269 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
20.269 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
20.269 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
20.269 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
20.269 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
20.269 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
20.269 * [taylor]: Taking taylor expansion of 0.5 in lambda2
20.269 * [backup-simplify]: Simplify 0.5 into 0.5
20.269 * [taylor]: Taking taylor expansion of phi1 in lambda2
20.269 * [backup-simplify]: Simplify phi1 into phi1
20.269 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
20.269 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
20.269 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
20.270 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
20.270 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
20.270 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
20.270 * [taylor]: Taking taylor expansion of 0.5 in lambda2
20.270 * [backup-simplify]: Simplify 0.5 into 0.5
20.270 * [taylor]: Taking taylor expansion of phi2 in lambda2
20.270 * [backup-simplify]: Simplify phi2 into phi2
20.270 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
20.270 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
20.270 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
20.270 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
20.270 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
20.270 * [taylor]: Taking taylor expansion of 0.5 in lambda2
20.270 * [backup-simplify]: Simplify 0.5 into 0.5
20.270 * [taylor]: Taking taylor expansion of phi1 in lambda2
20.270 * [backup-simplify]: Simplify phi1 into phi1
20.270 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
20.270 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
20.270 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
20.270 * [taylor]: Taking taylor expansion of (* R (* lambda2 (pow phi2 2))) in lambda2
20.270 * [taylor]: Taking taylor expansion of R in lambda2
20.270 * [backup-simplify]: Simplify R into R
20.270 * [taylor]: Taking taylor expansion of (* lambda2 (pow phi2 2)) in lambda2
20.270 * [taylor]: Taking taylor expansion of lambda2 in lambda2
20.271 * [backup-simplify]: Simplify 0 into 0
20.271 * [backup-simplify]: Simplify 1 into 1
20.271 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2
20.271 * [taylor]: Taking taylor expansion of phi2 in lambda2
20.271 * [backup-simplify]: Simplify phi2 into phi2
20.271 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
20.271 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
20.271 * [backup-simplify]: Simplify (- 0) into 0
20.271 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
20.272 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
20.272 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
20.272 * [backup-simplify]: Simplify (- 0) into 0
20.272 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
20.272 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
20.272 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
20.273 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
20.273 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
20.273 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
20.273 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
20.273 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
20.273 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
20.274 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
20.274 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
20.274 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
20.274 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
20.274 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
20.275 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
20.275 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
20.276 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
20.276 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
20.276 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
20.276 * [backup-simplify]: Simplify (- 0) into 0
20.277 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
20.277 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
20.277 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
20.277 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
20.277 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
20.277 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
20.277 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
20.277 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
20.277 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
20.278 * [backup-simplify]: Simplify (- 0) into 0
20.278 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
20.278 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
20.278 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
20.279 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
20.279 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
20.279 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
20.279 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
20.279 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
20.279 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
20.280 * [backup-simplify]: Simplify (- 0) into 0
20.280 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
20.280 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
20.280 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
20.280 * [backup-simplify]: Simplify (- 0) into 0
20.280 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
20.280 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
20.281 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
20.281 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
20.281 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
20.281 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
20.281 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
20.282 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))
20.283 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
20.285 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
20.285 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
20.285 * [backup-simplify]: Simplify (* 0 (pow phi2 2)) into 0
20.285 * [backup-simplify]: Simplify (* R 0) into 0
20.287 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) into 0
20.287 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0
20.288 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow phi2 2))) into (pow phi2 2)
20.288 * [backup-simplify]: Simplify (+ (* R (pow phi2 2)) (* 0 0)) into (* R (pow phi2 2))
20.289 * [backup-simplify]: Simplify (+ 0) into 0
20.289 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
20.289 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
20.290 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
20.291 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
20.291 * [backup-simplify]: Simplify (+ 0 0) into 0
20.291 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
20.292 * [backup-simplify]: Simplify (+ 0) into 0
20.292 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
20.292 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
20.293 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
20.294 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
20.294 * [backup-simplify]: Simplify (+ 0 0) into 0
20.294 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
20.295 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
20.295 * [backup-simplify]: Simplify (+ 0) into 0
20.295 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
20.296 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
20.296 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
20.297 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
20.297 * [backup-simplify]: Simplify (- 0) into 0
20.298 * [backup-simplify]: Simplify (+ 0 0) into 0
20.298 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
20.298 * [backup-simplify]: Simplify (+ 0) into 0
20.299 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
20.299 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
20.300 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
20.300 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
20.301 * [backup-simplify]: Simplify (- 0) into 0
20.301 * [backup-simplify]: Simplify (+ 0 0) into 0
20.301 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
20.302 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
20.302 * [backup-simplify]: Simplify (+ 0 0) into 0
20.302 * [backup-simplify]: Simplify (+ 0) into 0
20.303 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
20.303 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
20.304 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
20.304 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
20.305 * [backup-simplify]: Simplify (- 0) into 0
20.305 * [backup-simplify]: Simplify (+ 0 0) into 0
20.305 * [backup-simplify]: Simplify (+ 0) into 0
20.306 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
20.306 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
20.307 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
20.307 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
20.308 * [backup-simplify]: Simplify (+ 0 0) into 0
20.308 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
20.308 * [backup-simplify]: Simplify (+ 0) into 0
20.309 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
20.309 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
20.310 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
20.310 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
20.311 * [backup-simplify]: Simplify (+ 0 0) into 0
20.311 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
20.312 * [backup-simplify]: Simplify (+ 0) into 0
20.312 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
20.312 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
20.313 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
20.314 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
20.314 * [backup-simplify]: Simplify (- 0) into 0
20.315 * [backup-simplify]: Simplify (+ 0 0) into 0
20.315 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
20.316 * [backup-simplify]: Simplify (+ 0) into 0
20.316 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
20.316 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
20.317 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
20.317 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
20.318 * [backup-simplify]: Simplify (+ 0 0) into 0
20.318 * [backup-simplify]: Simplify (+ 0) into 0
20.319 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
20.319 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
20.320 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
20.320 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
20.320 * [backup-simplify]: Simplify (- 0) into 0
20.325 * [backup-simplify]: Simplify (+ 0 0) into 0
20.326 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
20.326 * [backup-simplify]: Simplify (+ 0) into 0
20.327 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
20.327 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
20.328 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
20.328 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
20.329 * [backup-simplify]: Simplify (- 0) into 0
20.329 * [backup-simplify]: Simplify (+ 0 0) into 0
20.329 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
20.330 * [backup-simplify]: Simplify (+ 0) into 0
20.330 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
20.330 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
20.331 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
20.332 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
20.332 * [backup-simplify]: Simplify (+ 0 0) into 0
20.332 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
20.333 * [backup-simplify]: Simplify (+ 0 0) into 0
20.333 * [backup-simplify]: Simplify (- 0) into 0
20.334 * [backup-simplify]: Simplify (+ 0 0) into 0
20.337 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow phi2 2))) (* 0 0)) into (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))
20.340 * [backup-simplify]: Simplify (/ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) into (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2)))))))))
20.341 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in lambda2
20.341 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in lambda2
20.341 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
20.341 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
20.341 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
20.341 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
20.341 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
20.341 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
20.341 * [taylor]: Taking taylor expansion of 0.5 in lambda2
20.341 * [backup-simplify]: Simplify 0.5 into 0.5
20.341 * [taylor]: Taking taylor expansion of phi2 in lambda2
20.341 * [backup-simplify]: Simplify phi2 into phi2
20.341 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
20.341 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
20.341 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
20.341 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
20.342 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
20.342 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
20.342 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
20.342 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
20.342 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
20.342 * [taylor]: Taking taylor expansion of 0.5 in lambda2
20.342 * [backup-simplify]: Simplify 0.5 into 0.5
20.342 * [taylor]: Taking taylor expansion of phi1 in lambda2
20.342 * [backup-simplify]: Simplify phi1 into phi1
20.342 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
20.342 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
20.342 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
20.342 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
20.342 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
20.342 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
20.342 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
20.343 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
20.343 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
20.343 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
20.343 * [taylor]: Taking taylor expansion of 0.5 in lambda2
20.343 * [backup-simplify]: Simplify 0.5 into 0.5
20.343 * [taylor]: Taking taylor expansion of phi2 in lambda2
20.343 * [backup-simplify]: Simplify phi2 into phi2
20.343 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
20.343 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
20.343 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
20.343 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
20.343 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
20.344 * [backup-simplify]: Simplify (- 0) into 0
20.344 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
20.344 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
20.344 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
20.344 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
20.344 * [taylor]: Taking taylor expansion of 0.5 in lambda2
20.344 * [backup-simplify]: Simplify 0.5 into 0.5
20.344 * [taylor]: Taking taylor expansion of phi1 in lambda2
20.344 * [backup-simplify]: Simplify phi1 into phi1
20.344 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
20.344 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
20.344 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
20.344 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
20.345 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
20.345 * [backup-simplify]: Simplify (- 0) into 0
20.345 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
20.345 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
20.345 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
20.345 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
20.345 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
20.345 * [taylor]: Taking taylor expansion of 0.5 in lambda2
20.345 * [backup-simplify]: Simplify 0.5 into 0.5
20.345 * [taylor]: Taking taylor expansion of phi2 in lambda2
20.345 * [backup-simplify]: Simplify phi2 into phi2
20.345 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
20.345 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
20.345 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
20.346 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
20.346 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
20.346 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
20.346 * [taylor]: Taking taylor expansion of 0.5 in lambda2
20.346 * [backup-simplify]: Simplify 0.5 into 0.5
20.346 * [taylor]: Taking taylor expansion of phi1 in lambda2
20.346 * [backup-simplify]: Simplify phi1 into phi1
20.346 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
20.346 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
20.346 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
20.346 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
20.346 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
20.346 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
20.346 * [taylor]: Taking taylor expansion of 0.5 in lambda2
20.346 * [backup-simplify]: Simplify 0.5 into 0.5
20.346 * [taylor]: Taking taylor expansion of phi2 in lambda2
20.346 * [backup-simplify]: Simplify phi2 into phi2
20.346 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
20.346 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
20.346 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
20.346 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
20.346 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
20.346 * [taylor]: Taking taylor expansion of 0.5 in lambda2
20.346 * [backup-simplify]: Simplify 0.5 into 0.5
20.346 * [taylor]: Taking taylor expansion of phi1 in lambda2
20.346 * [backup-simplify]: Simplify phi1 into phi1
20.347 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
20.347 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
20.347 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
20.347 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
20.347 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
20.347 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
20.347 * [taylor]: Taking taylor expansion of 0.5 in lambda2
20.347 * [backup-simplify]: Simplify 0.5 into 0.5
20.347 * [taylor]: Taking taylor expansion of phi2 in lambda2
20.347 * [backup-simplify]: Simplify phi2 into phi2
20.347 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
20.347 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
20.347 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
20.347 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
20.347 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
20.347 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
20.347 * [taylor]: Taking taylor expansion of 0.5 in lambda2
20.347 * [backup-simplify]: Simplify 0.5 into 0.5
20.347 * [taylor]: Taking taylor expansion of phi1 in lambda2
20.347 * [backup-simplify]: Simplify phi1 into phi1
20.347 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
20.348 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
20.348 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
20.348 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
20.348 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
20.348 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
20.348 * [taylor]: Taking taylor expansion of 0.5 in lambda2
20.348 * [backup-simplify]: Simplify 0.5 into 0.5
20.348 * [taylor]: Taking taylor expansion of phi2 in lambda2
20.348 * [backup-simplify]: Simplify phi2 into phi2
20.348 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
20.348 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
20.348 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
20.348 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
20.348 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
20.348 * [taylor]: Taking taylor expansion of 0.5 in lambda2
20.348 * [backup-simplify]: Simplify 0.5 into 0.5
20.348 * [taylor]: Taking taylor expansion of phi1 in lambda2
20.348 * [backup-simplify]: Simplify phi1 into phi1
20.348 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
20.349 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
20.349 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
20.349 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
20.349 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
20.349 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
20.350 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
20.350 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
20.350 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
20.351 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
20.351 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
20.351 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
20.351 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
20.351 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
20.351 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
20.352 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
20.352 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
20.352 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
20.352 * [backup-simplify]: Simplify (- 0) into 0
20.352 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
20.352 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
20.353 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
20.353 * [backup-simplify]: Simplify (- 0) into 0
20.353 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
20.353 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
20.354 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
20.354 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
20.354 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
20.354 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
20.354 * [backup-simplify]: Simplify (- 0) into 0
20.355 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
20.355 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
20.355 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
20.355 * [backup-simplify]: Simplify (- 0) into 0
20.355 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
20.355 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
20.356 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
20.356 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
20.356 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
20.356 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
20.356 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
20.356 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
20.356 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
20.357 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
20.357 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))
20.359 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
20.361 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
20.363 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
20.364 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
20.365 * [backup-simplify]: Simplify (+ 0) into 0
20.366 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
20.366 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
20.367 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
20.367 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
20.367 * [backup-simplify]: Simplify (+ 0 0) into 0
20.368 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
20.368 * [backup-simplify]: Simplify (+ 0) into 0
20.369 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
20.369 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
20.370 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
20.370 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
20.370 * [backup-simplify]: Simplify (+ 0 0) into 0
20.371 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
20.371 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
20.371 * [backup-simplify]: Simplify (+ 0) into 0
20.372 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
20.372 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
20.373 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
20.373 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
20.374 * [backup-simplify]: Simplify (- 0) into 0
20.374 * [backup-simplify]: Simplify (+ 0 0) into 0
20.374 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
20.375 * [backup-simplify]: Simplify (+ 0) into 0
20.375 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
20.375 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
20.376 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
20.377 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
20.377 * [backup-simplify]: Simplify (- 0) into 0
20.377 * [backup-simplify]: Simplify (+ 0 0) into 0
20.378 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
20.378 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
20.378 * [backup-simplify]: Simplify (+ 0 0) into 0
20.379 * [backup-simplify]: Simplify (+ 0) into 0
20.379 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
20.379 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
20.380 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
20.381 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
20.381 * [backup-simplify]: Simplify (- 0) into 0
20.381 * [backup-simplify]: Simplify (+ 0 0) into 0
20.382 * [backup-simplify]: Simplify (+ 0) into 0
20.382 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
20.383 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
20.383 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
20.384 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
20.384 * [backup-simplify]: Simplify (- 0) into 0
20.385 * [backup-simplify]: Simplify (+ 0 0) into 0
20.385 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
20.385 * [backup-simplify]: Simplify (+ 0) into 0
20.386 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
20.386 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
20.387 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
20.387 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
20.388 * [backup-simplify]: Simplify (+ 0 0) into 0
20.388 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
20.389 * [backup-simplify]: Simplify (+ 0) into 0
20.389 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
20.389 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
20.390 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
20.391 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
20.391 * [backup-simplify]: Simplify (+ 0 0) into 0
20.391 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
20.392 * [backup-simplify]: Simplify (+ 0) into 0
20.392 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
20.393 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
20.393 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
20.394 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
20.394 * [backup-simplify]: Simplify (+ 0 0) into 0
20.395 * [backup-simplify]: Simplify (+ 0) into 0
20.395 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
20.395 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
20.396 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
20.397 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
20.397 * [backup-simplify]: Simplify (+ 0 0) into 0
20.397 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
20.398 * [backup-simplify]: Simplify (+ 0) into 0
20.398 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
20.398 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
20.399 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
20.399 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
20.400 * [backup-simplify]: Simplify (- 0) into 0
20.400 * [backup-simplify]: Simplify (+ 0 0) into 0
20.400 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
20.401 * [backup-simplify]: Simplify (+ 0) into 0
20.401 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
20.402 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
20.402 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
20.403 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
20.403 * [backup-simplify]: Simplify (- 0) into 0
20.404 * [backup-simplify]: Simplify (+ 0 0) into 0
20.404 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
20.404 * [backup-simplify]: Simplify (+ 0 0) into 0
20.405 * [backup-simplify]: Simplify (- 0) into 0
20.405 * [backup-simplify]: Simplify (+ 0 0) into 0
20.409 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
20.411 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
20.413 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
20.413 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
20.414 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
20.414 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
20.415 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
20.415 * [backup-simplify]: Simplify (+ 0 0) into 0
20.416 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
20.417 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
20.418 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
20.418 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
20.419 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
20.420 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
20.420 * [backup-simplify]: Simplify (+ 0 0) into 0
20.421 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
20.421 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0
20.422 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
20.423 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
20.423 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
20.424 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
20.425 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
20.425 * [backup-simplify]: Simplify (- 0) into 0
20.425 * [backup-simplify]: Simplify (+ 0 0) into 0
20.426 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
20.427 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
20.428 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
20.428 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
20.429 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
20.429 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
20.430 * [backup-simplify]: Simplify (- 0) into 0
20.430 * [backup-simplify]: Simplify (+ 0 0) into 0
20.431 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
20.431 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 2)))) into 0
20.432 * [backup-simplify]: Simplify (+ 0 0) into 0
20.433 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
20.433 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
20.434 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
20.434 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
20.435 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
20.435 * [backup-simplify]: Simplify (- 0) into 0
20.436 * [backup-simplify]: Simplify (+ 0 0) into 0
20.437 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
20.437 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
20.438 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
20.438 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
20.439 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
20.439 * [backup-simplify]: Simplify (- 0) into 0
20.440 * [backup-simplify]: Simplify (+ 0 0) into 0
20.440 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
20.441 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
20.442 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
20.442 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
20.443 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
20.443 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
20.444 * [backup-simplify]: Simplify (+ 0 0) into 0
20.444 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
20.445 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
20.446 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
20.446 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
20.448 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
20.448 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
20.449 * [backup-simplify]: Simplify (+ 0 0) into 0
20.449 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into 0
20.450 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
20.451 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
20.451 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
20.452 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
20.453 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
20.453 * [backup-simplify]: Simplify (+ 0 0) into 0
20.454 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
20.455 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
20.455 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
20.456 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
20.456 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
20.456 * [backup-simplify]: Simplify (+ 0 0) into 0
20.457 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
20.458 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
20.459 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
20.459 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
20.460 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
20.460 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
20.461 * [backup-simplify]: Simplify (- 0) into 0
20.461 * [backup-simplify]: Simplify (+ 0 0) into 0
20.462 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
20.463 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
20.463 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
20.464 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
20.464 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
20.465 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
20.465 * [backup-simplify]: Simplify (- 0) into 0
20.466 * [backup-simplify]: Simplify (+ 0 0) into 0
20.466 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into 0
20.467 * [backup-simplify]: Simplify (+ 0 0) into 0
20.467 * [backup-simplify]: Simplify (- 0) into 0
20.467 * [backup-simplify]: Simplify (+ 0 0) into 0
20.472 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into 0
20.476 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)))) into 0
20.489 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2))) (/ 0 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* 0 (/ 0 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
20.499 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
20.500 * [backup-simplify]: Simplify (+ 0) into 0
20.500 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
20.500 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
20.501 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
20.502 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
20.502 * [backup-simplify]: Simplify (+ 0 0) into 0
20.502 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
20.503 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
20.503 * [backup-simplify]: Simplify (+ 0) into 0
20.504 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
20.504 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
20.505 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
20.505 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
20.505 * [backup-simplify]: Simplify (+ 0 0) into 0
20.506 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
20.506 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0
20.506 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 3) 0) (* 0 (pow (sin (/ 0.5 phi1)) 3))) into 0
20.507 * [backup-simplify]: Simplify (+ 0) into 0
20.507 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
20.507 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
20.508 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
20.509 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
20.509 * [backup-simplify]: Simplify (- 0) into 0
20.509 * [backup-simplify]: Simplify (+ 0 0) into 0
20.510 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
20.510 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
20.510 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 3) 0) (* 0 (* (pow (sin (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)))) into 0
20.511 * [backup-simplify]: Simplify (+ 0) into 0
20.511 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
20.512 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
20.512 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
20.513 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
20.513 * [backup-simplify]: Simplify (- 0) into 0
20.514 * [backup-simplify]: Simplify (+ 0 0) into 0
20.514 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
20.514 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0
20.515 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 3) 0) (* 0 (* (pow (sin (/ 0.5 phi1)) 3) (* (pow (sin (/ 0.5 phi2)) 3) (pow (cos (/ 0.5 phi1)) 3))))) into 0
20.516 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
20.516 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
20.517 * [backup-simplify]: Simplify (+ (* R 0) (* 0 1)) into 0
20.517 * [backup-simplify]: Simplify (+ 0) into 0
20.518 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
20.518 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
20.518 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
20.519 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
20.519 * [backup-simplify]: Simplify (+ 0 0) into 0
20.520 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
20.520 * [backup-simplify]: Simplify (+ 0) into 0
20.521 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
20.521 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
20.522 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
20.522 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
20.523 * [backup-simplify]: Simplify (+ 0 0) into 0
20.523 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
20.523 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
20.524 * [backup-simplify]: Simplify (+ 0) into 0
20.524 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
20.524 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
20.525 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
20.526 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
20.526 * [backup-simplify]: Simplify (- 0) into 0
20.527 * [backup-simplify]: Simplify (+ 0 0) into 0
20.527 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
20.527 * [backup-simplify]: Simplify (+ 0) into 0
20.528 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
20.528 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
20.529 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
20.529 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
20.530 * [backup-simplify]: Simplify (- 0) into 0
20.530 * [backup-simplify]: Simplify (+ 0 0) into 0
20.530 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
20.531 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
20.531 * [backup-simplify]: Simplify (+ 0 0) into 0
20.532 * [backup-simplify]: Simplify (+ 0) into 0
20.532 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
20.532 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
20.533 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
20.534 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
20.534 * [backup-simplify]: Simplify (- 0) into 0
20.534 * [backup-simplify]: Simplify (+ 0 0) into 0
20.535 * [backup-simplify]: Simplify (+ 0) into 0
20.535 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
20.535 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
20.536 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
20.537 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
20.537 * [backup-simplify]: Simplify (+ 0 0) into 0
20.537 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
20.538 * [backup-simplify]: Simplify (+ 0) into 0
20.538 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
20.538 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
20.539 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
20.539 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
20.540 * [backup-simplify]: Simplify (+ 0 0) into 0
20.540 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
20.541 * [backup-simplify]: Simplify (+ 0) into 0
20.541 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
20.541 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
20.542 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
20.543 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
20.543 * [backup-simplify]: Simplify (- 0) into 0
20.543 * [backup-simplify]: Simplify (+ 0 0) into 0
20.544 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
20.544 * [backup-simplify]: Simplify (+ 0) into 0
20.545 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
20.545 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
20.546 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
20.546 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
20.547 * [backup-simplify]: Simplify (+ 0 0) into 0
20.547 * [backup-simplify]: Simplify (+ 0) into 0
20.547 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
20.548 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
20.548 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
20.549 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
20.549 * [backup-simplify]: Simplify (- 0) into 0
20.550 * [backup-simplify]: Simplify (+ 0 0) into 0
20.550 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
20.550 * [backup-simplify]: Simplify (+ 0) into 0
20.551 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
20.551 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
20.552 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
20.552 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
20.553 * [backup-simplify]: Simplify (- 0) into 0
20.553 * [backup-simplify]: Simplify (+ 0 0) into 0
20.553 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
20.554 * [backup-simplify]: Simplify (+ 0) into 0
20.554 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
20.554 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
20.555 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
20.556 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
20.556 * [backup-simplify]: Simplify (+ 0 0) into 0
20.556 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
20.557 * [backup-simplify]: Simplify (+ 0 0) into 0
20.557 * [backup-simplify]: Simplify (- 0) into 0
20.558 * [backup-simplify]: Simplify (+ 0 0) into 0
20.560 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (* 0 R)) into 0
20.567 * [backup-simplify]: Simplify (- (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 3) (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (cos (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R))))) into 0
20.568 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
20.569 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
20.569 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
20.570 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
20.570 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
20.571 * [backup-simplify]: Simplify (+ 0 0) into 0
20.571 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
20.572 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0
20.573 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
20.574 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
20.574 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
20.575 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
20.575 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
20.576 * [backup-simplify]: Simplify (+ 0 0) into 0
20.576 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
20.577 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi2)) 2)))) into 0
20.578 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 3) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 3)))) into 0
20.579 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
20.579 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
20.580 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
20.580 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
20.581 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
20.581 * [backup-simplify]: Simplify (- 0) into 0
20.582 * [backup-simplify]: Simplify (+ 0 0) into 0
20.582 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
20.583 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 2)))) into 0
20.584 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 3) 0) (+ (* 0 0) (* 0 (* (pow (sin (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3))))) into 0
20.585 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
20.585 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
20.586 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
20.586 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
20.587 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
20.587 * [backup-simplify]: Simplify (- 0) into 0
20.588 * [backup-simplify]: Simplify (+ 0 0) into 0
20.588 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
20.589 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi2)) 2)))) into 0
20.591 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 3) 0) (+ (* 0 0) (* 0 (* (pow (sin (/ 0.5 phi1)) 3) (* (pow (sin (/ 0.5 phi2)) 3) (pow (cos (/ 0.5 phi1)) 3)))))) into 0
20.592 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
20.593 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
20.593 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (* 0 1))) into 0
20.595 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
20.596 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
20.596 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
20.597 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
20.597 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
20.598 * [backup-simplify]: Simplify (+ 0 0) into 0
20.598 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
20.599 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
20.600 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
20.600 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
20.601 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
20.602 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
20.602 * [backup-simplify]: Simplify (+ 0 0) into 0
20.603 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
20.604 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0
20.605 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
20.605 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
20.606 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
20.606 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
20.607 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
20.607 * [backup-simplify]: Simplify (- 0) into 0
20.608 * [backup-simplify]: Simplify (+ 0 0) into 0
20.608 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
20.609 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
20.610 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
20.610 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
20.611 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
20.612 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
20.612 * [backup-simplify]: Simplify (- 0) into 0
20.612 * [backup-simplify]: Simplify (+ 0 0) into 0
20.613 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
20.614 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 2)))) into 0
20.614 * [backup-simplify]: Simplify (+ 0 0) into 0
20.615 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
20.616 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
20.616 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
20.617 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
20.618 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
20.618 * [backup-simplify]: Simplify (- 0) into 0
20.618 * [backup-simplify]: Simplify (+ 0 0) into 0
20.619 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
20.620 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
20.620 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
20.621 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
20.622 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
20.622 * [backup-simplify]: Simplify (+ 0 0) into 0
20.623 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
20.623 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
20.624 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
20.624 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
20.625 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
20.626 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
20.626 * [backup-simplify]: Simplify (+ 0 0) into 0
20.627 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
20.628 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
20.628 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
20.629 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
20.630 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
20.630 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
20.630 * [backup-simplify]: Simplify (- 0) into 0
20.631 * [backup-simplify]: Simplify (+ 0 0) into 0
20.632 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into 0
20.633 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
20.633 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
20.633 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
20.634 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
20.635 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
20.635 * [backup-simplify]: Simplify (+ 0 0) into 0
20.636 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
20.637 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
20.637 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
20.638 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
20.639 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
20.639 * [backup-simplify]: Simplify (- 0) into 0
20.639 * [backup-simplify]: Simplify (+ 0 0) into 0
20.640 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
20.641 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
20.642 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
20.642 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
20.643 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
20.643 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
20.644 * [backup-simplify]: Simplify (- 0) into 0
20.644 * [backup-simplify]: Simplify (+ 0 0) into 0
20.645 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
20.645 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
20.646 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
20.646 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
20.652 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
20.653 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
20.653 * [backup-simplify]: Simplify (+ 0 0) into 0
20.654 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into 0
20.654 * [backup-simplify]: Simplify (+ 0 0) into 0
20.655 * [backup-simplify]: Simplify (- 0) into 0
20.655 * [backup-simplify]: Simplify (+ 0 0) into 0
20.657 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (+ (* 0 0) (* 0 R))) into 0
20.666 * [backup-simplify]: Simplify (- (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 3) (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (cos (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R))) (* 0 (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R))))) into 0
20.674 * [backup-simplify]: Simplify (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 3) (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (cos (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) 0) (+ (* 0 0) (* 0 (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))) into 0
20.681 * [backup-simplify]: Simplify (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 3) (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (cos (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) 0) (* 0 (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
20.687 * [backup-simplify]: Simplify (* (/ (* (pow (sin (/ 0.5 phi2)) 3) (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (cos (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into (* (/ (* (pow (cos (/ 0.5 phi2)) 3) (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (sin (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))
20.694 * [backup-simplify]: Simplify (+ (* 3/2 0) (+ (* 0 0) (* 0 (* (/ (* (pow (cos (/ 0.5 phi2)) 3) (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (sin (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))))) into 0
20.696 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
20.697 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
20.697 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
20.698 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
20.699 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
20.699 * [backup-simplify]: Simplify (+ 0 0) into 0
20.700 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
20.700 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
20.701 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
20.701 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
20.702 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
20.703 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
20.703 * [backup-simplify]: Simplify (+ 0 0) into 0
20.704 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
20.705 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0
20.706 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
20.706 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
20.707 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
20.707 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
20.708 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
20.708 * [backup-simplify]: Simplify (- 0) into 0
20.709 * [backup-simplify]: Simplify (+ 0 0) into 0
20.709 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
20.710 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
20.711 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
20.711 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
20.712 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
20.713 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
20.713 * [backup-simplify]: Simplify (- 0) into 0
20.714 * [backup-simplify]: Simplify (+ 0 0) into 0
20.714 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
20.715 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 2)))) into 0
20.715 * [backup-simplify]: Simplify (+ 0 0) into 0
20.716 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
20.717 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
20.717 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
20.718 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
20.719 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
20.719 * [backup-simplify]: Simplify (- 0) into 0
20.719 * [backup-simplify]: Simplify (+ 0 0) into 0
20.720 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
20.721 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
20.721 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
20.722 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
20.723 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
20.723 * [backup-simplify]: Simplify (- 0) into 0
20.723 * [backup-simplify]: Simplify (+ 0 0) into 0
20.724 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
20.725 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
20.726 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
20.726 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
20.727 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
20.727 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
20.728 * [backup-simplify]: Simplify (+ 0 0) into 0
20.728 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
20.729 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
20.730 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
20.730 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
20.731 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
20.732 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
20.732 * [backup-simplify]: Simplify (+ 0 0) into 0
20.733 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into 0
20.734 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
20.735 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
20.735 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
20.736 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
20.736 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
20.737 * [backup-simplify]: Simplify (+ 0 0) into 0
20.737 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
20.738 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
20.738 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
20.739 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
20.740 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
20.740 * [backup-simplify]: Simplify (+ 0 0) into 0
20.741 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
20.742 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
20.742 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
20.743 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
20.743 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
20.744 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
20.744 * [backup-simplify]: Simplify (- 0) into 0
20.745 * [backup-simplify]: Simplify (+ 0 0) into 0
20.745 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
20.746 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
20.747 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
20.747 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
20.748 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
20.749 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
20.749 * [backup-simplify]: Simplify (- 0) into 0
20.749 * [backup-simplify]: Simplify (+ 0 0) into 0
20.750 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into 0
20.750 * [backup-simplify]: Simplify (+ 0 0) into 0
20.751 * [backup-simplify]: Simplify (- 0) into 0
20.751 * [backup-simplify]: Simplify (+ 0 0) into 0
20.755 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into 0
20.760 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)))) into 0
20.772 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2))) (/ 0 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* 0 (/ 0 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
20.778 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
20.778 * [backup-simplify]: Simplify (+ 0) into 0
20.779 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
20.779 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
20.780 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
20.780 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
20.781 * [backup-simplify]: Simplify (+ 0 0) into 0
20.781 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
20.781 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
20.782 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (pow (sin (/ 0.5 phi1)) 4))) into 0
20.782 * [backup-simplify]: Simplify (+ 0) into 0
20.783 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
20.783 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
20.783 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
20.784 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
20.784 * [backup-simplify]: Simplify (- 0) into 0
20.785 * [backup-simplify]: Simplify (+ 0 0) into 0
20.785 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (pow (sin (/ 0.5 phi1)) 5))) into 0
20.785 * [backup-simplify]: Simplify (+ 0) into 0
20.786 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
20.786 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
20.786 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
20.786 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
20.787 * [backup-simplify]: Simplify (- 0) into 0
20.787 * [backup-simplify]: Simplify (+ 0 0) into 0
20.787 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 5)))) into 0
20.787 * [backup-simplify]: Simplify (+ 0) into 0
20.788 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
20.788 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
20.788 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
20.789 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
20.789 * [backup-simplify]: Simplify (+ 0 0) into 0
20.789 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
20.789 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0
20.789 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (pow (sin (/ 0.5 phi2)) 4))) into 0
20.790 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 5) 0) (* 0 (* (pow (sin (/ 0.5 phi1)) 5) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
20.790 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
20.790 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
20.791 * [backup-simplify]: Simplify (+ (* R 0) (* 0 1)) into 0
20.791 * [backup-simplify]: Simplify (+ 0) into 0
20.791 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
20.791 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
20.792 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
20.792 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
20.792 * [backup-simplify]: Simplify (+ 0 0) into 0
20.793 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
20.793 * [backup-simplify]: Simplify (+ 0) into 0
20.793 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
20.793 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
20.794 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
20.794 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
20.794 * [backup-simplify]: Simplify (+ 0 0) into 0
20.794 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
20.795 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
20.795 * [backup-simplify]: Simplify (+ 0) into 0
20.795 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
20.795 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
20.796 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
20.796 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
20.796 * [backup-simplify]: Simplify (- 0) into 0
20.796 * [backup-simplify]: Simplify (+ 0 0) into 0
20.797 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
20.797 * [backup-simplify]: Simplify (+ 0) into 0
20.797 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
20.797 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
20.798 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
20.798 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
20.798 * [backup-simplify]: Simplify (- 0) into 0
20.801 * [backup-simplify]: Simplify (+ 0 0) into 0
20.801 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
20.801 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
20.802 * [backup-simplify]: Simplify (+ 0 0) into 0
20.802 * [backup-simplify]: Simplify (+ 0) into 0
20.802 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
20.802 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
20.803 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
20.803 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
20.803 * [backup-simplify]: Simplify (- 0) into 0
20.804 * [backup-simplify]: Simplify (+ 0 0) into 0
20.804 * [backup-simplify]: Simplify (+ 0) into 0
20.804 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
20.804 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
20.805 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
20.805 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
20.805 * [backup-simplify]: Simplify (+ 0 0) into 0
20.805 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
20.806 * [backup-simplify]: Simplify (+ 0) into 0
20.806 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
20.806 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
20.807 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
20.807 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
20.807 * [backup-simplify]: Simplify (+ 0 0) into 0
20.807 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
20.807 * [backup-simplify]: Simplify (+ 0) into 0
20.808 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
20.808 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
20.808 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
20.809 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
20.809 * [backup-simplify]: Simplify (- 0) into 0
20.809 * [backup-simplify]: Simplify (+ 0 0) into 0
20.809 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
20.810 * [backup-simplify]: Simplify (+ 0) into 0
20.810 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
20.810 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
20.810 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
20.811 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
20.811 * [backup-simplify]: Simplify (+ 0 0) into 0
20.811 * [backup-simplify]: Simplify (+ 0) into 0
20.812 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
20.812 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
20.812 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
20.812 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
20.813 * [backup-simplify]: Simplify (- 0) into 0
20.813 * [backup-simplify]: Simplify (+ 0 0) into 0
20.813 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
20.814 * [backup-simplify]: Simplify (+ 0) into 0
20.814 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
20.814 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
20.815 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
20.815 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
20.815 * [backup-simplify]: Simplify (- 0) into 0
20.815 * [backup-simplify]: Simplify (+ 0 0) into 0
20.815 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
20.816 * [backup-simplify]: Simplify (+ 0) into 0
20.816 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
20.816 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
20.817 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
20.817 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
20.817 * [backup-simplify]: Simplify (+ 0 0) into 0
20.817 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
20.818 * [backup-simplify]: Simplify (+ 0 0) into 0
20.818 * [backup-simplify]: Simplify (- 0) into 0
20.818 * [backup-simplify]: Simplify (+ 0 0) into 0
20.819 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (* 0 R)) into 0
20.823 * [backup-simplify]: Simplify (- (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) (+ (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 5) (pow (sin (/ 0.5 phi1)) 5)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R))))) into 0
20.824 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
20.824 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
20.824 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
20.825 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
20.825 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
20.825 * [backup-simplify]: Simplify (+ 0 0) into 0
20.826 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
20.826 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0
20.827 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 4)))) into 0
20.827 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
20.828 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
20.828 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
20.829 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
20.829 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
20.829 * [backup-simplify]: Simplify (- 0) into 0
20.829 * [backup-simplify]: Simplify (+ 0 0) into 0
20.830 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 5)))) into 0
20.831 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
20.832 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
20.832 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
20.833 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
20.833 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
20.834 * [backup-simplify]: Simplify (- 0) into 0
20.834 * [backup-simplify]: Simplify (+ 0 0) into 0
20.835 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 5))))) into 0
20.836 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
20.837 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
20.837 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
20.837 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
20.838 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
20.838 * [backup-simplify]: Simplify (+ 0 0) into 0
20.839 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
20.840 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi2)) 2)))) into 0
20.840 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi2)) 4)))) into 0
20.841 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 5) 0) (+ (* 0 0) (* 0 (* (pow (sin (/ 0.5 phi1)) 5) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into 0
20.842 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
20.843 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
20.844 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (* 0 1))) into 0
20.845 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
20.845 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
20.846 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
20.846 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
20.847 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
20.847 * [backup-simplify]: Simplify (+ 0 0) into 0
20.848 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
20.849 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
20.849 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
20.850 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
20.850 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
20.851 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
20.851 * [backup-simplify]: Simplify (+ 0 0) into 0
20.852 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
20.853 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0
20.854 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
20.854 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
20.855 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
20.855 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
20.856 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
20.856 * [backup-simplify]: Simplify (- 0) into 0
20.857 * [backup-simplify]: Simplify (+ 0 0) into 0
20.857 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
20.858 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
20.859 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
20.859 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
20.860 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
20.860 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
20.861 * [backup-simplify]: Simplify (- 0) into 0
20.861 * [backup-simplify]: Simplify (+ 0 0) into 0
20.862 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
20.862 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 2)))) into 0
20.863 * [backup-simplify]: Simplify (+ 0 0) into 0
20.864 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
20.865 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
20.865 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
20.866 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
20.866 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
20.867 * [backup-simplify]: Simplify (- 0) into 0
20.868 * [backup-simplify]: Simplify (+ 0 0) into 0
20.869 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
20.869 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
20.870 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
20.870 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
20.871 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
20.872 * [backup-simplify]: Simplify (+ 0 0) into 0
20.872 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
20.873 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
20.874 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
20.874 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
20.875 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
20.876 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
20.876 * [backup-simplify]: Simplify (+ 0 0) into 0
20.877 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
20.878 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
20.878 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
20.879 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
20.880 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
20.880 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
20.881 * [backup-simplify]: Simplify (- 0) into 0
20.881 * [backup-simplify]: Simplify (+ 0 0) into 0
20.882 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into 0
20.883 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
20.883 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
20.884 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
20.884 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
20.885 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
20.885 * [backup-simplify]: Simplify (+ 0 0) into 0
20.886 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
20.887 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
20.887 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
20.888 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
20.889 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
20.889 * [backup-simplify]: Simplify (- 0) into 0
20.889 * [backup-simplify]: Simplify (+ 0 0) into 0
20.890 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
20.891 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
20.892 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
20.892 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
20.893 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
20.893 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
20.894 * [backup-simplify]: Simplify (- 0) into 0
20.894 * [backup-simplify]: Simplify (+ 0 0) into 0
20.895 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
20.896 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
20.896 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
20.897 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
20.898 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
20.898 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
20.899 * [backup-simplify]: Simplify (+ 0 0) into 0
20.899 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into 0
20.900 * [backup-simplify]: Simplify (+ 0 0) into 0
20.900 * [backup-simplify]: Simplify (- 0) into 0
20.900 * [backup-simplify]: Simplify (+ 0 0) into 0
20.903 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (+ (* 0 0) (* 0 R))) into 0
20.912 * [backup-simplify]: Simplify (- (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) (+ (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 5) (pow (sin (/ 0.5 phi1)) 5)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R))) (* 0 (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R))))) into 0
20.919 * [backup-simplify]: Simplify (+ (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 5) (pow (sin (/ 0.5 phi1)) 5)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) 0) (+ (* 0 0) (* 0 (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))) into 0
20.926 * [backup-simplify]: Simplify (+ (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 5) (pow (sin (/ 0.5 phi1)) 5)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) 0) (* 0 (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
20.933 * [backup-simplify]: Simplify (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 5) (pow (sin (/ 0.5 phi1)) 5)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into (* (/ (* (pow (sin (/ 0.5 phi2)) 5) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 5)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))
20.940 * [backup-simplify]: Simplify (+ (* 3/2 0) (+ (* 0 0) (* 0 (* (/ (* (pow (sin (/ 0.5 phi2)) 5) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 5)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))))) into 0
20.946 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
20.947 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
20.947 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
20.948 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
20.948 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
20.949 * [backup-simplify]: Simplify (+ 0 0) into 0
20.949 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
20.950 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
20.951 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
20.951 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
20.952 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
20.953 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
20.953 * [backup-simplify]: Simplify (+ 0 0) into 0
20.954 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
20.954 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0
20.955 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
20.956 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
20.956 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
20.957 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
20.958 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
20.958 * [backup-simplify]: Simplify (- 0) into 0
20.959 * [backup-simplify]: Simplify (+ 0 0) into 0
20.959 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
20.960 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
20.961 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
20.961 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
20.962 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
20.963 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
20.963 * [backup-simplify]: Simplify (- 0) into 0
20.964 * [backup-simplify]: Simplify (+ 0 0) into 0
20.964 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
20.965 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 2)))) into 0
20.965 * [backup-simplify]: Simplify (+ 0 0) into 0
20.966 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
20.967 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
20.967 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
20.968 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
20.969 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
20.969 * [backup-simplify]: Simplify (- 0) into 0
20.970 * [backup-simplify]: Simplify (+ 0 0) into 0
20.970 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
20.971 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
20.971 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
20.972 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
20.973 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
20.973 * [backup-simplify]: Simplify (- 0) into 0
20.974 * [backup-simplify]: Simplify (+ 0 0) into 0
20.974 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
20.975 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
20.976 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
20.976 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
20.977 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
20.977 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
20.978 * [backup-simplify]: Simplify (+ 0 0) into 0
20.979 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
20.979 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
20.980 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
20.980 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
20.981 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
20.982 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
20.983 * [backup-simplify]: Simplify (+ 0 0) into 0
20.984 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into 0
20.985 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
20.985 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
20.986 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
20.987 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
20.987 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
20.988 * [backup-simplify]: Simplify (+ 0 0) into 0
20.988 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
20.989 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
20.989 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
20.990 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
20.991 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
20.991 * [backup-simplify]: Simplify (+ 0 0) into 0
20.992 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
20.993 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
20.993 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
20.994 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
20.994 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
20.994 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
20.995 * [backup-simplify]: Simplify (- 0) into 0
20.995 * [backup-simplify]: Simplify (+ 0 0) into 0
20.995 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
20.996 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
20.996 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
20.996 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
20.997 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
20.997 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
20.998 * [backup-simplify]: Simplify (- 0) into 0
20.998 * [backup-simplify]: Simplify (+ 0 0) into 0
20.998 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into 0
20.998 * [backup-simplify]: Simplify (+ 0 0) into 0
20.999 * [backup-simplify]: Simplify (- 0) into 0
20.999 * [backup-simplify]: Simplify (+ 0 0) into 0
21.002 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (* 0 (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
21.004 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
21.004 * [backup-simplify]: Simplify (+ 0) into 0
21.004 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
21.004 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
21.005 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
21.005 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
21.006 * [backup-simplify]: Simplify (+ 0 0) into 0
21.006 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
21.006 * [backup-simplify]: Simplify (+ 0) into 0
21.006 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
21.006 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
21.007 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
21.007 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
21.007 * [backup-simplify]: Simplify (+ 0 0) into 0
21.008 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
21.008 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
21.008 * [backup-simplify]: Simplify (+ 0) into 0
21.008 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
21.009 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
21.009 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
21.009 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
21.010 * [backup-simplify]: Simplify (- 0) into 0
21.010 * [backup-simplify]: Simplify (+ 0 0) into 0
21.010 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
21.010 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) into 0
21.010 * [backup-simplify]: Simplify (+ 0) into 0
21.011 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
21.011 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
21.011 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
21.012 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
21.012 * [backup-simplify]: Simplify (- 0) into 0
21.012 * [backup-simplify]: Simplify (+ 0 0) into 0
21.012 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
21.013 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))))) into 0
21.013 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
21.014 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
21.014 * [backup-simplify]: Simplify (+ (* R 0) (* 0 1)) into 0
21.014 * [backup-simplify]: Simplify (+ 0) into 0
21.014 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
21.015 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
21.015 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
21.015 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
21.015 * [backup-simplify]: Simplify (+ 0 0) into 0
21.016 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
21.016 * [backup-simplify]: Simplify (+ 0) into 0
21.016 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
21.016 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
21.017 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
21.017 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
21.017 * [backup-simplify]: Simplify (+ 0 0) into 0
21.017 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
21.018 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
21.018 * [backup-simplify]: Simplify (+ 0) into 0
21.018 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
21.018 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
21.019 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
21.019 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
21.019 * [backup-simplify]: Simplify (- 0) into 0
21.020 * [backup-simplify]: Simplify (+ 0 0) into 0
21.020 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
21.020 * [backup-simplify]: Simplify (+ 0) into 0
21.020 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
21.020 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
21.021 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
21.021 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
21.021 * [backup-simplify]: Simplify (- 0) into 0
21.022 * [backup-simplify]: Simplify (+ 0 0) into 0
21.022 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
21.022 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
21.023 * [backup-simplify]: Simplify (+ 0 0) into 0
21.023 * [backup-simplify]: Simplify (+ 0) into 0
21.024 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
21.024 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
21.025 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
21.025 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
21.026 * [backup-simplify]: Simplify (- 0) into 0
21.026 * [backup-simplify]: Simplify (+ 0 0) into 0
21.027 * [backup-simplify]: Simplify (+ 0) into 0
21.027 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
21.027 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
21.028 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
21.029 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
21.029 * [backup-simplify]: Simplify (+ 0 0) into 0
21.029 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
21.030 * [backup-simplify]: Simplify (+ 0) into 0
21.030 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
21.030 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
21.031 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
21.032 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
21.032 * [backup-simplify]: Simplify (+ 0 0) into 0
21.032 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
21.033 * [backup-simplify]: Simplify (+ 0) into 0
21.033 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
21.033 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
21.034 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
21.035 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
21.035 * [backup-simplify]: Simplify (- 0) into 0
21.035 * [backup-simplify]: Simplify (+ 0 0) into 0
21.036 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
21.036 * [backup-simplify]: Simplify (+ 0) into 0
21.037 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
21.037 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
21.038 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
21.038 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
21.039 * [backup-simplify]: Simplify (+ 0 0) into 0
21.039 * [backup-simplify]: Simplify (+ 0) into 0
21.040 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
21.040 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
21.041 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
21.041 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
21.042 * [backup-simplify]: Simplify (- 0) into 0
21.042 * [backup-simplify]: Simplify (+ 0 0) into 0
21.043 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
21.043 * [backup-simplify]: Simplify (+ 0) into 0
21.044 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
21.044 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
21.045 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
21.045 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
21.045 * [backup-simplify]: Simplify (- 0) into 0
21.046 * [backup-simplify]: Simplify (+ 0 0) into 0
21.046 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
21.047 * [backup-simplify]: Simplify (+ 0) into 0
21.047 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
21.047 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
21.048 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
21.048 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
21.049 * [backup-simplify]: Simplify (+ 0 0) into 0
21.049 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
21.050 * [backup-simplify]: Simplify (+ 0 0) into 0
21.050 * [backup-simplify]: Simplify (- 0) into 0
21.050 * [backup-simplify]: Simplify (+ 0 0) into 0
21.052 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (* 0 R)) into 0
21.058 * [backup-simplify]: Simplify (- (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R))))) into 0
21.059 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
21.060 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
21.060 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
21.060 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
21.061 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
21.061 * [backup-simplify]: Simplify (+ 0 0) into 0
21.061 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
21.062 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
21.062 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
21.062 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
21.063 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
21.063 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
21.063 * [backup-simplify]: Simplify (+ 0 0) into 0
21.064 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
21.064 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0
21.065 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
21.065 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
21.065 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
21.066 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
21.066 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
21.066 * [backup-simplify]: Simplify (- 0) into 0
21.067 * [backup-simplify]: Simplify (+ 0 0) into 0
21.067 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
21.068 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))))) into 0
21.068 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
21.069 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
21.069 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
21.072 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
21.073 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
21.073 * [backup-simplify]: Simplify (- 0) into 0
21.074 * [backup-simplify]: Simplify (+ 0 0) into 0
21.074 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
21.075 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))))) into 0
21.075 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
21.076 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
21.076 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (* 0 1))) into 0
21.077 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
21.077 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
21.077 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
21.078 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
21.078 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
21.079 * [backup-simplify]: Simplify (+ 0 0) into 0
21.079 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
21.079 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
21.080 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
21.080 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
21.080 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
21.081 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
21.081 * [backup-simplify]: Simplify (+ 0 0) into 0
21.081 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
21.082 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0
21.083 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
21.083 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
21.083 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
21.084 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
21.084 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
21.084 * [backup-simplify]: Simplify (- 0) into 0
21.084 * [backup-simplify]: Simplify (+ 0 0) into 0
21.085 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
21.085 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
21.086 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
21.086 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
21.087 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
21.088 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
21.088 * [backup-simplify]: Simplify (- 0) into 0
21.089 * [backup-simplify]: Simplify (+ 0 0) into 0
21.089 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
21.090 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 2)))) into 0
21.090 * [backup-simplify]: Simplify (+ 0 0) into 0
21.091 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
21.092 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
21.092 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
21.093 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
21.094 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
21.094 * [backup-simplify]: Simplify (- 0) into 0
21.095 * [backup-simplify]: Simplify (+ 0 0) into 0
21.095 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
21.096 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
21.096 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
21.097 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
21.098 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
21.098 * [backup-simplify]: Simplify (+ 0 0) into 0
21.098 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
21.099 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
21.099 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
21.099 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
21.100 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
21.100 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
21.100 * [backup-simplify]: Simplify (+ 0 0) into 0
21.101 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
21.101 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
21.102 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
21.102 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
21.103 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
21.103 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
21.103 * [backup-simplify]: Simplify (- 0) into 0
21.103 * [backup-simplify]: Simplify (+ 0 0) into 0
21.104 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into 0
21.104 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
21.105 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
21.105 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
21.106 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
21.106 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
21.106 * [backup-simplify]: Simplify (+ 0 0) into 0
21.107 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
21.107 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
21.107 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
21.108 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
21.108 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
21.108 * [backup-simplify]: Simplify (- 0) into 0
21.109 * [backup-simplify]: Simplify (+ 0 0) into 0
21.109 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
21.109 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
21.110 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
21.110 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
21.111 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
21.111 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
21.111 * [backup-simplify]: Simplify (- 0) into 0
21.111 * [backup-simplify]: Simplify (+ 0 0) into 0
21.112 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
21.112 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
21.113 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
21.113 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
21.113 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
21.114 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
21.114 * [backup-simplify]: Simplify (+ 0 0) into 0
21.114 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into 0
21.115 * [backup-simplify]: Simplify (+ 0 0) into 0
21.115 * [backup-simplify]: Simplify (- 0) into 0
21.115 * [backup-simplify]: Simplify (+ 0 0) into 0
21.117 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (+ (* 0 0) (* 0 R))) into 0
21.121 * [backup-simplify]: Simplify (- (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R))) (* 0 (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R))))) into 0
21.124 * [backup-simplify]: Simplify (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) 0) (+ (* 0 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
21.128 * [backup-simplify]: Simplify (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
21.133 * [backup-simplify]: Simplify (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))
21.140 * [backup-simplify]: Simplify (+ (* 3/2 0) (+ (* 0 0) (* 0 (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))) into 0
21.145 * [backup-simplify]: Simplify (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* phi1 phi2)))) (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* phi1 phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* phi1 (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (* phi1 (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))
21.147 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
21.147 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
21.148 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
21.149 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
21.149 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
21.150 * [backup-simplify]: Simplify (+ 0 0) into 0
21.150 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
21.151 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
21.152 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
21.152 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
21.153 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
21.154 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
21.154 * [backup-simplify]: Simplify (+ 0 0) into 0
21.155 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
21.156 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0
21.157 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
21.157 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
21.157 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
21.158 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
21.158 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
21.159 * [backup-simplify]: Simplify (- 0) into 0
21.159 * [backup-simplify]: Simplify (+ 0 0) into 0
21.159 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
21.160 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
21.160 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
21.160 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
21.161 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
21.161 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
21.161 * [backup-simplify]: Simplify (- 0) into 0
21.162 * [backup-simplify]: Simplify (+ 0 0) into 0
21.162 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
21.162 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 2)))) into 0
21.163 * [backup-simplify]: Simplify (+ 0 0) into 0
21.163 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
21.164 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
21.164 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
21.164 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
21.165 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
21.165 * [backup-simplify]: Simplify (- 0) into 0
21.165 * [backup-simplify]: Simplify (+ 0 0) into 0
21.166 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
21.166 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
21.166 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
21.167 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
21.167 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
21.167 * [backup-simplify]: Simplify (- 0) into 0
21.168 * [backup-simplify]: Simplify (+ 0 0) into 0
21.168 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
21.168 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
21.169 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
21.169 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
21.169 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
21.170 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
21.170 * [backup-simplify]: Simplify (+ 0 0) into 0
21.170 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
21.171 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
21.171 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
21.172 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
21.172 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
21.172 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
21.173 * [backup-simplify]: Simplify (+ 0 0) into 0
21.173 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into 0
21.174 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
21.174 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
21.174 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
21.175 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
21.175 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
21.175 * [backup-simplify]: Simplify (+ 0 0) into 0
21.176 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
21.177 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
21.177 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
21.177 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
21.178 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
21.178 * [backup-simplify]: Simplify (+ 0 0) into 0
21.179 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
21.180 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
21.180 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
21.181 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
21.181 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
21.182 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
21.182 * [backup-simplify]: Simplify (- 0) into 0
21.183 * [backup-simplify]: Simplify (+ 0 0) into 0
21.184 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
21.184 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
21.190 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
21.190 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
21.191 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
21.192 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
21.192 * [backup-simplify]: Simplify (- 0) into 0
21.193 * [backup-simplify]: Simplify (+ 0 0) into 0
21.193 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into 0
21.194 * [backup-simplify]: Simplify (+ 0 0) into 0
21.194 * [backup-simplify]: Simplify (- 0) into 0
21.195 * [backup-simplify]: Simplify (+ 0 0) into 0
21.199 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into 0
21.204 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)))) into 0
21.217 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2))) (/ 0 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* 0 (/ 0 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
21.223 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
21.223 * [backup-simplify]: Simplify (+ 0) into 0
21.224 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
21.224 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
21.225 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
21.226 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
21.226 * [backup-simplify]: Simplify (+ 0 0) into 0
21.226 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
21.227 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
21.227 * [backup-simplify]: Simplify (+ 0) into 0
21.228 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
21.228 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
21.229 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
21.230 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
21.230 * [backup-simplify]: Simplify (- 0) into 0
21.231 * [backup-simplify]: Simplify (+ 0 0) into 0
21.231 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
21.231 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0
21.232 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 3) 0) (* 0 (pow (sin (/ 0.5 phi1)) 3))) into 0
21.232 * [backup-simplify]: Simplify (+ 0) into 0
21.233 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
21.233 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
21.234 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
21.235 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
21.235 * [backup-simplify]: Simplify (- 0) into 0
21.235 * [backup-simplify]: Simplify (+ 0 0) into 0
21.236 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
21.236 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
21.237 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 3) 0) (* 0 (* (pow (cos (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)))) into 0
21.237 * [backup-simplify]: Simplify (+ 0) into 0
21.238 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
21.238 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
21.239 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
21.239 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
21.239 * [backup-simplify]: Simplify (+ 0 0) into 0
21.240 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
21.240 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0
21.241 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 3) 0) (* 0 (* (pow (sin (/ 0.5 phi1)) 3) (* (pow (cos (/ 0.5 phi2)) 3) (pow (cos (/ 0.5 phi1)) 3))))) into 0
21.241 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
21.242 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
21.243 * [backup-simplify]: Simplify (+ (* R 0) (* 0 1)) into 0
21.243 * [backup-simplify]: Simplify (+ 0) into 0
21.244 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
21.244 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
21.245 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
21.246 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
21.246 * [backup-simplify]: Simplify (+ 0 0) into 0
21.246 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
21.247 * [backup-simplify]: Simplify (+ 0) into 0
21.247 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
21.247 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
21.248 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
21.249 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
21.249 * [backup-simplify]: Simplify (+ 0 0) into 0
21.249 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
21.250 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
21.250 * [backup-simplify]: Simplify (+ 0) into 0
21.251 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
21.251 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
21.252 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
21.252 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
21.253 * [backup-simplify]: Simplify (- 0) into 0
21.253 * [backup-simplify]: Simplify (+ 0 0) into 0
21.253 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
21.254 * [backup-simplify]: Simplify (+ 0) into 0
21.254 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
21.254 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
21.255 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
21.256 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
21.256 * [backup-simplify]: Simplify (- 0) into 0
21.256 * [backup-simplify]: Simplify (+ 0 0) into 0
21.257 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
21.257 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
21.257 * [backup-simplify]: Simplify (+ 0 0) into 0
21.258 * [backup-simplify]: Simplify (+ 0) into 0
21.258 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
21.259 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
21.259 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
21.260 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
21.260 * [backup-simplify]: Simplify (- 0) into 0
21.261 * [backup-simplify]: Simplify (+ 0 0) into 0
21.261 * [backup-simplify]: Simplify (+ 0) into 0
21.262 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
21.262 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
21.263 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
21.263 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
21.263 * [backup-simplify]: Simplify (+ 0 0) into 0
21.264 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
21.264 * [backup-simplify]: Simplify (+ 0) into 0
21.265 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
21.265 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
21.266 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
21.266 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
21.267 * [backup-simplify]: Simplify (+ 0 0) into 0
21.267 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
21.267 * [backup-simplify]: Simplify (+ 0) into 0
21.268 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
21.268 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
21.269 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
21.269 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
21.270 * [backup-simplify]: Simplify (- 0) into 0
21.270 * [backup-simplify]: Simplify (+ 0 0) into 0
21.270 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
21.271 * [backup-simplify]: Simplify (+ 0) into 0
21.271 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
21.272 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
21.272 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
21.273 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
21.274 * [backup-simplify]: Simplify (+ 0 0) into 0
21.274 * [backup-simplify]: Simplify (+ 0) into 0
21.275 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
21.275 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
21.276 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
21.276 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
21.276 * [backup-simplify]: Simplify (- 0) into 0
21.277 * [backup-simplify]: Simplify (+ 0 0) into 0
21.277 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
21.277 * [backup-simplify]: Simplify (+ 0) into 0
21.278 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
21.278 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
21.279 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
21.279 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
21.280 * [backup-simplify]: Simplify (- 0) into 0
21.280 * [backup-simplify]: Simplify (+ 0 0) into 0
21.281 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
21.281 * [backup-simplify]: Simplify (+ 0) into 0
21.282 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
21.282 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
21.283 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
21.283 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
21.283 * [backup-simplify]: Simplify (+ 0 0) into 0
21.284 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
21.284 * [backup-simplify]: Simplify (+ 0 0) into 0
21.285 * [backup-simplify]: Simplify (- 0) into 0
21.285 * [backup-simplify]: Simplify (+ 0 0) into 0
21.286 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (* 0 R)) into 0
21.290 * [backup-simplify]: Simplify (- (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 3) (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (sin (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R))))) into 0
21.290 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
21.291 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
21.291 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
21.292 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
21.292 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
21.292 * [backup-simplify]: Simplify (+ 0 0) into 0
21.293 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
21.293 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0
21.294 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
21.294 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
21.294 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
21.295 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
21.295 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
21.295 * [backup-simplify]: Simplify (- 0) into 0
21.296 * [backup-simplify]: Simplify (+ 0 0) into 0
21.296 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
21.296 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi2)) 2)))) into 0
21.297 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 3) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 3)))) into 0
21.297 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
21.298 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
21.298 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
21.298 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
21.299 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
21.299 * [backup-simplify]: Simplify (- 0) into 0
21.299 * [backup-simplify]: Simplify (+ 0 0) into 0
21.300 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
21.300 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 2)))) into 0
21.301 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 3) 0) (+ (* 0 0) (* 0 (* (pow (cos (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3))))) into 0
21.301 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
21.302 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
21.302 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
21.302 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
21.303 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
21.303 * [backup-simplify]: Simplify (+ 0 0) into 0
21.303 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
21.304 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi2)) 2)))) into 0
21.304 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 3) 0) (+ (* 0 0) (* 0 (* (pow (sin (/ 0.5 phi1)) 3) (* (pow (cos (/ 0.5 phi2)) 3) (pow (cos (/ 0.5 phi1)) 3)))))) into 0
21.305 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
21.306 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
21.306 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (* 0 1))) into 0
21.306 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
21.307 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
21.307 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
21.307 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
21.308 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
21.308 * [backup-simplify]: Simplify (+ 0 0) into 0
21.308 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
21.309 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
21.309 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
21.310 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
21.310 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
21.311 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
21.311 * [backup-simplify]: Simplify (+ 0 0) into 0
21.311 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
21.312 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0
21.313 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
21.313 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
21.313 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
21.314 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
21.315 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
21.315 * [backup-simplify]: Simplify (- 0) into 0
21.315 * [backup-simplify]: Simplify (+ 0 0) into 0
21.316 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
21.317 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
21.318 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
21.318 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
21.319 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
21.319 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
21.320 * [backup-simplify]: Simplify (- 0) into 0
21.320 * [backup-simplify]: Simplify (+ 0 0) into 0
21.321 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
21.322 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 2)))) into 0
21.322 * [backup-simplify]: Simplify (+ 0 0) into 0
21.323 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
21.324 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
21.324 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
21.325 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
21.325 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
21.326 * [backup-simplify]: Simplify (- 0) into 0
21.326 * [backup-simplify]: Simplify (+ 0 0) into 0
21.327 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
21.328 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
21.328 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
21.329 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
21.329 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
21.330 * [backup-simplify]: Simplify (+ 0 0) into 0
21.330 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
21.331 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
21.332 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
21.332 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
21.338 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
21.339 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
21.340 * [backup-simplify]: Simplify (+ 0 0) into 0
21.341 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
21.342 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
21.342 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
21.343 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
21.344 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
21.344 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
21.345 * [backup-simplify]: Simplify (- 0) into 0
21.345 * [backup-simplify]: Simplify (+ 0 0) into 0
21.346 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into 0
21.346 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
21.347 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
21.347 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
21.347 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
21.348 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
21.348 * [backup-simplify]: Simplify (+ 0 0) into 0
21.348 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
21.349 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
21.349 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
21.350 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
21.350 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
21.350 * [backup-simplify]: Simplify (- 0) into 0
21.351 * [backup-simplify]: Simplify (+ 0 0) into 0
21.351 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
21.351 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
21.352 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
21.352 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
21.353 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
21.353 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
21.353 * [backup-simplify]: Simplify (- 0) into 0
21.353 * [backup-simplify]: Simplify (+ 0 0) into 0
21.354 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
21.354 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
21.355 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
21.355 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
21.355 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
21.356 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
21.356 * [backup-simplify]: Simplify (+ 0 0) into 0
21.356 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into 0
21.357 * [backup-simplify]: Simplify (+ 0 0) into 0
21.357 * [backup-simplify]: Simplify (- 0) into 0
21.357 * [backup-simplify]: Simplify (+ 0 0) into 0
21.358 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (+ (* 0 0) (* 0 R))) into 0
21.363 * [backup-simplify]: Simplify (- (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 3) (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (sin (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R))) (* 0 (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R))))) into 0
21.367 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 3) (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (sin (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) 0) (+ (* 0 0) (* 0 (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))) into 0
21.370 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 3) (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (sin (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) 0) (* 0 (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
21.375 * [backup-simplify]: Simplify (* (/ (* (pow (cos (/ 0.5 phi2)) 3) (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (sin (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into (* (/ (* (pow (sin (/ 0.5 phi2)) 3) (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (cos (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))
21.382 * [backup-simplify]: Simplify (+ (* 17/2 0) (+ (* 0 0) (* 0 (* (/ (* (pow (sin (/ 0.5 phi2)) 3) (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (cos (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))))) into 0
21.387 * [backup-simplify]: Simplify (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* phi1 phi2)))) (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* phi1 phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* phi1 (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (* phi1 (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))
21.393 * [backup-simplify]: Simplify (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))
21.400 * [backup-simplify]: Simplify (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2)))))))))))
21.401 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
21.402 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
21.403 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
21.403 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
21.404 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
21.404 * [backup-simplify]: Simplify (+ 0 0) into 0
21.405 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
21.406 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
21.407 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
21.407 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
21.408 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
21.408 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
21.409 * [backup-simplify]: Simplify (+ 0 0) into 0
21.409 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
21.410 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0
21.411 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
21.412 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
21.412 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
21.413 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
21.414 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
21.414 * [backup-simplify]: Simplify (- 0) into 0
21.414 * [backup-simplify]: Simplify (+ 0 0) into 0
21.415 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
21.415 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
21.416 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
21.416 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
21.416 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
21.416 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
21.417 * [backup-simplify]: Simplify (- 0) into 0
21.417 * [backup-simplify]: Simplify (+ 0 0) into 0
21.417 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
21.418 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 2)))) into 0
21.418 * [backup-simplify]: Simplify (+ 0 0) into 0
21.419 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
21.419 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
21.419 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
21.420 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
21.420 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
21.420 * [backup-simplify]: Simplify (- 0) into 0
21.421 * [backup-simplify]: Simplify (+ 0 0) into 0
21.421 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
21.422 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
21.422 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
21.422 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
21.422 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
21.423 * [backup-simplify]: Simplify (- 0) into 0
21.423 * [backup-simplify]: Simplify (+ 0 0) into 0
21.423 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
21.424 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
21.424 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
21.424 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
21.425 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
21.425 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
21.426 * [backup-simplify]: Simplify (+ 0 0) into 0
21.426 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
21.426 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
21.427 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
21.427 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
21.428 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
21.428 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
21.428 * [backup-simplify]: Simplify (+ 0 0) into 0
21.429 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into 0
21.429 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
21.430 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
21.430 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
21.430 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
21.430 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
21.431 * [backup-simplify]: Simplify (+ 0 0) into 0
21.431 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
21.432 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
21.432 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
21.432 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
21.433 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
21.433 * [backup-simplify]: Simplify (+ 0 0) into 0
21.433 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
21.434 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
21.435 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
21.435 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
21.436 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
21.437 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
21.437 * [backup-simplify]: Simplify (- 0) into 0
21.437 * [backup-simplify]: Simplify (+ 0 0) into 0
21.438 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
21.439 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
21.440 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
21.440 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
21.441 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
21.442 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
21.442 * [backup-simplify]: Simplify (- 0) into 0
21.442 * [backup-simplify]: Simplify (+ 0 0) into 0
21.443 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into 0
21.444 * [backup-simplify]: Simplify (+ 0 0) into 0
21.444 * [backup-simplify]: Simplify (- 0) into 0
21.444 * [backup-simplify]: Simplify (+ 0 0) into 0
21.449 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into 0
21.453 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)))) into 0
21.466 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2))) (/ 0 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* 0 (/ 0 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
21.475 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
21.476 * [backup-simplify]: Simplify (+ 0) into 0
21.477 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
21.477 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
21.478 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
21.478 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
21.478 * [backup-simplify]: Simplify (+ 0 0) into 0
21.479 * [backup-simplify]: Simplify (+ 0) into 0
21.479 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
21.479 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
21.480 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
21.481 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
21.481 * [backup-simplify]: Simplify (+ 0 0) into 0
21.481 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
21.482 * [backup-simplify]: Simplify (+ 0) into 0
21.482 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
21.482 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
21.483 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
21.484 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
21.484 * [backup-simplify]: Simplify (- 0) into 0
21.484 * [backup-simplify]: Simplify (+ 0 0) into 0
21.485 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
21.485 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
21.485 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (pow (cos (/ 0.5 phi1)) 4))) into 0
21.486 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 5) 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
21.486 * [backup-simplify]: Simplify (+ 0) into 0
21.487 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
21.487 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
21.488 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
21.488 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
21.489 * [backup-simplify]: Simplify (- 0) into 0
21.489 * [backup-simplify]: Simplify (+ 0 0) into 0
21.490 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
21.490 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0
21.490 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (pow (cos (/ 0.5 phi2)) 4))) into 0
21.491 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 5) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (pow (cos (/ 0.5 phi1)) 5))))) into 0
21.492 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
21.492 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
21.493 * [backup-simplify]: Simplify (+ (* R 0) (* 0 1)) into 0
21.493 * [backup-simplify]: Simplify (+ 0) into 0
21.494 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
21.494 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
21.495 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
21.495 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
21.496 * [backup-simplify]: Simplify (+ 0 0) into 0
21.496 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
21.496 * [backup-simplify]: Simplify (+ 0) into 0
21.497 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
21.497 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
21.498 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
21.498 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
21.499 * [backup-simplify]: Simplify (+ 0 0) into 0
21.499 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
21.499 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
21.500 * [backup-simplify]: Simplify (+ 0) into 0
21.500 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
21.501 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
21.501 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
21.502 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
21.502 * [backup-simplify]: Simplify (- 0) into 0
21.503 * [backup-simplify]: Simplify (+ 0 0) into 0
21.503 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
21.503 * [backup-simplify]: Simplify (+ 0) into 0
21.504 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
21.504 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
21.505 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
21.506 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
21.506 * [backup-simplify]: Simplify (- 0) into 0
21.506 * [backup-simplify]: Simplify (+ 0 0) into 0
21.507 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
21.507 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
21.507 * [backup-simplify]: Simplify (+ 0 0) into 0
21.508 * [backup-simplify]: Simplify (+ 0) into 0
21.508 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
21.509 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
21.509 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
21.510 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
21.510 * [backup-simplify]: Simplify (- 0) into 0
21.511 * [backup-simplify]: Simplify (+ 0 0) into 0
21.511 * [backup-simplify]: Simplify (+ 0) into 0
21.512 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
21.512 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
21.512 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
21.513 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
21.513 * [backup-simplify]: Simplify (+ 0 0) into 0
21.514 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
21.514 * [backup-simplify]: Simplify (+ 0) into 0
21.514 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
21.515 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
21.515 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
21.516 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
21.516 * [backup-simplify]: Simplify (+ 0 0) into 0
21.516 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
21.517 * [backup-simplify]: Simplify (+ 0) into 0
21.517 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
21.518 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
21.518 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
21.519 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
21.519 * [backup-simplify]: Simplify (- 0) into 0
21.520 * [backup-simplify]: Simplify (+ 0 0) into 0
21.520 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
21.520 * [backup-simplify]: Simplify (+ 0) into 0
21.521 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
21.521 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
21.522 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
21.522 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
21.523 * [backup-simplify]: Simplify (+ 0 0) into 0
21.523 * [backup-simplify]: Simplify (+ 0) into 0
21.524 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
21.524 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
21.524 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
21.525 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
21.525 * [backup-simplify]: Simplify (- 0) into 0
21.526 * [backup-simplify]: Simplify (+ 0 0) into 0
21.526 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
21.526 * [backup-simplify]: Simplify (+ 0) into 0
21.527 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
21.527 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
21.528 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
21.528 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
21.528 * [backup-simplify]: Simplify (- 0) into 0
21.529 * [backup-simplify]: Simplify (+ 0 0) into 0
21.529 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
21.529 * [backup-simplify]: Simplify (+ 0) into 0
21.530 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
21.530 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
21.531 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
21.531 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
21.532 * [backup-simplify]: Simplify (+ 0 0) into 0
21.532 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
21.532 * [backup-simplify]: Simplify (+ 0 0) into 0
21.533 * [backup-simplify]: Simplify (- 0) into 0
21.533 * [backup-simplify]: Simplify (+ 0 0) into 0
21.535 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (* 0 R)) into 0
21.542 * [backup-simplify]: Simplify (- (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) (+ (* (/ (* (sin (/ 0.5 phi2)) (* (pow (cos (/ 0.5 phi1)) 5) (* (pow (cos (/ 0.5 phi2)) 5) (sin (/ 0.5 phi1))))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R))))) into 0
21.543 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
21.544 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
21.544 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
21.545 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
21.545 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
21.546 * [backup-simplify]: Simplify (+ 0 0) into 0
21.546 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
21.547 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
21.547 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
21.548 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
21.549 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
21.549 * [backup-simplify]: Simplify (+ 0 0) into 0
21.550 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
21.551 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
21.551 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
21.552 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
21.552 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
21.553 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
21.553 * [backup-simplify]: Simplify (- 0) into 0
21.554 * [backup-simplify]: Simplify (+ 0 0) into 0
21.554 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
21.555 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 2)))) into 0
21.556 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 4)))) into 0
21.557 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 5) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
21.557 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
21.558 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
21.558 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
21.559 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
21.560 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
21.560 * [backup-simplify]: Simplify (- 0) into 0
21.561 * [backup-simplify]: Simplify (+ 0 0) into 0
21.561 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
21.562 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi2)) 2)))) into 0
21.563 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi2)) 4)))) into 0
21.564 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 5) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (pow (cos (/ 0.5 phi1)) 5)))))) into 0
21.565 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
21.566 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
21.567 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (* 0 1))) into 0
21.568 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
21.569 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
21.569 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
21.570 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
21.570 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
21.571 * [backup-simplify]: Simplify (+ 0 0) into 0
21.571 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
21.572 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
21.573 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
21.573 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
21.574 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
21.575 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
21.575 * [backup-simplify]: Simplify (+ 0 0) into 0
21.576 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
21.576 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0
21.577 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
21.578 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
21.578 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
21.579 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
21.579 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
21.580 * [backup-simplify]: Simplify (- 0) into 0
21.580 * [backup-simplify]: Simplify (+ 0 0) into 0
21.581 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
21.582 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
21.582 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
21.583 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
21.584 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
21.584 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
21.585 * [backup-simplify]: Simplify (- 0) into 0
21.585 * [backup-simplify]: Simplify (+ 0 0) into 0
21.586 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
21.586 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 2)))) into 0
21.587 * [backup-simplify]: Simplify (+ 0 0) into 0
21.588 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
21.588 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
21.589 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
21.589 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
21.590 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
21.590 * [backup-simplify]: Simplify (- 0) into 0
21.591 * [backup-simplify]: Simplify (+ 0 0) into 0
21.591 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
21.592 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
21.592 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
21.593 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
21.594 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
21.594 * [backup-simplify]: Simplify (+ 0 0) into 0
21.595 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
21.596 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
21.596 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
21.597 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
21.597 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
21.598 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
21.598 * [backup-simplify]: Simplify (+ 0 0) into 0
21.599 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
21.600 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
21.600 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
21.601 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
21.601 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
21.602 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
21.602 * [backup-simplify]: Simplify (- 0) into 0
21.603 * [backup-simplify]: Simplify (+ 0 0) into 0
21.603 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into 0
21.604 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
21.605 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
21.605 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
21.606 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
21.606 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
21.607 * [backup-simplify]: Simplify (+ 0 0) into 0
21.608 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
21.609 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
21.609 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
21.609 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
21.610 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
21.610 * [backup-simplify]: Simplify (- 0) into 0
21.611 * [backup-simplify]: Simplify (+ 0 0) into 0
21.611 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
21.612 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
21.613 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
21.613 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
21.614 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
21.615 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
21.615 * [backup-simplify]: Simplify (- 0) into 0
21.616 * [backup-simplify]: Simplify (+ 0 0) into 0
21.616 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
21.617 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
21.618 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
21.618 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
21.619 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
21.625 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
21.625 * [backup-simplify]: Simplify (+ 0 0) into 0
21.626 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into 0
21.627 * [backup-simplify]: Simplify (+ 0 0) into 0
21.627 * [backup-simplify]: Simplify (- 0) into 0
21.627 * [backup-simplify]: Simplify (+ 0 0) into 0
21.630 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (+ (* 0 0) (* 0 R))) into 0
21.639 * [backup-simplify]: Simplify (- (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) (+ (* (/ (* (sin (/ 0.5 phi2)) (* (pow (cos (/ 0.5 phi1)) 5) (* (pow (cos (/ 0.5 phi2)) 5) (sin (/ 0.5 phi1))))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R))) (* 0 (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R))))) into 0
21.647 * [backup-simplify]: Simplify (+ (* (/ (* (sin (/ 0.5 phi2)) (* (pow (cos (/ 0.5 phi1)) 5) (* (pow (cos (/ 0.5 phi2)) 5) (sin (/ 0.5 phi1))))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) 0) (+ (* 0 0) (* 0 (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))) into 0
21.652 * [backup-simplify]: Simplify (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)))) (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2))))) (+ (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* (pow phi1 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (* (pow phi1 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)))) (+ (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R))))) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))
21.656 * [backup-simplify]: Simplify (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* (pow phi1 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (* (pow phi1 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)))) (+ (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R))))) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)))) (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2))))) (+ (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))
21.657 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
21.657 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
21.657 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
21.658 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
21.658 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
21.658 * [backup-simplify]: Simplify (+ 0 0) into 0
21.659 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
21.659 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
21.660 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
21.660 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
21.660 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
21.661 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
21.661 * [backup-simplify]: Simplify (+ 0 0) into 0
21.661 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
21.662 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0
21.662 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
21.663 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
21.663 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
21.663 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
21.664 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
21.664 * [backup-simplify]: Simplify (- 0) into 0
21.664 * [backup-simplify]: Simplify (+ 0 0) into 0
21.665 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
21.665 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
21.666 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
21.666 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
21.666 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
21.667 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
21.667 * [backup-simplify]: Simplify (- 0) into 0
21.667 * [backup-simplify]: Simplify (+ 0 0) into 0
21.667 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
21.668 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 2)))) into 0
21.668 * [backup-simplify]: Simplify (+ 0 0) into 0
21.669 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
21.669 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
21.669 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
21.670 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
21.670 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
21.670 * [backup-simplify]: Simplify (- 0) into 0
21.671 * [backup-simplify]: Simplify (+ 0 0) into 0
21.671 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
21.672 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
21.672 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
21.672 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
21.672 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
21.673 * [backup-simplify]: Simplify (- 0) into 0
21.673 * [backup-simplify]: Simplify (+ 0 0) into 0
21.673 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
21.674 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
21.674 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
21.674 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
21.675 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
21.675 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
21.676 * [backup-simplify]: Simplify (+ 0 0) into 0
21.676 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
21.677 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
21.677 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
21.677 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
21.678 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
21.678 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
21.678 * [backup-simplify]: Simplify (+ 0 0) into 0
21.679 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into 0
21.679 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
21.680 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
21.680 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
21.680 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
21.681 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
21.681 * [backup-simplify]: Simplify (+ 0 0) into 0
21.681 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
21.682 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
21.682 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
21.682 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
21.683 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
21.683 * [backup-simplify]: Simplify (+ 0 0) into 0
21.683 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
21.684 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
21.684 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
21.684 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
21.685 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
21.685 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
21.686 * [backup-simplify]: Simplify (- 0) into 0
21.686 * [backup-simplify]: Simplify (+ 0 0) into 0
21.687 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
21.688 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
21.688 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
21.689 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
21.689 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
21.690 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
21.690 * [backup-simplify]: Simplify (- 0) into 0
21.691 * [backup-simplify]: Simplify (+ 0 0) into 0
21.691 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into 0
21.692 * [backup-simplify]: Simplify (+ 0 0) into 0
21.692 * [backup-simplify]: Simplify (- 0) into 0
21.693 * [backup-simplify]: Simplify (+ 0 0) into 0
21.699 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (* 0 (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
21.703 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
21.704 * [backup-simplify]: Simplify (+ 0) into 0
21.704 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
21.705 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
21.705 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
21.706 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
21.706 * [backup-simplify]: Simplify (- 0) into 0
21.707 * [backup-simplify]: Simplify (+ 0 0) into 0
21.707 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
21.707 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
21.708 * [backup-simplify]: Simplify (+ 0) into 0
21.708 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
21.709 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
21.709 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
21.710 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
21.710 * [backup-simplify]: Simplify (- 0) into 0
21.711 * [backup-simplify]: Simplify (+ 0 0) into 0
21.711 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
21.712 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0
21.712 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 4) 0) (* 0 (pow (cos (/ 0.5 phi1)) 4))) into 0
21.712 * [backup-simplify]: Simplify (+ 0) into 0
21.713 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
21.713 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
21.714 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
21.714 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
21.715 * [backup-simplify]: Simplify (+ 0 0) into 0
21.715 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
21.715 * [backup-simplify]: Simplify (+ 0) into 0
21.716 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
21.716 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
21.717 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
21.717 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
21.718 * [backup-simplify]: Simplify (+ 0 0) into 0
21.718 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
21.719 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
21.719 * [backup-simplify]: Simplify (+ 0) into 0
21.720 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
21.720 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
21.720 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
21.721 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
21.721 * [backup-simplify]: Simplify (- 0) into 0
21.722 * [backup-simplify]: Simplify (+ 0 0) into 0
21.722 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
21.722 * [backup-simplify]: Simplify (+ 0) into 0
21.723 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
21.723 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
21.724 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
21.724 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
21.725 * [backup-simplify]: Simplify (- 0) into 0
21.725 * [backup-simplify]: Simplify (+ 0 0) into 0
21.725 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
21.726 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
21.727 * [backup-simplify]: Simplify (+ 0 0) into 0
21.727 * [backup-simplify]: Simplify (+ 0) into 0
21.728 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
21.728 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
21.729 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
21.729 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
21.730 * [backup-simplify]: Simplify (- 0) into 0
21.730 * [backup-simplify]: Simplify (+ 0 0) into 0
21.730 * [backup-simplify]: Simplify (+ 0) into 0
21.731 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
21.731 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
21.732 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
21.732 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
21.733 * [backup-simplify]: Simplify (+ 0 0) into 0
21.733 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
21.733 * [backup-simplify]: Simplify (+ 0) into 0
21.734 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
21.734 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
21.735 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
21.735 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
21.736 * [backup-simplify]: Simplify (+ 0 0) into 0
21.736 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
21.736 * [backup-simplify]: Simplify (+ 0) into 0
21.737 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
21.737 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
21.738 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
21.738 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
21.738 * [backup-simplify]: Simplify (- 0) into 0
21.738 * [backup-simplify]: Simplify (+ 0 0) into 0
21.739 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
21.739 * [backup-simplify]: Simplify (+ 0) into 0
21.739 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
21.739 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
21.740 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
21.740 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
21.740 * [backup-simplify]: Simplify (+ 0 0) into 0
21.741 * [backup-simplify]: Simplify (+ 0) into 0
21.741 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
21.741 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
21.741 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
21.742 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
21.742 * [backup-simplify]: Simplify (- 0) into 0
21.742 * [backup-simplify]: Simplify (+ 0 0) into 0
21.742 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
21.743 * [backup-simplify]: Simplify (+ 0) into 0
21.743 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
21.743 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
21.743 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
21.744 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
21.744 * [backup-simplify]: Simplify (- 0) into 0
21.744 * [backup-simplify]: Simplify (+ 0 0) into 0
21.744 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
21.745 * [backup-simplify]: Simplify (+ 0) into 0
21.745 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
21.745 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
21.746 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
21.746 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
21.746 * [backup-simplify]: Simplify (+ 0 0) into 0
21.746 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
21.747 * [backup-simplify]: Simplify (+ 0 0) into 0
21.747 * [backup-simplify]: Simplify (- 0) into 0
21.747 * [backup-simplify]: Simplify (+ 0 0) into 0
21.747 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
21.748 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
21.749 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into 0
21.750 * [backup-simplify]: Simplify (+ (* R 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into 0
21.754 * [backup-simplify]: Simplify (- (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi1)) 4)) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R))))) into 0
21.757 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
21.758 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
21.758 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
21.759 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
21.759 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
21.759 * [backup-simplify]: Simplify (- 0) into 0
21.759 * [backup-simplify]: Simplify (+ 0 0) into 0
21.760 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
21.760 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 2)))) into 0
21.761 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
21.761 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
21.761 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
21.762 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
21.762 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
21.762 * [backup-simplify]: Simplify (- 0) into 0
21.763 * [backup-simplify]: Simplify (+ 0 0) into 0
21.763 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
21.764 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi2)) 2)))) into 0
21.764 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 4) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 4)))) into 0
21.765 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
21.765 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
21.765 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
21.767 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
21.767 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
21.767 * [backup-simplify]: Simplify (+ 0 0) into 0
21.768 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
21.768 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
21.769 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
21.769 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
21.769 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
21.769 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
21.770 * [backup-simplify]: Simplify (+ 0 0) into 0
21.770 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
21.771 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0
21.771 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
21.772 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
21.772 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
21.772 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
21.773 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
21.773 * [backup-simplify]: Simplify (- 0) into 0
21.773 * [backup-simplify]: Simplify (+ 0 0) into 0
21.774 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
21.774 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
21.775 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
21.775 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
21.775 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
21.776 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
21.776 * [backup-simplify]: Simplify (- 0) into 0
21.776 * [backup-simplify]: Simplify (+ 0 0) into 0
21.777 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
21.777 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 2)))) into 0
21.777 * [backup-simplify]: Simplify (+ 0 0) into 0
21.778 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
21.778 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
21.778 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
21.779 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
21.779 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
21.779 * [backup-simplify]: Simplify (- 0) into 0
21.780 * [backup-simplify]: Simplify (+ 0 0) into 0
21.780 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
21.781 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
21.781 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
21.781 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
21.782 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
21.782 * [backup-simplify]: Simplify (+ 0 0) into 0
21.782 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
21.783 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
21.783 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
21.783 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
21.784 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
21.784 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
21.784 * [backup-simplify]: Simplify (+ 0 0) into 0
21.785 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
21.785 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
21.786 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
21.786 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
21.787 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
21.787 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
21.787 * [backup-simplify]: Simplify (- 0) into 0
21.787 * [backup-simplify]: Simplify (+ 0 0) into 0
21.788 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into 0
21.788 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
21.789 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
21.789 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
21.789 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
21.790 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
21.790 * [backup-simplify]: Simplify (+ 0 0) into 0
21.790 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
21.791 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
21.791 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
21.791 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
21.792 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
21.792 * [backup-simplify]: Simplify (- 0) into 0
21.792 * [backup-simplify]: Simplify (+ 0 0) into 0
21.793 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
21.793 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
21.794 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
21.794 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
21.795 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
21.796 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
21.796 * [backup-simplify]: Simplify (- 0) into 0
21.796 * [backup-simplify]: Simplify (+ 0 0) into 0
21.797 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
21.798 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
21.799 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
21.799 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
21.800 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
21.800 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
21.801 * [backup-simplify]: Simplify (+ 0 0) into 0
21.802 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into 0
21.802 * [backup-simplify]: Simplify (+ 0 0) into 0
21.802 * [backup-simplify]: Simplify (- 0) into 0
21.803 * [backup-simplify]: Simplify (+ 0 0) into 0
21.804 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
21.805 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
21.808 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into 0
21.811 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into 0
21.820 * [backup-simplify]: Simplify (- (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi1)) 4)) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R))) (* 0 (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R))))) into 0
21.826 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi1)) 4)) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) 0) (+ (* 0 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
21.830 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi1)) 4)) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
21.835 * [backup-simplify]: Simplify (* (/ (* (pow (cos (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi1)) 4)) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into (* (/ (* (pow (cos (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi1)) 4)) R) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))
21.839 * [backup-simplify]: Simplify (+ (* 1/2 0) (+ (* 0 0) (* 0 (* (/ (* (pow (cos (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi1)) 4)) R) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))))) into 0
21.840 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
21.840 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
21.840 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
21.841 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
21.841 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
21.841 * [backup-simplify]: Simplify (+ 0 0) into 0
21.842 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
21.842 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
21.843 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
21.843 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
21.843 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
21.844 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
21.844 * [backup-simplify]: Simplify (+ 0 0) into 0
21.844 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
21.845 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0
21.846 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
21.846 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
21.846 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
21.847 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
21.847 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
21.847 * [backup-simplify]: Simplify (- 0) into 0
21.847 * [backup-simplify]: Simplify (+ 0 0) into 0
21.848 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
21.848 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
21.849 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
21.849 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
21.849 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
21.850 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
21.850 * [backup-simplify]: Simplify (- 0) into 0
21.850 * [backup-simplify]: Simplify (+ 0 0) into 0
21.851 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
21.851 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 2)))) into 0
21.851 * [backup-simplify]: Simplify (+ 0 0) into 0
21.852 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
21.852 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
21.853 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
21.853 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
21.853 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
21.854 * [backup-simplify]: Simplify (- 0) into 0
21.854 * [backup-simplify]: Simplify (+ 0 0) into 0
21.854 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
21.855 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
21.855 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
21.855 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
21.856 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
21.856 * [backup-simplify]: Simplify (- 0) into 0
21.856 * [backup-simplify]: Simplify (+ 0 0) into 0
21.857 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
21.857 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
21.857 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
21.858 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
21.858 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
21.858 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
21.859 * [backup-simplify]: Simplify (+ 0 0) into 0
21.859 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
21.860 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
21.860 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
21.860 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
21.861 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
21.861 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
21.861 * [backup-simplify]: Simplify (+ 0 0) into 0
21.862 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into 0
21.862 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
21.863 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
21.863 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
21.864 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
21.864 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
21.864 * [backup-simplify]: Simplify (+ 0 0) into 0
21.865 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
21.865 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
21.865 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
21.866 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
21.866 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
21.866 * [backup-simplify]: Simplify (+ 0 0) into 0
21.867 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
21.867 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
21.868 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
21.868 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
21.868 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
21.869 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
21.869 * [backup-simplify]: Simplify (- 0) into 0
21.869 * [backup-simplify]: Simplify (+ 0 0) into 0
21.869 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
21.870 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
21.874 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
21.874 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
21.875 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
21.875 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
21.875 * [backup-simplify]: Simplify (- 0) into 0
21.876 * [backup-simplify]: Simplify (+ 0 0) into 0
21.876 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into 0
21.876 * [backup-simplify]: Simplify (+ 0 0) into 0
21.877 * [backup-simplify]: Simplify (- 0) into 0
21.877 * [backup-simplify]: Simplify (+ 0 0) into 0
21.883 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (* 0 (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
21.887 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
21.887 * [backup-simplify]: Simplify (+ 0) into 0
21.888 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
21.888 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
21.889 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
21.890 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
21.890 * [backup-simplify]: Simplify (+ 0 0) into 0
21.890 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
21.891 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
21.891 * [backup-simplify]: Simplify (+ 0) into 0
21.892 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
21.892 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
21.893 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
21.893 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
21.894 * [backup-simplify]: Simplify (+ 0 0) into 0
21.894 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
21.894 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0
21.895 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 4) 0) (* 0 (pow (sin (/ 0.5 phi1)) 4))) into 0
21.895 * [backup-simplify]: Simplify (+ 0) into 0
21.896 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
21.896 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
21.897 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
21.898 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
21.898 * [backup-simplify]: Simplify (+ 0 0) into 0
21.898 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
21.899 * [backup-simplify]: Simplify (+ 0) into 0
21.899 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
21.900 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
21.900 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
21.901 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
21.901 * [backup-simplify]: Simplify (+ 0 0) into 0
21.902 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
21.902 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
21.902 * [backup-simplify]: Simplify (+ 0) into 0
21.903 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
21.903 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
21.904 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
21.904 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
21.905 * [backup-simplify]: Simplify (- 0) into 0
21.905 * [backup-simplify]: Simplify (+ 0 0) into 0
21.905 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
21.906 * [backup-simplify]: Simplify (+ 0) into 0
21.906 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
21.907 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
21.907 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
21.908 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
21.908 * [backup-simplify]: Simplify (- 0) into 0
21.909 * [backup-simplify]: Simplify (+ 0 0) into 0
21.909 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
21.909 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
21.910 * [backup-simplify]: Simplify (+ 0 0) into 0
21.910 * [backup-simplify]: Simplify (+ 0) into 0
21.911 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
21.911 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
21.912 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
21.912 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
21.913 * [backup-simplify]: Simplify (- 0) into 0
21.913 * [backup-simplify]: Simplify (+ 0 0) into 0
21.913 * [backup-simplify]: Simplify (+ 0) into 0
21.914 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
21.914 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
21.915 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
21.915 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
21.916 * [backup-simplify]: Simplify (+ 0 0) into 0
21.916 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
21.916 * [backup-simplify]: Simplify (+ 0) into 0
21.917 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
21.917 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
21.918 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
21.919 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
21.919 * [backup-simplify]: Simplify (+ 0 0) into 0
21.919 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
21.920 * [backup-simplify]: Simplify (+ 0) into 0
21.920 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
21.920 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
21.921 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
21.922 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
21.922 * [backup-simplify]: Simplify (- 0) into 0
21.922 * [backup-simplify]: Simplify (+ 0 0) into 0
21.922 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
21.922 * [backup-simplify]: Simplify (+ 0) into 0
21.923 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
21.923 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
21.923 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
21.924 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
21.924 * [backup-simplify]: Simplify (+ 0 0) into 0
21.924 * [backup-simplify]: Simplify (+ 0) into 0
21.924 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
21.925 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
21.925 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
21.925 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
21.926 * [backup-simplify]: Simplify (- 0) into 0
21.926 * [backup-simplify]: Simplify (+ 0 0) into 0
21.926 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
21.926 * [backup-simplify]: Simplify (+ 0) into 0
21.927 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
21.927 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
21.927 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
21.928 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
21.928 * [backup-simplify]: Simplify (- 0) into 0
21.928 * [backup-simplify]: Simplify (+ 0 0) into 0
21.928 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
21.928 * [backup-simplify]: Simplify (+ 0) into 0
21.929 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
21.929 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
21.929 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
21.930 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
21.930 * [backup-simplify]: Simplify (+ 0 0) into 0
21.930 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
21.930 * [backup-simplify]: Simplify (+ 0 0) into 0
21.930 * [backup-simplify]: Simplify (- 0) into 0
21.931 * [backup-simplify]: Simplify (+ 0 0) into 0
21.931 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
21.932 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
21.933 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into 0
21.934 * [backup-simplify]: Simplify (+ (* R 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into 0
21.938 * [backup-simplify]: Simplify (- (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R))))) into 0
21.939 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
21.940 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
21.940 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
21.940 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
21.941 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
21.941 * [backup-simplify]: Simplify (+ 0 0) into 0
21.941 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
21.942 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0
21.942 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
21.943 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
21.943 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
21.943 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
21.944 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
21.944 * [backup-simplify]: Simplify (+ 0 0) into 0
21.944 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
21.945 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi2)) 2)))) into 0
21.945 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 4) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 4)))) into 0
21.946 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
21.946 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
21.947 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
21.947 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
21.947 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
21.948 * [backup-simplify]: Simplify (+ 0 0) into 0
21.948 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
21.949 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
21.949 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
21.949 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
21.950 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
21.950 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
21.950 * [backup-simplify]: Simplify (+ 0 0) into 0
21.951 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
21.951 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0
21.952 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
21.952 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
21.952 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
21.953 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
21.953 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
21.953 * [backup-simplify]: Simplify (- 0) into 0
21.954 * [backup-simplify]: Simplify (+ 0 0) into 0
21.955 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
21.956 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
21.956 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
21.957 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
21.958 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
21.959 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
21.959 * [backup-simplify]: Simplify (- 0) into 0
21.960 * [backup-simplify]: Simplify (+ 0 0) into 0
21.960 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
21.961 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 2)))) into 0
21.962 * [backup-simplify]: Simplify (+ 0 0) into 0
21.962 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
21.963 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
21.963 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
21.964 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
21.965 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
21.965 * [backup-simplify]: Simplify (- 0) into 0
21.966 * [backup-simplify]: Simplify (+ 0 0) into 0
21.967 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
21.967 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
21.968 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
21.968 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
21.969 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
21.969 * [backup-simplify]: Simplify (+ 0 0) into 0
21.970 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
21.971 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
21.972 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
21.972 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
21.973 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
21.973 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
21.974 * [backup-simplify]: Simplify (+ 0 0) into 0
21.974 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
21.975 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
21.976 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
21.976 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
21.977 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
21.978 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
21.978 * [backup-simplify]: Simplify (- 0) into 0
21.978 * [backup-simplify]: Simplify (+ 0 0) into 0
21.979 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into 0
21.980 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
21.981 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
21.981 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
21.982 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
21.983 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
21.983 * [backup-simplify]: Simplify (+ 0 0) into 0
21.984 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
21.985 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
21.985 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
21.986 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
21.986 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
21.987 * [backup-simplify]: Simplify (- 0) into 0
21.987 * [backup-simplify]: Simplify (+ 0 0) into 0
21.988 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
21.989 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
21.989 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
21.990 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
21.990 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
21.991 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
21.991 * [backup-simplify]: Simplify (- 0) into 0
21.992 * [backup-simplify]: Simplify (+ 0 0) into 0
21.992 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
21.993 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
21.994 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
21.994 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
21.995 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
21.996 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
21.996 * [backup-simplify]: Simplify (+ 0 0) into 0
21.997 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into 0
21.997 * [backup-simplify]: Simplify (+ 0 0) into 0
21.998 * [backup-simplify]: Simplify (- 0) into 0
21.998 * [backup-simplify]: Simplify (+ 0 0) into 0
21.999 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
22.000 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
22.003 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into 0
22.005 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into 0
22.015 * [backup-simplify]: Simplify (- (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R))) (* 0 (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R))))) into 0
22.026 * [backup-simplify]: Simplify (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) 0) (+ (* 0 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
22.031 * [backup-simplify]: Simplify (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
22.036 * [backup-simplify]: Simplify (* (/ (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into (* (/ (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)) R) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))
22.041 * [backup-simplify]: Simplify (+ (* 1/2 0) (+ (* 0 0) (* 0 (* (/ (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)) R) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))))) into 0
22.042 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
22.043 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
22.043 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
22.044 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
22.045 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
22.045 * [backup-simplify]: Simplify (+ 0 0) into 0
22.046 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
22.046 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
22.047 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
22.047 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
22.047 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
22.048 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
22.048 * [backup-simplify]: Simplify (+ 0 0) into 0
22.048 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
22.049 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0
22.049 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
22.050 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
22.050 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
22.050 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
22.051 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
22.051 * [backup-simplify]: Simplify (- 0) into 0
22.051 * [backup-simplify]: Simplify (+ 0 0) into 0
22.052 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
22.052 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
22.053 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
22.053 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
22.053 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
22.054 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
22.054 * [backup-simplify]: Simplify (- 0) into 0
22.054 * [backup-simplify]: Simplify (+ 0 0) into 0
22.054 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
22.055 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 2)))) into 0
22.055 * [backup-simplify]: Simplify (+ 0 0) into 0
22.056 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
22.056 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
22.056 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
22.057 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
22.057 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
22.057 * [backup-simplify]: Simplify (- 0) into 0
22.058 * [backup-simplify]: Simplify (+ 0 0) into 0
22.058 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
22.059 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
22.059 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
22.059 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
22.060 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
22.060 * [backup-simplify]: Simplify (- 0) into 0
22.060 * [backup-simplify]: Simplify (+ 0 0) into 0
22.060 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
22.061 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
22.061 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
22.062 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
22.062 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
22.062 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
22.063 * [backup-simplify]: Simplify (+ 0 0) into 0
22.063 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
22.064 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
22.064 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
22.064 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
22.065 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
22.065 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
22.065 * [backup-simplify]: Simplify (+ 0 0) into 0
22.066 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into 0
22.066 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
22.067 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
22.067 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
22.067 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
22.068 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
22.068 * [backup-simplify]: Simplify (+ 0 0) into 0
22.068 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
22.069 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
22.069 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
22.069 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
22.070 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
22.070 * [backup-simplify]: Simplify (+ 0 0) into 0
22.070 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
22.071 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
22.071 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
22.071 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
22.072 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
22.072 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
22.072 * [backup-simplify]: Simplify (- 0) into 0
22.073 * [backup-simplify]: Simplify (+ 0 0) into 0
22.073 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
22.074 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
22.074 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
22.074 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
22.075 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
22.075 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
22.075 * [backup-simplify]: Simplify (- 0) into 0
22.076 * [backup-simplify]: Simplify (+ 0 0) into 0
22.076 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into 0
22.076 * [backup-simplify]: Simplify (+ 0 0) into 0
22.077 * [backup-simplify]: Simplify (- 0) into 0
22.077 * [backup-simplify]: Simplify (+ 0 0) into 0
22.081 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into 0
22.086 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)))) into 0
22.098 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2))) (/ 0 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* 0 (/ 0 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
22.104 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
22.104 * [backup-simplify]: Simplify (+ 0) into 0
22.105 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
22.105 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
22.106 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.106 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
22.107 * [backup-simplify]: Simplify (+ 0 0) into 0
22.107 * [backup-simplify]: Simplify (+ 0) into 0
22.108 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
22.108 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
22.109 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.109 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
22.109 * [backup-simplify]: Simplify (- 0) into 0
22.110 * [backup-simplify]: Simplify (+ 0 0) into 0
22.110 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
22.110 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0
22.111 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (pow (cos (/ 0.5 phi2)) 4))) into 0
22.111 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 5) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
22.111 * [backup-simplify]: Simplify (+ 0) into 0
22.112 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
22.112 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
22.113 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.113 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
22.114 * [backup-simplify]: Simplify (- 0) into 0
22.114 * [backup-simplify]: Simplify (+ 0 0) into 0
22.114 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
22.115 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
22.115 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (pow (cos (/ 0.5 phi1)) 4))) into 0
22.116 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 5) 0) (* 0 (* (pow (cos (/ 0.5 phi2)) 5) (sin (/ 0.5 phi1))))) into 0
22.116 * [backup-simplify]: Simplify (+ 0) into 0
22.116 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
22.117 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
22.117 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.118 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
22.118 * [backup-simplify]: Simplify (+ 0 0) into 0
22.119 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (pow (cos (/ 0.5 phi2)) 5) (pow (cos (/ 0.5 phi1)) 5))))) into 0
22.120 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
22.120 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
22.121 * [backup-simplify]: Simplify (+ (* R 0) (* 0 1)) into 0
22.121 * [backup-simplify]: Simplify (+ 0) into 0
22.122 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
22.122 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
22.123 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.123 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
22.123 * [backup-simplify]: Simplify (+ 0 0) into 0
22.124 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
22.124 * [backup-simplify]: Simplify (+ 0) into 0
22.125 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
22.125 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
22.126 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.127 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
22.127 * [backup-simplify]: Simplify (+ 0 0) into 0
22.127 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
22.128 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
22.128 * [backup-simplify]: Simplify (+ 0) into 0
22.129 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
22.129 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
22.130 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.130 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
22.131 * [backup-simplify]: Simplify (- 0) into 0
22.131 * [backup-simplify]: Simplify (+ 0 0) into 0
22.131 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
22.132 * [backup-simplify]: Simplify (+ 0) into 0
22.132 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
22.132 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
22.133 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.134 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
22.134 * [backup-simplify]: Simplify (- 0) into 0
22.134 * [backup-simplify]: Simplify (+ 0 0) into 0
22.134 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
22.135 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
22.135 * [backup-simplify]: Simplify (+ 0 0) into 0
22.136 * [backup-simplify]: Simplify (+ 0) into 0
22.136 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
22.136 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
22.137 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.138 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
22.138 * [backup-simplify]: Simplify (- 0) into 0
22.139 * [backup-simplify]: Simplify (+ 0 0) into 0
22.139 * [backup-simplify]: Simplify (+ 0) into 0
22.140 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
22.140 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
22.141 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.141 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
22.142 * [backup-simplify]: Simplify (+ 0 0) into 0
22.142 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
22.142 * [backup-simplify]: Simplify (+ 0) into 0
22.144 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
22.144 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
22.145 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.145 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
22.146 * [backup-simplify]: Simplify (+ 0 0) into 0
22.146 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
22.146 * [backup-simplify]: Simplify (+ 0) into 0
22.147 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
22.147 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
22.148 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.149 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
22.149 * [backup-simplify]: Simplify (- 0) into 0
22.149 * [backup-simplify]: Simplify (+ 0 0) into 0
22.150 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
22.150 * [backup-simplify]: Simplify (+ 0) into 0
22.151 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
22.151 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
22.152 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.152 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
22.152 * [backup-simplify]: Simplify (+ 0 0) into 0
22.153 * [backup-simplify]: Simplify (+ 0) into 0
22.153 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
22.154 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
22.154 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.155 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
22.155 * [backup-simplify]: Simplify (- 0) into 0
22.156 * [backup-simplify]: Simplify (+ 0 0) into 0
22.156 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
22.156 * [backup-simplify]: Simplify (+ 0) into 0
22.157 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
22.157 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
22.162 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.163 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
22.164 * [backup-simplify]: Simplify (- 0) into 0
22.164 * [backup-simplify]: Simplify (+ 0 0) into 0
22.164 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
22.165 * [backup-simplify]: Simplify (+ 0) into 0
22.165 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
22.166 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
22.166 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.167 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
22.167 * [backup-simplify]: Simplify (+ 0 0) into 0
22.168 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
22.168 * [backup-simplify]: Simplify (+ 0 0) into 0
22.169 * [backup-simplify]: Simplify (- 0) into 0
22.169 * [backup-simplify]: Simplify (+ 0 0) into 0
22.170 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (* 0 R)) into 0
22.174 * [backup-simplify]: Simplify (- (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 5) (* (pow (cos (/ 0.5 phi1)) 5) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R))))) into 0
22.175 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
22.175 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
22.176 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
22.176 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
22.176 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
22.177 * [backup-simplify]: Simplify (+ 0 0) into 0
22.177 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
22.178 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
22.178 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
22.178 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
22.179 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
22.179 * [backup-simplify]: Simplify (- 0) into 0
22.179 * [backup-simplify]: Simplify (+ 0 0) into 0
22.179 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
22.180 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi2)) 2)))) into 0
22.181 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi2)) 4)))) into 0
22.181 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 5) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
22.182 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
22.182 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
22.182 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
22.183 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
22.183 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
22.183 * [backup-simplify]: Simplify (- 0) into 0
22.184 * [backup-simplify]: Simplify (+ 0 0) into 0
22.184 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
22.185 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 2)))) into 0
22.185 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 4)))) into 0
22.186 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 5) 0) (+ (* 0 0) (* 0 (* (pow (cos (/ 0.5 phi2)) 5) (sin (/ 0.5 phi1)))))) into 0
22.186 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
22.187 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
22.187 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
22.187 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
22.188 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
22.188 * [backup-simplify]: Simplify (+ 0 0) into 0
22.188 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (pow (cos (/ 0.5 phi2)) 5) (pow (cos (/ 0.5 phi1)) 5)))))) into 0
22.189 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
22.189 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
22.190 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (* 0 1))) into 0
22.190 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
22.191 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
22.191 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
22.191 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
22.192 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
22.192 * [backup-simplify]: Simplify (+ 0 0) into 0
22.192 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
22.193 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
22.193 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
22.194 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
22.194 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
22.194 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
22.195 * [backup-simplify]: Simplify (+ 0 0) into 0
22.195 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
22.195 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0
22.196 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
22.196 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
22.197 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
22.197 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
22.197 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
22.198 * [backup-simplify]: Simplify (- 0) into 0
22.198 * [backup-simplify]: Simplify (+ 0 0) into 0
22.199 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
22.200 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
22.201 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
22.201 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
22.202 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
22.202 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
22.203 * [backup-simplify]: Simplify (- 0) into 0
22.203 * [backup-simplify]: Simplify (+ 0 0) into 0
22.204 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
22.205 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 2)))) into 0
22.205 * [backup-simplify]: Simplify (+ 0 0) into 0
22.206 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
22.207 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
22.207 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
22.208 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
22.208 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
22.209 * [backup-simplify]: Simplify (- 0) into 0
22.209 * [backup-simplify]: Simplify (+ 0 0) into 0
22.210 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
22.211 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
22.211 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
22.212 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
22.212 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
22.213 * [backup-simplify]: Simplify (+ 0 0) into 0
22.213 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
22.214 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
22.215 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
22.215 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
22.216 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
22.216 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
22.217 * [backup-simplify]: Simplify (+ 0 0) into 0
22.218 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
22.218 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
22.219 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
22.219 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
22.220 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
22.221 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
22.221 * [backup-simplify]: Simplify (- 0) into 0
22.222 * [backup-simplify]: Simplify (+ 0 0) into 0
22.222 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into 0
22.223 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
22.224 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
22.224 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
22.225 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
22.226 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
22.226 * [backup-simplify]: Simplify (+ 0 0) into 0
22.227 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
22.228 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
22.228 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
22.229 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
22.229 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
22.230 * [backup-simplify]: Simplify (- 0) into 0
22.230 * [backup-simplify]: Simplify (+ 0 0) into 0
22.231 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
22.232 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
22.233 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
22.233 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
22.234 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
22.234 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
22.235 * [backup-simplify]: Simplify (- 0) into 0
22.235 * [backup-simplify]: Simplify (+ 0 0) into 0
22.236 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
22.237 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
22.237 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
22.238 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
22.238 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
22.239 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
22.239 * [backup-simplify]: Simplify (+ 0 0) into 0
22.240 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into 0
22.240 * [backup-simplify]: Simplify (+ 0 0) into 0
22.241 * [backup-simplify]: Simplify (- 0) into 0
22.241 * [backup-simplify]: Simplify (+ 0 0) into 0
22.244 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (+ (* 0 0) (* 0 R))) into 0
22.253 * [backup-simplify]: Simplify (- (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 5) (* (pow (cos (/ 0.5 phi1)) 5) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R))) (* 0 (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R))))) into 0
22.261 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 5) (* (pow (cos (/ 0.5 phi1)) 5) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) 0) (+ (* 0 0) (* 0 (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))) into 0
22.268 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 5) (* (pow (cos (/ 0.5 phi1)) 5) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) 0) (* 0 (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
22.275 * [backup-simplify]: Simplify (* (/ (* (pow (cos (/ 0.5 phi2)) 5) (* (pow (cos (/ 0.5 phi1)) 5) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into (* (/ (* (sin (/ 0.5 phi2)) (* (pow (cos (/ 0.5 phi1)) 5) (* (pow (cos (/ 0.5 phi2)) 5) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))
22.282 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (* (/ (* (sin (/ 0.5 phi2)) (* (pow (cos (/ 0.5 phi1)) 5) (* (pow (cos (/ 0.5 phi2)) 5) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))))) into 0
22.287 * [backup-simplify]: Simplify (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)))) (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2))))) (+ (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow phi1 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (* (pow phi1 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)))) (+ (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R))))) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))
22.290 * [backup-simplify]: Simplify (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow phi1 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (* (pow phi1 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)))) (+ (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R))))) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)))) (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2))))) (+ (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))
22.294 * [backup-simplify]: Simplify (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))
22.297 * [backup-simplify]: Simplify (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2)))))))))))
22.301 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
22.302 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
22.302 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
22.303 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
22.303 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
22.303 * [backup-simplify]: Simplify (+ 0 0) into 0
22.304 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
22.304 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
22.305 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
22.305 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
22.305 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
22.306 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
22.306 * [backup-simplify]: Simplify (+ 0 0) into 0
22.306 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
22.307 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0
22.307 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
22.308 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
22.308 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
22.308 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
22.309 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
22.309 * [backup-simplify]: Simplify (- 0) into 0
22.309 * [backup-simplify]: Simplify (+ 0 0) into 0
22.310 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
22.310 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
22.311 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
22.311 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
22.311 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
22.312 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
22.312 * [backup-simplify]: Simplify (- 0) into 0
22.312 * [backup-simplify]: Simplify (+ 0 0) into 0
22.313 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
22.313 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 2)))) into 0
22.313 * [backup-simplify]: Simplify (+ 0 0) into 0
22.314 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
22.314 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
22.314 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
22.315 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
22.315 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
22.316 * [backup-simplify]: Simplify (- 0) into 0
22.316 * [backup-simplify]: Simplify (+ 0 0) into 0
22.316 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
22.317 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
22.317 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
22.317 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
22.318 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
22.318 * [backup-simplify]: Simplify (- 0) into 0
22.319 * [backup-simplify]: Simplify (+ 0 0) into 0
22.320 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
22.321 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
22.322 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
22.322 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
22.323 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
22.323 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
22.324 * [backup-simplify]: Simplify (+ 0 0) into 0
22.325 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
22.326 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
22.326 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
22.327 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
22.328 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
22.328 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
22.329 * [backup-simplify]: Simplify (+ 0 0) into 0
22.330 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into 0
22.331 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
22.331 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
22.332 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
22.332 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
22.332 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
22.333 * [backup-simplify]: Simplify (+ 0 0) into 0
22.333 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
22.334 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
22.334 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
22.334 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
22.335 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
22.335 * [backup-simplify]: Simplify (+ 0 0) into 0
22.335 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
22.336 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
22.336 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
22.336 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
22.337 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
22.337 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
22.338 * [backup-simplify]: Simplify (- 0) into 0
22.338 * [backup-simplify]: Simplify (+ 0 0) into 0
22.338 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
22.339 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
22.339 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
22.339 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
22.340 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
22.340 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
22.340 * [backup-simplify]: Simplify (- 0) into 0
22.341 * [backup-simplify]: Simplify (+ 0 0) into 0
22.341 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into 0
22.341 * [backup-simplify]: Simplify (+ 0 0) into 0
22.342 * [backup-simplify]: Simplify (- 0) into 0
22.342 * [backup-simplify]: Simplify (+ 0 0) into 0
22.345 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (* 0 (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
22.346 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
22.347 * [backup-simplify]: Simplify (+ 0) into 0
22.347 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
22.347 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
22.348 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.348 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
22.348 * [backup-simplify]: Simplify (+ 0 0) into 0
22.348 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
22.349 * [backup-simplify]: Simplify (+ 0) into 0
22.349 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
22.349 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
22.350 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.350 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
22.350 * [backup-simplify]: Simplify (- 0) into 0
22.350 * [backup-simplify]: Simplify (+ 0 0) into 0
22.350 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
22.351 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
22.351 * [backup-simplify]: Simplify (+ 0) into 0
22.351 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
22.351 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
22.352 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.352 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
22.352 * [backup-simplify]: Simplify (- 0) into 0
22.353 * [backup-simplify]: Simplify (+ 0 0) into 0
22.353 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
22.353 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) into 0
22.353 * [backup-simplify]: Simplify (+ 0) into 0
22.354 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
22.355 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
22.355 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.355 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
22.356 * [backup-simplify]: Simplify (+ 0 0) into 0
22.356 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
22.356 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))))) into 0
22.356 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
22.357 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
22.357 * [backup-simplify]: Simplify (+ (* R 0) (* 0 1)) into 0
22.357 * [backup-simplify]: Simplify (+ 0) into 0
22.358 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
22.358 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
22.358 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.359 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
22.359 * [backup-simplify]: Simplify (+ 0 0) into 0
22.359 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
22.359 * [backup-simplify]: Simplify (+ 0) into 0
22.360 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
22.360 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
22.360 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.360 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
22.361 * [backup-simplify]: Simplify (+ 0 0) into 0
22.361 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
22.361 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
22.361 * [backup-simplify]: Simplify (+ 0) into 0
22.362 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
22.362 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
22.363 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.363 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
22.364 * [backup-simplify]: Simplify (- 0) into 0
22.364 * [backup-simplify]: Simplify (+ 0 0) into 0
22.364 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
22.365 * [backup-simplify]: Simplify (+ 0) into 0
22.365 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
22.365 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
22.366 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.366 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
22.367 * [backup-simplify]: Simplify (- 0) into 0
22.367 * [backup-simplify]: Simplify (+ 0 0) into 0
22.367 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
22.368 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
22.368 * [backup-simplify]: Simplify (+ 0 0) into 0
22.369 * [backup-simplify]: Simplify (+ 0) into 0
22.369 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
22.369 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
22.370 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.371 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
22.371 * [backup-simplify]: Simplify (- 0) into 0
22.371 * [backup-simplify]: Simplify (+ 0 0) into 0
22.372 * [backup-simplify]: Simplify (+ 0) into 0
22.372 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
22.372 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
22.373 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.374 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
22.374 * [backup-simplify]: Simplify (+ 0 0) into 0
22.374 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
22.375 * [backup-simplify]: Simplify (+ 0) into 0
22.375 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
22.375 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
22.376 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.376 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
22.377 * [backup-simplify]: Simplify (+ 0 0) into 0
22.377 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
22.377 * [backup-simplify]: Simplify (+ 0) into 0
22.378 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
22.378 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
22.379 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.379 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
22.380 * [backup-simplify]: Simplify (- 0) into 0
22.380 * [backup-simplify]: Simplify (+ 0 0) into 0
22.381 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
22.381 * [backup-simplify]: Simplify (+ 0) into 0
22.382 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
22.382 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
22.383 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.383 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
22.384 * [backup-simplify]: Simplify (+ 0 0) into 0
22.384 * [backup-simplify]: Simplify (+ 0) into 0
22.384 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
22.385 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
22.385 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.386 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
22.386 * [backup-simplify]: Simplify (- 0) into 0
22.386 * [backup-simplify]: Simplify (+ 0 0) into 0
22.387 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
22.387 * [backup-simplify]: Simplify (+ 0) into 0
22.388 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
22.388 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
22.389 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.389 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
22.389 * [backup-simplify]: Simplify (- 0) into 0
22.390 * [backup-simplify]: Simplify (+ 0 0) into 0
22.390 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
22.390 * [backup-simplify]: Simplify (+ 0) into 0
22.391 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
22.391 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
22.392 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.392 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
22.393 * [backup-simplify]: Simplify (+ 0 0) into 0
22.393 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
22.393 * [backup-simplify]: Simplify (+ 0 0) into 0
22.394 * [backup-simplify]: Simplify (- 0) into 0
22.394 * [backup-simplify]: Simplify (+ 0 0) into 0
22.396 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (* 0 R)) into 0
22.403 * [backup-simplify]: Simplify (- (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R))))) into 0
22.404 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
22.405 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
22.405 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
22.406 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
22.407 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
22.407 * [backup-simplify]: Simplify (+ 0 0) into 0
22.407 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
22.408 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
22.409 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
22.409 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
22.410 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
22.411 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
22.411 * [backup-simplify]: Simplify (- 0) into 0
22.411 * [backup-simplify]: Simplify (+ 0 0) into 0
22.412 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
22.413 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0
22.414 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
22.414 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
22.415 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
22.415 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
22.416 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
22.416 * [backup-simplify]: Simplify (- 0) into 0
22.417 * [backup-simplify]: Simplify (+ 0 0) into 0
22.418 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
22.419 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))))) into 0
22.420 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
22.420 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
22.421 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
22.421 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
22.422 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
22.422 * [backup-simplify]: Simplify (+ 0 0) into 0
22.423 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
22.430 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))))) into 0
22.431 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
22.432 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
22.433 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (* 0 1))) into 0
22.434 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
22.435 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
22.435 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
22.436 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
22.436 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
22.437 * [backup-simplify]: Simplify (+ 0 0) into 0
22.437 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
22.438 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
22.439 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
22.439 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
22.440 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
22.441 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
22.441 * [backup-simplify]: Simplify (+ 0 0) into 0
22.442 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
22.443 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0
22.443 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
22.444 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
22.444 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
22.445 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
22.446 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
22.446 * [backup-simplify]: Simplify (- 0) into 0
22.447 * [backup-simplify]: Simplify (+ 0 0) into 0
22.447 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
22.448 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
22.449 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
22.449 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
22.450 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
22.450 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
22.451 * [backup-simplify]: Simplify (- 0) into 0
22.451 * [backup-simplify]: Simplify (+ 0 0) into 0
22.452 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
22.453 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 2)))) into 0
22.453 * [backup-simplify]: Simplify (+ 0 0) into 0
22.454 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
22.455 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
22.455 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
22.456 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
22.457 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
22.457 * [backup-simplify]: Simplify (- 0) into 0
22.458 * [backup-simplify]: Simplify (+ 0 0) into 0
22.458 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
22.459 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
22.459 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
22.460 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
22.461 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
22.461 * [backup-simplify]: Simplify (+ 0 0) into 0
22.462 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
22.463 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
22.464 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
22.464 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
22.465 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
22.465 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
22.466 * [backup-simplify]: Simplify (+ 0 0) into 0
22.466 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
22.467 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
22.468 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
22.468 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
22.469 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
22.470 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
22.470 * [backup-simplify]: Simplify (- 0) into 0
22.470 * [backup-simplify]: Simplify (+ 0 0) into 0
22.471 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into 0
22.472 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
22.473 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
22.473 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
22.474 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
22.474 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
22.475 * [backup-simplify]: Simplify (+ 0 0) into 0
22.476 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
22.476 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
22.477 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
22.477 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
22.478 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
22.478 * [backup-simplify]: Simplify (- 0) into 0
22.479 * [backup-simplify]: Simplify (+ 0 0) into 0
22.479 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
22.480 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
22.481 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
22.481 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
22.482 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
22.483 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
22.483 * [backup-simplify]: Simplify (- 0) into 0
22.483 * [backup-simplify]: Simplify (+ 0 0) into 0
22.484 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
22.485 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
22.486 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
22.486 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
22.487 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
22.487 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
22.488 * [backup-simplify]: Simplify (+ 0 0) into 0
22.488 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into 0
22.489 * [backup-simplify]: Simplify (+ 0 0) into 0
22.489 * [backup-simplify]: Simplify (- 0) into 0
22.489 * [backup-simplify]: Simplify (+ 0 0) into 0
22.492 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (+ (* 0 0) (* 0 R))) into 0
22.502 * [backup-simplify]: Simplify (- (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R))) (* 0 (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R))))) into 0
22.508 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) 0) (+ (* 0 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
22.513 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
22.518 * [backup-simplify]: Simplify (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))
22.523 * [backup-simplify]: Simplify (+ (* 3/2 0) (+ (* 0 0) (* 0 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))) into 0
22.525 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
22.525 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
22.525 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
22.526 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
22.526 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
22.526 * [backup-simplify]: Simplify (+ 0 0) into 0
22.527 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
22.527 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
22.528 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
22.528 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
22.528 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
22.529 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
22.529 * [backup-simplify]: Simplify (+ 0 0) into 0
22.529 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
22.530 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0
22.530 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
22.531 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
22.531 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
22.531 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
22.532 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
22.532 * [backup-simplify]: Simplify (- 0) into 0
22.532 * [backup-simplify]: Simplify (+ 0 0) into 0
22.533 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
22.533 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
22.533 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
22.534 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
22.534 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
22.534 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
22.535 * [backup-simplify]: Simplify (- 0) into 0
22.535 * [backup-simplify]: Simplify (+ 0 0) into 0
22.535 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
22.536 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 2)))) into 0
22.536 * [backup-simplify]: Simplify (+ 0 0) into 0
22.536 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
22.537 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
22.537 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
22.537 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
22.538 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
22.538 * [backup-simplify]: Simplify (- 0) into 0
22.538 * [backup-simplify]: Simplify (+ 0 0) into 0
22.539 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
22.539 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
22.539 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
22.540 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
22.540 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
22.540 * [backup-simplify]: Simplify (- 0) into 0
22.541 * [backup-simplify]: Simplify (+ 0 0) into 0
22.541 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
22.541 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
22.542 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
22.542 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
22.542 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
22.543 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
22.543 * [backup-simplify]: Simplify (+ 0 0) into 0
22.543 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
22.544 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
22.544 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
22.544 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
22.545 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
22.545 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
22.545 * [backup-simplify]: Simplify (+ 0 0) into 0
22.546 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into 0
22.546 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
22.547 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
22.547 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
22.547 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
22.548 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
22.548 * [backup-simplify]: Simplify (+ 0 0) into 0
22.548 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
22.549 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
22.549 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
22.549 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
22.550 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
22.550 * [backup-simplify]: Simplify (+ 0 0) into 0
22.550 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
22.551 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
22.551 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
22.551 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
22.552 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
22.552 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
22.552 * [backup-simplify]: Simplify (- 0) into 0
22.553 * [backup-simplify]: Simplify (+ 0 0) into 0
22.553 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
22.554 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
22.554 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
22.554 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
22.555 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
22.555 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
22.555 * [backup-simplify]: Simplify (- 0) into 0
22.555 * [backup-simplify]: Simplify (+ 0 0) into 0
22.556 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into 0
22.556 * [backup-simplify]: Simplify (+ 0 0) into 0
22.556 * [backup-simplify]: Simplify (- 0) into 0
22.556 * [backup-simplify]: Simplify (+ 0 0) into 0
22.559 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into 0
22.566 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)))) into 0
22.580 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2))) (/ 0 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* 0 (/ 0 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
22.585 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
22.586 * [backup-simplify]: Simplify (+ 0) into 0
22.587 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
22.587 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
22.588 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.588 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
22.588 * [backup-simplify]: Simplify (+ 0 0) into 0
22.589 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
22.589 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
22.589 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (pow (sin (/ 0.5 phi1)) 4))) into 0
22.590 * [backup-simplify]: Simplify (+ 0) into 0
22.590 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
22.591 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
22.591 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.592 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
22.592 * [backup-simplify]: Simplify (+ 0 0) into 0
22.592 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
22.593 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0
22.593 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (pow (sin (/ 0.5 phi2)) 4))) into 0
22.593 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 5) 0) (* 0 (pow (sin (/ 0.5 phi1)) 5))) into 0
22.594 * [backup-simplify]: Simplify (+ 0) into 0
22.594 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
22.595 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
22.595 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.596 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
22.596 * [backup-simplify]: Simplify (- 0) into 0
22.597 * [backup-simplify]: Simplify (+ 0 0) into 0
22.597 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (pow (sin (/ 0.5 phi2)) 5) (pow (sin (/ 0.5 phi1)) 5)))) into 0
22.598 * [backup-simplify]: Simplify (+ 0) into 0
22.598 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
22.599 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
22.599 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.600 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
22.600 * [backup-simplify]: Simplify (- 0) into 0
22.601 * [backup-simplify]: Simplify (+ 0 0) into 0
22.601 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (pow (sin (/ 0.5 phi1)) 5) (* (pow (sin (/ 0.5 phi2)) 5) (cos (/ 0.5 phi1)))))) into 0
22.602 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
22.603 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
22.603 * [backup-simplify]: Simplify (+ (* R 0) (* 0 1)) into 0
22.604 * [backup-simplify]: Simplify (+ 0) into 0
22.604 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
22.604 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
22.605 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.606 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
22.606 * [backup-simplify]: Simplify (+ 0 0) into 0
22.606 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
22.607 * [backup-simplify]: Simplify (+ 0) into 0
22.607 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
22.607 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
22.608 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.609 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
22.609 * [backup-simplify]: Simplify (+ 0 0) into 0
22.609 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
22.610 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
22.610 * [backup-simplify]: Simplify (+ 0) into 0
22.611 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
22.611 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
22.612 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.612 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
22.613 * [backup-simplify]: Simplify (- 0) into 0
22.613 * [backup-simplify]: Simplify (+ 0 0) into 0
22.613 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
22.614 * [backup-simplify]: Simplify (+ 0) into 0
22.614 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
22.614 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
22.615 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.616 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
22.616 * [backup-simplify]: Simplify (- 0) into 0
22.616 * [backup-simplify]: Simplify (+ 0 0) into 0
22.617 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
22.617 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
22.617 * [backup-simplify]: Simplify (+ 0 0) into 0
22.618 * [backup-simplify]: Simplify (+ 0) into 0
22.618 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
22.619 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
22.619 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.620 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
22.620 * [backup-simplify]: Simplify (- 0) into 0
22.621 * [backup-simplify]: Simplify (+ 0 0) into 0
22.621 * [backup-simplify]: Simplify (+ 0) into 0
22.622 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
22.622 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
22.623 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.623 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
22.624 * [backup-simplify]: Simplify (+ 0 0) into 0
22.624 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
22.624 * [backup-simplify]: Simplify (+ 0) into 0
22.625 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
22.625 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
22.625 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.626 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
22.626 * [backup-simplify]: Simplify (+ 0 0) into 0
22.627 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
22.627 * [backup-simplify]: Simplify (+ 0) into 0
22.627 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
22.628 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
22.628 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.629 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
22.629 * [backup-simplify]: Simplify (- 0) into 0
22.629 * [backup-simplify]: Simplify (+ 0 0) into 0
22.630 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
22.630 * [backup-simplify]: Simplify (+ 0) into 0
22.631 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
22.631 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
22.632 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.632 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
22.632 * [backup-simplify]: Simplify (+ 0 0) into 0
22.633 * [backup-simplify]: Simplify (+ 0) into 0
22.633 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
22.633 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
22.634 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.635 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
22.635 * [backup-simplify]: Simplify (- 0) into 0
22.636 * [backup-simplify]: Simplify (+ 0 0) into 0
22.636 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
22.636 * [backup-simplify]: Simplify (+ 0) into 0
22.637 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
22.637 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
22.638 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.638 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
22.639 * [backup-simplify]: Simplify (- 0) into 0
22.639 * [backup-simplify]: Simplify (+ 0 0) into 0
22.639 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
22.640 * [backup-simplify]: Simplify (+ 0) into 0
22.640 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
22.640 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
22.641 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.642 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
22.642 * [backup-simplify]: Simplify (+ 0 0) into 0
22.642 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
22.643 * [backup-simplify]: Simplify (+ 0 0) into 0
22.643 * [backup-simplify]: Simplify (- 0) into 0
22.643 * [backup-simplify]: Simplify (+ 0 0) into 0
22.646 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (* 0 R)) into 0
22.652 * [backup-simplify]: Simplify (- (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 5) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 5)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R))))) into 0
22.654 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
22.654 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
22.655 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
22.656 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
22.656 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
22.657 * [backup-simplify]: Simplify (+ 0 0) into 0
22.657 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
22.658 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0
22.659 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 4)))) into 0
22.660 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
22.661 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
22.661 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
22.662 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
22.662 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
22.663 * [backup-simplify]: Simplify (+ 0 0) into 0
22.663 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
22.664 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi2)) 2)))) into 0
22.665 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi2)) 4)))) into 0
22.666 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 5) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 5)))) into 0
22.666 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
22.667 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
22.667 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
22.668 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
22.669 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
22.669 * [backup-simplify]: Simplify (- 0) into 0
22.670 * [backup-simplify]: Simplify (+ 0 0) into 0
22.670 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (pow (sin (/ 0.5 phi2)) 5) (pow (sin (/ 0.5 phi1)) 5))))) into 0
22.671 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
22.672 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
22.672 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
22.673 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
22.674 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
22.674 * [backup-simplify]: Simplify (- 0) into 0
22.674 * [backup-simplify]: Simplify (+ 0 0) into 0
22.675 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (pow (sin (/ 0.5 phi1)) 5) (* (pow (sin (/ 0.5 phi2)) 5) (cos (/ 0.5 phi1))))))) into 0
22.676 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
22.677 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
22.678 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (* 0 1))) into 0
22.679 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
22.679 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
22.680 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
22.680 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
22.681 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
22.682 * [backup-simplify]: Simplify (+ 0 0) into 0
22.682 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
22.683 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
22.684 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
22.684 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
22.685 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
22.686 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
22.686 * [backup-simplify]: Simplify (+ 0 0) into 0
22.687 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
22.687 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0
22.688 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
22.689 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
22.689 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
22.690 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
22.691 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
22.691 * [backup-simplify]: Simplify (- 0) into 0
22.691 * [backup-simplify]: Simplify (+ 0 0) into 0
22.692 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
22.693 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
22.694 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
22.694 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
22.694 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
22.695 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
22.695 * [backup-simplify]: Simplify (- 0) into 0
22.696 * [backup-simplify]: Simplify (+ 0 0) into 0
22.696 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
22.697 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 2)))) into 0
22.697 * [backup-simplify]: Simplify (+ 0 0) into 0
22.698 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
22.699 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
22.699 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
22.700 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
22.701 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
22.701 * [backup-simplify]: Simplify (- 0) into 0
22.701 * [backup-simplify]: Simplify (+ 0 0) into 0
22.702 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
22.703 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
22.703 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
22.704 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
22.705 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
22.705 * [backup-simplify]: Simplify (+ 0 0) into 0
22.705 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
22.706 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
22.707 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
22.707 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
22.708 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
22.709 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
22.709 * [backup-simplify]: Simplify (+ 0 0) into 0
22.710 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
22.710 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
22.711 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
22.712 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
22.712 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
22.713 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
22.713 * [backup-simplify]: Simplify (- 0) into 0
22.714 * [backup-simplify]: Simplify (+ 0 0) into 0
22.714 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into 0
22.715 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
22.716 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
22.716 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
22.717 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
22.722 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
22.723 * [backup-simplify]: Simplify (+ 0 0) into 0
22.723 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
22.724 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
22.724 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
22.725 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
22.726 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
22.726 * [backup-simplify]: Simplify (- 0) into 0
22.727 * [backup-simplify]: Simplify (+ 0 0) into 0
22.727 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
22.728 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
22.729 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
22.729 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
22.730 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
22.731 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
22.731 * [backup-simplify]: Simplify (- 0) into 0
22.732 * [backup-simplify]: Simplify (+ 0 0) into 0
22.732 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
22.733 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
22.734 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
22.734 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
22.735 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
22.735 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
22.736 * [backup-simplify]: Simplify (+ 0 0) into 0
22.737 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into 0
22.737 * [backup-simplify]: Simplify (+ 0 0) into 0
22.737 * [backup-simplify]: Simplify (- 0) into 0
22.738 * [backup-simplify]: Simplify (+ 0 0) into 0
22.740 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (+ (* 0 0) (* 0 R))) into 0
22.746 * [backup-simplify]: Simplify (- (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 5) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 5)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R))) (* 0 (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R))))) into 0
22.749 * [backup-simplify]: Simplify (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 5) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 5)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) 0) (+ (* 0 0) (* 0 (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))) into 0
22.753 * [backup-simplify]: Simplify (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 5) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 5)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) 0) (* 0 (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
22.756 * [backup-simplify]: Simplify (* (/ (* (pow (sin (/ 0.5 phi2)) 5) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 5)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 5) (pow (sin (/ 0.5 phi1)) 5)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))
22.760 * [backup-simplify]: Simplify (+ (* 3/2 0) (+ (* 0 0) (* 0 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 5) (pow (sin (/ 0.5 phi1)) 5)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))))) into 0
22.760 * [backup-simplify]: Simplify (+ 0 0) into 0
22.764 * [backup-simplify]: Simplify (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2))))))))))) 0) into (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))
22.771 * [backup-simplify]: Simplify (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)))) (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2))))) (+ (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow phi1 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (* (pow phi1 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)))) (+ (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R))))) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R)))))))))) (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2))))))))))))
22.784 * [backup-simplify]: Simplify (+ 0 (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow phi1 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (* (pow phi1 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)))) (+ (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R))))) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R)))))))))) (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2))))))))))))) into (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)))) (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2))))) (+ (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))
22.799 * [backup-simplify]: Simplify (+ 0 (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)))) (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2))))) (+ (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))) into (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow phi1 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (* (pow phi1 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)))) (+ (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R))))) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2))))))))))))
22.812 * [backup-simplify]: Simplify (+ 0 (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow phi1 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (* (pow phi1 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)))) (+ (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R))))) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2))))))))))))) into (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)))) (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2))))) (+ (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))
22.832 * [backup-simplify]: Simplify (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)))) (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2))))) (+ (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)))) (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2))))) (+ (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))) into (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2))))))))))) (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow phi1 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (* (pow phi1 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)))) (+ (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R))))) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R)))))))))) (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* (pow phi1 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (* (pow phi1 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)))) (+ (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R))))) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R))))))))))))
22.855 * [backup-simplify]: Simplify (+ 0 (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2))))))))))) (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow phi1 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (* (pow phi1 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)))) (+ (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R))))) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R)))))))))) (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* (pow phi1 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (* (pow phi1 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)))) (+ (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R))))) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R))))))))))))) into (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)))) (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2))))) (+ (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)))) (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2))))) (+ (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))))
22.881 * [backup-simplify]: Simplify (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2))))))))))) (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)))) (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2))))) (+ (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)))) (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2))))) (+ (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))))) into (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow phi1 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (* (pow phi1 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)))) (+ (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R))))) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2))))))))))) (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* (pow phi1 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (* (pow phi1 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)))) (+ (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R))))) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))))
22.900 * [backup-simplify]: Simplify (+ (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* phi1 (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (* phi1 (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow phi1 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (* (pow phi1 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)))) (+ (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R))))) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2))))))))))) (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* (pow phi1 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (* (pow phi1 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)))) (+ (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R))))) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))))) into (+ (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* phi1 phi2)))) (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* phi1 phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)))) (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2))))) (+ (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)))) (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2))))) (+ (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))))))
22.919 * [backup-simplify]: Simplify (+ 0 (+ (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* phi1 phi2)))) (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* phi1 phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)))) (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2))))) (+ (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)))) (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2))))) (+ (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))))))) into (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* (pow phi1 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (* (pow phi1 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)))) (+ (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R))))) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R)))))))))) (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow phi1 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (* (pow phi1 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)))) (+ (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R))))) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R)))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2))))))))))) (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* phi1 (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (* phi1 (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))))
22.946 * [backup-simplify]: Simplify (+ (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* phi1 (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (* phi1 (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* (pow phi1 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (* (pow phi1 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)))) (+ (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R))))) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R)))))))))) (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow phi1 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (* (pow phi1 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)))) (+ (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R))))) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R)))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2))))))))))) (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* phi1 (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (* phi1 (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))))) into (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)))) (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2))))) (+ (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) (+ (* 2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* phi1 phi2)))) (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* phi1 phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)))) (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2))))) (+ (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))))))
22.986 * [backup-simplify]: Simplify (+ 0 (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)))) (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2))))) (+ (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) (+ (* 2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* phi1 phi2)))) (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* phi1 phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)))) (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2))))) (+ (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))))))) into (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* (pow phi1 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (* (pow phi1 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)))) (+ (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R))))) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* phi1 (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (* phi1 (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2))))))))))) (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow phi1 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (* (pow phi1 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)))) (+ (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R))))) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))))))
23.025 * [backup-simplify]: Simplify (+ 0 (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* (pow phi1 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (* (pow phi1 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)))) (+ (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R))))) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* phi1 (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (* phi1 (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2))))))))))) (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow phi1 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (* (pow phi1 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)))) (+ (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R))))) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))))))) into (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)))) (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2))))) (+ (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2))))))))))) (+ (* 2 (* (/ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (- (+ (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* phi1 phi2)))) (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* phi1 phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)))) (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2))))) (+ (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))))))
23.061 * [backup-simplify]: Simplify (+ 0 (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)))) (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2))))) (+ (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2))))))))))) (+ (* 2 (* (/ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (- (+ (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* phi1 phi2)))) (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* phi1 phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)))) (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2))))) (+ (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))))))) into (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* (pow phi1 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (* (pow phi1 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)))) (+ (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R))))) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R)))))))))) (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow phi1 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (* (pow phi1 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)))) (+ (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R))))) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R)))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2))))))))))) (* 2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* phi1 (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (* phi1 (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))))))
23.062 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
23.063 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
23.063 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
23.063 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
23.063 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
23.064 * [backup-simplify]: Simplify (+ 0 0) into 0
23.064 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
23.065 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
23.065 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
23.065 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
23.066 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
23.066 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
23.066 * [backup-simplify]: Simplify (+ 0 0) into 0
23.066 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
23.067 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0
23.067 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
23.068 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
23.068 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
23.069 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
23.069 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
23.069 * [backup-simplify]: Simplify (- 0) into 0
23.069 * [backup-simplify]: Simplify (+ 0 0) into 0
23.070 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
23.070 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
23.071 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
23.071 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
23.071 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
23.072 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
23.072 * [backup-simplify]: Simplify (- 0) into 0
23.072 * [backup-simplify]: Simplify (+ 0 0) into 0
23.072 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
23.073 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 2)))) into 0
23.073 * [backup-simplify]: Simplify (+ 0 0) into 0
23.074 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
23.074 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
23.074 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
23.075 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
23.075 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
23.076 * [backup-simplify]: Simplify (- 0) into 0
23.076 * [backup-simplify]: Simplify (+ 0 0) into 0
23.076 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
23.077 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
23.077 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
23.077 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
23.078 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
23.078 * [backup-simplify]: Simplify (- 0) into 0
23.078 * [backup-simplify]: Simplify (+ 0 0) into 0
23.078 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
23.079 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
23.079 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
23.079 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
23.080 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
23.080 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
23.081 * [backup-simplify]: Simplify (+ 0 0) into 0
23.081 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
23.081 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
23.082 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
23.082 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
23.082 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
23.083 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
23.083 * [backup-simplify]: Simplify (+ 0 0) into 0
23.084 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into 0
23.084 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
23.085 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
23.085 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
23.085 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
23.086 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
23.086 * [backup-simplify]: Simplify (+ 0 0) into 0
23.087 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
23.088 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
23.088 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
23.089 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
23.089 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
23.089 * [backup-simplify]: Simplify (+ 0 0) into 0
23.090 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
23.091 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
23.091 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
23.092 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
23.092 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
23.093 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
23.093 * [backup-simplify]: Simplify (- 0) into 0
23.093 * [backup-simplify]: Simplify (+ 0 0) into 0
23.094 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
23.095 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
23.096 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
23.096 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
23.096 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
23.097 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
23.097 * [backup-simplify]: Simplify (- 0) into 0
23.098 * [backup-simplify]: Simplify (+ 0 0) into 0
23.098 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into 0
23.099 * [backup-simplify]: Simplify (+ 0 0) into 0
23.099 * [backup-simplify]: Simplify (- 0) into 0
23.099 * [backup-simplify]: Simplify (+ 0 0) into 0
23.104 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (* 0 (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
23.107 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
23.108 * [backup-simplify]: Simplify (+ 0) into 0
23.108 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
23.108 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
23.109 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.109 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
23.110 * [backup-simplify]: Simplify (+ 0 0) into 0
23.110 * [backup-simplify]: Simplify (+ 0) into 0
23.111 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
23.111 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
23.111 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.115 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
23.116 * [backup-simplify]: Simplify (+ 0 0) into 0
23.116 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
23.116 * [backup-simplify]: Simplify (+ 0) into 0
23.117 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
23.117 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
23.117 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.118 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
23.118 * [backup-simplify]: Simplify (- 0) into 0
23.118 * [backup-simplify]: Simplify (+ 0 0) into 0
23.118 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
23.119 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
23.119 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 3) 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
23.119 * [backup-simplify]: Simplify (+ 0) into 0
23.119 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
23.119 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
23.120 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.120 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
23.121 * [backup-simplify]: Simplify (- 0) into 0
23.121 * [backup-simplify]: Simplify (+ 0 0) into 0
23.121 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
23.121 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0
23.121 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 3) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (pow (cos (/ 0.5 phi1)) 3))))) into 0
23.122 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
23.122 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
23.123 * [backup-simplify]: Simplify (+ (* R 0) (* 0 1)) into 0
23.123 * [backup-simplify]: Simplify (+ 0) into 0
23.123 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
23.123 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
23.124 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.125 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
23.125 * [backup-simplify]: Simplify (+ 0 0) into 0
23.125 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
23.126 * [backup-simplify]: Simplify (+ 0) into 0
23.126 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
23.126 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
23.127 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.127 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
23.127 * [backup-simplify]: Simplify (+ 0 0) into 0
23.128 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
23.128 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
23.128 * [backup-simplify]: Simplify (+ 0) into 0
23.129 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
23.129 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
23.129 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.129 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
23.130 * [backup-simplify]: Simplify (- 0) into 0
23.130 * [backup-simplify]: Simplify (+ 0 0) into 0
23.130 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
23.130 * [backup-simplify]: Simplify (+ 0) into 0
23.131 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
23.131 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
23.131 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.131 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
23.132 * [backup-simplify]: Simplify (- 0) into 0
23.132 * [backup-simplify]: Simplify (+ 0 0) into 0
23.132 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
23.132 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
23.132 * [backup-simplify]: Simplify (+ 0 0) into 0
23.133 * [backup-simplify]: Simplify (+ 0) into 0
23.133 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
23.133 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
23.134 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.134 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
23.134 * [backup-simplify]: Simplify (- 0) into 0
23.134 * [backup-simplify]: Simplify (+ 0 0) into 0
23.135 * [backup-simplify]: Simplify (+ 0) into 0
23.135 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
23.135 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
23.136 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.136 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
23.136 * [backup-simplify]: Simplify (+ 0 0) into 0
23.136 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
23.137 * [backup-simplify]: Simplify (+ 0) into 0
23.137 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
23.137 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
23.138 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.138 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
23.138 * [backup-simplify]: Simplify (+ 0 0) into 0
23.138 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
23.138 * [backup-simplify]: Simplify (+ 0) into 0
23.139 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
23.139 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
23.139 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.140 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
23.140 * [backup-simplify]: Simplify (- 0) into 0
23.140 * [backup-simplify]: Simplify (+ 0 0) into 0
23.140 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
23.141 * [backup-simplify]: Simplify (+ 0) into 0
23.141 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
23.141 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
23.141 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.142 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
23.142 * [backup-simplify]: Simplify (+ 0 0) into 0
23.142 * [backup-simplify]: Simplify (+ 0) into 0
23.142 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
23.143 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
23.143 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.143 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
23.144 * [backup-simplify]: Simplify (- 0) into 0
23.144 * [backup-simplify]: Simplify (+ 0 0) into 0
23.144 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
23.144 * [backup-simplify]: Simplify (+ 0) into 0
23.145 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
23.145 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
23.145 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.145 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
23.146 * [backup-simplify]: Simplify (- 0) into 0
23.146 * [backup-simplify]: Simplify (+ 0 0) into 0
23.146 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
23.147 * [backup-simplify]: Simplify (+ 0) into 0
23.147 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
23.148 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
23.148 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.149 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
23.149 * [backup-simplify]: Simplify (+ 0 0) into 0
23.150 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
23.150 * [backup-simplify]: Simplify (+ 0 0) into 0
23.151 * [backup-simplify]: Simplify (- 0) into 0
23.151 * [backup-simplify]: Simplify (+ 0 0) into 0
23.153 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (* 0 R)) into 0
23.160 * [backup-simplify]: Simplify (- (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) (+ (* (/ (* (sin (/ 0.5 phi2)) (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (cos (/ 0.5 phi2)) 3) (sin (/ 0.5 phi1))))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R))))) into 0
23.161 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
23.162 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
23.162 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
23.163 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
23.164 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
23.164 * [backup-simplify]: Simplify (+ 0 0) into 0
23.165 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
23.166 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
23.166 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
23.167 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
23.168 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
23.168 * [backup-simplify]: Simplify (+ 0 0) into 0
23.169 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
23.170 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
23.170 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
23.171 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
23.171 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
23.172 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
23.172 * [backup-simplify]: Simplify (- 0) into 0
23.173 * [backup-simplify]: Simplify (+ 0 0) into 0
23.173 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
23.174 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 2)))) into 0
23.175 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 3) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
23.176 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
23.177 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
23.177 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
23.178 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
23.178 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
23.179 * [backup-simplify]: Simplify (- 0) into 0
23.179 * [backup-simplify]: Simplify (+ 0 0) into 0
23.180 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
23.180 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi2)) 2)))) into 0
23.181 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 3) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (pow (cos (/ 0.5 phi1)) 3)))))) into 0
23.182 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
23.183 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
23.184 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (* 0 1))) into 0
23.186 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
23.187 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
23.187 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
23.188 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
23.188 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
23.189 * [backup-simplify]: Simplify (+ 0 0) into 0
23.189 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
23.191 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
23.191 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
23.192 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
23.193 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
23.193 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
23.194 * [backup-simplify]: Simplify (+ 0 0) into 0
23.194 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
23.195 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0
23.196 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
23.197 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
23.197 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
23.198 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
23.198 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
23.199 * [backup-simplify]: Simplify (- 0) into 0
23.199 * [backup-simplify]: Simplify (+ 0 0) into 0
23.200 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
23.201 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
23.201 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
23.202 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
23.202 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
23.203 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
23.203 * [backup-simplify]: Simplify (- 0) into 0
23.204 * [backup-simplify]: Simplify (+ 0 0) into 0
23.204 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
23.205 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 2)))) into 0
23.206 * [backup-simplify]: Simplify (+ 0 0) into 0
23.207 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
23.207 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
23.208 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
23.208 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
23.209 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
23.209 * [backup-simplify]: Simplify (- 0) into 0
23.210 * [backup-simplify]: Simplify (+ 0 0) into 0
23.211 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
23.211 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
23.212 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
23.212 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
23.213 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
23.214 * [backup-simplify]: Simplify (+ 0 0) into 0
23.214 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
23.215 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
23.216 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
23.216 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
23.217 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
23.218 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
23.218 * [backup-simplify]: Simplify (+ 0 0) into 0
23.219 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
23.220 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
23.221 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
23.221 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
23.222 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
23.222 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
23.223 * [backup-simplify]: Simplify (- 0) into 0
23.223 * [backup-simplify]: Simplify (+ 0 0) into 0
23.224 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into 0
23.225 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
23.225 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
23.226 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
23.227 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
23.227 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
23.228 * [backup-simplify]: Simplify (+ 0 0) into 0
23.228 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
23.229 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
23.230 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
23.230 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
23.231 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
23.232 * [backup-simplify]: Simplify (- 0) into 0
23.232 * [backup-simplify]: Simplify (+ 0 0) into 0
23.233 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
23.234 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
23.235 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
23.235 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
23.236 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
23.236 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
23.237 * [backup-simplify]: Simplify (- 0) into 0
23.237 * [backup-simplify]: Simplify (+ 0 0) into 0
23.238 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
23.239 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
23.239 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
23.240 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
23.240 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
23.241 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
23.241 * [backup-simplify]: Simplify (+ 0 0) into 0
23.242 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into 0
23.243 * [backup-simplify]: Simplify (+ 0 0) into 0
23.243 * [backup-simplify]: Simplify (- 0) into 0
23.243 * [backup-simplify]: Simplify (+ 0 0) into 0
23.246 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (+ (* 0 0) (* 0 R))) into 0
23.255 * [backup-simplify]: Simplify (- (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) (+ (* (/ (* (sin (/ 0.5 phi2)) (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (cos (/ 0.5 phi2)) 3) (sin (/ 0.5 phi1))))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R))) (* 0 (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R))))) into 0
23.267 * [backup-simplify]: Simplify (+ (* (/ (* (sin (/ 0.5 phi2)) (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (cos (/ 0.5 phi2)) 3) (sin (/ 0.5 phi1))))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) 0) (+ (* 0 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
23.272 * [backup-simplify]: Simplify (+ (* (/ (* (sin (/ 0.5 phi2)) (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (cos (/ 0.5 phi2)) 3) (sin (/ 0.5 phi1))))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
23.277 * [backup-simplify]: Simplify (* (/ (* (sin (/ 0.5 phi2)) (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (cos (/ 0.5 phi2)) 3) (sin (/ 0.5 phi1))))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into (* (/ (* (pow (cos (/ 0.5 phi2)) 3) (* (pow (cos (/ 0.5 phi1)) 3) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))
23.284 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (* (/ (* (pow (cos (/ 0.5 phi2)) 3) (* (pow (cos (/ 0.5 phi1)) 3) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))) into 0
23.290 * [backup-simplify]: Simplify (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* phi1 phi2)))) (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* phi1 phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* phi1 (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (* phi1 (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))))))))
23.293 * [backup-simplify]: Simplify (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))
23.296 * [backup-simplify]: Simplify (* 1/2 (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into (* 1/2 (* (/ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))
23.297 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
23.297 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
23.297 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
23.298 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
23.298 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
23.299 * [backup-simplify]: Simplify (+ 0 0) into 0
23.299 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
23.299 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
23.300 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
23.300 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
23.301 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
23.301 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
23.301 * [backup-simplify]: Simplify (+ 0 0) into 0
23.302 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
23.302 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0
23.303 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
23.303 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
23.303 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
23.304 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
23.304 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
23.304 * [backup-simplify]: Simplify (- 0) into 0
23.304 * [backup-simplify]: Simplify (+ 0 0) into 0
23.305 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
23.306 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
23.306 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
23.306 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
23.307 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
23.307 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
23.307 * [backup-simplify]: Simplify (- 0) into 0
23.308 * [backup-simplify]: Simplify (+ 0 0) into 0
23.308 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
23.308 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 2)))) into 0
23.309 * [backup-simplify]: Simplify (+ 0 0) into 0
23.309 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
23.310 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
23.310 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
23.310 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
23.311 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
23.311 * [backup-simplify]: Simplify (- 0) into 0
23.311 * [backup-simplify]: Simplify (+ 0 0) into 0
23.312 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
23.312 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
23.312 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
23.313 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
23.313 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
23.313 * [backup-simplify]: Simplify (- 0) into 0
23.313 * [backup-simplify]: Simplify (+ 0 0) into 0
23.314 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
23.314 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
23.315 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
23.315 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
23.315 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
23.316 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
23.316 * [backup-simplify]: Simplify (+ 0 0) into 0
23.316 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
23.317 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
23.317 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
23.318 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
23.318 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
23.319 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
23.319 * [backup-simplify]: Simplify (+ 0 0) into 0
23.320 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into 0
23.321 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
23.322 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
23.322 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
23.323 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
23.323 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
23.324 * [backup-simplify]: Simplify (+ 0 0) into 0
23.325 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
23.326 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
23.326 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
23.327 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
23.327 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
23.328 * [backup-simplify]: Simplify (+ 0 0) into 0
23.329 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
23.330 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
23.330 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
23.331 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
23.332 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
23.332 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
23.333 * [backup-simplify]: Simplify (- 0) into 0
23.333 * [backup-simplify]: Simplify (+ 0 0) into 0
23.334 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
23.335 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
23.335 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
23.336 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
23.336 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
23.337 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
23.337 * [backup-simplify]: Simplify (- 0) into 0
23.338 * [backup-simplify]: Simplify (+ 0 0) into 0
23.339 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into 0
23.339 * [backup-simplify]: Simplify (+ 0 0) into 0
23.340 * [backup-simplify]: Simplify (- 0) into 0
23.340 * [backup-simplify]: Simplify (+ 0 0) into 0
23.345 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into 0
23.349 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)))) into 0
23.363 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2))) (/ 0 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* 0 (/ 0 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
23.369 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
23.370 * [backup-simplify]: Simplify (+ 0) into 0
23.370 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
23.371 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
23.371 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.372 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
23.372 * [backup-simplify]: Simplify (- 0) into 0
23.373 * [backup-simplify]: Simplify (+ 0 0) into 0
23.373 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
23.373 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
23.374 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 3) 0) (* 0 (pow (cos (/ 0.5 phi1)) 3))) into 0
23.374 * [backup-simplify]: Simplify (+ 0) into 0
23.375 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
23.375 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
23.376 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.376 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
23.377 * [backup-simplify]: Simplify (- 0) into 0
23.377 * [backup-simplify]: Simplify (+ 0 0) into 0
23.377 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
23.377 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0
23.378 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 3) 0) (* 0 (pow (cos (/ 0.5 phi2)) 3))) into 0
23.378 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 6) 0) (* 0 (pow (cos (/ 0.5 phi1)) 6))) into 0
23.379 * [backup-simplify]: Simplify (+ 0) into 0
23.379 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
23.379 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
23.380 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.381 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
23.381 * [backup-simplify]: Simplify (+ 0 0) into 0
23.381 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
23.382 * [backup-simplify]: Simplify (+ 0) into 0
23.382 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
23.383 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
23.383 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.384 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
23.384 * [backup-simplify]: Simplify (+ 0 0) into 0
23.384 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
23.385 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
23.385 * [backup-simplify]: Simplify (+ 0) into 0
23.386 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
23.386 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
23.386 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.387 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
23.387 * [backup-simplify]: Simplify (- 0) into 0
23.387 * [backup-simplify]: Simplify (+ 0 0) into 0
23.387 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
23.387 * [backup-simplify]: Simplify (+ 0) into 0
23.388 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
23.388 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
23.388 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.389 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
23.389 * [backup-simplify]: Simplify (- 0) into 0
23.389 * [backup-simplify]: Simplify (+ 0 0) into 0
23.389 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
23.389 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
23.390 * [backup-simplify]: Simplify (+ 0 0) into 0
23.390 * [backup-simplify]: Simplify (+ 0) into 0
23.390 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
23.390 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
23.391 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.391 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
23.392 * [backup-simplify]: Simplify (- 0) into 0
23.392 * [backup-simplify]: Simplify (+ 0 0) into 0
23.392 * [backup-simplify]: Simplify (+ 0) into 0
23.392 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
23.392 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
23.393 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.393 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
23.393 * [backup-simplify]: Simplify (+ 0 0) into 0
23.394 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
23.394 * [backup-simplify]: Simplify (+ 0) into 0
23.394 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
23.394 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
23.395 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.395 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
23.395 * [backup-simplify]: Simplify (+ 0 0) into 0
23.395 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
23.396 * [backup-simplify]: Simplify (+ 0) into 0
23.396 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
23.396 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
23.397 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.397 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
23.397 * [backup-simplify]: Simplify (- 0) into 0
23.397 * [backup-simplify]: Simplify (+ 0 0) into 0
23.398 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
23.398 * [backup-simplify]: Simplify (+ 0) into 0
23.398 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
23.398 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
23.402 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.403 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
23.403 * [backup-simplify]: Simplify (+ 0 0) into 0
23.403 * [backup-simplify]: Simplify (+ 0) into 0
23.403 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
23.404 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
23.404 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.404 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
23.405 * [backup-simplify]: Simplify (- 0) into 0
23.405 * [backup-simplify]: Simplify (+ 0 0) into 0
23.405 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
23.405 * [backup-simplify]: Simplify (+ 0) into 0
23.406 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
23.406 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
23.406 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.406 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
23.407 * [backup-simplify]: Simplify (- 0) into 0
23.407 * [backup-simplify]: Simplify (+ 0 0) into 0
23.407 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
23.407 * [backup-simplify]: Simplify (+ 0) into 0
23.408 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
23.408 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
23.408 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.408 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
23.409 * [backup-simplify]: Simplify (+ 0 0) into 0
23.409 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
23.409 * [backup-simplify]: Simplify (+ 0 0) into 0
23.409 * [backup-simplify]: Simplify (- 0) into 0
23.410 * [backup-simplify]: Simplify (+ 0 0) into 0
23.410 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
23.410 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
23.412 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into 0
23.413 * [backup-simplify]: Simplify (+ (* R 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into 0
23.417 * [backup-simplify]: Simplify (- (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 6) (pow (cos (/ 0.5 phi1)) 6)) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R))))) into 0
23.417 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
23.418 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
23.418 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
23.418 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
23.419 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
23.419 * [backup-simplify]: Simplify (- 0) into 0
23.419 * [backup-simplify]: Simplify (+ 0 0) into 0
23.420 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
23.420 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 2)))) into 0
23.421 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 3) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 3)))) into 0
23.421 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
23.422 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
23.422 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
23.422 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
23.422 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
23.423 * [backup-simplify]: Simplify (- 0) into 0
23.423 * [backup-simplify]: Simplify (+ 0 0) into 0
23.423 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
23.424 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi2)) 2)))) into 0
23.424 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 3) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi2)) 3)))) into 0
23.425 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 6) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 6)))) into 0
23.425 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
23.426 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
23.426 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
23.426 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
23.427 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
23.427 * [backup-simplify]: Simplify (+ 0 0) into 0
23.427 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
23.428 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
23.428 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
23.428 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
23.429 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
23.429 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
23.429 * [backup-simplify]: Simplify (+ 0 0) into 0
23.430 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
23.430 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0
23.431 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
23.431 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
23.432 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
23.432 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
23.432 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
23.433 * [backup-simplify]: Simplify (- 0) into 0
23.433 * [backup-simplify]: Simplify (+ 0 0) into 0
23.433 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
23.434 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
23.434 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
23.434 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
23.435 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
23.435 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
23.435 * [backup-simplify]: Simplify (- 0) into 0
23.436 * [backup-simplify]: Simplify (+ 0 0) into 0
23.436 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
23.436 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 2)))) into 0
23.437 * [backup-simplify]: Simplify (+ 0 0) into 0
23.437 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
23.438 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
23.438 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
23.438 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
23.439 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
23.439 * [backup-simplify]: Simplify (- 0) into 0
23.439 * [backup-simplify]: Simplify (+ 0 0) into 0
23.440 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
23.440 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
23.440 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
23.441 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
23.441 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
23.441 * [backup-simplify]: Simplify (+ 0 0) into 0
23.442 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
23.442 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
23.443 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
23.443 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
23.443 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
23.444 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
23.444 * [backup-simplify]: Simplify (+ 0 0) into 0
23.444 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
23.445 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
23.445 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
23.445 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
23.446 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
23.446 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
23.446 * [backup-simplify]: Simplify (- 0) into 0
23.447 * [backup-simplify]: Simplify (+ 0 0) into 0
23.447 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into 0
23.448 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
23.448 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
23.448 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
23.449 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
23.449 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
23.449 * [backup-simplify]: Simplify (+ 0 0) into 0
23.450 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
23.450 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
23.450 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
23.451 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
23.451 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
23.451 * [backup-simplify]: Simplify (- 0) into 0
23.452 * [backup-simplify]: Simplify (+ 0 0) into 0
23.452 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
23.452 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
23.453 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
23.453 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
23.454 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
23.454 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
23.454 * [backup-simplify]: Simplify (- 0) into 0
23.454 * [backup-simplify]: Simplify (+ 0 0) into 0
23.455 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
23.455 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
23.456 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
23.456 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
23.456 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
23.457 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
23.457 * [backup-simplify]: Simplify (+ 0 0) into 0
23.457 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into 0
23.458 * [backup-simplify]: Simplify (+ 0 0) into 0
23.458 * [backup-simplify]: Simplify (- 0) into 0
23.458 * [backup-simplify]: Simplify (+ 0 0) into 0
23.459 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
23.459 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
23.461 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into 0
23.462 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into 0
23.466 * [backup-simplify]: Simplify (- (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 6) (pow (cos (/ 0.5 phi1)) 6)) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R))) (* 0 (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R))))) into 0
23.470 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 6) (pow (cos (/ 0.5 phi1)) 6)) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) 0) (+ (* 0 0) (* 0 (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))) into 0
23.477 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 6) (pow (cos (/ 0.5 phi1)) 6)) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) 0) (* 0 (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
23.483 * [backup-simplify]: Simplify (* (/ (* (pow (cos (/ 0.5 phi2)) 6) (pow (cos (/ 0.5 phi1)) 6)) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into (* (/ (* (pow (cos (/ 0.5 phi2)) 6) (pow (cos (/ 0.5 phi1)) 6)) (* R (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))
23.490 * [backup-simplify]: Simplify (+ (* 1/2 0) (+ (* 0 0) (* 0 (* (/ (* (pow (cos (/ 0.5 phi2)) 6) (pow (cos (/ 0.5 phi1)) 6)) (* R (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))) into 0
23.491 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
23.492 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
23.492 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
23.493 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
23.493 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
23.494 * [backup-simplify]: Simplify (+ 0 0) into 0
23.494 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
23.495 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
23.496 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
23.496 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
23.497 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
23.498 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
23.498 * [backup-simplify]: Simplify (+ 0 0) into 0
23.499 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
23.499 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0
23.500 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
23.501 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
23.501 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
23.502 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
23.503 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
23.503 * [backup-simplify]: Simplify (- 0) into 0
23.504 * [backup-simplify]: Simplify (+ 0 0) into 0
23.504 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
23.505 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
23.506 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
23.506 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
23.507 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
23.508 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
23.508 * [backup-simplify]: Simplify (- 0) into 0
23.509 * [backup-simplify]: Simplify (+ 0 0) into 0
23.514 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
23.516 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 2)))) into 0
23.516 * [backup-simplify]: Simplify (+ 0 0) into 0
23.517 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
23.518 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
23.518 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
23.519 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
23.520 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
23.520 * [backup-simplify]: Simplify (- 0) into 0
23.521 * [backup-simplify]: Simplify (+ 0 0) into 0
23.522 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
23.522 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
23.523 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
23.524 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
23.524 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
23.525 * [backup-simplify]: Simplify (- 0) into 0
23.525 * [backup-simplify]: Simplify (+ 0 0) into 0
23.526 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
23.527 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
23.527 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
23.528 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
23.528 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
23.529 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
23.529 * [backup-simplify]: Simplify (+ 0 0) into 0
23.530 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
23.531 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
23.532 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
23.532 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
23.533 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
23.534 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
23.534 * [backup-simplify]: Simplify (+ 0 0) into 0
23.535 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into 0
23.536 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
23.537 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
23.537 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
23.539 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
23.539 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
23.540 * [backup-simplify]: Simplify (+ 0 0) into 0
23.541 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
23.542 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
23.542 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
23.543 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
23.544 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
23.544 * [backup-simplify]: Simplify (+ 0 0) into 0
23.545 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
23.545 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
23.546 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
23.547 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
23.547 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
23.548 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
23.548 * [backup-simplify]: Simplify (- 0) into 0
23.549 * [backup-simplify]: Simplify (+ 0 0) into 0
23.549 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
23.550 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
23.551 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
23.551 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
23.552 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
23.553 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
23.553 * [backup-simplify]: Simplify (- 0) into 0
23.554 * [backup-simplify]: Simplify (+ 0 0) into 0
23.555 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into 0
23.555 * [backup-simplify]: Simplify (+ 0 0) into 0
23.555 * [backup-simplify]: Simplify (- 0) into 0
23.556 * [backup-simplify]: Simplify (+ 0 0) into 0
23.562 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (* 0 (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
23.563 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
23.564 * [backup-simplify]: Simplify (+ 0) into 0
23.564 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
23.564 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
23.564 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.565 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
23.565 * [backup-simplify]: Simplify (+ 0 0) into 0
23.565 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
23.565 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
23.566 * [backup-simplify]: Simplify (+ 0) into 0
23.566 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
23.566 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
23.566 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.567 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
23.567 * [backup-simplify]: Simplify (- 0) into 0
23.567 * [backup-simplify]: Simplify (+ 0 0) into 0
23.567 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (pow (sin (/ 0.5 phi1)) 3))) into 0
23.568 * [backup-simplify]: Simplify (+ 0) into 0
23.568 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
23.568 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
23.569 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.569 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
23.569 * [backup-simplify]: Simplify (- 0) into 0
23.569 * [backup-simplify]: Simplify (+ 0 0) into 0
23.570 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 3)))) into 0
23.570 * [backup-simplify]: Simplify (+ 0) into 0
23.570 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
23.570 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
23.571 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.571 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
23.571 * [backup-simplify]: Simplify (+ 0 0) into 0
23.571 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
23.572 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0
23.572 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 3) 0) (* 0 (* (pow (sin (/ 0.5 phi1)) 3) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
23.572 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
23.573 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
23.573 * [backup-simplify]: Simplify (+ (* R 0) (* 0 1)) into 0
23.573 * [backup-simplify]: Simplify (+ 0) into 0
23.574 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
23.574 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
23.574 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.574 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
23.575 * [backup-simplify]: Simplify (+ 0 0) into 0
23.575 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
23.575 * [backup-simplify]: Simplify (+ 0) into 0
23.575 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
23.576 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
23.576 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.576 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
23.577 * [backup-simplify]: Simplify (+ 0 0) into 0
23.577 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
23.577 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
23.577 * [backup-simplify]: Simplify (+ 0) into 0
23.577 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
23.578 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
23.578 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.578 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
23.579 * [backup-simplify]: Simplify (- 0) into 0
23.579 * [backup-simplify]: Simplify (+ 0 0) into 0
23.579 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
23.579 * [backup-simplify]: Simplify (+ 0) into 0
23.580 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
23.580 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
23.580 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.580 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
23.581 * [backup-simplify]: Simplify (- 0) into 0
23.581 * [backup-simplify]: Simplify (+ 0 0) into 0
23.581 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
23.581 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
23.581 * [backup-simplify]: Simplify (+ 0 0) into 0
23.582 * [backup-simplify]: Simplify (+ 0) into 0
23.582 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
23.582 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
23.583 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.583 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
23.583 * [backup-simplify]: Simplify (- 0) into 0
23.583 * [backup-simplify]: Simplify (+ 0 0) into 0
23.584 * [backup-simplify]: Simplify (+ 0) into 0
23.584 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
23.584 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
23.585 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.585 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
23.585 * [backup-simplify]: Simplify (+ 0 0) into 0
23.585 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
23.585 * [backup-simplify]: Simplify (+ 0) into 0
23.586 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
23.586 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
23.586 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.587 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
23.587 * [backup-simplify]: Simplify (+ 0 0) into 0
23.587 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
23.587 * [backup-simplify]: Simplify (+ 0) into 0
23.588 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
23.588 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
23.588 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.588 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
23.589 * [backup-simplify]: Simplify (- 0) into 0
23.589 * [backup-simplify]: Simplify (+ 0 0) into 0
23.589 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
23.589 * [backup-simplify]: Simplify (+ 0) into 0
23.590 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
23.590 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
23.590 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.591 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
23.591 * [backup-simplify]: Simplify (+ 0 0) into 0
23.591 * [backup-simplify]: Simplify (+ 0) into 0
23.591 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
23.592 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
23.592 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.592 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
23.593 * [backup-simplify]: Simplify (- 0) into 0
23.593 * [backup-simplify]: Simplify (+ 0 0) into 0
23.593 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
23.593 * [backup-simplify]: Simplify (+ 0) into 0
23.593 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
23.594 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
23.594 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.594 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
23.595 * [backup-simplify]: Simplify (- 0) into 0
23.595 * [backup-simplify]: Simplify (+ 0 0) into 0
23.595 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
23.595 * [backup-simplify]: Simplify (+ 0) into 0
23.596 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
23.596 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
23.596 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.597 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
23.597 * [backup-simplify]: Simplify (+ 0 0) into 0
23.597 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
23.597 * [backup-simplify]: Simplify (+ 0 0) into 0
23.598 * [backup-simplify]: Simplify (- 0) into 0
23.598 * [backup-simplify]: Simplify (+ 0 0) into 0
23.600 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (* 0 R)) into 0
23.607 * [backup-simplify]: Simplify (- (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) (+ (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R))))) into 0
23.608 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
23.609 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
23.610 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
23.610 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
23.611 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
23.611 * [backup-simplify]: Simplify (+ 0 0) into 0
23.612 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
23.613 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0
23.614 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
23.614 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
23.615 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
23.616 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
23.616 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
23.617 * [backup-simplify]: Simplify (- 0) into 0
23.617 * [backup-simplify]: Simplify (+ 0 0) into 0
23.618 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 3)))) into 0
23.619 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
23.620 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
23.620 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
23.621 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
23.621 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
23.622 * [backup-simplify]: Simplify (- 0) into 0
23.622 * [backup-simplify]: Simplify (+ 0 0) into 0
23.623 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 3))))) into 0
23.624 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
23.625 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
23.625 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
23.626 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
23.626 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
23.627 * [backup-simplify]: Simplify (+ 0 0) into 0
23.627 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
23.628 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi2)) 2)))) into 0
23.629 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 3) 0) (+ (* 0 0) (* 0 (* (pow (sin (/ 0.5 phi1)) 3) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into 0
23.630 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
23.631 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
23.632 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (* 0 1))) into 0
23.633 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
23.633 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
23.634 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
23.635 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
23.635 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
23.636 * [backup-simplify]: Simplify (+ 0 0) into 0
23.636 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
23.637 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
23.638 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
23.638 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
23.639 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
23.639 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
23.640 * [backup-simplify]: Simplify (+ 0 0) into 0
23.640 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
23.641 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0
23.642 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
23.643 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
23.643 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
23.644 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
23.645 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
23.645 * [backup-simplify]: Simplify (- 0) into 0
23.645 * [backup-simplify]: Simplify (+ 0 0) into 0
23.652 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
23.653 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
23.654 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
23.654 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
23.655 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
23.655 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
23.656 * [backup-simplify]: Simplify (- 0) into 0
23.656 * [backup-simplify]: Simplify (+ 0 0) into 0
23.657 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
23.658 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 2)))) into 0
23.658 * [backup-simplify]: Simplify (+ 0 0) into 0
23.659 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
23.660 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
23.660 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
23.661 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
23.662 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
23.662 * [backup-simplify]: Simplify (- 0) into 0
23.663 * [backup-simplify]: Simplify (+ 0 0) into 0
23.664 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
23.664 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
23.665 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
23.666 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
23.666 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
23.667 * [backup-simplify]: Simplify (+ 0 0) into 0
23.667 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
23.668 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
23.669 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
23.669 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
23.670 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
23.670 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
23.671 * [backup-simplify]: Simplify (+ 0 0) into 0
23.672 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
23.672 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
23.673 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
23.673 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
23.674 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
23.675 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
23.675 * [backup-simplify]: Simplify (- 0) into 0
23.676 * [backup-simplify]: Simplify (+ 0 0) into 0
23.676 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into 0
23.677 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
23.678 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
23.678 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
23.679 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
23.680 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
23.680 * [backup-simplify]: Simplify (+ 0 0) into 0
23.681 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
23.682 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
23.682 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
23.683 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
23.684 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
23.684 * [backup-simplify]: Simplify (- 0) into 0
23.684 * [backup-simplify]: Simplify (+ 0 0) into 0
23.685 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
23.686 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
23.687 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
23.687 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
23.688 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
23.689 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
23.689 * [backup-simplify]: Simplify (- 0) into 0
23.690 * [backup-simplify]: Simplify (+ 0 0) into 0
23.691 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
23.692 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
23.693 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
23.693 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
23.694 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
23.694 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
23.695 * [backup-simplify]: Simplify (+ 0 0) into 0
23.696 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into 0
23.696 * [backup-simplify]: Simplify (+ 0 0) into 0
23.697 * [backup-simplify]: Simplify (- 0) into 0
23.697 * [backup-simplify]: Simplify (+ 0 0) into 0
23.700 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (+ (* 0 0) (* 0 R))) into 0
23.711 * [backup-simplify]: Simplify (- (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) (+ (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R))) (* 0 (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R))))) into 0
23.716 * [backup-simplify]: Simplify (+ (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) 0) (+ (* 0 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
23.721 * [backup-simplify]: Simplify (+ (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
23.726 * [backup-simplify]: Simplify (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into (* (/ (* (pow (sin (/ 0.5 phi2)) 3) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 3)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))
23.733 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (* (/ (* (pow (sin (/ 0.5 phi2)) 3) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 3)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))) into 0
23.739 * [backup-simplify]: Simplify (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* (pow phi1 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (* (pow phi1 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)))) (+ (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* R (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* R (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)))) (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2))))) (+ (* (sin (/ 0.5 phi1)) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (pow phi1 2)))))) (* (cos (/ 0.5 phi1)) (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow phi1 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))
23.740 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
23.741 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
23.741 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
23.742 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
23.743 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
23.743 * [backup-simplify]: Simplify (+ 0 0) into 0
23.744 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
23.745 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
23.746 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
23.746 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
23.747 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
23.747 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
23.748 * [backup-simplify]: Simplify (+ 0 0) into 0
23.748 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
23.749 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0
23.750 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
23.751 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
23.751 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
23.752 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
23.752 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
23.753 * [backup-simplify]: Simplify (- 0) into 0
23.753 * [backup-simplify]: Simplify (+ 0 0) into 0
23.754 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
23.755 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
23.756 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
23.756 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
23.757 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
23.757 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
23.758 * [backup-simplify]: Simplify (- 0) into 0
23.758 * [backup-simplify]: Simplify (+ 0 0) into 0
23.759 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
23.759 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 2)))) into 0
23.760 * [backup-simplify]: Simplify (+ 0 0) into 0
23.761 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
23.762 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
23.762 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
23.763 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
23.763 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
23.764 * [backup-simplify]: Simplify (- 0) into 0
23.764 * [backup-simplify]: Simplify (+ 0 0) into 0
23.765 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
23.766 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
23.766 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
23.766 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
23.767 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
23.767 * [backup-simplify]: Simplify (- 0) into 0
23.767 * [backup-simplify]: Simplify (+ 0 0) into 0
23.768 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
23.768 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
23.769 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
23.769 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
23.769 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
23.770 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
23.770 * [backup-simplify]: Simplify (+ 0 0) into 0
23.770 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
23.771 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
23.771 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
23.771 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
23.772 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
23.772 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
23.772 * [backup-simplify]: Simplify (+ 0 0) into 0
23.773 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into 0
23.773 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
23.774 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
23.774 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
23.774 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
23.775 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
23.775 * [backup-simplify]: Simplify (+ 0 0) into 0
23.775 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
23.776 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
23.776 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
23.776 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
23.777 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
23.777 * [backup-simplify]: Simplify (+ 0 0) into 0
23.777 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
23.778 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
23.778 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
23.778 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
23.779 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
23.779 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
23.780 * [backup-simplify]: Simplify (- 0) into 0
23.780 * [backup-simplify]: Simplify (+ 0 0) into 0
23.780 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
23.781 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
23.781 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
23.781 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
23.782 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
23.782 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
23.782 * [backup-simplify]: Simplify (- 0) into 0
23.783 * [backup-simplify]: Simplify (+ 0 0) into 0
23.783 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into 0
23.783 * [backup-simplify]: Simplify (+ 0 0) into 0
23.783 * [backup-simplify]: Simplify (- 0) into 0
23.784 * [backup-simplify]: Simplify (+ 0 0) into 0
23.786 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into 0
23.788 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)))) into 0
23.800 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2))) (/ 0 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* 0 (/ 0 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
23.810 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
23.811 * [backup-simplify]: Simplify (+ 0) into 0
23.811 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
23.811 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
23.812 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.813 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
23.813 * [backup-simplify]: Simplify (+ 0 0) into 0
23.813 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
23.814 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
23.814 * [backup-simplify]: Simplify (+ 0) into 0
23.815 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
23.815 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
23.815 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.816 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
23.816 * [backup-simplify]: Simplify (+ 0 0) into 0
23.817 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
23.817 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0
23.817 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 4) 0) (* 0 (pow (sin (/ 0.5 phi1)) 4))) into 0
23.818 * [backup-simplify]: Simplify (+ 0) into 0
23.819 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
23.819 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
23.820 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.820 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
23.820 * [backup-simplify]: Simplify (- 0) into 0
23.821 * [backup-simplify]: Simplify (+ 0 0) into 0
23.821 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
23.822 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)))) into 0
23.822 * [backup-simplify]: Simplify (+ 0) into 0
23.823 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
23.823 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
23.824 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.824 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
23.824 * [backup-simplify]: Simplify (- 0) into 0
23.825 * [backup-simplify]: Simplify (+ 0 0) into 0
23.825 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
23.826 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (* (pow (sin (/ 0.5 phi1)) 4) (* (pow (sin (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi1)) 2))))) into 0
23.827 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
23.827 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
23.828 * [backup-simplify]: Simplify (+ (* R 0) (* 0 1)) into 0
23.828 * [backup-simplify]: Simplify (+ 0) into 0
23.829 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
23.829 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
23.830 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.830 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
23.830 * [backup-simplify]: Simplify (+ 0 0) into 0
23.831 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
23.831 * [backup-simplify]: Simplify (+ 0) into 0
23.832 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
23.832 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
23.833 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.833 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
23.833 * [backup-simplify]: Simplify (+ 0 0) into 0
23.834 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
23.834 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
23.834 * [backup-simplify]: Simplify (+ 0) into 0
23.835 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
23.835 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
23.836 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.836 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
23.837 * [backup-simplify]: Simplify (- 0) into 0
23.837 * [backup-simplify]: Simplify (+ 0 0) into 0
23.837 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
23.838 * [backup-simplify]: Simplify (+ 0) into 0
23.838 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
23.839 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
23.839 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.840 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
23.840 * [backup-simplify]: Simplify (- 0) into 0
23.841 * [backup-simplify]: Simplify (+ 0 0) into 0
23.841 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
23.841 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
23.842 * [backup-simplify]: Simplify (+ 0 0) into 0
23.842 * [backup-simplify]: Simplify (+ 0) into 0
23.843 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
23.843 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
23.844 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.844 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
23.845 * [backup-simplify]: Simplify (- 0) into 0
23.845 * [backup-simplify]: Simplify (+ 0 0) into 0
23.846 * [backup-simplify]: Simplify (+ 0) into 0
23.846 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
23.846 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
23.847 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.848 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
23.848 * [backup-simplify]: Simplify (+ 0 0) into 0
23.848 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
23.849 * [backup-simplify]: Simplify (+ 0) into 0
23.850 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
23.850 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
23.851 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.851 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
23.852 * [backup-simplify]: Simplify (+ 0 0) into 0
23.852 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
23.852 * [backup-simplify]: Simplify (+ 0) into 0
23.853 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
23.853 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
23.854 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.854 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
23.855 * [backup-simplify]: Simplify (- 0) into 0
23.855 * [backup-simplify]: Simplify (+ 0 0) into 0
23.856 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
23.856 * [backup-simplify]: Simplify (+ 0) into 0
23.857 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
23.857 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
23.858 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.858 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
23.859 * [backup-simplify]: Simplify (+ 0 0) into 0
23.859 * [backup-simplify]: Simplify (+ 0) into 0
23.860 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
23.860 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
23.861 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.861 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
23.862 * [backup-simplify]: Simplify (- 0) into 0
23.862 * [backup-simplify]: Simplify (+ 0 0) into 0
23.863 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
23.863 * [backup-simplify]: Simplify (+ 0) into 0
23.864 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
23.864 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
23.865 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.865 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
23.865 * [backup-simplify]: Simplify (- 0) into 0
23.866 * [backup-simplify]: Simplify (+ 0 0) into 0
23.866 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
23.867 * [backup-simplify]: Simplify (+ 0) into 0
23.867 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
23.867 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
23.868 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.869 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
23.869 * [backup-simplify]: Simplify (+ 0 0) into 0
23.869 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
23.870 * [backup-simplify]: Simplify (+ 0 0) into 0
23.870 * [backup-simplify]: Simplify (- 0) into 0
23.871 * [backup-simplify]: Simplify (+ 0 0) into 0
23.873 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (* 0 R)) into 0
23.882 * [backup-simplify]: Simplify (- (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 4) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 4)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R))))) into 0
23.883 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
23.884 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
23.884 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
23.885 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
23.885 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
23.886 * [backup-simplify]: Simplify (+ 0 0) into 0
23.887 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
23.887 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0
23.888 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
23.889 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
23.889 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
23.890 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
23.891 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
23.891 * [backup-simplify]: Simplify (+ 0 0) into 0
23.892 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
23.893 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi2)) 2)))) into 0
23.894 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 4) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 4)))) into 0
23.895 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
23.895 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
23.896 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
23.897 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
23.897 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
23.898 * [backup-simplify]: Simplify (- 0) into 0
23.898 * [backup-simplify]: Simplify (+ 0 0) into 0
23.899 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
23.900 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4))))) into 0
23.901 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
23.901 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
23.902 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
23.903 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
23.903 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
23.904 * [backup-simplify]: Simplify (- 0) into 0
23.904 * [backup-simplify]: Simplify (+ 0 0) into 0
23.905 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
23.906 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (* (pow (sin (/ 0.5 phi1)) 4) (* (pow (sin (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi1)) 2)))))) into 0
23.907 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
23.908 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
23.908 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (* 0 1))) into 0
23.909 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
23.910 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
23.910 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
23.911 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
23.912 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
23.912 * [backup-simplify]: Simplify (+ 0 0) into 0
23.913 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
23.914 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
23.914 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
23.915 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
23.915 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
23.916 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
23.917 * [backup-simplify]: Simplify (+ 0 0) into 0
23.917 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
23.918 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0
23.919 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
23.920 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
23.920 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
23.921 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
23.922 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
23.922 * [backup-simplify]: Simplify (- 0) into 0
23.923 * [backup-simplify]: Simplify (+ 0 0) into 0
23.923 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
23.924 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
23.925 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
23.925 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
23.926 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
23.927 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
23.927 * [backup-simplify]: Simplify (- 0) into 0
23.927 * [backup-simplify]: Simplify (+ 0 0) into 0
23.928 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
23.929 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 2)))) into 0
23.929 * [backup-simplify]: Simplify (+ 0 0) into 0
23.930 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
23.931 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
23.932 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
23.932 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
23.933 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
23.933 * [backup-simplify]: Simplify (- 0) into 0
23.934 * [backup-simplify]: Simplify (+ 0 0) into 0
23.935 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
23.936 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
23.936 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
23.937 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
23.937 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
23.938 * [backup-simplify]: Simplify (+ 0 0) into 0
23.939 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
23.940 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
23.940 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
23.941 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
23.942 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
23.942 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
23.943 * [backup-simplify]: Simplify (+ 0 0) into 0
23.943 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
23.944 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
23.945 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
23.945 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
23.946 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
23.947 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
23.947 * [backup-simplify]: Simplify (- 0) into 0
23.947 * [backup-simplify]: Simplify (+ 0 0) into 0
23.948 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into 0
23.949 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
23.950 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
23.950 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
23.951 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
23.951 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
23.952 * [backup-simplify]: Simplify (+ 0 0) into 0
23.953 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
23.954 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
23.955 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
23.956 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
23.956 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
23.957 * [backup-simplify]: Simplify (- 0) into 0
23.957 * [backup-simplify]: Simplify (+ 0 0) into 0
23.958 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
23.959 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
23.959 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
23.960 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
23.960 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
23.961 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
23.961 * [backup-simplify]: Simplify (- 0) into 0
23.962 * [backup-simplify]: Simplify (+ 0 0) into 0
23.963 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
23.964 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
23.964 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
23.965 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
23.970 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
23.971 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
23.972 * [backup-simplify]: Simplify (+ 0 0) into 0
23.973 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into 0
23.973 * [backup-simplify]: Simplify (+ 0 0) into 0
23.973 * [backup-simplify]: Simplify (- 0) into 0
23.974 * [backup-simplify]: Simplify (+ 0 0) into 0
23.976 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (+ (* 0 0) (* 0 R))) into 0
23.985 * [backup-simplify]: Simplify (- (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 4) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 4)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R))) (* 0 (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R))))) into 0
23.993 * [backup-simplify]: Simplify (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 4) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 4)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) 0) (+ (* 0 0) (* 0 (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))) into 0
24.001 * [backup-simplify]: Simplify (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 4) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 4)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) 0) (* 0 (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
24.008 * [backup-simplify]: Simplify (* (/ (* (pow (sin (/ 0.5 phi2)) 4) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 4)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))
24.015 * [backup-simplify]: Simplify (+ (* 3 0) (+ (* 0 0) (* 0 (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))))) into 0
24.016 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
24.017 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
24.017 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
24.018 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
24.019 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
24.019 * [backup-simplify]: Simplify (+ 0 0) into 0
24.020 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
24.021 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
24.022 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
24.022 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
24.023 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
24.023 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
24.024 * [backup-simplify]: Simplify (+ 0 0) into 0
24.024 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
24.025 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0
24.026 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
24.027 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
24.028 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
24.029 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
24.030 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
24.030 * [backup-simplify]: Simplify (- 0) into 0
24.031 * [backup-simplify]: Simplify (+ 0 0) into 0
24.031 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
24.032 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
24.033 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
24.033 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
24.034 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
24.035 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
24.035 * [backup-simplify]: Simplify (- 0) into 0
24.035 * [backup-simplify]: Simplify (+ 0 0) into 0
24.036 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
24.037 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 2)))) into 0
24.037 * [backup-simplify]: Simplify (+ 0 0) into 0
24.038 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
24.039 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
24.039 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
24.040 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
24.041 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
24.041 * [backup-simplify]: Simplify (- 0) into 0
24.041 * [backup-simplify]: Simplify (+ 0 0) into 0
24.042 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
24.043 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
24.043 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
24.044 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
24.045 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
24.045 * [backup-simplify]: Simplify (- 0) into 0
24.045 * [backup-simplify]: Simplify (+ 0 0) into 0
24.046 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
24.047 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
24.048 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
24.048 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
24.049 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
24.050 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
24.050 * [backup-simplify]: Simplify (+ 0 0) into 0
24.051 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
24.052 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
24.053 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
24.053 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
24.054 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
24.054 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
24.055 * [backup-simplify]: Simplify (+ 0 0) into 0
24.056 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into 0
24.056 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
24.057 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
24.057 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
24.058 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
24.059 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
24.059 * [backup-simplify]: Simplify (+ 0 0) into 0
24.060 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
24.061 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
24.061 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
24.062 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
24.062 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
24.063 * [backup-simplify]: Simplify (+ 0 0) into 0
24.063 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
24.064 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
24.065 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
24.065 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
24.066 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
24.066 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
24.067 * [backup-simplify]: Simplify (- 0) into 0
24.067 * [backup-simplify]: Simplify (+ 0 0) into 0
24.068 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
24.069 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
24.070 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
24.070 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
24.070 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
24.071 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
24.071 * [backup-simplify]: Simplify (- 0) into 0
24.072 * [backup-simplify]: Simplify (+ 0 0) into 0
24.072 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into 0
24.073 * [backup-simplify]: Simplify (+ 0 0) into 0
24.073 * [backup-simplify]: Simplify (- 0) into 0
24.074 * [backup-simplify]: Simplify (+ 0 0) into 0
24.078 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into 0
24.082 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)))) into 0
24.094 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2))) (/ 0 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* 0 (/ 0 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
24.099 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
24.100 * [backup-simplify]: Simplify (+ 0) into 0
24.101 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
24.101 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
24.102 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.102 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
24.103 * [backup-simplify]: Simplify (+ 0 0) into 0
24.103 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
24.104 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
24.104 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 3) 0) (* 0 (pow (sin (/ 0.5 phi1)) 3))) into 0
24.104 * [backup-simplify]: Simplify (+ 0) into 0
24.105 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
24.105 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
24.106 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.106 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
24.107 * [backup-simplify]: Simplify (+ 0 0) into 0
24.107 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
24.107 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0
24.108 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 3) 0) (* 0 (pow (sin (/ 0.5 phi2)) 3))) into 0
24.108 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 6) 0) (* 0 (pow (sin (/ 0.5 phi1)) 6))) into 0
24.108 * [backup-simplify]: Simplify (+ 0) into 0
24.109 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
24.109 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
24.110 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.111 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
24.111 * [backup-simplify]: Simplify (+ 0 0) into 0
24.112 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
24.112 * [backup-simplify]: Simplify (+ 0) into 0
24.113 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
24.113 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
24.113 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.114 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
24.114 * [backup-simplify]: Simplify (+ 0 0) into 0
24.114 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
24.115 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
24.115 * [backup-simplify]: Simplify (+ 0) into 0
24.116 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
24.116 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
24.117 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.117 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
24.118 * [backup-simplify]: Simplify (- 0) into 0
24.118 * [backup-simplify]: Simplify (+ 0 0) into 0
24.119 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
24.119 * [backup-simplify]: Simplify (+ 0) into 0
24.119 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
24.120 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
24.120 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.121 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
24.121 * [backup-simplify]: Simplify (- 0) into 0
24.122 * [backup-simplify]: Simplify (+ 0 0) into 0
24.122 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
24.122 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
24.123 * [backup-simplify]: Simplify (+ 0 0) into 0
24.123 * [backup-simplify]: Simplify (+ 0) into 0
24.124 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
24.124 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
24.124 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.125 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
24.125 * [backup-simplify]: Simplify (- 0) into 0
24.126 * [backup-simplify]: Simplify (+ 0 0) into 0
24.126 * [backup-simplify]: Simplify (+ 0) into 0
24.126 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
24.127 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
24.127 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.128 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
24.128 * [backup-simplify]: Simplify (+ 0 0) into 0
24.129 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
24.129 * [backup-simplify]: Simplify (+ 0) into 0
24.129 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
24.130 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
24.130 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.135 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
24.136 * [backup-simplify]: Simplify (+ 0 0) into 0
24.136 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
24.136 * [backup-simplify]: Simplify (+ 0) into 0
24.137 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
24.137 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
24.138 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.138 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
24.139 * [backup-simplify]: Simplify (- 0) into 0
24.139 * [backup-simplify]: Simplify (+ 0 0) into 0
24.139 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
24.140 * [backup-simplify]: Simplify (+ 0) into 0
24.140 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
24.141 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
24.141 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.142 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
24.142 * [backup-simplify]: Simplify (+ 0 0) into 0
24.142 * [backup-simplify]: Simplify (+ 0) into 0
24.143 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
24.143 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
24.144 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.144 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
24.145 * [backup-simplify]: Simplify (- 0) into 0
24.145 * [backup-simplify]: Simplify (+ 0 0) into 0
24.145 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
24.146 * [backup-simplify]: Simplify (+ 0) into 0
24.146 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
24.146 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
24.147 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.148 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
24.148 * [backup-simplify]: Simplify (- 0) into 0
24.148 * [backup-simplify]: Simplify (+ 0 0) into 0
24.149 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
24.149 * [backup-simplify]: Simplify (+ 0) into 0
24.150 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
24.150 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
24.150 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.151 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
24.151 * [backup-simplify]: Simplify (+ 0 0) into 0
24.152 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
24.152 * [backup-simplify]: Simplify (+ 0 0) into 0
24.152 * [backup-simplify]: Simplify (- 0) into 0
24.153 * [backup-simplify]: Simplify (+ 0 0) into 0
24.154 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
24.154 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
24.157 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into 0
24.159 * [backup-simplify]: Simplify (+ (* R 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into 0
24.165 * [backup-simplify]: Simplify (- (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 6) (pow (sin (/ 0.5 phi1)) 6)) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R))))) into 0
24.166 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
24.167 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
24.167 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
24.168 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
24.169 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
24.169 * [backup-simplify]: Simplify (+ 0 0) into 0
24.170 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
24.171 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0
24.172 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 3) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 3)))) into 0
24.173 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
24.173 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
24.174 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
24.174 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
24.175 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
24.175 * [backup-simplify]: Simplify (+ 0 0) into 0
24.176 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
24.177 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi2)) 2)))) into 0
24.177 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 3) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi2)) 3)))) into 0
24.178 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 6) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 6)))) into 0
24.179 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
24.180 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
24.180 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
24.181 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
24.181 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
24.182 * [backup-simplify]: Simplify (+ 0 0) into 0
24.182 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
24.183 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
24.184 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
24.184 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
24.185 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
24.186 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
24.186 * [backup-simplify]: Simplify (+ 0 0) into 0
24.187 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
24.187 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0
24.188 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
24.189 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
24.190 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
24.190 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
24.191 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
24.191 * [backup-simplify]: Simplify (- 0) into 0
24.192 * [backup-simplify]: Simplify (+ 0 0) into 0
24.193 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
24.193 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
24.194 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
24.195 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
24.195 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
24.196 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
24.196 * [backup-simplify]: Simplify (- 0) into 0
24.197 * [backup-simplify]: Simplify (+ 0 0) into 0
24.197 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
24.198 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 2)))) into 0
24.199 * [backup-simplify]: Simplify (+ 0 0) into 0
24.200 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
24.200 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
24.201 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
24.201 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
24.202 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
24.202 * [backup-simplify]: Simplify (- 0) into 0
24.203 * [backup-simplify]: Simplify (+ 0 0) into 0
24.203 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
24.204 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
24.204 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
24.204 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
24.205 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
24.205 * [backup-simplify]: Simplify (+ 0 0) into 0
24.205 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
24.206 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
24.206 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
24.207 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
24.207 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
24.208 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
24.208 * [backup-simplify]: Simplify (+ 0 0) into 0
24.209 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
24.209 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
24.210 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
24.210 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
24.210 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
24.211 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
24.211 * [backup-simplify]: Simplify (- 0) into 0
24.211 * [backup-simplify]: Simplify (+ 0 0) into 0
24.212 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into 0
24.212 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
24.213 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
24.213 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
24.213 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
24.214 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
24.214 * [backup-simplify]: Simplify (+ 0 0) into 0
24.215 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
24.215 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
24.215 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
24.216 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
24.216 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
24.216 * [backup-simplify]: Simplify (- 0) into 0
24.216 * [backup-simplify]: Simplify (+ 0 0) into 0
24.217 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
24.217 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
24.218 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
24.218 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
24.218 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
24.219 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
24.219 * [backup-simplify]: Simplify (- 0) into 0
24.219 * [backup-simplify]: Simplify (+ 0 0) into 0
24.219 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
24.220 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
24.220 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
24.221 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
24.221 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
24.221 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
24.222 * [backup-simplify]: Simplify (+ 0 0) into 0
24.222 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into 0
24.222 * [backup-simplify]: Simplify (+ 0 0) into 0
24.223 * [backup-simplify]: Simplify (- 0) into 0
24.223 * [backup-simplify]: Simplify (+ 0 0) into 0
24.223 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
24.224 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
24.226 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into 0
24.227 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into 0
24.234 * [backup-simplify]: Simplify (- (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 6) (pow (sin (/ 0.5 phi1)) 6)) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R))) (* 0 (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R))))) into 0
24.242 * [backup-simplify]: Simplify (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 6) (pow (sin (/ 0.5 phi1)) 6)) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) 0) (+ (* 0 0) (* 0 (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))) into 0
24.247 * [backup-simplify]: Simplify (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 6) (pow (sin (/ 0.5 phi1)) 6)) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) 0) (* 0 (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
24.250 * [backup-simplify]: Simplify (* (/ (* (pow (sin (/ 0.5 phi2)) 6) (pow (sin (/ 0.5 phi1)) 6)) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into (* (/ (* (pow (sin (/ 0.5 phi2)) 6) (pow (sin (/ 0.5 phi1)) 6)) (* R (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))
24.253 * [backup-simplify]: Simplify (+ (* 1/2 0) (+ (* 0 0) (* 0 (* (/ (* (pow (sin (/ 0.5 phi2)) 6) (pow (sin (/ 0.5 phi1)) 6)) (* R (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))) into 0
24.254 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
24.255 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
24.255 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
24.255 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
24.256 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
24.256 * [backup-simplify]: Simplify (+ 0 0) into 0
24.256 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
24.257 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
24.257 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
24.257 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
24.258 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
24.258 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
24.258 * [backup-simplify]: Simplify (+ 0 0) into 0
24.259 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
24.259 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0
24.260 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
24.260 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
24.260 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
24.261 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
24.264 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
24.265 * [backup-simplify]: Simplify (- 0) into 0
24.265 * [backup-simplify]: Simplify (+ 0 0) into 0
24.266 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
24.266 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
24.267 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
24.267 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
24.267 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
24.268 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
24.268 * [backup-simplify]: Simplify (- 0) into 0
24.268 * [backup-simplify]: Simplify (+ 0 0) into 0
24.269 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
24.269 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 2)))) into 0
24.269 * [backup-simplify]: Simplify (+ 0 0) into 0
24.270 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
24.270 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
24.271 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
24.271 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
24.271 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
24.272 * [backup-simplify]: Simplify (- 0) into 0
24.272 * [backup-simplify]: Simplify (+ 0 0) into 0
24.272 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
24.273 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
24.273 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
24.273 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
24.274 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
24.274 * [backup-simplify]: Simplify (- 0) into 0
24.275 * [backup-simplify]: Simplify (+ 0 0) into 0
24.275 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
24.276 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
24.277 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
24.277 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
24.278 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
24.278 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
24.279 * [backup-simplify]: Simplify (+ 0 0) into 0
24.279 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
24.280 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
24.281 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
24.281 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
24.282 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
24.283 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
24.283 * [backup-simplify]: Simplify (+ 0 0) into 0
24.284 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into 0
24.285 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
24.285 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
24.286 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
24.286 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
24.287 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
24.287 * [backup-simplify]: Simplify (+ 0 0) into 0
24.288 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
24.289 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
24.289 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
24.290 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
24.290 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
24.291 * [backup-simplify]: Simplify (+ 0 0) into 0
24.291 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
24.292 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
24.293 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
24.293 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
24.294 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
24.295 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
24.295 * [backup-simplify]: Simplify (- 0) into 0
24.295 * [backup-simplify]: Simplify (+ 0 0) into 0
24.296 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
24.297 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
24.298 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
24.298 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
24.299 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
24.299 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
24.300 * [backup-simplify]: Simplify (- 0) into 0
24.300 * [backup-simplify]: Simplify (+ 0 0) into 0
24.301 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into 0
24.301 * [backup-simplify]: Simplify (+ 0 0) into 0
24.302 * [backup-simplify]: Simplify (- 0) into 0
24.302 * [backup-simplify]: Simplify (+ 0 0) into 0
24.306 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into 0
24.311 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)))) into 0
24.325 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2))) (/ 0 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* 0 (/ 0 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
24.330 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
24.331 * [backup-simplify]: Simplify (+ 0) into 0
24.332 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
24.332 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
24.333 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.333 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
24.333 * [backup-simplify]: Simplify (+ 0 0) into 0
24.334 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
24.334 * [backup-simplify]: Simplify (+ 0) into 0
24.335 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
24.335 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
24.336 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.336 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
24.336 * [backup-simplify]: Simplify (- 0) into 0
24.337 * [backup-simplify]: Simplify (+ 0 0) into 0
24.337 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
24.337 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0
24.338 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 4) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
24.338 * [backup-simplify]: Simplify (+ 0) into 0
24.339 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
24.339 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
24.340 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.340 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
24.340 * [backup-simplify]: Simplify (- 0) into 0
24.341 * [backup-simplify]: Simplify (+ 0 0) into 0
24.341 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
24.341 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
24.342 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 4) 0) (* 0 (* (pow (cos (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 2)))) into 0
24.342 * [backup-simplify]: Simplify (+ 0) into 0
24.343 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
24.343 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
24.344 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.344 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
24.345 * [backup-simplify]: Simplify (+ 0 0) into 0
24.345 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
24.345 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi1)) 4))))) into 0
24.346 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
24.346 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
24.347 * [backup-simplify]: Simplify (+ (* R 0) (* 0 1)) into 0
24.347 * [backup-simplify]: Simplify (+ 0) into 0
24.347 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
24.347 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
24.348 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.348 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
24.348 * [backup-simplify]: Simplify (+ 0 0) into 0
24.348 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
24.349 * [backup-simplify]: Simplify (+ 0) into 0
24.349 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
24.349 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
24.350 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.350 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
24.350 * [backup-simplify]: Simplify (+ 0 0) into 0
24.351 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
24.351 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
24.351 * [backup-simplify]: Simplify (+ 0) into 0
24.352 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
24.352 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
24.352 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.353 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
24.353 * [backup-simplify]: Simplify (- 0) into 0
24.353 * [backup-simplify]: Simplify (+ 0 0) into 0
24.353 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
24.354 * [backup-simplify]: Simplify (+ 0) into 0
24.354 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
24.354 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
24.354 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.355 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
24.355 * [backup-simplify]: Simplify (- 0) into 0
24.355 * [backup-simplify]: Simplify (+ 0 0) into 0
24.355 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
24.356 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
24.356 * [backup-simplify]: Simplify (+ 0 0) into 0
24.356 * [backup-simplify]: Simplify (+ 0) into 0
24.356 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
24.356 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
24.357 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.357 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
24.357 * [backup-simplify]: Simplify (- 0) into 0
24.358 * [backup-simplify]: Simplify (+ 0 0) into 0
24.358 * [backup-simplify]: Simplify (+ 0) into 0
24.358 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
24.358 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
24.359 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.359 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
24.359 * [backup-simplify]: Simplify (+ 0 0) into 0
24.359 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
24.360 * [backup-simplify]: Simplify (+ 0) into 0
24.360 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
24.360 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
24.361 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.361 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
24.361 * [backup-simplify]: Simplify (+ 0 0) into 0
24.361 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
24.362 * [backup-simplify]: Simplify (+ 0) into 0
24.362 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
24.362 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
24.362 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.363 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
24.363 * [backup-simplify]: Simplify (- 0) into 0
24.363 * [backup-simplify]: Simplify (+ 0 0) into 0
24.363 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
24.364 * [backup-simplify]: Simplify (+ 0) into 0
24.364 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
24.364 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
24.365 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.365 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
24.365 * [backup-simplify]: Simplify (+ 0 0) into 0
24.365 * [backup-simplify]: Simplify (+ 0) into 0
24.366 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
24.366 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
24.366 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.367 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
24.367 * [backup-simplify]: Simplify (- 0) into 0
24.367 * [backup-simplify]: Simplify (+ 0 0) into 0
24.367 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
24.367 * [backup-simplify]: Simplify (+ 0) into 0
24.368 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
24.368 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
24.368 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.369 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
24.369 * [backup-simplify]: Simplify (- 0) into 0
24.369 * [backup-simplify]: Simplify (+ 0 0) into 0
24.369 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
24.369 * [backup-simplify]: Simplify (+ 0) into 0
24.370 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
24.370 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
24.370 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.371 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
24.371 * [backup-simplify]: Simplify (+ 0 0) into 0
24.371 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
24.371 * [backup-simplify]: Simplify (+ 0 0) into 0
24.372 * [backup-simplify]: Simplify (- 0) into 0
24.372 * [backup-simplify]: Simplify (+ 0 0) into 0
24.373 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (* 0 R)) into 0
24.379 * [backup-simplify]: Simplify (- (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 4) (* (pow (cos (/ 0.5 phi1)) 4) (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R))))) into 0
24.380 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
24.381 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
24.381 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
24.382 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
24.383 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
24.383 * [backup-simplify]: Simplify (+ 0 0) into 0
24.384 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
24.385 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
24.385 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
24.386 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
24.387 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
24.388 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
24.388 * [backup-simplify]: Simplify (- 0) into 0
24.388 * [backup-simplify]: Simplify (+ 0 0) into 0
24.389 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
24.390 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi2)) 2)))) into 0
24.391 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 4) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0
24.392 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
24.392 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
24.393 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
24.393 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
24.394 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
24.394 * [backup-simplify]: Simplify (- 0) into 0
24.395 * [backup-simplify]: Simplify (+ 0 0) into 0
24.395 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
24.396 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 2)))) into 0
24.397 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 4) 0) (+ (* 0 0) (* 0 (* (pow (cos (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 2))))) into 0
24.403 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
24.404 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
24.404 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
24.405 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
24.405 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
24.406 * [backup-simplify]: Simplify (+ 0 0) into 0
24.406 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
24.407 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi1)) 4)))))) into 0
24.407 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
24.408 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
24.408 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (* 0 1))) into 0
24.409 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
24.409 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
24.409 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
24.410 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
24.410 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
24.411 * [backup-simplify]: Simplify (+ 0 0) into 0
24.411 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
24.411 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
24.412 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
24.412 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
24.412 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
24.413 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
24.413 * [backup-simplify]: Simplify (+ 0 0) into 0
24.413 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
24.414 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0
24.415 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
24.415 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
24.415 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
24.416 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
24.416 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
24.416 * [backup-simplify]: Simplify (- 0) into 0
24.416 * [backup-simplify]: Simplify (+ 0 0) into 0
24.417 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
24.417 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
24.418 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
24.418 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
24.418 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
24.419 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
24.419 * [backup-simplify]: Simplify (- 0) into 0
24.419 * [backup-simplify]: Simplify (+ 0 0) into 0
24.420 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
24.420 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 2)))) into 0
24.421 * [backup-simplify]: Simplify (+ 0 0) into 0
24.421 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
24.421 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
24.422 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
24.422 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
24.422 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
24.423 * [backup-simplify]: Simplify (- 0) into 0
24.423 * [backup-simplify]: Simplify (+ 0 0) into 0
24.423 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
24.424 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
24.424 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
24.424 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
24.425 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
24.425 * [backup-simplify]: Simplify (+ 0 0) into 0
24.425 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
24.426 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
24.426 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
24.427 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
24.427 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
24.427 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
24.428 * [backup-simplify]: Simplify (+ 0 0) into 0
24.428 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
24.429 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
24.429 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
24.429 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
24.430 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
24.430 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
24.430 * [backup-simplify]: Simplify (- 0) into 0
24.430 * [backup-simplify]: Simplify (+ 0 0) into 0
24.431 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into 0
24.431 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
24.432 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
24.432 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
24.432 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
24.433 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
24.433 * [backup-simplify]: Simplify (+ 0 0) into 0
24.434 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
24.434 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
24.434 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
24.435 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
24.435 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
24.435 * [backup-simplify]: Simplify (- 0) into 0
24.436 * [backup-simplify]: Simplify (+ 0 0) into 0
24.436 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
24.436 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
24.437 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
24.437 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
24.437 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
24.438 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
24.438 * [backup-simplify]: Simplify (- 0) into 0
24.438 * [backup-simplify]: Simplify (+ 0 0) into 0
24.439 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
24.439 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
24.440 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
24.440 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
24.440 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
24.441 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
24.441 * [backup-simplify]: Simplify (+ 0 0) into 0
24.441 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into 0
24.442 * [backup-simplify]: Simplify (+ 0 0) into 0
24.442 * [backup-simplify]: Simplify (- 0) into 0
24.442 * [backup-simplify]: Simplify (+ 0 0) into 0
24.443 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (+ (* 0 0) (* 0 R))) into 0
24.448 * [backup-simplify]: Simplify (- (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 4) (* (pow (cos (/ 0.5 phi1)) 4) (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R))) (* 0 (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R))))) into 0
24.452 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 4) (* (pow (cos (/ 0.5 phi1)) 4) (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) 0) (+ (* 0 0) (* 0 (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))) into 0
24.458 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 4) (* (pow (cos (/ 0.5 phi1)) 4) (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) 0) (* 0 (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
24.465 * [backup-simplify]: Simplify (* (/ (* (pow (cos (/ 0.5 phi2)) 4) (* (pow (cos (/ 0.5 phi1)) 4) (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 4) (* (pow (cos (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 2)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))
24.472 * [backup-simplify]: Simplify (+ (* 15/2 0) (+ (* 0 0) (* 0 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 4) (* (pow (cos (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 2)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))))) into 0
24.473 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
24.474 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
24.474 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
24.475 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
24.476 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
24.476 * [backup-simplify]: Simplify (+ 0 0) into 0
24.477 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
24.477 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
24.478 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
24.479 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
24.479 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
24.480 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
24.481 * [backup-simplify]: Simplify (+ 0 0) into 0
24.481 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
24.482 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0
24.483 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
24.484 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
24.484 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
24.485 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
24.485 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
24.486 * [backup-simplify]: Simplify (- 0) into 0
24.486 * [backup-simplify]: Simplify (+ 0 0) into 0
24.487 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
24.487 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
24.488 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
24.488 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
24.489 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
24.490 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
24.490 * [backup-simplify]: Simplify (- 0) into 0
24.491 * [backup-simplify]: Simplify (+ 0 0) into 0
24.491 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
24.492 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 2)))) into 0
24.492 * [backup-simplify]: Simplify (+ 0 0) into 0
24.493 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
24.494 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
24.494 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
24.495 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
24.496 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
24.496 * [backup-simplify]: Simplify (- 0) into 0
24.496 * [backup-simplify]: Simplify (+ 0 0) into 0
24.497 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
24.498 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
24.498 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
24.499 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
24.500 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
24.500 * [backup-simplify]: Simplify (- 0) into 0
24.500 * [backup-simplify]: Simplify (+ 0 0) into 0
24.501 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
24.502 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
24.503 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
24.503 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
24.504 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
24.504 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
24.504 * [backup-simplify]: Simplify (+ 0 0) into 0
24.505 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
24.506 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
24.507 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
24.507 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
24.508 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
24.508 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
24.509 * [backup-simplify]: Simplify (+ 0 0) into 0
24.510 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into 0
24.510 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
24.511 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
24.511 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
24.512 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
24.513 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
24.513 * [backup-simplify]: Simplify (+ 0 0) into 0
24.514 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
24.515 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
24.515 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
24.516 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
24.516 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
24.517 * [backup-simplify]: Simplify (+ 0 0) into 0
24.517 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
24.518 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
24.519 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
24.519 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
24.520 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
24.520 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
24.521 * [backup-simplify]: Simplify (- 0) into 0
24.521 * [backup-simplify]: Simplify (+ 0 0) into 0
24.522 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
24.528 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
24.529 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
24.529 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
24.530 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
24.531 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
24.531 * [backup-simplify]: Simplify (- 0) into 0
24.532 * [backup-simplify]: Simplify (+ 0 0) into 0
24.532 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into 0
24.533 * [backup-simplify]: Simplify (+ 0 0) into 0
24.533 * [backup-simplify]: Simplify (- 0) into 0
24.534 * [backup-simplify]: Simplify (+ 0 0) into 0
24.538 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into 0
24.543 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)))) into 0
24.551 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2))) (/ 0 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* 0 (/ 0 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
24.554 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
24.555 * [backup-simplify]: Simplify (+ 0) into 0
24.555 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
24.555 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
24.556 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.556 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
24.556 * [backup-simplify]: Simplify (+ 0 0) into 0
24.556 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
24.557 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
24.557 * [backup-simplify]: Simplify (+ 0) into 0
24.557 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
24.557 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
24.558 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.558 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
24.558 * [backup-simplify]: Simplify (- 0) into 0
24.559 * [backup-simplify]: Simplify (+ 0 0) into 0
24.559 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
24.559 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 4))) into 0
24.559 * [backup-simplify]: Simplify (+ 0) into 0
24.560 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
24.560 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
24.560 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.560 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
24.561 * [backup-simplify]: Simplify (- 0) into 0
24.561 * [backup-simplify]: Simplify (+ 0 0) into 0
24.561 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
24.561 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 4)))) into 0
24.562 * [backup-simplify]: Simplify (+ 0) into 0
24.562 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
24.562 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
24.563 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.563 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
24.563 * [backup-simplify]: Simplify (+ 0 0) into 0
24.563 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
24.563 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0
24.564 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 4) 0) (* 0 (* (pow (sin (/ 0.5 phi1)) 4) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))))) into 0
24.564 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
24.565 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
24.565 * [backup-simplify]: Simplify (+ (* R 0) (* 0 1)) into 0
24.565 * [backup-simplify]: Simplify (+ 0) into 0
24.566 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
24.566 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
24.566 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.566 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
24.567 * [backup-simplify]: Simplify (+ 0 0) into 0
24.567 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
24.567 * [backup-simplify]: Simplify (+ 0) into 0
24.567 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
24.567 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
24.568 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.568 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
24.568 * [backup-simplify]: Simplify (+ 0 0) into 0
24.569 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
24.569 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
24.569 * [backup-simplify]: Simplify (+ 0) into 0
24.570 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
24.570 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
24.570 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.571 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
24.571 * [backup-simplify]: Simplify (- 0) into 0
24.571 * [backup-simplify]: Simplify (+ 0 0) into 0
24.571 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
24.572 * [backup-simplify]: Simplify (+ 0) into 0
24.572 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
24.572 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
24.572 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.573 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
24.573 * [backup-simplify]: Simplify (- 0) into 0
24.573 * [backup-simplify]: Simplify (+ 0 0) into 0
24.573 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
24.574 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
24.574 * [backup-simplify]: Simplify (+ 0 0) into 0
24.575 * [backup-simplify]: Simplify (+ 0) into 0
24.575 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
24.575 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
24.576 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.577 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
24.577 * [backup-simplify]: Simplify (- 0) into 0
24.577 * [backup-simplify]: Simplify (+ 0 0) into 0
24.578 * [backup-simplify]: Simplify (+ 0) into 0
24.578 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
24.578 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
24.579 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.580 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
24.580 * [backup-simplify]: Simplify (+ 0 0) into 0
24.580 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
24.581 * [backup-simplify]: Simplify (+ 0) into 0
24.581 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
24.581 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
24.582 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.583 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
24.583 * [backup-simplify]: Simplify (+ 0 0) into 0
24.584 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
24.584 * [backup-simplify]: Simplify (+ 0) into 0
24.585 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
24.585 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
24.586 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.586 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
24.587 * [backup-simplify]: Simplify (- 0) into 0
24.587 * [backup-simplify]: Simplify (+ 0 0) into 0
24.587 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
24.588 * [backup-simplify]: Simplify (+ 0) into 0
24.588 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
24.588 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
24.589 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.590 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
24.590 * [backup-simplify]: Simplify (+ 0 0) into 0
24.590 * [backup-simplify]: Simplify (+ 0) into 0
24.591 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
24.591 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
24.592 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.592 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
24.593 * [backup-simplify]: Simplify (- 0) into 0
24.593 * [backup-simplify]: Simplify (+ 0 0) into 0
24.593 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
24.594 * [backup-simplify]: Simplify (+ 0) into 0
24.594 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
24.595 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
24.595 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.596 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
24.596 * [backup-simplify]: Simplify (- 0) into 0
24.597 * [backup-simplify]: Simplify (+ 0 0) into 0
24.597 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
24.598 * [backup-simplify]: Simplify (+ 0) into 0
24.598 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
24.598 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
24.599 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.600 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
24.600 * [backup-simplify]: Simplify (+ 0 0) into 0
24.601 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
24.601 * [backup-simplify]: Simplify (+ 0 0) into 0
24.601 * [backup-simplify]: Simplify (- 0) into 0
24.602 * [backup-simplify]: Simplify (+ 0 0) into 0
24.604 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (* 0 R)) into 0
24.610 * [backup-simplify]: Simplify (- (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R))))) into 0
24.611 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
24.611 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
24.612 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
24.612 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
24.612 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
24.613 * [backup-simplify]: Simplify (+ 0 0) into 0
24.613 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
24.614 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0
24.614 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
24.615 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
24.615 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
24.616 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
24.616 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
24.616 * [backup-simplify]: Simplify (- 0) into 0
24.617 * [backup-simplify]: Simplify (+ 0 0) into 0
24.617 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
24.617 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 4)))) into 0
24.618 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
24.618 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
24.619 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
24.619 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
24.619 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
24.620 * [backup-simplify]: Simplify (- 0) into 0
24.620 * [backup-simplify]: Simplify (+ 0 0) into 0
24.620 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
24.621 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 4))))) into 0
24.621 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
24.622 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
24.622 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
24.622 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
24.623 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
24.623 * [backup-simplify]: Simplify (+ 0 0) into 0
24.623 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
24.624 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi2)) 2)))) into 0
24.625 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 4) 0) (+ (* 0 0) (* 0 (* (pow (sin (/ 0.5 phi1)) 4) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))))) into 0
24.625 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
24.626 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
24.626 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (* 0 1))) into 0
24.627 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
24.627 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
24.627 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
24.628 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
24.628 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
24.628 * [backup-simplify]: Simplify (+ 0 0) into 0
24.629 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
24.629 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
24.630 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
24.630 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
24.630 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
24.631 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
24.631 * [backup-simplify]: Simplify (+ 0 0) into 0
24.631 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
24.632 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0
24.632 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
24.633 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
24.633 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
24.633 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
24.634 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
24.634 * [backup-simplify]: Simplify (- 0) into 0
24.634 * [backup-simplify]: Simplify (+ 0 0) into 0
24.635 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
24.635 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
24.636 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
24.636 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
24.636 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
24.637 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
24.637 * [backup-simplify]: Simplify (- 0) into 0
24.637 * [backup-simplify]: Simplify (+ 0 0) into 0
24.637 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
24.638 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 2)))) into 0
24.639 * [backup-simplify]: Simplify (+ 0 0) into 0
24.640 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
24.640 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
24.641 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
24.641 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
24.642 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
24.642 * [backup-simplify]: Simplify (- 0) into 0
24.643 * [backup-simplify]: Simplify (+ 0 0) into 0
24.644 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
24.645 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
24.645 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
24.646 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
24.647 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
24.652 * [backup-simplify]: Simplify (+ 0 0) into 0
24.652 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
24.653 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
24.653 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
24.654 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
24.654 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
24.654 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
24.655 * [backup-simplify]: Simplify (+ 0 0) into 0
24.655 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
24.656 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
24.656 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
24.656 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
24.657 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
24.657 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
24.657 * [backup-simplify]: Simplify (- 0) into 0
24.658 * [backup-simplify]: Simplify (+ 0 0) into 0
24.658 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into 0
24.659 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
24.659 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
24.659 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
24.660 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
24.660 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
24.660 * [backup-simplify]: Simplify (+ 0 0) into 0
24.661 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
24.661 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
24.661 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
24.662 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
24.662 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
24.662 * [backup-simplify]: Simplify (- 0) into 0
24.663 * [backup-simplify]: Simplify (+ 0 0) into 0
24.663 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
24.664 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
24.664 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
24.664 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
24.665 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
24.665 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
24.665 * [backup-simplify]: Simplify (- 0) into 0
24.665 * [backup-simplify]: Simplify (+ 0 0) into 0
24.666 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
24.666 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
24.667 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
24.667 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
24.667 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
24.668 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
24.668 * [backup-simplify]: Simplify (+ 0 0) into 0
24.668 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into 0
24.669 * [backup-simplify]: Simplify (+ 0 0) into 0
24.669 * [backup-simplify]: Simplify (- 0) into 0
24.669 * [backup-simplify]: Simplify (+ 0 0) into 0
24.671 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (+ (* 0 0) (* 0 R))) into 0
24.676 * [backup-simplify]: Simplify (- (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R))) (* 0 (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R))))) into 0
24.680 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) 0) (+ (* 0 0) (* 0 (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))) into 0
24.686 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) 0) (* 0 (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
24.693 * [backup-simplify]: Simplify (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into (* (/ (* (pow (sin (/ 0.5 phi2)) 4) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 4)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))
24.700 * [backup-simplify]: Simplify (+ (* 9/2 0) (+ (* 0 0) (* 0 (* (/ (* (pow (sin (/ 0.5 phi2)) 4) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 4)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))))) into 0
24.706 * [backup-simplify]: Simplify (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* phi1 phi2)))) (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* phi1 phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* phi1 (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (* phi1 (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))))))))
24.712 * [backup-simplify]: Simplify (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))
24.718 * [backup-simplify]: Simplify (* 1/2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into (* 1/2 (* (/ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))
24.724 * [backup-simplify]: Simplify (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* phi1 (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (* phi1 (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))))) (* 1/2 (* (/ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* phi1 phi2)))) (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* phi1 phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))))) (* 1/2 (* (/ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))
24.731 * [backup-simplify]: Simplify (+ 0 (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* phi1 phi2)))) (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* phi1 phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))))) (* 1/2 (* (/ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))) into (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* phi1 (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (* phi1 (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))))) (* 1/2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))
24.738 * [backup-simplify]: Simplify (+ 0 (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* phi1 (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (* phi1 (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))))) (* 1/2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))) into (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* phi1 phi2)))) (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* phi1 phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))))) (* 1/2 (* (/ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))
24.745 * [backup-simplify]: Simplify (+ 0 (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* phi1 phi2)))) (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* phi1 phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))))) (* 1/2 (* (/ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))) into (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* phi1 (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (* phi1 (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))))) (* 1/2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))
24.754 * [backup-simplify]: Simplify (+ 0 (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* phi1 (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (* phi1 (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))))) (* 1/2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))) into (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* phi1 phi2)))) (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* phi1 phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))))) (* 1/2 (* (/ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))
24.778 * [backup-simplify]: Simplify (+ (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)))) (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2))))) (+ (* (sin (/ 0.5 phi1)) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (pow phi1 2)))))) (* (cos (/ 0.5 phi1)) (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow phi1 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* phi1 phi2)))) (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* phi1 phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))))) (* 1/2 (* (/ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))) into (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* phi1 (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (* phi1 (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))))) (+ (* 1/2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* (pow phi1 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (* (pow phi1 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)))) (+ (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* R (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* R (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))
24.797 * [backup-simplify]: Simplify (+ 0 (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* phi1 (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (* phi1 (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))))) (+ (* 1/2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* (pow phi1 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (* (pow phi1 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)))) (+ (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* R (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* R (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))) into (+ (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)))) (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2))))) (+ (* (sin (/ 0.5 phi1)) (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow phi1 2)))))) (* (cos (/ 0.5 phi1)) (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (pow phi1 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* phi1 phi2)))) (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* phi1 phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))))) (* 1/2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))))
24.818 * [backup-simplify]: Simplify (+ 0 (+ (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)))) (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2))))) (+ (* (sin (/ 0.5 phi1)) (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow phi1 2)))))) (* (cos (/ 0.5 phi1)) (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (pow phi1 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* phi1 phi2)))) (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* phi1 phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))))) (* 1/2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))))) into (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* phi1 (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (* phi1 (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))))) (+ (* 1/2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* (pow phi1 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (* (pow phi1 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)))) (+ (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* R (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* R (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))
24.846 * [backup-simplify]: Simplify (+ (* 1/2 (* (/ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* phi1 (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (* phi1 (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))))) (+ (* 1/2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* (pow phi1 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (* (pow phi1 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)))) (+ (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* R (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* R (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))) into (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* phi1 phi2)))) (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* phi1 phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))))) (+ (* 1/2 (* (/ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)))) (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2))))) (+ (* (sin (/ 0.5 phi1)) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (pow phi1 2)))))) (* (cos (/ 0.5 phi1)) (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow phi1 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))))
24.867 * [backup-simplify]: Simplify (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* phi1 (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (* phi1 (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))))) (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* phi1 phi2)))) (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* phi1 phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))))) (+ (* 1/2 (* (/ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)))) (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2))))) (+ (* (sin (/ 0.5 phi1)) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (pow phi1 2)))))) (* (cos (/ 0.5 phi1)) (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow phi1 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))))) into (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* phi1 (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (* phi1 (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))))) (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* phi1 phi2)))) (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* phi1 phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))))) (+ (* 1/2 (* (/ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* (pow phi1 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (* (pow phi1 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)))) (+ (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* R (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* R (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))))
24.890 * [backup-simplify]: Simplify (+ 0 (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* phi1 (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (* phi1 (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))))) (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* phi1 phi2)))) (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* phi1 phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))))) (+ (* 1/2 (* (/ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* (pow phi1 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (* (pow phi1 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)))) (+ (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* R (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* R (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))))) into (+ (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)))) (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2))))) (+ (* (sin (/ 0.5 phi1)) (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow phi1 2)))))) (* (cos (/ 0.5 phi1)) (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (pow phi1 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (+ (* 1/2 (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* phi1 phi2)))) (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* phi1 phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))))) (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* phi1 (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (* phi1 (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))))) (* 1/2 (* (/ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))))))
24.927 * [backup-simplify]: Simplify (- (+ (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)))) (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2))))) (+ (* (sin (/ 0.5 phi1)) (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow phi1 2)))))) (* (cos (/ 0.5 phi1)) (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (pow phi1 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (+ (* 1/2 (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* phi1 phi2)))) (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* phi1 phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))))) (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* phi1 (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (* phi1 (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))))) (* 1/2 (* (/ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))))))) into (- (+ (* 1/2 (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* phi1 (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (* phi1 (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))))) (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* phi1 phi2)))) (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* phi1 phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))))) (+ (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* (pow phi1 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (* (pow phi1 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)))) (+ (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* R (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* R (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* 1/2 (* (/ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))))))
25.005 * [backup-simplify]: Simplify (+ (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* (pow phi1 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (* (pow phi1 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)))) (+ (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R))))) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R)))))))))) (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow phi1 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (* (pow phi1 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)))) (+ (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R))))) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R)))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2))))))))))) (* 2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* phi1 (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (* phi1 (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))))) (- (+ (* 1/2 (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* phi1 (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (* phi1 (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))))) (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* phi1 phi2)))) (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* phi1 phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))))) (+ (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* (pow phi1 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (* (pow phi1 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)))) (+ (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* R (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* R (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* 1/2 (* (/ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))))))) into (- (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)))) (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2))))) (+ (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) (+ (* 2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* phi1 phi2)))) (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* phi1 phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)))) (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2))))) (+ (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2))))))))))))))) (+ (* 1/2 (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)))) (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2))))) (+ (* (sin (/ 0.5 phi1)) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (pow phi1 2)))))) (* (cos (/ 0.5 phi1)) (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow phi1 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* phi1 (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (* phi1 (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))))) (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* phi1 phi2)))) (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* phi1 phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))))))))))
25.006 * [taylor]: Taking taylor expansion of (- (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)))) (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2))))) (+ (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) (+ (* 2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* phi1 phi2)))) (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* phi1 phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)))) (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2))))) (+ (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2))))))))))))))) (+ (* 1/2 (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)))) (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2))))) (+ (* (sin (/ 0.5 phi1)) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (pow phi1 2)))))) (* (cos (/ 0.5 phi1)) (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow phi1 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* phi1 (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (* phi1 (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))))) (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* phi1 phi2)))) (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* phi1 phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))))))))))))) in phi1
25.007 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)))) (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2))))) (+ (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) (+ (* 2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* phi1 phi2)))) (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* phi1 phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)))) (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2))))) (+ (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2))))))))))))))) in phi1
25.007 * [taylor]: Taking taylor expansion of (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)))) (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2))))) (+ (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) in phi1
25.008 * [taylor]: Taking taylor expansion of 1/2 in phi1
25.008 * [backup-simplify]: Simplify 1/2 into 1/2
25.008 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)))) (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2))))) (+ (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) in phi1
25.008 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in phi1
25.008 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in phi1
25.008 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in phi1
25.008 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in phi1
25.008 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in phi1
25.008 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1
25.008 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
25.008 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
25.008 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.008 * [backup-simplify]: Simplify 0.5 into 0.5
25.008 * [taylor]: Taking taylor expansion of phi2 in phi1
25.008 * [backup-simplify]: Simplify phi2 into phi2
25.008 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
25.008 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
25.008 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
25.009 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
25.009 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
25.009 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
25.009 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1
25.009 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
25.009 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
25.009 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.009 * [backup-simplify]: Simplify 0.5 into 0.5
25.009 * [taylor]: Taking taylor expansion of phi1 in phi1
25.009 * [backup-simplify]: Simplify 0 into 0
25.009 * [backup-simplify]: Simplify 1 into 1
25.010 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
25.010 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
25.010 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in phi1
25.010 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1
25.010 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
25.010 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
25.010 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.010 * [backup-simplify]: Simplify 0.5 into 0.5
25.010 * [taylor]: Taking taylor expansion of phi2 in phi1
25.010 * [backup-simplify]: Simplify phi2 into phi2
25.010 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
25.010 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
25.010 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
25.011 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
25.011 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
25.011 * [backup-simplify]: Simplify (- 0) into 0
25.011 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
25.011 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1
25.011 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
25.011 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
25.011 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.011 * [backup-simplify]: Simplify 0.5 into 0.5
25.011 * [taylor]: Taking taylor expansion of phi1 in phi1
25.011 * [backup-simplify]: Simplify 0 into 0
25.011 * [backup-simplify]: Simplify 1 into 1
25.012 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
25.012 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
25.012 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in phi1
25.012 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in phi1
25.012 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
25.012 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
25.012 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.012 * [backup-simplify]: Simplify 0.5 into 0.5
25.012 * [taylor]: Taking taylor expansion of phi2 in phi1
25.012 * [backup-simplify]: Simplify phi2 into phi2
25.012 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
25.012 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
25.012 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
25.012 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in phi1
25.013 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
25.013 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
25.013 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.013 * [backup-simplify]: Simplify 0.5 into 0.5
25.013 * [taylor]: Taking taylor expansion of phi1 in phi1
25.013 * [backup-simplify]: Simplify 0 into 0
25.013 * [backup-simplify]: Simplify 1 into 1
25.013 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
25.013 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
25.013 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in phi1
25.013 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
25.013 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
25.013 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.013 * [backup-simplify]: Simplify 0.5 into 0.5
25.013 * [taylor]: Taking taylor expansion of phi2 in phi1
25.013 * [backup-simplify]: Simplify phi2 into phi2
25.014 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
25.014 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
25.014 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
25.014 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
25.014 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
25.014 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.014 * [backup-simplify]: Simplify 0.5 into 0.5
25.014 * [taylor]: Taking taylor expansion of phi1 in phi1
25.014 * [backup-simplify]: Simplify 0 into 0
25.014 * [backup-simplify]: Simplify 1 into 1
25.014 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
25.014 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
25.014 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in phi1
25.014 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
25.015 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
25.015 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.015 * [backup-simplify]: Simplify 0.5 into 0.5
25.015 * [taylor]: Taking taylor expansion of phi2 in phi1
25.015 * [backup-simplify]: Simplify phi2 into phi2
25.015 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
25.015 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
25.015 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
25.015 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in phi1
25.015 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
25.015 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
25.015 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.015 * [backup-simplify]: Simplify 0.5 into 0.5
25.015 * [taylor]: Taking taylor expansion of phi1 in phi1
25.015 * [backup-simplify]: Simplify 0 into 0
25.015 * [backup-simplify]: Simplify 1 into 1
25.016 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
25.016 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
25.016 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in phi1
25.016 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
25.016 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
25.016 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.016 * [backup-simplify]: Simplify 0.5 into 0.5
25.016 * [taylor]: Taking taylor expansion of phi2 in phi1
25.016 * [backup-simplify]: Simplify phi2 into phi2
25.016 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
25.016 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
25.016 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
25.016 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
25.016 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
25.016 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.016 * [backup-simplify]: Simplify 0.5 into 0.5
25.016 * [taylor]: Taking taylor expansion of phi1 in phi1
25.016 * [backup-simplify]: Simplify 0 into 0
25.016 * [backup-simplify]: Simplify 1 into 1
25.017 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
25.017 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
25.017 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
25.017 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
25.018 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
25.018 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
25.018 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
25.018 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
25.019 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
25.019 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
25.020 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
25.020 * [backup-simplify]: Simplify (- 0) into 0
25.020 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
25.020 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
25.020 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
25.020 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
25.021 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
25.021 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
25.021 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
25.021 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
25.021 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
25.021 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
25.022 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
25.022 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
25.022 * [backup-simplify]: Simplify (- 0) into 0
25.022 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
25.022 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
25.023 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
25.023 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
25.024 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))
25.024 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
25.026 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
25.027 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
25.028 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
25.028 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
25.028 * [backup-simplify]: Simplify (+ 0) into 0
25.029 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
25.029 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
25.029 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.030 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
25.030 * [backup-simplify]: Simplify (+ 0 0) into 0
25.030 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
25.030 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
25.030 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
25.031 * [backup-simplify]: Simplify (+ 0) into 0
25.031 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
25.031 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
25.032 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.032 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
25.032 * [backup-simplify]: Simplify (- 0) into 0
25.032 * [backup-simplify]: Simplify (+ 0 0) into 0
25.032 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
25.033 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
25.033 * [backup-simplify]: Simplify (+ 0 0) into 0
25.033 * [backup-simplify]: Simplify (+ 0) into 0
25.033 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
25.034 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
25.034 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.034 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
25.035 * [backup-simplify]: Simplify (+ 0 0) into 0
25.035 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
25.035 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
25.035 * [backup-simplify]: Simplify (+ 0) into 0
25.035 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
25.036 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
25.036 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.036 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
25.036 * [backup-simplify]: Simplify (- 0) into 0
25.037 * [backup-simplify]: Simplify (+ 0 0) into 0
25.037 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
25.037 * [backup-simplify]: Simplify (+ 0) into 0
25.037 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
25.038 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
25.038 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.038 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
25.039 * [backup-simplify]: Simplify (- 0) into 0
25.039 * [backup-simplify]: Simplify (+ 0 0) into 0
25.039 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
25.039 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
25.039 * [backup-simplify]: Simplify (+ 0) into 0
25.040 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
25.040 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
25.040 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.040 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
25.041 * [backup-simplify]: Simplify (+ 0 0) into 0
25.041 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
25.041 * [backup-simplify]: Simplify (+ 0 0) into 0
25.041 * [backup-simplify]: Simplify (- 0) into 0
25.042 * [backup-simplify]: Simplify (+ 0 0) into 0
25.044 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
25.045 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
25.045 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)))) (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2))))) (+ (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) in phi1
25.045 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in phi1
25.045 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1
25.045 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
25.045 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
25.045 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.045 * [backup-simplify]: Simplify 0.5 into 0.5
25.045 * [taylor]: Taking taylor expansion of phi2 in phi1
25.045 * [backup-simplify]: Simplify phi2 into phi2
25.045 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
25.045 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
25.045 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
25.045 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
25.045 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
25.046 * [backup-simplify]: Simplify (- 0) into 0
25.046 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
25.046 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1
25.046 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
25.046 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
25.046 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.046 * [backup-simplify]: Simplify 0.5 into 0.5
25.046 * [taylor]: Taking taylor expansion of phi1 in phi1
25.046 * [backup-simplify]: Simplify 0 into 0
25.046 * [backup-simplify]: Simplify 1 into 1
25.046 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
25.046 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
25.046 * [taylor]: Taking taylor expansion of (- (+ (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)))) (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2))))) (+ (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in phi1
25.046 * [taylor]: Taking taylor expansion of (+ (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)))) (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2))))) in phi1
25.046 * [taylor]: Taking taylor expansion of (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)))) in phi1
25.046 * [taylor]: Taking taylor expansion of R in phi1
25.046 * [backup-simplify]: Simplify R into R
25.046 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2))) in phi1
25.046 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1
25.046 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
25.047 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
25.047 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.047 * [backup-simplify]: Simplify 0.5 into 0.5
25.047 * [taylor]: Taking taylor expansion of phi1 in phi1
25.047 * [backup-simplify]: Simplify 0 into 0
25.047 * [backup-simplify]: Simplify 1 into 1
25.047 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
25.047 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
25.047 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)) in phi1
25.047 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1
25.047 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
25.047 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
25.047 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.047 * [backup-simplify]: Simplify 0.5 into 0.5
25.047 * [taylor]: Taking taylor expansion of phi2 in phi1
25.047 * [backup-simplify]: Simplify phi2 into phi2
25.047 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
25.047 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
25.047 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
25.047 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
25.047 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
25.047 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
25.047 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1
25.047 * [taylor]: Taking taylor expansion of phi1 in phi1
25.047 * [backup-simplify]: Simplify 0 into 0
25.047 * [backup-simplify]: Simplify 1 into 1
25.048 * [taylor]: Taking taylor expansion of (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2)))) in phi1
25.048 * [taylor]: Taking taylor expansion of R in phi1
25.048 * [backup-simplify]: Simplify R into R
25.048 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2))) in phi1
25.048 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1
25.048 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
25.048 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
25.048 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.048 * [backup-simplify]: Simplify 0.5 into 0.5
25.048 * [taylor]: Taking taylor expansion of phi1 in phi1
25.048 * [backup-simplify]: Simplify 0 into 0
25.048 * [backup-simplify]: Simplify 1 into 1
25.048 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
25.048 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
25.048 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2)) in phi1
25.048 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1
25.048 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
25.048 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
25.048 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.048 * [backup-simplify]: Simplify 0.5 into 0.5
25.048 * [taylor]: Taking taylor expansion of phi2 in phi1
25.048 * [backup-simplify]: Simplify phi2 into phi2
25.048 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
25.048 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
25.048 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
25.048 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
25.049 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
25.049 * [backup-simplify]: Simplify (- 0) into 0
25.049 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
25.049 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1
25.049 * [taylor]: Taking taylor expansion of phi1 in phi1
25.049 * [backup-simplify]: Simplify 0 into 0
25.049 * [backup-simplify]: Simplify 1 into 1
25.049 * [taylor]: Taking taylor expansion of (+ (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in phi1
25.049 * [taylor]: Taking taylor expansion of (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) in phi1
25.049 * [taylor]: Taking taylor expansion of R in phi1
25.049 * [backup-simplify]: Simplify R into R
25.049 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) in phi1
25.049 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
25.049 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
25.049 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.049 * [backup-simplify]: Simplify 0.5 into 0.5
25.049 * [taylor]: Taking taylor expansion of phi2 in phi1
25.049 * [backup-simplify]: Simplify phi2 into phi2
25.049 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
25.049 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
25.049 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
25.049 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in phi1
25.049 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
25.049 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
25.049 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.049 * [backup-simplify]: Simplify 0.5 into 0.5
25.049 * [taylor]: Taking taylor expansion of phi1 in phi1
25.049 * [backup-simplify]: Simplify 0 into 0
25.049 * [backup-simplify]: Simplify 1 into 1
25.050 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
25.050 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
25.050 * [taylor]: Taking taylor expansion of (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in phi1
25.050 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1
25.050 * [taylor]: Taking taylor expansion of phi1 in phi1
25.050 * [backup-simplify]: Simplify 0 into 0
25.050 * [backup-simplify]: Simplify 1 into 1
25.050 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in phi1
25.050 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
25.050 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
25.050 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.050 * [backup-simplify]: Simplify 0.5 into 0.5
25.050 * [taylor]: Taking taylor expansion of phi2 in phi1
25.050 * [backup-simplify]: Simplify phi2 into phi2
25.050 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
25.050 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
25.050 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
25.050 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
25.050 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
25.050 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.050 * [backup-simplify]: Simplify 0.5 into 0.5
25.050 * [taylor]: Taking taylor expansion of phi1 in phi1
25.050 * [backup-simplify]: Simplify 0 into 0
25.050 * [backup-simplify]: Simplify 1 into 1
25.051 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
25.051 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
25.051 * [taylor]: Taking taylor expansion of (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in phi1
25.051 * [taylor]: Taking taylor expansion of R in phi1
25.051 * [backup-simplify]: Simplify R into R
25.051 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in phi1
25.051 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
25.051 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
25.051 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.051 * [backup-simplify]: Simplify 0.5 into 0.5
25.051 * [taylor]: Taking taylor expansion of phi2 in phi1
25.051 * [backup-simplify]: Simplify phi2 into phi2
25.051 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
25.051 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
25.051 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
25.051 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in phi1
25.051 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
25.051 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
25.051 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.051 * [backup-simplify]: Simplify 0.5 into 0.5
25.051 * [taylor]: Taking taylor expansion of phi1 in phi1
25.051 * [backup-simplify]: Simplify 0 into 0
25.051 * [backup-simplify]: Simplify 1 into 1
25.052 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
25.052 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
25.052 * [taylor]: Taking taylor expansion of (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in phi1
25.052 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1
25.052 * [taylor]: Taking taylor expansion of phi1 in phi1
25.052 * [backup-simplify]: Simplify 0 into 0
25.052 * [backup-simplify]: Simplify 1 into 1
25.052 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in phi1
25.052 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
25.052 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
25.052 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.052 * [backup-simplify]: Simplify 0.5 into 0.5
25.052 * [taylor]: Taking taylor expansion of phi2 in phi1
25.052 * [backup-simplify]: Simplify phi2 into phi2
25.052 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
25.052 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
25.052 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
25.052 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
25.052 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
25.052 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.052 * [backup-simplify]: Simplify 0.5 into 0.5
25.052 * [taylor]: Taking taylor expansion of phi1 in phi1
25.052 * [backup-simplify]: Simplify 0 into 0
25.052 * [backup-simplify]: Simplify 1 into 1
25.052 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
25.052 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
25.053 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
25.053 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
25.053 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
25.053 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
25.053 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
25.053 * [backup-simplify]: Simplify (* 1 1) into 1
25.053 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) 1) into (pow (sin (/ 0.5 phi2)) 2)
25.054 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
25.054 * [backup-simplify]: Simplify (* R (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))) into (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R))
25.054 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
25.054 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
25.054 * [backup-simplify]: Simplify (* 1 1) into 1
25.054 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) 1) into (pow (cos (/ 0.5 phi2)) 2)
25.055 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
25.055 * [backup-simplify]: Simplify (* R (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))
25.055 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) into (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R)))
25.055 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
25.055 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
25.058 * [backup-simplify]: Simplify (- 0) into 0
25.058 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
25.059 * [backup-simplify]: Simplify (* 1 1) into 1
25.059 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
25.059 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
25.059 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
25.059 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
25.059 * [backup-simplify]: Simplify (* 1 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
25.060 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
25.060 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
25.060 * [backup-simplify]: Simplify (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R))))
25.060 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
25.061 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
25.061 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
25.061 * [backup-simplify]: Simplify (* 1 1) into 1
25.061 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
25.061 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
25.062 * [backup-simplify]: Simplify (- 0) into 0
25.062 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
25.062 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
25.062 * [backup-simplify]: Simplify (* 1 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
25.062 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
25.063 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
25.063 * [backup-simplify]: Simplify (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R))))
25.064 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R)))) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R))))) into (+ (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R)))) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R)))))
25.065 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R)))) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R)))))) into (- (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))))
25.067 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (- (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))))) into (- (+ (* R (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))) (* R (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))) (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))))
25.069 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))) (* R (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))) (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))))) into (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (+ (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R)))) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R)))))))
25.070 * [taylor]: Taking taylor expansion of (+ (* 2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* phi1 phi2)))) (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* phi1 phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)))) (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2))))) (+ (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2)))))))))))))) in phi1
25.070 * [taylor]: Taking taylor expansion of (* 2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* phi1 phi2)))) (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* phi1 phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) in phi1
25.070 * [taylor]: Taking taylor expansion of 2 in phi1
25.070 * [backup-simplify]: Simplify 2 into 2
25.070 * [taylor]: Taking taylor expansion of (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* phi1 phi2)))) (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* phi1 phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) in phi1
25.070 * [taylor]: Taking taylor expansion of (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* phi1 phi2)))) (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* phi1 phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))))))) in phi1
25.070 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in phi1
25.070 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
25.070 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
25.070 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.070 * [backup-simplify]: Simplify 0.5 into 0.5
25.070 * [taylor]: Taking taylor expansion of phi2 in phi1
25.070 * [backup-simplify]: Simplify phi2 into phi2
25.070 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
25.070 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
25.070 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
25.070 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in phi1
25.070 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
25.070 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
25.070 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.070 * [backup-simplify]: Simplify 0.5 into 0.5
25.070 * [taylor]: Taking taylor expansion of phi1 in phi1
25.070 * [backup-simplify]: Simplify 0 into 0
25.070 * [backup-simplify]: Simplify 1 into 1
25.071 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
25.071 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
25.071 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in phi1
25.071 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
25.071 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
25.071 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.071 * [backup-simplify]: Simplify 0.5 into 0.5
25.071 * [taylor]: Taking taylor expansion of phi2 in phi1
25.071 * [backup-simplify]: Simplify phi2 into phi2
25.071 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
25.071 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
25.071 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
25.071 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
25.071 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
25.071 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.071 * [backup-simplify]: Simplify 0.5 into 0.5
25.071 * [taylor]: Taking taylor expansion of phi1 in phi1
25.071 * [backup-simplify]: Simplify 0 into 0
25.071 * [backup-simplify]: Simplify 1 into 1
25.072 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
25.072 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
25.072 * [taylor]: Taking taylor expansion of (- (+ (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* phi1 phi2)))) (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* phi1 phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))) in phi1
25.072 * [taylor]: Taking taylor expansion of (+ (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* phi1 phi2)))) (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* phi1 phi2))))) in phi1
25.072 * [taylor]: Taking taylor expansion of (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* phi1 phi2)))) in phi1
25.072 * [taylor]: Taking taylor expansion of R in phi1
25.072 * [backup-simplify]: Simplify R into R
25.072 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* phi1 phi2))) in phi1
25.072 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1
25.072 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
25.072 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
25.072 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.072 * [backup-simplify]: Simplify 0.5 into 0.5
25.072 * [taylor]: Taking taylor expansion of phi1 in phi1
25.072 * [backup-simplify]: Simplify 0 into 0
25.072 * [backup-simplify]: Simplify 1 into 1
25.072 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
25.072 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
25.072 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (* phi1 phi2)) in phi1
25.072 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1
25.072 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
25.072 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
25.072 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.072 * [backup-simplify]: Simplify 0.5 into 0.5
25.072 * [taylor]: Taking taylor expansion of phi2 in phi1
25.072 * [backup-simplify]: Simplify phi2 into phi2
25.072 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
25.073 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
25.073 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
25.073 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
25.073 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
25.073 * [backup-simplify]: Simplify (- 0) into 0
25.073 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
25.073 * [taylor]: Taking taylor expansion of (* phi1 phi2) in phi1
25.073 * [taylor]: Taking taylor expansion of phi1 in phi1
25.073 * [backup-simplify]: Simplify 0 into 0
25.073 * [backup-simplify]: Simplify 1 into 1
25.073 * [taylor]: Taking taylor expansion of phi2 in phi1
25.073 * [backup-simplify]: Simplify phi2 into phi2
25.073 * [taylor]: Taking taylor expansion of (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* phi1 phi2)))) in phi1
25.073 * [taylor]: Taking taylor expansion of R in phi1
25.073 * [backup-simplify]: Simplify R into R
25.073 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* phi1 phi2))) in phi1
25.073 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1
25.073 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
25.073 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
25.073 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.073 * [backup-simplify]: Simplify 0.5 into 0.5
25.073 * [taylor]: Taking taylor expansion of phi1 in phi1
25.073 * [backup-simplify]: Simplify 0 into 0
25.073 * [backup-simplify]: Simplify 1 into 1
25.074 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
25.074 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
25.074 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (* phi1 phi2)) in phi1
25.074 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1
25.074 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
25.074 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
25.074 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.074 * [backup-simplify]: Simplify 0.5 into 0.5
25.074 * [taylor]: Taking taylor expansion of phi2 in phi1
25.074 * [backup-simplify]: Simplify phi2 into phi2
25.074 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
25.074 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
25.074 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
25.074 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
25.074 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
25.074 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
25.074 * [taylor]: Taking taylor expansion of (* phi1 phi2) in phi1
25.074 * [taylor]: Taking taylor expansion of phi1 in phi1
25.074 * [backup-simplify]: Simplify 0 into 0
25.074 * [backup-simplify]: Simplify 1 into 1
25.074 * [taylor]: Taking taylor expansion of phi2 in phi1
25.074 * [backup-simplify]: Simplify phi2 into phi2
25.074 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))))) in phi1
25.074 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) in phi1
25.074 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
25.074 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
25.074 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.074 * [backup-simplify]: Simplify 0.5 into 0.5
25.074 * [taylor]: Taking taylor expansion of phi2 in phi1
25.074 * [backup-simplify]: Simplify phi2 into phi2
25.074 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
25.074 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
25.075 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
25.075 * [taylor]: Taking taylor expansion of (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))) in phi1
25.075 * [taylor]: Taking taylor expansion of R in phi1
25.075 * [backup-simplify]: Simplify R into R
25.075 * [taylor]: Taking taylor expansion of (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))) in phi1
25.075 * [taylor]: Taking taylor expansion of phi1 in phi1
25.075 * [backup-simplify]: Simplify 0 into 0
25.075 * [backup-simplify]: Simplify 1 into 1
25.075 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))) in phi1
25.075 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
25.075 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
25.075 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.075 * [backup-simplify]: Simplify 0.5 into 0.5
25.075 * [taylor]: Taking taylor expansion of phi1 in phi1
25.075 * [backup-simplify]: Simplify 0 into 0
25.075 * [backup-simplify]: Simplify 1 into 1
25.075 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
25.075 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
25.075 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)) in phi1
25.075 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
25.075 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
25.075 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.075 * [backup-simplify]: Simplify 0.5 into 0.5
25.075 * [taylor]: Taking taylor expansion of phi2 in phi1
25.075 * [backup-simplify]: Simplify phi2 into phi2
25.075 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
25.075 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
25.075 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
25.075 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) phi2) in phi1
25.075 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
25.075 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
25.076 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.076 * [backup-simplify]: Simplify 0.5 into 0.5
25.076 * [taylor]: Taking taylor expansion of phi1 in phi1
25.076 * [backup-simplify]: Simplify 0 into 0
25.076 * [backup-simplify]: Simplify 1 into 1
25.076 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
25.076 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
25.076 * [taylor]: Taking taylor expansion of phi2 in phi1
25.076 * [backup-simplify]: Simplify phi2 into phi2
25.076 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) in phi1
25.076 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
25.076 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
25.076 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.076 * [backup-simplify]: Simplify 0.5 into 0.5
25.076 * [taylor]: Taking taylor expansion of phi2 in phi1
25.076 * [backup-simplify]: Simplify phi2 into phi2
25.076 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
25.076 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
25.076 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
25.076 * [taylor]: Taking taylor expansion of (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))) in phi1
25.076 * [taylor]: Taking taylor expansion of R in phi1
25.076 * [backup-simplify]: Simplify R into R
25.076 * [taylor]: Taking taylor expansion of (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))) in phi1
25.076 * [taylor]: Taking taylor expansion of phi1 in phi1
25.076 * [backup-simplify]: Simplify 0 into 0
25.076 * [backup-simplify]: Simplify 1 into 1
25.076 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))) in phi1
25.076 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
25.076 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
25.076 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.076 * [backup-simplify]: Simplify 0.5 into 0.5
25.076 * [taylor]: Taking taylor expansion of phi1 in phi1
25.076 * [backup-simplify]: Simplify 0 into 0
25.076 * [backup-simplify]: Simplify 1 into 1
25.077 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
25.077 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
25.077 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)) in phi1
25.077 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
25.077 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
25.077 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.077 * [backup-simplify]: Simplify 0.5 into 0.5
25.077 * [taylor]: Taking taylor expansion of phi2 in phi1
25.077 * [backup-simplify]: Simplify phi2 into phi2
25.077 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
25.077 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
25.077 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
25.077 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) phi2) in phi1
25.077 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
25.077 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
25.077 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.077 * [backup-simplify]: Simplify 0.5 into 0.5
25.077 * [taylor]: Taking taylor expansion of phi1 in phi1
25.077 * [backup-simplify]: Simplify 0 into 0
25.077 * [backup-simplify]: Simplify 1 into 1
25.078 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
25.078 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
25.078 * [taylor]: Taking taylor expansion of phi2 in phi1
25.078 * [backup-simplify]: Simplify phi2 into phi2
25.078 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
25.078 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
25.078 * [backup-simplify]: Simplify (- 0) into 0
25.078 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
25.078 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
25.078 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
25.078 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
25.078 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
25.079 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
25.079 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
25.079 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
25.079 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
25.079 * [backup-simplify]: Simplify (* 0 phi2) into 0
25.079 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) 0) into 0
25.079 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) 0) into 0
25.079 * [backup-simplify]: Simplify (* R 0) into 0
25.079 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
25.079 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
25.079 * [backup-simplify]: Simplify (* 0 phi2) into 0
25.080 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) 0) into 0
25.080 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) 0) into 0
25.080 * [backup-simplify]: Simplify (* R 0) into 0
25.080 * [backup-simplify]: Simplify (+ 0 0) into 0
25.080 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
25.080 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
25.080 * [backup-simplify]: Simplify (- 0) into 0
25.080 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
25.081 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
25.081 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
25.081 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
25.081 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) phi2) into (* (sin (/ 0.5 phi1)) phi2)
25.081 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))
25.081 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) phi2)))
25.081 * [backup-simplify]: Simplify (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) phi2)))) into 0
25.081 * [backup-simplify]: Simplify (* R 0) into 0
25.081 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
25.081 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
25.081 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
25.081 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
25.081 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
25.082 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
25.082 * [backup-simplify]: Simplify (- 0) into 0
25.082 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
25.082 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) phi2) into (* (sin (/ 0.5 phi1)) phi2)
25.082 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))
25.082 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) phi2)))
25.083 * [backup-simplify]: Simplify (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) phi2)))) into 0
25.083 * [backup-simplify]: Simplify (* R 0) into 0
25.083 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
25.083 * [backup-simplify]: Simplify (+ 0 0) into 0
25.083 * [backup-simplify]: Simplify (- 0) into 0
25.083 * [backup-simplify]: Simplify (+ 0 0) into 0
25.084 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi2)) into phi2
25.084 * [backup-simplify]: Simplify (+ 0) into 0
25.084 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
25.084 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
25.085 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.085 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
25.085 * [backup-simplify]: Simplify (- 0) into 0
25.086 * [backup-simplify]: Simplify (+ 0 0) into 0
25.086 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
25.086 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) phi2) (* 0 0)) into (* (pow (cos (/ 0.5 phi2)) 2) phi2)
25.086 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
25.087 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) phi2)) (* 0 0)) into (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) phi2))
25.087 * [backup-simplify]: Simplify (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) phi2))) (* 0 0)) into (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) phi2)))
25.088 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi2)) into phi2
25.088 * [backup-simplify]: Simplify (+ 0) into 0
25.088 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
25.088 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
25.089 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.089 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
25.089 * [backup-simplify]: Simplify (+ 0 0) into 0
25.089 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
25.090 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) phi2) (* 0 0)) into (* (pow (sin (/ 0.5 phi2)) 2) phi2)
25.090 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
25.090 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) phi2)) (* 0 0)) into (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) phi2))
25.091 * [backup-simplify]: Simplify (+ (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) phi2))) (* 0 0)) into (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) phi2)))
25.091 * [backup-simplify]: Simplify (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) phi2))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) phi2)))) into (+ (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) phi2))) (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) phi2))))
25.092 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 phi2)) into 0
25.092 * [backup-simplify]: Simplify (+ 0) into 0
25.092 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
25.092 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
25.093 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.093 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
25.093 * [backup-simplify]: Simplify (+ 0 0) into 0
25.093 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) phi2))) into 0
25.094 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))) into 0
25.094 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))
25.095 * [backup-simplify]: Simplify (+ (* R (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))) (* 0 0)) into (* R (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) phi2))))
25.095 * [backup-simplify]: Simplify (+ 0) into 0
25.095 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
25.095 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
25.096 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.096 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
25.097 * [backup-simplify]: Simplify (- 0) into 0
25.097 * [backup-simplify]: Simplify (+ 0 0) into 0
25.098 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (* R (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) phi2))))) (* 0 0)) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R phi2)))))
25.098 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 phi2)) into 0
25.098 * [backup-simplify]: Simplify (+ 0) into 0
25.098 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
25.098 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
25.099 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.099 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
25.099 * [backup-simplify]: Simplify (- 0) into 0
25.100 * [backup-simplify]: Simplify (+ 0 0) into 0
25.100 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) phi2))) into 0
25.100 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))) into 0
25.100 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) phi2))))) into (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))
25.101 * [backup-simplify]: Simplify (+ (* R (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))) (* 0 0)) into (* R (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) phi2))))
25.101 * [backup-simplify]: Simplify (+ 0) into 0
25.102 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
25.102 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
25.102 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.102 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
25.103 * [backup-simplify]: Simplify (+ 0 0) into 0
25.103 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (* R (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) phi2))))) (* 0 0)) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R phi2)))))
25.104 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R phi2))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R phi2)))))) into (+ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R phi2))))) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R phi2))))))
25.105 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R phi2))))) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R phi2))))))) into (- (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))
25.107 * [backup-simplify]: Simplify (+ (+ (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) phi2))) (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) phi2)))) (- (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))) into (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))
25.108 * [backup-simplify]: Simplify (/ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))) into (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) phi2))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) phi2)))) (+ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R phi2))))) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R phi2))))))))
25.108 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in phi1
25.108 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in phi1
25.108 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in phi1
25.108 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in phi1
25.108 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in phi1
25.108 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1
25.108 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
25.108 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
25.108 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.108 * [backup-simplify]: Simplify 0.5 into 0.5
25.108 * [taylor]: Taking taylor expansion of phi2 in phi1
25.108 * [backup-simplify]: Simplify phi2 into phi2
25.109 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
25.109 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
25.109 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
25.109 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
25.109 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
25.109 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
25.109 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1
25.109 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
25.109 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
25.109 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.109 * [backup-simplify]: Simplify 0.5 into 0.5
25.109 * [taylor]: Taking taylor expansion of phi1 in phi1
25.109 * [backup-simplify]: Simplify 0 into 0
25.109 * [backup-simplify]: Simplify 1 into 1
25.109 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
25.109 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
25.109 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in phi1
25.110 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1
25.110 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
25.110 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
25.110 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.110 * [backup-simplify]: Simplify 0.5 into 0.5
25.110 * [taylor]: Taking taylor expansion of phi2 in phi1
25.110 * [backup-simplify]: Simplify phi2 into phi2
25.110 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
25.110 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
25.110 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
25.110 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
25.110 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
25.110 * [backup-simplify]: Simplify (- 0) into 0
25.110 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
25.110 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1
25.110 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
25.110 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
25.110 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.110 * [backup-simplify]: Simplify 0.5 into 0.5
25.110 * [taylor]: Taking taylor expansion of phi1 in phi1
25.110 * [backup-simplify]: Simplify 0 into 0
25.110 * [backup-simplify]: Simplify 1 into 1
25.111 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
25.111 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
25.111 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in phi1
25.111 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in phi1
25.111 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
25.111 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
25.111 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.111 * [backup-simplify]: Simplify 0.5 into 0.5
25.111 * [taylor]: Taking taylor expansion of phi2 in phi1
25.111 * [backup-simplify]: Simplify phi2 into phi2
25.111 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
25.111 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
25.111 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
25.111 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in phi1
25.111 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
25.111 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
25.111 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.111 * [backup-simplify]: Simplify 0.5 into 0.5
25.111 * [taylor]: Taking taylor expansion of phi1 in phi1
25.111 * [backup-simplify]: Simplify 0 into 0
25.111 * [backup-simplify]: Simplify 1 into 1
25.112 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
25.112 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
25.112 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in phi1
25.112 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
25.112 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
25.112 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.112 * [backup-simplify]: Simplify 0.5 into 0.5
25.112 * [taylor]: Taking taylor expansion of phi2 in phi1
25.112 * [backup-simplify]: Simplify phi2 into phi2
25.112 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
25.112 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
25.112 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
25.112 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
25.112 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
25.112 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.112 * [backup-simplify]: Simplify 0.5 into 0.5
25.112 * [taylor]: Taking taylor expansion of phi1 in phi1
25.112 * [backup-simplify]: Simplify 0 into 0
25.112 * [backup-simplify]: Simplify 1 into 1
25.112 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
25.112 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
25.112 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in phi1
25.112 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
25.112 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
25.112 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.112 * [backup-simplify]: Simplify 0.5 into 0.5
25.112 * [taylor]: Taking taylor expansion of phi2 in phi1
25.113 * [backup-simplify]: Simplify phi2 into phi2
25.113 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
25.113 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
25.113 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
25.113 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in phi1
25.113 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
25.113 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
25.113 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.113 * [backup-simplify]: Simplify 0.5 into 0.5
25.113 * [taylor]: Taking taylor expansion of phi1 in phi1
25.113 * [backup-simplify]: Simplify 0 into 0
25.113 * [backup-simplify]: Simplify 1 into 1
25.113 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
25.113 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
25.113 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in phi1
25.113 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
25.113 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
25.113 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.113 * [backup-simplify]: Simplify 0.5 into 0.5
25.113 * [taylor]: Taking taylor expansion of phi2 in phi1
25.113 * [backup-simplify]: Simplify phi2 into phi2
25.113 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
25.113 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
25.113 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
25.113 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
25.113 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
25.113 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.113 * [backup-simplify]: Simplify 0.5 into 0.5
25.113 * [taylor]: Taking taylor expansion of phi1 in phi1
25.114 * [backup-simplify]: Simplify 0 into 0
25.114 * [backup-simplify]: Simplify 1 into 1
25.114 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
25.114 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
25.114 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
25.114 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
25.114 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
25.114 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
25.115 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
25.115 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
25.115 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
25.115 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
25.115 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
25.116 * [backup-simplify]: Simplify (- 0) into 0
25.116 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
25.116 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
25.116 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
25.116 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
25.116 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
25.116 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
25.116 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
25.116 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
25.116 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
25.116 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
25.116 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
25.117 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
25.117 * [backup-simplify]: Simplify (- 0) into 0
25.117 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
25.117 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
25.117 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
25.117 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
25.118 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))
25.118 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
25.119 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
25.120 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
25.121 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
25.121 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
25.122 * [backup-simplify]: Simplify (+ 0) into 0
25.122 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
25.122 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
25.122 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.123 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
25.123 * [backup-simplify]: Simplify (+ 0 0) into 0
25.123 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
25.123 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
25.123 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
25.124 * [backup-simplify]: Simplify (+ 0) into 0
25.124 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
25.124 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
25.125 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.125 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
25.125 * [backup-simplify]: Simplify (- 0) into 0
25.125 * [backup-simplify]: Simplify (+ 0 0) into 0
25.125 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
25.126 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
25.126 * [backup-simplify]: Simplify (+ 0 0) into 0
25.126 * [backup-simplify]: Simplify (+ 0) into 0
25.127 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
25.127 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
25.127 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.127 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
25.128 * [backup-simplify]: Simplify (+ 0 0) into 0
25.128 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
25.128 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
25.128 * [backup-simplify]: Simplify (+ 0) into 0
25.128 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
25.129 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
25.129 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.129 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
25.130 * [backup-simplify]: Simplify (- 0) into 0
25.130 * [backup-simplify]: Simplify (+ 0 0) into 0
25.130 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
25.130 * [backup-simplify]: Simplify (+ 0) into 0
25.131 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
25.131 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
25.131 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.131 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
25.132 * [backup-simplify]: Simplify (- 0) into 0
25.132 * [backup-simplify]: Simplify (+ 0 0) into 0
25.132 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
25.132 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
25.132 * [backup-simplify]: Simplify (+ 0) into 0
25.133 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
25.133 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
25.133 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.134 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
25.134 * [backup-simplify]: Simplify (+ 0 0) into 0
25.134 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
25.134 * [backup-simplify]: Simplify (+ 0 0) into 0
25.134 * [backup-simplify]: Simplify (- 0) into 0
25.135 * [backup-simplify]: Simplify (+ 0 0) into 0
25.137 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
25.138 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
25.138 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)))) (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2))))) (+ (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2))))))))))))) in phi1
25.138 * [taylor]: Taking taylor expansion of (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)))) (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2))))) (+ (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) in phi1
25.138 * [taylor]: Taking taylor expansion of 1/2 in phi1
25.138 * [backup-simplify]: Simplify 1/2 into 1/2
25.138 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)))) (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2))))) (+ (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) in phi1
25.138 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in phi1
25.138 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in phi1
25.138 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in phi1
25.138 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in phi1
25.138 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in phi1
25.138 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1
25.138 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
25.138 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
25.138 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.138 * [backup-simplify]: Simplify 0.5 into 0.5
25.138 * [taylor]: Taking taylor expansion of phi2 in phi1
25.138 * [backup-simplify]: Simplify phi2 into phi2
25.139 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
25.139 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
25.139 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
25.139 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
25.139 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
25.139 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
25.139 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1
25.139 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
25.139 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
25.139 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.139 * [backup-simplify]: Simplify 0.5 into 0.5
25.139 * [taylor]: Taking taylor expansion of phi1 in phi1
25.139 * [backup-simplify]: Simplify 0 into 0
25.139 * [backup-simplify]: Simplify 1 into 1
25.139 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
25.139 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
25.139 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in phi1
25.139 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1
25.139 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
25.139 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
25.139 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.140 * [backup-simplify]: Simplify 0.5 into 0.5
25.140 * [taylor]: Taking taylor expansion of phi2 in phi1
25.140 * [backup-simplify]: Simplify phi2 into phi2
25.140 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
25.140 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
25.140 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
25.140 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
25.140 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
25.140 * [backup-simplify]: Simplify (- 0) into 0
25.140 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
25.140 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1
25.140 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
25.140 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
25.140 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.140 * [backup-simplify]: Simplify 0.5 into 0.5
25.140 * [taylor]: Taking taylor expansion of phi1 in phi1
25.140 * [backup-simplify]: Simplify 0 into 0
25.140 * [backup-simplify]: Simplify 1 into 1
25.141 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
25.141 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
25.141 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in phi1
25.141 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in phi1
25.141 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
25.141 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
25.141 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.141 * [backup-simplify]: Simplify 0.5 into 0.5
25.141 * [taylor]: Taking taylor expansion of phi2 in phi1
25.141 * [backup-simplify]: Simplify phi2 into phi2
25.141 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
25.141 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
25.141 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
25.141 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in phi1
25.141 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
25.141 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
25.141 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.141 * [backup-simplify]: Simplify 0.5 into 0.5
25.141 * [taylor]: Taking taylor expansion of phi1 in phi1
25.141 * [backup-simplify]: Simplify 0 into 0
25.141 * [backup-simplify]: Simplify 1 into 1
25.142 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
25.142 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
25.142 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in phi1
25.142 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
25.142 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
25.142 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.142 * [backup-simplify]: Simplify 0.5 into 0.5
25.142 * [taylor]: Taking taylor expansion of phi2 in phi1
25.142 * [backup-simplify]: Simplify phi2 into phi2
25.142 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
25.142 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
25.142 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
25.142 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
25.142 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
25.142 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.142 * [backup-simplify]: Simplify 0.5 into 0.5
25.142 * [taylor]: Taking taylor expansion of phi1 in phi1
25.142 * [backup-simplify]: Simplify 0 into 0
25.142 * [backup-simplify]: Simplify 1 into 1
25.142 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
25.142 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
25.142 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in phi1
25.142 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
25.142 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
25.142 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.142 * [backup-simplify]: Simplify 0.5 into 0.5
25.142 * [taylor]: Taking taylor expansion of phi2 in phi1
25.142 * [backup-simplify]: Simplify phi2 into phi2
25.142 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
25.143 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
25.143 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
25.143 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in phi1
25.143 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
25.143 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
25.143 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.143 * [backup-simplify]: Simplify 0.5 into 0.5
25.143 * [taylor]: Taking taylor expansion of phi1 in phi1
25.143 * [backup-simplify]: Simplify 0 into 0
25.143 * [backup-simplify]: Simplify 1 into 1
25.143 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
25.143 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
25.143 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in phi1
25.143 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
25.143 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
25.143 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.143 * [backup-simplify]: Simplify 0.5 into 0.5
25.143 * [taylor]: Taking taylor expansion of phi2 in phi1
25.143 * [backup-simplify]: Simplify phi2 into phi2
25.143 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
25.143 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
25.143 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
25.143 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
25.143 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
25.143 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.143 * [backup-simplify]: Simplify 0.5 into 0.5
25.143 * [taylor]: Taking taylor expansion of phi1 in phi1
25.143 * [backup-simplify]: Simplify 0 into 0
25.143 * [backup-simplify]: Simplify 1 into 1
25.144 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
25.144 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
25.144 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
25.144 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
25.144 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
25.144 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
25.144 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
25.145 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
25.145 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
25.145 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
25.145 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
25.145 * [backup-simplify]: Simplify (- 0) into 0
25.145 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
25.146 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
25.146 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
25.146 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
25.146 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
25.146 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
25.146 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
25.146 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
25.146 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
25.146 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
25.147 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
25.147 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
25.147 * [backup-simplify]: Simplify (- 0) into 0
25.147 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
25.147 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
25.147 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
25.147 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
25.148 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))
25.148 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
25.149 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
25.150 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
25.151 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
25.151 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
25.152 * [backup-simplify]: Simplify (+ 0) into 0
25.152 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
25.152 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
25.153 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.153 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
25.153 * [backup-simplify]: Simplify (+ 0 0) into 0
25.153 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
25.153 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
25.154 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
25.154 * [backup-simplify]: Simplify (+ 0) into 0
25.154 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
25.154 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
25.155 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.155 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
25.155 * [backup-simplify]: Simplify (- 0) into 0
25.155 * [backup-simplify]: Simplify (+ 0 0) into 0
25.156 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
25.156 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
25.156 * [backup-simplify]: Simplify (+ 0 0) into 0
25.156 * [backup-simplify]: Simplify (+ 0) into 0
25.157 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
25.157 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
25.157 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.157 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
25.158 * [backup-simplify]: Simplify (+ 0 0) into 0
25.158 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
25.158 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
25.158 * [backup-simplify]: Simplify (+ 0) into 0
25.159 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
25.159 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
25.159 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.159 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
25.160 * [backup-simplify]: Simplify (- 0) into 0
25.160 * [backup-simplify]: Simplify (+ 0 0) into 0
25.160 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
25.160 * [backup-simplify]: Simplify (+ 0) into 0
25.161 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
25.161 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
25.161 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.162 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
25.162 * [backup-simplify]: Simplify (- 0) into 0
25.162 * [backup-simplify]: Simplify (+ 0 0) into 0
25.163 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
25.163 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
25.163 * [backup-simplify]: Simplify (+ 0) into 0
25.164 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
25.164 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
25.165 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.165 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
25.165 * [backup-simplify]: Simplify (+ 0 0) into 0
25.166 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
25.171 * [backup-simplify]: Simplify (+ 0 0) into 0
25.172 * [backup-simplify]: Simplify (- 0) into 0
25.172 * [backup-simplify]: Simplify (+ 0 0) into 0
25.176 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
25.179 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
25.179 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)))) (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2))))) (+ (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) in phi1
25.179 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in phi1
25.179 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1
25.179 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
25.179 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
25.179 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.179 * [backup-simplify]: Simplify 0.5 into 0.5
25.179 * [taylor]: Taking taylor expansion of phi2 in phi1
25.179 * [backup-simplify]: Simplify phi2 into phi2
25.179 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
25.179 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
25.179 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
25.179 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
25.180 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
25.180 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
25.180 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1
25.180 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
25.180 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
25.180 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.180 * [backup-simplify]: Simplify 0.5 into 0.5
25.180 * [taylor]: Taking taylor expansion of phi1 in phi1
25.180 * [backup-simplify]: Simplify 0 into 0
25.180 * [backup-simplify]: Simplify 1 into 1
25.181 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
25.181 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
25.181 * [taylor]: Taking taylor expansion of (- (+ (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)))) (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2))))) (+ (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in phi1
25.181 * [taylor]: Taking taylor expansion of (+ (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)))) (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2))))) in phi1
25.181 * [taylor]: Taking taylor expansion of (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)))) in phi1
25.181 * [taylor]: Taking taylor expansion of R in phi1
25.181 * [backup-simplify]: Simplify R into R
25.181 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2))) in phi1
25.181 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1
25.181 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
25.181 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
25.181 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.181 * [backup-simplify]: Simplify 0.5 into 0.5
25.181 * [taylor]: Taking taylor expansion of phi1 in phi1
25.181 * [backup-simplify]: Simplify 0 into 0
25.181 * [backup-simplify]: Simplify 1 into 1
25.182 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
25.182 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
25.182 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)) in phi1
25.182 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1
25.182 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
25.182 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
25.182 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.182 * [backup-simplify]: Simplify 0.5 into 0.5
25.182 * [taylor]: Taking taylor expansion of phi2 in phi1
25.182 * [backup-simplify]: Simplify phi2 into phi2
25.182 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
25.182 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
25.182 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
25.182 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
25.182 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
25.183 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
25.183 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1
25.183 * [taylor]: Taking taylor expansion of phi1 in phi1
25.183 * [backup-simplify]: Simplify 0 into 0
25.183 * [backup-simplify]: Simplify 1 into 1
25.183 * [taylor]: Taking taylor expansion of (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2)))) in phi1
25.183 * [taylor]: Taking taylor expansion of R in phi1
25.183 * [backup-simplify]: Simplify R into R
25.183 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2))) in phi1
25.183 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1
25.183 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
25.183 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
25.183 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.183 * [backup-simplify]: Simplify 0.5 into 0.5
25.183 * [taylor]: Taking taylor expansion of phi1 in phi1
25.183 * [backup-simplify]: Simplify 0 into 0
25.183 * [backup-simplify]: Simplify 1 into 1
25.183 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
25.184 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
25.184 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2)) in phi1
25.184 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1
25.184 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
25.184 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
25.184 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.184 * [backup-simplify]: Simplify 0.5 into 0.5
25.184 * [taylor]: Taking taylor expansion of phi2 in phi1
25.184 * [backup-simplify]: Simplify phi2 into phi2
25.184 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
25.184 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
25.184 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
25.184 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
25.184 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
25.185 * [backup-simplify]: Simplify (- 0) into 0
25.185 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
25.185 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1
25.185 * [taylor]: Taking taylor expansion of phi1 in phi1
25.185 * [backup-simplify]: Simplify 0 into 0
25.185 * [backup-simplify]: Simplify 1 into 1
25.185 * [taylor]: Taking taylor expansion of (+ (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in phi1
25.185 * [taylor]: Taking taylor expansion of (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) in phi1
25.185 * [taylor]: Taking taylor expansion of R in phi1
25.185 * [backup-simplify]: Simplify R into R
25.185 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) in phi1
25.185 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
25.185 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
25.185 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.185 * [backup-simplify]: Simplify 0.5 into 0.5
25.185 * [taylor]: Taking taylor expansion of phi2 in phi1
25.185 * [backup-simplify]: Simplify phi2 into phi2
25.185 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
25.185 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
25.185 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
25.185 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in phi1
25.185 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
25.185 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
25.185 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.186 * [backup-simplify]: Simplify 0.5 into 0.5
25.186 * [taylor]: Taking taylor expansion of phi1 in phi1
25.186 * [backup-simplify]: Simplify 0 into 0
25.186 * [backup-simplify]: Simplify 1 into 1
25.186 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
25.186 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
25.186 * [taylor]: Taking taylor expansion of (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in phi1
25.186 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1
25.186 * [taylor]: Taking taylor expansion of phi1 in phi1
25.186 * [backup-simplify]: Simplify 0 into 0
25.186 * [backup-simplify]: Simplify 1 into 1
25.186 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in phi1
25.186 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
25.186 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
25.186 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.186 * [backup-simplify]: Simplify 0.5 into 0.5
25.186 * [taylor]: Taking taylor expansion of phi2 in phi1
25.187 * [backup-simplify]: Simplify phi2 into phi2
25.187 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
25.187 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
25.187 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
25.187 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
25.187 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
25.187 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.187 * [backup-simplify]: Simplify 0.5 into 0.5
25.187 * [taylor]: Taking taylor expansion of phi1 in phi1
25.187 * [backup-simplify]: Simplify 0 into 0
25.187 * [backup-simplify]: Simplify 1 into 1
25.187 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
25.188 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
25.188 * [taylor]: Taking taylor expansion of (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in phi1
25.188 * [taylor]: Taking taylor expansion of R in phi1
25.188 * [backup-simplify]: Simplify R into R
25.188 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in phi1
25.188 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
25.188 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
25.188 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.188 * [backup-simplify]: Simplify 0.5 into 0.5
25.188 * [taylor]: Taking taylor expansion of phi2 in phi1
25.188 * [backup-simplify]: Simplify phi2 into phi2
25.188 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
25.188 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
25.188 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
25.188 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in phi1
25.188 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
25.188 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
25.188 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.188 * [backup-simplify]: Simplify 0.5 into 0.5
25.188 * [taylor]: Taking taylor expansion of phi1 in phi1
25.188 * [backup-simplify]: Simplify 0 into 0
25.188 * [backup-simplify]: Simplify 1 into 1
25.189 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
25.189 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
25.189 * [taylor]: Taking taylor expansion of (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in phi1
25.189 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1
25.189 * [taylor]: Taking taylor expansion of phi1 in phi1
25.189 * [backup-simplify]: Simplify 0 into 0
25.189 * [backup-simplify]: Simplify 1 into 1
25.189 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in phi1
25.189 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
25.189 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
25.189 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.189 * [backup-simplify]: Simplify 0.5 into 0.5
25.189 * [taylor]: Taking taylor expansion of phi2 in phi1
25.189 * [backup-simplify]: Simplify phi2 into phi2
25.189 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
25.190 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
25.190 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
25.190 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
25.190 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
25.190 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.190 * [backup-simplify]: Simplify 0.5 into 0.5
25.190 * [taylor]: Taking taylor expansion of phi1 in phi1
25.190 * [backup-simplify]: Simplify 0 into 0
25.190 * [backup-simplify]: Simplify 1 into 1
25.191 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
25.191 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
25.191 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
25.191 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
25.192 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
25.192 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
25.192 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
25.193 * [backup-simplify]: Simplify (* 1 1) into 1
25.193 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) 1) into (pow (sin (/ 0.5 phi2)) 2)
25.193 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
25.194 * [backup-simplify]: Simplify (* R (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))) into (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R))
25.194 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
25.194 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
25.194 * [backup-simplify]: Simplify (* 1 1) into 1
25.195 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) 1) into (pow (cos (/ 0.5 phi2)) 2)
25.195 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
25.195 * [backup-simplify]: Simplify (* R (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))
25.197 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) into (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R)))
25.197 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
25.197 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
25.197 * [backup-simplify]: Simplify (- 0) into 0
25.198 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
25.198 * [backup-simplify]: Simplify (* 1 1) into 1
25.198 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
25.198 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
25.198 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
25.198 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
25.199 * [backup-simplify]: Simplify (* 1 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
25.199 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
25.199 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
25.200 * [backup-simplify]: Simplify (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R))))
25.200 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
25.200 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
25.200 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
25.200 * [backup-simplify]: Simplify (* 1 1) into 1
25.200 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
25.201 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
25.201 * [backup-simplify]: Simplify (- 0) into 0
25.201 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
25.201 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
25.201 * [backup-simplify]: Simplify (* 1 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
25.202 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
25.202 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
25.202 * [backup-simplify]: Simplify (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R))))
25.203 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R)))) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R))))) into (+ (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R)))) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R)))))
25.204 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R)))) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R)))))) into (- (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))))
25.206 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (- (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))))) into (- (+ (* R (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))) (* R (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))) (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))))
25.209 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))) (* R (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))) (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))))) into (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (+ (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R)))) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R)))))))
25.209 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2)))))))))))) in phi1
25.209 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) in phi1
25.209 * [taylor]: Taking taylor expansion of 1/2 in phi1
25.209 * [backup-simplify]: Simplify 1/2 into 1/2
25.209 * [taylor]: Taking taylor expansion of (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) in phi1
25.209 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) in phi1
25.210 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in phi1
25.210 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1
25.210 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
25.210 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
25.210 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.210 * [backup-simplify]: Simplify 0.5 into 0.5
25.210 * [taylor]: Taking taylor expansion of phi2 in phi1
25.210 * [backup-simplify]: Simplify phi2 into phi2
25.210 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
25.210 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
25.210 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
25.210 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
25.210 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
25.211 * [backup-simplify]: Simplify (- 0) into 0
25.211 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
25.211 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1
25.211 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
25.211 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
25.211 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.211 * [backup-simplify]: Simplify 0.5 into 0.5
25.211 * [taylor]: Taking taylor expansion of phi1 in phi1
25.211 * [backup-simplify]: Simplify 0 into 0
25.211 * [backup-simplify]: Simplify 1 into 1
25.212 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
25.212 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
25.212 * [taylor]: Taking taylor expansion of (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2)))))))) in phi1
25.212 * [taylor]: Taking taylor expansion of (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) in phi1
25.212 * [taylor]: Taking taylor expansion of (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) in phi1
25.212 * [taylor]: Taking taylor expansion of R in phi1
25.212 * [backup-simplify]: Simplify R into R
25.212 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2))) in phi1
25.212 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1
25.212 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
25.212 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
25.212 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.212 * [backup-simplify]: Simplify 0.5 into 0.5
25.212 * [taylor]: Taking taylor expansion of phi2 in phi1
25.212 * [backup-simplify]: Simplify phi2 into phi2
25.212 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
25.212 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
25.212 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
25.213 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
25.213 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
25.213 * [backup-simplify]: Simplify (- 0) into 0
25.213 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
25.213 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)) in phi1
25.213 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1
25.213 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
25.213 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
25.213 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.213 * [backup-simplify]: Simplify 0.5 into 0.5
25.213 * [taylor]: Taking taylor expansion of phi1 in phi1
25.213 * [backup-simplify]: Simplify 0 into 0
25.213 * [backup-simplify]: Simplify 1 into 1
25.214 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
25.214 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
25.214 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1
25.214 * [taylor]: Taking taylor expansion of phi2 in phi1
25.214 * [backup-simplify]: Simplify phi2 into phi2
25.214 * [taylor]: Taking taylor expansion of (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2)))) in phi1
25.214 * [taylor]: Taking taylor expansion of R in phi1
25.214 * [backup-simplify]: Simplify R into R
25.214 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))) in phi1
25.214 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1
25.214 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
25.214 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
25.214 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.214 * [backup-simplify]: Simplify 0.5 into 0.5
25.214 * [taylor]: Taking taylor expansion of phi2 in phi1
25.214 * [backup-simplify]: Simplify phi2 into phi2
25.214 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
25.214 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
25.215 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
25.215 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
25.215 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
25.215 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
25.215 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2)) in phi1
25.215 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1
25.215 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
25.215 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
25.215 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.215 * [backup-simplify]: Simplify 0.5 into 0.5
25.215 * [taylor]: Taking taylor expansion of phi1 in phi1
25.215 * [backup-simplify]: Simplify 0 into 0
25.215 * [backup-simplify]: Simplify 1 into 1
25.216 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
25.216 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
25.216 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1
25.216 * [taylor]: Taking taylor expansion of phi2 in phi1
25.216 * [backup-simplify]: Simplify phi2 into phi2
25.216 * [taylor]: Taking taylor expansion of (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))) in phi1
25.216 * [taylor]: Taking taylor expansion of (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) in phi1
25.216 * [taylor]: Taking taylor expansion of R in phi1
25.216 * [backup-simplify]: Simplify R into R
25.216 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2))))) in phi1
25.216 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
25.216 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
25.216 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.216 * [backup-simplify]: Simplify 0.5 into 0.5
25.216 * [taylor]: Taking taylor expansion of phi2 in phi1
25.216 * [backup-simplify]: Simplify phi2 into phi2
25.216 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
25.216 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
25.216 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
25.216 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))) in phi1
25.216 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
25.216 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
25.216 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.216 * [backup-simplify]: Simplify 0.5 into 0.5
25.217 * [taylor]: Taking taylor expansion of phi1 in phi1
25.217 * [backup-simplify]: Simplify 0 into 0
25.217 * [backup-simplify]: Simplify 1 into 1
25.217 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
25.217 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
25.217 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2))) in phi1
25.217 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
25.217 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
25.217 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.217 * [backup-simplify]: Simplify 0.5 into 0.5
25.217 * [taylor]: Taking taylor expansion of phi2 in phi1
25.217 * [backup-simplify]: Simplify phi2 into phi2
25.217 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
25.218 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
25.218 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
25.218 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (pow phi2 2)) in phi1
25.218 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
25.218 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
25.218 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.218 * [backup-simplify]: Simplify 0.5 into 0.5
25.218 * [taylor]: Taking taylor expansion of phi1 in phi1
25.218 * [backup-simplify]: Simplify 0 into 0
25.218 * [backup-simplify]: Simplify 1 into 1
25.218 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
25.219 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
25.219 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1
25.219 * [taylor]: Taking taylor expansion of phi2 in phi1
25.219 * [backup-simplify]: Simplify phi2 into phi2
25.219 * [taylor]: Taking taylor expansion of (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2)))))) in phi1
25.219 * [taylor]: Taking taylor expansion of R in phi1
25.219 * [backup-simplify]: Simplify R into R
25.219 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))) in phi1
25.219 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
25.219 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
25.219 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.219 * [backup-simplify]: Simplify 0.5 into 0.5
25.219 * [taylor]: Taking taylor expansion of phi2 in phi1
25.219 * [backup-simplify]: Simplify phi2 into phi2
25.219 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
25.219 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
25.219 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
25.219 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2)))) in phi1
25.219 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
25.219 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
25.219 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.219 * [backup-simplify]: Simplify 0.5 into 0.5
25.219 * [taylor]: Taking taylor expansion of phi1 in phi1
25.219 * [backup-simplify]: Simplify 0 into 0
25.219 * [backup-simplify]: Simplify 1 into 1
25.220 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
25.220 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
25.220 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))) in phi1
25.220 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
25.221 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
25.221 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.221 * [backup-simplify]: Simplify 0.5 into 0.5
25.221 * [taylor]: Taking taylor expansion of phi2 in phi1
25.221 * [backup-simplify]: Simplify phi2 into phi2
25.221 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
25.221 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
25.221 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
25.221 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (pow phi2 2)) in phi1
25.221 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
25.221 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
25.221 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.221 * [backup-simplify]: Simplify 0.5 into 0.5
25.221 * [taylor]: Taking taylor expansion of phi1 in phi1
25.221 * [backup-simplify]: Simplify 0 into 0
25.221 * [backup-simplify]: Simplify 1 into 1
25.222 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
25.222 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
25.222 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1
25.222 * [taylor]: Taking taylor expansion of phi2 in phi1
25.222 * [backup-simplify]: Simplify phi2 into phi2
25.222 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
25.222 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
25.222 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
25.223 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
25.223 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
25.223 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
25.223 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2))
25.224 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2))) into (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))
25.224 * [backup-simplify]: Simplify (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) into (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))
25.224 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
25.224 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
25.225 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
25.225 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))
25.225 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))) into (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2)))
25.226 * [backup-simplify]: Simplify (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2)))) into (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2))))
25.227 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) into (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2)))))
25.227 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
25.227 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
25.227 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
25.228 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
25.228 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
25.228 * [backup-simplify]: Simplify (- 0) into 0
25.228 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
25.228 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
25.229 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (pow phi2 2)) into (* (cos (/ 0.5 phi1)) (pow phi2 2))
25.229 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2))) into (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))
25.229 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))) into (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))
25.230 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))) into (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2)))))
25.230 * [backup-simplify]: Simplify (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2)))))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2))))))
25.230 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
25.231 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
25.231 * [backup-simplify]: Simplify (- 0) into 0
25.231 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
25.231 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
25.231 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
25.232 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
25.232 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
25.232 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (pow phi2 2)) into (* (sin (/ 0.5 phi1)) (pow phi2 2))
25.232 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2)))
25.232 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2))))
25.233 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2))))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))
25.234 * [backup-simplify]: Simplify (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2))))))
25.235 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2))))))) into (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2)))))))
25.237 * [backup-simplify]: Simplify (- (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2)))))))) into (- (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))
25.241 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (- (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) into (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))
25.245 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) into (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2)))))))))
25.245 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in phi1
25.245 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in phi1
25.245 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in phi1
25.245 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in phi1
25.245 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in phi1
25.245 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1
25.245 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
25.245 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
25.245 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.245 * [backup-simplify]: Simplify 0.5 into 0.5
25.245 * [taylor]: Taking taylor expansion of phi2 in phi1
25.245 * [backup-simplify]: Simplify phi2 into phi2
25.245 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
25.246 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
25.246 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
25.246 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
25.246 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
25.246 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
25.246 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1
25.246 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
25.246 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
25.246 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.246 * [backup-simplify]: Simplify 0.5 into 0.5
25.246 * [taylor]: Taking taylor expansion of phi1 in phi1
25.246 * [backup-simplify]: Simplify 0 into 0
25.246 * [backup-simplify]: Simplify 1 into 1
25.247 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
25.247 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
25.247 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in phi1
25.247 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1
25.247 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
25.247 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
25.247 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.247 * [backup-simplify]: Simplify 0.5 into 0.5
25.247 * [taylor]: Taking taylor expansion of phi2 in phi1
25.247 * [backup-simplify]: Simplify phi2 into phi2
25.247 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
25.247 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
25.248 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
25.248 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
25.248 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
25.248 * [backup-simplify]: Simplify (- 0) into 0
25.248 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
25.248 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1
25.248 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
25.249 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
25.249 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.249 * [backup-simplify]: Simplify 0.5 into 0.5
25.249 * [taylor]: Taking taylor expansion of phi1 in phi1
25.249 * [backup-simplify]: Simplify 0 into 0
25.249 * [backup-simplify]: Simplify 1 into 1
25.249 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
25.249 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
25.249 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in phi1
25.249 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in phi1
25.249 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
25.249 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
25.249 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.250 * [backup-simplify]: Simplify 0.5 into 0.5
25.250 * [taylor]: Taking taylor expansion of phi2 in phi1
25.250 * [backup-simplify]: Simplify phi2 into phi2
25.250 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
25.250 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
25.250 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
25.250 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in phi1
25.250 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
25.250 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
25.250 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.250 * [backup-simplify]: Simplify 0.5 into 0.5
25.250 * [taylor]: Taking taylor expansion of phi1 in phi1
25.250 * [backup-simplify]: Simplify 0 into 0
25.250 * [backup-simplify]: Simplify 1 into 1
25.251 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
25.251 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
25.251 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in phi1
25.251 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
25.251 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
25.251 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.251 * [backup-simplify]: Simplify 0.5 into 0.5
25.251 * [taylor]: Taking taylor expansion of phi2 in phi1
25.251 * [backup-simplify]: Simplify phi2 into phi2
25.251 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
25.251 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
25.251 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
25.251 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
25.251 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
25.251 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.251 * [backup-simplify]: Simplify 0.5 into 0.5
25.251 * [taylor]: Taking taylor expansion of phi1 in phi1
25.251 * [backup-simplify]: Simplify 0 into 0
25.251 * [backup-simplify]: Simplify 1 into 1
25.252 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
25.252 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
25.252 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in phi1
25.252 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
25.252 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
25.252 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.252 * [backup-simplify]: Simplify 0.5 into 0.5
25.252 * [taylor]: Taking taylor expansion of phi2 in phi1
25.252 * [backup-simplify]: Simplify phi2 into phi2
25.252 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
25.252 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
25.252 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
25.252 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in phi1
25.252 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
25.253 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
25.253 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.253 * [backup-simplify]: Simplify 0.5 into 0.5
25.253 * [taylor]: Taking taylor expansion of phi1 in phi1
25.253 * [backup-simplify]: Simplify 0 into 0
25.253 * [backup-simplify]: Simplify 1 into 1
25.253 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
25.253 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
25.253 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in phi1
25.253 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
25.253 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
25.253 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.253 * [backup-simplify]: Simplify 0.5 into 0.5
25.253 * [taylor]: Taking taylor expansion of phi2 in phi1
25.253 * [backup-simplify]: Simplify phi2 into phi2
25.253 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
25.254 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
25.254 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
25.254 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
25.254 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
25.254 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.254 * [backup-simplify]: Simplify 0.5 into 0.5
25.254 * [taylor]: Taking taylor expansion of phi1 in phi1
25.254 * [backup-simplify]: Simplify 0 into 0
25.254 * [backup-simplify]: Simplify 1 into 1
25.254 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
25.254 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
25.255 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
25.255 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
25.255 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
25.255 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
25.255 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
25.256 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
25.257 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
25.257 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
25.257 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
25.257 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
25.257 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
25.257 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
25.258 * [backup-simplify]: Simplify (- 0) into 0
25.258 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
25.258 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
25.258 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
25.259 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
25.259 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
25.259 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
25.259 * [backup-simplify]: Simplify (- 0) into 0
25.259 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
25.260 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
25.260 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
25.260 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
25.260 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
25.260 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
25.260 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
25.261 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))
25.262 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
25.264 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
25.266 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
25.268 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
25.268 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
25.269 * [backup-simplify]: Simplify (+ 0) into 0
25.269 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
25.269 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
25.270 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.271 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
25.271 * [backup-simplify]: Simplify (+ 0 0) into 0
25.271 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
25.272 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
25.272 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
25.272 * [backup-simplify]: Simplify (+ 0) into 0
25.273 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
25.273 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
25.274 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.274 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
25.274 * [backup-simplify]: Simplify (- 0) into 0
25.275 * [backup-simplify]: Simplify (+ 0 0) into 0
25.275 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
25.275 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
25.276 * [backup-simplify]: Simplify (+ 0 0) into 0
25.276 * [backup-simplify]: Simplify (+ 0) into 0
25.277 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
25.277 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
25.278 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.278 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
25.278 * [backup-simplify]: Simplify (- 0) into 0
25.279 * [backup-simplify]: Simplify (+ 0 0) into 0
25.279 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
25.279 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
25.280 * [backup-simplify]: Simplify (+ 0) into 0
25.280 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
25.280 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
25.281 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.281 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
25.282 * [backup-simplify]: Simplify (+ 0 0) into 0
25.282 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
25.283 * [backup-simplify]: Simplify (+ 0) into 0
25.283 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
25.283 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
25.284 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.285 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
25.286 * [backup-simplify]: Simplify (+ 0 0) into 0
25.286 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
25.286 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
25.287 * [backup-simplify]: Simplify (+ 0) into 0
25.287 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
25.287 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
25.288 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.289 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
25.289 * [backup-simplify]: Simplify (- 0) into 0
25.289 * [backup-simplify]: Simplify (+ 0 0) into 0
25.290 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
25.290 * [backup-simplify]: Simplify (+ 0 0) into 0
25.291 * [backup-simplify]: Simplify (- 0) into 0
25.291 * [backup-simplify]: Simplify (+ 0 0) into 0
25.295 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
25.297 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
25.297 * [taylor]: Taking taylor expansion of (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2))))))))))) in phi1
25.297 * [taylor]: Taking taylor expansion of 1/2 in phi1
25.297 * [backup-simplify]: Simplify 1/2 into 1/2
25.297 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2)))))))))) in phi1
25.298 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in phi1
25.298 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in phi1
25.298 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in phi1
25.298 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in phi1
25.298 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in phi1
25.298 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1
25.298 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
25.298 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
25.298 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.298 * [backup-simplify]: Simplify 0.5 into 0.5
25.298 * [taylor]: Taking taylor expansion of phi2 in phi1
25.298 * [backup-simplify]: Simplify phi2 into phi2
25.298 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
25.298 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
25.298 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
25.298 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
25.298 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
25.299 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
25.299 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1
25.299 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
25.299 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
25.299 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.299 * [backup-simplify]: Simplify 0.5 into 0.5
25.299 * [taylor]: Taking taylor expansion of phi1 in phi1
25.299 * [backup-simplify]: Simplify 0 into 0
25.299 * [backup-simplify]: Simplify 1 into 1
25.299 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
25.300 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
25.300 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in phi1
25.300 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1
25.300 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
25.300 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
25.300 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.300 * [backup-simplify]: Simplify 0.5 into 0.5
25.300 * [taylor]: Taking taylor expansion of phi2 in phi1
25.300 * [backup-simplify]: Simplify phi2 into phi2
25.300 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
25.300 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
25.300 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
25.300 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
25.300 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
25.301 * [backup-simplify]: Simplify (- 0) into 0
25.301 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
25.301 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1
25.301 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
25.301 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
25.301 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.301 * [backup-simplify]: Simplify 0.5 into 0.5
25.301 * [taylor]: Taking taylor expansion of phi1 in phi1
25.301 * [backup-simplify]: Simplify 0 into 0
25.301 * [backup-simplify]: Simplify 1 into 1
25.301 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
25.302 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
25.302 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in phi1
25.302 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in phi1
25.302 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
25.302 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
25.302 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.302 * [backup-simplify]: Simplify 0.5 into 0.5
25.302 * [taylor]: Taking taylor expansion of phi2 in phi1
25.302 * [backup-simplify]: Simplify phi2 into phi2
25.302 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
25.302 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
25.302 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
25.302 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in phi1
25.302 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
25.302 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
25.302 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.302 * [backup-simplify]: Simplify 0.5 into 0.5
25.302 * [taylor]: Taking taylor expansion of phi1 in phi1
25.302 * [backup-simplify]: Simplify 0 into 0
25.302 * [backup-simplify]: Simplify 1 into 1
25.303 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
25.303 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
25.303 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in phi1
25.303 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
25.303 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
25.303 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.303 * [backup-simplify]: Simplify 0.5 into 0.5
25.303 * [taylor]: Taking taylor expansion of phi2 in phi1
25.303 * [backup-simplify]: Simplify phi2 into phi2
25.303 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
25.303 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
25.303 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
25.303 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
25.303 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
25.303 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.303 * [backup-simplify]: Simplify 0.5 into 0.5
25.303 * [taylor]: Taking taylor expansion of phi1 in phi1
25.304 * [backup-simplify]: Simplify 0 into 0
25.304 * [backup-simplify]: Simplify 1 into 1
25.304 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
25.304 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
25.304 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in phi1
25.304 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
25.304 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
25.304 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.304 * [backup-simplify]: Simplify 0.5 into 0.5
25.304 * [taylor]: Taking taylor expansion of phi2 in phi1
25.304 * [backup-simplify]: Simplify phi2 into phi2
25.304 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
25.304 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
25.305 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
25.305 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in phi1
25.305 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
25.305 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
25.305 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.305 * [backup-simplify]: Simplify 0.5 into 0.5
25.305 * [taylor]: Taking taylor expansion of phi1 in phi1
25.305 * [backup-simplify]: Simplify 0 into 0
25.305 * [backup-simplify]: Simplify 1 into 1
25.305 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
25.305 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
25.305 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in phi1
25.305 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
25.306 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
25.306 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.306 * [backup-simplify]: Simplify 0.5 into 0.5
25.306 * [taylor]: Taking taylor expansion of phi2 in phi1
25.306 * [backup-simplify]: Simplify phi2 into phi2
25.306 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
25.306 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
25.306 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
25.306 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
25.306 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
25.306 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.306 * [backup-simplify]: Simplify 0.5 into 0.5
25.306 * [taylor]: Taking taylor expansion of phi1 in phi1
25.306 * [backup-simplify]: Simplify 0 into 0
25.306 * [backup-simplify]: Simplify 1 into 1
25.307 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
25.307 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
25.307 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
25.307 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
25.307 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
25.308 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
25.308 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
25.308 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
25.309 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
25.309 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
25.309 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
25.309 * [backup-simplify]: Simplify (- 0) into 0
25.310 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
25.310 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
25.310 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
25.310 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
25.310 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
25.310 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
25.311 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
25.311 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
25.311 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
25.311 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
25.311 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
25.311 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
25.312 * [backup-simplify]: Simplify (- 0) into 0
25.312 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
25.312 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
25.312 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
25.312 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
25.313 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))
25.314 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
25.316 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
25.318 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
25.320 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
25.320 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
25.321 * [backup-simplify]: Simplify (+ 0) into 0
25.321 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
25.321 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
25.322 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.323 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
25.323 * [backup-simplify]: Simplify (+ 0 0) into 0
25.323 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
25.324 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
25.324 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
25.324 * [backup-simplify]: Simplify (+ 0) into 0
25.325 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
25.325 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
25.326 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.326 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
25.327 * [backup-simplify]: Simplify (- 0) into 0
25.327 * [backup-simplify]: Simplify (+ 0 0) into 0
25.327 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
25.328 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
25.328 * [backup-simplify]: Simplify (+ 0 0) into 0
25.328 * [backup-simplify]: Simplify (+ 0) into 0
25.329 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
25.329 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
25.330 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.330 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
25.331 * [backup-simplify]: Simplify (+ 0 0) into 0
25.331 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
25.331 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
25.331 * [backup-simplify]: Simplify (+ 0) into 0
25.332 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
25.332 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
25.333 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.333 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
25.334 * [backup-simplify]: Simplify (- 0) into 0
25.334 * [backup-simplify]: Simplify (+ 0 0) into 0
25.334 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
25.335 * [backup-simplify]: Simplify (+ 0) into 0
25.335 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
25.335 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
25.336 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.337 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
25.337 * [backup-simplify]: Simplify (- 0) into 0
25.337 * [backup-simplify]: Simplify (+ 0 0) into 0
25.338 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
25.338 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
25.338 * [backup-simplify]: Simplify (+ 0) into 0
25.339 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
25.339 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
25.340 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.340 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
25.340 * [backup-simplify]: Simplify (+ 0 0) into 0
25.341 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
25.341 * [backup-simplify]: Simplify (+ 0 0) into 0
25.342 * [backup-simplify]: Simplify (- 0) into 0
25.342 * [backup-simplify]: Simplify (+ 0 0) into 0
25.346 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
25.348 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
25.348 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2))))))))) in phi1
25.348 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in phi1
25.348 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1
25.348 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
25.348 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
25.348 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.348 * [backup-simplify]: Simplify 0.5 into 0.5
25.348 * [taylor]: Taking taylor expansion of phi2 in phi1
25.348 * [backup-simplify]: Simplify phi2 into phi2
25.348 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
25.348 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
25.348 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
25.348 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
25.348 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
25.348 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
25.349 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1
25.349 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
25.349 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
25.349 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.349 * [backup-simplify]: Simplify 0.5 into 0.5
25.349 * [taylor]: Taking taylor expansion of phi1 in phi1
25.349 * [backup-simplify]: Simplify 0 into 0
25.349 * [backup-simplify]: Simplify 1 into 1
25.349 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
25.350 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
25.350 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2)))))))) in phi1
25.350 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) in phi1
25.350 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) in phi1
25.350 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1
25.350 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
25.350 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
25.350 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.350 * [backup-simplify]: Simplify 0.5 into 0.5
25.350 * [taylor]: Taking taylor expansion of phi1 in phi1
25.350 * [backup-simplify]: Simplify 0 into 0
25.350 * [backup-simplify]: Simplify 1 into 1
25.350 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
25.351 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
25.351 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2))) in phi1
25.351 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1
25.351 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
25.351 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
25.351 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.351 * [backup-simplify]: Simplify 0.5 into 0.5
25.351 * [taylor]: Taking taylor expansion of phi2 in phi1
25.351 * [backup-simplify]: Simplify phi2 into phi2
25.351 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
25.351 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
25.351 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
25.351 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
25.351 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
25.352 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
25.352 * [taylor]: Taking taylor expansion of (* R (pow phi2 2)) in phi1
25.352 * [taylor]: Taking taylor expansion of R in phi1
25.352 * [backup-simplify]: Simplify R into R
25.352 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1
25.352 * [taylor]: Taking taylor expansion of phi2 in phi1
25.352 * [backup-simplify]: Simplify phi2 into phi2
25.352 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) in phi1
25.352 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1
25.352 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
25.352 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
25.352 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.352 * [backup-simplify]: Simplify 0.5 into 0.5
25.352 * [taylor]: Taking taylor expansion of phi1 in phi1
25.352 * [backup-simplify]: Simplify 0 into 0
25.352 * [backup-simplify]: Simplify 1 into 1
25.353 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
25.353 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
25.353 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))) in phi1
25.353 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1
25.353 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
25.353 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
25.353 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.353 * [backup-simplify]: Simplify 0.5 into 0.5
25.353 * [taylor]: Taking taylor expansion of phi2 in phi1
25.353 * [backup-simplify]: Simplify phi2 into phi2
25.353 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
25.353 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
25.353 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
25.353 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
25.353 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
25.354 * [backup-simplify]: Simplify (- 0) into 0
25.354 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
25.354 * [taylor]: Taking taylor expansion of (* R (pow phi2 2)) in phi1
25.354 * [taylor]: Taking taylor expansion of R in phi1
25.354 * [backup-simplify]: Simplify R into R
25.354 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1
25.354 * [taylor]: Taking taylor expansion of phi2 in phi1
25.354 * [backup-simplify]: Simplify phi2 into phi2
25.354 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2))))))) in phi1
25.354 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) in phi1
25.354 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
25.354 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
25.354 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.354 * [backup-simplify]: Simplify 0.5 into 0.5
25.354 * [taylor]: Taking taylor expansion of phi1 in phi1
25.354 * [backup-simplify]: Simplify 0 into 0
25.354 * [backup-simplify]: Simplify 1 into 1
25.355 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
25.355 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
25.355 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2))))) in phi1
25.355 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
25.355 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
25.355 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.355 * [backup-simplify]: Simplify 0.5 into 0.5
25.355 * [taylor]: Taking taylor expansion of phi2 in phi1
25.355 * [backup-simplify]: Simplify phi2 into phi2
25.355 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
25.355 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
25.355 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
25.355 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))) in phi1
25.355 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
25.355 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
25.355 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.355 * [backup-simplify]: Simplify 0.5 into 0.5
25.355 * [taylor]: Taking taylor expansion of phi1 in phi1
25.355 * [backup-simplify]: Simplify 0 into 0
25.356 * [backup-simplify]: Simplify 1 into 1
25.360 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
25.360 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
25.360 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* R (pow phi2 2))) in phi1
25.360 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
25.360 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
25.360 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.360 * [backup-simplify]: Simplify 0.5 into 0.5
25.361 * [taylor]: Taking taylor expansion of phi2 in phi1
25.361 * [backup-simplify]: Simplify phi2 into phi2
25.361 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
25.361 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
25.361 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
25.361 * [taylor]: Taking taylor expansion of (* R (pow phi2 2)) in phi1
25.361 * [taylor]: Taking taylor expansion of R in phi1
25.361 * [backup-simplify]: Simplify R into R
25.361 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1
25.361 * [taylor]: Taking taylor expansion of phi2 in phi1
25.361 * [backup-simplify]: Simplify phi2 into phi2
25.361 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2)))))) in phi1
25.361 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
25.361 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
25.361 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.361 * [backup-simplify]: Simplify 0.5 into 0.5
25.361 * [taylor]: Taking taylor expansion of phi1 in phi1
25.361 * [backup-simplify]: Simplify 0 into 0
25.361 * [backup-simplify]: Simplify 1 into 1
25.362 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
25.362 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
25.362 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2))))) in phi1
25.362 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
25.362 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
25.362 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.362 * [backup-simplify]: Simplify 0.5 into 0.5
25.362 * [taylor]: Taking taylor expansion of phi2 in phi1
25.362 * [backup-simplify]: Simplify phi2 into phi2
25.362 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
25.362 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
25.362 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
25.362 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2)))) in phi1
25.362 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
25.363 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
25.363 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.363 * [backup-simplify]: Simplify 0.5 into 0.5
25.363 * [taylor]: Taking taylor expansion of phi1 in phi1
25.363 * [backup-simplify]: Simplify 0 into 0
25.363 * [backup-simplify]: Simplify 1 into 1
25.363 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
25.363 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
25.363 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* R (pow phi2 2))) in phi1
25.363 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
25.363 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
25.363 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.363 * [backup-simplify]: Simplify 0.5 into 0.5
25.363 * [taylor]: Taking taylor expansion of phi2 in phi1
25.363 * [backup-simplify]: Simplify phi2 into phi2
25.363 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
25.364 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
25.364 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
25.364 * [taylor]: Taking taylor expansion of (* R (pow phi2 2)) in phi1
25.364 * [taylor]: Taking taylor expansion of R in phi1
25.364 * [backup-simplify]: Simplify R into R
25.364 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1
25.364 * [taylor]: Taking taylor expansion of phi2 in phi1
25.364 * [backup-simplify]: Simplify phi2 into phi2
25.364 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
25.364 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
25.365 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
25.365 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
25.365 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
25.365 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
25.365 * [backup-simplify]: Simplify (* R (pow phi2 2)) into (* R (pow phi2 2))
25.365 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2))) into (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))
25.366 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) into (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))
25.366 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
25.366 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
25.366 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
25.366 * [backup-simplify]: Simplify (* R (pow phi2 2)) into (* R (pow phi2 2))
25.367 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))) into (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2)))
25.368 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) into (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2))))
25.369 * [backup-simplify]: Simplify (+ (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2))))) into (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2)))))
25.369 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
25.369 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
25.369 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
25.369 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
25.369 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
25.370 * [backup-simplify]: Simplify (- 0) into 0
25.370 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
25.370 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
25.370 * [backup-simplify]: Simplify (* R (pow phi2 2)) into (* R (pow phi2 2))
25.370 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* R (pow phi2 2))) into (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))
25.371 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))) into (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))
25.371 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))) into (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2)))))
25.372 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2)))))) into (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2))))))
25.372 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
25.372 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
25.372 * [backup-simplify]: Simplify (- 0) into 0
25.372 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
25.373 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
25.373 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
25.373 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
25.373 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
25.373 * [backup-simplify]: Simplify (* R (pow phi2 2)) into (* R (pow phi2 2))
25.373 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* R (pow phi2 2))) into (* (sin (/ 0.5 phi2)) (* R (pow phi2 2)))
25.373 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2)))) into (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2))))
25.374 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2))))) into (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))
25.374 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) into (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))
25.375 * [backup-simplify]: Simplify (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))) into (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2)))))))
25.375 * [backup-simplify]: Simplify (- (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2)))))))) into (- (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2))))))))
25.377 * [backup-simplify]: Simplify (+ (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (- (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2))))))))) into (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2))))))))
25.379 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2))))))))) into (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2)))))))))
25.379 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)))) (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2))))) (+ (* (sin (/ 0.5 phi1)) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (pow phi1 2)))))) (* (cos (/ 0.5 phi1)) (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow phi1 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* phi1 (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (* phi1 (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))))) (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* phi1 phi2)))) (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* phi1 phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))))))))) in phi1
25.380 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) in phi1
25.380 * [taylor]: Taking taylor expansion of 1/2 in phi1
25.380 * [backup-simplify]: Simplify 1/2 into 1/2
25.380 * [taylor]: Taking taylor expansion of (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) in phi1
25.380 * [taylor]: Taking taylor expansion of (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) in phi1
25.380 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in phi1
25.380 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
25.380 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
25.380 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.380 * [backup-simplify]: Simplify 0.5 into 0.5
25.380 * [taylor]: Taking taylor expansion of phi2 in phi1
25.380 * [backup-simplify]: Simplify phi2 into phi2
25.380 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
25.380 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
25.380 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
25.380 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in phi1
25.380 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
25.380 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
25.380 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.380 * [backup-simplify]: Simplify 0.5 into 0.5
25.380 * [taylor]: Taking taylor expansion of phi1 in phi1
25.380 * [backup-simplify]: Simplify 0 into 0
25.380 * [backup-simplify]: Simplify 1 into 1
25.381 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
25.381 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
25.381 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in phi1
25.381 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
25.381 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
25.381 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.381 * [backup-simplify]: Simplify 0.5 into 0.5
25.381 * [taylor]: Taking taylor expansion of phi2 in phi1
25.381 * [backup-simplify]: Simplify phi2 into phi2
25.381 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
25.381 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
25.381 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
25.381 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
25.381 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
25.381 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.381 * [backup-simplify]: Simplify 0.5 into 0.5
25.381 * [taylor]: Taking taylor expansion of phi1 in phi1
25.381 * [backup-simplify]: Simplify 0 into 0
25.381 * [backup-simplify]: Simplify 1 into 1
25.381 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
25.381 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
25.381 * [taylor]: Taking taylor expansion of (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2)))))))) in phi1
25.382 * [taylor]: Taking taylor expansion of (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) in phi1
25.382 * [taylor]: Taking taylor expansion of (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) in phi1
25.382 * [taylor]: Taking taylor expansion of R in phi1
25.382 * [backup-simplify]: Simplify R into R
25.382 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2))) in phi1
25.382 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1
25.382 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
25.382 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
25.382 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.382 * [backup-simplify]: Simplify 0.5 into 0.5
25.382 * [taylor]: Taking taylor expansion of phi2 in phi1
25.382 * [backup-simplify]: Simplify phi2 into phi2
25.382 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
25.382 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
25.382 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
25.382 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
25.382 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
25.382 * [backup-simplify]: Simplify (- 0) into 0
25.382 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
25.382 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)) in phi1
25.382 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1
25.382 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
25.382 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
25.382 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.382 * [backup-simplify]: Simplify 0.5 into 0.5
25.383 * [taylor]: Taking taylor expansion of phi1 in phi1
25.383 * [backup-simplify]: Simplify 0 into 0
25.383 * [backup-simplify]: Simplify 1 into 1
25.383 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
25.383 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
25.383 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1
25.383 * [taylor]: Taking taylor expansion of phi2 in phi1
25.383 * [backup-simplify]: Simplify phi2 into phi2
25.383 * [taylor]: Taking taylor expansion of (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2)))) in phi1
25.383 * [taylor]: Taking taylor expansion of R in phi1
25.383 * [backup-simplify]: Simplify R into R
25.383 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))) in phi1
25.383 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1
25.383 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
25.383 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
25.383 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.383 * [backup-simplify]: Simplify 0.5 into 0.5
25.383 * [taylor]: Taking taylor expansion of phi2 in phi1
25.383 * [backup-simplify]: Simplify phi2 into phi2
25.383 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
25.383 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
25.384 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
25.384 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
25.384 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
25.384 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
25.384 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2)) in phi1
25.384 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1
25.384 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
25.384 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
25.384 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.384 * [backup-simplify]: Simplify 0.5 into 0.5
25.384 * [taylor]: Taking taylor expansion of phi1 in phi1
25.384 * [backup-simplify]: Simplify 0 into 0
25.384 * [backup-simplify]: Simplify 1 into 1
25.384 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
25.384 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
25.384 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1
25.384 * [taylor]: Taking taylor expansion of phi2 in phi1
25.384 * [backup-simplify]: Simplify phi2 into phi2
25.384 * [taylor]: Taking taylor expansion of (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))) in phi1
25.384 * [taylor]: Taking taylor expansion of (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) in phi1
25.384 * [taylor]: Taking taylor expansion of R in phi1
25.384 * [backup-simplify]: Simplify R into R
25.384 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2))))) in phi1
25.384 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
25.385 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
25.385 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.385 * [backup-simplify]: Simplify 0.5 into 0.5
25.385 * [taylor]: Taking taylor expansion of phi2 in phi1
25.385 * [backup-simplify]: Simplify phi2 into phi2
25.385 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
25.385 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
25.385 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
25.385 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))) in phi1
25.385 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
25.385 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
25.385 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.385 * [backup-simplify]: Simplify 0.5 into 0.5
25.385 * [taylor]: Taking taylor expansion of phi1 in phi1
25.385 * [backup-simplify]: Simplify 0 into 0
25.385 * [backup-simplify]: Simplify 1 into 1
25.385 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
25.385 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
25.385 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2))) in phi1
25.385 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
25.385 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
25.385 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.385 * [backup-simplify]: Simplify 0.5 into 0.5
25.385 * [taylor]: Taking taylor expansion of phi2 in phi1
25.385 * [backup-simplify]: Simplify phi2 into phi2
25.385 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
25.385 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
25.386 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
25.386 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (pow phi2 2)) in phi1
25.386 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
25.386 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
25.386 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.386 * [backup-simplify]: Simplify 0.5 into 0.5
25.386 * [taylor]: Taking taylor expansion of phi1 in phi1
25.386 * [backup-simplify]: Simplify 0 into 0
25.386 * [backup-simplify]: Simplify 1 into 1
25.386 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
25.386 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
25.386 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1
25.386 * [taylor]: Taking taylor expansion of phi2 in phi1
25.386 * [backup-simplify]: Simplify phi2 into phi2
25.386 * [taylor]: Taking taylor expansion of (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2)))))) in phi1
25.386 * [taylor]: Taking taylor expansion of R in phi1
25.386 * [backup-simplify]: Simplify R into R
25.386 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))) in phi1
25.386 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
25.386 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
25.386 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.386 * [backup-simplify]: Simplify 0.5 into 0.5
25.386 * [taylor]: Taking taylor expansion of phi2 in phi1
25.386 * [backup-simplify]: Simplify phi2 into phi2
25.386 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
25.386 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
25.387 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
25.387 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2)))) in phi1
25.387 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
25.387 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
25.387 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.387 * [backup-simplify]: Simplify 0.5 into 0.5
25.387 * [taylor]: Taking taylor expansion of phi1 in phi1
25.387 * [backup-simplify]: Simplify 0 into 0
25.387 * [backup-simplify]: Simplify 1 into 1
25.387 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
25.387 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
25.387 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))) in phi1
25.387 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
25.387 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
25.387 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.387 * [backup-simplify]: Simplify 0.5 into 0.5
25.387 * [taylor]: Taking taylor expansion of phi2 in phi1
25.387 * [backup-simplify]: Simplify phi2 into phi2
25.387 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
25.387 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
25.387 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
25.387 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (pow phi2 2)) in phi1
25.387 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
25.387 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
25.387 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.388 * [backup-simplify]: Simplify 0.5 into 0.5
25.388 * [taylor]: Taking taylor expansion of phi1 in phi1
25.388 * [backup-simplify]: Simplify 0 into 0
25.388 * [backup-simplify]: Simplify 1 into 1
25.388 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
25.388 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
25.388 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1
25.388 * [taylor]: Taking taylor expansion of phi2 in phi1
25.388 * [backup-simplify]: Simplify phi2 into phi2
25.388 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
25.388 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
25.388 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
25.388 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
25.388 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
25.389 * [backup-simplify]: Simplify (- 0) into 0
25.389 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
25.389 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
25.389 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
25.389 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
25.389 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
25.389 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
25.389 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
25.389 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2))
25.390 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2))) into (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))
25.390 * [backup-simplify]: Simplify (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) into (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))
25.390 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
25.390 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
25.390 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
25.390 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))
25.391 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))) into (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2)))
25.391 * [backup-simplify]: Simplify (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2)))) into (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2))))
25.392 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) into (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2)))))
25.392 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
25.392 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
25.392 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
25.392 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
25.392 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
25.392 * [backup-simplify]: Simplify (- 0) into 0
25.392 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
25.392 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
25.392 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (pow phi2 2)) into (* (cos (/ 0.5 phi1)) (pow phi2 2))
25.393 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2))) into (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))
25.393 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))) into (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))
25.393 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))) into (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2)))))
25.393 * [backup-simplify]: Simplify (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2)))))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2))))))
25.394 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
25.394 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
25.394 * [backup-simplify]: Simplify (- 0) into 0
25.394 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
25.394 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
25.394 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
25.395 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
25.395 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
25.395 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (pow phi2 2)) into (* (sin (/ 0.5 phi1)) (pow phi2 2))
25.395 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2)))
25.395 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2))))
25.396 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2))))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))
25.396 * [backup-simplify]: Simplify (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2))))))
25.398 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2))))))) into (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2)))))))
25.399 * [backup-simplify]: Simplify (- (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2)))))))) into (- (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))
25.402 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (- (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) into (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))
25.406 * [backup-simplify]: Simplify (/ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) into (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2)))))))))
25.406 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in phi1
25.406 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in phi1
25.406 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in phi1
25.406 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in phi1
25.406 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in phi1
25.406 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1
25.406 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
25.406 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
25.406 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.406 * [backup-simplify]: Simplify 0.5 into 0.5
25.406 * [taylor]: Taking taylor expansion of phi2 in phi1
25.406 * [backup-simplify]: Simplify phi2 into phi2
25.406 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
25.406 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
25.406 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
25.407 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
25.407 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
25.407 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
25.407 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1
25.407 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
25.407 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
25.407 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.407 * [backup-simplify]: Simplify 0.5 into 0.5
25.407 * [taylor]: Taking taylor expansion of phi1 in phi1
25.407 * [backup-simplify]: Simplify 0 into 0
25.407 * [backup-simplify]: Simplify 1 into 1
25.408 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
25.408 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
25.408 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in phi1
25.408 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1
25.408 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
25.408 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
25.408 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.408 * [backup-simplify]: Simplify 0.5 into 0.5
25.408 * [taylor]: Taking taylor expansion of phi2 in phi1
25.408 * [backup-simplify]: Simplify phi2 into phi2
25.408 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
25.408 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
25.408 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
25.408 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
25.408 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
25.409 * [backup-simplify]: Simplify (- 0) into 0
25.409 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
25.409 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1
25.409 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
25.409 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
25.409 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.409 * [backup-simplify]: Simplify 0.5 into 0.5
25.409 * [taylor]: Taking taylor expansion of phi1 in phi1
25.409 * [backup-simplify]: Simplify 0 into 0
25.409 * [backup-simplify]: Simplify 1 into 1
25.410 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
25.410 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
25.410 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in phi1
25.410 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in phi1
25.410 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
25.410 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
25.410 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.410 * [backup-simplify]: Simplify 0.5 into 0.5
25.410 * [taylor]: Taking taylor expansion of phi2 in phi1
25.410 * [backup-simplify]: Simplify phi2 into phi2
25.410 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
25.410 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
25.410 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
25.410 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in phi1
25.410 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
25.410 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
25.410 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.410 * [backup-simplify]: Simplify 0.5 into 0.5
25.410 * [taylor]: Taking taylor expansion of phi1 in phi1
25.410 * [backup-simplify]: Simplify 0 into 0
25.410 * [backup-simplify]: Simplify 1 into 1
25.411 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
25.411 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
25.411 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in phi1
25.411 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
25.411 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
25.411 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.411 * [backup-simplify]: Simplify 0.5 into 0.5
25.411 * [taylor]: Taking taylor expansion of phi2 in phi1
25.411 * [backup-simplify]: Simplify phi2 into phi2
25.411 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
25.411 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
25.411 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
25.411 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
25.411 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
25.411 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.411 * [backup-simplify]: Simplify 0.5 into 0.5
25.411 * [taylor]: Taking taylor expansion of phi1 in phi1
25.411 * [backup-simplify]: Simplify 0 into 0
25.411 * [backup-simplify]: Simplify 1 into 1
25.412 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
25.412 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
25.412 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in phi1
25.412 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
25.412 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
25.412 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.412 * [backup-simplify]: Simplify 0.5 into 0.5
25.412 * [taylor]: Taking taylor expansion of phi2 in phi1
25.412 * [backup-simplify]: Simplify phi2 into phi2
25.412 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
25.412 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
25.412 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
25.412 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in phi1
25.412 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
25.412 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
25.412 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.413 * [backup-simplify]: Simplify 0.5 into 0.5
25.413 * [taylor]: Taking taylor expansion of phi1 in phi1
25.413 * [backup-simplify]: Simplify 0 into 0
25.413 * [backup-simplify]: Simplify 1 into 1
25.413 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
25.413 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
25.413 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in phi1
25.413 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
25.413 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
25.413 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.413 * [backup-simplify]: Simplify 0.5 into 0.5
25.413 * [taylor]: Taking taylor expansion of phi2 in phi1
25.413 * [backup-simplify]: Simplify phi2 into phi2
25.413 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
25.413 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
25.413 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
25.414 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
25.414 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
25.414 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.414 * [backup-simplify]: Simplify 0.5 into 0.5
25.414 * [taylor]: Taking taylor expansion of phi1 in phi1
25.414 * [backup-simplify]: Simplify 0 into 0
25.414 * [backup-simplify]: Simplify 1 into 1
25.414 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
25.414 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
25.414 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
25.415 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
25.415 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
25.415 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
25.415 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
25.415 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
25.416 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
25.416 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
25.416 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
25.416 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
25.417 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
25.417 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
25.417 * [backup-simplify]: Simplify (- 0) into 0
25.417 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
25.417 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
25.417 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
25.418 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
25.418 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
25.418 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
25.418 * [backup-simplify]: Simplify (- 0) into 0
25.418 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
25.418 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
25.418 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
25.418 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
25.418 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
25.419 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
25.419 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
25.419 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))
25.420 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
25.421 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
25.422 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
25.423 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
25.423 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
25.423 * [backup-simplify]: Simplify (+ 0) into 0
25.423 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
25.424 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
25.424 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.424 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
25.425 * [backup-simplify]: Simplify (+ 0 0) into 0
25.425 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
25.425 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
25.425 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
25.425 * [backup-simplify]: Simplify (+ 0) into 0
25.426 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
25.426 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
25.426 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.427 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
25.427 * [backup-simplify]: Simplify (- 0) into 0
25.427 * [backup-simplify]: Simplify (+ 0 0) into 0
25.427 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
25.428 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
25.428 * [backup-simplify]: Simplify (+ 0 0) into 0
25.429 * [backup-simplify]: Simplify (+ 0) into 0
25.430 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
25.430 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
25.430 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.431 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
25.431 * [backup-simplify]: Simplify (- 0) into 0
25.431 * [backup-simplify]: Simplify (+ 0 0) into 0
25.431 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
25.431 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
25.432 * [backup-simplify]: Simplify (+ 0) into 0
25.432 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
25.432 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
25.433 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.433 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
25.433 * [backup-simplify]: Simplify (+ 0 0) into 0
25.433 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
25.434 * [backup-simplify]: Simplify (+ 0) into 0
25.434 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
25.434 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
25.435 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.435 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
25.435 * [backup-simplify]: Simplify (+ 0 0) into 0
25.435 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
25.435 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
25.436 * [backup-simplify]: Simplify (+ 0) into 0
25.436 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
25.436 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
25.437 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.437 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
25.437 * [backup-simplify]: Simplify (- 0) into 0
25.437 * [backup-simplify]: Simplify (+ 0 0) into 0
25.437 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
25.438 * [backup-simplify]: Simplify (+ 0 0) into 0
25.438 * [backup-simplify]: Simplify (- 0) into 0
25.438 * [backup-simplify]: Simplify (+ 0 0) into 0
25.440 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
25.441 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
25.441 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)))) (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2))))) (+ (* (sin (/ 0.5 phi1)) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (pow phi1 2)))))) (* (cos (/ 0.5 phi1)) (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow phi1 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* phi1 (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (* phi1 (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))))) (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* phi1 phi2)))) (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* phi1 phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))))))))))) in phi1
25.442 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) in phi1
25.442 * [taylor]: Taking taylor expansion of 1/2 in phi1
25.442 * [backup-simplify]: Simplify 1/2 into 1/2
25.442 * [taylor]: Taking taylor expansion of (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) in phi1
25.442 * [taylor]: Taking taylor expansion of (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) in phi1
25.442 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in phi1
25.442 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
25.442 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
25.442 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.442 * [backup-simplify]: Simplify 0.5 into 0.5
25.442 * [taylor]: Taking taylor expansion of phi2 in phi1
25.442 * [backup-simplify]: Simplify phi2 into phi2
25.442 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
25.442 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
25.442 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
25.442 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in phi1
25.442 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
25.442 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
25.442 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.442 * [backup-simplify]: Simplify 0.5 into 0.5
25.442 * [taylor]: Taking taylor expansion of phi1 in phi1
25.442 * [backup-simplify]: Simplify 0 into 0
25.442 * [backup-simplify]: Simplify 1 into 1
25.443 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
25.443 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
25.443 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in phi1
25.443 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
25.443 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
25.443 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.443 * [backup-simplify]: Simplify 0.5 into 0.5
25.443 * [taylor]: Taking taylor expansion of phi2 in phi1
25.443 * [backup-simplify]: Simplify phi2 into phi2
25.443 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
25.443 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
25.443 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
25.443 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
25.443 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
25.443 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.443 * [backup-simplify]: Simplify 0.5 into 0.5
25.443 * [taylor]: Taking taylor expansion of phi1 in phi1
25.443 * [backup-simplify]: Simplify 0 into 0
25.443 * [backup-simplify]: Simplify 1 into 1
25.443 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
25.443 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
25.443 * [taylor]: Taking taylor expansion of (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2)))))))) in phi1
25.443 * [taylor]: Taking taylor expansion of (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) in phi1
25.443 * [taylor]: Taking taylor expansion of (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) in phi1
25.443 * [taylor]: Taking taylor expansion of R in phi1
25.443 * [backup-simplify]: Simplify R into R
25.443 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2))) in phi1
25.444 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1
25.444 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
25.444 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
25.444 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.444 * [backup-simplify]: Simplify 0.5 into 0.5
25.444 * [taylor]: Taking taylor expansion of phi2 in phi1
25.444 * [backup-simplify]: Simplify phi2 into phi2
25.444 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
25.444 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
25.444 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
25.444 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
25.444 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
25.444 * [backup-simplify]: Simplify (- 0) into 0
25.444 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
25.444 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)) in phi1
25.444 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1
25.444 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
25.444 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
25.444 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.444 * [backup-simplify]: Simplify 0.5 into 0.5
25.444 * [taylor]: Taking taylor expansion of phi1 in phi1
25.444 * [backup-simplify]: Simplify 0 into 0
25.444 * [backup-simplify]: Simplify 1 into 1
25.445 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
25.445 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
25.445 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1
25.445 * [taylor]: Taking taylor expansion of phi2 in phi1
25.445 * [backup-simplify]: Simplify phi2 into phi2
25.445 * [taylor]: Taking taylor expansion of (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2)))) in phi1
25.445 * [taylor]: Taking taylor expansion of R in phi1
25.445 * [backup-simplify]: Simplify R into R
25.445 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))) in phi1
25.445 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1
25.445 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
25.445 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
25.445 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.445 * [backup-simplify]: Simplify 0.5 into 0.5
25.445 * [taylor]: Taking taylor expansion of phi2 in phi1
25.445 * [backup-simplify]: Simplify phi2 into phi2
25.445 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
25.445 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
25.445 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
25.445 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
25.445 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
25.445 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
25.445 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2)) in phi1
25.445 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1
25.446 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
25.446 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
25.446 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.446 * [backup-simplify]: Simplify 0.5 into 0.5
25.446 * [taylor]: Taking taylor expansion of phi1 in phi1
25.446 * [backup-simplify]: Simplify 0 into 0
25.446 * [backup-simplify]: Simplify 1 into 1
25.446 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
25.446 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
25.446 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1
25.446 * [taylor]: Taking taylor expansion of phi2 in phi1
25.446 * [backup-simplify]: Simplify phi2 into phi2
25.446 * [taylor]: Taking taylor expansion of (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))) in phi1
25.446 * [taylor]: Taking taylor expansion of (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) in phi1
25.446 * [taylor]: Taking taylor expansion of R in phi1
25.447 * [backup-simplify]: Simplify R into R
25.447 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2))))) in phi1
25.447 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
25.447 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
25.447 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.447 * [backup-simplify]: Simplify 0.5 into 0.5
25.447 * [taylor]: Taking taylor expansion of phi2 in phi1
25.447 * [backup-simplify]: Simplify phi2 into phi2
25.447 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
25.447 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
25.447 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
25.447 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))) in phi1
25.447 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
25.447 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
25.447 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.447 * [backup-simplify]: Simplify 0.5 into 0.5
25.447 * [taylor]: Taking taylor expansion of phi1 in phi1
25.447 * [backup-simplify]: Simplify 0 into 0
25.447 * [backup-simplify]: Simplify 1 into 1
25.448 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
25.448 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
25.448 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2))) in phi1
25.448 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
25.448 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
25.448 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.448 * [backup-simplify]: Simplify 0.5 into 0.5
25.448 * [taylor]: Taking taylor expansion of phi2 in phi1
25.448 * [backup-simplify]: Simplify phi2 into phi2
25.448 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
25.448 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
25.448 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
25.448 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (pow phi2 2)) in phi1
25.448 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
25.448 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
25.448 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.448 * [backup-simplify]: Simplify 0.5 into 0.5
25.448 * [taylor]: Taking taylor expansion of phi1 in phi1
25.448 * [backup-simplify]: Simplify 0 into 0
25.448 * [backup-simplify]: Simplify 1 into 1
25.449 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
25.449 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
25.449 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1
25.449 * [taylor]: Taking taylor expansion of phi2 in phi1
25.449 * [backup-simplify]: Simplify phi2 into phi2
25.449 * [taylor]: Taking taylor expansion of (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2)))))) in phi1
25.449 * [taylor]: Taking taylor expansion of R in phi1
25.449 * [backup-simplify]: Simplify R into R
25.449 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))) in phi1
25.449 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
25.449 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
25.449 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.449 * [backup-simplify]: Simplify 0.5 into 0.5
25.449 * [taylor]: Taking taylor expansion of phi2 in phi1
25.450 * [backup-simplify]: Simplify phi2 into phi2
25.450 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
25.450 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
25.450 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
25.450 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2)))) in phi1
25.450 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
25.450 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
25.450 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.450 * [backup-simplify]: Simplify 0.5 into 0.5
25.450 * [taylor]: Taking taylor expansion of phi1 in phi1
25.450 * [backup-simplify]: Simplify 0 into 0
25.450 * [backup-simplify]: Simplify 1 into 1
25.450 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
25.451 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
25.451 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))) in phi1
25.451 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
25.451 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
25.451 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.451 * [backup-simplify]: Simplify 0.5 into 0.5
25.451 * [taylor]: Taking taylor expansion of phi2 in phi1
25.451 * [backup-simplify]: Simplify phi2 into phi2
25.451 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
25.451 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
25.451 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
25.451 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (pow phi2 2)) in phi1
25.451 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
25.451 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
25.451 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.451 * [backup-simplify]: Simplify 0.5 into 0.5
25.451 * [taylor]: Taking taylor expansion of phi1 in phi1
25.451 * [backup-simplify]: Simplify 0 into 0
25.451 * [backup-simplify]: Simplify 1 into 1
25.452 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
25.452 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
25.452 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1
25.452 * [taylor]: Taking taylor expansion of phi2 in phi1
25.452 * [backup-simplify]: Simplify phi2 into phi2
25.452 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
25.452 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
25.453 * [backup-simplify]: Simplify (- 0) into 0
25.453 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
25.453 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
25.453 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
25.453 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
25.453 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
25.453 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
25.454 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
25.454 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
25.454 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
25.454 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
25.455 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2))
25.455 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2))) into (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))
25.455 * [backup-simplify]: Simplify (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) into (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))
25.456 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
25.456 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
25.456 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
25.456 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))
25.457 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))) into (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2)))
25.457 * [backup-simplify]: Simplify (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2)))) into (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2))))
25.458 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) into (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2)))))
25.459 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
25.459 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
25.459 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
25.459 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
25.459 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
25.460 * [backup-simplify]: Simplify (- 0) into 0
25.460 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
25.460 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
25.460 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (pow phi2 2)) into (* (cos (/ 0.5 phi1)) (pow phi2 2))
25.460 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2))) into (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))
25.461 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))) into (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))
25.461 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))) into (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2)))))
25.461 * [backup-simplify]: Simplify (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2)))))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2))))))
25.462 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
25.462 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
25.462 * [backup-simplify]: Simplify (- 0) into 0
25.462 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
25.462 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
25.462 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
25.462 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
25.462 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
25.462 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (pow phi2 2)) into (* (sin (/ 0.5 phi1)) (pow phi2 2))
25.463 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2)))
25.463 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2))))
25.463 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2))))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))
25.464 * [backup-simplify]: Simplify (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2))))))
25.464 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2))))))) into (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2)))))))
25.465 * [backup-simplify]: Simplify (- (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2)))))))) into (- (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))
25.467 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (- (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) into (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))
25.469 * [backup-simplify]: Simplify (/ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) into (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2)))))))))
25.469 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in phi1
25.469 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in phi1
25.470 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in phi1
25.470 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in phi1
25.470 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in phi1
25.470 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1
25.470 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
25.470 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
25.470 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.470 * [backup-simplify]: Simplify 0.5 into 0.5
25.470 * [taylor]: Taking taylor expansion of phi2 in phi1
25.470 * [backup-simplify]: Simplify phi2 into phi2
25.470 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
25.470 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
25.470 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
25.470 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
25.470 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
25.470 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
25.470 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1
25.470 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
25.470 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
25.470 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.470 * [backup-simplify]: Simplify 0.5 into 0.5
25.470 * [taylor]: Taking taylor expansion of phi1 in phi1
25.470 * [backup-simplify]: Simplify 0 into 0
25.470 * [backup-simplify]: Simplify 1 into 1
25.471 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
25.471 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
25.471 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in phi1
25.471 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1
25.471 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
25.471 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
25.471 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.471 * [backup-simplify]: Simplify 0.5 into 0.5
25.471 * [taylor]: Taking taylor expansion of phi2 in phi1
25.471 * [backup-simplify]: Simplify phi2 into phi2
25.471 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
25.471 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
25.471 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
25.471 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
25.471 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
25.471 * [backup-simplify]: Simplify (- 0) into 0
25.472 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
25.472 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1
25.472 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
25.472 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
25.472 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.472 * [backup-simplify]: Simplify 0.5 into 0.5
25.472 * [taylor]: Taking taylor expansion of phi1 in phi1
25.472 * [backup-simplify]: Simplify 0 into 0
25.472 * [backup-simplify]: Simplify 1 into 1
25.472 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
25.472 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
25.472 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in phi1
25.472 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in phi1
25.472 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
25.472 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
25.472 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.472 * [backup-simplify]: Simplify 0.5 into 0.5
25.472 * [taylor]: Taking taylor expansion of phi2 in phi1
25.472 * [backup-simplify]: Simplify phi2 into phi2
25.472 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
25.472 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
25.472 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
25.472 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in phi1
25.472 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
25.472 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
25.472 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.472 * [backup-simplify]: Simplify 0.5 into 0.5
25.472 * [taylor]: Taking taylor expansion of phi1 in phi1
25.473 * [backup-simplify]: Simplify 0 into 0
25.473 * [backup-simplify]: Simplify 1 into 1
25.473 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
25.473 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
25.473 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in phi1
25.473 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
25.473 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
25.473 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.473 * [backup-simplify]: Simplify 0.5 into 0.5
25.473 * [taylor]: Taking taylor expansion of phi2 in phi1
25.473 * [backup-simplify]: Simplify phi2 into phi2
25.473 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
25.473 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
25.473 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
25.473 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
25.473 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
25.473 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.473 * [backup-simplify]: Simplify 0.5 into 0.5
25.473 * [taylor]: Taking taylor expansion of phi1 in phi1
25.473 * [backup-simplify]: Simplify 0 into 0
25.473 * [backup-simplify]: Simplify 1 into 1
25.474 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
25.474 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
25.474 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in phi1
25.474 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
25.474 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
25.474 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.474 * [backup-simplify]: Simplify 0.5 into 0.5
25.474 * [taylor]: Taking taylor expansion of phi2 in phi1
25.474 * [backup-simplify]: Simplify phi2 into phi2
25.474 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
25.474 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
25.474 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
25.474 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in phi1
25.474 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
25.474 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
25.474 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.474 * [backup-simplify]: Simplify 0.5 into 0.5
25.474 * [taylor]: Taking taylor expansion of phi1 in phi1
25.474 * [backup-simplify]: Simplify 0 into 0
25.474 * [backup-simplify]: Simplify 1 into 1
25.474 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
25.474 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
25.475 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in phi1
25.475 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
25.475 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
25.475 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.475 * [backup-simplify]: Simplify 0.5 into 0.5
25.475 * [taylor]: Taking taylor expansion of phi2 in phi1
25.475 * [backup-simplify]: Simplify phi2 into phi2
25.475 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
25.475 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
25.475 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
25.475 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
25.475 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
25.475 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.475 * [backup-simplify]: Simplify 0.5 into 0.5
25.475 * [taylor]: Taking taylor expansion of phi1 in phi1
25.475 * [backup-simplify]: Simplify 0 into 0
25.475 * [backup-simplify]: Simplify 1 into 1
25.475 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
25.475 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
25.475 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
25.475 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
25.476 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
25.476 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
25.476 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
25.476 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
25.477 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
25.477 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
25.477 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
25.477 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
25.477 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
25.477 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
25.477 * [backup-simplify]: Simplify (- 0) into 0
25.477 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
25.477 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
25.478 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
25.478 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
25.478 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
25.478 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
25.478 * [backup-simplify]: Simplify (- 0) into 0
25.479 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
25.479 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
25.479 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
25.479 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
25.479 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
25.479 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
25.479 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
25.480 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))
25.480 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
25.481 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
25.483 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
25.484 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
25.484 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
25.484 * [backup-simplify]: Simplify (+ 0) into 0
25.485 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
25.485 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
25.485 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.486 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
25.486 * [backup-simplify]: Simplify (+ 0 0) into 0
25.486 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
25.486 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
25.487 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
25.487 * [backup-simplify]: Simplify (+ 0) into 0
25.487 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
25.487 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
25.488 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.488 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
25.488 * [backup-simplify]: Simplify (- 0) into 0
25.489 * [backup-simplify]: Simplify (+ 0 0) into 0
25.489 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
25.489 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
25.489 * [backup-simplify]: Simplify (+ 0 0) into 0
25.489 * [backup-simplify]: Simplify (+ 0) into 0
25.490 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
25.490 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
25.491 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.491 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
25.492 * [backup-simplify]: Simplify (- 0) into 0
25.492 * [backup-simplify]: Simplify (+ 0 0) into 0
25.492 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
25.492 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
25.493 * [backup-simplify]: Simplify (+ 0) into 0
25.493 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
25.494 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
25.494 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.495 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
25.495 * [backup-simplify]: Simplify (+ 0 0) into 0
25.495 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
25.500 * [backup-simplify]: Simplify (+ 0) into 0
25.501 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
25.501 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
25.502 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.502 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
25.503 * [backup-simplify]: Simplify (+ 0 0) into 0
25.503 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
25.503 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
25.504 * [backup-simplify]: Simplify (+ 0) into 0
25.504 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
25.504 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
25.505 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.505 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
25.506 * [backup-simplify]: Simplify (- 0) into 0
25.506 * [backup-simplify]: Simplify (+ 0 0) into 0
25.507 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
25.507 * [backup-simplify]: Simplify (+ 0 0) into 0
25.507 * [backup-simplify]: Simplify (- 0) into 0
25.508 * [backup-simplify]: Simplify (+ 0 0) into 0
25.511 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
25.513 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
25.514 * [taylor]: Taking taylor expansion of (+ (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)))) (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2))))) (+ (* (sin (/ 0.5 phi1)) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (pow phi1 2)))))) (* (cos (/ 0.5 phi1)) (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow phi1 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* phi1 (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (* phi1 (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))))) (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* phi1 phi2)))) (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* phi1 phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))))))) in phi1
25.514 * [taylor]: Taking taylor expansion of (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)))) (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2))))) (+ (* (sin (/ 0.5 phi1)) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (pow phi1 2)))))) (* (cos (/ 0.5 phi1)) (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow phi1 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) in phi1
25.514 * [taylor]: Taking taylor expansion of (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)))) (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2))))) (+ (* (sin (/ 0.5 phi1)) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (pow phi1 2)))))) (* (cos (/ 0.5 phi1)) (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow phi1 2))))))))) in phi1
25.514 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in phi1
25.514 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
25.514 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
25.514 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.514 * [backup-simplify]: Simplify 0.5 into 0.5
25.514 * [taylor]: Taking taylor expansion of phi2 in phi1
25.514 * [backup-simplify]: Simplify phi2 into phi2
25.514 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
25.514 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
25.514 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
25.514 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in phi1
25.514 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
25.515 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
25.515 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.515 * [backup-simplify]: Simplify 0.5 into 0.5
25.515 * [taylor]: Taking taylor expansion of phi1 in phi1
25.515 * [backup-simplify]: Simplify 0 into 0
25.515 * [backup-simplify]: Simplify 1 into 1
25.515 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
25.515 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
25.515 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in phi1
25.515 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
25.515 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
25.515 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.516 * [backup-simplify]: Simplify 0.5 into 0.5
25.516 * [taylor]: Taking taylor expansion of phi2 in phi1
25.516 * [backup-simplify]: Simplify phi2 into phi2
25.516 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
25.516 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
25.516 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
25.516 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
25.516 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
25.516 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.516 * [backup-simplify]: Simplify 0.5 into 0.5
25.516 * [taylor]: Taking taylor expansion of phi1 in phi1
25.516 * [backup-simplify]: Simplify 0 into 0
25.516 * [backup-simplify]: Simplify 1 into 1
25.516 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
25.517 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
25.517 * [taylor]: Taking taylor expansion of (- (+ (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)))) (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2))))) (+ (* (sin (/ 0.5 phi1)) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (pow phi1 2)))))) (* (cos (/ 0.5 phi1)) (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow phi1 2)))))))) in phi1
25.517 * [taylor]: Taking taylor expansion of (+ (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)))) (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2))))) in phi1
25.517 * [taylor]: Taking taylor expansion of (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)))) in phi1
25.517 * [taylor]: Taking taylor expansion of R in phi1
25.517 * [backup-simplify]: Simplify R into R
25.517 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2))) in phi1
25.517 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1
25.517 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
25.517 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
25.517 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.517 * [backup-simplify]: Simplify 0.5 into 0.5
25.517 * [taylor]: Taking taylor expansion of phi1 in phi1
25.517 * [backup-simplify]: Simplify 0 into 0
25.517 * [backup-simplify]: Simplify 1 into 1
25.517 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
25.518 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
25.518 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)) in phi1
25.518 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1
25.518 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
25.518 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
25.518 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.518 * [backup-simplify]: Simplify 0.5 into 0.5
25.518 * [taylor]: Taking taylor expansion of phi2 in phi1
25.518 * [backup-simplify]: Simplify phi2 into phi2
25.518 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
25.518 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
25.518 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
25.518 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
25.518 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
25.518 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
25.518 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1
25.518 * [taylor]: Taking taylor expansion of phi1 in phi1
25.518 * [backup-simplify]: Simplify 0 into 0
25.518 * [backup-simplify]: Simplify 1 into 1
25.518 * [taylor]: Taking taylor expansion of (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2)))) in phi1
25.519 * [taylor]: Taking taylor expansion of R in phi1
25.519 * [backup-simplify]: Simplify R into R
25.519 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2))) in phi1
25.519 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1
25.519 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
25.519 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
25.519 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.519 * [backup-simplify]: Simplify 0.5 into 0.5
25.519 * [taylor]: Taking taylor expansion of phi1 in phi1
25.519 * [backup-simplify]: Simplify 0 into 0
25.519 * [backup-simplify]: Simplify 1 into 1
25.519 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
25.519 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
25.519 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2)) in phi1
25.519 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1
25.519 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
25.519 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
25.519 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.520 * [backup-simplify]: Simplify 0.5 into 0.5
25.520 * [taylor]: Taking taylor expansion of phi2 in phi1
25.520 * [backup-simplify]: Simplify phi2 into phi2
25.520 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
25.520 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
25.520 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
25.520 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
25.520 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
25.520 * [backup-simplify]: Simplify (- 0) into 0
25.520 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
25.521 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1
25.521 * [taylor]: Taking taylor expansion of phi1 in phi1
25.521 * [backup-simplify]: Simplify 0 into 0
25.521 * [backup-simplify]: Simplify 1 into 1
25.521 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 0.5 phi1)) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (pow phi1 2)))))) (* (cos (/ 0.5 phi1)) (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow phi1 2))))))) in phi1
25.521 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (pow phi1 2)))))) in phi1
25.521 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
25.521 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
25.521 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.521 * [backup-simplify]: Simplify 0.5 into 0.5
25.521 * [taylor]: Taking taylor expansion of phi1 in phi1
25.521 * [backup-simplify]: Simplify 0 into 0
25.521 * [backup-simplify]: Simplify 1 into 1
25.521 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
25.521 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
25.521 * [taylor]: Taking taylor expansion of (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (pow phi1 2))))) in phi1
25.522 * [taylor]: Taking taylor expansion of R in phi1
25.522 * [backup-simplify]: Simplify R into R
25.522 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (pow phi1 2)))) in phi1
25.522 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
25.522 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
25.522 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.522 * [backup-simplify]: Simplify 0.5 into 0.5
25.522 * [taylor]: Taking taylor expansion of phi2 in phi1
25.522 * [backup-simplify]: Simplify phi2 into phi2
25.522 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
25.522 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
25.522 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
25.522 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (pow phi1 2))) in phi1
25.522 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
25.522 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
25.522 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.522 * [backup-simplify]: Simplify 0.5 into 0.5
25.522 * [taylor]: Taking taylor expansion of phi1 in phi1
25.522 * [backup-simplify]: Simplify 0 into 0
25.522 * [backup-simplify]: Simplify 1 into 1
25.523 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
25.523 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
25.523 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (pow phi1 2)) in phi1
25.523 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
25.523 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
25.523 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.523 * [backup-simplify]: Simplify 0.5 into 0.5
25.523 * [taylor]: Taking taylor expansion of phi2 in phi1
25.523 * [backup-simplify]: Simplify phi2 into phi2
25.523 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
25.523 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
25.523 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
25.523 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1
25.523 * [taylor]: Taking taylor expansion of phi1 in phi1
25.523 * [backup-simplify]: Simplify 0 into 0
25.523 * [backup-simplify]: Simplify 1 into 1
25.523 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow phi1 2)))))) in phi1
25.523 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
25.523 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
25.523 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.523 * [backup-simplify]: Simplify 0.5 into 0.5
25.523 * [taylor]: Taking taylor expansion of phi1 in phi1
25.523 * [backup-simplify]: Simplify 0 into 0
25.523 * [backup-simplify]: Simplify 1 into 1
25.524 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
25.524 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
25.524 * [taylor]: Taking taylor expansion of (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow phi1 2))))) in phi1
25.524 * [taylor]: Taking taylor expansion of R in phi1
25.524 * [backup-simplify]: Simplify R into R
25.524 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow phi1 2)))) in phi1
25.524 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
25.524 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
25.524 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.524 * [backup-simplify]: Simplify 0.5 into 0.5
25.524 * [taylor]: Taking taylor expansion of phi2 in phi1
25.524 * [backup-simplify]: Simplify phi2 into phi2
25.524 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
25.524 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
25.525 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
25.525 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow phi1 2))) in phi1
25.525 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
25.525 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
25.525 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.525 * [backup-simplify]: Simplify 0.5 into 0.5
25.525 * [taylor]: Taking taylor expansion of phi1 in phi1
25.525 * [backup-simplify]: Simplify 0 into 0
25.525 * [backup-simplify]: Simplify 1 into 1
25.525 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
25.525 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
25.525 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (pow phi1 2)) in phi1
25.525 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
25.525 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
25.525 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.525 * [backup-simplify]: Simplify 0.5 into 0.5
25.526 * [taylor]: Taking taylor expansion of phi2 in phi1
25.526 * [backup-simplify]: Simplify phi2 into phi2
25.526 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
25.526 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
25.526 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
25.526 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1
25.526 * [taylor]: Taking taylor expansion of phi1 in phi1
25.526 * [backup-simplify]: Simplify 0 into 0
25.526 * [backup-simplify]: Simplify 1 into 1
25.526 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
25.526 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
25.526 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
25.526 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
25.526 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
25.527 * [backup-simplify]: Simplify (- 0) into 0
25.527 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
25.527 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
25.527 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
25.528 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
25.528 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
25.528 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
25.529 * [backup-simplify]: Simplify (* 1 1) into 1
25.529 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) 1) into (pow (sin (/ 0.5 phi2)) 2)
25.529 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
25.530 * [backup-simplify]: Simplify (* R (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))) into (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R))
25.530 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
25.530 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
25.530 * [backup-simplify]: Simplify (* 1 1) into 1
25.531 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) 1) into (pow (cos (/ 0.5 phi2)) 2)
25.531 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
25.531 * [backup-simplify]: Simplify (* R (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))
25.532 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) into (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R)))
25.532 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
25.533 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
25.533 * [backup-simplify]: Simplify (- 0) into 0
25.533 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
25.533 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
25.533 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
25.533 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
25.534 * [backup-simplify]: Simplify (* 1 1) into 1
25.534 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
25.534 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (sin (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
25.534 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
25.535 * [backup-simplify]: Simplify (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R)))
25.535 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R)))) into (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))
25.535 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
25.535 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
25.535 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
25.536 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
25.536 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
25.536 * [backup-simplify]: Simplify (- 0) into 0
25.536 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
25.537 * [backup-simplify]: Simplify (* 1 1) into 1
25.537 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
25.537 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (cos (/ 0.5 phi2))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
25.537 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
25.537 * [backup-simplify]: Simplify (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R)))
25.538 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R)))) into (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))
25.539 * [backup-simplify]: Simplify (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))))
25.540 * [backup-simplify]: Simplify (- (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))))) into (- (+ (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R)))) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R))))))
25.542 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (- (+ (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R)))) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R))))))) into (- (+ (* R (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))) (* R (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))) (+ (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R)))) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R))))))
25.544 * [backup-simplify]: Simplify (/ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (- (+ (* R (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))) (* R (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))) (+ (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R)))) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R))))))) into (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))))))
25.544 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in phi1
25.544 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in phi1
25.545 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in phi1
25.545 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in phi1
25.545 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in phi1
25.545 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1
25.545 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
25.545 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
25.545 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.545 * [backup-simplify]: Simplify 0.5 into 0.5
25.545 * [taylor]: Taking taylor expansion of phi2 in phi1
25.545 * [backup-simplify]: Simplify phi2 into phi2
25.545 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
25.545 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
25.545 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
25.545 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
25.545 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
25.545 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
25.545 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1
25.545 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
25.545 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
25.545 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.545 * [backup-simplify]: Simplify 0.5 into 0.5
25.545 * [taylor]: Taking taylor expansion of phi1 in phi1
25.546 * [backup-simplify]: Simplify 0 into 0
25.546 * [backup-simplify]: Simplify 1 into 1
25.546 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
25.546 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
25.546 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in phi1
25.546 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1
25.546 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
25.546 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
25.546 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.546 * [backup-simplify]: Simplify 0.5 into 0.5
25.546 * [taylor]: Taking taylor expansion of phi2 in phi1
25.546 * [backup-simplify]: Simplify phi2 into phi2
25.546 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
25.546 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
25.546 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
25.546 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
25.546 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
25.547 * [backup-simplify]: Simplify (- 0) into 0
25.547 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
25.547 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1
25.547 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
25.547 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
25.547 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.547 * [backup-simplify]: Simplify 0.5 into 0.5
25.547 * [taylor]: Taking taylor expansion of phi1 in phi1
25.547 * [backup-simplify]: Simplify 0 into 0
25.547 * [backup-simplify]: Simplify 1 into 1
25.547 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
25.547 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
25.547 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in phi1
25.547 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in phi1
25.547 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
25.547 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
25.547 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.547 * [backup-simplify]: Simplify 0.5 into 0.5
25.547 * [taylor]: Taking taylor expansion of phi2 in phi1
25.548 * [backup-simplify]: Simplify phi2 into phi2
25.548 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
25.548 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
25.548 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
25.548 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in phi1
25.548 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
25.548 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
25.548 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.548 * [backup-simplify]: Simplify 0.5 into 0.5
25.548 * [taylor]: Taking taylor expansion of phi1 in phi1
25.548 * [backup-simplify]: Simplify 0 into 0
25.548 * [backup-simplify]: Simplify 1 into 1
25.548 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
25.548 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
25.548 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in phi1
25.548 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
25.548 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
25.548 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.548 * [backup-simplify]: Simplify 0.5 into 0.5
25.548 * [taylor]: Taking taylor expansion of phi2 in phi1
25.548 * [backup-simplify]: Simplify phi2 into phi2
25.548 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
25.548 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
25.548 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
25.548 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
25.548 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
25.549 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.549 * [backup-simplify]: Simplify 0.5 into 0.5
25.549 * [taylor]: Taking taylor expansion of phi1 in phi1
25.549 * [backup-simplify]: Simplify 0 into 0
25.549 * [backup-simplify]: Simplify 1 into 1
25.549 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
25.549 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
25.549 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in phi1
25.549 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
25.549 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
25.549 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.549 * [backup-simplify]: Simplify 0.5 into 0.5
25.549 * [taylor]: Taking taylor expansion of phi2 in phi1
25.549 * [backup-simplify]: Simplify phi2 into phi2
25.549 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
25.549 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
25.549 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
25.549 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in phi1
25.549 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
25.549 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
25.549 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.549 * [backup-simplify]: Simplify 0.5 into 0.5
25.549 * [taylor]: Taking taylor expansion of phi1 in phi1
25.549 * [backup-simplify]: Simplify 0 into 0
25.549 * [backup-simplify]: Simplify 1 into 1
25.550 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
25.550 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
25.550 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in phi1
25.550 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
25.550 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
25.550 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.550 * [backup-simplify]: Simplify 0.5 into 0.5
25.550 * [taylor]: Taking taylor expansion of phi2 in phi1
25.550 * [backup-simplify]: Simplify phi2 into phi2
25.550 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
25.550 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
25.550 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
25.550 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
25.550 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
25.550 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.550 * [backup-simplify]: Simplify 0.5 into 0.5
25.550 * [taylor]: Taking taylor expansion of phi1 in phi1
25.550 * [backup-simplify]: Simplify 0 into 0
25.550 * [backup-simplify]: Simplify 1 into 1
25.550 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
25.550 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
25.551 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
25.551 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
25.551 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
25.551 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
25.551 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
25.551 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
25.552 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
25.552 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
25.552 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
25.552 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
25.552 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
25.552 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
25.552 * [backup-simplify]: Simplify (- 0) into 0
25.552 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
25.552 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
25.553 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
25.553 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
25.553 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
25.553 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
25.553 * [backup-simplify]: Simplify (- 0) into 0
25.553 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
25.553 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
25.553 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
25.553 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
25.554 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
25.554 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
25.554 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
25.554 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))
25.555 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
25.556 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
25.557 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
25.558 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
25.558 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
25.559 * [backup-simplify]: Simplify (+ 0) into 0
25.560 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
25.560 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
25.560 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.561 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
25.561 * [backup-simplify]: Simplify (+ 0 0) into 0
25.561 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
25.561 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
25.561 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
25.562 * [backup-simplify]: Simplify (+ 0) into 0
25.562 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
25.562 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
25.563 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.563 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
25.563 * [backup-simplify]: Simplify (- 0) into 0
25.563 * [backup-simplify]: Simplify (+ 0 0) into 0
25.563 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
25.564 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
25.564 * [backup-simplify]: Simplify (+ 0 0) into 0
25.564 * [backup-simplify]: Simplify (+ 0) into 0
25.564 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
25.565 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
25.565 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.565 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
25.566 * [backup-simplify]: Simplify (- 0) into 0
25.566 * [backup-simplify]: Simplify (+ 0 0) into 0
25.566 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
25.566 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
25.566 * [backup-simplify]: Simplify (+ 0) into 0
25.567 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
25.567 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
25.567 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.567 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
25.568 * [backup-simplify]: Simplify (+ 0 0) into 0
25.568 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
25.568 * [backup-simplify]: Simplify (+ 0) into 0
25.569 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
25.569 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
25.569 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.569 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
25.570 * [backup-simplify]: Simplify (+ 0 0) into 0
25.570 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
25.570 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
25.570 * [backup-simplify]: Simplify (+ 0) into 0
25.570 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
25.571 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
25.571 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.571 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
25.572 * [backup-simplify]: Simplify (- 0) into 0
25.572 * [backup-simplify]: Simplify (+ 0 0) into 0
25.572 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
25.572 * [backup-simplify]: Simplify (+ 0 0) into 0
25.572 * [backup-simplify]: Simplify (- 0) into 0
25.573 * [backup-simplify]: Simplify (+ 0 0) into 0
25.575 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
25.576 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
25.576 * [taylor]: Taking taylor expansion of (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* phi1 (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (* phi1 (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))))) (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* phi1 phi2)))) (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* phi1 phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))))))))) in phi1
25.576 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* phi1 (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (* phi1 (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))))) in phi1
25.576 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in phi1
25.576 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in phi1
25.576 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in phi1
25.576 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in phi1
25.576 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in phi1
25.576 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1
25.576 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
25.576 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
25.576 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.576 * [backup-simplify]: Simplify 0.5 into 0.5
25.576 * [taylor]: Taking taylor expansion of phi2 in phi1
25.576 * [backup-simplify]: Simplify phi2 into phi2
25.576 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
25.576 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
25.576 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
25.576 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
25.577 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
25.577 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
25.577 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1
25.577 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
25.577 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
25.577 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.577 * [backup-simplify]: Simplify 0.5 into 0.5
25.577 * [taylor]: Taking taylor expansion of phi1 in phi1
25.577 * [backup-simplify]: Simplify 0 into 0
25.577 * [backup-simplify]: Simplify 1 into 1
25.577 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
25.577 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
25.577 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in phi1
25.577 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1
25.577 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
25.577 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
25.577 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.577 * [backup-simplify]: Simplify 0.5 into 0.5
25.577 * [taylor]: Taking taylor expansion of phi2 in phi1
25.577 * [backup-simplify]: Simplify phi2 into phi2
25.577 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
25.577 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
25.577 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
25.577 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
25.578 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
25.578 * [backup-simplify]: Simplify (- 0) into 0
25.578 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
25.578 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1
25.578 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
25.578 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
25.578 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.578 * [backup-simplify]: Simplify 0.5 into 0.5
25.578 * [taylor]: Taking taylor expansion of phi1 in phi1
25.578 * [backup-simplify]: Simplify 0 into 0
25.578 * [backup-simplify]: Simplify 1 into 1
25.578 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
25.578 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
25.578 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in phi1
25.578 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in phi1
25.578 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
25.578 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
25.578 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.578 * [backup-simplify]: Simplify 0.5 into 0.5
25.578 * [taylor]: Taking taylor expansion of phi2 in phi1
25.579 * [backup-simplify]: Simplify phi2 into phi2
25.579 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
25.579 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
25.579 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
25.579 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in phi1
25.579 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
25.579 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
25.579 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.579 * [backup-simplify]: Simplify 0.5 into 0.5
25.579 * [taylor]: Taking taylor expansion of phi1 in phi1
25.579 * [backup-simplify]: Simplify 0 into 0
25.579 * [backup-simplify]: Simplify 1 into 1
25.579 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
25.579 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
25.579 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in phi1
25.579 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
25.579 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
25.579 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.579 * [backup-simplify]: Simplify 0.5 into 0.5
25.579 * [taylor]: Taking taylor expansion of phi2 in phi1
25.579 * [backup-simplify]: Simplify phi2 into phi2
25.579 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
25.579 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
25.579 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
25.579 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
25.579 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
25.579 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.579 * [backup-simplify]: Simplify 0.5 into 0.5
25.579 * [taylor]: Taking taylor expansion of phi1 in phi1
25.580 * [backup-simplify]: Simplify 0 into 0
25.580 * [backup-simplify]: Simplify 1 into 1
25.580 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
25.580 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
25.580 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in phi1
25.580 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
25.580 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
25.580 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.580 * [backup-simplify]: Simplify 0.5 into 0.5
25.580 * [taylor]: Taking taylor expansion of phi2 in phi1
25.580 * [backup-simplify]: Simplify phi2 into phi2
25.580 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
25.580 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
25.580 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
25.580 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in phi1
25.580 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
25.580 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
25.580 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.580 * [backup-simplify]: Simplify 0.5 into 0.5
25.580 * [taylor]: Taking taylor expansion of phi1 in phi1
25.580 * [backup-simplify]: Simplify 0 into 0
25.580 * [backup-simplify]: Simplify 1 into 1
25.581 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
25.581 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
25.581 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in phi1
25.581 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
25.581 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
25.581 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.581 * [backup-simplify]: Simplify 0.5 into 0.5
25.581 * [taylor]: Taking taylor expansion of phi2 in phi1
25.581 * [backup-simplify]: Simplify phi2 into phi2
25.581 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
25.581 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
25.581 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
25.581 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
25.581 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
25.581 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.581 * [backup-simplify]: Simplify 0.5 into 0.5
25.581 * [taylor]: Taking taylor expansion of phi1 in phi1
25.581 * [backup-simplify]: Simplify 0 into 0
25.581 * [backup-simplify]: Simplify 1 into 1
25.581 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
25.581 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
25.582 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
25.582 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
25.582 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
25.582 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
25.582 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
25.583 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
25.584 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
25.584 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
25.584 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
25.584 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
25.584 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
25.584 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
25.585 * [backup-simplify]: Simplify (- 0) into 0
25.585 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
25.585 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
25.585 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
25.585 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
25.586 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
25.586 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
25.586 * [backup-simplify]: Simplify (- 0) into 0
25.586 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
25.586 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
25.586 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
25.586 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
25.587 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
25.587 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
25.587 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
25.588 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))
25.589 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
25.591 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
25.593 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
25.595 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
25.595 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
25.596 * [backup-simplify]: Simplify (+ 0) into 0
25.596 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
25.597 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
25.597 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.598 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
25.598 * [backup-simplify]: Simplify (+ 0 0) into 0
25.599 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
25.599 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
25.599 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
25.600 * [backup-simplify]: Simplify (+ 0) into 0
25.600 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
25.600 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
25.601 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.602 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
25.602 * [backup-simplify]: Simplify (- 0) into 0
25.603 * [backup-simplify]: Simplify (+ 0 0) into 0
25.603 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
25.603 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
25.604 * [backup-simplify]: Simplify (+ 0 0) into 0
25.604 * [backup-simplify]: Simplify (+ 0) into 0
25.605 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
25.605 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
25.606 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.607 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
25.607 * [backup-simplify]: Simplify (- 0) into 0
25.607 * [backup-simplify]: Simplify (+ 0 0) into 0
25.608 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
25.608 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
25.608 * [backup-simplify]: Simplify (+ 0) into 0
25.609 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
25.609 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
25.610 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.610 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
25.611 * [backup-simplify]: Simplify (+ 0 0) into 0
25.611 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
25.611 * [backup-simplify]: Simplify (+ 0) into 0
25.612 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
25.612 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
25.613 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.613 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
25.613 * [backup-simplify]: Simplify (+ 0 0) into 0
25.613 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
25.614 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
25.614 * [backup-simplify]: Simplify (+ 0) into 0
25.615 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
25.615 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
25.615 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.616 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
25.616 * [backup-simplify]: Simplify (- 0) into 0
25.616 * [backup-simplify]: Simplify (+ 0 0) into 0
25.617 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
25.617 * [backup-simplify]: Simplify (+ 0 0) into 0
25.617 * [backup-simplify]: Simplify (- 0) into 0
25.618 * [backup-simplify]: Simplify (+ 0 0) into 0
25.621 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
25.623 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
25.623 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* phi1 (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (* phi1 (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))))))) in phi1
25.623 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in phi1
25.623 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1
25.623 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
25.623 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
25.623 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.623 * [backup-simplify]: Simplify 0.5 into 0.5
25.624 * [taylor]: Taking taylor expansion of phi2 in phi1
25.624 * [backup-simplify]: Simplify phi2 into phi2
25.624 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
25.624 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
25.624 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
25.624 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
25.624 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
25.624 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
25.624 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1
25.624 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
25.624 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
25.624 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.624 * [backup-simplify]: Simplify 0.5 into 0.5
25.624 * [taylor]: Taking taylor expansion of phi1 in phi1
25.624 * [backup-simplify]: Simplify 0 into 0
25.624 * [backup-simplify]: Simplify 1 into 1
25.625 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
25.625 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
25.625 * [taylor]: Taking taylor expansion of (- (+ (* phi1 (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (* phi1 (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))) in phi1
25.625 * [taylor]: Taking taylor expansion of (+ (* phi1 (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (* phi1 (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))))) in phi1
25.626 * [taylor]: Taking taylor expansion of (* phi1 (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) in phi1
25.626 * [taylor]: Taking taylor expansion of phi1 in phi1
25.626 * [backup-simplify]: Simplify 0 into 0
25.626 * [backup-simplify]: Simplify 1 into 1
25.626 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2))) in phi1
25.626 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1
25.626 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
25.626 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
25.626 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.626 * [backup-simplify]: Simplify 0.5 into 0.5
25.626 * [taylor]: Taking taylor expansion of phi1 in phi1
25.626 * [backup-simplify]: Simplify 0 into 0
25.626 * [backup-simplify]: Simplify 1 into 1
25.627 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
25.627 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
25.627 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)) in phi1
25.627 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1
25.627 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
25.627 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
25.627 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.627 * [backup-simplify]: Simplify 0.5 into 0.5
25.627 * [taylor]: Taking taylor expansion of phi2 in phi1
25.627 * [backup-simplify]: Simplify phi2 into phi2
25.627 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
25.628 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
25.628 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
25.628 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
25.628 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
25.628 * [backup-simplify]: Simplify (- 0) into 0
25.628 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
25.629 * [taylor]: Taking taylor expansion of (* R phi2) in phi1
25.629 * [taylor]: Taking taylor expansion of R in phi1
25.629 * [backup-simplify]: Simplify R into R
25.629 * [taylor]: Taking taylor expansion of phi2 in phi1
25.629 * [backup-simplify]: Simplify phi2 into phi2
25.629 * [taylor]: Taking taylor expansion of (* phi1 (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2)))) in phi1
25.629 * [taylor]: Taking taylor expansion of phi1 in phi1
25.629 * [backup-simplify]: Simplify 0 into 0
25.629 * [backup-simplify]: Simplify 1 into 1
25.629 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))) in phi1
25.629 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1
25.629 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
25.629 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
25.629 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.629 * [backup-simplify]: Simplify 0.5 into 0.5
25.629 * [taylor]: Taking taylor expansion of phi1 in phi1
25.629 * [backup-simplify]: Simplify 0 into 0
25.629 * [backup-simplify]: Simplify 1 into 1
25.630 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
25.630 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
25.630 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2)) in phi1
25.630 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1
25.630 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
25.630 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
25.630 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.630 * [backup-simplify]: Simplify 0.5 into 0.5
25.630 * [taylor]: Taking taylor expansion of phi2 in phi1
25.630 * [backup-simplify]: Simplify phi2 into phi2
25.630 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
25.630 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
25.630 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
25.630 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
25.630 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
25.631 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
25.631 * [taylor]: Taking taylor expansion of (* R phi2) in phi1
25.631 * [taylor]: Taking taylor expansion of R in phi1
25.631 * [backup-simplify]: Simplify R into R
25.631 * [taylor]: Taking taylor expansion of phi2 in phi1
25.631 * [backup-simplify]: Simplify phi2 into phi2
25.631 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))))) in phi1
25.631 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) in phi1
25.631 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
25.631 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
25.631 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.631 * [backup-simplify]: Simplify 0.5 into 0.5
25.631 * [taylor]: Taking taylor expansion of phi2 in phi1
25.631 * [backup-simplify]: Simplify phi2 into phi2
25.631 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
25.631 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
25.631 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
25.631 * [taylor]: Taking taylor expansion of (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))) in phi1
25.631 * [taylor]: Taking taylor expansion of R in phi1
25.631 * [backup-simplify]: Simplify R into R
25.631 * [taylor]: Taking taylor expansion of (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))) in phi1
25.631 * [taylor]: Taking taylor expansion of phi1 in phi1
25.631 * [backup-simplify]: Simplify 0 into 0
25.631 * [backup-simplify]: Simplify 1 into 1
25.631 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))) in phi1
25.631 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
25.631 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
25.631 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.631 * [backup-simplify]: Simplify 0.5 into 0.5
25.631 * [taylor]: Taking taylor expansion of phi1 in phi1
25.632 * [backup-simplify]: Simplify 0 into 0
25.632 * [backup-simplify]: Simplify 1 into 1
25.632 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
25.632 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
25.632 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)) in phi1
25.632 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
25.632 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
25.632 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.632 * [backup-simplify]: Simplify 0.5 into 0.5
25.632 * [taylor]: Taking taylor expansion of phi2 in phi1
25.632 * [backup-simplify]: Simplify phi2 into phi2
25.632 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
25.632 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
25.633 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
25.633 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) phi2) in phi1
25.633 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
25.633 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
25.633 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.633 * [backup-simplify]: Simplify 0.5 into 0.5
25.633 * [taylor]: Taking taylor expansion of phi1 in phi1
25.633 * [backup-simplify]: Simplify 0 into 0
25.633 * [backup-simplify]: Simplify 1 into 1
25.633 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
25.633 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
25.633 * [taylor]: Taking taylor expansion of phi2 in phi1
25.633 * [backup-simplify]: Simplify phi2 into phi2
25.633 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) in phi1
25.633 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
25.633 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
25.633 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.633 * [backup-simplify]: Simplify 0.5 into 0.5
25.633 * [taylor]: Taking taylor expansion of phi2 in phi1
25.634 * [backup-simplify]: Simplify phi2 into phi2
25.634 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
25.634 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
25.634 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
25.634 * [taylor]: Taking taylor expansion of (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))) in phi1
25.634 * [taylor]: Taking taylor expansion of R in phi1
25.634 * [backup-simplify]: Simplify R into R
25.634 * [taylor]: Taking taylor expansion of (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))) in phi1
25.634 * [taylor]: Taking taylor expansion of phi1 in phi1
25.634 * [backup-simplify]: Simplify 0 into 0
25.634 * [backup-simplify]: Simplify 1 into 1
25.634 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))) in phi1
25.634 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
25.634 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
25.634 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.634 * [backup-simplify]: Simplify 0.5 into 0.5
25.634 * [taylor]: Taking taylor expansion of phi1 in phi1
25.634 * [backup-simplify]: Simplify 0 into 0
25.634 * [backup-simplify]: Simplify 1 into 1
25.635 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
25.635 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
25.635 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)) in phi1
25.635 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
25.635 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
25.635 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.635 * [backup-simplify]: Simplify 0.5 into 0.5
25.635 * [taylor]: Taking taylor expansion of phi2 in phi1
25.635 * [backup-simplify]: Simplify phi2 into phi2
25.635 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
25.635 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
25.635 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
25.635 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) phi2) in phi1
25.635 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
25.635 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
25.635 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.635 * [backup-simplify]: Simplify 0.5 into 0.5
25.635 * [taylor]: Taking taylor expansion of phi1 in phi1
25.635 * [backup-simplify]: Simplify 0 into 0
25.635 * [backup-simplify]: Simplify 1 into 1
25.636 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
25.636 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
25.636 * [taylor]: Taking taylor expansion of phi2 in phi1
25.636 * [backup-simplify]: Simplify phi2 into phi2
25.636 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
25.636 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
25.637 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
25.637 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
25.637 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
25.637 * [backup-simplify]: Simplify (* R phi2) into (* R phi2)
25.637 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)) into (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2))
25.638 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2))) into (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) phi2)))
25.638 * [backup-simplify]: Simplify (* 0 (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) phi2)))) into 0
25.639 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
25.639 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
25.639 * [backup-simplify]: Simplify (* R phi2) into (* R phi2)
25.639 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2)) into (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))
25.640 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))) into (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) phi2)))
25.640 * [backup-simplify]: Simplify (* 0 (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) phi2)))) into 0
25.641 * [backup-simplify]: Simplify (+ 0 0) into 0
25.641 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
25.641 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
25.641 * [backup-simplify]: Simplify (- 0) into 0
25.641 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
25.641 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
25.642 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
25.642 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
25.642 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) phi2) into (* (sin (/ 0.5 phi1)) phi2)
25.642 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))
25.642 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) phi2)))
25.643 * [backup-simplify]: Simplify (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) phi2)))) into 0
25.643 * [backup-simplify]: Simplify (* R 0) into 0
25.643 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
25.643 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
25.643 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
25.643 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
25.643 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
25.643 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
25.644 * [backup-simplify]: Simplify (- 0) into 0
25.644 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
25.644 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) phi2) into (* (sin (/ 0.5 phi1)) phi2)
25.644 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))
25.644 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) phi2)))
25.645 * [backup-simplify]: Simplify (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) phi2)))) into 0
25.645 * [backup-simplify]: Simplify (* R 0) into 0
25.645 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
25.645 * [backup-simplify]: Simplify (+ 0 0) into 0
25.645 * [backup-simplify]: Simplify (- 0) into 0
25.646 * [backup-simplify]: Simplify (+ 0 0) into 0
25.646 * [backup-simplify]: Simplify (+ (* R 0) (* 0 phi2)) into 0
25.646 * [backup-simplify]: Simplify (+ 0) into 0
25.647 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
25.647 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
25.648 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.648 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
25.649 * [backup-simplify]: Simplify (- 0) into 0
25.649 * [backup-simplify]: Simplify (+ 0 0) into 0
25.649 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
25.649 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (* R phi2))) into 0
25.650 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
25.650 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) into 0
25.651 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) phi2))))) into (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))
25.651 * [backup-simplify]: Simplify (+ (* R 0) (* 0 phi2)) into 0
25.652 * [backup-simplify]: Simplify (+ 0) into 0
25.652 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
25.652 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
25.657 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.658 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
25.658 * [backup-simplify]: Simplify (+ 0 0) into 0
25.658 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
25.659 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (* R phi2))) into 0
25.659 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
25.659 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2)))) into 0
25.660 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) phi2))))) into (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2)))
25.661 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2))) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2)))) into (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2))))
25.661 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 phi2)) into 0
25.662 * [backup-simplify]: Simplify (+ 0) into 0
25.662 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
25.662 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
25.663 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.664 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
25.664 * [backup-simplify]: Simplify (+ 0 0) into 0
25.664 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) phi2))) into 0
25.664 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))) into 0
25.665 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))
25.666 * [backup-simplify]: Simplify (+ (* R (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))) (* 0 0)) into (* R (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) phi2))))
25.666 * [backup-simplify]: Simplify (+ 0) into 0
25.667 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
25.667 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
25.668 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.668 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
25.669 * [backup-simplify]: Simplify (- 0) into 0
25.669 * [backup-simplify]: Simplify (+ 0 0) into 0
25.670 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (* R (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) phi2))))) (* 0 0)) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R phi2)))))
25.670 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 phi2)) into 0
25.670 * [backup-simplify]: Simplify (+ 0) into 0
25.671 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
25.671 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
25.672 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.672 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
25.673 * [backup-simplify]: Simplify (- 0) into 0
25.673 * [backup-simplify]: Simplify (+ 0 0) into 0
25.673 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) phi2))) into 0
25.673 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))) into 0
25.674 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) phi2))))) into (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))
25.675 * [backup-simplify]: Simplify (+ (* R (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))) (* 0 0)) into (* R (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) phi2))))
25.675 * [backup-simplify]: Simplify (+ 0) into 0
25.676 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
25.676 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
25.677 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.677 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
25.678 * [backup-simplify]: Simplify (+ 0 0) into 0
25.679 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (* R (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) phi2))))) (* 0 0)) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R phi2)))))
25.680 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R phi2))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R phi2)))))) into (+ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R phi2))))) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R phi2))))))
25.681 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R phi2))))) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R phi2))))))) into (- (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))
25.684 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (- (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))) into (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) phi2))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) phi2)))) (+ (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))) (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))
25.687 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) phi2))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) phi2)))) (+ (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))) (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))) into (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (+ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R phi2))))) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R phi2))))))))
25.687 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* phi1 phi2)))) (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* phi1 phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))))) in phi1
25.687 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in phi1
25.687 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in phi1
25.687 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in phi1
25.687 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in phi1
25.687 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in phi1
25.687 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1
25.687 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
25.687 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
25.687 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.687 * [backup-simplify]: Simplify 0.5 into 0.5
25.687 * [taylor]: Taking taylor expansion of phi2 in phi1
25.687 * [backup-simplify]: Simplify phi2 into phi2
25.687 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
25.687 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
25.688 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
25.688 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
25.688 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
25.688 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
25.688 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1
25.688 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
25.688 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
25.688 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.688 * [backup-simplify]: Simplify 0.5 into 0.5
25.688 * [taylor]: Taking taylor expansion of phi1 in phi1
25.688 * [backup-simplify]: Simplify 0 into 0
25.688 * [backup-simplify]: Simplify 1 into 1
25.689 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
25.689 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
25.689 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in phi1
25.689 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1
25.689 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
25.689 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
25.689 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.689 * [backup-simplify]: Simplify 0.5 into 0.5
25.689 * [taylor]: Taking taylor expansion of phi2 in phi1
25.689 * [backup-simplify]: Simplify phi2 into phi2
25.689 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
25.690 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
25.690 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
25.690 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
25.690 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
25.690 * [backup-simplify]: Simplify (- 0) into 0
25.690 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
25.690 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1
25.690 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
25.690 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
25.690 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.691 * [backup-simplify]: Simplify 0.5 into 0.5
25.691 * [taylor]: Taking taylor expansion of phi1 in phi1
25.691 * [backup-simplify]: Simplify 0 into 0
25.691 * [backup-simplify]: Simplify 1 into 1
25.691 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
25.691 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
25.691 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in phi1
25.691 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in phi1
25.691 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
25.691 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
25.691 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.691 * [backup-simplify]: Simplify 0.5 into 0.5
25.691 * [taylor]: Taking taylor expansion of phi2 in phi1
25.691 * [backup-simplify]: Simplify phi2 into phi2
25.691 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
25.692 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
25.692 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
25.692 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in phi1
25.692 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
25.692 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
25.692 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.692 * [backup-simplify]: Simplify 0.5 into 0.5
25.692 * [taylor]: Taking taylor expansion of phi1 in phi1
25.692 * [backup-simplify]: Simplify 0 into 0
25.692 * [backup-simplify]: Simplify 1 into 1
25.692 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
25.692 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
25.692 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in phi1
25.692 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
25.692 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
25.693 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.693 * [backup-simplify]: Simplify 0.5 into 0.5
25.693 * [taylor]: Taking taylor expansion of phi2 in phi1
25.693 * [backup-simplify]: Simplify phi2 into phi2
25.693 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
25.693 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
25.693 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
25.693 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
25.693 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
25.693 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.693 * [backup-simplify]: Simplify 0.5 into 0.5
25.693 * [taylor]: Taking taylor expansion of phi1 in phi1
25.693 * [backup-simplify]: Simplify 0 into 0
25.693 * [backup-simplify]: Simplify 1 into 1
25.693 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
25.694 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
25.694 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in phi1
25.694 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
25.694 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
25.694 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.694 * [backup-simplify]: Simplify 0.5 into 0.5
25.694 * [taylor]: Taking taylor expansion of phi2 in phi1
25.694 * [backup-simplify]: Simplify phi2 into phi2
25.694 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
25.694 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
25.694 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
25.694 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in phi1
25.694 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
25.694 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
25.694 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.694 * [backup-simplify]: Simplify 0.5 into 0.5
25.694 * [taylor]: Taking taylor expansion of phi1 in phi1
25.694 * [backup-simplify]: Simplify 0 into 0
25.694 * [backup-simplify]: Simplify 1 into 1
25.695 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
25.695 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
25.695 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in phi1
25.695 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
25.695 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
25.695 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.695 * [backup-simplify]: Simplify 0.5 into 0.5
25.695 * [taylor]: Taking taylor expansion of phi2 in phi1
25.695 * [backup-simplify]: Simplify phi2 into phi2
25.695 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
25.695 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
25.695 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
25.695 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
25.695 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
25.695 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.695 * [backup-simplify]: Simplify 0.5 into 0.5
25.695 * [taylor]: Taking taylor expansion of phi1 in phi1
25.695 * [backup-simplify]: Simplify 0 into 0
25.695 * [backup-simplify]: Simplify 1 into 1
25.696 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
25.696 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
25.696 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
25.696 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
25.697 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
25.697 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
25.697 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
25.697 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
25.698 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
25.698 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
25.698 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
25.699 * [backup-simplify]: Simplify (- 0) into 0
25.699 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
25.699 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
25.699 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
25.699 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
25.699 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
25.700 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
25.700 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
25.700 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
25.700 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
25.700 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
25.700 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
25.700 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
25.701 * [backup-simplify]: Simplify (- 0) into 0
25.701 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
25.701 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
25.701 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
25.702 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
25.702 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))
25.703 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
25.705 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
25.707 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
25.709 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
25.709 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
25.713 * [backup-simplify]: Simplify (+ 0) into 0
25.714 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
25.714 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
25.715 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.715 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
25.716 * [backup-simplify]: Simplify (+ 0 0) into 0
25.716 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
25.716 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
25.717 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
25.717 * [backup-simplify]: Simplify (+ 0) into 0
25.717 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
25.718 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
25.718 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.719 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
25.719 * [backup-simplify]: Simplify (- 0) into 0
25.720 * [backup-simplify]: Simplify (+ 0 0) into 0
25.720 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
25.720 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
25.721 * [backup-simplify]: Simplify (+ 0 0) into 0
25.721 * [backup-simplify]: Simplify (+ 0) into 0
25.721 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
25.722 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
25.722 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.723 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
25.723 * [backup-simplify]: Simplify (+ 0 0) into 0
25.723 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
25.724 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
25.724 * [backup-simplify]: Simplify (+ 0) into 0
25.725 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
25.725 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
25.725 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.726 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
25.726 * [backup-simplify]: Simplify (- 0) into 0
25.727 * [backup-simplify]: Simplify (+ 0 0) into 0
25.727 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
25.727 * [backup-simplify]: Simplify (+ 0) into 0
25.728 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
25.728 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
25.729 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.729 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
25.730 * [backup-simplify]: Simplify (- 0) into 0
25.730 * [backup-simplify]: Simplify (+ 0 0) into 0
25.730 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
25.730 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
25.731 * [backup-simplify]: Simplify (+ 0) into 0
25.731 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
25.732 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
25.732 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.733 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
25.733 * [backup-simplify]: Simplify (+ 0 0) into 0
25.733 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
25.734 * [backup-simplify]: Simplify (+ 0 0) into 0
25.734 * [backup-simplify]: Simplify (- 0) into 0
25.735 * [backup-simplify]: Simplify (+ 0 0) into 0
25.738 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
25.740 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
25.740 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* phi1 phi2)))) (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* phi1 phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))))))) in phi1
25.741 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in phi1
25.741 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1
25.741 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
25.741 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
25.741 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.741 * [backup-simplify]: Simplify 0.5 into 0.5
25.741 * [taylor]: Taking taylor expansion of phi2 in phi1
25.741 * [backup-simplify]: Simplify phi2 into phi2
25.741 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
25.741 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
25.741 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
25.741 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
25.741 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
25.742 * [backup-simplify]: Simplify (- 0) into 0
25.742 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
25.742 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1
25.742 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
25.742 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
25.742 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.742 * [backup-simplify]: Simplify 0.5 into 0.5
25.742 * [taylor]: Taking taylor expansion of phi1 in phi1
25.742 * [backup-simplify]: Simplify 0 into 0
25.742 * [backup-simplify]: Simplify 1 into 1
25.742 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
25.742 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
25.742 * [taylor]: Taking taylor expansion of (- (+ (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* phi1 phi2)))) (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* phi1 phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))) in phi1
25.742 * [taylor]: Taking taylor expansion of (+ (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* phi1 phi2)))) (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* phi1 phi2))))) in phi1
25.742 * [taylor]: Taking taylor expansion of (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* phi1 phi2)))) in phi1
25.742 * [taylor]: Taking taylor expansion of R in phi1
25.742 * [backup-simplify]: Simplify R into R
25.742 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* phi1 phi2))) in phi1
25.742 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1
25.742 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
25.742 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
25.742 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.742 * [backup-simplify]: Simplify 0.5 into 0.5
25.742 * [taylor]: Taking taylor expansion of phi1 in phi1
25.742 * [backup-simplify]: Simplify 0 into 0
25.742 * [backup-simplify]: Simplify 1 into 1
25.743 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
25.743 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
25.743 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (* phi1 phi2)) in phi1
25.743 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1
25.743 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
25.743 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
25.743 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.743 * [backup-simplify]: Simplify 0.5 into 0.5
25.743 * [taylor]: Taking taylor expansion of phi2 in phi1
25.743 * [backup-simplify]: Simplify phi2 into phi2
25.743 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
25.743 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
25.743 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
25.743 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
25.743 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
25.743 * [backup-simplify]: Simplify (- 0) into 0
25.744 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
25.744 * [taylor]: Taking taylor expansion of (* phi1 phi2) in phi1
25.744 * [taylor]: Taking taylor expansion of phi1 in phi1
25.744 * [backup-simplify]: Simplify 0 into 0
25.744 * [backup-simplify]: Simplify 1 into 1
25.744 * [taylor]: Taking taylor expansion of phi2 in phi1
25.744 * [backup-simplify]: Simplify phi2 into phi2
25.744 * [taylor]: Taking taylor expansion of (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* phi1 phi2)))) in phi1
25.744 * [taylor]: Taking taylor expansion of R in phi1
25.744 * [backup-simplify]: Simplify R into R
25.744 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* phi1 phi2))) in phi1
25.744 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1
25.744 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
25.744 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
25.744 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.744 * [backup-simplify]: Simplify 0.5 into 0.5
25.744 * [taylor]: Taking taylor expansion of phi1 in phi1
25.744 * [backup-simplify]: Simplify 0 into 0
25.744 * [backup-simplify]: Simplify 1 into 1
25.744 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
25.744 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
25.744 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (* phi1 phi2)) in phi1
25.744 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1
25.744 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
25.744 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
25.744 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.744 * [backup-simplify]: Simplify 0.5 into 0.5
25.744 * [taylor]: Taking taylor expansion of phi2 in phi1
25.744 * [backup-simplify]: Simplify phi2 into phi2
25.744 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
25.744 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
25.745 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
25.745 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
25.745 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
25.745 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
25.745 * [taylor]: Taking taylor expansion of (* phi1 phi2) in phi1
25.745 * [taylor]: Taking taylor expansion of phi1 in phi1
25.745 * [backup-simplify]: Simplify 0 into 0
25.745 * [backup-simplify]: Simplify 1 into 1
25.745 * [taylor]: Taking taylor expansion of phi2 in phi1
25.745 * [backup-simplify]: Simplify phi2 into phi2
25.745 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))))) in phi1
25.745 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) in phi1
25.745 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
25.745 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
25.745 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.745 * [backup-simplify]: Simplify 0.5 into 0.5
25.745 * [taylor]: Taking taylor expansion of phi2 in phi1
25.745 * [backup-simplify]: Simplify phi2 into phi2
25.745 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
25.745 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
25.745 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
25.745 * [taylor]: Taking taylor expansion of (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))) in phi1
25.745 * [taylor]: Taking taylor expansion of R in phi1
25.745 * [backup-simplify]: Simplify R into R
25.745 * [taylor]: Taking taylor expansion of (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))) in phi1
25.745 * [taylor]: Taking taylor expansion of phi1 in phi1
25.745 * [backup-simplify]: Simplify 0 into 0
25.745 * [backup-simplify]: Simplify 1 into 1
25.745 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))) in phi1
25.745 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
25.745 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
25.746 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.746 * [backup-simplify]: Simplify 0.5 into 0.5
25.746 * [taylor]: Taking taylor expansion of phi1 in phi1
25.746 * [backup-simplify]: Simplify 0 into 0
25.746 * [backup-simplify]: Simplify 1 into 1
25.746 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
25.746 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
25.746 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)) in phi1
25.746 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
25.746 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
25.746 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.746 * [backup-simplify]: Simplify 0.5 into 0.5
25.746 * [taylor]: Taking taylor expansion of phi2 in phi1
25.746 * [backup-simplify]: Simplify phi2 into phi2
25.746 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
25.746 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
25.746 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
25.746 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) phi2) in phi1
25.746 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
25.746 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
25.746 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.746 * [backup-simplify]: Simplify 0.5 into 0.5
25.746 * [taylor]: Taking taylor expansion of phi1 in phi1
25.746 * [backup-simplify]: Simplify 0 into 0
25.746 * [backup-simplify]: Simplify 1 into 1
25.747 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
25.747 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
25.747 * [taylor]: Taking taylor expansion of phi2 in phi1
25.747 * [backup-simplify]: Simplify phi2 into phi2
25.747 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) in phi1
25.747 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
25.747 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
25.747 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.747 * [backup-simplify]: Simplify 0.5 into 0.5
25.747 * [taylor]: Taking taylor expansion of phi2 in phi1
25.747 * [backup-simplify]: Simplify phi2 into phi2
25.747 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
25.747 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
25.747 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
25.747 * [taylor]: Taking taylor expansion of (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))) in phi1
25.747 * [taylor]: Taking taylor expansion of R in phi1
25.747 * [backup-simplify]: Simplify R into R
25.747 * [taylor]: Taking taylor expansion of (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))) in phi1
25.747 * [taylor]: Taking taylor expansion of phi1 in phi1
25.747 * [backup-simplify]: Simplify 0 into 0
25.747 * [backup-simplify]: Simplify 1 into 1
25.747 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))) in phi1
25.747 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
25.747 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
25.747 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.747 * [backup-simplify]: Simplify 0.5 into 0.5
25.747 * [taylor]: Taking taylor expansion of phi1 in phi1
25.747 * [backup-simplify]: Simplify 0 into 0
25.747 * [backup-simplify]: Simplify 1 into 1
25.748 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
25.748 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
25.748 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)) in phi1
25.748 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
25.748 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
25.748 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.748 * [backup-simplify]: Simplify 0.5 into 0.5
25.748 * [taylor]: Taking taylor expansion of phi2 in phi1
25.748 * [backup-simplify]: Simplify phi2 into phi2
25.748 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
25.748 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
25.748 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
25.748 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) phi2) in phi1
25.748 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
25.748 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
25.748 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.748 * [backup-simplify]: Simplify 0.5 into 0.5
25.748 * [taylor]: Taking taylor expansion of phi1 in phi1
25.748 * [backup-simplify]: Simplify 0 into 0
25.748 * [backup-simplify]: Simplify 1 into 1
25.748 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
25.748 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
25.748 * [taylor]: Taking taylor expansion of phi2 in phi1
25.748 * [backup-simplify]: Simplify phi2 into phi2
25.749 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
25.749 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
25.749 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
25.749 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
25.749 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
25.749 * [backup-simplify]: Simplify (* 0 phi2) into 0
25.749 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) 0) into 0
25.749 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) 0) into 0
25.750 * [backup-simplify]: Simplify (* R 0) into 0
25.750 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
25.750 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
25.750 * [backup-simplify]: Simplify (* 0 phi2) into 0
25.750 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) 0) into 0
25.750 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) 0) into 0
25.750 * [backup-simplify]: Simplify (* R 0) into 0
25.750 * [backup-simplify]: Simplify (+ 0 0) into 0
25.750 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
25.750 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
25.751 * [backup-simplify]: Simplify (- 0) into 0
25.751 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
25.751 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
25.751 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
25.751 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
25.751 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) phi2) into (* (sin (/ 0.5 phi1)) phi2)
25.751 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))
25.751 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) phi2)))
25.751 * [backup-simplify]: Simplify (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) phi2)))) into 0
25.751 * [backup-simplify]: Simplify (* R 0) into 0
25.752 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
25.752 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
25.752 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
25.752 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
25.752 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
25.752 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
25.752 * [backup-simplify]: Simplify (- 0) into 0
25.752 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
25.752 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) phi2) into (* (sin (/ 0.5 phi1)) phi2)
25.752 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))
25.753 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) phi2)))
25.753 * [backup-simplify]: Simplify (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) phi2)))) into 0
25.753 * [backup-simplify]: Simplify (* R 0) into 0
25.753 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
25.753 * [backup-simplify]: Simplify (+ 0 0) into 0
25.753 * [backup-simplify]: Simplify (- 0) into 0
25.754 * [backup-simplify]: Simplify (+ 0 0) into 0
25.754 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi2)) into phi2
25.754 * [backup-simplify]: Simplify (+ 0) into 0
25.755 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
25.755 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
25.755 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.755 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
25.756 * [backup-simplify]: Simplify (- 0) into 0
25.756 * [backup-simplify]: Simplify (+ 0 0) into 0
25.756 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
25.756 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) phi2) (* 0 0)) into (* (pow (cos (/ 0.5 phi2)) 2) phi2)
25.757 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
25.757 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) phi2)) (* 0 0)) into (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) phi2))
25.758 * [backup-simplify]: Simplify (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) phi2))) (* 0 0)) into (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) phi2)))
25.758 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi2)) into phi2
25.758 * [backup-simplify]: Simplify (+ 0) into 0
25.758 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
25.759 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
25.759 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.759 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
25.760 * [backup-simplify]: Simplify (+ 0 0) into 0
25.760 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
25.760 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) phi2) (* 0 0)) into (* (pow (sin (/ 0.5 phi2)) 2) phi2)
25.760 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
25.761 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) phi2)) (* 0 0)) into (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) phi2))
25.761 * [backup-simplify]: Simplify (+ (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) phi2))) (* 0 0)) into (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) phi2)))
25.762 * [backup-simplify]: Simplify (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) phi2))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) phi2)))) into (+ (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) phi2))) (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) phi2))))
25.762 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 phi2)) into 0
25.762 * [backup-simplify]: Simplify (+ 0) into 0
25.762 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
25.763 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
25.763 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.763 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
25.764 * [backup-simplify]: Simplify (+ 0 0) into 0
25.764 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) phi2))) into 0
25.764 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))) into 0
25.764 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))
25.765 * [backup-simplify]: Simplify (+ (* R (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))) (* 0 0)) into (* R (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) phi2))))
25.765 * [backup-simplify]: Simplify (+ 0) into 0
25.765 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
25.765 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
25.766 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.766 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
25.766 * [backup-simplify]: Simplify (- 0) into 0
25.767 * [backup-simplify]: Simplify (+ 0 0) into 0
25.767 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (* R (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) phi2))))) (* 0 0)) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R phi2)))))
25.767 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 phi2)) into 0
25.767 * [backup-simplify]: Simplify (+ 0) into 0
25.768 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
25.768 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
25.768 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.769 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
25.769 * [backup-simplify]: Simplify (- 0) into 0
25.769 * [backup-simplify]: Simplify (+ 0 0) into 0
25.769 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) phi2))) into 0
25.769 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))) into 0
25.770 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) phi2))))) into (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))
25.770 * [backup-simplify]: Simplify (+ (* R (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))) (* 0 0)) into (* R (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) phi2))))
25.770 * [backup-simplify]: Simplify (+ 0) into 0
25.771 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
25.771 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
25.771 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.772 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
25.772 * [backup-simplify]: Simplify (+ 0 0) into 0
25.772 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (* R (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) phi2))))) (* 0 0)) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R phi2)))))
25.773 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R phi2))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R phi2)))))) into (+ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R phi2))))) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R phi2))))))
25.773 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R phi2))))) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R phi2))))))) into (- (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))
25.775 * [backup-simplify]: Simplify (+ (+ (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) phi2))) (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) phi2)))) (- (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))) into (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))
25.776 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))) into (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) phi2))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) phi2)))) (+ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R phi2))))) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R phi2))))))))
25.777 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
25.777 * [backup-simplify]: Simplify (+ 0) into 0
25.777 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
25.778 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
25.778 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.779 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
25.779 * [backup-simplify]: Simplify (- 0) into 0
25.780 * [backup-simplify]: Simplify (+ 0 0) into 0
25.780 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
25.780 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
25.781 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
25.781 * [backup-simplify]: Simplify (+ 0) into 0
25.782 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
25.782 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
25.783 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.783 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
25.784 * [backup-simplify]: Simplify (+ 0 0) into 0
25.784 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
25.785 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 1)) into 0
25.785 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
25.785 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0
25.786 * [backup-simplify]: Simplify (+ (* R 0) (* 0 (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) into 0
25.786 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
25.787 * [backup-simplify]: Simplify (+ 0) into 0
25.787 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
25.787 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
25.788 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.789 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
25.789 * [backup-simplify]: Simplify (- 0) into 0
25.790 * [backup-simplify]: Simplify (+ 0 0) into 0
25.790 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
25.790 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 1)) into 0
25.791 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
25.791 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0
25.791 * [backup-simplify]: Simplify (+ (* R 0) (* 0 (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))) into 0
25.792 * [backup-simplify]: Simplify (+ 0 0) into 0
25.792 * [backup-simplify]: Simplify (+ 0) into 0
25.793 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
25.793 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
25.799 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.800 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
25.800 * [backup-simplify]: Simplify (+ 0 0) into 0
25.801 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
25.801 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
25.802 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
25.802 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
25.803 * [backup-simplify]: Simplify (+ 0) into 0
25.803 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
25.803 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
25.804 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.805 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
25.805 * [backup-simplify]: Simplify (- 0) into 0
25.805 * [backup-simplify]: Simplify (+ 0 0) into 0
25.806 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
25.806 * [backup-simplify]: Simplify (+ (* R 0) (* 0 (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into 0
25.806 * [backup-simplify]: Simplify (+ 0) into 0
25.806 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
25.807 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
25.807 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.807 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
25.808 * [backup-simplify]: Simplify (- 0) into 0
25.808 * [backup-simplify]: Simplify (+ 0 0) into 0
25.808 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
25.808 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
25.809 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
25.809 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
25.809 * [backup-simplify]: Simplify (+ 0) into 0
25.809 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
25.810 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
25.810 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.810 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
25.811 * [backup-simplify]: Simplify (+ 0 0) into 0
25.811 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
25.811 * [backup-simplify]: Simplify (+ (* R 0) (* 0 (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into 0
25.811 * [backup-simplify]: Simplify (+ 0 0) into 0
25.811 * [backup-simplify]: Simplify (- 0) into 0
25.812 * [backup-simplify]: Simplify (+ 0 0) into 0
25.816 * [backup-simplify]: Simplify (- (/ 0 (- (+ (* R (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))) (* R (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))) (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))))) (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (+ (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R)))) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R))))))) (/ 0 (- (+ (* R (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))) (* R (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))) (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))))))))) into 0
25.819 * [backup-simplify]: Simplify (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) 0) (* 0 (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (+ (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R)))) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R))))))))) into 0
25.822 * [backup-simplify]: Simplify (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (+ (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R)))) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R)))))))) into (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))) (* R (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))) (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))))))
25.825 * [backup-simplify]: Simplify (+ (* 1/2 0) (* 0 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))) (* R (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))) (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))))))))) into 0
25.828 * [backup-simplify]: Simplify (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) phi2))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) phi2)))) (+ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R phi2))))) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R phi2)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))
25.831 * [backup-simplify]: Simplify (* 2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into (* 2 (* (/ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) phi2))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) phi2)))) (+ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R phi2))))) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R phi2)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))
25.831 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
25.832 * [backup-simplify]: Simplify (+ 0) into 0
25.832 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
25.832 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
25.833 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.833 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
25.833 * [backup-simplify]: Simplify (+ 0 0) into 0
25.833 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
25.834 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
25.834 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
25.834 * [backup-simplify]: Simplify (+ 0) into 0
25.835 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
25.835 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
25.835 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.835 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
25.836 * [backup-simplify]: Simplify (+ 0 0) into 0
25.836 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
25.836 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 1)) into 0
25.836 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
25.837 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0
25.837 * [backup-simplify]: Simplify (+ (* R 0) (* 0 (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) into 0
25.837 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
25.837 * [backup-simplify]: Simplify (+ 0) into 0
25.838 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
25.838 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
25.838 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.839 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
25.839 * [backup-simplify]: Simplify (- 0) into 0
25.839 * [backup-simplify]: Simplify (+ 0 0) into 0
25.839 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
25.840 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 1)) into 0
25.840 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
25.840 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0
25.840 * [backup-simplify]: Simplify (+ (* R 0) (* 0 (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))) into 0
25.840 * [backup-simplify]: Simplify (+ 0 0) into 0
25.841 * [backup-simplify]: Simplify (+ 0) into 0
25.841 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
25.841 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
25.842 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.842 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
25.842 * [backup-simplify]: Simplify (+ 0 0) into 0
25.842 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
25.843 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
25.843 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
25.843 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
25.843 * [backup-simplify]: Simplify (+ 0) into 0
25.844 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
25.844 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
25.844 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.845 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
25.845 * [backup-simplify]: Simplify (- 0) into 0
25.845 * [backup-simplify]: Simplify (+ 0 0) into 0
25.845 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
25.846 * [backup-simplify]: Simplify (+ (* R 0) (* 0 (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into 0
25.846 * [backup-simplify]: Simplify (+ 0) into 0
25.847 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
25.847 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
25.847 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.848 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
25.848 * [backup-simplify]: Simplify (- 0) into 0
25.849 * [backup-simplify]: Simplify (+ 0 0) into 0
25.849 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
25.849 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
25.850 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
25.850 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
25.851 * [backup-simplify]: Simplify (+ 0) into 0
25.851 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
25.851 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
25.852 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.853 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
25.853 * [backup-simplify]: Simplify (+ 0 0) into 0
25.853 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
25.854 * [backup-simplify]: Simplify (+ (* R 0) (* 0 (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into 0
25.854 * [backup-simplify]: Simplify (+ 0 0) into 0
25.854 * [backup-simplify]: Simplify (- 0) into 0
25.855 * [backup-simplify]: Simplify (+ 0 0) into 0
25.863 * [backup-simplify]: Simplify (- (/ 0 (- (+ (* R (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))) (* R (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))) (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))))) (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (+ (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R)))) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R))))))) (/ 0 (- (+ (* R (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))) (* R (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))) (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))))))))) into 0
25.867 * [backup-simplify]: Simplify (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) 0) (* 0 (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (+ (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R)))) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R))))))))) into 0
25.872 * [backup-simplify]: Simplify (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (+ (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R)))) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R)))))))) into (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))) (* R (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))) (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))))))
25.877 * [backup-simplify]: Simplify (+ (* 1/2 0) (* 0 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))) (* R (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))) (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))))))))) into 0
25.877 * [backup-simplify]: Simplify (+ 0 0) into 0
25.882 * [backup-simplify]: Simplify (+ (* 2 (* (/ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) phi2))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) phi2)))) (+ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R phi2))))) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R phi2)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) 0) into (* 2 (* (/ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))
25.888 * [backup-simplify]: Simplify (+ 0 (* 2 (* (/ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into (* 2 (* (/ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) phi2))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) phi2)))) (+ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R phi2))))) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R phi2)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))
25.889 * [backup-simplify]: Simplify (+ 0) into 0
25.889 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
25.890 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
25.890 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.891 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
25.891 * [backup-simplify]: Simplify (- 0) into 0
25.892 * [backup-simplify]: Simplify (+ 0 0) into 0
25.892 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
25.892 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
25.893 * [backup-simplify]: Simplify (+ 0) into 0
25.893 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
25.893 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
25.894 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.895 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
25.895 * [backup-simplify]: Simplify (+ 0 0) into 0
25.895 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
25.896 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
25.896 * [backup-simplify]: Simplify (+ 0) into 0
25.897 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
25.897 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
25.898 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.898 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
25.899 * [backup-simplify]: Simplify (+ 0 0) into 0
25.899 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
25.899 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 1)) into 0
25.900 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
25.900 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0
25.900 * [backup-simplify]: Simplify (+ (* R 0) (* 0 (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) into 0
25.901 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
25.902 * [backup-simplify]: Simplify (+ 0) into 0
25.902 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
25.902 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
25.903 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.903 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
25.904 * [backup-simplify]: Simplify (- 0) into 0
25.904 * [backup-simplify]: Simplify (+ 0 0) into 0
25.904 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
25.905 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 1)) into 0
25.905 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
25.905 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0
25.906 * [backup-simplify]: Simplify (+ (* R 0) (* 0 (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))) into 0
25.906 * [backup-simplify]: Simplify (+ 0 0) into 0
25.907 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
25.907 * [backup-simplify]: Simplify (+ 0) into 0
25.908 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
25.908 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
25.909 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.909 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
25.910 * [backup-simplify]: Simplify (+ 0 0) into 0
25.910 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
25.910 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
25.910 * [backup-simplify]: Simplify (+ 0) into 0
25.911 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
25.911 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
25.911 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.911 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
25.912 * [backup-simplify]: Simplify (- 0) into 0
25.912 * [backup-simplify]: Simplify (+ 0 0) into 0
25.912 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
25.912 * [backup-simplify]: Simplify (+ (* R 0) (* 0 (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
25.912 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R))))) into 0
25.913 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
25.913 * [backup-simplify]: Simplify (+ 0) into 0
25.913 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
25.914 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
25.914 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.914 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
25.915 * [backup-simplify]: Simplify (- 0) into 0
25.915 * [backup-simplify]: Simplify (+ 0 0) into 0
25.915 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
25.915 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
25.915 * [backup-simplify]: Simplify (+ 0) into 0
25.916 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
25.916 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
25.916 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.917 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
25.917 * [backup-simplify]: Simplify (+ 0 0) into 0
25.917 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
25.917 * [backup-simplify]: Simplify (+ (* R 0) (* 0 (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
25.917 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R))))) into 0
25.918 * [backup-simplify]: Simplify (+ 0 0) into 0
25.918 * [backup-simplify]: Simplify (- 0) into 0
25.918 * [backup-simplify]: Simplify (+ 0 0) into 0
25.922 * [backup-simplify]: Simplify (- (/ 0 (- (+ (* R (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))) (* R (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))) (+ (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R)))) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R))))))) (+ (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))))) (/ 0 (- (+ (* R (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))) (* R (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))) (+ (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R)))) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R)))))))))) into 0
25.929 * [backup-simplify]: Simplify (+ (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))))) 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
25.932 * [backup-simplify]: Simplify (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (+ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R phi2))))) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R phi2))))))))) into (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) phi2))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) phi2)))) (+ (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))) (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))
25.935 * [backup-simplify]: Simplify (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) phi2))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) phi2)))) (+ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R phi2))))) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R phi2))))))))) into (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))))
25.943 * [backup-simplify]: Simplify (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) phi2))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) phi2)))) (+ (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))) (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))))) into (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) phi2))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) phi2)))) (+ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R phi2))))) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R phi2)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (+ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R phi2))))) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R phi2)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))
25.954 * [backup-simplify]: Simplify (+ 0 (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) phi2))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) phi2)))) (+ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R phi2))))) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R phi2)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (+ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R phi2))))) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R phi2)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))))))) (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) phi2))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) phi2)))) (+ (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))) (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))
25.965 * [backup-simplify]: Simplify (+ 0 (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))))))) (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) phi2))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) phi2)))) (+ (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))) (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) phi2))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) phi2)))) (+ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R phi2))))) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R phi2)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (+ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R phi2))))) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R phi2)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))
25.976 * [backup-simplify]: Simplify (+ 0 (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) phi2))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) phi2)))) (+ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R phi2))))) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R phi2)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (+ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R phi2))))) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R phi2)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))))))) (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) phi2))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) phi2)))) (+ (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))) (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))
25.988 * [backup-simplify]: Simplify (- (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))))))) (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) phi2))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) phi2)))) (+ (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))) (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into (- (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) phi2))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) phi2)))) (+ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R phi2))))) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R phi2)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (+ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R phi2))))) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R phi2)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))
26.006 * [backup-simplify]: Simplify (+ (* 2 (* (/ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) phi2))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) phi2)))) (+ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R phi2))))) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R phi2)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (- (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) phi2))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) phi2)))) (+ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R phi2))))) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R phi2)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (+ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R phi2))))) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R phi2)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))) into (- (* 2 (* (/ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))))))) (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) phi2))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) phi2)))) (+ (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))) (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))
26.006 * [taylor]: Taking taylor expansion of (- (* 2 (* (/ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))))))) (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) phi2))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) phi2)))) (+ (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))) (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) in phi2
26.006 * [taylor]: Taking taylor expansion of (* 2 (* (/ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) in phi2
26.006 * [taylor]: Taking taylor expansion of 2 in phi2
26.007 * [backup-simplify]: Simplify 2 into 2
26.007 * [taylor]: Taking taylor expansion of (* (/ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) in phi2
26.007 * [taylor]: Taking taylor expansion of (/ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))) in phi2
26.007 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in phi2
26.007 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
26.007 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
26.007 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.007 * [backup-simplify]: Simplify 0.5 into 0.5
26.007 * [taylor]: Taking taylor expansion of phi2 in phi2
26.007 * [backup-simplify]: Simplify 0 into 0
26.007 * [backup-simplify]: Simplify 1 into 1
26.008 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
26.008 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
26.008 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in phi2
26.008 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
26.008 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
26.008 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.008 * [backup-simplify]: Simplify 0.5 into 0.5
26.008 * [taylor]: Taking taylor expansion of phi1 in phi2
26.008 * [backup-simplify]: Simplify phi1 into phi1
26.008 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
26.008 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
26.008 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
26.008 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in phi2
26.008 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
26.008 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
26.008 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.009 * [backup-simplify]: Simplify 0.5 into 0.5
26.009 * [taylor]: Taking taylor expansion of phi2 in phi2
26.009 * [backup-simplify]: Simplify 0 into 0
26.009 * [backup-simplify]: Simplify 1 into 1
26.009 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
26.009 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
26.009 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
26.009 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
26.009 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.009 * [backup-simplify]: Simplify 0.5 into 0.5
26.009 * [taylor]: Taking taylor expansion of phi1 in phi2
26.009 * [backup-simplify]: Simplify phi1 into phi1
26.009 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
26.010 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
26.010 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
26.010 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))))) in phi2
26.010 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) in phi2
26.010 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))) in phi2
26.010 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi2
26.010 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
26.010 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
26.010 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.010 * [backup-simplify]: Simplify 0.5 into 0.5
26.010 * [taylor]: Taking taylor expansion of phi1 in phi2
26.010 * [backup-simplify]: Simplify phi1 into phi1
26.010 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
26.010 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
26.010 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
26.010 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
26.010 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
26.011 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
26.011 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2)) in phi2
26.011 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi2
26.011 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
26.011 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
26.011 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.011 * [backup-simplify]: Simplify 0.5 into 0.5
26.011 * [taylor]: Taking taylor expansion of phi2 in phi2
26.011 * [backup-simplify]: Simplify 0 into 0
26.011 * [backup-simplify]: Simplify 1 into 1
26.011 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
26.012 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
26.012 * [taylor]: Taking taylor expansion of (* R phi2) in phi2
26.012 * [taylor]: Taking taylor expansion of R in phi2
26.012 * [backup-simplify]: Simplify R into R
26.012 * [taylor]: Taking taylor expansion of phi2 in phi2
26.012 * [backup-simplify]: Simplify 0 into 0
26.012 * [backup-simplify]: Simplify 1 into 1
26.012 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2))) in phi2
26.012 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi2
26.012 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
26.012 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
26.012 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.012 * [backup-simplify]: Simplify 0.5 into 0.5
26.012 * [taylor]: Taking taylor expansion of phi1 in phi2
26.012 * [backup-simplify]: Simplify phi1 into phi1
26.012 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
26.012 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
26.012 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
26.012 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
26.012 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
26.013 * [backup-simplify]: Simplify (- 0) into 0
26.013 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
26.013 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)) in phi2
26.013 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi2
26.013 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
26.013 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
26.013 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.013 * [backup-simplify]: Simplify 0.5 into 0.5
26.013 * [taylor]: Taking taylor expansion of phi2 in phi2
26.013 * [backup-simplify]: Simplify 0 into 0
26.013 * [backup-simplify]: Simplify 1 into 1
26.014 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
26.014 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
26.014 * [taylor]: Taking taylor expansion of (* R phi2) in phi2
26.014 * [taylor]: Taking taylor expansion of R in phi2
26.014 * [backup-simplify]: Simplify R into R
26.014 * [taylor]: Taking taylor expansion of phi2 in phi2
26.014 * [backup-simplify]: Simplify 0 into 0
26.014 * [backup-simplify]: Simplify 1 into 1
26.014 * [taylor]: Taking taylor expansion of (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) in phi2
26.014 * [taylor]: Taking taylor expansion of (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))) in phi2
26.014 * [taylor]: Taking taylor expansion of R in phi2
26.014 * [backup-simplify]: Simplify R into R
26.014 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))) in phi2
26.014 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
26.014 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
26.014 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.014 * [backup-simplify]: Simplify 0.5 into 0.5
26.014 * [taylor]: Taking taylor expansion of phi2 in phi2
26.014 * [backup-simplify]: Simplify 0 into 0
26.014 * [backup-simplify]: Simplify 1 into 1
26.015 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
26.015 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
26.015 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))) in phi2
26.015 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
26.015 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
26.015 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.015 * [backup-simplify]: Simplify 0.5 into 0.5
26.015 * [taylor]: Taking taylor expansion of phi1 in phi2
26.015 * [backup-simplify]: Simplify phi1 into phi1
26.015 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
26.015 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
26.015 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
26.015 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)) in phi2
26.015 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
26.015 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
26.015 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.015 * [backup-simplify]: Simplify 0.5 into 0.5
26.016 * [taylor]: Taking taylor expansion of phi2 in phi2
26.016 * [backup-simplify]: Simplify 0 into 0
26.016 * [backup-simplify]: Simplify 1 into 1
26.016 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
26.016 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
26.016 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) phi2) in phi2
26.016 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
26.016 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
26.016 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.016 * [backup-simplify]: Simplify 0.5 into 0.5
26.016 * [taylor]: Taking taylor expansion of phi1 in phi2
26.016 * [backup-simplify]: Simplify phi1 into phi1
26.016 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
26.016 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
26.017 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
26.017 * [taylor]: Taking taylor expansion of phi2 in phi2
26.017 * [backup-simplify]: Simplify 0 into 0
26.017 * [backup-simplify]: Simplify 1 into 1
26.017 * [taylor]: Taking taylor expansion of (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))) in phi2
26.017 * [taylor]: Taking taylor expansion of R in phi2
26.017 * [backup-simplify]: Simplify R into R
26.017 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))) in phi2
26.017 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
26.017 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
26.017 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.017 * [backup-simplify]: Simplify 0.5 into 0.5
26.017 * [taylor]: Taking taylor expansion of phi2 in phi2
26.017 * [backup-simplify]: Simplify 0 into 0
26.017 * [backup-simplify]: Simplify 1 into 1
26.017 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
26.018 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
26.018 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))) in phi2
26.018 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
26.018 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
26.018 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.018 * [backup-simplify]: Simplify 0.5 into 0.5
26.018 * [taylor]: Taking taylor expansion of phi1 in phi2
26.018 * [backup-simplify]: Simplify phi1 into phi1
26.018 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
26.018 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
26.018 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
26.018 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)) in phi2
26.018 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
26.018 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
26.018 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.018 * [backup-simplify]: Simplify 0.5 into 0.5
26.018 * [taylor]: Taking taylor expansion of phi2 in phi2
26.018 * [backup-simplify]: Simplify 0 into 0
26.018 * [backup-simplify]: Simplify 1 into 1
26.019 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
26.019 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
26.019 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) phi2) in phi2
26.019 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
26.019 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
26.019 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.019 * [backup-simplify]: Simplify 0.5 into 0.5
26.019 * [taylor]: Taking taylor expansion of phi1 in phi2
26.019 * [backup-simplify]: Simplify phi1 into phi1
26.019 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
26.019 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
26.019 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
26.019 * [taylor]: Taking taylor expansion of phi2 in phi2
26.019 * [backup-simplify]: Simplify 0 into 0
26.019 * [backup-simplify]: Simplify 1 into 1
26.019 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
26.020 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
26.020 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
26.020 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
26.020 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
26.020 * [backup-simplify]: Simplify (- 0) into 0
26.020 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
26.021 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
26.021 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
26.021 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
26.021 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
26.021 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
26.022 * [backup-simplify]: Simplify (* R 0) into 0
26.022 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) 0) into 0
26.022 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) 0) into 0
26.022 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
26.022 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
26.022 * [backup-simplify]: Simplify (* R 0) into 0
26.023 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) 0) into 0
26.023 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) 0) into 0
26.023 * [backup-simplify]: Simplify (+ 0 0) into 0
26.023 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
26.023 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
26.024 * [backup-simplify]: Simplify (- 0) into 0
26.024 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
26.024 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
26.024 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
26.024 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
26.024 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
26.024 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
26.025 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
26.025 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
26.025 * [backup-simplify]: Simplify (* R 0) into 0
26.025 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
26.025 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
26.026 * [backup-simplify]: Simplify (- 0) into 0
26.026 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
26.026 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
26.026 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
26.026 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
26.026 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
26.027 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
26.027 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
26.027 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
26.027 * [backup-simplify]: Simplify (* R 0) into 0
26.027 * [backup-simplify]: Simplify (+ 0 0) into 0
26.028 * [backup-simplify]: Simplify (- 0) into 0
26.028 * [backup-simplify]: Simplify (+ 0 0) into 0
26.029 * [backup-simplify]: Simplify (+ (* R 1) (* 0 0)) into R
26.029 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
26.030 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) R) (* 0 0)) into (* (pow (sin (/ 0.5 phi2)) 2) R)
26.030 * [backup-simplify]: Simplify (+ 0) into 0
26.030 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
26.031 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
26.032 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.032 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
26.032 * [backup-simplify]: Simplify (+ 0 0) into 0
26.033 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
26.033 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)) (* 0 0)) into (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R))
26.034 * [backup-simplify]: Simplify (+ (* R 1) (* 0 0)) into R
26.034 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
26.035 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) R) (* 0 0)) into (* (pow (cos (/ 0.5 phi2)) 2) R)
26.035 * [backup-simplify]: Simplify (+ 0) into 0
26.036 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
26.036 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
26.036 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.037 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
26.037 * [backup-simplify]: Simplify (- 0) into 0
26.038 * [backup-simplify]: Simplify (+ 0 0) into 0
26.038 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
26.039 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R)) (* 0 0)) into (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))
26.040 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) into (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R)))
26.040 * [backup-simplify]: Simplify (+ 0) into 0
26.041 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
26.041 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
26.041 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.042 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
26.042 * [backup-simplify]: Simplify (+ 0 0) into 0
26.043 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 1) (* 0 0)) into (sin (/ 0.5 phi1))
26.043 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) (* 0 0)) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
26.044 * [backup-simplify]: Simplify (+ 0) into 0
26.044 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
26.044 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
26.045 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.046 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
26.046 * [backup-simplify]: Simplify (- 0) into 0
26.046 * [backup-simplify]: Simplify (+ 0 0) into 0
26.047 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) (* 0 0)) into (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
26.048 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* 0 0)) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
26.049 * [backup-simplify]: Simplify (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) (* 0 0)) into (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))
26.049 * [backup-simplify]: Simplify (+ 0) into 0
26.049 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
26.050 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
26.050 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.051 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
26.051 * [backup-simplify]: Simplify (+ 0 0) into 0
26.052 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 1) (* 0 0)) into (sin (/ 0.5 phi1))
26.052 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) (* 0 0)) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
26.053 * [backup-simplify]: Simplify (+ 0) into 0
26.053 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
26.053 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
26.054 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.054 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
26.054 * [backup-simplify]: Simplify (- 0) into 0
26.054 * [backup-simplify]: Simplify (+ 0 0) into 0
26.055 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) (* 0 0)) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
26.055 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* 0 0)) into (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
26.056 * [backup-simplify]: Simplify (+ (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) (* 0 0)) into (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))
26.056 * [backup-simplify]: Simplify (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
26.057 * [backup-simplify]: Simplify (- (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R)))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R))))))
26.058 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (- (+ (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R)))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R))))))) into (- (+ (* R (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))) (* R (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))) (+ (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R)))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R))))))
26.059 * [backup-simplify]: Simplify (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* R (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))) (* R (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))) (+ (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R)))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R))))))) into (/ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
26.059 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in phi2
26.059 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in phi2
26.059 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in phi2
26.059 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in phi2
26.060 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in phi2
26.060 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi2
26.060 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
26.060 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
26.060 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.060 * [backup-simplify]: Simplify 0.5 into 0.5
26.060 * [taylor]: Taking taylor expansion of phi2 in phi2
26.060 * [backup-simplify]: Simplify 0 into 0
26.060 * [backup-simplify]: Simplify 1 into 1
26.060 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
26.060 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
26.060 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi2
26.060 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
26.060 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
26.060 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.060 * [backup-simplify]: Simplify 0.5 into 0.5
26.060 * [taylor]: Taking taylor expansion of phi1 in phi2
26.060 * [backup-simplify]: Simplify phi1 into phi1
26.060 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
26.060 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
26.060 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
26.060 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
26.060 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
26.061 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
26.061 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in phi2
26.061 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi2
26.061 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
26.061 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
26.061 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.061 * [backup-simplify]: Simplify 0.5 into 0.5
26.061 * [taylor]: Taking taylor expansion of phi2 in phi2
26.061 * [backup-simplify]: Simplify 0 into 0
26.061 * [backup-simplify]: Simplify 1 into 1
26.061 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
26.061 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
26.061 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi2
26.061 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
26.061 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
26.061 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.061 * [backup-simplify]: Simplify 0.5 into 0.5
26.061 * [taylor]: Taking taylor expansion of phi1 in phi2
26.061 * [backup-simplify]: Simplify phi1 into phi1
26.061 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
26.061 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
26.061 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
26.061 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
26.061 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
26.062 * [backup-simplify]: Simplify (- 0) into 0
26.062 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
26.062 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in phi2
26.062 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in phi2
26.062 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
26.062 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
26.062 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.062 * [backup-simplify]: Simplify 0.5 into 0.5
26.062 * [taylor]: Taking taylor expansion of phi2 in phi2
26.062 * [backup-simplify]: Simplify 0 into 0
26.062 * [backup-simplify]: Simplify 1 into 1
26.062 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
26.062 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
26.062 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in phi2
26.062 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
26.062 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
26.062 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.062 * [backup-simplify]: Simplify 0.5 into 0.5
26.062 * [taylor]: Taking taylor expansion of phi1 in phi2
26.062 * [backup-simplify]: Simplify phi1 into phi1
26.062 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
26.062 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
26.063 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
26.063 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in phi2
26.063 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
26.063 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
26.063 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.063 * [backup-simplify]: Simplify 0.5 into 0.5
26.063 * [taylor]: Taking taylor expansion of phi2 in phi2
26.063 * [backup-simplify]: Simplify 0 into 0
26.063 * [backup-simplify]: Simplify 1 into 1
26.063 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
26.063 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
26.063 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
26.063 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
26.063 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.063 * [backup-simplify]: Simplify 0.5 into 0.5
26.063 * [taylor]: Taking taylor expansion of phi1 in phi2
26.063 * [backup-simplify]: Simplify phi1 into phi1
26.063 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
26.063 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
26.063 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
26.063 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in phi2
26.063 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
26.063 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
26.063 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.063 * [backup-simplify]: Simplify 0.5 into 0.5
26.063 * [taylor]: Taking taylor expansion of phi2 in phi2
26.063 * [backup-simplify]: Simplify 0 into 0
26.063 * [backup-simplify]: Simplify 1 into 1
26.064 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
26.064 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
26.064 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in phi2
26.064 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
26.064 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
26.064 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.064 * [backup-simplify]: Simplify 0.5 into 0.5
26.064 * [taylor]: Taking taylor expansion of phi1 in phi2
26.064 * [backup-simplify]: Simplify phi1 into phi1
26.064 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
26.064 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
26.064 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
26.064 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in phi2
26.064 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
26.064 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
26.064 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.064 * [backup-simplify]: Simplify 0.5 into 0.5
26.064 * [taylor]: Taking taylor expansion of phi2 in phi2
26.064 * [backup-simplify]: Simplify 0 into 0
26.064 * [backup-simplify]: Simplify 1 into 1
26.064 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
26.064 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
26.065 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
26.065 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
26.065 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.065 * [backup-simplify]: Simplify 0.5 into 0.5
26.065 * [taylor]: Taking taylor expansion of phi1 in phi2
26.065 * [backup-simplify]: Simplify phi1 into phi1
26.065 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
26.065 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
26.065 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
26.065 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
26.065 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
26.065 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
26.065 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
26.065 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
26.066 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
26.066 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
26.066 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
26.066 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
26.066 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
26.066 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
26.066 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
26.067 * [backup-simplify]: Simplify (- 0) into 0
26.067 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
26.067 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
26.067 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
26.067 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
26.067 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
26.067 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
26.067 * [backup-simplify]: Simplify (- 0) into 0
26.067 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
26.067 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
26.068 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
26.068 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
26.068 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
26.068 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
26.068 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
26.068 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))
26.069 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
26.070 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
26.071 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
26.072 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
26.075 * [backup-simplify]: Simplify (+ 0) into 0
26.075 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
26.076 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
26.076 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.076 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
26.077 * [backup-simplify]: Simplify (+ 0 0) into 0
26.077 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
26.077 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
26.077 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
26.077 * [backup-simplify]: Simplify (+ 0) into 0
26.078 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
26.078 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
26.078 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.078 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
26.079 * [backup-simplify]: Simplify (- 0) into 0
26.079 * [backup-simplify]: Simplify (+ 0 0) into 0
26.079 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
26.079 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
26.079 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
26.080 * [backup-simplify]: Simplify (+ 0 0) into 0
26.080 * [backup-simplify]: Simplify (+ 0) into 0
26.080 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
26.080 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
26.081 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.081 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
26.081 * [backup-simplify]: Simplify (- 0) into 0
26.082 * [backup-simplify]: Simplify (+ 0 0) into 0
26.082 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
26.082 * [backup-simplify]: Simplify (+ 0) into 0
26.082 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
26.083 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
26.083 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.083 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
26.084 * [backup-simplify]: Simplify (+ 0 0) into 0
26.084 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
26.084 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
26.084 * [backup-simplify]: Simplify (+ 0) into 0
26.084 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
26.085 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
26.085 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.085 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
26.086 * [backup-simplify]: Simplify (+ 0 0) into 0
26.086 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
26.086 * [backup-simplify]: Simplify (+ 0) into 0
26.086 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
26.086 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
26.087 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.087 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
26.087 * [backup-simplify]: Simplify (- 0) into 0
26.087 * [backup-simplify]: Simplify (+ 0 0) into 0
26.088 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
26.088 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
26.088 * [backup-simplify]: Simplify (+ 0 0) into 0
26.088 * [backup-simplify]: Simplify (- 0) into 0
26.089 * [backup-simplify]: Simplify (+ 0 0) into 0
26.091 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
26.092 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
26.092 * [taylor]: Taking taylor expansion of (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))))))) (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) phi2))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) phi2)))) (+ (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))) (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) in phi2
26.092 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))))))) in phi2
26.092 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in phi2
26.092 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in phi2
26.092 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in phi2
26.092 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in phi2
26.092 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in phi2
26.092 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi2
26.092 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
26.092 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
26.092 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.092 * [backup-simplify]: Simplify 0.5 into 0.5
26.092 * [taylor]: Taking taylor expansion of phi2 in phi2
26.092 * [backup-simplify]: Simplify 0 into 0
26.092 * [backup-simplify]: Simplify 1 into 1
26.092 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
26.092 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
26.093 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi2
26.093 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
26.093 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
26.093 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.093 * [backup-simplify]: Simplify 0.5 into 0.5
26.093 * [taylor]: Taking taylor expansion of phi1 in phi2
26.093 * [backup-simplify]: Simplify phi1 into phi1
26.093 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
26.093 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
26.093 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
26.093 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
26.093 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
26.093 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
26.093 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in phi2
26.093 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi2
26.093 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
26.093 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
26.093 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.093 * [backup-simplify]: Simplify 0.5 into 0.5
26.093 * [taylor]: Taking taylor expansion of phi2 in phi2
26.093 * [backup-simplify]: Simplify 0 into 0
26.093 * [backup-simplify]: Simplify 1 into 1
26.093 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
26.093 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
26.094 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi2
26.094 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
26.094 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
26.094 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.094 * [backup-simplify]: Simplify 0.5 into 0.5
26.094 * [taylor]: Taking taylor expansion of phi1 in phi2
26.094 * [backup-simplify]: Simplify phi1 into phi1
26.094 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
26.094 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
26.094 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
26.094 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
26.094 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
26.094 * [backup-simplify]: Simplify (- 0) into 0
26.094 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
26.094 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in phi2
26.094 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in phi2
26.094 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
26.094 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
26.094 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.094 * [backup-simplify]: Simplify 0.5 into 0.5
26.094 * [taylor]: Taking taylor expansion of phi2 in phi2
26.094 * [backup-simplify]: Simplify 0 into 0
26.094 * [backup-simplify]: Simplify 1 into 1
26.095 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
26.095 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
26.095 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in phi2
26.095 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
26.095 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
26.095 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.095 * [backup-simplify]: Simplify 0.5 into 0.5
26.095 * [taylor]: Taking taylor expansion of phi1 in phi2
26.095 * [backup-simplify]: Simplify phi1 into phi1
26.095 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
26.095 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
26.095 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
26.095 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in phi2
26.095 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
26.095 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
26.095 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.095 * [backup-simplify]: Simplify 0.5 into 0.5
26.095 * [taylor]: Taking taylor expansion of phi2 in phi2
26.095 * [backup-simplify]: Simplify 0 into 0
26.095 * [backup-simplify]: Simplify 1 into 1
26.095 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
26.095 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
26.095 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
26.096 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
26.096 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.096 * [backup-simplify]: Simplify 0.5 into 0.5
26.096 * [taylor]: Taking taylor expansion of phi1 in phi2
26.096 * [backup-simplify]: Simplify phi1 into phi1
26.096 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
26.096 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
26.096 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
26.096 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in phi2
26.096 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
26.096 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
26.096 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.096 * [backup-simplify]: Simplify 0.5 into 0.5
26.096 * [taylor]: Taking taylor expansion of phi2 in phi2
26.096 * [backup-simplify]: Simplify 0 into 0
26.096 * [backup-simplify]: Simplify 1 into 1
26.096 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
26.096 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
26.096 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in phi2
26.096 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
26.096 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
26.096 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.096 * [backup-simplify]: Simplify 0.5 into 0.5
26.096 * [taylor]: Taking taylor expansion of phi1 in phi2
26.096 * [backup-simplify]: Simplify phi1 into phi1
26.096 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
26.096 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
26.096 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
26.096 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in phi2
26.097 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
26.097 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
26.097 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.097 * [backup-simplify]: Simplify 0.5 into 0.5
26.097 * [taylor]: Taking taylor expansion of phi2 in phi2
26.097 * [backup-simplify]: Simplify 0 into 0
26.097 * [backup-simplify]: Simplify 1 into 1
26.097 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
26.097 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
26.097 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
26.097 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
26.097 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.097 * [backup-simplify]: Simplify 0.5 into 0.5
26.097 * [taylor]: Taking taylor expansion of phi1 in phi2
26.097 * [backup-simplify]: Simplify phi1 into phi1
26.097 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
26.097 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
26.097 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
26.097 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
26.097 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
26.098 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
26.098 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
26.098 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
26.098 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
26.098 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
26.098 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
26.099 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
26.099 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
26.099 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
26.099 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
26.099 * [backup-simplify]: Simplify (- 0) into 0
26.099 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
26.099 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
26.099 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
26.099 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
26.100 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
26.100 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
26.100 * [backup-simplify]: Simplify (- 0) into 0
26.100 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
26.100 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
26.100 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
26.100 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
26.100 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
26.100 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
26.100 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
26.101 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))
26.101 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
26.102 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
26.103 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
26.104 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
26.105 * [backup-simplify]: Simplify (+ 0) into 0
26.105 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
26.105 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
26.106 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.106 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
26.106 * [backup-simplify]: Simplify (+ 0 0) into 0
26.107 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
26.107 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
26.107 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
26.108 * [backup-simplify]: Simplify (+ 0) into 0
26.108 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
26.108 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
26.109 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.109 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
26.110 * [backup-simplify]: Simplify (- 0) into 0
26.110 * [backup-simplify]: Simplify (+ 0 0) into 0
26.110 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
26.111 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
26.111 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
26.111 * [backup-simplify]: Simplify (+ 0 0) into 0
26.112 * [backup-simplify]: Simplify (+ 0) into 0
26.112 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
26.112 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
26.113 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.113 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
26.114 * [backup-simplify]: Simplify (- 0) into 0
26.114 * [backup-simplify]: Simplify (+ 0 0) into 0
26.114 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
26.115 * [backup-simplify]: Simplify (+ 0) into 0
26.115 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
26.115 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
26.116 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.117 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
26.117 * [backup-simplify]: Simplify (+ 0 0) into 0
26.117 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
26.118 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
26.118 * [backup-simplify]: Simplify (+ 0) into 0
26.119 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
26.119 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
26.119 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.120 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
26.120 * [backup-simplify]: Simplify (+ 0 0) into 0
26.120 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
26.121 * [backup-simplify]: Simplify (+ 0) into 0
26.121 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
26.122 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
26.122 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.123 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
26.123 * [backup-simplify]: Simplify (- 0) into 0
26.123 * [backup-simplify]: Simplify (+ 0 0) into 0
26.124 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
26.124 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
26.125 * [backup-simplify]: Simplify (+ 0 0) into 0
26.125 * [backup-simplify]: Simplify (- 0) into 0
26.125 * [backup-simplify]: Simplify (+ 0 0) into 0
26.129 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
26.131 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
26.131 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))) in phi2
26.131 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in phi2
26.131 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi2
26.131 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
26.132 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
26.132 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.132 * [backup-simplify]: Simplify 0.5 into 0.5
26.132 * [taylor]: Taking taylor expansion of phi2 in phi2
26.132 * [backup-simplify]: Simplify 0 into 0
26.132 * [backup-simplify]: Simplify 1 into 1
26.133 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
26.133 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
26.133 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi2
26.133 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
26.133 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
26.133 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.133 * [backup-simplify]: Simplify 0.5 into 0.5
26.133 * [taylor]: Taking taylor expansion of phi1 in phi2
26.133 * [backup-simplify]: Simplify phi1 into phi1
26.133 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
26.133 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
26.133 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
26.133 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
26.133 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
26.134 * [backup-simplify]: Simplify (- 0) into 0
26.134 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
26.134 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))))) in phi2
26.134 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) in phi2
26.134 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))) in phi2
26.134 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi2
26.134 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
26.134 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
26.134 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.134 * [backup-simplify]: Simplify 0.5 into 0.5
26.134 * [taylor]: Taking taylor expansion of phi1 in phi2
26.134 * [backup-simplify]: Simplify phi1 into phi1
26.134 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
26.134 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
26.134 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
26.135 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
26.135 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
26.135 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
26.135 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2)) in phi2
26.135 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi2
26.135 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
26.135 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
26.135 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.135 * [backup-simplify]: Simplify 0.5 into 0.5
26.135 * [taylor]: Taking taylor expansion of phi2 in phi2
26.135 * [backup-simplify]: Simplify 0 into 0
26.135 * [backup-simplify]: Simplify 1 into 1
26.135 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
26.136 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
26.136 * [taylor]: Taking taylor expansion of (* R phi2) in phi2
26.136 * [taylor]: Taking taylor expansion of R in phi2
26.136 * [backup-simplify]: Simplify R into R
26.136 * [taylor]: Taking taylor expansion of phi2 in phi2
26.136 * [backup-simplify]: Simplify 0 into 0
26.136 * [backup-simplify]: Simplify 1 into 1
26.136 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2))) in phi2
26.136 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi2
26.136 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
26.136 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
26.136 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.136 * [backup-simplify]: Simplify 0.5 into 0.5
26.136 * [taylor]: Taking taylor expansion of phi1 in phi2
26.136 * [backup-simplify]: Simplify phi1 into phi1
26.136 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
26.136 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
26.136 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
26.136 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
26.136 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
26.137 * [backup-simplify]: Simplify (- 0) into 0
26.137 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
26.137 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)) in phi2
26.137 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi2
26.137 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
26.137 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
26.137 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.137 * [backup-simplify]: Simplify 0.5 into 0.5
26.137 * [taylor]: Taking taylor expansion of phi2 in phi2
26.137 * [backup-simplify]: Simplify 0 into 0
26.137 * [backup-simplify]: Simplify 1 into 1
26.138 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
26.138 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
26.138 * [taylor]: Taking taylor expansion of (* R phi2) in phi2
26.138 * [taylor]: Taking taylor expansion of R in phi2
26.138 * [backup-simplify]: Simplify R into R
26.138 * [taylor]: Taking taylor expansion of phi2 in phi2
26.138 * [backup-simplify]: Simplify 0 into 0
26.138 * [backup-simplify]: Simplify 1 into 1
26.138 * [taylor]: Taking taylor expansion of (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) in phi2
26.138 * [taylor]: Taking taylor expansion of (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))) in phi2
26.138 * [taylor]: Taking taylor expansion of R in phi2
26.138 * [backup-simplify]: Simplify R into R
26.138 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))) in phi2
26.138 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
26.138 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
26.138 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.138 * [backup-simplify]: Simplify 0.5 into 0.5
26.138 * [taylor]: Taking taylor expansion of phi2 in phi2
26.138 * [backup-simplify]: Simplify 0 into 0
26.138 * [backup-simplify]: Simplify 1 into 1
26.139 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
26.139 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
26.139 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))) in phi2
26.139 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
26.139 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
26.139 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.139 * [backup-simplify]: Simplify 0.5 into 0.5
26.139 * [taylor]: Taking taylor expansion of phi1 in phi2
26.139 * [backup-simplify]: Simplify phi1 into phi1
26.139 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
26.139 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
26.139 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
26.139 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)) in phi2
26.139 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
26.139 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
26.139 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.139 * [backup-simplify]: Simplify 0.5 into 0.5
26.139 * [taylor]: Taking taylor expansion of phi2 in phi2
26.139 * [backup-simplify]: Simplify 0 into 0
26.139 * [backup-simplify]: Simplify 1 into 1
26.140 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
26.140 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
26.140 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) phi2) in phi2
26.140 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
26.140 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
26.140 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.140 * [backup-simplify]: Simplify 0.5 into 0.5
26.140 * [taylor]: Taking taylor expansion of phi1 in phi2
26.140 * [backup-simplify]: Simplify phi1 into phi1
26.140 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
26.140 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
26.140 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
26.140 * [taylor]: Taking taylor expansion of phi2 in phi2
26.141 * [backup-simplify]: Simplify 0 into 0
26.141 * [backup-simplify]: Simplify 1 into 1
26.141 * [taylor]: Taking taylor expansion of (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))) in phi2
26.141 * [taylor]: Taking taylor expansion of R in phi2
26.141 * [backup-simplify]: Simplify R into R
26.141 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))) in phi2
26.141 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
26.141 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
26.141 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.141 * [backup-simplify]: Simplify 0.5 into 0.5
26.141 * [taylor]: Taking taylor expansion of phi2 in phi2
26.141 * [backup-simplify]: Simplify 0 into 0
26.141 * [backup-simplify]: Simplify 1 into 1
26.141 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
26.141 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
26.141 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))) in phi2
26.141 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
26.141 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
26.142 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.142 * [backup-simplify]: Simplify 0.5 into 0.5
26.142 * [taylor]: Taking taylor expansion of phi1 in phi2
26.142 * [backup-simplify]: Simplify phi1 into phi1
26.142 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
26.142 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
26.142 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
26.142 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)) in phi2
26.142 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
26.142 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
26.142 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.142 * [backup-simplify]: Simplify 0.5 into 0.5
26.142 * [taylor]: Taking taylor expansion of phi2 in phi2
26.142 * [backup-simplify]: Simplify 0 into 0
26.142 * [backup-simplify]: Simplify 1 into 1
26.143 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
26.143 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
26.143 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) phi2) in phi2
26.143 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
26.143 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
26.143 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.143 * [backup-simplify]: Simplify 0.5 into 0.5
26.143 * [taylor]: Taking taylor expansion of phi1 in phi2
26.143 * [backup-simplify]: Simplify phi1 into phi1
26.143 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
26.143 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
26.143 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
26.143 * [taylor]: Taking taylor expansion of phi2 in phi2
26.143 * [backup-simplify]: Simplify 0 into 0
26.143 * [backup-simplify]: Simplify 1 into 1
26.143 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
26.143 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
26.144 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
26.144 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
26.144 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
26.144 * [backup-simplify]: Simplify (* R 0) into 0
26.144 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) 0) into 0
26.145 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) 0) into 0
26.145 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
26.145 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
26.145 * [backup-simplify]: Simplify (* R 0) into 0
26.145 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) 0) into 0
26.145 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) 0) into 0
26.146 * [backup-simplify]: Simplify (+ 0 0) into 0
26.146 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
26.146 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
26.146 * [backup-simplify]: Simplify (- 0) into 0
26.147 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
26.147 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
26.147 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
26.147 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
26.147 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
26.147 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
26.147 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
26.147 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
26.147 * [backup-simplify]: Simplify (* R 0) into 0
26.147 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
26.148 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
26.148 * [backup-simplify]: Simplify (- 0) into 0
26.148 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
26.148 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
26.148 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
26.148 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
26.148 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
26.149 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
26.149 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
26.149 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
26.149 * [backup-simplify]: Simplify (* R 0) into 0
26.149 * [backup-simplify]: Simplify (+ 0 0) into 0
26.150 * [backup-simplify]: Simplify (- 0) into 0
26.150 * [backup-simplify]: Simplify (+ 0 0) into 0
26.150 * [backup-simplify]: Simplify (+ (* R 1) (* 0 0)) into R
26.151 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
26.151 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) R) (* 0 0)) into (* (pow (sin (/ 0.5 phi2)) 2) R)
26.152 * [backup-simplify]: Simplify (+ 0) into 0
26.152 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
26.152 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
26.153 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.153 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
26.154 * [backup-simplify]: Simplify (+ 0 0) into 0
26.154 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
26.155 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)) (* 0 0)) into (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R))
26.155 * [backup-simplify]: Simplify (+ (* R 1) (* 0 0)) into R
26.155 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
26.156 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) R) (* 0 0)) into (* (pow (cos (/ 0.5 phi2)) 2) R)
26.157 * [backup-simplify]: Simplify (+ 0) into 0
26.157 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
26.157 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
26.158 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.158 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
26.159 * [backup-simplify]: Simplify (- 0) into 0
26.159 * [backup-simplify]: Simplify (+ 0 0) into 0
26.159 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
26.160 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R)) (* 0 0)) into (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))
26.161 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) into (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R)))
26.161 * [backup-simplify]: Simplify (+ 0) into 0
26.162 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
26.162 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
26.163 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.163 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
26.164 * [backup-simplify]: Simplify (+ 0 0) into 0
26.164 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 1) (* 0 0)) into (sin (/ 0.5 phi1))
26.165 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) (* 0 0)) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
26.165 * [backup-simplify]: Simplify (+ 0) into 0
26.165 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
26.166 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
26.166 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.167 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
26.167 * [backup-simplify]: Simplify (- 0) into 0
26.167 * [backup-simplify]: Simplify (+ 0 0) into 0
26.168 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) (* 0 0)) into (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
26.169 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* 0 0)) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
26.170 * [backup-simplify]: Simplify (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) (* 0 0)) into (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))
26.170 * [backup-simplify]: Simplify (+ 0) into 0
26.170 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
26.171 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
26.171 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.172 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
26.172 * [backup-simplify]: Simplify (+ 0 0) into 0
26.173 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 1) (* 0 0)) into (sin (/ 0.5 phi1))
26.173 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) (* 0 0)) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
26.173 * [backup-simplify]: Simplify (+ 0) into 0
26.174 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
26.174 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
26.175 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.175 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
26.176 * [backup-simplify]: Simplify (- 0) into 0
26.176 * [backup-simplify]: Simplify (+ 0 0) into 0
26.177 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) (* 0 0)) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
26.177 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* 0 0)) into (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
26.178 * [backup-simplify]: Simplify (+ (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) (* 0 0)) into (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))
26.178 * [backup-simplify]: Simplify (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
26.179 * [backup-simplify]: Simplify (- (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R)))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R))))))
26.180 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (- (+ (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R)))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R))))))) into (- (+ (* R (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))) (* R (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))) (+ (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R)))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R))))))
26.181 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))) (* R (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))) (+ (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R)))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R))))))) into (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
26.182 * [taylor]: Taking taylor expansion of (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) phi2))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) phi2)))) (+ (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))) (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) in phi2
26.182 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) phi2))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) phi2)))) (+ (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))) (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))) in phi2
26.182 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in phi2
26.182 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi2
26.182 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
26.182 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
26.182 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.182 * [backup-simplify]: Simplify 0.5 into 0.5
26.182 * [taylor]: Taking taylor expansion of phi2 in phi2
26.182 * [backup-simplify]: Simplify 0 into 0
26.182 * [backup-simplify]: Simplify 1 into 1
26.182 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
26.182 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
26.183 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi2
26.183 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
26.183 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
26.183 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.183 * [backup-simplify]: Simplify 0.5 into 0.5
26.183 * [taylor]: Taking taylor expansion of phi1 in phi2
26.183 * [backup-simplify]: Simplify phi1 into phi1
26.183 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
26.183 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
26.183 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
26.183 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
26.183 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
26.183 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
26.183 * [taylor]: Taking taylor expansion of (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) phi2))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) phi2)))) (+ (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))) (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))))) in phi2
26.183 * [taylor]: Taking taylor expansion of (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) phi2))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) phi2)))) in phi2
26.183 * [taylor]: Taking taylor expansion of (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) phi2))) in phi2
26.183 * [taylor]: Taking taylor expansion of R in phi2
26.183 * [backup-simplify]: Simplify R into R
26.183 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) phi2)) in phi2
26.183 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi2
26.183 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
26.183 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
26.183 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.183 * [backup-simplify]: Simplify 0.5 into 0.5
26.183 * [taylor]: Taking taylor expansion of phi2 in phi2
26.183 * [backup-simplify]: Simplify 0 into 0
26.183 * [backup-simplify]: Simplify 1 into 1
26.184 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
26.184 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
26.184 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) phi2) in phi2
26.184 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi2
26.184 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
26.184 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
26.184 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.184 * [backup-simplify]: Simplify 0.5 into 0.5
26.184 * [taylor]: Taking taylor expansion of phi1 in phi2
26.184 * [backup-simplify]: Simplify phi1 into phi1
26.184 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
26.184 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
26.184 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
26.184 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
26.184 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
26.184 * [backup-simplify]: Simplify (- 0) into 0
26.184 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
26.184 * [taylor]: Taking taylor expansion of phi2 in phi2
26.184 * [backup-simplify]: Simplify 0 into 0
26.184 * [backup-simplify]: Simplify 1 into 1
26.184 * [taylor]: Taking taylor expansion of (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) phi2))) in phi2
26.184 * [taylor]: Taking taylor expansion of R in phi2
26.185 * [backup-simplify]: Simplify R into R
26.185 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) phi2)) in phi2
26.185 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi2
26.185 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
26.185 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
26.185 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.185 * [backup-simplify]: Simplify 0.5 into 0.5
26.185 * [taylor]: Taking taylor expansion of phi2 in phi2
26.185 * [backup-simplify]: Simplify 0 into 0
26.185 * [backup-simplify]: Simplify 1 into 1
26.185 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
26.185 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
26.185 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) phi2) in phi2
26.185 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi2
26.185 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
26.185 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
26.185 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.185 * [backup-simplify]: Simplify 0.5 into 0.5
26.185 * [taylor]: Taking taylor expansion of phi1 in phi2
26.185 * [backup-simplify]: Simplify phi1 into phi1
26.185 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
26.185 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
26.185 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
26.185 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
26.185 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
26.186 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
26.186 * [taylor]: Taking taylor expansion of phi2 in phi2
26.186 * [backup-simplify]: Simplify 0 into 0
26.186 * [backup-simplify]: Simplify 1 into 1
26.186 * [taylor]: Taking taylor expansion of (+ (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))) (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) in phi2
26.186 * [taylor]: Taking taylor expansion of (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))) in phi2
26.186 * [taylor]: Taking taylor expansion of R in phi2
26.186 * [backup-simplify]: Simplify R into R
26.186 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))) in phi2
26.186 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
26.186 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
26.186 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.186 * [backup-simplify]: Simplify 0.5 into 0.5
26.186 * [taylor]: Taking taylor expansion of phi2 in phi2
26.186 * [backup-simplify]: Simplify 0 into 0
26.186 * [backup-simplify]: Simplify 1 into 1
26.186 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
26.186 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
26.186 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))) in phi2
26.186 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
26.186 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
26.186 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.186 * [backup-simplify]: Simplify 0.5 into 0.5
26.186 * [taylor]: Taking taylor expansion of phi1 in phi2
26.186 * [backup-simplify]: Simplify phi1 into phi1
26.186 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
26.186 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
26.186 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
26.186 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)) in phi2
26.186 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
26.187 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
26.187 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.187 * [backup-simplify]: Simplify 0.5 into 0.5
26.187 * [taylor]: Taking taylor expansion of phi2 in phi2
26.187 * [backup-simplify]: Simplify 0 into 0
26.187 * [backup-simplify]: Simplify 1 into 1
26.187 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
26.187 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
26.187 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) phi2) in phi2
26.187 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
26.187 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
26.187 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.187 * [backup-simplify]: Simplify 0.5 into 0.5
26.187 * [taylor]: Taking taylor expansion of phi1 in phi2
26.187 * [backup-simplify]: Simplify phi1 into phi1
26.187 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
26.187 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
26.187 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
26.187 * [taylor]: Taking taylor expansion of phi2 in phi2
26.187 * [backup-simplify]: Simplify 0 into 0
26.187 * [backup-simplify]: Simplify 1 into 1
26.187 * [taylor]: Taking taylor expansion of (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))) in phi2
26.187 * [taylor]: Taking taylor expansion of R in phi2
26.187 * [backup-simplify]: Simplify R into R
26.187 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))) in phi2
26.187 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
26.187 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
26.187 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.187 * [backup-simplify]: Simplify 0.5 into 0.5
26.187 * [taylor]: Taking taylor expansion of phi2 in phi2
26.187 * [backup-simplify]: Simplify 0 into 0
26.187 * [backup-simplify]: Simplify 1 into 1
26.188 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
26.188 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
26.188 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))) in phi2
26.188 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
26.188 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
26.188 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.188 * [backup-simplify]: Simplify 0.5 into 0.5
26.188 * [taylor]: Taking taylor expansion of phi1 in phi2
26.188 * [backup-simplify]: Simplify phi1 into phi1
26.188 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
26.188 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
26.188 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
26.188 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)) in phi2
26.188 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
26.188 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
26.188 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.188 * [backup-simplify]: Simplify 0.5 into 0.5
26.188 * [taylor]: Taking taylor expansion of phi2 in phi2
26.188 * [backup-simplify]: Simplify 0 into 0
26.188 * [backup-simplify]: Simplify 1 into 1
26.189 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
26.189 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
26.189 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) phi2) in phi2
26.189 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
26.189 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
26.189 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.189 * [backup-simplify]: Simplify 0.5 into 0.5
26.189 * [taylor]: Taking taylor expansion of phi1 in phi2
26.189 * [backup-simplify]: Simplify phi1 into phi1
26.189 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
26.189 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
26.189 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
26.189 * [taylor]: Taking taylor expansion of phi2 in phi2
26.189 * [backup-simplify]: Simplify 0 into 0
26.189 * [backup-simplify]: Simplify 1 into 1
26.189 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
26.189 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
26.189 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
26.189 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
26.190 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
26.190 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) 0) into 0
26.190 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) 0) into 0
26.190 * [backup-simplify]: Simplify (* R 0) into 0
26.190 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
26.190 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
26.190 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) 0) into 0
26.190 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) 0) into 0
26.190 * [backup-simplify]: Simplify (* R 0) into 0
26.191 * [backup-simplify]: Simplify (+ 0 0) into 0
26.191 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
26.191 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
26.191 * [backup-simplify]: Simplify (- 0) into 0
26.191 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
26.191 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
26.191 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
26.191 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
26.191 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
26.191 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
26.191 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
26.191 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
26.192 * [backup-simplify]: Simplify (* R 0) into 0
26.192 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
26.192 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
26.192 * [backup-simplify]: Simplify (- 0) into 0
26.192 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
26.192 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
26.192 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
26.192 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
26.192 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
26.192 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
26.192 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
26.192 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
26.192 * [backup-simplify]: Simplify (* R 0) into 0
26.193 * [backup-simplify]: Simplify (+ 0 0) into 0
26.193 * [backup-simplify]: Simplify (- 0) into 0
26.193 * [backup-simplify]: Simplify (+ 0 0) into 0
26.193 * [backup-simplify]: Simplify (+ 0) into 0
26.194 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
26.194 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
26.194 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.195 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
26.195 * [backup-simplify]: Simplify (- 0) into 0
26.195 * [backup-simplify]: Simplify (+ 0 0) into 0
26.195 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
26.196 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 1) (* 0 0)) into (pow (cos (/ 0.5 phi1)) 2)
26.196 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
26.196 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (* 0 0)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
26.197 * [backup-simplify]: Simplify (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (* 0 0)) into (* R (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
26.197 * [backup-simplify]: Simplify (+ 0) into 0
26.197 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
26.197 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
26.198 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.198 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
26.198 * [backup-simplify]: Simplify (+ 0 0) into 0
26.198 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
26.199 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 1) (* 0 0)) into (pow (sin (/ 0.5 phi1)) 2)
26.199 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
26.199 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* 0 0)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
26.200 * [backup-simplify]: Simplify (+ (* R (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))) (* 0 0)) into (* R (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))
26.200 * [backup-simplify]: Simplify (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) into (+ (* R (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))) (* R (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))))
26.201 * [backup-simplify]: Simplify (+ 0) into 0
26.201 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
26.201 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
26.201 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.202 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
26.202 * [backup-simplify]: Simplify (+ 0 0) into 0
26.202 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 1) (* 0 0)) into (sin (/ 0.5 phi1))
26.203 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) (* 0 0)) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
26.203 * [backup-simplify]: Simplify (+ 0) into 0
26.207 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
26.207 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
26.208 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.208 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
26.209 * [backup-simplify]: Simplify (- 0) into 0
26.209 * [backup-simplify]: Simplify (+ 0 0) into 0
26.210 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) (* 0 0)) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
26.210 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* 0 0)) into (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
26.211 * [backup-simplify]: Simplify (+ (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) (* 0 0)) into (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))
26.211 * [backup-simplify]: Simplify (+ 0) into 0
26.211 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
26.212 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
26.212 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.212 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
26.213 * [backup-simplify]: Simplify (+ 0 0) into 0
26.213 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 1) (* 0 0)) into (sin (/ 0.5 phi1))
26.213 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) (* 0 0)) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
26.214 * [backup-simplify]: Simplify (+ 0) into 0
26.214 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
26.214 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
26.215 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.215 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
26.215 * [backup-simplify]: Simplify (- 0) into 0
26.215 * [backup-simplify]: Simplify (+ 0 0) into 0
26.216 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) (* 0 0)) into (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
26.216 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* 0 0)) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
26.217 * [backup-simplify]: Simplify (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) (* 0 0)) into (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))
26.217 * [backup-simplify]: Simplify (+ (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
26.218 * [backup-simplify]: Simplify (- (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R)))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R))))))
26.220 * [backup-simplify]: Simplify (+ (+ (* R (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))) (* R (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))) (- (+ (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R)))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R))))))) into (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (+ (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R)))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R))))))
26.223 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (+ (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R)))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R))))))) into (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))) (* R (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))) (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
26.223 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in phi2
26.223 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in phi2
26.223 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in phi2
26.223 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in phi2
26.224 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in phi2
26.224 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi2
26.224 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
26.224 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
26.224 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.224 * [backup-simplify]: Simplify 0.5 into 0.5
26.224 * [taylor]: Taking taylor expansion of phi2 in phi2
26.224 * [backup-simplify]: Simplify 0 into 0
26.224 * [backup-simplify]: Simplify 1 into 1
26.224 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
26.225 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
26.225 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi2
26.225 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
26.225 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
26.225 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.225 * [backup-simplify]: Simplify 0.5 into 0.5
26.225 * [taylor]: Taking taylor expansion of phi1 in phi2
26.225 * [backup-simplify]: Simplify phi1 into phi1
26.225 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
26.225 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
26.225 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
26.225 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
26.225 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
26.225 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
26.225 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in phi2
26.225 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi2
26.225 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
26.225 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
26.225 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.225 * [backup-simplify]: Simplify 0.5 into 0.5
26.225 * [taylor]: Taking taylor expansion of phi2 in phi2
26.225 * [backup-simplify]: Simplify 0 into 0
26.225 * [backup-simplify]: Simplify 1 into 1
26.226 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
26.226 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
26.226 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi2
26.226 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
26.226 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
26.226 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.226 * [backup-simplify]: Simplify 0.5 into 0.5
26.226 * [taylor]: Taking taylor expansion of phi1 in phi2
26.226 * [backup-simplify]: Simplify phi1 into phi1
26.226 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
26.226 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
26.226 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
26.226 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
26.227 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
26.227 * [backup-simplify]: Simplify (- 0) into 0
26.227 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
26.227 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in phi2
26.227 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in phi2
26.227 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
26.227 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
26.227 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.227 * [backup-simplify]: Simplify 0.5 into 0.5
26.227 * [taylor]: Taking taylor expansion of phi2 in phi2
26.227 * [backup-simplify]: Simplify 0 into 0
26.227 * [backup-simplify]: Simplify 1 into 1
26.228 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
26.228 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
26.228 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in phi2
26.228 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
26.228 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
26.228 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.228 * [backup-simplify]: Simplify 0.5 into 0.5
26.228 * [taylor]: Taking taylor expansion of phi1 in phi2
26.228 * [backup-simplify]: Simplify phi1 into phi1
26.228 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
26.228 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
26.229 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
26.229 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in phi2
26.229 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
26.229 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
26.229 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.229 * [backup-simplify]: Simplify 0.5 into 0.5
26.229 * [taylor]: Taking taylor expansion of phi2 in phi2
26.229 * [backup-simplify]: Simplify 0 into 0
26.229 * [backup-simplify]: Simplify 1 into 1
26.229 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
26.229 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
26.229 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
26.229 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
26.229 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.229 * [backup-simplify]: Simplify 0.5 into 0.5
26.230 * [taylor]: Taking taylor expansion of phi1 in phi2
26.230 * [backup-simplify]: Simplify phi1 into phi1
26.230 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
26.230 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
26.230 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
26.230 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in phi2
26.230 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
26.230 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
26.230 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.230 * [backup-simplify]: Simplify 0.5 into 0.5
26.230 * [taylor]: Taking taylor expansion of phi2 in phi2
26.230 * [backup-simplify]: Simplify 0 into 0
26.230 * [backup-simplify]: Simplify 1 into 1
26.230 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
26.231 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
26.231 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in phi2
26.231 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
26.231 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
26.231 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.231 * [backup-simplify]: Simplify 0.5 into 0.5
26.231 * [taylor]: Taking taylor expansion of phi1 in phi2
26.231 * [backup-simplify]: Simplify phi1 into phi1
26.231 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
26.231 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
26.231 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
26.231 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in phi2
26.231 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
26.231 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
26.231 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.231 * [backup-simplify]: Simplify 0.5 into 0.5
26.231 * [taylor]: Taking taylor expansion of phi2 in phi2
26.231 * [backup-simplify]: Simplify 0 into 0
26.231 * [backup-simplify]: Simplify 1 into 1
26.232 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
26.232 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
26.232 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
26.232 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
26.232 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.232 * [backup-simplify]: Simplify 0.5 into 0.5
26.232 * [taylor]: Taking taylor expansion of phi1 in phi2
26.232 * [backup-simplify]: Simplify phi1 into phi1
26.232 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
26.233 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
26.233 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
26.233 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
26.233 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
26.233 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
26.234 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
26.234 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
26.234 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
26.235 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
26.235 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
26.235 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
26.235 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
26.235 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
26.236 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
26.236 * [backup-simplify]: Simplify (- 0) into 0
26.236 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
26.236 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
26.237 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
26.237 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
26.237 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
26.237 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
26.238 * [backup-simplify]: Simplify (- 0) into 0
26.238 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
26.238 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
26.238 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
26.238 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
26.238 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
26.238 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
26.239 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
26.239 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))
26.240 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
26.242 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
26.244 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
26.246 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
26.246 * [backup-simplify]: Simplify (+ 0) into 0
26.247 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
26.247 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
26.248 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.248 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
26.249 * [backup-simplify]: Simplify (+ 0 0) into 0
26.249 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
26.249 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
26.249 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
26.250 * [backup-simplify]: Simplify (+ 0) into 0
26.250 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
26.251 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
26.251 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.252 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
26.252 * [backup-simplify]: Simplify (- 0) into 0
26.252 * [backup-simplify]: Simplify (+ 0 0) into 0
26.253 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
26.253 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
26.253 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
26.253 * [backup-simplify]: Simplify (+ 0 0) into 0
26.254 * [backup-simplify]: Simplify (+ 0) into 0
26.254 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
26.254 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
26.255 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.255 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
26.255 * [backup-simplify]: Simplify (- 0) into 0
26.255 * [backup-simplify]: Simplify (+ 0 0) into 0
26.256 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
26.256 * [backup-simplify]: Simplify (+ 0) into 0
26.256 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
26.256 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
26.257 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.257 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
26.257 * [backup-simplify]: Simplify (+ 0 0) into 0
26.257 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
26.257 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
26.258 * [backup-simplify]: Simplify (+ 0) into 0
26.258 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
26.258 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
26.259 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.259 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
26.259 * [backup-simplify]: Simplify (+ 0 0) into 0
26.259 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
26.259 * [backup-simplify]: Simplify (+ 0) into 0
26.260 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
26.260 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
26.260 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.261 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
26.261 * [backup-simplify]: Simplify (- 0) into 0
26.261 * [backup-simplify]: Simplify (+ 0 0) into 0
26.261 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
26.261 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
26.262 * [backup-simplify]: Simplify (+ 0 0) into 0
26.262 * [backup-simplify]: Simplify (- 0) into 0
26.262 * [backup-simplify]: Simplify (+ 0 0) into 0
26.264 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
26.265 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
26.268 * [backup-simplify]: Simplify (* (/ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into (* (/ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (- (+ (* R (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))) (* R (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))) (+ (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R)))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))
26.270 * [backup-simplify]: Simplify (* 2 (* (/ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (- (+ (* R (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))) (* R (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))) (+ (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R)))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into (* 2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))
26.273 * [backup-simplify]: Simplify (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))) (* R (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))) (+ (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R)))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R))))))))
26.275 * [backup-simplify]: Simplify (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))) (* R (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))) (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (+ (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R)))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R))))))))
26.280 * [backup-simplify]: Simplify (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))) (* R (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))) (+ (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R)))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R)))))))) (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (+ (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R)))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R))))))))) into (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))) (* R (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))) (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))
26.289 * [backup-simplify]: Simplify (- (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))) (* R (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))) (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into (- (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))) (* R (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))) (+ (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R)))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R)))))))) (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (+ (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R)))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R))))))))))
26.305 * [backup-simplify]: Simplify (+ (* 2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (- (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))) (* R (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))) (+ (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R)))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R)))))))) (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (+ (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R)))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R))))))))))) into (- (* 2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* R (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))) (* R (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))) (+ (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R)))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))) (* R (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))) (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))
26.306 * [taylor]: Taking taylor expansion of (- (* 2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* R (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))) (* R (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))) (+ (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R)))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))) (* R (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))) (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) in R
26.306 * [taylor]: Taking taylor expansion of (* 2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* R (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))) (* R (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))) (+ (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R)))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) in R
26.306 * [taylor]: Taking taylor expansion of 2 in R
26.306 * [backup-simplify]: Simplify 2 into 2
26.306 * [taylor]: Taking taylor expansion of (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* R (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))) (* R (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))) (+ (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R)))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) in R
26.306 * [taylor]: Taking taylor expansion of (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* R (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))) (* R (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))) (+ (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R)))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R))))))) in R
26.306 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in R
26.306 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in R
26.306 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
26.306 * [taylor]: Taking taylor expansion of 0.5 in R
26.306 * [backup-simplify]: Simplify 0.5 into 0.5
26.306 * [taylor]: Taking taylor expansion of phi2 in R
26.307 * [backup-simplify]: Simplify phi2 into phi2
26.307 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
26.307 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
26.307 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
26.307 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in R
26.307 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in R
26.307 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
26.307 * [taylor]: Taking taylor expansion of 0.5 in R
26.307 * [backup-simplify]: Simplify 0.5 into 0.5
26.307 * [taylor]: Taking taylor expansion of phi1 in R
26.307 * [backup-simplify]: Simplify phi1 into phi1
26.307 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
26.307 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
26.307 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
26.307 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in R
26.307 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in R
26.307 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
26.307 * [taylor]: Taking taylor expansion of 0.5 in R
26.307 * [backup-simplify]: Simplify 0.5 into 0.5
26.307 * [taylor]: Taking taylor expansion of phi2 in R
26.307 * [backup-simplify]: Simplify phi2 into phi2
26.307 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
26.308 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
26.308 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
26.308 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in R
26.308 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
26.308 * [taylor]: Taking taylor expansion of 0.5 in R
26.308 * [backup-simplify]: Simplify 0.5 into 0.5
26.308 * [taylor]: Taking taylor expansion of phi1 in R
26.308 * [backup-simplify]: Simplify phi1 into phi1
26.308 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
26.308 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
26.308 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
26.308 * [taylor]: Taking taylor expansion of (- (+ (* R (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))) (* R (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))) (+ (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R)))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R)))))) in R
26.308 * [taylor]: Taking taylor expansion of (+ (* R (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))) (* R (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))) in R
26.308 * [taylor]: Taking taylor expansion of (* R (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))) in R
26.308 * [taylor]: Taking taylor expansion of R in R
26.308 * [backup-simplify]: Simplify 0 into 0
26.308 * [backup-simplify]: Simplify 1 into 1
26.308 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in R
26.308 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in R
26.308 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in R
26.308 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
26.308 * [taylor]: Taking taylor expansion of 0.5 in R
26.308 * [backup-simplify]: Simplify 0.5 into 0.5
26.308 * [taylor]: Taking taylor expansion of phi2 in R
26.308 * [backup-simplify]: Simplify phi2 into phi2
26.309 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
26.309 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
26.309 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
26.309 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
26.309 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
26.309 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
26.309 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in R
26.309 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in R
26.309 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
26.309 * [taylor]: Taking taylor expansion of 0.5 in R
26.309 * [backup-simplify]: Simplify 0.5 into 0.5
26.309 * [taylor]: Taking taylor expansion of phi1 in R
26.309 * [backup-simplify]: Simplify phi1 into phi1
26.309 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
26.309 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
26.309 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
26.310 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
26.310 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
26.310 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
26.310 * [taylor]: Taking taylor expansion of (* R (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in R
26.310 * [taylor]: Taking taylor expansion of R in R
26.310 * [backup-simplify]: Simplify 0 into 0
26.310 * [backup-simplify]: Simplify 1 into 1
26.310 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in R
26.310 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in R
26.310 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in R
26.310 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
26.310 * [taylor]: Taking taylor expansion of 0.5 in R
26.310 * [backup-simplify]: Simplify 0.5 into 0.5
26.310 * [taylor]: Taking taylor expansion of phi2 in R
26.310 * [backup-simplify]: Simplify phi2 into phi2
26.310 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
26.310 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
26.310 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
26.310 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
26.311 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
26.311 * [backup-simplify]: Simplify (- 0) into 0
26.311 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
26.311 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in R
26.311 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in R
26.311 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
26.311 * [taylor]: Taking taylor expansion of 0.5 in R
26.312 * [backup-simplify]: Simplify 0.5 into 0.5
26.312 * [taylor]: Taking taylor expansion of phi1 in R
26.312 * [backup-simplify]: Simplify phi1 into phi1
26.312 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
26.312 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
26.312 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
26.312 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
26.312 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
26.312 * [backup-simplify]: Simplify (- 0) into 0
26.313 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
26.313 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R)))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R))))) in R
26.313 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R)))) in R
26.313 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in R
26.313 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
26.313 * [taylor]: Taking taylor expansion of 0.5 in R
26.313 * [backup-simplify]: Simplify 0.5 into 0.5
26.313 * [taylor]: Taking taylor expansion of phi1 in R
26.313 * [backup-simplify]: Simplify phi1 into phi1
26.313 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
26.313 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
26.313 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
26.313 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R))) in R
26.313 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in R
26.313 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
26.313 * [taylor]: Taking taylor expansion of 0.5 in R
26.313 * [backup-simplify]: Simplify 0.5 into 0.5
26.313 * [taylor]: Taking taylor expansion of phi2 in R
26.313 * [backup-simplify]: Simplify phi2 into phi2
26.313 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
26.314 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
26.314 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
26.314 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R)) in R
26.314 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in R
26.314 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
26.314 * [taylor]: Taking taylor expansion of 0.5 in R
26.314 * [backup-simplify]: Simplify 0.5 into 0.5
26.314 * [taylor]: Taking taylor expansion of phi1 in R
26.314 * [backup-simplify]: Simplify phi1 into phi1
26.314 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
26.314 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
26.314 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
26.314 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) R) in R
26.314 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in R
26.314 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
26.314 * [taylor]: Taking taylor expansion of 0.5 in R
26.314 * [backup-simplify]: Simplify 0.5 into 0.5
26.314 * [taylor]: Taking taylor expansion of phi2 in R
26.314 * [backup-simplify]: Simplify phi2 into phi2
26.314 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
26.314 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
26.315 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
26.315 * [taylor]: Taking taylor expansion of R in R
26.315 * [backup-simplify]: Simplify 0 into 0
26.315 * [backup-simplify]: Simplify 1 into 1
26.315 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R)))) in R
26.315 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in R
26.315 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
26.315 * [taylor]: Taking taylor expansion of 0.5 in R
26.315 * [backup-simplify]: Simplify 0.5 into 0.5
26.315 * [taylor]: Taking taylor expansion of phi1 in R
26.315 * [backup-simplify]: Simplify phi1 into phi1
26.315 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
26.315 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
26.315 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
26.315 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R))) in R
26.315 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in R
26.315 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
26.315 * [taylor]: Taking taylor expansion of 0.5 in R
26.315 * [backup-simplify]: Simplify 0.5 into 0.5
26.315 * [taylor]: Taking taylor expansion of phi2 in R
26.315 * [backup-simplify]: Simplify phi2 into phi2
26.315 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
26.316 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
26.316 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
26.316 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R)) in R
26.316 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in R
26.316 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
26.316 * [taylor]: Taking taylor expansion of 0.5 in R
26.316 * [backup-simplify]: Simplify 0.5 into 0.5
26.316 * [taylor]: Taking taylor expansion of phi1 in R
26.316 * [backup-simplify]: Simplify phi1 into phi1
26.316 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
26.316 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
26.316 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
26.316 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) R) in R
26.316 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in R
26.316 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
26.316 * [taylor]: Taking taylor expansion of 0.5 in R
26.316 * [backup-simplify]: Simplify 0.5 into 0.5
26.316 * [taylor]: Taking taylor expansion of phi2 in R
26.316 * [backup-simplify]: Simplify phi2 into phi2
26.317 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
26.317 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
26.317 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
26.317 * [taylor]: Taking taylor expansion of R in R
26.317 * [backup-simplify]: Simplify 0 into 0
26.317 * [backup-simplify]: Simplify 1 into 1
26.317 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
26.317 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
26.318 * [backup-simplify]: Simplify (- 0) into 0
26.318 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
26.318 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
26.318 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
26.319 * [backup-simplify]: Simplify (- 0) into 0
26.319 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
26.319 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
26.319 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
26.319 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
26.319 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
26.319 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
26.319 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
26.319 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
26.320 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
26.320 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
26.320 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
26.320 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
26.321 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
26.321 * [backup-simplify]: Simplify (* 0 (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))) into 0
26.321 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
26.322 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
26.322 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
26.322 * [backup-simplify]: Simplify (* 0 (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into 0
26.323 * [backup-simplify]: Simplify (+ 0 0) into 0
26.323 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
26.323 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
26.323 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
26.323 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
26.323 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
26.324 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
26.324 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
26.324 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
26.324 * [backup-simplify]: Simplify (- 0) into 0
26.324 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
26.324 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
26.325 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
26.325 * [backup-simplify]: Simplify (- 0) into 0
26.325 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
26.325 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
26.325 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
26.325 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
26.326 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
26.326 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
26.326 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
26.326 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
26.326 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
26.326 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
26.327 * [backup-simplify]: Simplify (- 0) into 0
26.327 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
26.327 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
26.327 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
26.327 * [backup-simplify]: Simplify (- 0) into 0
26.327 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
26.327 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
26.328 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
26.328 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
26.328 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
26.328 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
26.328 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
26.328 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
26.329 * [backup-simplify]: Simplify (+ 0 0) into 0
26.329 * [backup-simplify]: Simplify (- 0) into 0
26.329 * [backup-simplify]: Simplify (+ 0 0) into 0
26.330 * [backup-simplify]: Simplify (+ 0) into 0
26.330 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
26.330 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
26.331 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.332 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
26.332 * [backup-simplify]: Simplify (+ 0 0) into 0
26.332 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
26.333 * [backup-simplify]: Simplify (+ 0) into 0
26.333 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
26.333 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
26.334 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.335 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
26.335 * [backup-simplify]: Simplify (+ 0 0) into 0
26.335 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
26.336 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
26.336 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
26.337 * [backup-simplify]: Simplify (+ 0) into 0
26.337 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
26.338 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
26.338 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.339 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
26.339 * [backup-simplify]: Simplify (- 0) into 0
26.340 * [backup-simplify]: Simplify (+ 0 0) into 0
26.340 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
26.340 * [backup-simplify]: Simplify (+ 0) into 0
26.341 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
26.341 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
26.342 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.342 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
26.343 * [backup-simplify]: Simplify (- 0) into 0
26.343 * [backup-simplify]: Simplify (+ 0 0) into 0
26.343 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
26.344 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
26.345 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
26.345 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
26.346 * [backup-simplify]: Simplify (+ 0) into 0
26.346 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
26.347 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
26.347 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.348 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
26.348 * [backup-simplify]: Simplify (- 0) into 0
26.348 * [backup-simplify]: Simplify (+ 0 0) into 0
26.349 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 1) (* 0 0)) into (cos (/ 0.5 phi2))
26.349 * [backup-simplify]: Simplify (+ 0) into 0
26.350 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
26.350 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
26.356 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.357 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
26.357 * [backup-simplify]: Simplify (- 0) into 0
26.357 * [backup-simplify]: Simplify (+ 0 0) into 0
26.358 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* 0 0)) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
26.359 * [backup-simplify]: Simplify (+ 0) into 0
26.359 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
26.359 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
26.360 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.361 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
26.361 * [backup-simplify]: Simplify (+ 0 0) into 0
26.362 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) (* 0 0)) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
26.362 * [backup-simplify]: Simplify (+ 0) into 0
26.363 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
26.363 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
26.364 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.364 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
26.365 * [backup-simplify]: Simplify (+ 0 0) into 0
26.366 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* 0 0)) into (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
26.366 * [backup-simplify]: Simplify (+ 0) into 0
26.367 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
26.367 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
26.368 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.368 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
26.369 * [backup-simplify]: Simplify (+ 0 0) into 0
26.369 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 1) (* 0 0)) into (sin (/ 0.5 phi2))
26.370 * [backup-simplify]: Simplify (+ 0) into 0
26.370 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
26.370 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
26.371 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.372 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
26.372 * [backup-simplify]: Simplify (- 0) into 0
26.372 * [backup-simplify]: Simplify (+ 0 0) into 0
26.373 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) (sin (/ 0.5 phi2))) (* 0 0)) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
26.373 * [backup-simplify]: Simplify (+ 0) into 0
26.374 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
26.374 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
26.375 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.375 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
26.376 * [backup-simplify]: Simplify (- 0) into 0
26.376 * [backup-simplify]: Simplify (+ 0 0) into 0
26.377 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) (* 0 0)) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
26.377 * [backup-simplify]: Simplify (+ 0) into 0
26.378 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
26.378 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
26.379 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.380 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
26.380 * [backup-simplify]: Simplify (+ 0 0) into 0
26.381 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* 0 0)) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
26.382 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))
26.383 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into (- (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
26.385 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
26.387 * [backup-simplify]: Simplify (/ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
26.387 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in R
26.387 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in R
26.387 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in R
26.387 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in R
26.387 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in R
26.387 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in R
26.387 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in R
26.387 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
26.387 * [taylor]: Taking taylor expansion of 0.5 in R
26.387 * [backup-simplify]: Simplify 0.5 into 0.5
26.388 * [taylor]: Taking taylor expansion of phi2 in R
26.388 * [backup-simplify]: Simplify phi2 into phi2
26.388 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
26.388 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
26.388 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
26.388 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
26.388 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
26.388 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
26.388 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in R
26.388 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in R
26.388 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
26.388 * [taylor]: Taking taylor expansion of 0.5 in R
26.388 * [backup-simplify]: Simplify 0.5 into 0.5
26.388 * [taylor]: Taking taylor expansion of phi1 in R
26.388 * [backup-simplify]: Simplify phi1 into phi1
26.388 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
26.388 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
26.388 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
26.389 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
26.389 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
26.389 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
26.389 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in R
26.389 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in R
26.389 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in R
26.389 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
26.389 * [taylor]: Taking taylor expansion of 0.5 in R
26.389 * [backup-simplify]: Simplify 0.5 into 0.5
26.389 * [taylor]: Taking taylor expansion of phi2 in R
26.389 * [backup-simplify]: Simplify phi2 into phi2
26.389 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
26.389 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
26.389 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
26.389 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
26.389 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
26.390 * [backup-simplify]: Simplify (- 0) into 0
26.390 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
26.390 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in R
26.390 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in R
26.390 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
26.390 * [taylor]: Taking taylor expansion of 0.5 in R
26.390 * [backup-simplify]: Simplify 0.5 into 0.5
26.390 * [taylor]: Taking taylor expansion of phi1 in R
26.390 * [backup-simplify]: Simplify phi1 into phi1
26.390 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
26.391 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
26.391 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
26.391 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
26.391 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
26.391 * [backup-simplify]: Simplify (- 0) into 0
26.391 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
26.391 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in R
26.391 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in R
26.391 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in R
26.391 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
26.391 * [taylor]: Taking taylor expansion of 0.5 in R
26.392 * [backup-simplify]: Simplify 0.5 into 0.5
26.392 * [taylor]: Taking taylor expansion of phi2 in R
26.392 * [backup-simplify]: Simplify phi2 into phi2
26.392 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
26.392 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
26.392 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
26.392 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in R
26.392 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in R
26.392 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
26.392 * [taylor]: Taking taylor expansion of 0.5 in R
26.392 * [backup-simplify]: Simplify 0.5 into 0.5
26.392 * [taylor]: Taking taylor expansion of phi1 in R
26.392 * [backup-simplify]: Simplify phi1 into phi1
26.392 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
26.392 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
26.392 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
26.392 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in R
26.392 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in R
26.392 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
26.392 * [taylor]: Taking taylor expansion of 0.5 in R
26.392 * [backup-simplify]: Simplify 0.5 into 0.5
26.392 * [taylor]: Taking taylor expansion of phi2 in R
26.392 * [backup-simplify]: Simplify phi2 into phi2
26.392 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
26.393 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
26.393 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
26.393 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in R
26.393 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
26.393 * [taylor]: Taking taylor expansion of 0.5 in R
26.393 * [backup-simplify]: Simplify 0.5 into 0.5
26.393 * [taylor]: Taking taylor expansion of phi1 in R
26.393 * [backup-simplify]: Simplify phi1 into phi1
26.393 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
26.393 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
26.393 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
26.393 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in R
26.393 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in R
26.393 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
26.393 * [taylor]: Taking taylor expansion of 0.5 in R
26.393 * [backup-simplify]: Simplify 0.5 into 0.5
26.394 * [taylor]: Taking taylor expansion of phi2 in R
26.394 * [backup-simplify]: Simplify phi2 into phi2
26.394 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
26.394 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
26.394 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
26.394 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in R
26.394 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in R
26.394 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
26.394 * [taylor]: Taking taylor expansion of 0.5 in R
26.394 * [backup-simplify]: Simplify 0.5 into 0.5
26.394 * [taylor]: Taking taylor expansion of phi1 in R
26.394 * [backup-simplify]: Simplify phi1 into phi1
26.394 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
26.394 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
26.394 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
26.394 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in R
26.394 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in R
26.394 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
26.394 * [taylor]: Taking taylor expansion of 0.5 in R
26.394 * [backup-simplify]: Simplify 0.5 into 0.5
26.394 * [taylor]: Taking taylor expansion of phi2 in R
26.394 * [backup-simplify]: Simplify phi2 into phi2
26.394 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
26.395 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
26.395 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
26.395 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in R
26.395 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
26.395 * [taylor]: Taking taylor expansion of 0.5 in R
26.395 * [backup-simplify]: Simplify 0.5 into 0.5
26.395 * [taylor]: Taking taylor expansion of phi1 in R
26.395 * [backup-simplify]: Simplify phi1 into phi1
26.395 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
26.395 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
26.395 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
26.395 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
26.395 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
26.396 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
26.396 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
26.396 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
26.396 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
26.397 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
26.397 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
26.397 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
26.398 * [backup-simplify]: Simplify (- 0) into 0
26.398 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
26.398 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
26.398 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
26.398 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
26.398 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
26.399 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
26.399 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
26.399 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
26.399 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
26.399 * [backup-simplify]: Simplify (- 0) into 0
26.399 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
26.399 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
26.400 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
26.400 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
26.400 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
26.400 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
26.400 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
26.400 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
26.401 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
26.401 * [backup-simplify]: Simplify (- 0) into 0
26.401 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
26.401 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
26.401 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
26.402 * [backup-simplify]: Simplify (- 0) into 0
26.402 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
26.402 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
26.402 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
26.402 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
26.402 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
26.402 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
26.403 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
26.403 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))
26.404 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
26.406 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
26.408 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
26.410 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
26.410 * [backup-simplify]: Simplify (+ 0) into 0
26.411 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
26.411 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
26.412 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.412 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
26.413 * [backup-simplify]: Simplify (+ 0 0) into 0
26.413 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
26.413 * [backup-simplify]: Simplify (+ 0) into 0
26.414 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
26.414 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
26.415 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.415 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
26.416 * [backup-simplify]: Simplify (+ 0 0) into 0
26.416 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
26.416 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
26.417 * [backup-simplify]: Simplify (+ 0) into 0
26.417 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
26.417 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
26.418 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.419 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
26.419 * [backup-simplify]: Simplify (- 0) into 0
26.419 * [backup-simplify]: Simplify (+ 0 0) into 0
26.420 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
26.420 * [backup-simplify]: Simplify (+ 0) into 0
26.420 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
26.421 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
26.421 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.422 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
26.422 * [backup-simplify]: Simplify (- 0) into 0
26.423 * [backup-simplify]: Simplify (+ 0 0) into 0
26.423 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
26.423 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
26.424 * [backup-simplify]: Simplify (+ 0 0) into 0
26.424 * [backup-simplify]: Simplify (+ 0) into 0
26.424 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
26.425 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
26.425 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.426 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
26.426 * [backup-simplify]: Simplify (- 0) into 0
26.426 * [backup-simplify]: Simplify (+ 0 0) into 0
26.427 * [backup-simplify]: Simplify (+ 0) into 0
26.427 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
26.427 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
26.428 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.429 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
26.429 * [backup-simplify]: Simplify (+ 0 0) into 0
26.429 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
26.430 * [backup-simplify]: Simplify (+ 0) into 0
26.430 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
26.430 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
26.431 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.431 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
26.432 * [backup-simplify]: Simplify (+ 0 0) into 0
26.432 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
26.432 * [backup-simplify]: Simplify (+ 0) into 0
26.433 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
26.433 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
26.434 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.434 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
26.435 * [backup-simplify]: Simplify (- 0) into 0
26.435 * [backup-simplify]: Simplify (+ 0 0) into 0
26.435 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
26.436 * [backup-simplify]: Simplify (+ 0) into 0
26.436 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
26.437 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
26.437 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.438 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
26.438 * [backup-simplify]: Simplify (+ 0 0) into 0
26.438 * [backup-simplify]: Simplify (+ 0) into 0
26.439 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
26.439 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
26.440 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.440 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
26.441 * [backup-simplify]: Simplify (- 0) into 0
26.441 * [backup-simplify]: Simplify (+ 0 0) into 0
26.441 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
26.442 * [backup-simplify]: Simplify (+ 0) into 0
26.442 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
26.442 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
26.443 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.443 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
26.444 * [backup-simplify]: Simplify (- 0) into 0
26.444 * [backup-simplify]: Simplify (+ 0 0) into 0
26.445 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
26.445 * [backup-simplify]: Simplify (+ 0) into 0
26.446 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
26.446 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
26.447 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.447 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
26.447 * [backup-simplify]: Simplify (+ 0 0) into 0
26.448 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
26.448 * [backup-simplify]: Simplify (+ 0 0) into 0
26.448 * [backup-simplify]: Simplify (- 0) into 0
26.449 * [backup-simplify]: Simplify (+ 0 0) into 0
26.453 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
26.455 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
26.455 * [taylor]: Taking taylor expansion of (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))) (* R (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))) (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) in R
26.455 * [taylor]: Taking taylor expansion of (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))) (* R (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))) (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) in R
26.455 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))) (* R (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))) (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in R
26.455 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in R
26.455 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in R
26.455 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in R
26.455 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
26.455 * [taylor]: Taking taylor expansion of 0.5 in R
26.455 * [backup-simplify]: Simplify 0.5 into 0.5
26.455 * [taylor]: Taking taylor expansion of phi2 in R
26.455 * [backup-simplify]: Simplify phi2 into phi2
26.455 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
26.455 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
26.456 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
26.456 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
26.456 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
26.456 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
26.456 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in R
26.456 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in R
26.456 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
26.456 * [taylor]: Taking taylor expansion of 0.5 in R
26.456 * [backup-simplify]: Simplify 0.5 into 0.5
26.456 * [taylor]: Taking taylor expansion of phi1 in R
26.456 * [backup-simplify]: Simplify phi1 into phi1
26.456 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
26.456 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
26.456 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
26.456 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
26.456 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
26.457 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
26.457 * [taylor]: Taking taylor expansion of (- (+ (* R (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))) (* R (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))) (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in R
26.457 * [taylor]: Taking taylor expansion of (+ (* R (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))) (* R (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))) in R
26.457 * [taylor]: Taking taylor expansion of (* R (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))) in R
26.457 * [taylor]: Taking taylor expansion of R in R
26.457 * [backup-simplify]: Simplify 0 into 0
26.457 * [backup-simplify]: Simplify 1 into 1
26.457 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in R
26.457 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in R
26.457 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in R
26.457 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
26.457 * [taylor]: Taking taylor expansion of 0.5 in R
26.457 * [backup-simplify]: Simplify 0.5 into 0.5
26.457 * [taylor]: Taking taylor expansion of phi2 in R
26.457 * [backup-simplify]: Simplify phi2 into phi2
26.457 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
26.457 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
26.457 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
26.457 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
26.457 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
26.458 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
26.458 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in R
26.458 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in R
26.458 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
26.458 * [taylor]: Taking taylor expansion of 0.5 in R
26.458 * [backup-simplify]: Simplify 0.5 into 0.5
26.458 * [taylor]: Taking taylor expansion of phi1 in R
26.458 * [backup-simplify]: Simplify phi1 into phi1
26.458 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
26.458 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
26.458 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
26.458 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
26.458 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
26.458 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
26.458 * [taylor]: Taking taylor expansion of (* R (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in R
26.459 * [taylor]: Taking taylor expansion of R in R
26.459 * [backup-simplify]: Simplify 0 into 0
26.459 * [backup-simplify]: Simplify 1 into 1
26.459 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in R
26.459 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in R
26.459 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in R
26.459 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
26.459 * [taylor]: Taking taylor expansion of 0.5 in R
26.459 * [backup-simplify]: Simplify 0.5 into 0.5
26.459 * [taylor]: Taking taylor expansion of phi2 in R
26.459 * [backup-simplify]: Simplify phi2 into phi2
26.459 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
26.459 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
26.459 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
26.459 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
26.459 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
26.460 * [backup-simplify]: Simplify (- 0) into 0
26.460 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
26.460 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in R
26.460 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in R
26.460 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
26.460 * [taylor]: Taking taylor expansion of 0.5 in R
26.460 * [backup-simplify]: Simplify 0.5 into 0.5
26.460 * [taylor]: Taking taylor expansion of phi1 in R
26.460 * [backup-simplify]: Simplify phi1 into phi1
26.460 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
26.460 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
26.461 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
26.461 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
26.461 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
26.461 * [backup-simplify]: Simplify (- 0) into 0
26.461 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
26.461 * [taylor]: Taking taylor expansion of (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in R
26.461 * [taylor]: Taking taylor expansion of (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in R
26.461 * [taylor]: Taking taylor expansion of R in R
26.461 * [backup-simplify]: Simplify 0 into 0
26.461 * [backup-simplify]: Simplify 1 into 1
26.462 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in R
26.462 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in R
26.462 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
26.462 * [taylor]: Taking taylor expansion of 0.5 in R
26.462 * [backup-simplify]: Simplify 0.5 into 0.5
26.462 * [taylor]: Taking taylor expansion of phi2 in R
26.462 * [backup-simplify]: Simplify phi2 into phi2
26.462 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
26.462 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
26.462 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
26.462 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in R
26.462 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in R
26.462 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
26.462 * [taylor]: Taking taylor expansion of 0.5 in R
26.462 * [backup-simplify]: Simplify 0.5 into 0.5
26.462 * [taylor]: Taking taylor expansion of phi1 in R
26.462 * [backup-simplify]: Simplify phi1 into phi1
26.462 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
26.462 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
26.462 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
26.462 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in R
26.462 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in R
26.462 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
26.463 * [taylor]: Taking taylor expansion of 0.5 in R
26.463 * [backup-simplify]: Simplify 0.5 into 0.5
26.463 * [taylor]: Taking taylor expansion of phi2 in R
26.463 * [backup-simplify]: Simplify phi2 into phi2
26.463 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
26.463 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
26.463 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
26.463 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in R
26.463 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
26.463 * [taylor]: Taking taylor expansion of 0.5 in R
26.463 * [backup-simplify]: Simplify 0.5 into 0.5
26.463 * [taylor]: Taking taylor expansion of phi1 in R
26.463 * [backup-simplify]: Simplify phi1 into phi1
26.463 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
26.463 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
26.463 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
26.463 * [taylor]: Taking taylor expansion of (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in R
26.463 * [taylor]: Taking taylor expansion of R in R
26.463 * [backup-simplify]: Simplify 0 into 0
26.463 * [backup-simplify]: Simplify 1 into 1
26.463 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in R
26.463 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in R
26.463 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
26.463 * [taylor]: Taking taylor expansion of 0.5 in R
26.463 * [backup-simplify]: Simplify 0.5 into 0.5
26.463 * [taylor]: Taking taylor expansion of phi2 in R
26.464 * [backup-simplify]: Simplify phi2 into phi2
26.464 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
26.464 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
26.464 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
26.464 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in R
26.464 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in R
26.464 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
26.464 * [taylor]: Taking taylor expansion of 0.5 in R
26.464 * [backup-simplify]: Simplify 0.5 into 0.5
26.464 * [taylor]: Taking taylor expansion of phi1 in R
26.464 * [backup-simplify]: Simplify phi1 into phi1
26.464 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
26.464 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
26.464 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
26.464 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in R
26.464 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in R
26.464 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
26.464 * [taylor]: Taking taylor expansion of 0.5 in R
26.464 * [backup-simplify]: Simplify 0.5 into 0.5
26.464 * [taylor]: Taking taylor expansion of phi2 in R
26.464 * [backup-simplify]: Simplify phi2 into phi2
26.464 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
26.465 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
26.465 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
26.465 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in R
26.465 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
26.465 * [taylor]: Taking taylor expansion of 0.5 in R
26.465 * [backup-simplify]: Simplify 0.5 into 0.5
26.465 * [taylor]: Taking taylor expansion of phi1 in R
26.465 * [backup-simplify]: Simplify phi1 into phi1
26.465 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
26.465 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
26.465 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
26.465 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
26.465 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
26.466 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
26.466 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
26.466 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
26.466 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
26.466 * [backup-simplify]: Simplify (* 0 (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))) into 0
26.466 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
26.466 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
26.467 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
26.467 * [backup-simplify]: Simplify (* 0 (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into 0
26.467 * [backup-simplify]: Simplify (+ 0 0) into 0
26.467 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
26.467 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
26.467 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
26.467 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
26.467 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
26.468 * [backup-simplify]: Simplify (- 0) into 0
26.468 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
26.468 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
26.468 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
26.468 * [backup-simplify]: Simplify (- 0) into 0
26.468 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
26.468 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
26.468 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
26.468 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
26.469 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
26.469 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
26.469 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
26.469 * [backup-simplify]: Simplify (* 0 (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
26.469 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
26.469 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
26.469 * [backup-simplify]: Simplify (- 0) into 0
26.470 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
26.470 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
26.470 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
26.470 * [backup-simplify]: Simplify (- 0) into 0
26.470 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
26.470 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
26.470 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
26.470 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
26.470 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
26.470 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
26.470 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
26.470 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
26.471 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
26.471 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
26.471 * [backup-simplify]: Simplify (* 0 (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
26.471 * [backup-simplify]: Simplify (+ 0 0) into 0
26.471 * [backup-simplify]: Simplify (- 0) into 0
26.472 * [backup-simplify]: Simplify (+ 0 0) into 0
26.472 * [backup-simplify]: Simplify (+ 0) into 0
26.472 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
26.472 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
26.473 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.473 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
26.473 * [backup-simplify]: Simplify (+ 0 0) into 0
26.473 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
26.474 * [backup-simplify]: Simplify (+ 0) into 0
26.474 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
26.474 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
26.475 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.475 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
26.475 * [backup-simplify]: Simplify (+ 0 0) into 0
26.475 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
26.475 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
26.476 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
26.476 * [backup-simplify]: Simplify (+ 0) into 0
26.476 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
26.477 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
26.477 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.477 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
26.478 * [backup-simplify]: Simplify (- 0) into 0
26.478 * [backup-simplify]: Simplify (+ 0 0) into 0
26.478 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
26.478 * [backup-simplify]: Simplify (+ 0) into 0
26.478 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
26.479 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
26.479 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.479 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
26.480 * [backup-simplify]: Simplify (- 0) into 0
26.480 * [backup-simplify]: Simplify (+ 0 0) into 0
26.480 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
26.480 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
26.481 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
26.481 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
26.481 * [backup-simplify]: Simplify (+ 0) into 0
26.482 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
26.482 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
26.482 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.483 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
26.483 * [backup-simplify]: Simplify (+ 0 0) into 0
26.483 * [backup-simplify]: Simplify (+ 0) into 0
26.483 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
26.483 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
26.484 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.484 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
26.484 * [backup-simplify]: Simplify (- 0) into 0
26.485 * [backup-simplify]: Simplify (+ 0 0) into 0
26.485 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
26.485 * [backup-simplify]: Simplify (+ 0) into 0
26.485 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
26.486 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
26.486 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.487 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
26.487 * [backup-simplify]: Simplify (- 0) into 0
26.488 * [backup-simplify]: Simplify (+ 0 0) into 0
26.488 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
26.488 * [backup-simplify]: Simplify (+ 0) into 0
26.489 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
26.489 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
26.490 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.490 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
26.490 * [backup-simplify]: Simplify (+ 0 0) into 0
26.491 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
26.492 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
26.492 * [backup-simplify]: Simplify (+ 0) into 0
26.493 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
26.493 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
26.494 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.494 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
26.494 * [backup-simplify]: Simplify (+ 0 0) into 0
26.495 * [backup-simplify]: Simplify (+ 0) into 0
26.495 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
26.496 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
26.496 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.497 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
26.497 * [backup-simplify]: Simplify (+ 0 0) into 0
26.497 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
26.498 * [backup-simplify]: Simplify (+ 0) into 0
26.498 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
26.498 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
26.499 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.500 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
26.500 * [backup-simplify]: Simplify (- 0) into 0
26.500 * [backup-simplify]: Simplify (+ 0 0) into 0
26.501 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
26.501 * [backup-simplify]: Simplify (+ 0) into 0
26.502 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
26.502 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
26.502 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.503 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
26.503 * [backup-simplify]: Simplify (- 0) into 0
26.504 * [backup-simplify]: Simplify (+ 0 0) into 0
26.504 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
26.510 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
26.511 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))
26.512 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into (- (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
26.514 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
26.516 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
26.517 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in R
26.517 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in R
26.517 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in R
26.517 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in R
26.517 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in R
26.517 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in R
26.517 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in R
26.517 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
26.517 * [taylor]: Taking taylor expansion of 0.5 in R
26.517 * [backup-simplify]: Simplify 0.5 into 0.5
26.517 * [taylor]: Taking taylor expansion of phi2 in R
26.517 * [backup-simplify]: Simplify phi2 into phi2
26.517 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
26.517 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
26.517 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
26.517 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
26.517 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
26.518 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
26.518 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in R
26.518 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in R
26.518 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
26.518 * [taylor]: Taking taylor expansion of 0.5 in R
26.518 * [backup-simplify]: Simplify 0.5 into 0.5
26.518 * [taylor]: Taking taylor expansion of phi1 in R
26.518 * [backup-simplify]: Simplify phi1 into phi1
26.518 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
26.518 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
26.518 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
26.518 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
26.518 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
26.518 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
26.518 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in R
26.518 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in R
26.518 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in R
26.518 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
26.518 * [taylor]: Taking taylor expansion of 0.5 in R
26.519 * [backup-simplify]: Simplify 0.5 into 0.5
26.519 * [taylor]: Taking taylor expansion of phi2 in R
26.519 * [backup-simplify]: Simplify phi2 into phi2
26.519 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
26.519 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
26.519 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
26.519 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
26.519 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
26.520 * [backup-simplify]: Simplify (- 0) into 0
26.520 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
26.520 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in R
26.520 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in R
26.520 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
26.520 * [taylor]: Taking taylor expansion of 0.5 in R
26.520 * [backup-simplify]: Simplify 0.5 into 0.5
26.520 * [taylor]: Taking taylor expansion of phi1 in R
26.520 * [backup-simplify]: Simplify phi1 into phi1
26.520 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
26.520 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
26.520 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
26.520 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
26.521 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
26.521 * [backup-simplify]: Simplify (- 0) into 0
26.521 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
26.521 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in R
26.521 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in R
26.521 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in R
26.521 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
26.521 * [taylor]: Taking taylor expansion of 0.5 in R
26.521 * [backup-simplify]: Simplify 0.5 into 0.5
26.521 * [taylor]: Taking taylor expansion of phi2 in R
26.521 * [backup-simplify]: Simplify phi2 into phi2
26.521 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
26.521 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
26.522 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
26.522 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in R
26.522 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in R
26.522 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
26.522 * [taylor]: Taking taylor expansion of 0.5 in R
26.522 * [backup-simplify]: Simplify 0.5 into 0.5
26.522 * [taylor]: Taking taylor expansion of phi1 in R
26.522 * [backup-simplify]: Simplify phi1 into phi1
26.522 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
26.522 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
26.522 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
26.522 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in R
26.522 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in R
26.522 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
26.522 * [taylor]: Taking taylor expansion of 0.5 in R
26.522 * [backup-simplify]: Simplify 0.5 into 0.5
26.522 * [taylor]: Taking taylor expansion of phi2 in R
26.522 * [backup-simplify]: Simplify phi2 into phi2
26.522 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
26.522 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
26.522 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
26.522 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in R
26.522 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
26.522 * [taylor]: Taking taylor expansion of 0.5 in R
26.523 * [backup-simplify]: Simplify 0.5 into 0.5
26.523 * [taylor]: Taking taylor expansion of phi1 in R
26.523 * [backup-simplify]: Simplify phi1 into phi1
26.523 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
26.523 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
26.523 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
26.523 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in R
26.523 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in R
26.523 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
26.523 * [taylor]: Taking taylor expansion of 0.5 in R
26.523 * [backup-simplify]: Simplify 0.5 into 0.5
26.523 * [taylor]: Taking taylor expansion of phi2 in R
26.523 * [backup-simplify]: Simplify phi2 into phi2
26.523 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
26.523 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
26.523 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
26.523 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in R
26.523 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in R
26.523 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
26.523 * [taylor]: Taking taylor expansion of 0.5 in R
26.523 * [backup-simplify]: Simplify 0.5 into 0.5
26.523 * [taylor]: Taking taylor expansion of phi1 in R
26.523 * [backup-simplify]: Simplify phi1 into phi1
26.523 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
26.524 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
26.524 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
26.524 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in R
26.524 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in R
26.524 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
26.524 * [taylor]: Taking taylor expansion of 0.5 in R
26.524 * [backup-simplify]: Simplify 0.5 into 0.5
26.524 * [taylor]: Taking taylor expansion of phi2 in R
26.524 * [backup-simplify]: Simplify phi2 into phi2
26.524 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
26.524 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
26.524 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
26.524 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in R
26.524 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
26.524 * [taylor]: Taking taylor expansion of 0.5 in R
26.524 * [backup-simplify]: Simplify 0.5 into 0.5
26.524 * [taylor]: Taking taylor expansion of phi1 in R
26.524 * [backup-simplify]: Simplify phi1 into phi1
26.524 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
26.524 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
26.524 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
26.525 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
26.525 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
26.525 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
26.525 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
26.526 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
26.526 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
26.527 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
26.527 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
26.527 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
26.528 * [backup-simplify]: Simplify (- 0) into 0
26.528 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
26.528 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
26.528 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
26.528 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
26.528 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
26.528 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
26.528 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
26.529 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
26.529 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
26.529 * [backup-simplify]: Simplify (- 0) into 0
26.529 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
26.530 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
26.530 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
26.530 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
26.530 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
26.530 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
26.531 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
26.531 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
26.531 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
26.531 * [backup-simplify]: Simplify (- 0) into 0
26.531 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
26.532 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
26.532 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
26.532 * [backup-simplify]: Simplify (- 0) into 0
26.532 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
26.532 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
26.532 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
26.533 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
26.533 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
26.533 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
26.533 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
26.534 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))
26.535 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
26.537 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
26.539 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
26.541 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
26.542 * [backup-simplify]: Simplify (+ 0) into 0
26.542 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
26.542 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
26.543 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.544 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
26.544 * [backup-simplify]: Simplify (+ 0 0) into 0
26.545 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
26.545 * [backup-simplify]: Simplify (+ 0) into 0
26.546 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
26.546 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
26.547 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.548 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
26.548 * [backup-simplify]: Simplify (+ 0 0) into 0
26.549 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
26.549 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
26.550 * [backup-simplify]: Simplify (+ 0) into 0
26.550 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
26.550 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
26.551 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.552 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
26.552 * [backup-simplify]: Simplify (- 0) into 0
26.552 * [backup-simplify]: Simplify (+ 0 0) into 0
26.553 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
26.553 * [backup-simplify]: Simplify (+ 0) into 0
26.553 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
26.554 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
26.555 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.555 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
26.556 * [backup-simplify]: Simplify (- 0) into 0
26.556 * [backup-simplify]: Simplify (+ 0 0) into 0
26.556 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
26.557 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
26.557 * [backup-simplify]: Simplify (+ 0 0) into 0
26.557 * [backup-simplify]: Simplify (+ 0) into 0
26.558 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
26.558 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
26.559 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.559 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
26.560 * [backup-simplify]: Simplify (- 0) into 0
26.560 * [backup-simplify]: Simplify (+ 0 0) into 0
26.560 * [backup-simplify]: Simplify (+ 0) into 0
26.561 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
26.561 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
26.562 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.562 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
26.563 * [backup-simplify]: Simplify (+ 0 0) into 0
26.563 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
26.563 * [backup-simplify]: Simplify (+ 0) into 0
26.564 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
26.564 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
26.565 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.565 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
26.565 * [backup-simplify]: Simplify (+ 0 0) into 0
26.566 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
26.566 * [backup-simplify]: Simplify (+ 0) into 0
26.567 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
26.567 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
26.568 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.568 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
26.568 * [backup-simplify]: Simplify (- 0) into 0
26.569 * [backup-simplify]: Simplify (+ 0 0) into 0
26.569 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
26.569 * [backup-simplify]: Simplify (+ 0) into 0
26.570 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
26.570 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
26.571 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.571 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
26.572 * [backup-simplify]: Simplify (+ 0 0) into 0
26.572 * [backup-simplify]: Simplify (+ 0) into 0
26.573 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
26.573 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
26.573 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.574 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
26.574 * [backup-simplify]: Simplify (- 0) into 0
26.574 * [backup-simplify]: Simplify (+ 0 0) into 0
26.574 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
26.575 * [backup-simplify]: Simplify (+ 0) into 0
26.575 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
26.575 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
26.575 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.576 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
26.576 * [backup-simplify]: Simplify (- 0) into 0
26.576 * [backup-simplify]: Simplify (+ 0 0) into 0
26.576 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
26.577 * [backup-simplify]: Simplify (+ 0) into 0
26.577 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
26.577 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
26.577 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.578 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
26.578 * [backup-simplify]: Simplify (+ 0 0) into 0
26.578 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
26.578 * [backup-simplify]: Simplify (+ 0 0) into 0
26.579 * [backup-simplify]: Simplify (- 0) into 0
26.579 * [backup-simplify]: Simplify (+ 0 0) into 0
26.581 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
26.582 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
26.582 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) in R
26.582 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in R
26.582 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in R
26.582 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in R
26.582 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in R
26.582 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in R
26.582 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in R
26.582 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in R
26.582 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
26.582 * [taylor]: Taking taylor expansion of 0.5 in R
26.582 * [backup-simplify]: Simplify 0.5 into 0.5
26.582 * [taylor]: Taking taylor expansion of phi2 in R
26.582 * [backup-simplify]: Simplify phi2 into phi2
26.582 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
26.582 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
26.583 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
26.583 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
26.583 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
26.583 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
26.583 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in R
26.583 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in R
26.583 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
26.583 * [taylor]: Taking taylor expansion of 0.5 in R
26.583 * [backup-simplify]: Simplify 0.5 into 0.5
26.583 * [taylor]: Taking taylor expansion of phi1 in R
26.583 * [backup-simplify]: Simplify phi1 into phi1
26.583 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
26.583 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
26.583 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
26.583 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
26.583 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
26.583 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
26.583 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in R
26.583 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in R
26.583 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in R
26.583 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
26.583 * [taylor]: Taking taylor expansion of 0.5 in R
26.583 * [backup-simplify]: Simplify 0.5 into 0.5
26.583 * [taylor]: Taking taylor expansion of phi2 in R
26.583 * [backup-simplify]: Simplify phi2 into phi2
26.583 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
26.583 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
26.583 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
26.584 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
26.584 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
26.584 * [backup-simplify]: Simplify (- 0) into 0
26.584 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
26.584 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in R
26.584 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in R
26.584 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
26.584 * [taylor]: Taking taylor expansion of 0.5 in R
26.584 * [backup-simplify]: Simplify 0.5 into 0.5
26.584 * [taylor]: Taking taylor expansion of phi1 in R
26.584 * [backup-simplify]: Simplify phi1 into phi1
26.584 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
26.584 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
26.584 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
26.584 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
26.584 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
26.585 * [backup-simplify]: Simplify (- 0) into 0
26.585 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
26.585 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in R
26.585 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in R
26.585 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in R
26.585 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
26.585 * [taylor]: Taking taylor expansion of 0.5 in R
26.585 * [backup-simplify]: Simplify 0.5 into 0.5
26.585 * [taylor]: Taking taylor expansion of phi2 in R
26.585 * [backup-simplify]: Simplify phi2 into phi2
26.585 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
26.585 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
26.585 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
26.585 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in R
26.585 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in R
26.585 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
26.585 * [taylor]: Taking taylor expansion of 0.5 in R
26.585 * [backup-simplify]: Simplify 0.5 into 0.5
26.585 * [taylor]: Taking taylor expansion of phi1 in R
26.585 * [backup-simplify]: Simplify phi1 into phi1
26.585 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
26.585 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
26.585 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
26.585 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in R
26.585 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in R
26.586 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
26.586 * [taylor]: Taking taylor expansion of 0.5 in R
26.586 * [backup-simplify]: Simplify 0.5 into 0.5
26.586 * [taylor]: Taking taylor expansion of phi2 in R
26.586 * [backup-simplify]: Simplify phi2 into phi2
26.586 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
26.586 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
26.586 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
26.586 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in R
26.586 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
26.586 * [taylor]: Taking taylor expansion of 0.5 in R
26.586 * [backup-simplify]: Simplify 0.5 into 0.5
26.586 * [taylor]: Taking taylor expansion of phi1 in R
26.586 * [backup-simplify]: Simplify phi1 into phi1
26.586 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
26.586 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
26.586 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
26.586 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in R
26.586 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in R
26.586 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
26.586 * [taylor]: Taking taylor expansion of 0.5 in R
26.586 * [backup-simplify]: Simplify 0.5 into 0.5
26.586 * [taylor]: Taking taylor expansion of phi2 in R
26.586 * [backup-simplify]: Simplify phi2 into phi2
26.586 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
26.586 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
26.586 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
26.586 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in R
26.586 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in R
26.586 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
26.586 * [taylor]: Taking taylor expansion of 0.5 in R
26.586 * [backup-simplify]: Simplify 0.5 into 0.5
26.586 * [taylor]: Taking taylor expansion of phi1 in R
26.586 * [backup-simplify]: Simplify phi1 into phi1
26.586 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
26.586 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
26.586 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
26.587 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in R
26.587 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in R
26.587 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
26.587 * [taylor]: Taking taylor expansion of 0.5 in R
26.587 * [backup-simplify]: Simplify 0.5 into 0.5
26.587 * [taylor]: Taking taylor expansion of phi2 in R
26.587 * [backup-simplify]: Simplify phi2 into phi2
26.587 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
26.587 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
26.587 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
26.587 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in R
26.587 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
26.587 * [taylor]: Taking taylor expansion of 0.5 in R
26.587 * [backup-simplify]: Simplify 0.5 into 0.5
26.587 * [taylor]: Taking taylor expansion of phi1 in R
26.587 * [backup-simplify]: Simplify phi1 into phi1
26.587 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
26.587 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
26.587 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
26.587 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
26.587 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
26.587 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
26.587 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
26.588 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
26.588 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
26.588 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
26.588 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
26.588 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
26.588 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
26.588 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
26.589 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
26.589 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
26.589 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
26.589 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
26.589 * [backup-simplify]: Simplify (- 0) into 0
26.589 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
26.589 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
26.589 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
26.590 * [backup-simplify]: Simplify (- 0) into 0
26.590 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
26.590 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
26.590 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
26.590 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
26.590 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
26.590 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
26.590 * [backup-simplify]: Simplify (- 0) into 0
26.590 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
26.591 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
26.591 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
26.591 * [backup-simplify]: Simplify (- 0) into 0
26.591 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
26.591 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
26.591 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
26.591 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
26.591 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
26.591 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
26.591 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
26.591 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
26.592 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
26.592 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
26.592 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))
26.592 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
26.594 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
26.594 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
26.595 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
26.596 * [backup-simplify]: Simplify (+ 0) into 0
26.596 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
26.596 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
26.597 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.597 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
26.597 * [backup-simplify]: Simplify (+ 0 0) into 0
26.597 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
26.598 * [backup-simplify]: Simplify (+ 0) into 0
26.598 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
26.598 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
26.599 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.599 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
26.599 * [backup-simplify]: Simplify (+ 0 0) into 0
26.599 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
26.599 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
26.600 * [backup-simplify]: Simplify (+ 0) into 0
26.600 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
26.600 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
26.601 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.601 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
26.601 * [backup-simplify]: Simplify (- 0) into 0
26.601 * [backup-simplify]: Simplify (+ 0 0) into 0
26.602 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
26.602 * [backup-simplify]: Simplify (+ 0) into 0
26.602 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
26.603 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
26.603 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.604 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
26.604 * [backup-simplify]: Simplify (- 0) into 0
26.605 * [backup-simplify]: Simplify (+ 0 0) into 0
26.605 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
26.605 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
26.606 * [backup-simplify]: Simplify (+ 0 0) into 0
26.606 * [backup-simplify]: Simplify (+ 0) into 0
26.606 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
26.607 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
26.607 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.608 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
26.608 * [backup-simplify]: Simplify (- 0) into 0
26.609 * [backup-simplify]: Simplify (+ 0 0) into 0
26.609 * [backup-simplify]: Simplify (+ 0) into 0
26.609 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
26.610 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
26.610 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.611 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
26.611 * [backup-simplify]: Simplify (- 0) into 0
26.612 * [backup-simplify]: Simplify (+ 0 0) into 0
26.612 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
26.612 * [backup-simplify]: Simplify (+ 0) into 0
26.613 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
26.613 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
26.614 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.614 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
26.615 * [backup-simplify]: Simplify (+ 0 0) into 0
26.615 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
26.616 * [backup-simplify]: Simplify (+ 0) into 0
26.616 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
26.616 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
26.617 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.618 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
26.618 * [backup-simplify]: Simplify (+ 0 0) into 0
26.619 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
26.619 * [backup-simplify]: Simplify (+ 0) into 0
26.619 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
26.620 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
26.620 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.621 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
26.621 * [backup-simplify]: Simplify (+ 0 0) into 0
26.622 * [backup-simplify]: Simplify (+ 0) into 0
26.622 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
26.622 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
26.623 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.624 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
26.624 * [backup-simplify]: Simplify (+ 0 0) into 0
26.624 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
26.624 * [backup-simplify]: Simplify (+ 0) into 0
26.625 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
26.625 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
26.626 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.626 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
26.627 * [backup-simplify]: Simplify (- 0) into 0
26.627 * [backup-simplify]: Simplify (+ 0 0) into 0
26.627 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
26.628 * [backup-simplify]: Simplify (+ 0) into 0
26.628 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
26.628 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
26.629 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.630 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
26.630 * [backup-simplify]: Simplify (- 0) into 0
26.630 * [backup-simplify]: Simplify (+ 0 0) into 0
26.631 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
26.631 * [backup-simplify]: Simplify (+ 0 0) into 0
26.632 * [backup-simplify]: Simplify (- 0) into 0
26.632 * [backup-simplify]: Simplify (+ 0 0) into 0
26.636 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
26.638 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
26.638 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in R
26.638 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in R
26.638 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in R
26.638 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in R
26.638 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
26.638 * [taylor]: Taking taylor expansion of 0.5 in R
26.638 * [backup-simplify]: Simplify 0.5 into 0.5
26.638 * [taylor]: Taking taylor expansion of phi2 in R
26.638 * [backup-simplify]: Simplify phi2 into phi2
26.638 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
26.639 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
26.639 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
26.639 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
26.639 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
26.639 * [backup-simplify]: Simplify (- 0) into 0
26.640 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
26.640 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in R
26.640 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in R
26.640 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
26.640 * [taylor]: Taking taylor expansion of 0.5 in R
26.640 * [backup-simplify]: Simplify 0.5 into 0.5
26.640 * [taylor]: Taking taylor expansion of phi1 in R
26.640 * [backup-simplify]: Simplify phi1 into phi1
26.640 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
26.640 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
26.640 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
26.640 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
26.640 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
26.641 * [backup-simplify]: Simplify (- 0) into 0
26.641 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
26.641 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in R
26.641 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) in R
26.641 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)) in R
26.641 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in R
26.641 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in R
26.641 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
26.641 * [taylor]: Taking taylor expansion of 0.5 in R
26.641 * [backup-simplify]: Simplify 0.5 into 0.5
26.641 * [taylor]: Taking taylor expansion of phi1 in R
26.641 * [backup-simplify]: Simplify phi1 into phi1
26.641 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
26.641 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
26.641 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
26.641 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
26.642 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
26.642 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
26.642 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) R) in R
26.642 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in R
26.642 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in R
26.642 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
26.642 * [taylor]: Taking taylor expansion of 0.5 in R
26.642 * [backup-simplify]: Simplify 0.5 into 0.5
26.642 * [taylor]: Taking taylor expansion of phi2 in R
26.642 * [backup-simplify]: Simplify phi2 into phi2
26.642 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
26.642 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
26.642 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
26.642 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
26.642 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
26.642 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
26.643 * [taylor]: Taking taylor expansion of R in R
26.643 * [backup-simplify]: Simplify 0 into 0
26.643 * [backup-simplify]: Simplify 1 into 1
26.643 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R)) in R
26.643 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in R
26.643 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in R
26.643 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
26.643 * [taylor]: Taking taylor expansion of 0.5 in R
26.643 * [backup-simplify]: Simplify 0.5 into 0.5
26.643 * [taylor]: Taking taylor expansion of phi1 in R
26.643 * [backup-simplify]: Simplify phi1 into phi1
26.643 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
26.643 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
26.643 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
26.643 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
26.643 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
26.644 * [backup-simplify]: Simplify (- 0) into 0
26.644 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
26.644 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) R) in R
26.644 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in R
26.644 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in R
26.644 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
26.644 * [taylor]: Taking taylor expansion of 0.5 in R
26.644 * [backup-simplify]: Simplify 0.5 into 0.5
26.644 * [taylor]: Taking taylor expansion of phi2 in R
26.644 * [backup-simplify]: Simplify phi2 into phi2
26.644 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
26.644 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
26.644 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
26.644 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
26.644 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
26.645 * [backup-simplify]: Simplify (- 0) into 0
26.645 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
26.645 * [taylor]: Taking taylor expansion of R in R
26.645 * [backup-simplify]: Simplify 0 into 0
26.645 * [backup-simplify]: Simplify 1 into 1
26.645 * [taylor]: Taking taylor expansion of (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in R
26.645 * [taylor]: Taking taylor expansion of (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in R
26.645 * [taylor]: Taking taylor expansion of R in R
26.645 * [backup-simplify]: Simplify 0 into 0
26.645 * [backup-simplify]: Simplify 1 into 1
26.645 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in R
26.645 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in R
26.645 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
26.645 * [taylor]: Taking taylor expansion of 0.5 in R
26.645 * [backup-simplify]: Simplify 0.5 into 0.5
26.645 * [taylor]: Taking taylor expansion of phi2 in R
26.645 * [backup-simplify]: Simplify phi2 into phi2
26.645 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
26.646 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
26.646 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
26.646 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in R
26.646 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in R
26.646 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
26.646 * [taylor]: Taking taylor expansion of 0.5 in R
26.646 * [backup-simplify]: Simplify 0.5 into 0.5
26.646 * [taylor]: Taking taylor expansion of phi1 in R
26.646 * [backup-simplify]: Simplify phi1 into phi1
26.646 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
26.646 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
26.646 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
26.646 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in R
26.646 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in R
26.646 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
26.646 * [taylor]: Taking taylor expansion of 0.5 in R
26.646 * [backup-simplify]: Simplify 0.5 into 0.5
26.646 * [taylor]: Taking taylor expansion of phi2 in R
26.646 * [backup-simplify]: Simplify phi2 into phi2
26.646 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
26.646 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
26.646 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
26.646 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in R
26.646 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
26.646 * [taylor]: Taking taylor expansion of 0.5 in R
26.646 * [backup-simplify]: Simplify 0.5 into 0.5
26.646 * [taylor]: Taking taylor expansion of phi1 in R
26.646 * [backup-simplify]: Simplify phi1 into phi1
26.646 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
26.646 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
26.646 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
26.646 * [taylor]: Taking taylor expansion of (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in R
26.646 * [taylor]: Taking taylor expansion of R in R
26.646 * [backup-simplify]: Simplify 0 into 0
26.646 * [backup-simplify]: Simplify 1 into 1
26.646 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in R
26.646 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in R
26.646 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
26.646 * [taylor]: Taking taylor expansion of 0.5 in R
26.646 * [backup-simplify]: Simplify 0.5 into 0.5
26.647 * [taylor]: Taking taylor expansion of phi2 in R
26.647 * [backup-simplify]: Simplify phi2 into phi2
26.647 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
26.647 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
26.647 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
26.647 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in R
26.647 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in R
26.647 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
26.647 * [taylor]: Taking taylor expansion of 0.5 in R
26.647 * [backup-simplify]: Simplify 0.5 into 0.5
26.647 * [taylor]: Taking taylor expansion of phi1 in R
26.647 * [backup-simplify]: Simplify phi1 into phi1
26.647 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
26.647 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
26.647 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
26.647 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in R
26.647 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in R
26.647 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
26.647 * [taylor]: Taking taylor expansion of 0.5 in R
26.647 * [backup-simplify]: Simplify 0.5 into 0.5
26.647 * [taylor]: Taking taylor expansion of phi2 in R
26.647 * [backup-simplify]: Simplify phi2 into phi2
26.647 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
26.647 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
26.647 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
26.647 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in R
26.647 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
26.647 * [taylor]: Taking taylor expansion of 0.5 in R
26.647 * [backup-simplify]: Simplify 0.5 into 0.5
26.647 * [taylor]: Taking taylor expansion of phi1 in R
26.647 * [backup-simplify]: Simplify phi1 into phi1
26.647 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
26.647 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
26.647 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
26.648 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
26.648 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
26.648 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
26.648 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
26.648 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
26.648 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) 0) into 0
26.648 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) 0) into 0
26.648 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
26.648 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
26.649 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) 0) into 0
26.649 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) 0) into 0
26.649 * [backup-simplify]: Simplify (+ 0 0) into 0
26.649 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
26.649 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
26.649 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
26.649 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
26.649 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
26.650 * [backup-simplify]: Simplify (- 0) into 0
26.650 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
26.650 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
26.650 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
26.650 * [backup-simplify]: Simplify (- 0) into 0
26.650 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
26.650 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
26.650 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
26.650 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
26.650 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
26.651 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
26.651 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
26.651 * [backup-simplify]: Simplify (* 0 (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
26.651 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
26.651 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
26.651 * [backup-simplify]: Simplify (- 0) into 0
26.651 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
26.651 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
26.652 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
26.652 * [backup-simplify]: Simplify (- 0) into 0
26.652 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
26.652 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
26.652 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
26.652 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
26.652 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
26.652 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
26.652 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
26.652 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
26.652 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
26.653 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
26.653 * [backup-simplify]: Simplify (* 0 (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
26.653 * [backup-simplify]: Simplify (+ 0 0) into 0
26.653 * [backup-simplify]: Simplify (- 0) into 0
26.654 * [backup-simplify]: Simplify (+ 0 0) into 0
26.654 * [backup-simplify]: Simplify (+ 0) into 0
26.654 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
26.654 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
26.655 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.655 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
26.655 * [backup-simplify]: Simplify (+ 0 0) into 0
26.655 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
26.656 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 1) (* 0 0)) into (pow (sin (/ 0.5 phi2)) 2)
26.656 * [backup-simplify]: Simplify (+ 0) into 0
26.656 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
26.656 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
26.661 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.661 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
26.661 * [backup-simplify]: Simplify (+ 0 0) into 0
26.662 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
26.662 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* 0 0)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
26.662 * [backup-simplify]: Simplify (+ 0) into 0
26.663 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
26.663 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
26.663 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.664 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
26.664 * [backup-simplify]: Simplify (- 0) into 0
26.664 * [backup-simplify]: Simplify (+ 0 0) into 0
26.664 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
26.665 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 1) (* 0 0)) into (pow (cos (/ 0.5 phi2)) 2)
26.665 * [backup-simplify]: Simplify (+ 0) into 0
26.666 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
26.666 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
26.666 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.666 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
26.667 * [backup-simplify]: Simplify (- 0) into 0
26.667 * [backup-simplify]: Simplify (+ 0 0) into 0
26.667 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
26.667 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* 0 0)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
26.668 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
26.668 * [backup-simplify]: Simplify (+ 0) into 0
26.668 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
26.669 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
26.669 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.669 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
26.670 * [backup-simplify]: Simplify (+ 0 0) into 0
26.670 * [backup-simplify]: Simplify (+ 0) into 0
26.670 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
26.670 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
26.671 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.671 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
26.671 * [backup-simplify]: Simplify (- 0) into 0
26.671 * [backup-simplify]: Simplify (+ 0 0) into 0
26.672 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
26.672 * [backup-simplify]: Simplify (+ 0) into 0
26.672 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
26.672 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
26.673 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.673 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
26.673 * [backup-simplify]: Simplify (- 0) into 0
26.674 * [backup-simplify]: Simplify (+ 0 0) into 0
26.674 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
26.674 * [backup-simplify]: Simplify (+ 0) into 0
26.675 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
26.675 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
26.676 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.676 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
26.677 * [backup-simplify]: Simplify (+ 0 0) into 0
26.677 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
26.678 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
26.678 * [backup-simplify]: Simplify (+ 0) into 0
26.679 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
26.679 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
26.680 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.680 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
26.681 * [backup-simplify]: Simplify (+ 0 0) into 0
26.681 * [backup-simplify]: Simplify (+ 0) into 0
26.682 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
26.682 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
26.683 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.683 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
26.683 * [backup-simplify]: Simplify (+ 0 0) into 0
26.684 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
26.684 * [backup-simplify]: Simplify (+ 0) into 0
26.684 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
26.685 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
26.685 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.686 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
26.686 * [backup-simplify]: Simplify (- 0) into 0
26.687 * [backup-simplify]: Simplify (+ 0 0) into 0
26.687 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
26.687 * [backup-simplify]: Simplify (+ 0) into 0
26.688 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
26.688 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
26.689 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.689 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
26.690 * [backup-simplify]: Simplify (- 0) into 0
26.690 * [backup-simplify]: Simplify (+ 0 0) into 0
26.691 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
26.692 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
26.692 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))
26.693 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into (- (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
26.696 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
26.698 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
26.703 * [backup-simplify]: Simplify (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))
26.708 * [backup-simplify]: Simplify (* 2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into (* 2 (* (/ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))
26.713 * [backup-simplify]: Simplify (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
26.717 * [backup-simplify]: Simplify (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
26.727 * [backup-simplify]: Simplify (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))
26.736 * [backup-simplify]: Simplify (- (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into (- (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))
26.752 * [backup-simplify]: Simplify (+ (* 2 (* (/ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (- (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into (- (* 2 (* (/ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))
26.766 * [backup-simplify]: Simplify (- (* 2 (* (/ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into (- (* 2 (* (/ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))
26.769 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
26.770 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
26.770 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
26.771 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
26.771 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
26.772 * [backup-simplify]: Simplify (+ 0 0) into 0
26.772 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
26.773 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
26.774 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
26.774 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
26.775 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
26.775 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
26.776 * [backup-simplify]: Simplify (+ 0 0) into 0
26.776 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
26.777 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0
26.778 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
26.779 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
26.779 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
26.780 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
26.780 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
26.780 * [backup-simplify]: Simplify (- 0) into 0
26.781 * [backup-simplify]: Simplify (+ 0 0) into 0
26.781 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
26.782 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
26.783 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
26.783 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
26.784 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
26.784 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
26.785 * [backup-simplify]: Simplify (- 0) into 0
26.785 * [backup-simplify]: Simplify (+ 0 0) into 0
26.786 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
26.786 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 2)))) into 0
26.787 * [backup-simplify]: Simplify (+ 0 0) into 0
26.788 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
26.788 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
26.789 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
26.789 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
26.790 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
26.790 * [backup-simplify]: Simplify (- 0) into 0
26.791 * [backup-simplify]: Simplify (+ 0 0) into 0
26.791 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
26.792 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
26.792 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
26.793 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
26.794 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
26.794 * [backup-simplify]: Simplify (+ 0 0) into 0
26.794 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
26.795 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
26.796 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
26.796 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
26.797 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
26.797 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
26.798 * [backup-simplify]: Simplify (+ 0 0) into 0
26.798 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
26.799 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
26.800 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
26.800 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
26.801 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
26.801 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
26.802 * [backup-simplify]: Simplify (- 0) into 0
26.802 * [backup-simplify]: Simplify (+ 0 0) into 0
26.803 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into 0
26.804 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
26.804 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
26.805 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
26.805 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
26.806 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
26.806 * [backup-simplify]: Simplify (+ 0 0) into 0
26.807 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
26.808 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
26.808 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
26.813 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
26.814 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
26.815 * [backup-simplify]: Simplify (- 0) into 0
26.815 * [backup-simplify]: Simplify (+ 0 0) into 0
26.816 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
26.817 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
26.818 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
26.818 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
26.818 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
26.819 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
26.819 * [backup-simplify]: Simplify (- 0) into 0
26.820 * [backup-simplify]: Simplify (+ 0 0) into 0
26.820 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
26.821 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
26.822 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
26.822 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
26.822 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
26.823 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
26.823 * [backup-simplify]: Simplify (+ 0 0) into 0
26.823 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into 0
26.823 * [backup-simplify]: Simplify (+ 0 0) into 0
26.824 * [backup-simplify]: Simplify (- 0) into 0
26.824 * [backup-simplify]: Simplify (+ 0 0) into 0
26.827 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (* 0 (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
26.829 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
26.830 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
26.830 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
26.830 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
26.831 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
26.831 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
26.831 * [backup-simplify]: Simplify (+ 0 0) into 0
26.832 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
26.832 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
26.833 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
26.833 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
26.833 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
26.833 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
26.834 * [backup-simplify]: Simplify (+ 0 0) into 0
26.834 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
26.834 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0
26.835 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
26.835 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (* 0 1))) into 0
26.836 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) R) (/ 0 R)) (* 0 (/ 0 R)))) into 0
26.837 * [backup-simplify]: Simplify (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) R) 0) (+ (* 0 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
26.839 * [backup-simplify]: Simplify (+ (* 1/2 0) (+ (* 0 0) (* 0 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))) into 0
26.841 * [backup-simplify]: Simplify (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 1 (* R (pow phi2 2)))) into (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 1 (* R (pow phi2 2))))
26.842 * [backup-simplify]: Simplify (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 1 (* R (pow phi2 2))))) into (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 1 (* R (pow phi2 2)))))
26.842 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
26.843 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
26.843 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
26.843 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
26.844 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
26.844 * [backup-simplify]: Simplify (+ 0 0) into 0
26.844 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
26.845 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
26.845 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
26.846 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
26.846 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
26.846 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
26.847 * [backup-simplify]: Simplify (+ 0 0) into 0
26.847 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
26.847 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0
26.848 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
26.848 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
26.849 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
26.849 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
26.849 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
26.850 * [backup-simplify]: Simplify (- 0) into 0
26.850 * [backup-simplify]: Simplify (+ 0 0) into 0
26.850 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
26.851 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
26.851 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
26.851 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
26.852 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
26.852 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
26.852 * [backup-simplify]: Simplify (- 0) into 0
26.853 * [backup-simplify]: Simplify (+ 0 0) into 0
26.853 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
26.853 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 2)))) into 0
26.854 * [backup-simplify]: Simplify (+ 0 0) into 0
26.854 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
26.855 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
26.855 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
26.855 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
26.856 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
26.856 * [backup-simplify]: Simplify (- 0) into 0
26.856 * [backup-simplify]: Simplify (+ 0 0) into 0
26.857 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
26.857 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
26.857 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
26.858 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
26.858 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
26.859 * [backup-simplify]: Simplify (+ 0 0) into 0
26.859 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
26.860 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
26.861 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
26.861 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
26.862 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
26.862 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
26.863 * [backup-simplify]: Simplify (+ 0 0) into 0
26.863 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
26.864 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
26.865 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
26.865 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
26.866 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
26.867 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
26.867 * [backup-simplify]: Simplify (- 0) into 0
26.867 * [backup-simplify]: Simplify (+ 0 0) into 0
26.868 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into 0
26.869 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
26.870 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
26.870 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
26.871 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
26.871 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
26.872 * [backup-simplify]: Simplify (+ 0 0) into 0
26.873 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
26.873 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
26.874 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
26.874 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
26.875 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
26.875 * [backup-simplify]: Simplify (- 0) into 0
26.876 * [backup-simplify]: Simplify (+ 0 0) into 0
26.876 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
26.877 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
26.878 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
26.878 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
26.879 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
26.880 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
26.880 * [backup-simplify]: Simplify (- 0) into 0
26.880 * [backup-simplify]: Simplify (+ 0 0) into 0
26.881 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
26.882 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
26.883 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
26.883 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
26.884 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
26.884 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
26.885 * [backup-simplify]: Simplify (+ 0 0) into 0
26.885 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into 0
26.886 * [backup-simplify]: Simplify (+ 0 0) into 0
26.886 * [backup-simplify]: Simplify (- 0) into 0
26.887 * [backup-simplify]: Simplify (+ 0 0) into 0
26.891 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into 0
26.894 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)))) into 0
26.901 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)))) (* 0 (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)))))) into 0
26.904 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
26.904 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
26.905 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
26.905 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
26.905 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
26.906 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
26.906 * [backup-simplify]: Simplify (+ 0 0) into 0
26.906 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
26.907 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0
26.907 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
26.908 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
26.908 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
26.908 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
26.909 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
26.909 * [backup-simplify]: Simplify (+ 0 0) into 0
26.909 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
26.910 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi2)) 2)))) into 0
26.910 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 3) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 3)))) into 0
26.911 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
26.911 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
26.911 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
26.912 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
26.912 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
26.912 * [backup-simplify]: Simplify (- 0) into 0
26.912 * [backup-simplify]: Simplify (+ 0 0) into 0
26.913 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (pow (sin (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3))))) into 0
26.913 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
26.914 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
26.914 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
26.915 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
26.915 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
26.915 * [backup-simplify]: Simplify (- 0) into 0
26.915 * [backup-simplify]: Simplify (+ 0 0) into 0
26.916 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (pow (sin (/ 0.5 phi1)) 3) (* (pow (sin (/ 0.5 phi2)) 3) (cos (/ 0.5 phi1))))))) into 0
26.916 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
26.917 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (* 0 1))) into 0
26.917 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 3) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 3)))) R) (/ 0 R)) (* 0 (/ 0 R)))) into 0
26.920 * [backup-simplify]: Simplify (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 3) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 3)))) R) 0) (+ (* 0 0) (* 0 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
26.927 * [backup-simplify]: Simplify (+ (* 3/2 0) (+ (* 0 0) (* 0 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))) into 0
26.928 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
26.928 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
26.928 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
26.929 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
26.929 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
26.930 * [backup-simplify]: Simplify (+ 0 0) into 0
26.930 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
26.931 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
26.932 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
26.932 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
26.933 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
26.933 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
26.934 * [backup-simplify]: Simplify (+ 0 0) into 0
26.934 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
26.935 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0
26.936 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
26.937 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
26.937 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
26.938 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
26.939 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
26.939 * [backup-simplify]: Simplify (- 0) into 0
26.939 * [backup-simplify]: Simplify (+ 0 0) into 0
26.940 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
26.941 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
26.941 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
26.942 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
26.942 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
26.943 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
26.943 * [backup-simplify]: Simplify (- 0) into 0
26.944 * [backup-simplify]: Simplify (+ 0 0) into 0
26.944 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
26.945 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 2)))) into 0
26.946 * [backup-simplify]: Simplify (+ 0 0) into 0
26.946 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
26.947 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
26.947 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
26.948 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
26.949 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
26.949 * [backup-simplify]: Simplify (- 0) into 0
26.950 * [backup-simplify]: Simplify (+ 0 0) into 0
26.950 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
26.951 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
26.951 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
26.951 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
26.952 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
26.952 * [backup-simplify]: Simplify (+ 0 0) into 0
26.952 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
26.953 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
26.953 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
26.953 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
26.954 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
26.954 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
26.954 * [backup-simplify]: Simplify (+ 0 0) into 0
26.955 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
26.955 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
26.956 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
26.956 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
26.956 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
26.956 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
26.957 * [backup-simplify]: Simplify (- 0) into 0
26.957 * [backup-simplify]: Simplify (+ 0 0) into 0
26.957 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into 0
26.958 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
26.958 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
26.959 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
26.959 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
26.959 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
26.960 * [backup-simplify]: Simplify (+ 0 0) into 0
26.960 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
26.961 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
26.961 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
26.961 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
26.961 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
26.962 * [backup-simplify]: Simplify (- 0) into 0
26.962 * [backup-simplify]: Simplify (+ 0 0) into 0
26.962 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
26.963 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
26.963 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
26.964 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
26.964 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
26.964 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
26.965 * [backup-simplify]: Simplify (- 0) into 0
26.965 * [backup-simplify]: Simplify (+ 0 0) into 0
26.965 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
26.966 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
26.966 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
26.967 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
26.967 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
26.968 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
26.968 * [backup-simplify]: Simplify (+ 0 0) into 0
26.969 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into 0
26.969 * [backup-simplify]: Simplify (+ 0 0) into 0
26.969 * [backup-simplify]: Simplify (- 0) into 0
26.969 * [backup-simplify]: Simplify (+ 0 0) into 0
26.972 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into 0
26.974 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)))) into 0
26.981 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)))) (* 0 (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)))))) into 0
26.983 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
26.984 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
26.984 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
26.984 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
26.985 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
26.985 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
26.986 * [backup-simplify]: Simplify (+ 0 0) into 0
26.986 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
26.987 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
26.987 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
26.987 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
26.987 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
26.988 * [backup-simplify]: Simplify (- 0) into 0
26.988 * [backup-simplify]: Simplify (+ 0 0) into 0
26.988 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
26.989 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi2)) 2)))) into 0
26.989 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 3) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
26.990 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
26.990 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
26.990 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
26.991 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
26.991 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
26.991 * [backup-simplify]: Simplify (- 0) into 0
26.992 * [backup-simplify]: Simplify (+ 0 0) into 0
26.992 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
26.992 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 2)))) into 0
26.993 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 3) 0) (+ (* 0 0) (* 0 (* (pow (cos (/ 0.5 phi2)) 3) (sin (/ 0.5 phi1)))))) into 0
26.993 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
26.994 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
26.994 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
26.994 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
26.995 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
26.995 * [backup-simplify]: Simplify (+ 0 0) into 0
26.996 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (pow (cos (/ 0.5 phi2)) 3) (pow (cos (/ 0.5 phi1)) 3)))))) into 0
26.996 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
26.997 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (* 0 1))) into 0
26.997 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 3) (* (pow (cos (/ 0.5 phi1)) 3) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (/ 0 R)) (* 0 (/ 0 R)))) into 0
27.002 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 3) (* (pow (cos (/ 0.5 phi1)) 3) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) 0) (+ (* 0 0) (* 0 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
27.008 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (* (/ (* (sin (/ 0.5 phi2)) (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (cos (/ 0.5 phi2)) 3) (sin (/ 0.5 phi1))))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))) into 0
27.010 * [backup-simplify]: Simplify (* (/ 1 (* (pow phi1 2) R)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into (* (/ 1 (* R (pow phi1 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))
27.012 * [backup-simplify]: Simplify (* 1/2 (* (/ 1 (* R (pow phi1 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into (* 1/2 (* (/ 1 (* R (pow phi1 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))
27.013 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.014 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
27.014 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
27.015 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.016 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
27.016 * [backup-simplify]: Simplify (+ 0 0) into 0
27.017 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
27.018 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.019 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
27.019 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
27.020 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.020 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
27.021 * [backup-simplify]: Simplify (+ 0 0) into 0
27.021 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
27.022 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0
27.023 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.024 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
27.024 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
27.025 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.025 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
27.026 * [backup-simplify]: Simplify (- 0) into 0
27.026 * [backup-simplify]: Simplify (+ 0 0) into 0
27.027 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
27.027 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.028 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
27.028 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
27.029 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.030 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
27.031 * [backup-simplify]: Simplify (- 0) into 0
27.031 * [backup-simplify]: Simplify (+ 0 0) into 0
27.032 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
27.032 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 2)))) into 0
27.033 * [backup-simplify]: Simplify (+ 0 0) into 0
27.034 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.034 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
27.035 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
27.035 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.036 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
27.036 * [backup-simplify]: Simplify (- 0) into 0
27.037 * [backup-simplify]: Simplify (+ 0 0) into 0
27.038 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.043 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
27.044 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
27.045 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.045 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
27.046 * [backup-simplify]: Simplify (+ 0 0) into 0
27.046 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
27.048 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.049 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
27.049 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
27.050 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.050 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
27.051 * [backup-simplify]: Simplify (+ 0 0) into 0
27.051 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
27.052 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.053 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
27.053 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
27.054 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.054 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
27.054 * [backup-simplify]: Simplify (- 0) into 0
27.055 * [backup-simplify]: Simplify (+ 0 0) into 0
27.055 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into 0
27.056 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.056 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
27.056 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
27.057 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.057 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
27.057 * [backup-simplify]: Simplify (+ 0 0) into 0
27.058 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.058 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
27.058 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
27.059 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.059 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
27.059 * [backup-simplify]: Simplify (- 0) into 0
27.060 * [backup-simplify]: Simplify (+ 0 0) into 0
27.060 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
27.061 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.061 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
27.061 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
27.062 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.062 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
27.062 * [backup-simplify]: Simplify (- 0) into 0
27.062 * [backup-simplify]: Simplify (+ 0 0) into 0
27.063 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
27.063 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.064 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
27.064 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
27.064 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.065 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
27.065 * [backup-simplify]: Simplify (+ 0 0) into 0
27.065 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into 0
27.066 * [backup-simplify]: Simplify (+ 0 0) into 0
27.066 * [backup-simplify]: Simplify (- 0) into 0
27.066 * [backup-simplify]: Simplify (+ 0 0) into 0
27.068 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into 0
27.071 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)))) into 0
27.077 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)))) (* 0 (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)))))) into 0
27.080 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
27.080 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.081 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
27.081 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
27.082 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.082 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
27.082 * [backup-simplify]: Simplify (+ 0 0) into 0
27.083 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
27.083 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0
27.084 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.084 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
27.084 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
27.085 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.085 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
27.085 * [backup-simplify]: Simplify (- 0) into 0
27.086 * [backup-simplify]: Simplify (+ 0 0) into 0
27.086 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 3)))) into 0
27.087 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.087 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
27.087 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
27.088 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.088 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
27.088 * [backup-simplify]: Simplify (- 0) into 0
27.088 * [backup-simplify]: Simplify (+ 0 0) into 0
27.089 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 3))))) into 0
27.089 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.090 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
27.090 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
27.091 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.091 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
27.091 * [backup-simplify]: Simplify (+ 0 0) into 0
27.092 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
27.092 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi2)) 2)))) into 0
27.093 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 3) 0) (+ (* 0 0) (* 0 (* (pow (sin (/ 0.5 phi1)) 3) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into 0
27.093 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
27.094 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (* 0 1))) into 0
27.094 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)))) R) (/ 0 R)) (* 0 (/ 0 R)))) into 0
27.097 * [backup-simplify]: Simplify (+ (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)))) R) 0) (+ (* 0 0) (* 0 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
27.100 * [backup-simplify]: Simplify (+ (* 1/2 0) (+ (* 0 0) (* 0 (* (/ (* (pow (sin (/ 0.5 phi2)) 3) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 3)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))) into 0
27.101 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.101 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
27.101 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
27.102 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.102 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
27.102 * [backup-simplify]: Simplify (+ 0 0) into 0
27.103 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
27.103 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.103 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
27.104 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
27.104 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.104 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
27.105 * [backup-simplify]: Simplify (+ 0 0) into 0
27.105 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
27.106 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0
27.106 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.106 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
27.107 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
27.107 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.107 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
27.108 * [backup-simplify]: Simplify (- 0) into 0
27.108 * [backup-simplify]: Simplify (+ 0 0) into 0
27.108 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
27.109 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.109 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
27.110 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
27.110 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.110 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
27.111 * [backup-simplify]: Simplify (- 0) into 0
27.111 * [backup-simplify]: Simplify (+ 0 0) into 0
27.111 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
27.112 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 2)))) into 0
27.112 * [backup-simplify]: Simplify (+ 0 0) into 0
27.113 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.113 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
27.113 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
27.114 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.115 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
27.115 * [backup-simplify]: Simplify (- 0) into 0
27.115 * [backup-simplify]: Simplify (+ 0 0) into 0
27.116 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.116 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
27.116 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
27.117 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.117 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
27.118 * [backup-simplify]: Simplify (+ 0 0) into 0
27.118 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
27.118 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.119 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
27.119 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
27.119 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.120 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
27.120 * [backup-simplify]: Simplify (+ 0 0) into 0
27.121 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
27.121 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.121 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
27.122 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
27.122 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.122 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
27.123 * [backup-simplify]: Simplify (- 0) into 0
27.123 * [backup-simplify]: Simplify (+ 0 0) into 0
27.123 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into 0
27.124 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.124 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
27.124 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
27.125 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.125 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
27.125 * [backup-simplify]: Simplify (+ 0 0) into 0
27.126 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.126 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
27.127 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
27.127 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.127 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
27.128 * [backup-simplify]: Simplify (- 0) into 0
27.128 * [backup-simplify]: Simplify (+ 0 0) into 0
27.128 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
27.129 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.129 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
27.129 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
27.130 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.130 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
27.130 * [backup-simplify]: Simplify (- 0) into 0
27.131 * [backup-simplify]: Simplify (+ 0 0) into 0
27.131 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
27.131 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.132 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
27.132 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
27.133 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.133 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
27.133 * [backup-simplify]: Simplify (+ 0 0) into 0
27.134 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into 0
27.134 * [backup-simplify]: Simplify (+ 0 0) into 0
27.134 * [backup-simplify]: Simplify (- 0) into 0
27.134 * [backup-simplify]: Simplify (+ 0 0) into 0
27.137 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (* 0 (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
27.143 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
27.143 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.144 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
27.144 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
27.144 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.145 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
27.145 * [backup-simplify]: Simplify (- 0) into 0
27.145 * [backup-simplify]: Simplify (+ 0 0) into 0
27.146 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
27.146 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.147 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
27.147 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
27.147 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.148 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
27.148 * [backup-simplify]: Simplify (- 0) into 0
27.148 * [backup-simplify]: Simplify (+ 0 0) into 0
27.148 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
27.149 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 2)))) into 0
27.149 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
27.150 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (* 0 1))) into 0
27.150 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) R) (/ 0 R)) (* 0 (/ 0 R)))) into 0
27.152 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) R) 0) (+ (* 0 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
27.154 * [backup-simplify]: Simplify (+ (* 1/2 0) (+ (* 0 0) (* 0 (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))) into 0
27.154 * [backup-simplify]: Simplify (+ 0 0) into 0
27.157 * [backup-simplify]: Simplify (+ (* 1/2 (* (/ 1 (* R (pow phi1 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) 0) into (* 1/2 (* (/ 1 (* (pow phi1 2) R)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))
27.159 * [backup-simplify]: Simplify (+ 0 (* 1/2 (* (/ 1 (* (pow phi1 2) R)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into (* 1/2 (* (/ 1 (* R (pow phi1 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))
27.162 * [backup-simplify]: Simplify (+ 0 (* 1/2 (* (/ 1 (* R (pow phi1 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into (* 1/2 (* (/ 1 (* (pow phi1 2) R)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))
27.166 * [backup-simplify]: Simplify (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 1 (* R (pow phi2 2))))) (* 1/2 (* (/ 1 (* (pow phi1 2) R)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 1 (* R (pow phi2 2))))) (* 1/2 (* (/ 1 (* R (pow phi1 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))
27.172 * [backup-simplify]: Simplify (+ 0 (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 1 (* R (pow phi2 2))))) (* 1/2 (* (/ 1 (* R (pow phi1 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))) into (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 1 (* R (pow phi2 2))))) (* 1/2 (* (/ 1 (* R (pow phi1 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))
27.173 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.174 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
27.174 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
27.175 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.175 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
27.176 * [backup-simplify]: Simplify (+ 0 0) into 0
27.176 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
27.177 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.178 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
27.178 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
27.179 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.180 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
27.181 * [backup-simplify]: Simplify (+ 0 0) into 0
27.181 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
27.182 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0
27.183 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.184 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
27.184 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
27.185 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.186 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
27.186 * [backup-simplify]: Simplify (- 0) into 0
27.186 * [backup-simplify]: Simplify (+ 0 0) into 0
27.187 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
27.188 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.188 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
27.189 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
27.190 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.190 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
27.190 * [backup-simplify]: Simplify (- 0) into 0
27.191 * [backup-simplify]: Simplify (+ 0 0) into 0
27.191 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
27.192 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 2)))) into 0
27.193 * [backup-simplify]: Simplify (+ 0 0) into 0
27.193 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.194 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
27.194 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
27.195 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.196 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
27.196 * [backup-simplify]: Simplify (- 0) into 0
27.197 * [backup-simplify]: Simplify (+ 0 0) into 0
27.197 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.198 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
27.198 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
27.199 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.200 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
27.200 * [backup-simplify]: Simplify (+ 0 0) into 0
27.201 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
27.202 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.203 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
27.203 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
27.204 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.204 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
27.205 * [backup-simplify]: Simplify (+ 0 0) into 0
27.205 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
27.206 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.207 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
27.207 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
27.208 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.208 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
27.209 * [backup-simplify]: Simplify (- 0) into 0
27.209 * [backup-simplify]: Simplify (+ 0 0) into 0
27.210 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into 0
27.211 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.212 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
27.212 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
27.213 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.213 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
27.214 * [backup-simplify]: Simplify (+ 0 0) into 0
27.215 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.215 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
27.216 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
27.216 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.217 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
27.217 * [backup-simplify]: Simplify (- 0) into 0
27.218 * [backup-simplify]: Simplify (+ 0 0) into 0
27.218 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
27.219 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.220 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
27.220 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
27.221 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.222 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
27.222 * [backup-simplify]: Simplify (- 0) into 0
27.222 * [backup-simplify]: Simplify (+ 0 0) into 0
27.223 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
27.224 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.224 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
27.225 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
27.226 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.226 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
27.226 * [backup-simplify]: Simplify (+ 0 0) into 0
27.227 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into 0
27.228 * [backup-simplify]: Simplify (+ 0 0) into 0
27.228 * [backup-simplify]: Simplify (- 0) into 0
27.228 * [backup-simplify]: Simplify (+ 0 0) into 0
27.233 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into 0
27.235 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)))) into 0
27.242 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)))) (* 0 (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)))))) into 0
27.244 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
27.245 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.245 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
27.246 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
27.246 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.246 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
27.247 * [backup-simplify]: Simplify (+ 0 0) into 0
27.247 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
27.247 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0
27.248 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.248 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
27.249 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
27.249 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.249 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
27.250 * [backup-simplify]: Simplify (+ 0 0) into 0
27.250 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
27.251 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi2)) 2)))) into 0
27.252 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 4) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 4)))) into 0
27.252 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
27.253 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (* 0 1))) into 0
27.253 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)) R) (/ 0 R)) (* 0 (/ 0 R)))) into 0
27.256 * [backup-simplify]: Simplify (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)) R) 0) (+ (* 0 0) (* 0 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
27.259 * [backup-simplify]: Simplify (+ (* 1/2 0) (+ (* 0 0) (* 0 (* (/ (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))) into 0
27.259 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.260 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
27.260 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
27.260 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.261 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
27.261 * [backup-simplify]: Simplify (+ 0 0) into 0
27.261 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
27.262 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.262 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
27.262 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
27.263 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.263 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
27.267 * [backup-simplify]: Simplify (+ 0 0) into 0
27.268 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
27.269 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0
27.270 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.271 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
27.271 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
27.272 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.272 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
27.273 * [backup-simplify]: Simplify (- 0) into 0
27.273 * [backup-simplify]: Simplify (+ 0 0) into 0
27.274 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
27.275 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.275 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
27.276 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
27.276 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.277 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
27.277 * [backup-simplify]: Simplify (- 0) into 0
27.278 * [backup-simplify]: Simplify (+ 0 0) into 0
27.278 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
27.279 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 2)))) into 0
27.279 * [backup-simplify]: Simplify (+ 0 0) into 0
27.280 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.281 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
27.281 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
27.282 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.283 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
27.283 * [backup-simplify]: Simplify (- 0) into 0
27.283 * [backup-simplify]: Simplify (+ 0 0) into 0
27.284 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.285 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
27.285 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
27.286 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.287 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
27.287 * [backup-simplify]: Simplify (+ 0 0) into 0
27.288 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
27.289 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.289 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
27.290 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
27.290 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.291 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
27.291 * [backup-simplify]: Simplify (+ 0 0) into 0
27.292 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
27.293 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.294 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
27.294 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
27.295 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.295 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
27.296 * [backup-simplify]: Simplify (- 0) into 0
27.296 * [backup-simplify]: Simplify (+ 0 0) into 0
27.297 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into 0
27.298 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.298 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
27.298 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
27.299 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.299 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
27.299 * [backup-simplify]: Simplify (+ 0 0) into 0
27.300 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.300 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
27.300 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
27.301 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.301 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
27.302 * [backup-simplify]: Simplify (- 0) into 0
27.302 * [backup-simplify]: Simplify (+ 0 0) into 0
27.302 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
27.303 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.303 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
27.303 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
27.304 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.304 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
27.304 * [backup-simplify]: Simplify (- 0) into 0
27.305 * [backup-simplify]: Simplify (+ 0 0) into 0
27.305 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
27.305 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.306 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
27.306 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
27.306 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.307 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
27.307 * [backup-simplify]: Simplify (+ 0 0) into 0
27.307 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into 0
27.308 * [backup-simplify]: Simplify (+ 0 0) into 0
27.308 * [backup-simplify]: Simplify (- 0) into 0
27.308 * [backup-simplify]: Simplify (+ 0 0) into 0
27.311 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (* 0 (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
27.313 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
27.315 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.315 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
27.315 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
27.316 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.316 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
27.316 * [backup-simplify]: Simplify (+ 0 0) into 0
27.317 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.317 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
27.317 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
27.318 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.318 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
27.319 * [backup-simplify]: Simplify (- 0) into 0
27.319 * [backup-simplify]: Simplify (+ 0 0) into 0
27.319 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
27.320 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.320 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
27.320 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
27.321 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.321 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
27.321 * [backup-simplify]: Simplify (- 0) into 0
27.322 * [backup-simplify]: Simplify (+ 0 0) into 0
27.322 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
27.322 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.323 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
27.323 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
27.324 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.324 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
27.324 * [backup-simplify]: Simplify (+ 0 0) into 0
27.325 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into 0
27.325 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
27.326 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (* 0 1))) into 0
27.326 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (/ 0 R)) (* 0 (/ 0 R)))) into 0
27.327 * [backup-simplify]: Simplify (+ (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) 0) (+ (* 0 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
27.329 * [backup-simplify]: Simplify (+ (* 1/2 0) (+ (* 0 0) (* 0 (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))) into 0
27.330 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.331 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
27.331 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
27.331 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.331 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
27.332 * [backup-simplify]: Simplify (+ 0 0) into 0
27.332 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
27.333 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.333 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
27.333 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
27.334 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.334 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
27.334 * [backup-simplify]: Simplify (+ 0 0) into 0
27.335 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
27.335 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0
27.336 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.336 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
27.336 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
27.337 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.337 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
27.337 * [backup-simplify]: Simplify (- 0) into 0
27.338 * [backup-simplify]: Simplify (+ 0 0) into 0
27.338 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
27.339 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.339 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
27.339 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
27.340 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.340 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
27.340 * [backup-simplify]: Simplify (- 0) into 0
27.340 * [backup-simplify]: Simplify (+ 0 0) into 0
27.341 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
27.341 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 2)))) into 0
27.342 * [backup-simplify]: Simplify (+ 0 0) into 0
27.342 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.343 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
27.343 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
27.343 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.343 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
27.344 * [backup-simplify]: Simplify (- 0) into 0
27.344 * [backup-simplify]: Simplify (+ 0 0) into 0
27.344 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.345 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
27.345 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
27.346 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.346 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
27.346 * [backup-simplify]: Simplify (+ 0 0) into 0
27.346 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
27.347 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.347 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
27.348 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
27.348 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.348 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
27.349 * [backup-simplify]: Simplify (+ 0 0) into 0
27.349 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
27.350 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.350 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
27.351 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
27.351 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.352 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
27.352 * [backup-simplify]: Simplify (- 0) into 0
27.353 * [backup-simplify]: Simplify (+ 0 0) into 0
27.353 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into 0
27.354 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.355 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
27.355 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
27.355 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.356 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
27.356 * [backup-simplify]: Simplify (+ 0 0) into 0
27.357 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.357 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
27.357 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
27.358 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.358 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
27.358 * [backup-simplify]: Simplify (- 0) into 0
27.358 * [backup-simplify]: Simplify (+ 0 0) into 0
27.359 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
27.359 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.360 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
27.360 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
27.360 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.361 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
27.361 * [backup-simplify]: Simplify (- 0) into 0
27.361 * [backup-simplify]: Simplify (+ 0 0) into 0
27.362 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
27.362 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.363 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
27.363 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
27.363 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.364 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
27.364 * [backup-simplify]: Simplify (+ 0 0) into 0
27.364 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into 0
27.365 * [backup-simplify]: Simplify (+ 0 0) into 0
27.365 * [backup-simplify]: Simplify (- 0) into 0
27.365 * [backup-simplify]: Simplify (+ 0 0) into 0
27.368 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (* 0 (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
27.370 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
27.370 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.371 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
27.371 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
27.375 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.376 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
27.376 * [backup-simplify]: Simplify (+ 0 0) into 0
27.377 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.377 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
27.378 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
27.378 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.379 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
27.379 * [backup-simplify]: Simplify (+ 0 0) into 0
27.380 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
27.381 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.381 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
27.382 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
27.382 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.383 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
27.383 * [backup-simplify]: Simplify (- 0) into 0
27.384 * [backup-simplify]: Simplify (+ 0 0) into 0
27.384 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
27.385 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.386 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
27.386 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
27.387 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.388 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
27.388 * [backup-simplify]: Simplify (- 0) into 0
27.388 * [backup-simplify]: Simplify (+ 0 0) into 0
27.389 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into 0
27.390 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
27.391 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (* 0 1))) into 0
27.391 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (/ 0 R)) (* 0 (/ 0 R)))) into 0
27.394 * [backup-simplify]: Simplify (+ (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) 0) (+ (* 0 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
27.397 * [backup-simplify]: Simplify (+ (* 1/2 0) (+ (* 0 0) (* 0 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))) into 0
27.398 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.399 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
27.399 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
27.400 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.401 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
27.401 * [backup-simplify]: Simplify (+ 0 0) into 0
27.402 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
27.403 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.403 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
27.404 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
27.404 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.405 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
27.405 * [backup-simplify]: Simplify (+ 0 0) into 0
27.406 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
27.407 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0
27.408 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.408 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
27.408 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
27.409 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.410 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
27.410 * [backup-simplify]: Simplify (- 0) into 0
27.411 * [backup-simplify]: Simplify (+ 0 0) into 0
27.412 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
27.413 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.414 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
27.414 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
27.414 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.415 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
27.415 * [backup-simplify]: Simplify (- 0) into 0
27.416 * [backup-simplify]: Simplify (+ 0 0) into 0
27.417 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
27.418 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 2)))) into 0
27.418 * [backup-simplify]: Simplify (+ 0 0) into 0
27.419 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.420 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
27.420 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
27.421 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.421 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
27.421 * [backup-simplify]: Simplify (- 0) into 0
27.422 * [backup-simplify]: Simplify (+ 0 0) into 0
27.423 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.423 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
27.424 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
27.425 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.425 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
27.426 * [backup-simplify]: Simplify (+ 0 0) into 0
27.426 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
27.427 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.428 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
27.428 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
27.429 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.429 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
27.430 * [backup-simplify]: Simplify (+ 0 0) into 0
27.431 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
27.431 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.432 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
27.432 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
27.433 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.434 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
27.434 * [backup-simplify]: Simplify (- 0) into 0
27.435 * [backup-simplify]: Simplify (+ 0 0) into 0
27.435 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into 0
27.436 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.437 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
27.437 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
27.438 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.438 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
27.438 * [backup-simplify]: Simplify (+ 0 0) into 0
27.439 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.439 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
27.439 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
27.440 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.440 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
27.440 * [backup-simplify]: Simplify (- 0) into 0
27.441 * [backup-simplify]: Simplify (+ 0 0) into 0
27.441 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
27.442 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.442 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
27.442 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
27.443 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.443 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
27.443 * [backup-simplify]: Simplify (- 0) into 0
27.443 * [backup-simplify]: Simplify (+ 0 0) into 0
27.444 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
27.444 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.445 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
27.445 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
27.445 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.446 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
27.446 * [backup-simplify]: Simplify (+ 0 0) into 0
27.446 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into 0
27.447 * [backup-simplify]: Simplify (+ 0 0) into 0
27.447 * [backup-simplify]: Simplify (- 0) into 0
27.447 * [backup-simplify]: Simplify (+ 0 0) into 0
27.449 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into 0
27.452 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)))) into 0
27.458 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)))) (* 0 (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)))))) into 0
27.461 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
27.461 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.462 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
27.462 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
27.463 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.463 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
27.463 * [backup-simplify]: Simplify (- 0) into 0
27.464 * [backup-simplify]: Simplify (+ 0 0) into 0
27.464 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
27.464 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 2)))) into 0
27.465 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.465 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
27.466 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
27.466 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.467 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
27.467 * [backup-simplify]: Simplify (- 0) into 0
27.468 * [backup-simplify]: Simplify (+ 0 0) into 0
27.468 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
27.469 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi2)) 2)))) into 0
27.470 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 4) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 4)))) into 0
27.471 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
27.471 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (* 0 1))) into 0
27.472 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi1)) 4)) R) (/ 0 R)) (* 0 (/ 0 R)))) into 0
27.477 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi1)) 4)) R) 0) (+ (* 0 0) (* 0 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
27.483 * [backup-simplify]: Simplify (+ (* 1/2 0) (+ (* 0 0) (* 0 (* (/ (* (pow (cos (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi1)) 4)) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))) into 0
27.484 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.484 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
27.485 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
27.486 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.486 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
27.487 * [backup-simplify]: Simplify (+ 0 0) into 0
27.487 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
27.488 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.489 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
27.489 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
27.490 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.490 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
27.491 * [backup-simplify]: Simplify (+ 0 0) into 0
27.491 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
27.492 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0
27.493 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.494 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
27.494 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
27.495 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.495 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
27.496 * [backup-simplify]: Simplify (- 0) into 0
27.496 * [backup-simplify]: Simplify (+ 0 0) into 0
27.497 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
27.498 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.498 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
27.499 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
27.500 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.500 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
27.501 * [backup-simplify]: Simplify (- 0) into 0
27.501 * [backup-simplify]: Simplify (+ 0 0) into 0
27.502 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
27.502 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 2)))) into 0
27.503 * [backup-simplify]: Simplify (+ 0 0) into 0
27.504 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.510 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
27.510 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
27.511 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.512 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
27.512 * [backup-simplify]: Simplify (- 0) into 0
27.513 * [backup-simplify]: Simplify (+ 0 0) into 0
27.514 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.514 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
27.515 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
27.516 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.517 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
27.517 * [backup-simplify]: Simplify (+ 0 0) into 0
27.518 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
27.519 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.520 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
27.520 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
27.521 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.522 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
27.522 * [backup-simplify]: Simplify (+ 0 0) into 0
27.523 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
27.524 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.525 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
27.525 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
27.526 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.526 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
27.527 * [backup-simplify]: Simplify (- 0) into 0
27.527 * [backup-simplify]: Simplify (+ 0 0) into 0
27.528 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into 0
27.529 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.530 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
27.530 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
27.531 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.531 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
27.532 * [backup-simplify]: Simplify (+ 0 0) into 0
27.532 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.533 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
27.533 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
27.534 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.534 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
27.534 * [backup-simplify]: Simplify (- 0) into 0
27.535 * [backup-simplify]: Simplify (+ 0 0) into 0
27.535 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
27.536 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.536 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
27.536 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
27.537 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.537 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
27.537 * [backup-simplify]: Simplify (- 0) into 0
27.537 * [backup-simplify]: Simplify (+ 0 0) into 0
27.538 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
27.538 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.539 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
27.539 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
27.539 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.540 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
27.540 * [backup-simplify]: Simplify (+ 0 0) into 0
27.540 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into 0
27.541 * [backup-simplify]: Simplify (+ 0 0) into 0
27.541 * [backup-simplify]: Simplify (- 0) into 0
27.541 * [backup-simplify]: Simplify (+ 0 0) into 0
27.543 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into 0
27.546 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)))) into 0
27.552 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)))) (* 0 (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)))))) into 0
27.555 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
27.556 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.556 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
27.556 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
27.557 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.557 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
27.558 * [backup-simplify]: Simplify (+ 0 0) into 0
27.558 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
27.559 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.559 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
27.559 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
27.560 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.560 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
27.560 * [backup-simplify]: Simplify (- 0) into 0
27.560 * [backup-simplify]: Simplify (+ 0 0) into 0
27.561 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
27.561 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0
27.562 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.562 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
27.562 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
27.563 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.563 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
27.564 * [backup-simplify]: Simplify (- 0) into 0
27.564 * [backup-simplify]: Simplify (+ 0 0) into 0
27.564 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
27.565 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))))) into 0
27.565 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.566 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
27.566 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
27.566 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.567 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
27.567 * [backup-simplify]: Simplify (+ 0 0) into 0
27.567 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
27.568 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))))) into 0
27.568 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
27.569 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (* 0 1))) into 0
27.570 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) R) (/ 0 R)) (* 0 (/ 0 R)))) into 0
27.575 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) R) 0) (+ (* 0 0) (* 0 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
27.582 * [backup-simplify]: Simplify (+ (* 3 0) (+ (* 0 0) (* 0 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))) into 0
27.585 * [backup-simplify]: Simplify (* (/ 1 (* phi1 (* R phi2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into (* (/ 1 (* R (* phi1 phi2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))
27.587 * [backup-simplify]: Simplify (+ 0 (* (/ 1 (* R (* phi1 phi2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into (* (/ 1 (* phi1 (* R phi2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))
27.590 * [backup-simplify]: Simplify (+ 0 (* (/ 1 (* phi1 (* R phi2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into (* (/ 1 (* R (* phi1 phi2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))
27.592 * [backup-simplify]: Simplify (+ 0 (* (/ 1 (* R (* phi1 phi2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into (* (/ 1 (* phi1 (* R phi2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))
27.595 * [backup-simplify]: Simplify (+ 0 (* (/ 1 (* phi1 (* R phi2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into (* (/ 1 (* R (* phi1 phi2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))
27.597 * [backup-simplify]: Simplify (+ 0 (* (/ 1 (* R (* phi1 phi2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into (* (/ 1 (* phi1 (* R phi2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))
27.599 * [backup-simplify]: Simplify (- (* (/ 1 (* phi1 (* R phi2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into (- (* (/ 1 (* R (* phi1 phi2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))
27.602 * [backup-simplify]: Simplify (+ (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 1 (* R (pow phi2 2))))) (* 1/2 (* (/ 1 (* R (pow phi1 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) (- (* (/ 1 (* R (* phi1 phi2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into (- (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 1 (* R (pow phi2 2))))) (* 1/2 (* (/ 1 (* R (pow phi1 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) (* (/ 1 (* phi1 (* R phi2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))
27.602 * [taylor]: Taking taylor expansion of (- (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 1 (* R (pow phi2 2))))) (* 1/2 (* (/ 1 (* R (pow phi1 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) (* (/ 1 (* phi1 (* R phi2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) in phi1
27.603 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 1 (* R (pow phi2 2))))) (* 1/2 (* (/ 1 (* R (pow phi1 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) in phi1
27.603 * [taylor]: Taking taylor expansion of (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 1 (* R (pow phi2 2))))) in phi1
27.603 * [taylor]: Taking taylor expansion of 1/2 in phi1
27.603 * [backup-simplify]: Simplify 1/2 into 1/2
27.603 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 1 (* R (pow phi2 2)))) in phi1
27.603 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in phi1
27.603 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in phi1
27.603 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in phi1
27.603 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in phi1
27.603 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in phi1
27.603 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1
27.603 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
27.603 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
27.603 * [taylor]: Taking taylor expansion of 0.5 in phi1
27.603 * [backup-simplify]: Simplify 0.5 into 0.5
27.603 * [taylor]: Taking taylor expansion of phi2 in phi1
27.603 * [backup-simplify]: Simplify phi2 into phi2
27.603 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
27.603 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
27.603 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
27.603 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
27.603 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
27.603 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
27.603 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1
27.603 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
27.603 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
27.603 * [taylor]: Taking taylor expansion of 0.5 in phi1
27.603 * [backup-simplify]: Simplify 0.5 into 0.5
27.603 * [taylor]: Taking taylor expansion of phi1 in phi1
27.603 * [backup-simplify]: Simplify 0 into 0
27.603 * [backup-simplify]: Simplify 1 into 1
27.604 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
27.604 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
27.604 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in phi1
27.604 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1
27.604 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
27.604 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
27.604 * [taylor]: Taking taylor expansion of 0.5 in phi1
27.604 * [backup-simplify]: Simplify 0.5 into 0.5
27.604 * [taylor]: Taking taylor expansion of phi2 in phi1
27.604 * [backup-simplify]: Simplify phi2 into phi2
27.604 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
27.604 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
27.604 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
27.604 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
27.604 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
27.605 * [backup-simplify]: Simplify (- 0) into 0
27.605 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
27.605 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1
27.605 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
27.605 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
27.605 * [taylor]: Taking taylor expansion of 0.5 in phi1
27.605 * [backup-simplify]: Simplify 0.5 into 0.5
27.605 * [taylor]: Taking taylor expansion of phi1 in phi1
27.605 * [backup-simplify]: Simplify 0 into 0
27.605 * [backup-simplify]: Simplify 1 into 1
27.605 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
27.605 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
27.605 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in phi1
27.605 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in phi1
27.605 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
27.605 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
27.605 * [taylor]: Taking taylor expansion of 0.5 in phi1
27.605 * [backup-simplify]: Simplify 0.5 into 0.5
27.605 * [taylor]: Taking taylor expansion of phi2 in phi1
27.605 * [backup-simplify]: Simplify phi2 into phi2
27.606 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
27.606 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
27.606 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
27.606 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in phi1
27.606 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
27.606 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
27.606 * [taylor]: Taking taylor expansion of 0.5 in phi1
27.606 * [backup-simplify]: Simplify 0.5 into 0.5
27.606 * [taylor]: Taking taylor expansion of phi1 in phi1
27.606 * [backup-simplify]: Simplify 0 into 0
27.606 * [backup-simplify]: Simplify 1 into 1
27.606 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
27.606 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
27.606 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in phi1
27.606 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
27.606 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
27.606 * [taylor]: Taking taylor expansion of 0.5 in phi1
27.606 * [backup-simplify]: Simplify 0.5 into 0.5
27.606 * [taylor]: Taking taylor expansion of phi2 in phi1
27.606 * [backup-simplify]: Simplify phi2 into phi2
27.606 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
27.606 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
27.606 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
27.606 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
27.606 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
27.606 * [taylor]: Taking taylor expansion of 0.5 in phi1
27.606 * [backup-simplify]: Simplify 0.5 into 0.5
27.606 * [taylor]: Taking taylor expansion of phi1 in phi1
27.607 * [backup-simplify]: Simplify 0 into 0
27.607 * [backup-simplify]: Simplify 1 into 1
27.607 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
27.607 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
27.607 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in phi1
27.607 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
27.607 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
27.607 * [taylor]: Taking taylor expansion of 0.5 in phi1
27.607 * [backup-simplify]: Simplify 0.5 into 0.5
27.607 * [taylor]: Taking taylor expansion of phi2 in phi1
27.607 * [backup-simplify]: Simplify phi2 into phi2
27.607 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
27.607 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
27.607 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
27.607 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in phi1
27.607 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
27.607 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
27.607 * [taylor]: Taking taylor expansion of 0.5 in phi1
27.607 * [backup-simplify]: Simplify 0.5 into 0.5
27.607 * [taylor]: Taking taylor expansion of phi1 in phi1
27.607 * [backup-simplify]: Simplify 0 into 0
27.607 * [backup-simplify]: Simplify 1 into 1
27.608 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
27.608 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
27.608 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in phi1
27.608 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
27.608 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
27.608 * [taylor]: Taking taylor expansion of 0.5 in phi1
27.608 * [backup-simplify]: Simplify 0.5 into 0.5
27.608 * [taylor]: Taking taylor expansion of phi2 in phi1
27.608 * [backup-simplify]: Simplify phi2 into phi2
27.608 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
27.608 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
27.608 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
27.608 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
27.608 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
27.608 * [taylor]: Taking taylor expansion of 0.5 in phi1
27.608 * [backup-simplify]: Simplify 0.5 into 0.5
27.608 * [taylor]: Taking taylor expansion of phi1 in phi1
27.608 * [backup-simplify]: Simplify 0 into 0
27.608 * [backup-simplify]: Simplify 1 into 1
27.608 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
27.608 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
27.609 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
27.609 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
27.609 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
27.609 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
27.609 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
27.609 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
27.610 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
27.610 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
27.610 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
27.610 * [backup-simplify]: Simplify (- 0) into 0
27.610 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
27.610 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
27.610 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
27.610 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
27.610 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
27.611 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
27.611 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
27.611 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
27.611 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
27.611 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
27.611 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
27.611 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
27.611 * [backup-simplify]: Simplify (- 0) into 0
27.611 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
27.612 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
27.612 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
27.612 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
27.612 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))
27.613 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
27.614 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
27.615 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
27.616 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
27.616 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
27.616 * [backup-simplify]: Simplify (+ 0) into 0
27.617 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
27.617 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
27.617 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
27.617 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
27.618 * [backup-simplify]: Simplify (+ 0 0) into 0
27.618 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
27.618 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
27.618 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
27.618 * [backup-simplify]: Simplify (+ 0) into 0
27.619 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
27.619 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
27.619 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
27.620 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
27.620 * [backup-simplify]: Simplify (- 0) into 0
27.620 * [backup-simplify]: Simplify (+ 0 0) into 0
27.620 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
27.620 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
27.621 * [backup-simplify]: Simplify (+ 0 0) into 0
27.621 * [backup-simplify]: Simplify (+ 0) into 0
27.621 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
27.621 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
27.622 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
27.622 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
27.622 * [backup-simplify]: Simplify (+ 0 0) into 0
27.623 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
27.623 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
27.623 * [backup-simplify]: Simplify (+ 0) into 0
27.623 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
27.623 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
27.624 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
27.624 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
27.624 * [backup-simplify]: Simplify (- 0) into 0
27.625 * [backup-simplify]: Simplify (+ 0 0) into 0
27.625 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
27.625 * [backup-simplify]: Simplify (+ 0) into 0
27.625 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
27.625 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
27.629 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
27.630 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
27.630 * [backup-simplify]: Simplify (- 0) into 0
27.631 * [backup-simplify]: Simplify (+ 0 0) into 0
27.631 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
27.631 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
27.631 * [backup-simplify]: Simplify (+ 0) into 0
27.631 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
27.632 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
27.632 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
27.632 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
27.633 * [backup-simplify]: Simplify (+ 0 0) into 0
27.633 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
27.633 * [backup-simplify]: Simplify (+ 0 0) into 0
27.633 * [backup-simplify]: Simplify (- 0) into 0
27.633 * [backup-simplify]: Simplify (+ 0 0) into 0
27.635 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
27.637 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
27.637 * [taylor]: Taking taylor expansion of (/ 1 (* R (pow phi2 2))) in phi1
27.637 * [taylor]: Taking taylor expansion of (* R (pow phi2 2)) in phi1
27.637 * [taylor]: Taking taylor expansion of R in phi1
27.637 * [backup-simplify]: Simplify R into R
27.637 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1
27.637 * [taylor]: Taking taylor expansion of phi2 in phi1
27.637 * [backup-simplify]: Simplify phi2 into phi2
27.637 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
27.637 * [backup-simplify]: Simplify (* R (pow phi2 2)) into (* R (pow phi2 2))
27.637 * [backup-simplify]: Simplify (/ 1 (* R (pow phi2 2))) into (/ 1 (* R (pow phi2 2)))
27.637 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ 1 (* R (pow phi1 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) in phi1
27.637 * [taylor]: Taking taylor expansion of 1/2 in phi1
27.637 * [backup-simplify]: Simplify 1/2 into 1/2
27.637 * [taylor]: Taking taylor expansion of (* (/ 1 (* R (pow phi1 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) in phi1
27.637 * [taylor]: Taking taylor expansion of (/ 1 (* R (pow phi1 2))) in phi1
27.637 * [taylor]: Taking taylor expansion of (* R (pow phi1 2)) in phi1
27.637 * [taylor]: Taking taylor expansion of R in phi1
27.637 * [backup-simplify]: Simplify R into R
27.637 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1
27.637 * [taylor]: Taking taylor expansion of phi1 in phi1
27.637 * [backup-simplify]: Simplify 0 into 0
27.637 * [backup-simplify]: Simplify 1 into 1
27.638 * [backup-simplify]: Simplify (* 1 1) into 1
27.638 * [backup-simplify]: Simplify (* R 1) into R
27.638 * [backup-simplify]: Simplify (/ 1 R) into (/ 1 R)
27.638 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in phi1
27.638 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in phi1
27.638 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in phi1
27.638 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in phi1
27.638 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in phi1
27.638 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1
27.638 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
27.638 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
27.638 * [taylor]: Taking taylor expansion of 0.5 in phi1
27.638 * [backup-simplify]: Simplify 0.5 into 0.5
27.638 * [taylor]: Taking taylor expansion of phi2 in phi1
27.638 * [backup-simplify]: Simplify phi2 into phi2
27.638 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
27.639 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
27.639 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
27.639 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
27.639 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
27.639 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
27.639 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1
27.639 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
27.639 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
27.639 * [taylor]: Taking taylor expansion of 0.5 in phi1
27.639 * [backup-simplify]: Simplify 0.5 into 0.5
27.639 * [taylor]: Taking taylor expansion of phi1 in phi1
27.639 * [backup-simplify]: Simplify 0 into 0
27.639 * [backup-simplify]: Simplify 1 into 1
27.640 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
27.640 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
27.640 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in phi1
27.640 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1
27.640 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
27.640 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
27.640 * [taylor]: Taking taylor expansion of 0.5 in phi1
27.640 * [backup-simplify]: Simplify 0.5 into 0.5
27.640 * [taylor]: Taking taylor expansion of phi2 in phi1
27.640 * [backup-simplify]: Simplify phi2 into phi2
27.640 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
27.640 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
27.640 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
27.640 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
27.641 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
27.641 * [backup-simplify]: Simplify (- 0) into 0
27.641 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
27.641 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1
27.641 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
27.641 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
27.641 * [taylor]: Taking taylor expansion of 0.5 in phi1
27.641 * [backup-simplify]: Simplify 0.5 into 0.5
27.641 * [taylor]: Taking taylor expansion of phi1 in phi1
27.641 * [backup-simplify]: Simplify 0 into 0
27.641 * [backup-simplify]: Simplify 1 into 1
27.642 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
27.642 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
27.642 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in phi1
27.642 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in phi1
27.642 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
27.642 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
27.642 * [taylor]: Taking taylor expansion of 0.5 in phi1
27.642 * [backup-simplify]: Simplify 0.5 into 0.5
27.642 * [taylor]: Taking taylor expansion of phi2 in phi1
27.642 * [backup-simplify]: Simplify phi2 into phi2
27.642 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
27.642 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
27.642 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
27.642 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in phi1
27.643 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
27.643 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
27.643 * [taylor]: Taking taylor expansion of 0.5 in phi1
27.643 * [backup-simplify]: Simplify 0.5 into 0.5
27.643 * [taylor]: Taking taylor expansion of phi1 in phi1
27.643 * [backup-simplify]: Simplify 0 into 0
27.643 * [backup-simplify]: Simplify 1 into 1
27.644 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
27.644 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
27.644 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in phi1
27.644 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
27.644 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
27.644 * [taylor]: Taking taylor expansion of 0.5 in phi1
27.644 * [backup-simplify]: Simplify 0.5 into 0.5
27.644 * [taylor]: Taking taylor expansion of phi2 in phi1
27.644 * [backup-simplify]: Simplify phi2 into phi2
27.644 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
27.644 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
27.644 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
27.644 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
27.644 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
27.644 * [taylor]: Taking taylor expansion of 0.5 in phi1
27.644 * [backup-simplify]: Simplify 0.5 into 0.5
27.644 * [taylor]: Taking taylor expansion of phi1 in phi1
27.644 * [backup-simplify]: Simplify 0 into 0
27.644 * [backup-simplify]: Simplify 1 into 1
27.645 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
27.645 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
27.645 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in phi1
27.645 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
27.645 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
27.645 * [taylor]: Taking taylor expansion of 0.5 in phi1
27.645 * [backup-simplify]: Simplify 0.5 into 0.5
27.645 * [taylor]: Taking taylor expansion of phi2 in phi1
27.645 * [backup-simplify]: Simplify phi2 into phi2
27.645 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
27.645 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
27.645 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
27.645 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in phi1
27.645 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
27.645 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
27.645 * [taylor]: Taking taylor expansion of 0.5 in phi1
27.645 * [backup-simplify]: Simplify 0.5 into 0.5
27.645 * [taylor]: Taking taylor expansion of phi1 in phi1
27.645 * [backup-simplify]: Simplify 0 into 0
27.646 * [backup-simplify]: Simplify 1 into 1
27.646 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
27.646 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
27.646 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in phi1
27.646 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
27.646 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
27.646 * [taylor]: Taking taylor expansion of 0.5 in phi1
27.646 * [backup-simplify]: Simplify 0.5 into 0.5
27.646 * [taylor]: Taking taylor expansion of phi2 in phi1
27.646 * [backup-simplify]: Simplify phi2 into phi2
27.646 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
27.646 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
27.646 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
27.646 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
27.646 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
27.646 * [taylor]: Taking taylor expansion of 0.5 in phi1
27.646 * [backup-simplify]: Simplify 0.5 into 0.5
27.646 * [taylor]: Taking taylor expansion of phi1 in phi1
27.646 * [backup-simplify]: Simplify 0 into 0
27.646 * [backup-simplify]: Simplify 1 into 1
27.647 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
27.647 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
27.647 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
27.647 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
27.647 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
27.647 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
27.647 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
27.647 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
27.648 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
27.648 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
27.648 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
27.648 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
27.648 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
27.648 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
27.648 * [backup-simplify]: Simplify (- 0) into 0
27.649 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
27.649 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
27.649 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
27.649 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
27.649 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
27.649 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
27.649 * [backup-simplify]: Simplify (- 0) into 0
27.649 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
27.649 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
27.650 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
27.650 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
27.650 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
27.650 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
27.650 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
27.650 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))
27.651 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
27.652 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
27.653 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
27.654 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
27.654 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
27.654 * [backup-simplify]: Simplify (+ 0) into 0
27.655 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
27.655 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
27.655 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
27.656 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
27.656 * [backup-simplify]: Simplify (+ 0 0) into 0
27.656 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
27.656 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
27.656 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
27.657 * [backup-simplify]: Simplify (+ 0) into 0
27.657 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
27.657 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
27.658 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
27.658 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
27.659 * [backup-simplify]: Simplify (- 0) into 0
27.659 * [backup-simplify]: Simplify (+ 0 0) into 0
27.659 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
27.659 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
27.659 * [backup-simplify]: Simplify (+ 0 0) into 0
27.660 * [backup-simplify]: Simplify (+ 0) into 0
27.660 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
27.660 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
27.661 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
27.661 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
27.661 * [backup-simplify]: Simplify (- 0) into 0
27.661 * [backup-simplify]: Simplify (+ 0 0) into 0
27.661 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
27.662 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
27.662 * [backup-simplify]: Simplify (+ 0) into 0
27.662 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
27.662 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
27.663 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
27.663 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
27.663 * [backup-simplify]: Simplify (+ 0 0) into 0
27.663 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
27.664 * [backup-simplify]: Simplify (+ 0) into 0
27.664 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
27.664 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
27.665 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
27.665 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
27.665 * [backup-simplify]: Simplify (+ 0 0) into 0
27.665 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
27.665 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
27.666 * [backup-simplify]: Simplify (+ 0) into 0
27.666 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
27.666 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
27.667 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
27.667 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
27.667 * [backup-simplify]: Simplify (- 0) into 0
27.667 * [backup-simplify]: Simplify (+ 0 0) into 0
27.667 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
27.668 * [backup-simplify]: Simplify (+ 0 0) into 0
27.668 * [backup-simplify]: Simplify (- 0) into 0
27.668 * [backup-simplify]: Simplify (+ 0 0) into 0
27.670 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
27.671 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
27.671 * [taylor]: Taking taylor expansion of (* (/ 1 (* phi1 (* R phi2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) in phi1
27.671 * [taylor]: Taking taylor expansion of (/ 1 (* phi1 (* R phi2))) in phi1
27.671 * [taylor]: Taking taylor expansion of (* phi1 (* R phi2)) in phi1
27.671 * [taylor]: Taking taylor expansion of phi1 in phi1
27.671 * [backup-simplify]: Simplify 0 into 0
27.672 * [backup-simplify]: Simplify 1 into 1
27.672 * [taylor]: Taking taylor expansion of (* R phi2) in phi1
27.672 * [taylor]: Taking taylor expansion of R in phi1
27.672 * [backup-simplify]: Simplify R into R
27.672 * [taylor]: Taking taylor expansion of phi2 in phi1
27.672 * [backup-simplify]: Simplify phi2 into phi2
27.672 * [backup-simplify]: Simplify (* R phi2) into (* R phi2)
27.672 * [backup-simplify]: Simplify (* 0 (* R phi2)) into 0
27.672 * [backup-simplify]: Simplify (+ (* R 0) (* 0 phi2)) into 0
27.672 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* R phi2))) into (* R phi2)
27.672 * [backup-simplify]: Simplify (/ 1 (* R phi2)) into (/ 1 (* R phi2))
27.672 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in phi1
27.672 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in phi1
27.672 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in phi1
27.672 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in phi1
27.672 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in phi1
27.672 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1
27.672 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
27.672 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
27.672 * [taylor]: Taking taylor expansion of 0.5 in phi1
27.672 * [backup-simplify]: Simplify 0.5 into 0.5
27.672 * [taylor]: Taking taylor expansion of phi2 in phi1
27.672 * [backup-simplify]: Simplify phi2 into phi2
27.673 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
27.673 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
27.673 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
27.673 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
27.673 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
27.673 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
27.673 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1
27.673 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
27.673 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
27.673 * [taylor]: Taking taylor expansion of 0.5 in phi1
27.673 * [backup-simplify]: Simplify 0.5 into 0.5
27.673 * [taylor]: Taking taylor expansion of phi1 in phi1
27.673 * [backup-simplify]: Simplify 0 into 0
27.673 * [backup-simplify]: Simplify 1 into 1
27.673 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
27.673 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
27.673 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in phi1
27.673 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1
27.673 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
27.673 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
27.673 * [taylor]: Taking taylor expansion of 0.5 in phi1
27.674 * [backup-simplify]: Simplify 0.5 into 0.5
27.674 * [taylor]: Taking taylor expansion of phi2 in phi1
27.674 * [backup-simplify]: Simplify phi2 into phi2
27.674 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
27.674 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
27.674 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
27.674 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
27.674 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
27.674 * [backup-simplify]: Simplify (- 0) into 0
27.674 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
27.674 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1
27.674 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
27.674 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
27.674 * [taylor]: Taking taylor expansion of 0.5 in phi1
27.674 * [backup-simplify]: Simplify 0.5 into 0.5
27.674 * [taylor]: Taking taylor expansion of phi1 in phi1
27.674 * [backup-simplify]: Simplify 0 into 0
27.674 * [backup-simplify]: Simplify 1 into 1
27.675 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
27.675 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
27.675 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in phi1
27.675 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in phi1
27.675 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
27.675 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
27.675 * [taylor]: Taking taylor expansion of 0.5 in phi1
27.675 * [backup-simplify]: Simplify 0.5 into 0.5
27.675 * [taylor]: Taking taylor expansion of phi2 in phi1
27.675 * [backup-simplify]: Simplify phi2 into phi2
27.675 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
27.675 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
27.675 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
27.675 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in phi1
27.675 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
27.675 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
27.675 * [taylor]: Taking taylor expansion of 0.5 in phi1
27.675 * [backup-simplify]: Simplify 0.5 into 0.5
27.675 * [taylor]: Taking taylor expansion of phi1 in phi1
27.675 * [backup-simplify]: Simplify 0 into 0
27.675 * [backup-simplify]: Simplify 1 into 1
27.675 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
27.675 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
27.675 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in phi1
27.675 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
27.675 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
27.675 * [taylor]: Taking taylor expansion of 0.5 in phi1
27.675 * [backup-simplify]: Simplify 0.5 into 0.5
27.675 * [taylor]: Taking taylor expansion of phi2 in phi1
27.675 * [backup-simplify]: Simplify phi2 into phi2
27.676 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
27.676 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
27.676 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
27.676 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
27.676 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
27.676 * [taylor]: Taking taylor expansion of 0.5 in phi1
27.676 * [backup-simplify]: Simplify 0.5 into 0.5
27.676 * [taylor]: Taking taylor expansion of phi1 in phi1
27.676 * [backup-simplify]: Simplify 0 into 0
27.676 * [backup-simplify]: Simplify 1 into 1
27.676 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
27.676 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
27.676 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in phi1
27.676 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
27.676 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
27.676 * [taylor]: Taking taylor expansion of 0.5 in phi1
27.676 * [backup-simplify]: Simplify 0.5 into 0.5
27.676 * [taylor]: Taking taylor expansion of phi2 in phi1
27.676 * [backup-simplify]: Simplify phi2 into phi2
27.676 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
27.676 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
27.676 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
27.676 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in phi1
27.676 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
27.676 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
27.676 * [taylor]: Taking taylor expansion of 0.5 in phi1
27.676 * [backup-simplify]: Simplify 0.5 into 0.5
27.676 * [taylor]: Taking taylor expansion of phi1 in phi1
27.676 * [backup-simplify]: Simplify 0 into 0
27.677 * [backup-simplify]: Simplify 1 into 1
27.677 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
27.677 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
27.677 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in phi1
27.677 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
27.677 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
27.677 * [taylor]: Taking taylor expansion of 0.5 in phi1
27.677 * [backup-simplify]: Simplify 0.5 into 0.5
27.677 * [taylor]: Taking taylor expansion of phi2 in phi1
27.677 * [backup-simplify]: Simplify phi2 into phi2
27.677 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
27.677 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
27.677 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
27.677 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
27.677 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
27.677 * [taylor]: Taking taylor expansion of 0.5 in phi1
27.677 * [backup-simplify]: Simplify 0.5 into 0.5
27.677 * [taylor]: Taking taylor expansion of phi1 in phi1
27.677 * [backup-simplify]: Simplify 0 into 0
27.677 * [backup-simplify]: Simplify 1 into 1
27.678 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
27.678 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
27.678 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
27.678 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
27.678 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
27.679 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
27.679 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
27.679 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
27.680 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
27.680 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
27.680 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
27.680 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
27.680 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
27.680 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
27.681 * [backup-simplify]: Simplify (- 0) into 0
27.681 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
27.681 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
27.682 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
27.682 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
27.682 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
27.682 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
27.683 * [backup-simplify]: Simplify (- 0) into 0
27.683 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
27.683 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
27.683 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
27.683 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
27.683 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
27.683 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
27.684 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
27.685 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))
27.685 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
27.687 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
27.689 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
27.691 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
27.691 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
27.692 * [backup-simplify]: Simplify (+ 0) into 0
27.693 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
27.693 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
27.694 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
27.694 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
27.695 * [backup-simplify]: Simplify (+ 0 0) into 0
27.695 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
27.695 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
27.695 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
27.696 * [backup-simplify]: Simplify (+ 0) into 0
27.696 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
27.697 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
27.698 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
27.698 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
27.698 * [backup-simplify]: Simplify (- 0) into 0
27.699 * [backup-simplify]: Simplify (+ 0 0) into 0
27.699 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
27.699 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
27.700 * [backup-simplify]: Simplify (+ 0 0) into 0
27.700 * [backup-simplify]: Simplify (+ 0) into 0
27.701 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
27.701 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
27.701 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
27.702 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
27.702 * [backup-simplify]: Simplify (- 0) into 0
27.702 * [backup-simplify]: Simplify (+ 0 0) into 0
27.702 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
27.703 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
27.703 * [backup-simplify]: Simplify (+ 0) into 0
27.703 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
27.703 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
27.704 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
27.704 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
27.704 * [backup-simplify]: Simplify (+ 0 0) into 0
27.705 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
27.705 * [backup-simplify]: Simplify (+ 0) into 0
27.705 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
27.705 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
27.706 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
27.706 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
27.706 * [backup-simplify]: Simplify (+ 0 0) into 0
27.706 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
27.706 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
27.707 * [backup-simplify]: Simplify (+ 0) into 0
27.707 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
27.707 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
27.708 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
27.708 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
27.708 * [backup-simplify]: Simplify (- 0) into 0
27.708 * [backup-simplify]: Simplify (+ 0 0) into 0
27.709 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
27.709 * [backup-simplify]: Simplify (+ 0 0) into 0
27.709 * [backup-simplify]: Simplify (- 0) into 0
27.709 * [backup-simplify]: Simplify (+ 0 0) into 0
27.711 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
27.712 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
27.713 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
27.713 * [backup-simplify]: Simplify (+ (* R 0) (* 0 1)) into 0
27.713 * [backup-simplify]: Simplify (- (+ (* (/ 1 R) (/ 0 R)))) into 0
27.715 * [backup-simplify]: Simplify (+ (* (/ 1 R) 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
27.716 * [backup-simplify]: Simplify (* (/ 1 R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 1 R))
27.718 * [backup-simplify]: Simplify (+ (* 1/2 0) (* 0 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 1 R)))) into 0
27.719 * [backup-simplify]: Simplify (+ 0 0) into 0
27.720 * [backup-simplify]: Simplify (* (/ 1 (* R phi2)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 1 (* R phi2)))
27.721 * [backup-simplify]: Simplify (- (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 1 (* R phi2)))) into (- (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 1 (* R phi2))))
27.722 * [backup-simplify]: Simplify (+ 0 (- (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 1 (* R phi2))))) into (- (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 1 (* R phi2))))
27.722 * [taylor]: Taking taylor expansion of (- (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 1 (* R phi2)))) in phi2
27.722 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 1 (* R phi2))) in phi2
27.722 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in phi2
27.722 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in phi2
27.722 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in phi2
27.722 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in phi2
27.722 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in phi2
27.722 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi2
27.722 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
27.722 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
27.722 * [taylor]: Taking taylor expansion of 0.5 in phi2
27.722 * [backup-simplify]: Simplify 0.5 into 0.5
27.722 * [taylor]: Taking taylor expansion of phi2 in phi2
27.722 * [backup-simplify]: Simplify 0 into 0
27.722 * [backup-simplify]: Simplify 1 into 1
27.723 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
27.723 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
27.723 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi2
27.723 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
27.723 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
27.723 * [taylor]: Taking taylor expansion of 0.5 in phi2
27.723 * [backup-simplify]: Simplify 0.5 into 0.5
27.723 * [taylor]: Taking taylor expansion of phi1 in phi2
27.723 * [backup-simplify]: Simplify phi1 into phi1
27.723 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
27.723 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
27.723 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
27.723 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
27.723 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
27.723 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
27.723 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in phi2
27.723 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi2
27.723 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
27.723 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
27.723 * [taylor]: Taking taylor expansion of 0.5 in phi2
27.723 * [backup-simplify]: Simplify 0.5 into 0.5
27.724 * [taylor]: Taking taylor expansion of phi2 in phi2
27.724 * [backup-simplify]: Simplify 0 into 0
27.724 * [backup-simplify]: Simplify 1 into 1
27.724 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
27.724 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
27.724 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi2
27.724 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
27.724 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
27.724 * [taylor]: Taking taylor expansion of 0.5 in phi2
27.724 * [backup-simplify]: Simplify 0.5 into 0.5
27.724 * [taylor]: Taking taylor expansion of phi1 in phi2
27.724 * [backup-simplify]: Simplify phi1 into phi1
27.724 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
27.724 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
27.724 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
27.724 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
27.724 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
27.725 * [backup-simplify]: Simplify (- 0) into 0
27.725 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
27.725 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in phi2
27.725 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in phi2
27.725 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
27.725 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
27.725 * [taylor]: Taking taylor expansion of 0.5 in phi2
27.725 * [backup-simplify]: Simplify 0.5 into 0.5
27.725 * [taylor]: Taking taylor expansion of phi2 in phi2
27.725 * [backup-simplify]: Simplify 0 into 0
27.725 * [backup-simplify]: Simplify 1 into 1
27.725 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
27.725 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
27.725 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in phi2
27.725 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
27.725 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
27.725 * [taylor]: Taking taylor expansion of 0.5 in phi2
27.725 * [backup-simplify]: Simplify 0.5 into 0.5
27.725 * [taylor]: Taking taylor expansion of phi1 in phi2
27.725 * [backup-simplify]: Simplify phi1 into phi1
27.725 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
27.725 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
27.725 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
27.725 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in phi2
27.725 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
27.726 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
27.726 * [taylor]: Taking taylor expansion of 0.5 in phi2
27.726 * [backup-simplify]: Simplify 0.5 into 0.5
27.726 * [taylor]: Taking taylor expansion of phi2 in phi2
27.726 * [backup-simplify]: Simplify 0 into 0
27.726 * [backup-simplify]: Simplify 1 into 1
27.726 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
27.726 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
27.726 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
27.726 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
27.726 * [taylor]: Taking taylor expansion of 0.5 in phi2
27.726 * [backup-simplify]: Simplify 0.5 into 0.5
27.726 * [taylor]: Taking taylor expansion of phi1 in phi2
27.726 * [backup-simplify]: Simplify phi1 into phi1
27.726 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
27.726 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
27.726 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
27.726 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in phi2
27.726 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
27.726 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
27.726 * [taylor]: Taking taylor expansion of 0.5 in phi2
27.726 * [backup-simplify]: Simplify 0.5 into 0.5
27.726 * [taylor]: Taking taylor expansion of phi2 in phi2
27.726 * [backup-simplify]: Simplify 0 into 0
27.726 * [backup-simplify]: Simplify 1 into 1
27.727 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
27.727 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
27.727 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in phi2
27.727 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
27.727 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
27.727 * [taylor]: Taking taylor expansion of 0.5 in phi2
27.727 * [backup-simplify]: Simplify 0.5 into 0.5
27.727 * [taylor]: Taking taylor expansion of phi1 in phi2
27.727 * [backup-simplify]: Simplify phi1 into phi1
27.727 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
27.727 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
27.727 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
27.727 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in phi2
27.727 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
27.727 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
27.727 * [taylor]: Taking taylor expansion of 0.5 in phi2
27.727 * [backup-simplify]: Simplify 0.5 into 0.5
27.727 * [taylor]: Taking taylor expansion of phi2 in phi2
27.727 * [backup-simplify]: Simplify 0 into 0
27.727 * [backup-simplify]: Simplify 1 into 1
27.727 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
27.727 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
27.728 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
27.728 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
27.728 * [taylor]: Taking taylor expansion of 0.5 in phi2
27.728 * [backup-simplify]: Simplify 0.5 into 0.5
27.728 * [taylor]: Taking taylor expansion of phi1 in phi2
27.728 * [backup-simplify]: Simplify phi1 into phi1
27.728 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
27.728 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
27.728 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
27.728 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
27.728 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
27.728 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
27.728 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
27.728 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
27.729 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
27.729 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
27.729 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
27.729 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
27.729 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
27.729 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
27.729 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
27.730 * [backup-simplify]: Simplify (- 0) into 0
27.730 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
27.730 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
27.730 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
27.730 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
27.730 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
27.730 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
27.731 * [backup-simplify]: Simplify (- 0) into 0
27.731 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
27.731 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
27.731 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
27.731 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
27.731 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
27.731 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
27.731 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
27.732 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))
27.732 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
27.733 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
27.734 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
27.735 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
27.736 * [backup-simplify]: Simplify (+ 0) into 0
27.736 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
27.736 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
27.737 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
27.737 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
27.737 * [backup-simplify]: Simplify (+ 0 0) into 0
27.737 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
27.737 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
27.738 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
27.738 * [backup-simplify]: Simplify (+ 0) into 0
27.738 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
27.738 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
27.739 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
27.739 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
27.739 * [backup-simplify]: Simplify (- 0) into 0
27.739 * [backup-simplify]: Simplify (+ 0 0) into 0
27.740 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
27.740 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
27.740 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
27.740 * [backup-simplify]: Simplify (+ 0 0) into 0
27.740 * [backup-simplify]: Simplify (+ 0) into 0
27.741 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
27.741 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
27.741 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
27.742 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
27.742 * [backup-simplify]: Simplify (- 0) into 0
27.742 * [backup-simplify]: Simplify (+ 0 0) into 0
27.743 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
27.743 * [backup-simplify]: Simplify (+ 0) into 0
27.743 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
27.744 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
27.744 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
27.745 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
27.745 * [backup-simplify]: Simplify (+ 0 0) into 0
27.746 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
27.746 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
27.751 * [backup-simplify]: Simplify (+ 0) into 0
27.751 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
27.751 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
27.752 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
27.752 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
27.752 * [backup-simplify]: Simplify (+ 0 0) into 0
27.752 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
27.753 * [backup-simplify]: Simplify (+ 0) into 0
27.753 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
27.753 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
27.754 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
27.754 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
27.754 * [backup-simplify]: Simplify (- 0) into 0
27.755 * [backup-simplify]: Simplify (+ 0 0) into 0
27.755 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
27.755 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
27.755 * [backup-simplify]: Simplify (+ 0 0) into 0
27.755 * [backup-simplify]: Simplify (- 0) into 0
27.756 * [backup-simplify]: Simplify (+ 0 0) into 0
27.758 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
27.759 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
27.759 * [taylor]: Taking taylor expansion of (/ 1 (* R phi2)) in phi2
27.759 * [taylor]: Taking taylor expansion of (* R phi2) in phi2
27.759 * [taylor]: Taking taylor expansion of R in phi2
27.759 * [backup-simplify]: Simplify R into R
27.759 * [taylor]: Taking taylor expansion of phi2 in phi2
27.759 * [backup-simplify]: Simplify 0 into 0
27.759 * [backup-simplify]: Simplify 1 into 1
27.759 * [backup-simplify]: Simplify (* R 0) into 0
27.759 * [backup-simplify]: Simplify (+ (* R 1) (* 0 0)) into R
27.759 * [backup-simplify]: Simplify (/ 1 R) into (/ 1 R)
27.761 * [backup-simplify]: Simplify (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 1 R)) into (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 1 R))
27.762 * [backup-simplify]: Simplify (- (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 1 R))) into (- (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 1 R)))
27.762 * [taylor]: Taking taylor expansion of (- (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 1 R))) in R
27.762 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 1 R)) in R
27.762 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in R
27.762 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in R
27.762 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in R
27.762 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in R
27.762 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in R
27.762 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in R
27.762 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in R
27.762 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
27.762 * [taylor]: Taking taylor expansion of 0.5 in R
27.762 * [backup-simplify]: Simplify 0.5 into 0.5
27.762 * [taylor]: Taking taylor expansion of phi2 in R
27.762 * [backup-simplify]: Simplify phi2 into phi2
27.762 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
27.762 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
27.762 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
27.762 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
27.762 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
27.762 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
27.762 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in R
27.762 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in R
27.762 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
27.762 * [taylor]: Taking taylor expansion of 0.5 in R
27.762 * [backup-simplify]: Simplify 0.5 into 0.5
27.762 * [taylor]: Taking taylor expansion of phi1 in R
27.762 * [backup-simplify]: Simplify phi1 into phi1
27.763 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
27.763 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
27.763 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
27.763 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
27.763 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
27.763 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
27.763 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in R
27.763 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in R
27.763 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in R
27.763 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
27.763 * [taylor]: Taking taylor expansion of 0.5 in R
27.763 * [backup-simplify]: Simplify 0.5 into 0.5
27.763 * [taylor]: Taking taylor expansion of phi2 in R
27.763 * [backup-simplify]: Simplify phi2 into phi2
27.763 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
27.763 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
27.763 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
27.763 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
27.763 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
27.764 * [backup-simplify]: Simplify (- 0) into 0
27.764 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
27.764 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in R
27.764 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in R
27.764 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
27.764 * [taylor]: Taking taylor expansion of 0.5 in R
27.764 * [backup-simplify]: Simplify 0.5 into 0.5
27.764 * [taylor]: Taking taylor expansion of phi1 in R
27.764 * [backup-simplify]: Simplify phi1 into phi1
27.764 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
27.764 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
27.764 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
27.764 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
27.764 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
27.764 * [backup-simplify]: Simplify (- 0) into 0
27.764 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
27.764 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in R
27.764 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in R
27.765 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in R
27.765 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
27.765 * [taylor]: Taking taylor expansion of 0.5 in R
27.765 * [backup-simplify]: Simplify 0.5 into 0.5
27.765 * [taylor]: Taking taylor expansion of phi2 in R
27.765 * [backup-simplify]: Simplify phi2 into phi2
27.765 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
27.765 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
27.765 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
27.765 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in R
27.765 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in R
27.765 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
27.765 * [taylor]: Taking taylor expansion of 0.5 in R
27.765 * [backup-simplify]: Simplify 0.5 into 0.5
27.765 * [taylor]: Taking taylor expansion of phi1 in R
27.765 * [backup-simplify]: Simplify phi1 into phi1
27.765 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
27.765 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
27.765 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
27.765 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in R
27.765 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in R
27.765 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
27.765 * [taylor]: Taking taylor expansion of 0.5 in R
27.765 * [backup-simplify]: Simplify 0.5 into 0.5
27.765 * [taylor]: Taking taylor expansion of phi2 in R
27.765 * [backup-simplify]: Simplify phi2 into phi2
27.765 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
27.765 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
27.765 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
27.765 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in R
27.765 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
27.765 * [taylor]: Taking taylor expansion of 0.5 in R
27.765 * [backup-simplify]: Simplify 0.5 into 0.5
27.765 * [taylor]: Taking taylor expansion of phi1 in R
27.765 * [backup-simplify]: Simplify phi1 into phi1
27.765 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
27.766 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
27.766 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
27.766 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in R
27.766 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in R
27.766 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
27.766 * [taylor]: Taking taylor expansion of 0.5 in R
27.766 * [backup-simplify]: Simplify 0.5 into 0.5
27.766 * [taylor]: Taking taylor expansion of phi2 in R
27.766 * [backup-simplify]: Simplify phi2 into phi2
27.766 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
27.766 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
27.766 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
27.766 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in R
27.766 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in R
27.766 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
27.766 * [taylor]: Taking taylor expansion of 0.5 in R
27.766 * [backup-simplify]: Simplify 0.5 into 0.5
27.766 * [taylor]: Taking taylor expansion of phi1 in R
27.766 * [backup-simplify]: Simplify phi1 into phi1
27.766 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
27.766 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
27.766 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
27.766 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in R
27.766 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in R
27.766 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
27.766 * [taylor]: Taking taylor expansion of 0.5 in R
27.766 * [backup-simplify]: Simplify 0.5 into 0.5
27.766 * [taylor]: Taking taylor expansion of phi2 in R
27.766 * [backup-simplify]: Simplify phi2 into phi2
27.766 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
27.766 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
27.766 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
27.766 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in R
27.766 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
27.766 * [taylor]: Taking taylor expansion of 0.5 in R
27.766 * [backup-simplify]: Simplify 0.5 into 0.5
27.766 * [taylor]: Taking taylor expansion of phi1 in R
27.766 * [backup-simplify]: Simplify phi1 into phi1
27.766 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
27.767 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
27.767 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
27.767 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
27.767 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
27.767 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
27.767 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
27.767 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
27.767 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
27.768 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
27.768 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
27.768 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
27.768 * [backup-simplify]: Simplify (- 0) into 0
27.768 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
27.769 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
27.769 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
27.769 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
27.769 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
27.769 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
27.769 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
27.769 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
27.769 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
27.769 * [backup-simplify]: Simplify (- 0) into 0
27.769 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
27.769 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
27.770 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
27.770 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
27.770 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
27.770 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
27.770 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
27.770 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
27.770 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
27.770 * [backup-simplify]: Simplify (- 0) into 0
27.770 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
27.770 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
27.770 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
27.771 * [backup-simplify]: Simplify (- 0) into 0
27.771 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
27.771 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
27.771 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
27.771 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
27.771 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
27.771 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
27.771 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
27.772 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))
27.772 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
27.773 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
27.774 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
27.775 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
27.776 * [backup-simplify]: Simplify (+ 0) into 0
27.776 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
27.776 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
27.777 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
27.777 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
27.777 * [backup-simplify]: Simplify (+ 0 0) into 0
27.777 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
27.777 * [backup-simplify]: Simplify (+ 0) into 0
27.778 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
27.778 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
27.778 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
27.779 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
27.779 * [backup-simplify]: Simplify (+ 0 0) into 0
27.779 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
27.780 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
27.780 * [backup-simplify]: Simplify (+ 0) into 0
27.780 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
27.780 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
27.781 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
27.781 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
27.781 * [backup-simplify]: Simplify (- 0) into 0
27.782 * [backup-simplify]: Simplify (+ 0 0) into 0
27.782 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
27.782 * [backup-simplify]: Simplify (+ 0) into 0
27.783 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
27.783 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
27.784 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
27.784 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
27.785 * [backup-simplify]: Simplify (- 0) into 0
27.785 * [backup-simplify]: Simplify (+ 0 0) into 0
27.785 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
27.786 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
27.786 * [backup-simplify]: Simplify (+ 0 0) into 0
27.786 * [backup-simplify]: Simplify (+ 0) into 0
27.787 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
27.787 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
27.788 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
27.788 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
27.789 * [backup-simplify]: Simplify (- 0) into 0
27.789 * [backup-simplify]: Simplify (+ 0 0) into 0
27.789 * [backup-simplify]: Simplify (+ 0) into 0
27.790 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
27.790 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
27.791 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
27.791 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
27.792 * [backup-simplify]: Simplify (+ 0 0) into 0
27.792 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
27.792 * [backup-simplify]: Simplify (+ 0) into 0
27.793 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
27.793 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
27.794 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
27.794 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
27.795 * [backup-simplify]: Simplify (+ 0 0) into 0
27.795 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
27.796 * [backup-simplify]: Simplify (+ 0) into 0
27.796 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
27.796 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
27.797 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
27.798 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
27.798 * [backup-simplify]: Simplify (- 0) into 0
27.798 * [backup-simplify]: Simplify (+ 0 0) into 0
27.799 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
27.799 * [backup-simplify]: Simplify (+ 0) into 0
27.800 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
27.800 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
27.801 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
27.801 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
27.801 * [backup-simplify]: Simplify (+ 0 0) into 0
27.802 * [backup-simplify]: Simplify (+ 0) into 0
27.802 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
27.802 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
27.803 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
27.804 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
27.804 * [backup-simplify]: Simplify (- 0) into 0
27.805 * [backup-simplify]: Simplify (+ 0 0) into 0
27.805 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
27.805 * [backup-simplify]: Simplify (+ 0) into 0
27.806 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
27.806 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
27.807 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
27.807 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
27.808 * [backup-simplify]: Simplify (- 0) into 0
27.808 * [backup-simplify]: Simplify (+ 0 0) into 0
27.808 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
27.809 * [backup-simplify]: Simplify (+ 0) into 0
27.809 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
27.809 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
27.810 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
27.810 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
27.810 * [backup-simplify]: Simplify (+ 0 0) into 0
27.810 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
27.811 * [backup-simplify]: Simplify (+ 0 0) into 0
27.811 * [backup-simplify]: Simplify (- 0) into 0
27.811 * [backup-simplify]: Simplify (+ 0 0) into 0
27.813 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
27.814 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
27.814 * [taylor]: Taking taylor expansion of (/ 1 R) in R
27.814 * [taylor]: Taking taylor expansion of R in R
27.814 * [backup-simplify]: Simplify 0 into 0
27.814 * [backup-simplify]: Simplify 1 into 1
27.815 * [backup-simplify]: Simplify (/ 1 1) into 1
27.816 * [backup-simplify]: Simplify (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) 1) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
27.817 * [backup-simplify]: Simplify (- (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into (- (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))
27.818 * [backup-simplify]: Simplify (- (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into (- (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))
27.819 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.820 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
27.820 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
27.820 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.821 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
27.821 * [backup-simplify]: Simplify (+ 0 0) into 0
27.821 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
27.822 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.822 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
27.822 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
27.823 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.823 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
27.823 * [backup-simplify]: Simplify (+ 0 0) into 0
27.824 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
27.824 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0
27.825 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.825 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
27.825 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
27.826 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.826 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
27.826 * [backup-simplify]: Simplify (- 0) into 0
27.826 * [backup-simplify]: Simplify (+ 0 0) into 0
27.827 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
27.827 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.828 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
27.828 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
27.828 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.829 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
27.829 * [backup-simplify]: Simplify (- 0) into 0
27.829 * [backup-simplify]: Simplify (+ 0 0) into 0
27.829 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
27.830 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 2)))) into 0
27.830 * [backup-simplify]: Simplify (+ 0 0) into 0
27.831 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.831 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
27.831 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
27.832 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.832 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
27.832 * [backup-simplify]: Simplify (- 0) into 0
27.832 * [backup-simplify]: Simplify (+ 0 0) into 0
27.833 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.833 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
27.833 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
27.834 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.834 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
27.835 * [backup-simplify]: Simplify (- 0) into 0
27.835 * [backup-simplify]: Simplify (+ 0 0) into 0
27.835 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
27.836 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.836 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
27.836 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
27.837 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.837 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
27.837 * [backup-simplify]: Simplify (+ 0 0) into 0
27.838 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
27.838 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.838 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
27.839 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
27.839 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.839 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
27.840 * [backup-simplify]: Simplify (+ 0 0) into 0
27.840 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into 0
27.841 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.841 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
27.841 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
27.842 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.842 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
27.843 * [backup-simplify]: Simplify (+ 0 0) into 0
27.844 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.845 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
27.845 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
27.846 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.846 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
27.847 * [backup-simplify]: Simplify (+ 0 0) into 0
27.847 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
27.848 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.849 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
27.849 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
27.850 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.851 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
27.851 * [backup-simplify]: Simplify (- 0) into 0
27.852 * [backup-simplify]: Simplify (+ 0 0) into 0
27.852 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
27.853 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.854 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
27.854 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
27.855 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.856 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
27.856 * [backup-simplify]: Simplify (- 0) into 0
27.857 * [backup-simplify]: Simplify (+ 0 0) into 0
27.858 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into 0
27.858 * [backup-simplify]: Simplify (+ 0 0) into 0
27.858 * [backup-simplify]: Simplify (- 0) into 0
27.859 * [backup-simplify]: Simplify (+ 0 0) into 0
27.864 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (* 0 (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
27.867 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
27.874 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.876 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
27.876 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
27.877 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.877 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
27.878 * [backup-simplify]: Simplify (+ 0 0) into 0
27.879 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.880 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
27.880 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
27.881 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.881 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
27.882 * [backup-simplify]: Simplify (- 0) into 0
27.882 * [backup-simplify]: Simplify (+ 0 0) into 0
27.883 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
27.883 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.884 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
27.884 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
27.885 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.886 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
27.886 * [backup-simplify]: Simplify (- 0) into 0
27.887 * [backup-simplify]: Simplify (+ 0 0) into 0
27.887 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
27.888 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.889 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
27.889 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
27.890 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.890 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
27.891 * [backup-simplify]: Simplify (+ 0 0) into 0
27.892 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into 0
27.892 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (+ (* 0 1) (* 0 0)))) into 0
27.893 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (/ 0 R)) (* 0 (/ 0 R)))) into 0
27.895 * [backup-simplify]: Simplify (+ (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) 0) (+ (* 0 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
27.895 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.896 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
27.896 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
27.896 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.897 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
27.897 * [backup-simplify]: Simplify (+ 0 0) into 0
27.897 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
27.898 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.898 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
27.898 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
27.899 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.899 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
27.899 * [backup-simplify]: Simplify (+ 0 0) into 0
27.900 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
27.900 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0
27.901 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.901 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
27.901 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
27.902 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.902 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
27.902 * [backup-simplify]: Simplify (- 0) into 0
27.903 * [backup-simplify]: Simplify (+ 0 0) into 0
27.903 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
27.903 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.904 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
27.904 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
27.904 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.905 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
27.905 * [backup-simplify]: Simplify (- 0) into 0
27.905 * [backup-simplify]: Simplify (+ 0 0) into 0
27.906 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
27.906 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 2)))) into 0
27.906 * [backup-simplify]: Simplify (+ 0 0) into 0
27.907 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.907 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
27.907 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
27.908 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.908 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
27.908 * [backup-simplify]: Simplify (- 0) into 0
27.909 * [backup-simplify]: Simplify (+ 0 0) into 0
27.909 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.910 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
27.910 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
27.910 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.911 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
27.911 * [backup-simplify]: Simplify (- 0) into 0
27.911 * [backup-simplify]: Simplify (+ 0 0) into 0
27.911 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
27.912 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.912 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
27.912 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
27.913 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.913 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
27.913 * [backup-simplify]: Simplify (+ 0 0) into 0
27.914 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
27.914 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.915 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
27.915 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
27.916 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.916 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
27.916 * [backup-simplify]: Simplify (+ 0 0) into 0
27.917 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into 0
27.917 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.918 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
27.918 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
27.918 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.919 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
27.919 * [backup-simplify]: Simplify (+ 0 0) into 0
27.919 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.920 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
27.920 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
27.920 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.921 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
27.921 * [backup-simplify]: Simplify (+ 0 0) into 0
27.921 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
27.922 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.922 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
27.923 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
27.923 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.923 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
27.924 * [backup-simplify]: Simplify (- 0) into 0
27.924 * [backup-simplify]: Simplify (+ 0 0) into 0
27.924 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
27.925 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.925 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
27.925 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
27.926 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.926 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
27.926 * [backup-simplify]: Simplify (- 0) into 0
27.927 * [backup-simplify]: Simplify (+ 0 0) into 0
27.927 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into 0
27.927 * [backup-simplify]: Simplify (+ 0 0) into 0
27.927 * [backup-simplify]: Simplify (- 0) into 0
27.928 * [backup-simplify]: Simplify (+ 0 0) into 0
27.931 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (* 0 (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
27.932 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
27.933 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.933 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
27.933 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
27.934 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.934 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
27.935 * [backup-simplify]: Simplify (+ 0 0) into 0
27.935 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.935 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
27.936 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
27.936 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.936 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
27.937 * [backup-simplify]: Simplify (+ 0 0) into 0
27.937 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
27.938 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.938 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
27.938 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
27.939 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.939 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
27.939 * [backup-simplify]: Simplify (- 0) into 0
27.939 * [backup-simplify]: Simplify (+ 0 0) into 0
27.940 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
27.940 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.941 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
27.941 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
27.941 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.942 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
27.942 * [backup-simplify]: Simplify (- 0) into 0
27.942 * [backup-simplify]: Simplify (+ 0 0) into 0
27.943 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into 0
27.943 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (+ (* 0 1) (* 0 0)))) into 0
27.943 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (/ 0 R)) (* 0 (/ 0 R)))) into 0
27.945 * [backup-simplify]: Simplify (+ (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) 0) (+ (* 0 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
27.945 * [backup-simplify]: Simplify (+ 0 0) into 0
27.946 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.947 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
27.947 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
27.948 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.948 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
27.949 * [backup-simplify]: Simplify (+ 0 0) into 0
27.949 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
27.950 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.950 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
27.950 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
27.951 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.951 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
27.951 * [backup-simplify]: Simplify (+ 0 0) into 0
27.952 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
27.952 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0
27.953 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.953 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
27.953 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
27.954 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.954 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
27.954 * [backup-simplify]: Simplify (- 0) into 0
27.955 * [backup-simplify]: Simplify (+ 0 0) into 0
27.955 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
27.955 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.956 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
27.956 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
27.956 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.957 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
27.957 * [backup-simplify]: Simplify (- 0) into 0
27.957 * [backup-simplify]: Simplify (+ 0 0) into 0
27.958 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
27.958 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 2)))) into 0
27.958 * [backup-simplify]: Simplify (+ 0 0) into 0
27.959 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.959 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
27.959 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
27.960 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.960 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
27.960 * [backup-simplify]: Simplify (- 0) into 0
27.961 * [backup-simplify]: Simplify (+ 0 0) into 0
27.961 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.962 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
27.962 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
27.962 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.963 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
27.963 * [backup-simplify]: Simplify (- 0) into 0
27.963 * [backup-simplify]: Simplify (+ 0 0) into 0
27.963 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
27.964 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.964 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
27.964 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
27.965 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.966 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
27.966 * [backup-simplify]: Simplify (+ 0 0) into 0
27.966 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
27.967 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.967 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
27.967 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
27.968 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.968 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
27.968 * [backup-simplify]: Simplify (+ 0 0) into 0
27.969 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into 0
27.974 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.974 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
27.975 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
27.975 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.975 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
27.976 * [backup-simplify]: Simplify (+ 0 0) into 0
27.976 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.977 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
27.977 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
27.977 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.978 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
27.978 * [backup-simplify]: Simplify (+ 0 0) into 0
27.978 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
27.979 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.979 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
27.979 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
27.980 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.980 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
27.980 * [backup-simplify]: Simplify (- 0) into 0
27.981 * [backup-simplify]: Simplify (+ 0 0) into 0
27.981 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
27.981 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.982 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
27.982 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
27.983 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.984 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
27.984 * [backup-simplify]: Simplify (- 0) into 0
27.984 * [backup-simplify]: Simplify (+ 0 0) into 0
27.985 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into 0
27.986 * [backup-simplify]: Simplify (+ 0 0) into 0
27.986 * [backup-simplify]: Simplify (- 0) into 0
27.986 * [backup-simplify]: Simplify (+ 0 0) into 0
27.992 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (* 0 (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
27.995 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
27.996 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.997 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
27.997 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
27.998 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.998 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
27.999 * [backup-simplify]: Simplify (+ 0 0) into 0
27.999 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
28.000 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
28.001 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
28.001 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
28.002 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
28.002 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
28.003 * [backup-simplify]: Simplify (+ 0 0) into 0
28.003 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
28.004 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0
28.005 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (+ (* 0 1) (* 0 0)))) into 0
28.005 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) R) (/ 0 R)) (* 0 (/ 0 R)))) into 0
28.008 * [backup-simplify]: Simplify (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) R) 0) (+ (* 0 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
28.009 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
28.010 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
28.010 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
28.011 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
28.012 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
28.012 * [backup-simplify]: Simplify (+ 0 0) into 0
28.012 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
28.013 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
28.014 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
28.014 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
28.014 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
28.015 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
28.015 * [backup-simplify]: Simplify (+ 0 0) into 0
28.015 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
28.016 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0
28.016 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
28.017 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
28.017 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
28.017 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
28.018 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
28.018 * [backup-simplify]: Simplify (- 0) into 0
28.018 * [backup-simplify]: Simplify (+ 0 0) into 0
28.019 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
28.019 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
28.020 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
28.020 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
28.020 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
28.020 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
28.021 * [backup-simplify]: Simplify (- 0) into 0
28.021 * [backup-simplify]: Simplify (+ 0 0) into 0
28.021 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
28.022 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 2)))) into 0
28.022 * [backup-simplify]: Simplify (+ 0 0) into 0
28.023 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
28.023 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
28.023 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
28.024 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
28.024 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
28.024 * [backup-simplify]: Simplify (- 0) into 0
28.024 * [backup-simplify]: Simplify (+ 0 0) into 0
28.025 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
28.026 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
28.026 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
28.026 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
28.027 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
28.027 * [backup-simplify]: Simplify (- 0) into 0
28.027 * [backup-simplify]: Simplify (+ 0 0) into 0
28.027 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
28.028 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
28.028 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
28.029 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
28.029 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
28.029 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
28.030 * [backup-simplify]: Simplify (+ 0 0) into 0
28.030 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
28.030 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
28.031 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
28.031 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
28.031 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
28.032 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
28.032 * [backup-simplify]: Simplify (+ 0 0) into 0
28.032 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into 0
28.033 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
28.033 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
28.034 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
28.034 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
28.034 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
28.035 * [backup-simplify]: Simplify (+ 0 0) into 0
28.035 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
28.036 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
28.036 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
28.036 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
28.036 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
28.037 * [backup-simplify]: Simplify (+ 0 0) into 0
28.037 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
28.038 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
28.038 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
28.038 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
28.039 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
28.039 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
28.039 * [backup-simplify]: Simplify (- 0) into 0
28.039 * [backup-simplify]: Simplify (+ 0 0) into 0
28.040 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
28.040 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
28.041 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
28.041 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
28.041 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
28.042 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
28.042 * [backup-simplify]: Simplify (- 0) into 0
28.043 * [backup-simplify]: Simplify (+ 0 0) into 0
28.043 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into 0
28.044 * [backup-simplify]: Simplify (+ 0 0) into 0
28.044 * [backup-simplify]: Simplify (- 0) into 0
28.045 * [backup-simplify]: Simplify (+ 0 0) into 0
28.051 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (* 0 (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
28.054 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
28.055 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
28.055 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
28.056 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
28.057 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
28.057 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
28.058 * [backup-simplify]: Simplify (- 0) into 0
28.058 * [backup-simplify]: Simplify (+ 0 0) into 0
28.058 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
28.059 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
28.060 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
28.060 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
28.061 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
28.062 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
28.062 * [backup-simplify]: Simplify (- 0) into 0
28.063 * [backup-simplify]: Simplify (+ 0 0) into 0
28.063 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
28.064 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 2)))) into 0
28.065 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (+ (* 0 1) (* 0 0)))) into 0
28.065 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) R) (/ 0 R)) (* 0 (/ 0 R)))) into 0
28.068 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) R) 0) (+ (* 0 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
28.069 * [backup-simplify]: Simplify (+ 0 0) into 0
28.069 * [backup-simplify]: Simplify (- 0) into 0
28.070 * [backup-simplify]: Simplify (+ 0 0) into 0
28.070 * [taylor]: Taking taylor expansion of 0 in phi1
28.070 * [backup-simplify]: Simplify 0 into 0
28.070 * [backup-simplify]: Simplify (- (+ (* (/ 1 R) (/ 0 R)) (* 0 (/ 0 R)))) into 0
28.071 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
28.072 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
28.072 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
28.073 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
28.073 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
28.074 * [backup-simplify]: Simplify (+ 0 0) into 0
28.074 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
28.075 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
28.076 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
28.076 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
28.077 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
28.078 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
28.078 * [backup-simplify]: Simplify (+ 0 0) into 0
28.078 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
28.079 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0
28.080 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
28.081 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
28.081 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
28.082 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
28.082 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
28.083 * [backup-simplify]: Simplify (- 0) into 0
28.083 * [backup-simplify]: Simplify (+ 0 0) into 0
28.084 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
28.084 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
28.085 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
28.085 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
28.086 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
28.087 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
28.087 * [backup-simplify]: Simplify (- 0) into 0
28.087 * [backup-simplify]: Simplify (+ 0 0) into 0
28.088 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
28.089 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 2)))) into 0
28.089 * [backup-simplify]: Simplify (+ 0 0) into 0
28.090 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
28.091 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
28.091 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
28.092 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
28.092 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
28.093 * [backup-simplify]: Simplify (- 0) into 0
28.093 * [backup-simplify]: Simplify (+ 0 0) into 0
28.094 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
28.095 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
28.095 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
28.096 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
28.096 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
28.096 * [backup-simplify]: Simplify (- 0) into 0
28.097 * [backup-simplify]: Simplify (+ 0 0) into 0
28.097 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
28.104 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
28.105 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
28.105 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
28.106 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
28.106 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
28.107 * [backup-simplify]: Simplify (+ 0 0) into 0
28.107 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
28.108 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
28.109 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
28.109 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
28.110 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
28.111 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
28.111 * [backup-simplify]: Simplify (+ 0 0) into 0
28.112 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into 0
28.113 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
28.113 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
28.114 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
28.114 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
28.115 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
28.115 * [backup-simplify]: Simplify (+ 0 0) into 0
28.116 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
28.117 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
28.117 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
28.118 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
28.118 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
28.119 * [backup-simplify]: Simplify (+ 0 0) into 0
28.119 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
28.120 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
28.121 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
28.121 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
28.122 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
28.122 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
28.123 * [backup-simplify]: Simplify (- 0) into 0
28.123 * [backup-simplify]: Simplify (+ 0 0) into 0
28.124 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
28.124 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
28.125 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
28.125 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
28.127 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
28.127 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
28.127 * [backup-simplify]: Simplify (- 0) into 0
28.128 * [backup-simplify]: Simplify (+ 0 0) into 0
28.129 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into 0
28.129 * [backup-simplify]: Simplify (+ 0 0) into 0
28.129 * [backup-simplify]: Simplify (- 0) into 0
28.130 * [backup-simplify]: Simplify (+ 0 0) into 0
28.132 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (sqrt (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into 0
28.135 * [backup-simplify]: Simplify (+ (* (sqrt (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) 0) (+ (* 0 0) (* 0 (/ 1 R)))) into 0
28.135 * [taylor]: Taking taylor expansion of 0 in phi1
28.135 * [backup-simplify]: Simplify 0 into 0
28.135 * [taylor]: Taking taylor expansion of 0 in phi2
28.135 * [backup-simplify]: Simplify 0 into 0
28.135 * [taylor]: Taking taylor expansion of 0 in phi2
28.135 * [backup-simplify]: Simplify 0 into 0
28.135 * [taylor]: Taking taylor expansion of 0 in phi2
28.135 * [backup-simplify]: Simplify 0 into 0
28.136 * [backup-simplify]: Simplify (+ 0) into 0
28.136 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
28.136 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
28.137 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
28.137 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
28.138 * [backup-simplify]: Simplify (+ 0 0) into 0
28.138 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
28.138 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
28.139 * [backup-simplify]: Simplify (+ 0) into 0
28.139 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
28.139 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
28.140 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
28.141 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
28.141 * [backup-simplify]: Simplify (- 0) into 0
28.141 * [backup-simplify]: Simplify (+ 0 0) into 0
28.142 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
28.142 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (/ 0 R)))) into 0
28.145 * [backup-simplify]: Simplify (+ (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
28.145 * [backup-simplify]: Simplify (+ 0) into 0
28.146 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
28.146 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
28.147 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
28.147 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
28.147 * [backup-simplify]: Simplify (- 0) into 0
28.148 * [backup-simplify]: Simplify (+ 0 0) into 0
28.148 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
28.148 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
28.149 * [backup-simplify]: Simplify (+ 0) into 0
28.149 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
28.149 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
28.150 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
28.151 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
28.151 * [backup-simplify]: Simplify (+ 0 0) into 0
28.151 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
28.152 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (/ 0 R)))) into 0
28.154 * [backup-simplify]: Simplify (+ (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
28.155 * [backup-simplify]: Simplify (+ 0 0) into 0
28.155 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
28.155 * [backup-simplify]: Simplify (+ 0) into 0
28.156 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
28.156 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
28.157 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
28.157 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
28.158 * [backup-simplify]: Simplify (- 0) into 0
28.158 * [backup-simplify]: Simplify (+ 0 0) into 0
28.158 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
28.159 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
28.159 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) R) (/ 0 R)))) into 0
28.161 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) R) 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
28.162 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
28.162 * [backup-simplify]: Simplify (+ 0) into 0
28.163 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
28.163 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
28.164 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
28.164 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
28.165 * [backup-simplify]: Simplify (+ 0 0) into 0
28.165 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
28.165 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
28.166 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) R) (/ 0 R)))) into 0
28.168 * [backup-simplify]: Simplify (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) R) 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
28.169 * [backup-simplify]: Simplify (+ 0 0) into 0
28.169 * [backup-simplify]: Simplify (- 0) into 0
28.169 * [backup-simplify]: Simplify (+ 0 0) into 0
28.169 * [taylor]: Taking taylor expansion of 0 in phi2
28.169 * [backup-simplify]: Simplify 0 into 0
28.170 * [backup-simplify]: Simplify (- (+ (* (/ 1 R) (/ 0 R)))) into 0
28.171 * [backup-simplify]: Simplify (+ (* (sqrt (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) 0) (* 0 (/ 1 R))) into 0
28.172 * [taylor]: Taking taylor expansion of 0 in phi2
28.172 * [backup-simplify]: Simplify 0 into 0
28.174 * [backup-simplify]: Simplify (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))
28.176 * [backup-simplify]: Simplify (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))
28.181 * [backup-simplify]: Simplify (+ (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into (+ (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))
28.184 * [backup-simplify]: Simplify (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))
28.186 * [backup-simplify]: Simplify (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))
28.191 * [backup-simplify]: Simplify (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))
28.197 * [backup-simplify]: Simplify (- (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into (- (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))
28.208 * [backup-simplify]: Simplify (+ (+ (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (- (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))) into (- (+ (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))
28.208 * [taylor]: Taking taylor expansion of (- (+ (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) in R
28.209 * [taylor]: Taking taylor expansion of (+ (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) in R
28.209 * [taylor]: Taking taylor expansion of (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) in R
28.209 * [taylor]: Taking taylor expansion of (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) in R
28.209 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in R
28.209 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in R
28.209 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
28.209 * [taylor]: Taking taylor expansion of 0.5 in R
28.209 * [backup-simplify]: Simplify 0.5 into 0.5
28.209 * [taylor]: Taking taylor expansion of phi2 in R
28.209 * [backup-simplify]: Simplify phi2 into phi2
28.209 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
28.209 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
28.209 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
28.209 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in R
28.209 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in R
28.209 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
28.209 * [taylor]: Taking taylor expansion of 0.5 in R
28.209 * [backup-simplify]: Simplify 0.5 into 0.5
28.209 * [taylor]: Taking taylor expansion of phi1 in R
28.209 * [backup-simplify]: Simplify phi1 into phi1
28.209 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
28.210 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
28.210 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
28.210 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in R
28.210 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in R
28.210 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
28.210 * [taylor]: Taking taylor expansion of 0.5 in R
28.210 * [backup-simplify]: Simplify 0.5 into 0.5
28.210 * [taylor]: Taking taylor expansion of phi2 in R
28.210 * [backup-simplify]: Simplify phi2 into phi2
28.210 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
28.210 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
28.210 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
28.210 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in R
28.210 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
28.210 * [taylor]: Taking taylor expansion of 0.5 in R
28.210 * [backup-simplify]: Simplify 0.5 into 0.5
28.210 * [taylor]: Taking taylor expansion of phi1 in R
28.210 * [backup-simplify]: Simplify phi1 into phi1
28.210 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
28.210 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
28.210 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
28.210 * [taylor]: Taking taylor expansion of R in R
28.211 * [backup-simplify]: Simplify 0 into 0
28.211 * [backup-simplify]: Simplify 1 into 1
28.211 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
28.211 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
28.211 * [backup-simplify]: Simplify (- 0) into 0
28.211 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
28.212 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
28.212 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
28.212 * [backup-simplify]: Simplify (- 0) into 0
28.212 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
28.212 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
28.212 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
28.212 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
28.213 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
28.213 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
28.213 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
28.213 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
28.213 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
28.213 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
28.214 * [backup-simplify]: Simplify (/ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) 1) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
28.214 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in R
28.214 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in R
28.214 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in R
28.214 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in R
28.214 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in R
28.214 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in R
28.214 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in R
28.214 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
28.214 * [taylor]: Taking taylor expansion of 0.5 in R
28.214 * [backup-simplify]: Simplify 0.5 into 0.5
28.214 * [taylor]: Taking taylor expansion of phi2 in R
28.214 * [backup-simplify]: Simplify phi2 into phi2
28.214 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
28.214 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
28.215 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
28.215 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
28.215 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
28.215 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
28.215 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in R
28.215 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in R
28.215 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
28.215 * [taylor]: Taking taylor expansion of 0.5 in R
28.215 * [backup-simplify]: Simplify 0.5 into 0.5
28.215 * [taylor]: Taking taylor expansion of phi1 in R
28.215 * [backup-simplify]: Simplify phi1 into phi1
28.215 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
28.215 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
28.215 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
28.215 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
28.216 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
28.216 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
28.216 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in R
28.216 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in R
28.216 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in R
28.216 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
28.216 * [taylor]: Taking taylor expansion of 0.5 in R
28.216 * [backup-simplify]: Simplify 0.5 into 0.5
28.216 * [taylor]: Taking taylor expansion of phi2 in R
28.216 * [backup-simplify]: Simplify phi2 into phi2
28.216 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
28.216 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
28.216 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
28.216 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
28.216 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
28.217 * [backup-simplify]: Simplify (- 0) into 0
28.217 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
28.217 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in R
28.217 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in R
28.217 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
28.217 * [taylor]: Taking taylor expansion of 0.5 in R
28.217 * [backup-simplify]: Simplify 0.5 into 0.5
28.217 * [taylor]: Taking taylor expansion of phi1 in R
28.217 * [backup-simplify]: Simplify phi1 into phi1
28.217 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
28.217 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
28.217 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
28.218 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
28.218 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
28.218 * [backup-simplify]: Simplify (- 0) into 0
28.218 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
28.218 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in R
28.218 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in R
28.218 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in R
28.218 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
28.218 * [taylor]: Taking taylor expansion of 0.5 in R
28.218 * [backup-simplify]: Simplify 0.5 into 0.5
28.218 * [taylor]: Taking taylor expansion of phi2 in R
28.218 * [backup-simplify]: Simplify phi2 into phi2
28.218 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
28.219 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
28.219 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
28.219 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in R
28.219 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in R
28.219 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
28.219 * [taylor]: Taking taylor expansion of 0.5 in R
28.219 * [backup-simplify]: Simplify 0.5 into 0.5
28.219 * [taylor]: Taking taylor expansion of phi1 in R
28.219 * [backup-simplify]: Simplify phi1 into phi1
28.219 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
28.219 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
28.219 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
28.219 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in R
28.219 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in R
28.219 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
28.219 * [taylor]: Taking taylor expansion of 0.5 in R
28.219 * [backup-simplify]: Simplify 0.5 into 0.5
28.219 * [taylor]: Taking taylor expansion of phi2 in R
28.219 * [backup-simplify]: Simplify phi2 into phi2
28.219 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
28.219 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
28.220 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
28.220 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in R
28.220 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
28.220 * [taylor]: Taking taylor expansion of 0.5 in R
28.220 * [backup-simplify]: Simplify 0.5 into 0.5
28.220 * [taylor]: Taking taylor expansion of phi1 in R
28.220 * [backup-simplify]: Simplify phi1 into phi1
28.220 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
28.220 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
28.220 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
28.220 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in R
28.220 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in R
28.220 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
28.220 * [taylor]: Taking taylor expansion of 0.5 in R
28.220 * [backup-simplify]: Simplify 0.5 into 0.5
28.220 * [taylor]: Taking taylor expansion of phi2 in R
28.220 * [backup-simplify]: Simplify phi2 into phi2
28.220 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
28.220 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
28.220 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
28.220 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in R
28.220 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in R
28.220 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
28.220 * [taylor]: Taking taylor expansion of 0.5 in R
28.220 * [backup-simplify]: Simplify 0.5 into 0.5
28.221 * [taylor]: Taking taylor expansion of phi1 in R
28.221 * [backup-simplify]: Simplify phi1 into phi1
28.221 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
28.221 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
28.221 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
28.221 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in R
28.221 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in R
28.221 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
28.221 * [taylor]: Taking taylor expansion of 0.5 in R
28.221 * [backup-simplify]: Simplify 0.5 into 0.5
28.221 * [taylor]: Taking taylor expansion of phi2 in R
28.221 * [backup-simplify]: Simplify phi2 into phi2
28.221 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
28.221 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
28.221 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
28.221 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in R
28.221 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
28.221 * [taylor]: Taking taylor expansion of 0.5 in R
28.221 * [backup-simplify]: Simplify 0.5 into 0.5
28.221 * [taylor]: Taking taylor expansion of phi1 in R
28.221 * [backup-simplify]: Simplify phi1 into phi1
28.221 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
28.222 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
28.222 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
28.222 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
28.222 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
28.222 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
28.223 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
28.223 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
28.223 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
28.224 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
28.224 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
28.224 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
28.224 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
28.224 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
28.224 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
28.224 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
28.225 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
28.225 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
28.225 * [backup-simplify]: Simplify (- 0) into 0
28.225 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
28.225 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
28.226 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
28.226 * [backup-simplify]: Simplify (- 0) into 0
28.226 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
28.226 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
28.227 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
28.227 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
28.227 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
28.227 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
28.228 * [backup-simplify]: Simplify (- 0) into 0
28.228 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
28.228 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
28.228 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
28.228 * [backup-simplify]: Simplify (- 0) into 0
28.228 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
28.228 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
28.229 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
28.229 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
28.229 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
28.229 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
28.229 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
28.229 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
28.229 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
28.230 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
28.231 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))
28.232 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
28.234 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
28.235 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
28.238 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
28.239 * [backup-simplify]: Simplify (+ 0) into 0
28.239 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
28.239 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
28.240 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
28.241 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
28.241 * [backup-simplify]: Simplify (+ 0 0) into 0
28.241 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
28.242 * [backup-simplify]: Simplify (+ 0) into 0
28.242 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
28.242 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
28.243 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
28.244 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
28.244 * [backup-simplify]: Simplify (+ 0 0) into 0
28.244 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
28.245 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
28.245 * [backup-simplify]: Simplify (+ 0) into 0
28.245 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
28.246 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
28.246 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
28.247 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
28.247 * [backup-simplify]: Simplify (- 0) into 0
28.248 * [backup-simplify]: Simplify (+ 0 0) into 0
28.248 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
28.248 * [backup-simplify]: Simplify (+ 0) into 0
28.249 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
28.249 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
28.250 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
28.250 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
28.251 * [backup-simplify]: Simplify (- 0) into 0
28.251 * [backup-simplify]: Simplify (+ 0 0) into 0
28.251 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
28.252 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
28.252 * [backup-simplify]: Simplify (+ 0 0) into 0
28.252 * [backup-simplify]: Simplify (+ 0) into 0
28.253 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
28.253 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
28.254 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
28.254 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
28.254 * [backup-simplify]: Simplify (- 0) into 0
28.254 * [backup-simplify]: Simplify (+ 0 0) into 0
28.255 * [backup-simplify]: Simplify (+ 0) into 0
28.255 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
28.255 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
28.256 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
28.256 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
28.256 * [backup-simplify]: Simplify (- 0) into 0
28.256 * [backup-simplify]: Simplify (+ 0 0) into 0
28.257 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
28.257 * [backup-simplify]: Simplify (+ 0) into 0
28.257 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
28.257 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
28.258 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
28.258 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
28.258 * [backup-simplify]: Simplify (+ 0 0) into 0
28.258 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
28.259 * [backup-simplify]: Simplify (+ 0) into 0
28.259 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
28.259 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
28.259 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
28.260 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
28.260 * [backup-simplify]: Simplify (+ 0 0) into 0
28.260 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
28.260 * [backup-simplify]: Simplify (+ 0) into 0
28.265 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
28.265 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
28.266 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
28.266 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
28.266 * [backup-simplify]: Simplify (+ 0 0) into 0
28.267 * [backup-simplify]: Simplify (+ 0) into 0
28.267 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
28.267 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
28.267 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
28.268 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
28.268 * [backup-simplify]: Simplify (+ 0 0) into 0
28.268 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
28.268 * [backup-simplify]: Simplify (+ 0) into 0
28.269 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
28.269 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
28.269 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
28.270 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
28.270 * [backup-simplify]: Simplify (- 0) into 0
28.270 * [backup-simplify]: Simplify (+ 0 0) into 0
28.270 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
28.270 * [backup-simplify]: Simplify (+ 0) into 0
28.271 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
28.271 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
28.271 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
28.272 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
28.272 * [backup-simplify]: Simplify (- 0) into 0
28.272 * [backup-simplify]: Simplify (+ 0 0) into 0
28.272 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
28.272 * [backup-simplify]: Simplify (+ 0 0) into 0
28.273 * [backup-simplify]: Simplify (- 0) into 0
28.273 * [backup-simplify]: Simplify (+ 0 0) into 0
28.275 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
28.276 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
28.276 * [taylor]: Taking taylor expansion of (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) in R
28.276 * [taylor]: Taking taylor expansion of (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) in R
28.276 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in R
28.276 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in R
28.276 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
28.276 * [taylor]: Taking taylor expansion of 0.5 in R
28.276 * [backup-simplify]: Simplify 0.5 into 0.5
28.276 * [taylor]: Taking taylor expansion of phi2 in R
28.276 * [backup-simplify]: Simplify phi2 into phi2
28.277 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
28.277 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
28.277 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
28.277 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in R
28.277 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in R
28.277 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
28.277 * [taylor]: Taking taylor expansion of 0.5 in R
28.277 * [backup-simplify]: Simplify 0.5 into 0.5
28.277 * [taylor]: Taking taylor expansion of phi1 in R
28.277 * [backup-simplify]: Simplify phi1 into phi1
28.277 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
28.277 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
28.277 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
28.277 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in R
28.277 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in R
28.277 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
28.277 * [taylor]: Taking taylor expansion of 0.5 in R
28.277 * [backup-simplify]: Simplify 0.5 into 0.5
28.277 * [taylor]: Taking taylor expansion of phi2 in R
28.277 * [backup-simplify]: Simplify phi2 into phi2
28.277 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
28.277 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
28.277 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
28.277 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in R
28.277 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
28.277 * [taylor]: Taking taylor expansion of 0.5 in R
28.277 * [backup-simplify]: Simplify 0.5 into 0.5
28.277 * [taylor]: Taking taylor expansion of phi1 in R
28.277 * [backup-simplify]: Simplify phi1 into phi1
28.277 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
28.277 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
28.278 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
28.278 * [taylor]: Taking taylor expansion of R in R
28.278 * [backup-simplify]: Simplify 0 into 0
28.278 * [backup-simplify]: Simplify 1 into 1
28.278 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
28.278 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
28.278 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
28.278 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
28.278 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
28.278 * [backup-simplify]: Simplify (- 0) into 0
28.278 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
28.278 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
28.278 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
28.279 * [backup-simplify]: Simplify (- 0) into 0
28.279 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
28.279 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
28.279 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
28.279 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
28.279 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
28.279 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
28.279 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
28.280 * [backup-simplify]: Simplify (/ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) 1) into (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
28.280 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in R
28.280 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in R
28.280 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in R
28.280 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in R
28.280 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in R
28.280 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in R
28.280 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in R
28.280 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
28.280 * [taylor]: Taking taylor expansion of 0.5 in R
28.280 * [backup-simplify]: Simplify 0.5 into 0.5
28.280 * [taylor]: Taking taylor expansion of phi2 in R
28.280 * [backup-simplify]: Simplify phi2 into phi2
28.280 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
28.280 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
28.280 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
28.280 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
28.280 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
28.280 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
28.280 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in R
28.280 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in R
28.280 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
28.280 * [taylor]: Taking taylor expansion of 0.5 in R
28.280 * [backup-simplify]: Simplify 0.5 into 0.5
28.280 * [taylor]: Taking taylor expansion of phi1 in R
28.280 * [backup-simplify]: Simplify phi1 into phi1
28.280 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
28.280 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
28.280 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
28.280 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
28.281 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
28.281 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
28.281 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in R
28.281 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in R
28.281 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in R
28.281 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
28.281 * [taylor]: Taking taylor expansion of 0.5 in R
28.281 * [backup-simplify]: Simplify 0.5 into 0.5
28.281 * [taylor]: Taking taylor expansion of phi2 in R
28.281 * [backup-simplify]: Simplify phi2 into phi2
28.281 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
28.281 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
28.281 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
28.281 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
28.281 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
28.281 * [backup-simplify]: Simplify (- 0) into 0
28.281 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
28.281 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in R
28.281 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in R
28.281 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
28.281 * [taylor]: Taking taylor expansion of 0.5 in R
28.281 * [backup-simplify]: Simplify 0.5 into 0.5
28.281 * [taylor]: Taking taylor expansion of phi1 in R
28.281 * [backup-simplify]: Simplify phi1 into phi1
28.282 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
28.282 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
28.282 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
28.282 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
28.282 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
28.282 * [backup-simplify]: Simplify (- 0) into 0
28.282 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
28.282 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in R
28.282 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in R
28.282 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in R
28.282 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
28.282 * [taylor]: Taking taylor expansion of 0.5 in R
28.282 * [backup-simplify]: Simplify 0.5 into 0.5
28.282 * [taylor]: Taking taylor expansion of phi2 in R
28.282 * [backup-simplify]: Simplify phi2 into phi2
28.282 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
28.282 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
28.282 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
28.282 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in R
28.282 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in R
28.282 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
28.282 * [taylor]: Taking taylor expansion of 0.5 in R
28.282 * [backup-simplify]: Simplify 0.5 into 0.5
28.282 * [taylor]: Taking taylor expansion of phi1 in R
28.282 * [backup-simplify]: Simplify phi1 into phi1
28.283 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
28.283 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
28.283 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
28.283 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in R
28.283 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in R
28.283 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
28.283 * [taylor]: Taking taylor expansion of 0.5 in R
28.283 * [backup-simplify]: Simplify 0.5 into 0.5
28.283 * [taylor]: Taking taylor expansion of phi2 in R
28.283 * [backup-simplify]: Simplify phi2 into phi2
28.283 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
28.283 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
28.283 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
28.283 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in R
28.283 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
28.283 * [taylor]: Taking taylor expansion of 0.5 in R
28.283 * [backup-simplify]: Simplify 0.5 into 0.5
28.283 * [taylor]: Taking taylor expansion of phi1 in R
28.283 * [backup-simplify]: Simplify phi1 into phi1
28.283 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
28.283 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
28.283 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
28.283 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in R
28.283 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in R
28.283 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
28.283 * [taylor]: Taking taylor expansion of 0.5 in R
28.283 * [backup-simplify]: Simplify 0.5 into 0.5
28.283 * [taylor]: Taking taylor expansion of phi2 in R
28.283 * [backup-simplify]: Simplify phi2 into phi2
28.283 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
28.283 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
28.283 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
28.283 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in R
28.283 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in R
28.283 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
28.283 * [taylor]: Taking taylor expansion of 0.5 in R
28.283 * [backup-simplify]: Simplify 0.5 into 0.5
28.283 * [taylor]: Taking taylor expansion of phi1 in R
28.283 * [backup-simplify]: Simplify phi1 into phi1
28.284 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
28.284 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
28.284 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
28.284 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in R
28.284 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in R
28.284 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
28.284 * [taylor]: Taking taylor expansion of 0.5 in R
28.284 * [backup-simplify]: Simplify 0.5 into 0.5
28.284 * [taylor]: Taking taylor expansion of phi2 in R
28.284 * [backup-simplify]: Simplify phi2 into phi2
28.284 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
28.284 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
28.284 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
28.284 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in R
28.284 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
28.284 * [taylor]: Taking taylor expansion of 0.5 in R
28.284 * [backup-simplify]: Simplify 0.5 into 0.5
28.284 * [taylor]: Taking taylor expansion of phi1 in R
28.284 * [backup-simplify]: Simplify phi1 into phi1
28.284 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
28.284 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
28.284 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
28.284 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
28.284 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
28.285 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
28.285 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
28.285 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
28.285 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
28.285 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
28.286 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
28.286 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
28.286 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
28.286 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
28.286 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
28.286 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
28.286 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
28.286 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
28.287 * [backup-simplify]: Simplify (- 0) into 0
28.287 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
28.287 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
28.287 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
28.287 * [backup-simplify]: Simplify (- 0) into 0
28.288 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
28.288 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
28.288 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
28.288 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
28.288 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
28.289 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
28.289 * [backup-simplify]: Simplify (- 0) into 0
28.289 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
28.289 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
28.289 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
28.290 * [backup-simplify]: Simplify (- 0) into 0
28.290 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
28.290 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
28.290 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
28.290 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
28.290 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
28.290 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
28.290 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
28.291 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
28.291 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
28.291 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
28.292 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))
28.293 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
28.295 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
28.296 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
28.299 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
28.300 * [backup-simplify]: Simplify (+ 0) into 0
28.300 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
28.300 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
28.301 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
28.302 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
28.302 * [backup-simplify]: Simplify (+ 0 0) into 0
28.302 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
28.303 * [backup-simplify]: Simplify (+ 0) into 0
28.303 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
28.303 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
28.304 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
28.305 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
28.305 * [backup-simplify]: Simplify (+ 0 0) into 0
28.305 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
28.306 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
28.306 * [backup-simplify]: Simplify (+ 0) into 0
28.307 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
28.307 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
28.308 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
28.308 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
28.308 * [backup-simplify]: Simplify (- 0) into 0
28.309 * [backup-simplify]: Simplify (+ 0 0) into 0
28.309 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
28.309 * [backup-simplify]: Simplify (+ 0) into 0
28.310 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
28.310 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
28.311 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
28.311 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
28.312 * [backup-simplify]: Simplify (- 0) into 0
28.312 * [backup-simplify]: Simplify (+ 0 0) into 0
28.312 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
28.312 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
28.313 * [backup-simplify]: Simplify (+ 0 0) into 0
28.313 * [backup-simplify]: Simplify (+ 0) into 0
28.314 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
28.314 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
28.315 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
28.315 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
28.315 * [backup-simplify]: Simplify (- 0) into 0
28.316 * [backup-simplify]: Simplify (+ 0 0) into 0
28.316 * [backup-simplify]: Simplify (+ 0) into 0
28.317 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
28.317 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
28.318 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
28.318 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
28.318 * [backup-simplify]: Simplify (- 0) into 0
28.319 * [backup-simplify]: Simplify (+ 0 0) into 0
28.319 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
28.319 * [backup-simplify]: Simplify (+ 0) into 0
28.320 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
28.320 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
28.321 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
28.321 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
28.322 * [backup-simplify]: Simplify (+ 0 0) into 0
28.322 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
28.322 * [backup-simplify]: Simplify (+ 0) into 0
28.323 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
28.323 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
28.324 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
28.324 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
28.324 * [backup-simplify]: Simplify (+ 0 0) into 0
28.325 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
28.325 * [backup-simplify]: Simplify (+ 0) into 0
28.326 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
28.326 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
28.327 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
28.327 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
28.327 * [backup-simplify]: Simplify (+ 0 0) into 0
28.328 * [backup-simplify]: Simplify (+ 0) into 0
28.328 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
28.328 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
28.329 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
28.330 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
28.330 * [backup-simplify]: Simplify (+ 0 0) into 0
28.330 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
28.331 * [backup-simplify]: Simplify (+ 0) into 0
28.331 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
28.331 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
28.332 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
28.332 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
28.333 * [backup-simplify]: Simplify (- 0) into 0
28.333 * [backup-simplify]: Simplify (+ 0 0) into 0
28.333 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
28.334 * [backup-simplify]: Simplify (+ 0) into 0
28.334 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
28.335 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
28.335 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
28.336 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
28.336 * [backup-simplify]: Simplify (- 0) into 0
28.336 * [backup-simplify]: Simplify (+ 0 0) into 0
28.337 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
28.337 * [backup-simplify]: Simplify (+ 0 0) into 0
28.337 * [backup-simplify]: Simplify (- 0) into 0
28.338 * [backup-simplify]: Simplify (+ 0 0) into 0
28.342 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
28.344 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
28.344 * [taylor]: Taking taylor expansion of (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) in R
28.344 * [taylor]: Taking taylor expansion of (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) in R
28.344 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) R) in R
28.344 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in R
28.344 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in R
28.344 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in R
28.344 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
28.344 * [taylor]: Taking taylor expansion of 0.5 in R
28.344 * [backup-simplify]: Simplify 0.5 into 0.5
28.344 * [taylor]: Taking taylor expansion of phi2 in R
28.344 * [backup-simplify]: Simplify phi2 into phi2
28.344 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
28.344 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
28.345 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
28.345 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
28.345 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
28.345 * [backup-simplify]: Simplify (- 0) into 0
28.345 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
28.345 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in R
28.345 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in R
28.345 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
28.345 * [taylor]: Taking taylor expansion of 0.5 in R
28.345 * [backup-simplify]: Simplify 0.5 into 0.5
28.345 * [taylor]: Taking taylor expansion of phi1 in R
28.346 * [backup-simplify]: Simplify phi1 into phi1
28.346 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
28.346 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
28.346 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
28.346 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
28.346 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
28.346 * [backup-simplify]: Simplify (- 0) into 0
28.346 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
28.346 * [taylor]: Taking taylor expansion of R in R
28.346 * [backup-simplify]: Simplify 0 into 0
28.346 * [backup-simplify]: Simplify 1 into 1
28.346 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
28.346 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
28.347 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
28.347 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) 1) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
28.347 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in R
28.347 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in R
28.347 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in R
28.347 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in R
28.347 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in R
28.347 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in R
28.347 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in R
28.347 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
28.347 * [taylor]: Taking taylor expansion of 0.5 in R
28.347 * [backup-simplify]: Simplify 0.5 into 0.5
28.347 * [taylor]: Taking taylor expansion of phi2 in R
28.347 * [backup-simplify]: Simplify phi2 into phi2
28.347 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
28.347 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
28.347 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
28.347 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
28.347 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
28.347 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
28.347 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in R
28.347 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in R
28.347 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
28.347 * [taylor]: Taking taylor expansion of 0.5 in R
28.347 * [backup-simplify]: Simplify 0.5 into 0.5
28.347 * [taylor]: Taking taylor expansion of phi1 in R
28.347 * [backup-simplify]: Simplify phi1 into phi1
28.348 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
28.348 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
28.348 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
28.348 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
28.348 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
28.348 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
28.348 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in R
28.348 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in R
28.348 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in R
28.348 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
28.348 * [taylor]: Taking taylor expansion of 0.5 in R
28.348 * [backup-simplify]: Simplify 0.5 into 0.5
28.348 * [taylor]: Taking taylor expansion of phi2 in R
28.348 * [backup-simplify]: Simplify phi2 into phi2
28.348 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
28.348 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
28.348 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
28.348 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
28.348 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
28.348 * [backup-simplify]: Simplify (- 0) into 0
28.349 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
28.349 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in R
28.349 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in R
28.349 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
28.349 * [taylor]: Taking taylor expansion of 0.5 in R
28.349 * [backup-simplify]: Simplify 0.5 into 0.5
28.349 * [taylor]: Taking taylor expansion of phi1 in R
28.349 * [backup-simplify]: Simplify phi1 into phi1
28.349 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
28.349 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
28.349 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
28.349 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
28.349 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
28.349 * [backup-simplify]: Simplify (- 0) into 0
28.349 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
28.349 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in R
28.349 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in R
28.349 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in R
28.349 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
28.349 * [taylor]: Taking taylor expansion of 0.5 in R
28.349 * [backup-simplify]: Simplify 0.5 into 0.5
28.349 * [taylor]: Taking taylor expansion of phi2 in R
28.349 * [backup-simplify]: Simplify phi2 into phi2
28.349 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
28.349 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
28.350 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
28.350 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in R
28.350 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in R
28.350 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
28.350 * [taylor]: Taking taylor expansion of 0.5 in R
28.350 * [backup-simplify]: Simplify 0.5 into 0.5
28.350 * [taylor]: Taking taylor expansion of phi1 in R
28.350 * [backup-simplify]: Simplify phi1 into phi1
28.350 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
28.350 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
28.350 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
28.350 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in R
28.350 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in R
28.350 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
28.350 * [taylor]: Taking taylor expansion of 0.5 in R
28.350 * [backup-simplify]: Simplify 0.5 into 0.5
28.350 * [taylor]: Taking taylor expansion of phi2 in R
28.350 * [backup-simplify]: Simplify phi2 into phi2
28.350 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
28.350 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
28.350 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
28.350 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in R
28.350 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
28.350 * [taylor]: Taking taylor expansion of 0.5 in R
28.350 * [backup-simplify]: Simplify 0.5 into 0.5
28.350 * [taylor]: Taking taylor expansion of phi1 in R
28.350 * [backup-simplify]: Simplify phi1 into phi1
28.350 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
28.350 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
28.350 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
28.350 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in R
28.350 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in R
28.350 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
28.350 * [taylor]: Taking taylor expansion of 0.5 in R
28.350 * [backup-simplify]: Simplify 0.5 into 0.5
28.350 * [taylor]: Taking taylor expansion of phi2 in R
28.350 * [backup-simplify]: Simplify phi2 into phi2
28.350 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
28.351 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
28.351 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
28.351 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in R
28.351 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in R
28.351 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
28.351 * [taylor]: Taking taylor expansion of 0.5 in R
28.351 * [backup-simplify]: Simplify 0.5 into 0.5
28.351 * [taylor]: Taking taylor expansion of phi1 in R
28.351 * [backup-simplify]: Simplify phi1 into phi1
28.351 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
28.351 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
28.351 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
28.351 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in R
28.351 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in R
28.351 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
28.351 * [taylor]: Taking taylor expansion of 0.5 in R
28.351 * [backup-simplify]: Simplify 0.5 into 0.5
28.351 * [taylor]: Taking taylor expansion of phi2 in R
28.351 * [backup-simplify]: Simplify phi2 into phi2
28.351 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
28.351 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
28.351 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
28.351 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in R
28.351 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
28.351 * [taylor]: Taking taylor expansion of 0.5 in R
28.351 * [backup-simplify]: Simplify 0.5 into 0.5
28.351 * [taylor]: Taking taylor expansion of phi1 in R
28.351 * [backup-simplify]: Simplify phi1 into phi1
28.351 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
28.351 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
28.351 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
28.351 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
28.352 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
28.352 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
28.352 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
28.352 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
28.352 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
28.353 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
28.353 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
28.353 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
28.353 * [backup-simplify]: Simplify (- 0) into 0
28.353 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
28.353 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
28.353 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
28.353 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
28.353 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
28.353 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
28.353 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
28.353 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
28.354 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
28.354 * [backup-simplify]: Simplify (- 0) into 0
28.354 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
28.354 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
28.354 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
28.354 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
28.354 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
28.354 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
28.354 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
28.354 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
28.355 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
28.355 * [backup-simplify]: Simplify (- 0) into 0
28.355 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
28.355 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
28.355 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
28.355 * [backup-simplify]: Simplify (- 0) into 0
28.355 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
28.355 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
28.355 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
28.355 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
28.356 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
28.356 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
28.356 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
28.356 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))
28.357 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
28.358 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
28.359 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
28.360 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
28.360 * [backup-simplify]: Simplify (+ 0) into 0
28.361 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
28.361 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
28.361 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
28.361 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
28.362 * [backup-simplify]: Simplify (+ 0 0) into 0
28.362 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
28.362 * [backup-simplify]: Simplify (+ 0) into 0
28.362 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
28.363 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
28.363 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
28.363 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
28.363 * [backup-simplify]: Simplify (+ 0 0) into 0
28.364 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
28.364 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
28.364 * [backup-simplify]: Simplify (+ 0) into 0
28.364 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
28.365 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
28.365 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
28.365 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
28.365 * [backup-simplify]: Simplify (- 0) into 0
28.366 * [backup-simplify]: Simplify (+ 0 0) into 0
28.366 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
28.366 * [backup-simplify]: Simplify (+ 0) into 0
28.366 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
28.366 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
28.367 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
28.367 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
28.367 * [backup-simplify]: Simplify (- 0) into 0
28.368 * [backup-simplify]: Simplify (+ 0 0) into 0
28.368 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
28.368 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
28.368 * [backup-simplify]: Simplify (+ 0 0) into 0
28.369 * [backup-simplify]: Simplify (+ 0) into 0
28.369 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
28.369 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
28.369 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
28.370 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
28.370 * [backup-simplify]: Simplify (- 0) into 0
28.370 * [backup-simplify]: Simplify (+ 0 0) into 0
28.370 * [backup-simplify]: Simplify (+ 0) into 0
28.371 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
28.371 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
28.371 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
28.372 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
28.372 * [backup-simplify]: Simplify (+ 0 0) into 0
28.372 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
28.372 * [backup-simplify]: Simplify (+ 0) into 0
28.372 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
28.373 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
28.373 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
28.373 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
28.374 * [backup-simplify]: Simplify (+ 0 0) into 0
28.374 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
28.374 * [backup-simplify]: Simplify (+ 0) into 0
28.374 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
28.374 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
28.375 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
28.375 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
28.375 * [backup-simplify]: Simplify (- 0) into 0
28.376 * [backup-simplify]: Simplify (+ 0 0) into 0
28.376 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
28.376 * [backup-simplify]: Simplify (+ 0) into 0
28.376 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
28.376 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
28.377 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
28.377 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
28.377 * [backup-simplify]: Simplify (+ 0 0) into 0
28.378 * [backup-simplify]: Simplify (+ 0) into 0
28.378 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
28.378 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
28.379 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
28.379 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
28.379 * [backup-simplify]: Simplify (- 0) into 0
28.380 * [backup-simplify]: Simplify (+ 0 0) into 0
28.380 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
28.380 * [backup-simplify]: Simplify (+ 0) into 0
28.380 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
28.380 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
28.381 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
28.381 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
28.381 * [backup-simplify]: Simplify (- 0) into 0
28.381 * [backup-simplify]: Simplify (+ 0 0) into 0
28.382 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
28.382 * [backup-simplify]: Simplify (+ 0) into 0
28.382 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
28.382 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
28.383 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
28.383 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
28.383 * [backup-simplify]: Simplify (+ 0 0) into 0
28.383 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
28.384 * [backup-simplify]: Simplify (+ 0 0) into 0
28.384 * [backup-simplify]: Simplify (- 0) into 0
28.384 * [backup-simplify]: Simplify (+ 0 0) into 0
28.387 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
28.389 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
28.389 * [taylor]: Taking taylor expansion of (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) in R
28.389 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) R) in R
28.389 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in R
28.389 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in R
28.389 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in R
28.389 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
28.390 * [taylor]: Taking taylor expansion of 0.5 in R
28.390 * [backup-simplify]: Simplify 0.5 into 0.5
28.390 * [taylor]: Taking taylor expansion of phi2 in R
28.390 * [backup-simplify]: Simplify phi2 into phi2
28.390 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
28.390 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
28.390 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
28.390 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
28.390 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
28.390 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
28.390 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in R
28.390 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in R
28.390 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
28.390 * [taylor]: Taking taylor expansion of 0.5 in R
28.390 * [backup-simplify]: Simplify 0.5 into 0.5
28.390 * [taylor]: Taking taylor expansion of phi1 in R
28.390 * [backup-simplify]: Simplify phi1 into phi1
28.390 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
28.391 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
28.391 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
28.391 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
28.391 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
28.391 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
28.391 * [taylor]: Taking taylor expansion of R in R
28.391 * [backup-simplify]: Simplify 0 into 0
28.391 * [backup-simplify]: Simplify 1 into 1
28.391 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
28.391 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
28.392 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
28.392 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) 1) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
28.392 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in R
28.392 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in R
28.392 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in R
28.392 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in R
28.392 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in R
28.392 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in R
28.392 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in R
28.393 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
28.393 * [taylor]: Taking taylor expansion of 0.5 in R
28.393 * [backup-simplify]: Simplify 0.5 into 0.5
28.393 * [taylor]: Taking taylor expansion of phi2 in R
28.393 * [backup-simplify]: Simplify phi2 into phi2
28.393 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
28.393 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
28.393 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
28.393 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
28.393 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
28.393 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
28.393 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in R
28.393 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in R
28.393 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
28.393 * [taylor]: Taking taylor expansion of 0.5 in R
28.393 * [backup-simplify]: Simplify 0.5 into 0.5
28.393 * [taylor]: Taking taylor expansion of phi1 in R
28.393 * [backup-simplify]: Simplify phi1 into phi1
28.394 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
28.394 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
28.394 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
28.394 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
28.394 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
28.394 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
28.394 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in R
28.394 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in R
28.394 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in R
28.394 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
28.394 * [taylor]: Taking taylor expansion of 0.5 in R
28.394 * [backup-simplify]: Simplify 0.5 into 0.5
28.394 * [taylor]: Taking taylor expansion of phi2 in R
28.394 * [backup-simplify]: Simplify phi2 into phi2
28.394 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
28.394 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
28.395 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
28.395 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
28.395 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
28.401 * [backup-simplify]: Simplify (- 0) into 0
28.401 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
28.401 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in R
28.401 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in R
28.401 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
28.401 * [taylor]: Taking taylor expansion of 0.5 in R
28.401 * [backup-simplify]: Simplify 0.5 into 0.5
28.401 * [taylor]: Taking taylor expansion of phi1 in R
28.401 * [backup-simplify]: Simplify phi1 into phi1
28.401 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
28.401 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
28.401 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
28.401 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
28.402 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
28.402 * [backup-simplify]: Simplify (- 0) into 0
28.402 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
28.402 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in R
28.402 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in R
28.402 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in R
28.403 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
28.403 * [taylor]: Taking taylor expansion of 0.5 in R
28.403 * [backup-simplify]: Simplify 0.5 into 0.5
28.403 * [taylor]: Taking taylor expansion of phi2 in R
28.403 * [backup-simplify]: Simplify phi2 into phi2
28.403 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
28.403 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
28.403 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
28.403 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in R
28.403 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in R
28.403 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
28.403 * [taylor]: Taking taylor expansion of 0.5 in R
28.403 * [backup-simplify]: Simplify 0.5 into 0.5
28.403 * [taylor]: Taking taylor expansion of phi1 in R
28.403 * [backup-simplify]: Simplify phi1 into phi1
28.403 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
28.403 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
28.403 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
28.403 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in R
28.403 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in R
28.403 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
28.403 * [taylor]: Taking taylor expansion of 0.5 in R
28.404 * [backup-simplify]: Simplify 0.5 into 0.5
28.404 * [taylor]: Taking taylor expansion of phi2 in R
28.404 * [backup-simplify]: Simplify phi2 into phi2
28.404 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
28.404 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
28.404 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
28.404 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in R
28.404 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
28.404 * [taylor]: Taking taylor expansion of 0.5 in R
28.404 * [backup-simplify]: Simplify 0.5 into 0.5
28.404 * [taylor]: Taking taylor expansion of phi1 in R
28.404 * [backup-simplify]: Simplify phi1 into phi1
28.404 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
28.404 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
28.404 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
28.404 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in R
28.404 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in R
28.404 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
28.404 * [taylor]: Taking taylor expansion of 0.5 in R
28.404 * [backup-simplify]: Simplify 0.5 into 0.5
28.404 * [taylor]: Taking taylor expansion of phi2 in R
28.404 * [backup-simplify]: Simplify phi2 into phi2
28.405 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
28.405 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
28.405 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
28.405 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in R
28.405 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in R
28.405 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
28.405 * [taylor]: Taking taylor expansion of 0.5 in R
28.405 * [backup-simplify]: Simplify 0.5 into 0.5
28.405 * [taylor]: Taking taylor expansion of phi1 in R
28.405 * [backup-simplify]: Simplify phi1 into phi1
28.405 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
28.405 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
28.405 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
28.405 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in R
28.405 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in R
28.405 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
28.405 * [taylor]: Taking taylor expansion of 0.5 in R
28.405 * [backup-simplify]: Simplify 0.5 into 0.5
28.405 * [taylor]: Taking taylor expansion of phi2 in R
28.405 * [backup-simplify]: Simplify phi2 into phi2
28.405 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
28.406 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
28.406 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
28.406 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in R
28.406 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
28.406 * [taylor]: Taking taylor expansion of 0.5 in R
28.406 * [backup-simplify]: Simplify 0.5 into 0.5
28.406 * [taylor]: Taking taylor expansion of phi1 in R
28.406 * [backup-simplify]: Simplify phi1 into phi1
28.406 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
28.406 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
28.406 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
28.406 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
28.406 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
28.407 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
28.407 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
28.407 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
28.408 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
28.409 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
28.409 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
28.409 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
28.409 * [backup-simplify]: Simplify (- 0) into 0
28.409 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
28.410 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
28.410 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
28.410 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
28.410 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
28.410 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
28.410 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
28.410 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
28.410 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
28.411 * [backup-simplify]: Simplify (- 0) into 0
28.411 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
28.411 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
28.411 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
28.411 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
28.412 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
28.412 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
28.412 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
28.412 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
28.412 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
28.412 * [backup-simplify]: Simplify (- 0) into 0
28.412 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
28.413 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
28.413 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
28.413 * [backup-simplify]: Simplify (- 0) into 0
28.413 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
28.413 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
28.413 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
28.413 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
28.414 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
28.414 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
28.414 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
28.414 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))
28.415 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
28.416 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
28.417 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
28.418 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
28.418 * [backup-simplify]: Simplify (+ 0) into 0
28.418 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
28.418 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
28.419 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
28.419 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
28.419 * [backup-simplify]: Simplify (+ 0 0) into 0
28.420 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
28.420 * [backup-simplify]: Simplify (+ 0) into 0
28.420 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
28.420 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
28.421 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
28.421 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
28.421 * [backup-simplify]: Simplify (+ 0 0) into 0
28.421 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
28.422 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
28.422 * [backup-simplify]: Simplify (+ 0) into 0
28.422 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
28.422 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
28.423 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
28.423 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
28.424 * [backup-simplify]: Simplify (- 0) into 0
28.424 * [backup-simplify]: Simplify (+ 0 0) into 0
28.424 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
28.424 * [backup-simplify]: Simplify (+ 0) into 0
28.424 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
28.425 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
28.425 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
28.425 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
28.426 * [backup-simplify]: Simplify (- 0) into 0
28.426 * [backup-simplify]: Simplify (+ 0 0) into 0
28.426 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
28.426 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
28.426 * [backup-simplify]: Simplify (+ 0 0) into 0
28.427 * [backup-simplify]: Simplify (+ 0) into 0
28.427 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
28.427 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
28.428 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
28.428 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
28.428 * [backup-simplify]: Simplify (- 0) into 0
28.428 * [backup-simplify]: Simplify (+ 0 0) into 0
28.428 * [backup-simplify]: Simplify (+ 0) into 0
28.429 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
28.429 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
28.429 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
28.430 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
28.430 * [backup-simplify]: Simplify (+ 0 0) into 0
28.430 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
28.430 * [backup-simplify]: Simplify (+ 0) into 0
28.431 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
28.431 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
28.431 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
28.431 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
28.432 * [backup-simplify]: Simplify (+ 0 0) into 0
28.432 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
28.432 * [backup-simplify]: Simplify (+ 0) into 0
28.432 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
28.432 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
28.433 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
28.433 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
28.433 * [backup-simplify]: Simplify (- 0) into 0
28.434 * [backup-simplify]: Simplify (+ 0 0) into 0
28.434 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
28.434 * [backup-simplify]: Simplify (+ 0) into 0
28.434 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
28.435 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
28.435 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
28.435 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
28.436 * [backup-simplify]: Simplify (+ 0 0) into 0
28.436 * [backup-simplify]: Simplify (+ 0) into 0
28.436 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
28.436 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
28.437 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
28.437 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
28.437 * [backup-simplify]: Simplify (- 0) into 0
28.437 * [backup-simplify]: Simplify (+ 0 0) into 0
28.438 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
28.438 * [backup-simplify]: Simplify (+ 0) into 0
28.438 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
28.438 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
28.439 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
28.439 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
28.439 * [backup-simplify]: Simplify (- 0) into 0
28.439 * [backup-simplify]: Simplify (+ 0 0) into 0
28.440 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
28.440 * [backup-simplify]: Simplify (+ 0) into 0
28.440 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
28.440 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
28.441 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
28.441 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
28.441 * [backup-simplify]: Simplify (+ 0 0) into 0
28.441 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
28.442 * [backup-simplify]: Simplify (+ 0 0) into 0
28.442 * [backup-simplify]: Simplify (- 0) into 0
28.442 * [backup-simplify]: Simplify (+ 0 0) into 0
28.444 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
28.445 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
28.448 * [backup-simplify]: Simplify (* (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into (* (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))
28.450 * [backup-simplify]: Simplify (* (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into (* (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))
28.455 * [backup-simplify]: Simplify (+ (* (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into (+ (* (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))
28.458 * [backup-simplify]: Simplify (* (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
28.460 * [backup-simplify]: Simplify (* (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))
28.465 * [backup-simplify]: Simplify (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) into (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))) (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))))
28.471 * [backup-simplify]: Simplify (- (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))) (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))))) into (- (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))) (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))))
28.482 * [backup-simplify]: Simplify (+ (+ (* (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (- (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))) (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))))) into (- (+ (* (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))) (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))))
28.493 * [backup-simplify]: Simplify (- (+ (* (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))) (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))))) into (- (+ (* (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))) (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))))
28.529 * [backup-simplify]: Simplify (+ (* (- (+ (* (* (sin (/ 0.5 (/ 1 phi2))) (* (sin (/ 0.5 (/ 1 phi1))) (* (cos (/ 0.5 (/ 1 phi2))) (cos (/ 0.5 (/ 1 phi1)))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 (/ 1 phi2))) 2) (pow (sin (/ 0.5 (/ 1 phi1))) 2)) (* (pow (cos (/ 0.5 (/ 1 phi2))) 2) (pow (cos (/ 0.5 (/ 1 phi1))) 2))) (+ (* (cos (/ 0.5 (/ 1 phi2))) (* (sin (/ 0.5 (/ 1 phi1))) (* (sin (/ 0.5 (/ 1 phi2))) (cos (/ 0.5 (/ 1 phi1)))))) (* (sin (/ 0.5 (/ 1 phi2))) (* (cos (/ 0.5 (/ 1 phi1))) (* (cos (/ 0.5 (/ 1 phi2))) (sin (/ 0.5 (/ 1 phi1))))))))))) (* (* (cos (/ 0.5 (/ 1 phi2))) (* (sin (/ 0.5 (/ 1 phi1))) (* (sin (/ 0.5 (/ 1 phi2))) (cos (/ 0.5 (/ 1 phi1)))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 (/ 1 phi2))) 2) (pow (sin (/ 0.5 (/ 1 phi1))) 2)) (* (pow (cos (/ 0.5 (/ 1 phi2))) 2) (pow (cos (/ 0.5 (/ 1 phi1))) 2))) (+ (* (cos (/ 0.5 (/ 1 phi2))) (* (sin (/ 0.5 (/ 1 phi1))) (* (sin (/ 0.5 (/ 1 phi2))) (cos (/ 0.5 (/ 1 phi1)))))) (* (sin (/ 0.5 (/ 1 phi2))) (* (cos (/ 0.5 (/ 1 phi1))) (* (cos (/ 0.5 (/ 1 phi2))) (sin (/ 0.5 (/ 1 phi1)))))))))))) (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 (/ 1 phi2))) 2) (pow (sin (/ 0.5 (/ 1 phi1))) 2)) (* (pow (cos (/ 0.5 (/ 1 phi2))) 2) (pow (cos (/ 0.5 (/ 1 phi1))) 2))) (+ (* (cos (/ 0.5 (/ 1 phi2))) (* (sin (/ 0.5 (/ 1 phi1))) (* (sin (/ 0.5 (/ 1 phi2))) (cos (/ 0.5 (/ 1 phi1)))))) (* (sin (/ 0.5 (/ 1 phi2))) (* (cos (/ 0.5 (/ 1 phi1))) (* (cos (/ 0.5 (/ 1 phi2))) (sin (/ 0.5 (/ 1 phi1)))))))))) (* (pow (sin (/ 0.5 (/ 1 phi2))) 2) (pow (sin (/ 0.5 (/ 1 phi1))) 2))) (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 (/ 1 phi2))) 2) (pow (sin (/ 0.5 (/ 1 phi1))) 2)) (* (pow (cos (/ 0.5 (/ 1 phi2))) 2) (pow (cos (/ 0.5 (/ 1 phi1))) 2))) (+ (* (cos (/ 0.5 (/ 1 phi2))) (* (sin (/ 0.5 (/ 1 phi1))) (* (sin (/ 0.5 (/ 1 phi2))) (cos (/ 0.5 (/ 1 phi1)))))) (* (sin (/ 0.5 (/ 1 phi2))) (* (cos (/ 0.5 (/ 1 phi1))) (* (cos (/ 0.5 (/ 1 phi2))) (sin (/ 0.5 (/ 1 phi1)))))))))) (* (pow (cos (/ 0.5 (/ 1 phi2))) 2) (pow (cos (/ 0.5 (/ 1 phi1))) 2))))) (* (/ 1 (/ 1 R)) (* 1 (* 1 (* (/ 1 (/ 1 lambda2)) 1))))) (+ (* (- (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 (/ 1 phi2))) 2) (pow (sin (/ 0.5 (/ 1 phi1))) 2)) (* (pow (cos (/ 0.5 (/ 1 phi2))) 2) (pow (cos (/ 0.5 (/ 1 phi1))) 2))) (+ (* (cos (/ 0.5 (/ 1 phi2))) (* (sin (/ 0.5 (/ 1 phi1))) (* (sin (/ 0.5 (/ 1 phi2))) (cos (/ 0.5 (/ 1 phi1)))))) (* (sin (/ 0.5 (/ 1 phi2))) (* (cos (/ 0.5 (/ 1 phi1))) (* (cos (/ 0.5 (/ 1 phi2))) (sin (/ 0.5 (/ 1 phi1))))))))))) (* (/ 1 (/ 1 R)) (* (/ 1 (/ 1 phi2)) (* (/ 1 (/ 1 phi1)) (* 1 (/ 1 lambda1)))))) (* (- (* 2 (* (/ (* (cos (/ 0.5 (/ 1 phi2))) (* (sin (/ 0.5 (/ 1 phi1))) (* (sin (/ 0.5 (/ 1 phi2))) (cos (/ 0.5 (/ 1 phi1)))))) (- (+ (* (pow (sin (/ 0.5 (/ 1 phi2))) 2) (pow (sin (/ 0.5 (/ 1 phi1))) 2)) (* (pow (cos (/ 0.5 (/ 1 phi2))) 2) (pow (cos (/ 0.5 (/ 1 phi1))) 2))) (+ (* (sin (/ 0.5 (/ 1 phi2))) (* (cos (/ 0.5 (/ 1 phi1))) (* (cos (/ 0.5 (/ 1 phi2))) (sin (/ 0.5 (/ 1 phi1)))))) (* (cos (/ 0.5 (/ 1 phi2))) (* (cos (/ 0.5 (/ 1 phi1))) (* (sin (/ 0.5 (/ 1 phi2))) (sin (/ 0.5 (/ 1 phi1))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 (/ 1 phi2))) 2) (pow (sin (/ 0.5 (/ 1 phi1))) 2)) (* (pow (cos (/ 0.5 (/ 1 phi2))) 2) (pow (cos (/ 0.5 (/ 1 phi1))) 2))) (+ (* (sin (/ 0.5 (/ 1 phi2))) (* (sin (/ 0.5 (/ 1 phi1))) (* (cos (/ 0.5 (/ 1 phi2))) (cos (/ 0.5 (/ 1 phi1)))))) (* (cos (/ 0.5 (/ 1 phi2))) (* (cos (/ 0.5 (/ 1 phi1))) (* (sin (/ 0.5 (/ 1 phi2))) (sin (/ 0.5 (/ 1 phi1)))))))))))) (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 (/ 1 phi2))) 2) (pow (sin (/ 0.5 (/ 1 phi1))) 2)) (* (pow (cos (/ 0.5 (/ 1 phi2))) 2) (pow (cos (/ 0.5 (/ 1 phi1))) 2))) (+ (* (cos (/ 0.5 (/ 1 phi2))) (* (sin (/ 0.5 (/ 1 phi1))) (* (sin (/ 0.5 (/ 1 phi2))) (cos (/ 0.5 (/ 1 phi1)))))) (* (sin (/ 0.5 (/ 1 phi2))) (* (cos (/ 0.5 (/ 1 phi1))) (* (cos (/ 0.5 (/ 1 phi2))) (sin (/ 0.5 (/ 1 phi1)))))))))) (/ (* (pow (sin (/ 0.5 (/ 1 phi2))) 2) (pow (sin (/ 0.5 (/ 1 phi1))) 2)) (- (+ (* (pow (sin (/ 0.5 (/ 1 phi2))) 2) (pow (sin (/ 0.5 (/ 1 phi1))) 2)) (* (pow (cos (/ 0.5 (/ 1 phi2))) 2) (pow (cos (/ 0.5 (/ 1 phi1))) 2))) (+ (* (sin (/ 0.5 (/ 1 phi2))) (* (cos (/ 0.5 (/ 1 phi1))) (* (cos (/ 0.5 (/ 1 phi2))) (sin (/ 0.5 (/ 1 phi1)))))) (* (cos (/ 0.5 (/ 1 phi2))) (* (cos (/ 0.5 (/ 1 phi1))) (* (sin (/ 0.5 (/ 1 phi2))) (sin (/ 0.5 (/ 1 phi1)))))))))) (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 (/ 1 phi2))) 2) (pow (sin (/ 0.5 (/ 1 phi1))) 2)) (* (pow (cos (/ 0.5 (/ 1 phi2))) 2) (pow (cos (/ 0.5 (/ 1 phi1))) 2))) (+ (* (sin (/ 0.5 (/ 1 phi2))) (* (sin (/ 0.5 (/ 1 phi1))) (* (cos (/ 0.5 (/ 1 phi2))) (cos (/ 0.5 (/ 1 phi1)))))) (* (cos (/ 0.5 (/ 1 phi2))) (* (cos (/ 0.5 (/ 1 phi1))) (* (sin (/ 0.5 (/ 1 phi2))) (sin (/ 0.5 (/ 1 phi1)))))))))) (/ (* (pow (cos (/ 0.5 (/ 1 phi2))) 2) (pow (cos (/ 0.5 (/ 1 phi1))) 2)) (- (+ (* (pow (sin (/ 0.5 (/ 1 phi2))) 2) (pow (sin (/ 0.5 (/ 1 phi1))) 2)) (* (pow (cos (/ 0.5 (/ 1 phi2))) 2) (pow (cos (/ 0.5 (/ 1 phi1))) 2))) (+ (* (sin (/ 0.5 (/ 1 phi2))) (* (cos (/ 0.5 (/ 1 phi1))) (* (cos (/ 0.5 (/ 1 phi2))) (sin (/ 0.5 (/ 1 phi1)))))) (* (cos (/ 0.5 (/ 1 phi2))) (* (cos (/ 0.5 (/ 1 phi1))) (* (sin (/ 0.5 (/ 1 phi2))) (sin (/ 0.5 (/ 1 phi1)))))))))))) (* (/ 1 (/ 1 R)) (* (/ 1 (/ 1 phi2)) (* (/ 1 (/ 1 phi1)) (* (/ 1 (/ 1 lambda2)) (pow (/ 1 lambda1) 2)))))))) into (- (+ (* 2 (* (/ (* (cos (* 0.5 phi1)) (* R (* (cos (* 0.5 phi2)) (* phi1 (* (sin (* 0.5 phi1)) (* lambda2 (* (sin (* 0.5 phi2)) phi2))))))) (* (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (* 2 (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))))) (pow lambda1 2))) (sqrt (/ 1 (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))))))))) (* 2 (* (* (cos (* 0.5 phi1)) (* (cos (* 0.5 phi2)) (* R (* (sin (* 0.5 phi1)) (* lambda2 (sin (* 0.5 phi2))))))) (sqrt (/ 1 (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))))))))) (+ (* (/ (* (pow (sin (* 0.5 phi1)) 2) (* R (* phi1 (* lambda2 (* (pow (sin (* 0.5 phi2)) 2) phi2))))) (* (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (* 2 (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))))) (pow lambda1 2))) (sqrt (/ 1 (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))))))) (+ (* (/ (* (pow (cos (* 0.5 phi1)) 2) (* R (* (pow (cos (* 0.5 phi2)) 2) (* phi1 (* lambda2 phi2))))) (* (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (* 2 (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))))) (pow lambda1 2))) (sqrt (/ 1 (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))))))) (+ (* (* R (* lambda2 (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)))) (sqrt (/ 1 (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))))))) (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))))))) (/ (* phi1 (* R phi2)) lambda1)) (* (* R (* lambda2 (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2)))) (sqrt (/ 1 (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))))))))))))
28.531 * [backup-simplify]: Simplify (* (hypot (* (- (/ 1 (- lambda1)) (/ 1 (- lambda2))) (- (* (cos (* (/ 1 (- phi1)) 0.5)) (cos (* (/ 1 (- phi2)) 0.5))) (* (sin (* (/ 1 (- phi1)) 0.5)) (sin (* (/ 1 (- phi2)) 0.5))))) (- (/ 1 (- phi1)) (/ 1 (- phi2)))) (/ 1 (- R))) into (* -1 (/ (hypot (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) (- (/ 1 lambda2) (/ 1 lambda1))) (- (/ 1 phi2) (/ 1 phi1))) R))
28.531 * [approximate]: Taking taylor expansion of (* -1 (/ (hypot (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) (- (/ 1 lambda2) (/ 1 lambda1))) (- (/ 1 phi2) (/ 1 phi1))) R)) in (lambda1 lambda2 phi1 phi2 R) around 0
28.531 * [taylor]: Taking taylor expansion of (* -1 (/ (hypot (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) (- (/ 1 lambda2) (/ 1 lambda1))) (- (/ 1 phi2) (/ 1 phi1))) R)) in R
28.531 * [taylor]: Taking taylor expansion of -1 in R
28.531 * [backup-simplify]: Simplify -1 into -1
28.531 * [taylor]: Taking taylor expansion of (/ (hypot (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) (- (/ 1 lambda2) (/ 1 lambda1))) (- (/ 1 phi2) (/ 1 phi1))) R) in R
28.531 * [taylor]: Taking taylor expansion of (hypot (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) (- (/ 1 lambda2) (/ 1 lambda1))) (- (/ 1 phi2) (/ 1 phi1))) in R
28.531 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) (- (/ 1 lambda2) (/ 1 lambda1))) (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) (- (/ 1 lambda2) (/ 1 lambda1)))) (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1)))))
28.531 * [taylor]: Taking taylor expansion of (+ (* (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) (- (/ 1 lambda2) (/ 1 lambda1))) (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) (- (/ 1 lambda2) (/ 1 lambda1)))) (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1)))) in R
28.531 * [taylor]: Taking taylor expansion of (* (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) (- (/ 1 lambda2) (/ 1 lambda1))) (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) (- (/ 1 lambda2) (/ 1 lambda1)))) in R
28.531 * [taylor]: Taking taylor expansion of (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) (- (/ 1 lambda2) (/ 1 lambda1))) in R
28.531 * [taylor]: Taking taylor expansion of (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in R
28.531 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in R
28.531 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in R
28.532 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R
28.532 * [taylor]: Taking taylor expansion of -0.5 in R
28.532 * [backup-simplify]: Simplify -0.5 into -0.5
28.532 * [taylor]: Taking taylor expansion of phi2 in R
28.532 * [backup-simplify]: Simplify phi2 into phi2
28.532 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
28.532 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
28.532 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
28.532 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in R
28.532 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R
28.532 * [taylor]: Taking taylor expansion of -0.5 in R
28.532 * [backup-simplify]: Simplify -0.5 into -0.5
28.532 * [taylor]: Taking taylor expansion of phi1 in R
28.532 * [backup-simplify]: Simplify phi1 into phi1
28.532 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
28.532 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
28.532 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
28.532 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in R
28.532 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in R
28.532 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R
28.532 * [taylor]: Taking taylor expansion of -0.5 in R
28.532 * [backup-simplify]: Simplify -0.5 into -0.5
28.532 * [taylor]: Taking taylor expansion of phi2 in R
28.532 * [backup-simplify]: Simplify phi2 into phi2
28.533 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
28.533 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
28.533 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
28.533 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in R
28.533 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R
28.533 * [taylor]: Taking taylor expansion of -0.5 in R
28.533 * [backup-simplify]: Simplify -0.5 into -0.5
28.533 * [taylor]: Taking taylor expansion of phi1 in R
28.533 * [backup-simplify]: Simplify phi1 into phi1
28.533 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
28.533 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
28.533 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
28.533 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in R
28.533 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in R
28.533 * [taylor]: Taking taylor expansion of lambda2 in R
28.533 * [backup-simplify]: Simplify lambda2 into lambda2
28.533 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
28.533 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in R
28.533 * [taylor]: Taking taylor expansion of lambda1 in R
28.533 * [backup-simplify]: Simplify lambda1 into lambda1
28.533 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1)
28.533 * [taylor]: Taking taylor expansion of (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) (- (/ 1 lambda2) (/ 1 lambda1))) in R
28.534 * [taylor]: Taking taylor expansion of (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in R
28.534 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in R
28.534 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in R
28.534 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R
28.534 * [taylor]: Taking taylor expansion of -0.5 in R
28.534 * [backup-simplify]: Simplify -0.5 into -0.5
28.534 * [taylor]: Taking taylor expansion of phi2 in R
28.534 * [backup-simplify]: Simplify phi2 into phi2
28.534 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
28.534 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
28.534 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
28.534 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in R
28.534 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R
28.534 * [taylor]: Taking taylor expansion of -0.5 in R
28.534 * [backup-simplify]: Simplify -0.5 into -0.5
28.534 * [taylor]: Taking taylor expansion of phi1 in R
28.534 * [backup-simplify]: Simplify phi1 into phi1
28.534 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
28.534 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
28.534 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
28.534 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in R
28.534 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in R
28.535 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R
28.535 * [taylor]: Taking taylor expansion of -0.5 in R
28.535 * [backup-simplify]: Simplify -0.5 into -0.5
28.535 * [taylor]: Taking taylor expansion of phi2 in R
28.535 * [backup-simplify]: Simplify phi2 into phi2
28.535 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
28.535 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
28.535 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
28.535 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in R
28.535 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R
28.535 * [taylor]: Taking taylor expansion of -0.5 in R
28.535 * [backup-simplify]: Simplify -0.5 into -0.5
28.535 * [taylor]: Taking taylor expansion of phi1 in R
28.535 * [backup-simplify]: Simplify phi1 into phi1
28.535 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
28.535 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
28.535 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
28.535 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in R
28.535 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in R
28.535 * [taylor]: Taking taylor expansion of lambda2 in R
28.535 * [backup-simplify]: Simplify lambda2 into lambda2
28.535 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
28.536 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in R
28.536 * [taylor]: Taking taylor expansion of lambda1 in R
28.536 * [backup-simplify]: Simplify lambda1 into lambda1
28.536 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1)
28.536 * [taylor]: Taking taylor expansion of (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1))) in R
28.536 * [taylor]: Taking taylor expansion of (- (/ 1 phi2) (/ 1 phi1)) in R
28.536 * [taylor]: Taking taylor expansion of (/ 1 phi2) in R
28.536 * [taylor]: Taking taylor expansion of phi2 in R
28.536 * [backup-simplify]: Simplify phi2 into phi2
28.536 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
28.536 * [taylor]: Taking taylor expansion of (/ 1 phi1) in R
28.536 * [taylor]: Taking taylor expansion of phi1 in R
28.536 * [backup-simplify]: Simplify phi1 into phi1
28.536 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
28.536 * [taylor]: Taking taylor expansion of (- (/ 1 phi2) (/ 1 phi1)) in R
28.536 * [taylor]: Taking taylor expansion of (/ 1 phi2) in R
28.536 * [taylor]: Taking taylor expansion of phi2 in R
28.536 * [backup-simplify]: Simplify phi2 into phi2
28.536 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
28.536 * [taylor]: Taking taylor expansion of (/ 1 phi1) in R
28.536 * [taylor]: Taking taylor expansion of phi1 in R
28.536 * [backup-simplify]: Simplify phi1 into phi1
28.536 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
28.536 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
28.537 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
28.537 * [backup-simplify]: Simplify (- 0) into 0
28.537 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
28.537 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
28.537 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
28.538 * [backup-simplify]: Simplify (- 0) into 0
28.538 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
28.538 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))
28.538 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
28.538 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
28.538 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
28.539 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
28.539 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
28.539 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
28.539 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))
28.539 * [backup-simplify]: Simplify (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) into (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))
28.540 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))
28.540 * [backup-simplify]: Simplify (- (/ 1 lambda1)) into (- (/ 1 lambda1))
28.540 * [backup-simplify]: Simplify (+ (/ 1 lambda2) (- (/ 1 lambda1))) into (- (/ 1 lambda2) (/ 1 lambda1))
28.540 * [backup-simplify]: Simplify (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) (- (/ 1 lambda2) (/ 1 lambda1))) into (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) (- (/ 1 lambda2) (/ 1 lambda1)))
28.540 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
28.540 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
28.541 * [backup-simplify]: Simplify (- 0) into 0
28.541 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
28.541 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
28.541 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
28.542 * [backup-simplify]: Simplify (- 0) into 0
28.542 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
28.542 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))
28.542 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
28.542 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
28.542 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
28.542 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
28.542 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
28.542 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
28.543 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))
28.543 * [backup-simplify]: Simplify (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) into (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))
28.543 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))
28.543 * [backup-simplify]: Simplify (- (/ 1 lambda1)) into (- (/ 1 lambda1))
28.543 * [backup-simplify]: Simplify (+ (/ 1 lambda2) (- (/ 1 lambda1))) into (- (/ 1 lambda2) (/ 1 lambda1))
28.544 * [backup-simplify]: Simplify (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) (- (/ 1 lambda2) (/ 1 lambda1))) into (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) (- (/ 1 lambda2) (/ 1 lambda1)))
28.545 * [backup-simplify]: Simplify (* (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) (- (/ 1 lambda2) (/ 1 lambda1))) (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) (- (/ 1 lambda2) (/ 1 lambda1)))) into (* (pow (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) 2) (pow (- (/ 1 lambda2) (/ 1 lambda1)) 2))
28.545 * [backup-simplify]: Simplify (- (/ 1 phi1)) into (- (/ 1 phi1))
28.545 * [backup-simplify]: Simplify (+ (/ 1 phi2) (- (/ 1 phi1))) into (- (/ 1 phi2) (/ 1 phi1))
28.545 * [backup-simplify]: Simplify (- (/ 1 phi1)) into (- (/ 1 phi1))
28.545 * [backup-simplify]: Simplify (+ (/ 1 phi2) (- (/ 1 phi1))) into (- (/ 1 phi2) (/ 1 phi1))
28.545 * [backup-simplify]: Simplify (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1))) into (pow (- (/ 1 phi2) (/ 1 phi1)) 2)
28.547 * [backup-simplify]: Simplify (+ (* (pow (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) 2) (pow (- (/ 1 lambda2) (/ 1 lambda1)) 2)) (pow (- (/ 1 phi2) (/ 1 phi1)) 2)) into (- (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (* 2 (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* lambda2 lambda1))) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (* 2 (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* lambda2 lambda1))) (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2))))))))) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* lambda1 lambda2))) (+ (* 2 (/ 1 (* phi1 phi2))) (+ (* 2 (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* lambda2 lambda1))) (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)))))))))
28.563 * [backup-simplify]: Simplify (sqrt (- (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (* 2 (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* lambda2 lambda1))) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (* 2 (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* lambda2 lambda1))) (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2))))))))) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* lambda1 lambda2))) (+ (* 2 (/ 1 (* phi1 phi2))) (+ (* 2 (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* lambda2 lambda1))) (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)))))))))) into (sqrt (- (+ (* 4 (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* lambda2 lambda1))) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)))))))) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ 1 (* phi1 phi2))) (+ (* 2 (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* lambda2 lambda1))) (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (+ (* 2 (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* lambda2 lambda1))) (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2))))))))))
28.563 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)))) into 0
28.564 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda1) (/ 0 lambda1)))) into 0
28.564 * [backup-simplify]: Simplify (- 0) into 0
28.564 * [backup-simplify]: Simplify (+ 0 0) into 0
28.564 * [backup-simplify]: Simplify (+ 0) into 0
28.565 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
28.565 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
28.565 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
28.566 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
28.566 * [backup-simplify]: Simplify (- 0) into 0
28.566 * [backup-simplify]: Simplify (+ 0 0) into 0
28.566 * [backup-simplify]: Simplify (+ 0) into 0
28.567 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
28.567 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
28.567 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
28.567 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
28.568 * [backup-simplify]: Simplify (- 0) into 0
28.568 * [backup-simplify]: Simplify (+ 0 0) into 0
28.568 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
28.568 * [backup-simplify]: Simplify (+ 0) into 0
28.569 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
28.569 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
28.569 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
28.569 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
28.570 * [backup-simplify]: Simplify (+ 0 0) into 0
28.570 * [backup-simplify]: Simplify (+ 0) into 0
28.570 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
28.570 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
28.571 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
28.571 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
28.571 * [backup-simplify]: Simplify (+ 0 0) into 0
28.571 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
28.572 * [backup-simplify]: Simplify (- 0) into 0
28.572 * [backup-simplify]: Simplify (+ 0 0) into 0
28.572 * [backup-simplify]: Simplify (+ (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) 0) (* 0 (- (/ 1 lambda2) (/ 1 lambda1)))) into 0
28.572 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)))) into 0
28.572 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda1) (/ 0 lambda1)))) into 0
28.573 * [backup-simplify]: Simplify (- 0) into 0
28.573 * [backup-simplify]: Simplify (+ 0 0) into 0
28.573 * [backup-simplify]: Simplify (+ 0) into 0
28.573 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
28.573 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
28.574 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
28.574 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
28.574 * [backup-simplify]: Simplify (- 0) into 0
28.575 * [backup-simplify]: Simplify (+ 0 0) into 0
28.575 * [backup-simplify]: Simplify (+ 0) into 0
28.575 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
28.575 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
28.576 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
28.576 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
28.576 * [backup-simplify]: Simplify (- 0) into 0
28.576 * [backup-simplify]: Simplify (+ 0 0) into 0
28.577 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
28.577 * [backup-simplify]: Simplify (+ 0) into 0
28.577 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
28.577 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
28.578 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
28.578 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
28.578 * [backup-simplify]: Simplify (+ 0 0) into 0
28.579 * [backup-simplify]: Simplify (+ 0) into 0
28.579 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
28.579 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
28.579 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
28.580 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
28.580 * [backup-simplify]: Simplify (+ 0 0) into 0
28.580 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
28.580 * [backup-simplify]: Simplify (- 0) into 0
28.581 * [backup-simplify]: Simplify (+ 0 0) into 0
28.581 * [backup-simplify]: Simplify (+ (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) 0) (* 0 (- (/ 1 lambda2) (/ 1 lambda1)))) into 0
28.581 * [backup-simplify]: Simplify (+ (* (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) (- (/ 1 lambda2) (/ 1 lambda1))) 0) (* 0 (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) (- (/ 1 lambda2) (/ 1 lambda1))))) into 0
28.581 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
28.582 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
28.582 * [backup-simplify]: Simplify (- 0) into 0
28.582 * [backup-simplify]: Simplify (+ 0 0) into 0
28.582 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
28.582 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
28.582 * [backup-simplify]: Simplify (- 0) into 0
28.583 * [backup-simplify]: Simplify (+ 0 0) into 0
28.583 * [backup-simplify]: Simplify (+ (* (- (/ 1 phi2) (/ 1 phi1)) 0) (* 0 (- (/ 1 phi2) (/ 1 phi1)))) into 0
28.583 * [backup-simplify]: Simplify (+ 0 0) into 0
28.590 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (- (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (* 2 (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* lambda2 lambda1))) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (* 2 (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* lambda2 lambda1))) (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2))))))))) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* lambda1 lambda2))) (+ (* 2 (/ 1 (* phi1 phi2))) (+ (* 2 (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* lambda2 lambda1))) (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)))))))))))) into 0
28.590 * [taylor]: Taking taylor expansion of R in R
28.590 * [backup-simplify]: Simplify 0 into 0
28.590 * [backup-simplify]: Simplify 1 into 1
28.597 * [backup-simplify]: Simplify (/ (sqrt (- (+ (* 4 (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* lambda2 lambda1))) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)))))))) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ 1 (* phi1 phi2))) (+ (* 2 (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* lambda2 lambda1))) (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (+ (* 2 (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* lambda2 lambda1))) (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)))))))))) 1) into (sqrt (- (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (* 4 (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* lambda2 lambda1))) (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)))))))) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (+ (* 2 (/ 1 (* phi1 phi2))) (+ (* 2 (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* lambda2 lambda1))) (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (* 2 (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* lambda2 lambda1)))))))))))
28.597 * [taylor]: Taking taylor expansion of (* -1 (/ (hypot (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) (- (/ 1 lambda2) (/ 1 lambda1))) (- (/ 1 phi2) (/ 1 phi1))) R)) in phi2
28.597 * [taylor]: Taking taylor expansion of -1 in phi2
28.597 * [backup-simplify]: Simplify -1 into -1
28.597 * [taylor]: Taking taylor expansion of (/ (hypot (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) (- (/ 1 lambda2) (/ 1 lambda1))) (- (/ 1 phi2) (/ 1 phi1))) R) in phi2
28.597 * [taylor]: Taking taylor expansion of (hypot (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) (- (/ 1 lambda2) (/ 1 lambda1))) (- (/ 1 phi2) (/ 1 phi1))) in phi2
28.597 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) (- (/ 1 lambda2) (/ 1 lambda1))) (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) (- (/ 1 lambda2) (/ 1 lambda1)))) (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1)))))
28.597 * [taylor]: Taking taylor expansion of (+ (* (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) (- (/ 1 lambda2) (/ 1 lambda1))) (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) (- (/ 1 lambda2) (/ 1 lambda1)))) (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1)))) in phi2
28.597 * [taylor]: Taking taylor expansion of (* (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) (- (/ 1 lambda2) (/ 1 lambda1))) (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) (- (/ 1 lambda2) (/ 1 lambda1)))) in phi2
28.597 * [taylor]: Taking taylor expansion of (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) (- (/ 1 lambda2) (/ 1 lambda1))) in phi2
28.597 * [taylor]: Taking taylor expansion of (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in phi2
28.597 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in phi2
28.597 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
28.597 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
28.597 * [taylor]: Taking taylor expansion of -0.5 in phi2
28.597 * [backup-simplify]: Simplify -0.5 into -0.5
28.597 * [taylor]: Taking taylor expansion of phi2 in phi2
28.597 * [backup-simplify]: Simplify 0 into 0
28.597 * [backup-simplify]: Simplify 1 into 1
28.598 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
28.598 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
28.598 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
28.598 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
28.598 * [taylor]: Taking taylor expansion of -0.5 in phi2
28.598 * [backup-simplify]: Simplify -0.5 into -0.5
28.598 * [taylor]: Taking taylor expansion of phi1 in phi2
28.598 * [backup-simplify]: Simplify phi1 into phi1
28.598 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
28.598 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
28.598 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
28.598 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi2
28.598 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
28.598 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
28.598 * [taylor]: Taking taylor expansion of -0.5 in phi2
28.598 * [backup-simplify]: Simplify -0.5 into -0.5
28.598 * [taylor]: Taking taylor expansion of phi2 in phi2
28.598 * [backup-simplify]: Simplify 0 into 0
28.598 * [backup-simplify]: Simplify 1 into 1
28.599 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
28.599 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
28.599 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
28.599 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
28.599 * [taylor]: Taking taylor expansion of -0.5 in phi2
28.599 * [backup-simplify]: Simplify -0.5 into -0.5
28.599 * [taylor]: Taking taylor expansion of phi1 in phi2
28.599 * [backup-simplify]: Simplify phi1 into phi1
28.599 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
28.599 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
28.599 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
28.599 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in phi2
28.599 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in phi2
28.599 * [taylor]: Taking taylor expansion of lambda2 in phi2
28.599 * [backup-simplify]: Simplify lambda2 into lambda2
28.599 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
28.599 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in phi2
28.599 * [taylor]: Taking taylor expansion of lambda1 in phi2
28.599 * [backup-simplify]: Simplify lambda1 into lambda1
28.599 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1)
28.599 * [taylor]: Taking taylor expansion of (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) (- (/ 1 lambda2) (/ 1 lambda1))) in phi2
28.599 * [taylor]: Taking taylor expansion of (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in phi2
28.599 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in phi2
28.599 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
28.599 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
28.599 * [taylor]: Taking taylor expansion of -0.5 in phi2
28.599 * [backup-simplify]: Simplify -0.5 into -0.5
28.599 * [taylor]: Taking taylor expansion of phi2 in phi2
28.599 * [backup-simplify]: Simplify 0 into 0
28.599 * [backup-simplify]: Simplify 1 into 1
28.599 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
28.600 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
28.600 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
28.600 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
28.600 * [taylor]: Taking taylor expansion of -0.5 in phi2
28.600 * [backup-simplify]: Simplify -0.5 into -0.5
28.600 * [taylor]: Taking taylor expansion of phi1 in phi2
28.600 * [backup-simplify]: Simplify phi1 into phi1
28.600 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
28.600 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
28.600 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
28.600 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi2
28.600 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
28.600 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
28.600 * [taylor]: Taking taylor expansion of -0.5 in phi2
28.600 * [backup-simplify]: Simplify -0.5 into -0.5
28.600 * [taylor]: Taking taylor expansion of phi2 in phi2
28.600 * [backup-simplify]: Simplify 0 into 0
28.600 * [backup-simplify]: Simplify 1 into 1
28.600 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
28.600 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
28.600 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
28.600 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
28.600 * [taylor]: Taking taylor expansion of -0.5 in phi2
28.600 * [backup-simplify]: Simplify -0.5 into -0.5
28.600 * [taylor]: Taking taylor expansion of phi1 in phi2
28.600 * [backup-simplify]: Simplify phi1 into phi1
28.600 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
28.600 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
28.601 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
28.601 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in phi2
28.601 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in phi2
28.601 * [taylor]: Taking taylor expansion of lambda2 in phi2
28.601 * [backup-simplify]: Simplify lambda2 into lambda2
28.601 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
28.601 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in phi2
28.601 * [taylor]: Taking taylor expansion of lambda1 in phi2
28.601 * [backup-simplify]: Simplify lambda1 into lambda1
28.601 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1)
28.601 * [taylor]: Taking taylor expansion of (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1))) in phi2
28.601 * [taylor]: Taking taylor expansion of (- (/ 1 phi2) (/ 1 phi1)) in phi2
28.601 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
28.601 * [taylor]: Taking taylor expansion of phi2 in phi2
28.601 * [backup-simplify]: Simplify 0 into 0
28.601 * [backup-simplify]: Simplify 1 into 1
28.601 * [backup-simplify]: Simplify (/ 1 1) into 1
28.601 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
28.601 * [taylor]: Taking taylor expansion of phi1 in phi2
28.601 * [backup-simplify]: Simplify phi1 into phi1
28.601 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
28.601 * [taylor]: Taking taylor expansion of (- (/ 1 phi2) (/ 1 phi1)) in phi2
28.601 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
28.601 * [taylor]: Taking taylor expansion of phi2 in phi2
28.601 * [backup-simplify]: Simplify 0 into 0
28.601 * [backup-simplify]: Simplify 1 into 1
28.601 * [backup-simplify]: Simplify (/ 1 1) into 1
28.601 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
28.602 * [taylor]: Taking taylor expansion of phi1 in phi2
28.602 * [backup-simplify]: Simplify phi1 into phi1
28.602 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
28.602 * [backup-simplify]: Simplify (+ 1 0) into 1
28.602 * [backup-simplify]: Simplify (+ 1 0) into 1
28.602 * [backup-simplify]: Simplify (* 1 1) into 1
28.603 * [backup-simplify]: Simplify (+ 0 1) into 1
28.603 * [backup-simplify]: Simplify (sqrt 1) into 1
28.603 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
28.603 * [backup-simplify]: Simplify (- (/ 1 phi1)) into (- (/ 1 phi1))
28.603 * [backup-simplify]: Simplify (+ 0 (- (/ 1 phi1))) into (- (/ 1 phi1))
28.604 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
28.604 * [backup-simplify]: Simplify (- (/ 1 phi1)) into (- (/ 1 phi1))
28.604 * [backup-simplify]: Simplify (+ 0 (- (/ 1 phi1))) into (- (/ 1 phi1))
28.604 * [backup-simplify]: Simplify (+ (* 1 (- (/ 1 phi1))) (* (- (/ 1 phi1)) 1)) into (- (* 2 (/ 1 phi1)))
28.604 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi1)))) into (- (* 2 (/ 1 phi1)))
28.604 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi1))) (* 2 (sqrt 1))) into (/ -1 phi1)
28.604 * [taylor]: Taking taylor expansion of R in phi2
28.604 * [backup-simplify]: Simplify R into R
28.605 * [backup-simplify]: Simplify (/ 1 R) into (/ 1 R)
28.605 * [taylor]: Taking taylor expansion of (* -1 (/ (hypot (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) (- (/ 1 lambda2) (/ 1 lambda1))) (- (/ 1 phi2) (/ 1 phi1))) R)) in phi1
28.605 * [taylor]: Taking taylor expansion of -1 in phi1
28.605 * [backup-simplify]: Simplify -1 into -1
28.605 * [taylor]: Taking taylor expansion of (/ (hypot (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) (- (/ 1 lambda2) (/ 1 lambda1))) (- (/ 1 phi2) (/ 1 phi1))) R) in phi1
28.605 * [taylor]: Taking taylor expansion of (hypot (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) (- (/ 1 lambda2) (/ 1 lambda1))) (- (/ 1 phi2) (/ 1 phi1))) in phi1
28.605 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) (- (/ 1 lambda2) (/ 1 lambda1))) (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) (- (/ 1 lambda2) (/ 1 lambda1)))) (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1)))))
28.605 * [taylor]: Taking taylor expansion of (+ (* (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) (- (/ 1 lambda2) (/ 1 lambda1))) (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) (- (/ 1 lambda2) (/ 1 lambda1)))) (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1)))) in phi1
28.605 * [taylor]: Taking taylor expansion of (* (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) (- (/ 1 lambda2) (/ 1 lambda1))) (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) (- (/ 1 lambda2) (/ 1 lambda1)))) in phi1
28.605 * [taylor]: Taking taylor expansion of (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) (- (/ 1 lambda2) (/ 1 lambda1))) in phi1
28.605 * [taylor]: Taking taylor expansion of (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in phi1
28.605 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in phi1
28.605 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
28.605 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
28.605 * [taylor]: Taking taylor expansion of -0.5 in phi1
28.605 * [backup-simplify]: Simplify -0.5 into -0.5
28.605 * [taylor]: Taking taylor expansion of phi2 in phi1
28.605 * [backup-simplify]: Simplify phi2 into phi2
28.605 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
28.605 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
28.605 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
28.605 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
28.605 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
28.605 * [taylor]: Taking taylor expansion of -0.5 in phi1
28.605 * [backup-simplify]: Simplify -0.5 into -0.5
28.605 * [taylor]: Taking taylor expansion of phi1 in phi1
28.605 * [backup-simplify]: Simplify 0 into 0
28.605 * [backup-simplify]: Simplify 1 into 1
28.606 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
28.606 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
28.606 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi1
28.606 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
28.606 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
28.606 * [taylor]: Taking taylor expansion of -0.5 in phi1
28.606 * [backup-simplify]: Simplify -0.5 into -0.5
28.606 * [taylor]: Taking taylor expansion of phi2 in phi1
28.606 * [backup-simplify]: Simplify phi2 into phi2
28.606 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
28.606 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
28.606 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
28.606 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
28.606 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
28.606 * [taylor]: Taking taylor expansion of -0.5 in phi1
28.606 * [backup-simplify]: Simplify -0.5 into -0.5
28.606 * [taylor]: Taking taylor expansion of phi1 in phi1
28.606 * [backup-simplify]: Simplify 0 into 0
28.606 * [backup-simplify]: Simplify 1 into 1
28.607 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
28.607 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
28.607 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in phi1
28.607 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in phi1
28.607 * [taylor]: Taking taylor expansion of lambda2 in phi1
28.607 * [backup-simplify]: Simplify lambda2 into lambda2
28.607 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
28.607 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in phi1
28.607 * [taylor]: Taking taylor expansion of lambda1 in phi1
28.607 * [backup-simplify]: Simplify lambda1 into lambda1
28.607 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1)
28.607 * [taylor]: Taking taylor expansion of (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) (- (/ 1 lambda2) (/ 1 lambda1))) in phi1
28.607 * [taylor]: Taking taylor expansion of (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in phi1
28.607 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in phi1
28.607 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
28.607 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
28.607 * [taylor]: Taking taylor expansion of -0.5 in phi1
28.608 * [backup-simplify]: Simplify -0.5 into -0.5
28.608 * [taylor]: Taking taylor expansion of phi2 in phi1
28.608 * [backup-simplify]: Simplify phi2 into phi2
28.608 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
28.608 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
28.608 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
28.608 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
28.608 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
28.608 * [taylor]: Taking taylor expansion of -0.5 in phi1
28.608 * [backup-simplify]: Simplify -0.5 into -0.5
28.608 * [taylor]: Taking taylor expansion of phi1 in phi1
28.608 * [backup-simplify]: Simplify 0 into 0
28.608 * [backup-simplify]: Simplify 1 into 1
28.608 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
28.609 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
28.609 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi1
28.609 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
28.609 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
28.609 * [taylor]: Taking taylor expansion of -0.5 in phi1
28.609 * [backup-simplify]: Simplify -0.5 into -0.5
28.609 * [taylor]: Taking taylor expansion of phi2 in phi1
28.609 * [backup-simplify]: Simplify phi2 into phi2
28.609 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
28.609 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
28.609 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
28.609 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
28.609 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
28.609 * [taylor]: Taking taylor expansion of -0.5 in phi1
28.609 * [backup-simplify]: Simplify -0.5 into -0.5
28.609 * [taylor]: Taking taylor expansion of phi1 in phi1
28.609 * [backup-simplify]: Simplify 0 into 0
28.609 * [backup-simplify]: Simplify 1 into 1
28.610 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
28.610 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
28.610 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in phi1
28.610 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in phi1
28.610 * [taylor]: Taking taylor expansion of lambda2 in phi1
28.610 * [backup-simplify]: Simplify lambda2 into lambda2
28.610 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
28.610 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in phi1
28.610 * [taylor]: Taking taylor expansion of lambda1 in phi1
28.610 * [backup-simplify]: Simplify lambda1 into lambda1
28.610 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1)
28.610 * [taylor]: Taking taylor expansion of (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1))) in phi1
28.610 * [taylor]: Taking taylor expansion of (- (/ 1 phi2) (/ 1 phi1)) in phi1
28.610 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
28.610 * [taylor]: Taking taylor expansion of phi2 in phi1
28.611 * [backup-simplify]: Simplify phi2 into phi2
28.611 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
28.611 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
28.611 * [taylor]: Taking taylor expansion of phi1 in phi1
28.611 * [backup-simplify]: Simplify 0 into 0
28.611 * [backup-simplify]: Simplify 1 into 1
28.611 * [backup-simplify]: Simplify (/ 1 1) into 1
28.611 * [taylor]: Taking taylor expansion of (- (/ 1 phi2) (/ 1 phi1)) in phi1
28.611 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
28.611 * [taylor]: Taking taylor expansion of phi2 in phi1
28.611 * [backup-simplify]: Simplify phi2 into phi2
28.611 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
28.611 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
28.611 * [taylor]: Taking taylor expansion of phi1 in phi1
28.611 * [backup-simplify]: Simplify 0 into 0
28.611 * [backup-simplify]: Simplify 1 into 1
28.612 * [backup-simplify]: Simplify (/ 1 1) into 1
28.612 * [backup-simplify]: Simplify (- 1) into -1
28.613 * [backup-simplify]: Simplify (+ 0 -1) into -1
28.613 * [backup-simplify]: Simplify (- 1) into -1
28.613 * [backup-simplify]: Simplify (+ 0 -1) into -1
28.614 * [backup-simplify]: Simplify (* -1 -1) into 1
28.614 * [backup-simplify]: Simplify (+ 0 1) into 1
28.614 * [backup-simplify]: Simplify (sqrt 1) into 1
28.615 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
28.616 * [backup-simplify]: Simplify (- 0) into 0
28.616 * [backup-simplify]: Simplify (+ (/ 1 phi2) 0) into (/ 1 phi2)
28.616 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
28.617 * [backup-simplify]: Simplify (- 0) into 0
28.617 * [backup-simplify]: Simplify (+ (/ 1 phi2) 0) into (/ 1 phi2)
28.617 * [backup-simplify]: Simplify (+ (* -1 (/ 1 phi2)) (* (/ 1 phi2) -1)) into (- (* 2 (/ 1 phi2)))
28.617 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2)))
28.618 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi2))) (* 2 (sqrt 1))) into (/ -1 phi2)
28.618 * [taylor]: Taking taylor expansion of R in phi1
28.618 * [backup-simplify]: Simplify R into R
28.618 * [backup-simplify]: Simplify (/ 1 R) into (/ 1 R)
28.618 * [taylor]: Taking taylor expansion of (* -1 (/ (hypot (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) (- (/ 1 lambda2) (/ 1 lambda1))) (- (/ 1 phi2) (/ 1 phi1))) R)) in lambda2
28.618 * [taylor]: Taking taylor expansion of -1 in lambda2
28.618 * [backup-simplify]: Simplify -1 into -1
28.618 * [taylor]: Taking taylor expansion of (/ (hypot (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) (- (/ 1 lambda2) (/ 1 lambda1))) (- (/ 1 phi2) (/ 1 phi1))) R) in lambda2
28.618 * [taylor]: Taking taylor expansion of (hypot (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) (- (/ 1 lambda2) (/ 1 lambda1))) (- (/ 1 phi2) (/ 1 phi1))) in lambda2
28.618 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) (- (/ 1 lambda2) (/ 1 lambda1))) (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) (- (/ 1 lambda2) (/ 1 lambda1)))) (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1)))))
28.618 * [taylor]: Taking taylor expansion of (+ (* (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) (- (/ 1 lambda2) (/ 1 lambda1))) (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) (- (/ 1 lambda2) (/ 1 lambda1)))) (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1)))) in lambda2
28.618 * [taylor]: Taking taylor expansion of (* (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) (- (/ 1 lambda2) (/ 1 lambda1))) (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) (- (/ 1 lambda2) (/ 1 lambda1)))) in lambda2
28.618 * [taylor]: Taking taylor expansion of (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) (- (/ 1 lambda2) (/ 1 lambda1))) in lambda2
28.618 * [taylor]: Taking taylor expansion of (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in lambda2
28.618 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in lambda2
28.618 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
28.618 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
28.618 * [taylor]: Taking taylor expansion of -0.5 in lambda2
28.619 * [backup-simplify]: Simplify -0.5 into -0.5
28.619 * [taylor]: Taking taylor expansion of phi2 in lambda2
28.619 * [backup-simplify]: Simplify phi2 into phi2
28.619 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
28.619 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
28.619 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
28.619 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
28.619 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
28.619 * [taylor]: Taking taylor expansion of -0.5 in lambda2
28.619 * [backup-simplify]: Simplify -0.5 into -0.5
28.619 * [taylor]: Taking taylor expansion of phi1 in lambda2
28.619 * [backup-simplify]: Simplify phi1 into phi1
28.619 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
28.619 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
28.619 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
28.619 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in lambda2
28.619 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
28.619 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
28.619 * [taylor]: Taking taylor expansion of -0.5 in lambda2
28.619 * [backup-simplify]: Simplify -0.5 into -0.5
28.619 * [taylor]: Taking taylor expansion of phi2 in lambda2
28.619 * [backup-simplify]: Simplify phi2 into phi2
28.619 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
28.620 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
28.620 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
28.620 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
28.620 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
28.620 * [taylor]: Taking taylor expansion of -0.5 in lambda2
28.620 * [backup-simplify]: Simplify -0.5 into -0.5
28.620 * [taylor]: Taking taylor expansion of phi1 in lambda2
28.620 * [backup-simplify]: Simplify phi1 into phi1
28.620 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
28.620 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
28.620 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
28.620 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in lambda2
28.620 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda2
28.620 * [taylor]: Taking taylor expansion of lambda2 in lambda2
28.620 * [backup-simplify]: Simplify 0 into 0
28.620 * [backup-simplify]: Simplify 1 into 1
28.621 * [backup-simplify]: Simplify (/ 1 1) into 1
28.621 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda2
28.621 * [taylor]: Taking taylor expansion of lambda1 in lambda2
28.621 * [backup-simplify]: Simplify lambda1 into lambda1
28.621 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1)
28.621 * [taylor]: Taking taylor expansion of (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) (- (/ 1 lambda2) (/ 1 lambda1))) in lambda2
28.621 * [taylor]: Taking taylor expansion of (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in lambda2
28.621 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in lambda2
28.621 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
28.621 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
28.621 * [taylor]: Taking taylor expansion of -0.5 in lambda2
28.621 * [backup-simplify]: Simplify -0.5 into -0.5
28.621 * [taylor]: Taking taylor expansion of phi2 in lambda2
28.621 * [backup-simplify]: Simplify phi2 into phi2
28.621 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
28.621 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
28.621 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
28.621 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
28.621 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
28.621 * [taylor]: Taking taylor expansion of -0.5 in lambda2
28.621 * [backup-simplify]: Simplify -0.5 into -0.5
28.621 * [taylor]: Taking taylor expansion of phi1 in lambda2
28.622 * [backup-simplify]: Simplify phi1 into phi1
28.622 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
28.622 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
28.622 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
28.622 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in lambda2
28.622 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
28.622 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
28.622 * [taylor]: Taking taylor expansion of -0.5 in lambda2
28.622 * [backup-simplify]: Simplify -0.5 into -0.5
28.622 * [taylor]: Taking taylor expansion of phi2 in lambda2
28.622 * [backup-simplify]: Simplify phi2 into phi2
28.622 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
28.622 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
28.622 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
28.622 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
28.622 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
28.622 * [taylor]: Taking taylor expansion of -0.5 in lambda2
28.622 * [backup-simplify]: Simplify -0.5 into -0.5
28.622 * [taylor]: Taking taylor expansion of phi1 in lambda2
28.622 * [backup-simplify]: Simplify phi1 into phi1
28.622 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
28.622 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
28.623 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
28.623 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in lambda2
28.623 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda2
28.623 * [taylor]: Taking taylor expansion of lambda2 in lambda2
28.623 * [backup-simplify]: Simplify 0 into 0
28.623 * [backup-simplify]: Simplify 1 into 1
28.623 * [backup-simplify]: Simplify (/ 1 1) into 1
28.623 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda2
28.623 * [taylor]: Taking taylor expansion of lambda1 in lambda2
28.623 * [backup-simplify]: Simplify lambda1 into lambda1
28.623 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1)
28.623 * [taylor]: Taking taylor expansion of (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1))) in lambda2
28.623 * [taylor]: Taking taylor expansion of (- (/ 1 phi2) (/ 1 phi1)) in lambda2
28.623 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
28.623 * [taylor]: Taking taylor expansion of phi2 in lambda2
28.623 * [backup-simplify]: Simplify phi2 into phi2
28.624 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
28.624 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
28.624 * [taylor]: Taking taylor expansion of phi1 in lambda2
28.624 * [backup-simplify]: Simplify phi1 into phi1
28.624 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
28.624 * [taylor]: Taking taylor expansion of (- (/ 1 phi2) (/ 1 phi1)) in lambda2
28.624 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
28.624 * [taylor]: Taking taylor expansion of phi2 in lambda2
28.624 * [backup-simplify]: Simplify phi2 into phi2
28.624 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
28.624 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
28.624 * [taylor]: Taking taylor expansion of phi1 in lambda2
28.624 * [backup-simplify]: Simplify phi1 into phi1
28.624 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
28.624 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
28.624 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
28.625 * [backup-simplify]: Simplify (- 0) into 0
28.625 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
28.625 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
28.625 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
28.625 * [backup-simplify]: Simplify (- 0) into 0
28.625 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
28.626 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))
28.626 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
28.626 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
28.626 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
28.626 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
28.626 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
28.626 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
28.626 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))
28.627 * [backup-simplify]: Simplify (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) into (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))
28.627 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))
28.627 * [backup-simplify]: Simplify (+ 1 0) into 1
28.628 * [backup-simplify]: Simplify (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) 1) into (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))
28.628 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
28.628 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
28.628 * [backup-simplify]: Simplify (- 0) into 0
28.628 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
28.629 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
28.629 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
28.629 * [backup-simplify]: Simplify (- 0) into 0
28.629 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
28.630 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))
28.630 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
28.630 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
28.630 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
28.630 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
28.630 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
28.630 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
28.630 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))
28.631 * [backup-simplify]: Simplify (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) into (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))
28.631 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))
28.631 * [backup-simplify]: Simplify (+ 1 0) into 1
28.632 * [backup-simplify]: Simplify (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) 1) into (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))
28.632 * [backup-simplify]: Simplify (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (pow (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) 2)
28.633 * [backup-simplify]: Simplify (+ (pow (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) 2) 0) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
28.635 * [backup-simplify]: Simplify (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))
28.636 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
28.636 * [backup-simplify]: Simplify (- (/ 1 lambda1)) into (- (/ 1 lambda1))
28.636 * [backup-simplify]: Simplify (+ 0 (- (/ 1 lambda1))) into (- (/ 1 lambda1))
28.636 * [backup-simplify]: Simplify (+ 0) into 0
28.637 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
28.637 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
28.638 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
28.638 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
28.639 * [backup-simplify]: Simplify (- 0) into 0
28.639 * [backup-simplify]: Simplify (+ 0 0) into 0
28.640 * [backup-simplify]: Simplify (+ 0) into 0
28.640 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
28.640 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
28.641 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
28.641 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
28.642 * [backup-simplify]: Simplify (- 0) into 0
28.642 * [backup-simplify]: Simplify (+ 0 0) into 0
28.642 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
28.643 * [backup-simplify]: Simplify (+ 0) into 0
28.643 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
28.644 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
28.644 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
28.645 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
28.645 * [backup-simplify]: Simplify (+ 0 0) into 0
28.645 * [backup-simplify]: Simplify (+ 0) into 0
28.646 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
28.646 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
28.646 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
28.647 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
28.647 * [backup-simplify]: Simplify (+ 0 0) into 0
28.647 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
28.647 * [backup-simplify]: Simplify (- 0) into 0
28.647 * [backup-simplify]: Simplify (+ 0 0) into 0
28.648 * [backup-simplify]: Simplify (+ (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) (- (/ 1 lambda1))) (* 0 1)) into (- (/ (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) lambda1) (/ (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) lambda1))
28.648 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
28.649 * [backup-simplify]: Simplify (- (/ 1 lambda1)) into (- (/ 1 lambda1))
28.649 * [backup-simplify]: Simplify (+ 0 (- (/ 1 lambda1))) into (- (/ 1 lambda1))
28.649 * [backup-simplify]: Simplify (+ 0) into 0
28.649 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
28.649 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
28.650 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
28.650 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
28.650 * [backup-simplify]: Simplify (- 0) into 0
28.650 * [backup-simplify]: Simplify (+ 0 0) into 0
28.651 * [backup-simplify]: Simplify (+ 0) into 0
28.651 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
28.651 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
28.652 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
28.652 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
28.652 * [backup-simplify]: Simplify (- 0) into 0
28.652 * [backup-simplify]: Simplify (+ 0 0) into 0
28.652 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
28.653 * [backup-simplify]: Simplify (+ 0) into 0
28.653 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
28.653 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
28.654 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
28.654 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
28.654 * [backup-simplify]: Simplify (+ 0 0) into 0
28.654 * [backup-simplify]: Simplify (+ 0) into 0
28.655 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
28.655 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
28.655 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
28.655 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
28.656 * [backup-simplify]: Simplify (+ 0 0) into 0
28.656 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
28.656 * [backup-simplify]: Simplify (- 0) into 0
28.656 * [backup-simplify]: Simplify (+ 0 0) into 0
28.657 * [backup-simplify]: Simplify (+ (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) (- (/ 1 lambda1))) (* 0 1)) into (- (/ (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) lambda1) (/ (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) lambda1))
28.658 * [backup-simplify]: Simplify (+ (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) (- (/ (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) lambda1) (/ (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) lambda1))) (* (- (/ (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) lambda1) (/ (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) lambda1)) (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into (- (+ (* 2 (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) lambda1)) (* 2 (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) lambda1))) (+ (* 2 (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) lambda1)) (* 2 (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) lambda1))))
28.659 * [backup-simplify]: Simplify (+ (- (+ (* 2 (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) lambda1)) (* 2 (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) lambda1))) (+ (* 2 (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) lambda1)) (* 2 (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) lambda1)))) 0) into (- (+ (* 2 (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) lambda1)) (* 2 (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) lambda1))) (+ (* 2 (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) lambda1)) (* 2 (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) lambda1))))
28.662 * [backup-simplify]: Simplify (/ (- (+ (* 2 (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) lambda1)) (* 2 (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) lambda1))) (+ (* 2 (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) lambda1)) (* 2 (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) lambda1)))) (* 2 (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) into (* 1/2 (* (- (+ (* 2 (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) lambda1)) (* 2 (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) lambda1))) (+ (* 2 (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) lambda1)) (* 2 (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) lambda1)))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))))
28.662 * [taylor]: Taking taylor expansion of R in lambda2
28.662 * [backup-simplify]: Simplify R into R
28.663 * [backup-simplify]: Simplify (/ (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) R) into (* (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (/ 1 R))
28.663 * [taylor]: Taking taylor expansion of (* -1 (/ (hypot (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) (- (/ 1 lambda2) (/ 1 lambda1))) (- (/ 1 phi2) (/ 1 phi1))) R)) in lambda1
28.663 * [taylor]: Taking taylor expansion of -1 in lambda1
28.663 * [backup-simplify]: Simplify -1 into -1
28.663 * [taylor]: Taking taylor expansion of (/ (hypot (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) (- (/ 1 lambda2) (/ 1 lambda1))) (- (/ 1 phi2) (/ 1 phi1))) R) in lambda1
28.663 * [taylor]: Taking taylor expansion of (hypot (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) (- (/ 1 lambda2) (/ 1 lambda1))) (- (/ 1 phi2) (/ 1 phi1))) in lambda1
28.663 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) (- (/ 1 lambda2) (/ 1 lambda1))) (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) (- (/ 1 lambda2) (/ 1 lambda1)))) (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1)))))
28.663 * [taylor]: Taking taylor expansion of (+ (* (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) (- (/ 1 lambda2) (/ 1 lambda1))) (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) (- (/ 1 lambda2) (/ 1 lambda1)))) (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1)))) in lambda1
28.663 * [taylor]: Taking taylor expansion of (* (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) (- (/ 1 lambda2) (/ 1 lambda1))) (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) (- (/ 1 lambda2) (/ 1 lambda1)))) in lambda1
28.663 * [taylor]: Taking taylor expansion of (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) (- (/ 1 lambda2) (/ 1 lambda1))) in lambda1
28.663 * [taylor]: Taking taylor expansion of (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in lambda1
28.663 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in lambda1
28.663 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1
28.663 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1
28.663 * [taylor]: Taking taylor expansion of -0.5 in lambda1
28.663 * [backup-simplify]: Simplify -0.5 into -0.5
28.663 * [taylor]: Taking taylor expansion of phi2 in lambda1
28.663 * [backup-simplify]: Simplify phi2 into phi2
28.663 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
28.663 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
28.663 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
28.664 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1
28.664 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1
28.664 * [taylor]: Taking taylor expansion of -0.5 in lambda1
28.664 * [backup-simplify]: Simplify -0.5 into -0.5
28.664 * [taylor]: Taking taylor expansion of phi1 in lambda1
28.664 * [backup-simplify]: Simplify phi1 into phi1
28.664 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
28.664 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
28.664 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
28.664 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in lambda1
28.664 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1
28.664 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1
28.664 * [taylor]: Taking taylor expansion of -0.5 in lambda1
28.664 * [backup-simplify]: Simplify -0.5 into -0.5
28.664 * [taylor]: Taking taylor expansion of phi2 in lambda1
28.664 * [backup-simplify]: Simplify phi2 into phi2
28.664 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
28.664 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
28.664 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
28.664 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1
28.664 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1
28.664 * [taylor]: Taking taylor expansion of -0.5 in lambda1
28.664 * [backup-simplify]: Simplify -0.5 into -0.5
28.664 * [taylor]: Taking taylor expansion of phi1 in lambda1
28.664 * [backup-simplify]: Simplify phi1 into phi1
28.664 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
28.664 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
28.664 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
28.664 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in lambda1
28.664 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda1
28.664 * [taylor]: Taking taylor expansion of lambda2 in lambda1
28.664 * [backup-simplify]: Simplify lambda2 into lambda2
28.664 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
28.664 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1
28.664 * [taylor]: Taking taylor expansion of lambda1 in lambda1
28.664 * [backup-simplify]: Simplify 0 into 0
28.664 * [backup-simplify]: Simplify 1 into 1
28.668 * [backup-simplify]: Simplify (/ 1 1) into 1
28.668 * [taylor]: Taking taylor expansion of (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) (- (/ 1 lambda2) (/ 1 lambda1))) in lambda1
28.668 * [taylor]: Taking taylor expansion of (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in lambda1
28.668 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in lambda1
28.668 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1
28.668 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1
28.668 * [taylor]: Taking taylor expansion of -0.5 in lambda1
28.668 * [backup-simplify]: Simplify -0.5 into -0.5
28.668 * [taylor]: Taking taylor expansion of phi2 in lambda1
28.668 * [backup-simplify]: Simplify phi2 into phi2
28.668 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
28.668 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
28.668 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
28.668 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1
28.668 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1
28.668 * [taylor]: Taking taylor expansion of -0.5 in lambda1
28.668 * [backup-simplify]: Simplify -0.5 into -0.5
28.668 * [taylor]: Taking taylor expansion of phi1 in lambda1
28.668 * [backup-simplify]: Simplify phi1 into phi1
28.668 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
28.668 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
28.668 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
28.668 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in lambda1
28.668 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1
28.668 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1
28.668 * [taylor]: Taking taylor expansion of -0.5 in lambda1
28.669 * [backup-simplify]: Simplify -0.5 into -0.5
28.669 * [taylor]: Taking taylor expansion of phi2 in lambda1
28.669 * [backup-simplify]: Simplify phi2 into phi2
28.669 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
28.669 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
28.669 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
28.669 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1
28.669 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1
28.669 * [taylor]: Taking taylor expansion of -0.5 in lambda1
28.669 * [backup-simplify]: Simplify -0.5 into -0.5
28.669 * [taylor]: Taking taylor expansion of phi1 in lambda1
28.669 * [backup-simplify]: Simplify phi1 into phi1
28.669 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
28.669 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
28.669 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
28.669 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in lambda1
28.669 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda1
28.669 * [taylor]: Taking taylor expansion of lambda2 in lambda1
28.669 * [backup-simplify]: Simplify lambda2 into lambda2
28.669 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
28.669 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1
28.669 * [taylor]: Taking taylor expansion of lambda1 in lambda1
28.669 * [backup-simplify]: Simplify 0 into 0
28.669 * [backup-simplify]: Simplify 1 into 1
28.670 * [backup-simplify]: Simplify (/ 1 1) into 1
28.670 * [taylor]: Taking taylor expansion of (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1))) in lambda1
28.670 * [taylor]: Taking taylor expansion of (- (/ 1 phi2) (/ 1 phi1)) in lambda1
28.670 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
28.670 * [taylor]: Taking taylor expansion of phi2 in lambda1
28.670 * [backup-simplify]: Simplify phi2 into phi2
28.670 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
28.670 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
28.670 * [taylor]: Taking taylor expansion of phi1 in lambda1
28.670 * [backup-simplify]: Simplify phi1 into phi1
28.670 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
28.670 * [taylor]: Taking taylor expansion of (- (/ 1 phi2) (/ 1 phi1)) in lambda1
28.670 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
28.670 * [taylor]: Taking taylor expansion of phi2 in lambda1
28.670 * [backup-simplify]: Simplify phi2 into phi2
28.670 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
28.670 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
28.670 * [taylor]: Taking taylor expansion of phi1 in lambda1
28.670 * [backup-simplify]: Simplify phi1 into phi1
28.670 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
28.670 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
28.670 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
28.670 * [backup-simplify]: Simplify (- 0) into 0
28.670 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
28.670 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
28.671 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
28.671 * [backup-simplify]: Simplify (- 0) into 0
28.671 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
28.671 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))
28.671 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
28.671 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
28.671 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
28.671 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
28.671 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
28.671 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
28.671 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))
28.671 * [backup-simplify]: Simplify (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) into (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))
28.672 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))
28.672 * [backup-simplify]: Simplify (- 1) into -1
28.672 * [backup-simplify]: Simplify (+ 0 -1) into -1
28.672 * [backup-simplify]: Simplify (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) -1) into (* -1 (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))
28.672 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
28.672 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
28.673 * [backup-simplify]: Simplify (- 0) into 0
28.673 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
28.673 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
28.673 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
28.673 * [backup-simplify]: Simplify (- 0) into 0
28.673 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
28.673 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))
28.673 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
28.673 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
28.673 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
28.674 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
28.674 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
28.674 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
28.674 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))
28.674 * [backup-simplify]: Simplify (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) into (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))
28.674 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))
28.674 * [backup-simplify]: Simplify (- 1) into -1
28.675 * [backup-simplify]: Simplify (+ 0 -1) into -1
28.675 * [backup-simplify]: Simplify (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) -1) into (* -1 (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))
28.675 * [backup-simplify]: Simplify (* (* -1 (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* -1 (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into (pow (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) 2)
28.676 * [backup-simplify]: Simplify (+ (pow (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) 2) 0) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
28.676 * [backup-simplify]: Simplify (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))
28.677 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
28.677 * [backup-simplify]: Simplify (- 0) into 0
28.677 * [backup-simplify]: Simplify (+ (/ 1 lambda2) 0) into (/ 1 lambda2)
28.678 * [backup-simplify]: Simplify (+ 0) into 0
28.678 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
28.678 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
28.679 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
28.680 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
28.680 * [backup-simplify]: Simplify (- 0) into 0
28.681 * [backup-simplify]: Simplify (+ 0 0) into 0
28.681 * [backup-simplify]: Simplify (+ 0) into 0
28.682 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
28.682 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
28.682 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
28.683 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
28.683 * [backup-simplify]: Simplify (- 0) into 0
28.684 * [backup-simplify]: Simplify (+ 0 0) into 0
28.684 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
28.684 * [backup-simplify]: Simplify (+ 0) into 0
28.685 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
28.685 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
28.686 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
28.686 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
28.687 * [backup-simplify]: Simplify (+ 0 0) into 0
28.687 * [backup-simplify]: Simplify (+ 0) into 0
28.687 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
28.688 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
28.688 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
28.689 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
28.689 * [backup-simplify]: Simplify (+ 0 0) into 0
28.689 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
28.690 * [backup-simplify]: Simplify (- 0) into 0
28.690 * [backup-simplify]: Simplify (+ 0 0) into 0
28.691 * [backup-simplify]: Simplify (+ (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) (/ 1 lambda2)) (* 0 -1)) into (- (/ (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) lambda2) (/ (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) lambda2))
28.692 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
28.692 * [backup-simplify]: Simplify (- 0) into 0
28.692 * [backup-simplify]: Simplify (+ (/ 1 lambda2) 0) into (/ 1 lambda2)
28.693 * [backup-simplify]: Simplify (+ 0) into 0
28.693 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
28.693 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
28.694 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
28.695 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
28.695 * [backup-simplify]: Simplify (- 0) into 0
28.695 * [backup-simplify]: Simplify (+ 0 0) into 0
28.696 * [backup-simplify]: Simplify (+ 0) into 0
28.696 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
28.696 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
28.697 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
28.698 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
28.698 * [backup-simplify]: Simplify (- 0) into 0
28.698 * [backup-simplify]: Simplify (+ 0 0) into 0
28.699 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
28.699 * [backup-simplify]: Simplify (+ 0) into 0
28.700 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
28.700 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
28.701 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
28.701 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
28.702 * [backup-simplify]: Simplify (+ 0 0) into 0
28.702 * [backup-simplify]: Simplify (+ 0) into 0
28.702 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
28.703 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
28.703 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
28.704 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
28.704 * [backup-simplify]: Simplify (+ 0 0) into 0
28.704 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
28.705 * [backup-simplify]: Simplify (- 0) into 0
28.705 * [backup-simplify]: Simplify (+ 0 0) into 0
28.706 * [backup-simplify]: Simplify (+ (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) (/ 1 lambda2)) (* 0 -1)) into (- (/ (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) lambda2) (/ (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) lambda2))
28.707 * [backup-simplify]: Simplify (+ (* (* -1 (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (/ (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) lambda2) (/ (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) lambda2))) (* (- (/ (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) lambda2) (/ (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) lambda2)) (* -1 (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))))) into (- (+ (* 2 (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) lambda2)) (* 2 (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) lambda2))) (+ (* 2 (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) lambda2)) (* 2 (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) lambda2))))
28.709 * [backup-simplify]: Simplify (+ (- (+ (* 2 (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) lambda2)) (* 2 (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) lambda2))) (+ (* 2 (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) lambda2)) (* 2 (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) lambda2)))) 0) into (- (+ (* 2 (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) lambda2)) (* 2 (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) lambda2))) (+ (* 2 (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) lambda2)) (* 2 (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) lambda2))))
28.711 * [backup-simplify]: Simplify (/ (- (+ (* 2 (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) lambda2)) (* 2 (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) lambda2))) (+ (* 2 (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) lambda2)) (* 2 (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) lambda2)))) (* 2 (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) into (* 1/2 (* (- (+ (* 2 (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) lambda2)) (* 2 (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) lambda2))) (+ (* 2 (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) lambda2)) (* 2 (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) lambda2)))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))))
28.711 * [taylor]: Taking taylor expansion of R in lambda1
28.711 * [backup-simplify]: Simplify R into R
28.712 * [backup-simplify]: Simplify (/ (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) R) into (* (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (/ 1 R))
28.712 * [taylor]: Taking taylor expansion of (* -1 (/ (hypot (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) (- (/ 1 lambda2) (/ 1 lambda1))) (- (/ 1 phi2) (/ 1 phi1))) R)) in lambda1
28.712 * [taylor]: Taking taylor expansion of -1 in lambda1
28.712 * [backup-simplify]: Simplify -1 into -1
28.712 * [taylor]: Taking taylor expansion of (/ (hypot (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) (- (/ 1 lambda2) (/ 1 lambda1))) (- (/ 1 phi2) (/ 1 phi1))) R) in lambda1
28.712 * [taylor]: Taking taylor expansion of (hypot (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) (- (/ 1 lambda2) (/ 1 lambda1))) (- (/ 1 phi2) (/ 1 phi1))) in lambda1
28.712 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) (- (/ 1 lambda2) (/ 1 lambda1))) (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) (- (/ 1 lambda2) (/ 1 lambda1)))) (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1)))))
28.712 * [taylor]: Taking taylor expansion of (+ (* (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) (- (/ 1 lambda2) (/ 1 lambda1))) (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) (- (/ 1 lambda2) (/ 1 lambda1)))) (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1)))) in lambda1
28.712 * [taylor]: Taking taylor expansion of (* (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) (- (/ 1 lambda2) (/ 1 lambda1))) (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) (- (/ 1 lambda2) (/ 1 lambda1)))) in lambda1
28.712 * [taylor]: Taking taylor expansion of (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) (- (/ 1 lambda2) (/ 1 lambda1))) in lambda1
28.712 * [taylor]: Taking taylor expansion of (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in lambda1
28.712 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in lambda1
28.713 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1
28.713 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1
28.713 * [taylor]: Taking taylor expansion of -0.5 in lambda1
28.713 * [backup-simplify]: Simplify -0.5 into -0.5
28.713 * [taylor]: Taking taylor expansion of phi2 in lambda1
28.713 * [backup-simplify]: Simplify phi2 into phi2
28.713 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
28.713 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
28.713 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
28.713 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1
28.713 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1
28.713 * [taylor]: Taking taylor expansion of -0.5 in lambda1
28.713 * [backup-simplify]: Simplify -0.5 into -0.5
28.713 * [taylor]: Taking taylor expansion of phi1 in lambda1
28.713 * [backup-simplify]: Simplify phi1 into phi1
28.713 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
28.713 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
28.713 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
28.713 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in lambda1
28.713 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1
28.713 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1
28.713 * [taylor]: Taking taylor expansion of -0.5 in lambda1
28.713 * [backup-simplify]: Simplify -0.5 into -0.5
28.713 * [taylor]: Taking taylor expansion of phi2 in lambda1
28.713 * [backup-simplify]: Simplify phi2 into phi2
28.713 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
28.713 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
28.713 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
28.713 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1
28.713 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1
28.713 * [taylor]: Taking taylor expansion of -0.5 in lambda1
28.713 * [backup-simplify]: Simplify -0.5 into -0.5
28.713 * [taylor]: Taking taylor expansion of phi1 in lambda1
28.713 * [backup-simplify]: Simplify phi1 into phi1
28.713 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
28.713 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
28.713 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
28.713 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in lambda1
28.714 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda1
28.714 * [taylor]: Taking taylor expansion of lambda2 in lambda1
28.714 * [backup-simplify]: Simplify lambda2 into lambda2
28.714 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
28.714 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1
28.714 * [taylor]: Taking taylor expansion of lambda1 in lambda1
28.714 * [backup-simplify]: Simplify 0 into 0
28.714 * [backup-simplify]: Simplify 1 into 1
28.714 * [backup-simplify]: Simplify (/ 1 1) into 1
28.714 * [taylor]: Taking taylor expansion of (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) (- (/ 1 lambda2) (/ 1 lambda1))) in lambda1
28.714 * [taylor]: Taking taylor expansion of (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in lambda1
28.714 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in lambda1
28.714 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1
28.714 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1
28.714 * [taylor]: Taking taylor expansion of -0.5 in lambda1
28.714 * [backup-simplify]: Simplify -0.5 into -0.5
28.714 * [taylor]: Taking taylor expansion of phi2 in lambda1
28.714 * [backup-simplify]: Simplify phi2 into phi2
28.714 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
28.714 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
28.714 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
28.714 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1
28.714 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1
28.714 * [taylor]: Taking taylor expansion of -0.5 in lambda1
28.714 * [backup-simplify]: Simplify -0.5 into -0.5
28.714 * [taylor]: Taking taylor expansion of phi1 in lambda1
28.714 * [backup-simplify]: Simplify phi1 into phi1
28.714 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
28.715 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
28.715 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
28.715 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in lambda1
28.715 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1
28.715 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1
28.715 * [taylor]: Taking taylor expansion of -0.5 in lambda1
28.715 * [backup-simplify]: Simplify -0.5 into -0.5
28.715 * [taylor]: Taking taylor expansion of phi2 in lambda1
28.715 * [backup-simplify]: Simplify phi2 into phi2
28.715 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
28.715 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
28.715 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
28.715 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1
28.715 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1
28.715 * [taylor]: Taking taylor expansion of -0.5 in lambda1
28.715 * [backup-simplify]: Simplify -0.5 into -0.5
28.715 * [taylor]: Taking taylor expansion of phi1 in lambda1
28.715 * [backup-simplify]: Simplify phi1 into phi1
28.715 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
28.715 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
28.715 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
28.715 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in lambda1
28.715 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda1
28.715 * [taylor]: Taking taylor expansion of lambda2 in lambda1
28.715 * [backup-simplify]: Simplify lambda2 into lambda2
28.715 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
28.715 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1
28.715 * [taylor]: Taking taylor expansion of lambda1 in lambda1
28.715 * [backup-simplify]: Simplify 0 into 0
28.715 * [backup-simplify]: Simplify 1 into 1
28.715 * [backup-simplify]: Simplify (/ 1 1) into 1
28.716 * [taylor]: Taking taylor expansion of (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1))) in lambda1
28.716 * [taylor]: Taking taylor expansion of (- (/ 1 phi2) (/ 1 phi1)) in lambda1
28.716 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
28.716 * [taylor]: Taking taylor expansion of phi2 in lambda1
28.716 * [backup-simplify]: Simplify phi2 into phi2
28.716 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
28.716 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
28.716 * [taylor]: Taking taylor expansion of phi1 in lambda1
28.716 * [backup-simplify]: Simplify phi1 into phi1
28.716 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
28.716 * [taylor]: Taking taylor expansion of (- (/ 1 phi2) (/ 1 phi1)) in lambda1
28.716 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
28.716 * [taylor]: Taking taylor expansion of phi2 in lambda1
28.716 * [backup-simplify]: Simplify phi2 into phi2
28.716 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
28.716 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
28.716 * [taylor]: Taking taylor expansion of phi1 in lambda1
28.716 * [backup-simplify]: Simplify phi1 into phi1
28.716 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
28.716 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
28.716 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
28.716 * [backup-simplify]: Simplify (- 0) into 0
28.716 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
28.716 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
28.716 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
28.717 * [backup-simplify]: Simplify (- 0) into 0
28.717 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
28.717 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))
28.717 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
28.717 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
28.717 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
28.717 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
28.717 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
28.717 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
28.717 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))
28.717 * [backup-simplify]: Simplify (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) into (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))
28.718 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))
28.718 * [backup-simplify]: Simplify (- 1) into -1
28.718 * [backup-simplify]: Simplify (+ 0 -1) into -1
28.718 * [backup-simplify]: Simplify (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) -1) into (* -1 (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))
28.718 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
28.718 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
28.719 * [backup-simplify]: Simplify (- 0) into 0
28.719 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
28.719 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
28.719 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
28.719 * [backup-simplify]: Simplify (- 0) into 0
28.719 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
28.719 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))
28.719 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
28.719 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
28.719 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
28.720 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
28.720 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
28.720 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
28.720 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))
28.720 * [backup-simplify]: Simplify (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) into (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))
28.720 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))
28.720 * [backup-simplify]: Simplify (- 1) into -1
28.721 * [backup-simplify]: Simplify (+ 0 -1) into -1
28.721 * [backup-simplify]: Simplify (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) -1) into (* -1 (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))
28.721 * [backup-simplify]: Simplify (* (* -1 (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* -1 (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into (pow (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) 2)
28.722 * [backup-simplify]: Simplify (+ (pow (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) 2) 0) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
28.722 * [backup-simplify]: Simplify (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))
28.723 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
28.723 * [backup-simplify]: Simplify (- 0) into 0
28.723 * [backup-simplify]: Simplify (+ (/ 1 lambda2) 0) into (/ 1 lambda2)
28.723 * [backup-simplify]: Simplify (+ 0) into 0
28.724 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
28.724 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
28.724 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
28.725 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
28.725 * [backup-simplify]: Simplify (- 0) into 0
28.725 * [backup-simplify]: Simplify (+ 0 0) into 0
28.725 * [backup-simplify]: Simplify (+ 0) into 0
28.726 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
28.726 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
28.726 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
28.726 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
28.727 * [backup-simplify]: Simplify (- 0) into 0
28.727 * [backup-simplify]: Simplify (+ 0 0) into 0
28.727 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
28.727 * [backup-simplify]: Simplify (+ 0) into 0
28.728 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
28.728 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
28.728 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
28.728 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
28.729 * [backup-simplify]: Simplify (+ 0 0) into 0
28.729 * [backup-simplify]: Simplify (+ 0) into 0
28.729 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
28.729 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
28.730 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
28.730 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
28.730 * [backup-simplify]: Simplify (+ 0 0) into 0
28.730 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
28.731 * [backup-simplify]: Simplify (- 0) into 0
28.731 * [backup-simplify]: Simplify (+ 0 0) into 0
28.731 * [backup-simplify]: Simplify (+ (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) (/ 1 lambda2)) (* 0 -1)) into (- (/ (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) lambda2) (/ (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) lambda2))
28.732 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
28.732 * [backup-simplify]: Simplify (- 0) into 0
28.732 * [backup-simplify]: Simplify (+ (/ 1 lambda2) 0) into (/ 1 lambda2)
28.732 * [backup-simplify]: Simplify (+ 0) into 0
28.733 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
28.733 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
28.733 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
28.733 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
28.734 * [backup-simplify]: Simplify (- 0) into 0
28.734 * [backup-simplify]: Simplify (+ 0 0) into 0
28.734 * [backup-simplify]: Simplify (+ 0) into 0
28.734 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
28.735 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
28.735 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
28.735 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
28.736 * [backup-simplify]: Simplify (- 0) into 0
28.736 * [backup-simplify]: Simplify (+ 0 0) into 0
28.736 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
28.736 * [backup-simplify]: Simplify (+ 0) into 0
28.736 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
28.737 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
28.737 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
28.737 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
28.738 * [backup-simplify]: Simplify (+ 0 0) into 0
28.738 * [backup-simplify]: Simplify (+ 0) into 0
28.739 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
28.739 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
28.740 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
28.740 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
28.741 * [backup-simplify]: Simplify (+ 0 0) into 0
28.741 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
28.741 * [backup-simplify]: Simplify (- 0) into 0
28.742 * [backup-simplify]: Simplify (+ 0 0) into 0
28.743 * [backup-simplify]: Simplify (+ (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) (/ 1 lambda2)) (* 0 -1)) into (- (/ (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) lambda2) (/ (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) lambda2))
28.745 * [backup-simplify]: Simplify (+ (* (* -1 (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (/ (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) lambda2) (/ (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) lambda2))) (* (- (/ (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) lambda2) (/ (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) lambda2)) (* -1 (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))))) into (- (+ (* 2 (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) lambda2)) (* 2 (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) lambda2))) (+ (* 2 (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) lambda2)) (* 2 (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) lambda2))))
28.748 * [backup-simplify]: Simplify (+ (- (+ (* 2 (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) lambda2)) (* 2 (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) lambda2))) (+ (* 2 (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) lambda2)) (* 2 (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) lambda2)))) 0) into (- (+ (* 2 (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) lambda2)) (* 2 (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) lambda2))) (+ (* 2 (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) lambda2)) (* 2 (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) lambda2))))
28.753 * [backup-simplify]: Simplify (/ (- (+ (* 2 (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) lambda2)) (* 2 (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) lambda2))) (+ (* 2 (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) lambda2)) (* 2 (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) lambda2)))) (* 2 (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) into (* 1/2 (* (- (+ (* 2 (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) lambda2)) (* 2 (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) lambda2))) (+ (* 2 (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) lambda2)) (* 2 (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) lambda2)))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))))
28.753 * [taylor]: Taking taylor expansion of R in lambda1
28.753 * [backup-simplify]: Simplify R into R
28.755 * [backup-simplify]: Simplify (/ (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) R) into (* (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (/ 1 R))
28.757 * [backup-simplify]: Simplify (* -1 (* (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (/ 1 R))) into (* -1 (* (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (/ 1 R)))
28.757 * [taylor]: Taking taylor expansion of (* -1 (* (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (/ 1 R))) in lambda2
28.757 * [taylor]: Taking taylor expansion of -1 in lambda2
28.757 * [backup-simplify]: Simplify -1 into -1
28.757 * [taylor]: Taking taylor expansion of (* (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (/ 1 R)) in lambda2
28.757 * [taylor]: Taking taylor expansion of (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) in lambda2
28.758 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in lambda2
28.758 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in lambda2
28.758 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2
28.758 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2
28.758 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
28.758 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
28.758 * [taylor]: Taking taylor expansion of -0.5 in lambda2
28.758 * [backup-simplify]: Simplify -0.5 into -0.5
28.758 * [taylor]: Taking taylor expansion of phi2 in lambda2
28.758 * [backup-simplify]: Simplify phi2 into phi2
28.758 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
28.758 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
28.758 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
28.758 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
28.758 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
28.759 * [backup-simplify]: Simplify (- 0) into 0
28.759 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
28.759 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2
28.759 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
28.759 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
28.759 * [taylor]: Taking taylor expansion of -0.5 in lambda2
28.759 * [backup-simplify]: Simplify -0.5 into -0.5
28.759 * [taylor]: Taking taylor expansion of phi1 in lambda2
28.759 * [backup-simplify]: Simplify phi1 into phi1
28.759 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
28.759 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
28.759 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
28.760 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
28.760 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
28.760 * [backup-simplify]: Simplify (- 0) into 0
28.760 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
28.760 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2
28.760 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2
28.760 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
28.760 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
28.760 * [taylor]: Taking taylor expansion of -0.5 in lambda2
28.760 * [backup-simplify]: Simplify -0.5 into -0.5
28.760 * [taylor]: Taking taylor expansion of phi2 in lambda2
28.760 * [backup-simplify]: Simplify phi2 into phi2
28.760 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
28.761 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
28.761 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
28.761 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
28.761 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
28.761 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
28.761 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2
28.761 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
28.761 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
28.761 * [taylor]: Taking taylor expansion of -0.5 in lambda2
28.761 * [backup-simplify]: Simplify -0.5 into -0.5
28.761 * [taylor]: Taking taylor expansion of phi1 in lambda2
28.761 * [backup-simplify]: Simplify phi1 into phi1
28.761 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
28.761 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
28.761 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
28.762 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
28.762 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
28.762 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
28.762 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in lambda2
28.762 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
28.762 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
28.762 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
28.762 * [taylor]: Taking taylor expansion of -0.5 in lambda2
28.762 * [backup-simplify]: Simplify -0.5 into -0.5
28.762 * [taylor]: Taking taylor expansion of phi2 in lambda2
28.762 * [backup-simplify]: Simplify phi2 into phi2
28.762 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
28.762 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
28.762 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
28.762 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
28.762 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
28.762 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
28.762 * [taylor]: Taking taylor expansion of -0.5 in lambda2
28.762 * [backup-simplify]: Simplify -0.5 into -0.5
28.763 * [taylor]: Taking taylor expansion of phi2 in lambda2
28.763 * [backup-simplify]: Simplify phi2 into phi2
28.763 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
28.763 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
28.763 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
28.763 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
28.763 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
28.763 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
28.763 * [taylor]: Taking taylor expansion of -0.5 in lambda2
28.763 * [backup-simplify]: Simplify -0.5 into -0.5
28.763 * [taylor]: Taking taylor expansion of phi1 in lambda2
28.763 * [backup-simplify]: Simplify phi1 into phi1
28.763 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
28.763 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
28.763 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
28.763 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
28.763 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
28.763 * [taylor]: Taking taylor expansion of -0.5 in lambda2
28.763 * [backup-simplify]: Simplify -0.5 into -0.5
28.763 * [taylor]: Taking taylor expansion of phi1 in lambda2
28.763 * [backup-simplify]: Simplify phi1 into phi1
28.763 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
28.764 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
28.764 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
28.764 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
28.764 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
28.764 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
28.764 * [taylor]: Taking taylor expansion of -0.5 in lambda2
28.764 * [backup-simplify]: Simplify -0.5 into -0.5
28.764 * [taylor]: Taking taylor expansion of phi2 in lambda2
28.764 * [backup-simplify]: Simplify phi2 into phi2
28.764 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
28.764 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
28.764 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
28.764 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
28.764 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
28.764 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
28.764 * [taylor]: Taking taylor expansion of -0.5 in lambda2
28.764 * [backup-simplify]: Simplify -0.5 into -0.5
28.764 * [taylor]: Taking taylor expansion of phi2 in lambda2
28.764 * [backup-simplify]: Simplify phi2 into phi2
28.764 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
28.764 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
28.765 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
28.765 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
28.765 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
28.765 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
28.765 * [taylor]: Taking taylor expansion of -0.5 in lambda2
28.765 * [backup-simplify]: Simplify -0.5 into -0.5
28.765 * [taylor]: Taking taylor expansion of phi1 in lambda2
28.765 * [backup-simplify]: Simplify phi1 into phi1
28.765 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
28.765 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
28.765 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
28.765 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
28.765 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
28.765 * [taylor]: Taking taylor expansion of -0.5 in lambda2
28.765 * [backup-simplify]: Simplify -0.5 into -0.5
28.765 * [taylor]: Taking taylor expansion of phi1 in lambda2
28.765 * [backup-simplify]: Simplify phi1 into phi1
28.765 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
28.765 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
28.765 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
28.766 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
28.766 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
28.766 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
28.766 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
28.767 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
28.767 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
28.768 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
28.768 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
28.768 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
28.768 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
28.768 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
28.768 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
28.769 * [backup-simplify]: Simplify (- 0) into 0
28.769 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
28.769 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
28.769 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
28.769 * [backup-simplify]: Simplify (- 0) into 0
28.770 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
28.770 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
28.770 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
28.770 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
28.770 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
28.770 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
28.771 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
28.771 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
28.771 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
28.771 * [backup-simplify]: Simplify (- 0) into 0
28.771 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
28.772 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
28.772 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
28.772 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
28.772 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
28.772 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
28.772 * [backup-simplify]: Simplify (- 0) into 0
28.772 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
28.773 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
28.773 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
28.773 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
28.773 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
28.773 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
28.773 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
28.774 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
28.775 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
28.777 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
28.779 * [backup-simplify]: Simplify (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))
28.780 * [backup-simplify]: Simplify (+ 0) into 0
28.780 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
28.780 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
28.781 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
28.782 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
28.782 * [backup-simplify]: Simplify (- 0) into 0
28.782 * [backup-simplify]: Simplify (+ 0 0) into 0
28.782 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
28.783 * [backup-simplify]: Simplify (+ 0) into 0
28.783 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
28.784 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
28.784 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
28.785 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
28.785 * [backup-simplify]: Simplify (- 0) into 0
28.786 * [backup-simplify]: Simplify (+ 0 0) into 0
28.786 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
28.786 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
28.787 * [backup-simplify]: Simplify (+ 0) into 0
28.787 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
28.787 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
28.788 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
28.788 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
28.789 * [backup-simplify]: Simplify (+ 0 0) into 0
28.789 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
28.789 * [backup-simplify]: Simplify (+ 0) into 0
28.790 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
28.790 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
28.791 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
28.791 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
28.792 * [backup-simplify]: Simplify (+ 0 0) into 0
28.792 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
28.793 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
28.793 * [backup-simplify]: Simplify (+ 0 0) into 0
28.793 * [backup-simplify]: Simplify (+ 0) into 0
28.794 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
28.794 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
28.795 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
28.795 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
28.796 * [backup-simplify]: Simplify (+ 0 0) into 0
28.796 * [backup-simplify]: Simplify (+ 0) into 0
28.797 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
28.797 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
28.798 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
28.798 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
28.798 * [backup-simplify]: Simplify (- 0) into 0
28.799 * [backup-simplify]: Simplify (+ 0 0) into 0
28.799 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
28.799 * [backup-simplify]: Simplify (+ 0) into 0
28.800 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
28.800 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
28.801 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
28.802 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
28.807 * [backup-simplify]: Simplify (- 0) into 0
28.808 * [backup-simplify]: Simplify (+ 0 0) into 0
28.808 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
28.808 * [backup-simplify]: Simplify (+ 0) into 0
28.809 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
28.809 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
28.810 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
28.810 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
28.810 * [backup-simplify]: Simplify (+ 0 0) into 0
28.810 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
28.811 * [backup-simplify]: Simplify (+ 0) into 0
28.811 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
28.811 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
28.812 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
28.812 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
28.812 * [backup-simplify]: Simplify (+ 0 0) into 0
28.812 * [backup-simplify]: Simplify (+ 0) into 0
28.813 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
28.813 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
28.813 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
28.813 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
28.814 * [backup-simplify]: Simplify (- 0) into 0
28.814 * [backup-simplify]: Simplify (+ 0 0) into 0
28.814 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
28.814 * [backup-simplify]: Simplify (+ 0) into 0
28.815 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
28.815 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
28.815 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
28.815 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
28.816 * [backup-simplify]: Simplify (+ 0 0) into 0
28.816 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
28.816 * [backup-simplify]: Simplify (+ 0) into 0
28.816 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
28.816 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
28.817 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
28.817 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
28.817 * [backup-simplify]: Simplify (- 0) into 0
28.818 * [backup-simplify]: Simplify (+ 0 0) into 0
28.818 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
28.818 * [backup-simplify]: Simplify (+ 0 0) into 0
28.818 * [backup-simplify]: Simplify (- 0) into 0
28.819 * [backup-simplify]: Simplify (+ 0 0) into 0
28.820 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) into 0
28.820 * [taylor]: Taking taylor expansion of (/ 1 R) in lambda2
28.820 * [taylor]: Taking taylor expansion of R in lambda2
28.820 * [backup-simplify]: Simplify R into R
28.820 * [backup-simplify]: Simplify (/ 1 R) into (/ 1 R)
28.824 * [backup-simplify]: Simplify (- (/ (* 1/2 (* (- (+ (* 2 (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) lambda2)) (* 2 (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) lambda2))) (+ (* 2 (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) lambda2)) (* 2 (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) lambda2)))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) R) (+ (* (* (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (/ 1 R)) (/ 0 R)))) into (- (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R lambda2)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* lambda2 R)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* lambda2 R)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))))
28.830 * [backup-simplify]: Simplify (+ (* -1 (- (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R lambda2)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* lambda2 R)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* lambda2 R)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))))) (* 0 (* (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (/ 1 R)))) into (- (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* lambda2 R)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* lambda2 R)))) (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R lambda2)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))))
28.830 * [taylor]: Taking taylor expansion of (- (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* lambda2 R)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* lambda2 R)))) (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R lambda2)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))))) in lambda2
28.830 * [taylor]: Taking taylor expansion of (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* lambda2 R)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* lambda2 R)))) in lambda2
28.830 * [taylor]: Taking taylor expansion of (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* lambda2 R)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) in lambda2
28.830 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* lambda2 R)) in lambda2
28.830 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2
28.830 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2
28.830 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
28.830 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
28.830 * [taylor]: Taking taylor expansion of -0.5 in lambda2
28.830 * [backup-simplify]: Simplify -0.5 into -0.5
28.830 * [taylor]: Taking taylor expansion of phi2 in lambda2
28.830 * [backup-simplify]: Simplify phi2 into phi2
28.830 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
28.830 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
28.831 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
28.831 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
28.831 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
28.831 * [backup-simplify]: Simplify (- 0) into 0
28.831 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
28.831 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2
28.831 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
28.831 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
28.831 * [taylor]: Taking taylor expansion of -0.5 in lambda2
28.831 * [backup-simplify]: Simplify -0.5 into -0.5
28.831 * [taylor]: Taking taylor expansion of phi1 in lambda2
28.831 * [backup-simplify]: Simplify phi1 into phi1
28.831 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
28.831 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
28.831 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
28.831 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
28.832 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
28.832 * [backup-simplify]: Simplify (- 0) into 0
28.832 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
28.832 * [taylor]: Taking taylor expansion of (* lambda2 R) in lambda2
28.832 * [taylor]: Taking taylor expansion of lambda2 in lambda2
28.832 * [backup-simplify]: Simplify 0 into 0
28.832 * [backup-simplify]: Simplify 1 into 1
28.832 * [taylor]: Taking taylor expansion of R in lambda2
28.832 * [backup-simplify]: Simplify R into R
28.832 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
28.832 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
28.832 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
28.832 * [backup-simplify]: Simplify (* 0 R) into 0
28.833 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 R)) into R
28.833 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) into (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R)
28.833 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) in lambda2
28.833 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) in lambda2
28.833 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in lambda2
28.833 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in lambda2
28.833 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2
28.833 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2
28.833 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
28.833 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
28.833 * [taylor]: Taking taylor expansion of -0.5 in lambda2
28.833 * [backup-simplify]: Simplify -0.5 into -0.5
28.833 * [taylor]: Taking taylor expansion of phi2 in lambda2
28.833 * [backup-simplify]: Simplify phi2 into phi2
28.833 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
28.833 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
28.833 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
28.833 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
28.834 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
28.834 * [backup-simplify]: Simplify (- 0) into 0
28.834 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
28.834 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2
28.834 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
28.834 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
28.834 * [taylor]: Taking taylor expansion of -0.5 in lambda2
28.834 * [backup-simplify]: Simplify -0.5 into -0.5
28.834 * [taylor]: Taking taylor expansion of phi1 in lambda2
28.834 * [backup-simplify]: Simplify phi1 into phi1
28.834 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
28.834 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
28.834 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
28.834 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
28.834 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
28.835 * [backup-simplify]: Simplify (- 0) into 0
28.835 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
28.835 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2
28.835 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2
28.835 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
28.835 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
28.835 * [taylor]: Taking taylor expansion of -0.5 in lambda2
28.835 * [backup-simplify]: Simplify -0.5 into -0.5
28.835 * [taylor]: Taking taylor expansion of phi2 in lambda2
28.835 * [backup-simplify]: Simplify phi2 into phi2
28.835 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
28.835 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
28.835 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
28.835 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
28.835 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
28.835 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
28.835 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2
28.835 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
28.835 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
28.835 * [taylor]: Taking taylor expansion of -0.5 in lambda2
28.835 * [backup-simplify]: Simplify -0.5 into -0.5
28.835 * [taylor]: Taking taylor expansion of phi1 in lambda2
28.835 * [backup-simplify]: Simplify phi1 into phi1
28.835 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
28.835 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
28.836 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
28.836 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
28.836 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
28.836 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
28.836 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in lambda2
28.836 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
28.836 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
28.836 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
28.836 * [taylor]: Taking taylor expansion of -0.5 in lambda2
28.836 * [backup-simplify]: Simplify -0.5 into -0.5
28.836 * [taylor]: Taking taylor expansion of phi2 in lambda2
28.836 * [backup-simplify]: Simplify phi2 into phi2
28.836 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
28.836 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
28.836 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
28.836 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
28.836 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
28.836 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
28.836 * [taylor]: Taking taylor expansion of -0.5 in lambda2
28.836 * [backup-simplify]: Simplify -0.5 into -0.5
28.836 * [taylor]: Taking taylor expansion of phi2 in lambda2
28.836 * [backup-simplify]: Simplify phi2 into phi2
28.836 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
28.836 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
28.836 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
28.836 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
28.836 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
28.836 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
28.836 * [taylor]: Taking taylor expansion of -0.5 in lambda2
28.836 * [backup-simplify]: Simplify -0.5 into -0.5
28.836 * [taylor]: Taking taylor expansion of phi1 in lambda2
28.836 * [backup-simplify]: Simplify phi1 into phi1
28.836 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
28.836 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
28.837 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
28.837 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
28.837 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
28.837 * [taylor]: Taking taylor expansion of -0.5 in lambda2
28.837 * [backup-simplify]: Simplify -0.5 into -0.5
28.837 * [taylor]: Taking taylor expansion of phi1 in lambda2
28.837 * [backup-simplify]: Simplify phi1 into phi1
28.837 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
28.837 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
28.837 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
28.837 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
28.837 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
28.837 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
28.837 * [taylor]: Taking taylor expansion of -0.5 in lambda2
28.837 * [backup-simplify]: Simplify -0.5 into -0.5
28.837 * [taylor]: Taking taylor expansion of phi2 in lambda2
28.837 * [backup-simplify]: Simplify phi2 into phi2
28.837 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
28.837 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
28.837 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
28.837 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
28.837 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
28.837 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
28.837 * [taylor]: Taking taylor expansion of -0.5 in lambda2
28.837 * [backup-simplify]: Simplify -0.5 into -0.5
28.837 * [taylor]: Taking taylor expansion of phi2 in lambda2
28.837 * [backup-simplify]: Simplify phi2 into phi2
28.837 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
28.837 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
28.837 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
28.837 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
28.837 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
28.837 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
28.837 * [taylor]: Taking taylor expansion of -0.5 in lambda2
28.837 * [backup-simplify]: Simplify -0.5 into -0.5
28.837 * [taylor]: Taking taylor expansion of phi1 in lambda2
28.837 * [backup-simplify]: Simplify phi1 into phi1
28.838 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
28.838 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
28.838 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
28.838 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
28.838 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
28.838 * [taylor]: Taking taylor expansion of -0.5 in lambda2
28.838 * [backup-simplify]: Simplify -0.5 into -0.5
28.838 * [taylor]: Taking taylor expansion of phi1 in lambda2
28.838 * [backup-simplify]: Simplify phi1 into phi1
28.838 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
28.838 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
28.838 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
28.838 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
28.839 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
28.839 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
28.839 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
28.839 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
28.840 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
28.840 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
28.840 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
28.841 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
28.841 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
28.841 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
28.841 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
28.842 * [backup-simplify]: Simplify (- 0) into 0
28.842 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
28.842 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
28.842 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
28.842 * [backup-simplify]: Simplify (- 0) into 0
28.842 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
28.843 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
28.843 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
28.843 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
28.843 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
28.843 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
28.843 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
28.844 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
28.844 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
28.844 * [backup-simplify]: Simplify (- 0) into 0
28.844 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
28.844 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
28.844 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
28.845 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
28.845 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
28.845 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
28.845 * [backup-simplify]: Simplify (- 0) into 0
28.845 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
28.845 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
28.846 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
28.846 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
28.846 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
28.846 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
28.846 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
28.847 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
28.848 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
28.850 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
28.852 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))
28.854 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))
28.855 * [backup-simplify]: Simplify (+ 0) into 0
28.855 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
28.856 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
28.856 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
28.857 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
28.857 * [backup-simplify]: Simplify (- 0) into 0
28.858 * [backup-simplify]: Simplify (+ 0 0) into 0
28.858 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
28.858 * [backup-simplify]: Simplify (+ 0) into 0
28.859 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
28.859 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
28.860 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
28.860 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
28.861 * [backup-simplify]: Simplify (- 0) into 0
28.861 * [backup-simplify]: Simplify (+ 0 0) into 0
28.861 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
28.862 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
28.862 * [backup-simplify]: Simplify (+ 0) into 0
28.862 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
28.863 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
28.863 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
28.864 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
28.864 * [backup-simplify]: Simplify (+ 0 0) into 0
28.864 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
28.865 * [backup-simplify]: Simplify (+ 0) into 0
28.865 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
28.866 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
28.866 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
28.867 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
28.867 * [backup-simplify]: Simplify (+ 0 0) into 0
28.867 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
28.868 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
28.868 * [backup-simplify]: Simplify (+ 0 0) into 0
28.869 * [backup-simplify]: Simplify (+ 0) into 0
28.869 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
28.869 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
28.870 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
28.870 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
28.871 * [backup-simplify]: Simplify (+ 0 0) into 0
28.871 * [backup-simplify]: Simplify (+ 0) into 0
28.872 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
28.872 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
28.873 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
28.873 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
28.874 * [backup-simplify]: Simplify (- 0) into 0
28.874 * [backup-simplify]: Simplify (+ 0 0) into 0
28.874 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
28.875 * [backup-simplify]: Simplify (+ 0) into 0
28.875 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
28.875 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
28.876 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
28.876 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
28.877 * [backup-simplify]: Simplify (- 0) into 0
28.877 * [backup-simplify]: Simplify (+ 0 0) into 0
28.878 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
28.878 * [backup-simplify]: Simplify (+ 0) into 0
28.878 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
28.879 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
28.879 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
28.880 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
28.880 * [backup-simplify]: Simplify (+ 0 0) into 0
28.881 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
28.881 * [backup-simplify]: Simplify (+ 0) into 0
28.882 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
28.882 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
28.882 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
28.883 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
28.883 * [backup-simplify]: Simplify (+ 0 0) into 0
28.884 * [backup-simplify]: Simplify (+ 0) into 0
28.884 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
28.884 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
28.885 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
28.886 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
28.886 * [backup-simplify]: Simplify (- 0) into 0
28.886 * [backup-simplify]: Simplify (+ 0 0) into 0
28.887 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
28.887 * [backup-simplify]: Simplify (+ 0) into 0
28.888 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
28.888 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
28.889 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
28.889 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
28.890 * [backup-simplify]: Simplify (+ 0 0) into 0
28.890 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
28.890 * [backup-simplify]: Simplify (+ 0) into 0
28.891 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
28.891 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
28.892 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
28.892 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
28.893 * [backup-simplify]: Simplify (- 0) into 0
28.893 * [backup-simplify]: Simplify (+ 0 0) into 0
28.893 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
28.894 * [backup-simplify]: Simplify (+ 0 0) into 0
28.894 * [backup-simplify]: Simplify (- 0) into 0
28.894 * [backup-simplify]: Simplify (+ 0 0) into 0
28.898 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0
28.899 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0
28.899 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* lambda2 R))) in lambda2
28.899 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) in lambda2
28.899 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) in lambda2
28.899 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in lambda2
28.899 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in lambda2
28.899 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2
28.899 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2
28.899 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
28.899 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
28.899 * [taylor]: Taking taylor expansion of -0.5 in lambda2
28.899 * [backup-simplify]: Simplify -0.5 into -0.5
28.899 * [taylor]: Taking taylor expansion of phi2 in lambda2
28.899 * [backup-simplify]: Simplify phi2 into phi2
28.899 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
28.899 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
28.899 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
28.900 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
28.900 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
28.900 * [backup-simplify]: Simplify (- 0) into 0
28.900 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
28.900 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2
28.900 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
28.900 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
28.900 * [taylor]: Taking taylor expansion of -0.5 in lambda2
28.900 * [backup-simplify]: Simplify -0.5 into -0.5
28.900 * [taylor]: Taking taylor expansion of phi1 in lambda2
28.900 * [backup-simplify]: Simplify phi1 into phi1
28.900 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
28.900 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
28.900 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
28.900 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
28.900 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
28.901 * [backup-simplify]: Simplify (- 0) into 0
28.901 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
28.901 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2
28.901 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2
28.901 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
28.901 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
28.901 * [taylor]: Taking taylor expansion of -0.5 in lambda2
28.901 * [backup-simplify]: Simplify -0.5 into -0.5
28.901 * [taylor]: Taking taylor expansion of phi2 in lambda2
28.901 * [backup-simplify]: Simplify phi2 into phi2
28.901 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
28.901 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
28.901 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
28.901 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
28.901 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
28.901 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
28.901 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2
28.901 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
28.901 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
28.901 * [taylor]: Taking taylor expansion of -0.5 in lambda2
28.901 * [backup-simplify]: Simplify -0.5 into -0.5
28.901 * [taylor]: Taking taylor expansion of phi1 in lambda2
28.901 * [backup-simplify]: Simplify phi1 into phi1
28.901 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
28.901 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
28.902 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
28.902 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
28.902 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
28.902 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
28.902 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in lambda2
28.902 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
28.902 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
28.902 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
28.902 * [taylor]: Taking taylor expansion of -0.5 in lambda2
28.902 * [backup-simplify]: Simplify -0.5 into -0.5
28.902 * [taylor]: Taking taylor expansion of phi2 in lambda2
28.902 * [backup-simplify]: Simplify phi2 into phi2
28.902 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
28.902 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
28.902 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
28.902 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
28.902 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
28.902 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
28.902 * [taylor]: Taking taylor expansion of -0.5 in lambda2
28.902 * [backup-simplify]: Simplify -0.5 into -0.5
28.902 * [taylor]: Taking taylor expansion of phi2 in lambda2
28.902 * [backup-simplify]: Simplify phi2 into phi2
28.902 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
28.902 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
28.902 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
28.902 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
28.902 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
28.902 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
28.902 * [taylor]: Taking taylor expansion of -0.5 in lambda2
28.902 * [backup-simplify]: Simplify -0.5 into -0.5
28.902 * [taylor]: Taking taylor expansion of phi1 in lambda2
28.902 * [backup-simplify]: Simplify phi1 into phi1
28.902 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
28.902 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
28.903 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
28.903 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
28.903 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
28.903 * [taylor]: Taking taylor expansion of -0.5 in lambda2
28.903 * [backup-simplify]: Simplify -0.5 into -0.5
28.903 * [taylor]: Taking taylor expansion of phi1 in lambda2
28.903 * [backup-simplify]: Simplify phi1 into phi1
28.903 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
28.903 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
28.903 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
28.903 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
28.903 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
28.903 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
28.903 * [taylor]: Taking taylor expansion of -0.5 in lambda2
28.903 * [backup-simplify]: Simplify -0.5 into -0.5
28.903 * [taylor]: Taking taylor expansion of phi2 in lambda2
28.903 * [backup-simplify]: Simplify phi2 into phi2
28.903 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
28.903 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
28.903 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
28.903 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
28.903 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
28.903 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
28.903 * [taylor]: Taking taylor expansion of -0.5 in lambda2
28.903 * [backup-simplify]: Simplify -0.5 into -0.5
28.903 * [taylor]: Taking taylor expansion of phi2 in lambda2
28.903 * [backup-simplify]: Simplify phi2 into phi2
28.903 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
28.903 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
28.903 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
28.903 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
28.903 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
28.903 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
28.903 * [taylor]: Taking taylor expansion of -0.5 in lambda2
28.903 * [backup-simplify]: Simplify -0.5 into -0.5
28.903 * [taylor]: Taking taylor expansion of phi1 in lambda2
28.903 * [backup-simplify]: Simplify phi1 into phi1
28.903 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
28.903 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
28.904 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
28.904 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
28.904 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
28.904 * [taylor]: Taking taylor expansion of -0.5 in lambda2
28.904 * [backup-simplify]: Simplify -0.5 into -0.5
28.904 * [taylor]: Taking taylor expansion of phi1 in lambda2
28.904 * [backup-simplify]: Simplify phi1 into phi1
28.904 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
28.904 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
28.904 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
28.904 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
28.904 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
28.904 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
28.904 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
28.904 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
28.905 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
28.905 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
28.905 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
28.905 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
28.905 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
28.905 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
28.905 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
28.906 * [backup-simplify]: Simplify (- 0) into 0
28.906 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
28.906 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
28.906 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
28.906 * [backup-simplify]: Simplify (- 0) into 0
28.906 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
28.906 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
28.906 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
28.906 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
28.906 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
28.907 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
28.907 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
28.907 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
28.907 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
28.907 * [backup-simplify]: Simplify (- 0) into 0
28.907 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
28.907 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
28.907 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
28.907 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
28.907 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
28.907 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
28.908 * [backup-simplify]: Simplify (- 0) into 0
28.908 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
28.908 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
28.908 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
28.908 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
28.908 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
28.908 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
28.908 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
28.909 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
28.909 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
28.910 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
28.911 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))
28.912 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))
28.913 * [backup-simplify]: Simplify (+ 0) into 0
28.913 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
28.913 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
28.914 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
28.914 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
28.914 * [backup-simplify]: Simplify (- 0) into 0
28.914 * [backup-simplify]: Simplify (+ 0 0) into 0
28.914 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
28.915 * [backup-simplify]: Simplify (+ 0) into 0
28.915 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
28.915 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
28.916 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
28.916 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
28.916 * [backup-simplify]: Simplify (- 0) into 0
28.916 * [backup-simplify]: Simplify (+ 0 0) into 0
28.916 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
28.917 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
28.917 * [backup-simplify]: Simplify (+ 0) into 0
28.917 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
28.917 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
28.918 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
28.918 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
28.918 * [backup-simplify]: Simplify (+ 0 0) into 0
28.918 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
28.919 * [backup-simplify]: Simplify (+ 0) into 0
28.919 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
28.919 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
28.919 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
28.920 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
28.920 * [backup-simplify]: Simplify (+ 0 0) into 0
28.920 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
28.920 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
28.921 * [backup-simplify]: Simplify (+ 0 0) into 0
28.921 * [backup-simplify]: Simplify (+ 0) into 0
28.921 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
28.921 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
28.922 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
28.922 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
28.922 * [backup-simplify]: Simplify (+ 0 0) into 0
28.922 * [backup-simplify]: Simplify (+ 0) into 0
28.923 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
28.923 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
28.923 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
28.924 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
28.924 * [backup-simplify]: Simplify (- 0) into 0
28.924 * [backup-simplify]: Simplify (+ 0 0) into 0
28.924 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
28.924 * [backup-simplify]: Simplify (+ 0) into 0
28.925 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
28.925 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
28.925 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
28.926 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
28.926 * [backup-simplify]: Simplify (- 0) into 0
28.926 * [backup-simplify]: Simplify (+ 0 0) into 0
28.927 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
28.927 * [backup-simplify]: Simplify (+ 0) into 0
28.928 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
28.928 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
28.928 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
28.929 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
28.929 * [backup-simplify]: Simplify (+ 0 0) into 0
28.930 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
28.930 * [backup-simplify]: Simplify (+ 0) into 0
28.931 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
28.931 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
28.937 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
28.937 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
28.938 * [backup-simplify]: Simplify (+ 0 0) into 0
28.938 * [backup-simplify]: Simplify (+ 0) into 0
28.939 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
28.939 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
28.940 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
28.940 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
28.941 * [backup-simplify]: Simplify (- 0) into 0
28.941 * [backup-simplify]: Simplify (+ 0 0) into 0
28.941 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
28.942 * [backup-simplify]: Simplify (+ 0) into 0
28.942 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
28.942 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
28.943 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
28.943 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
28.944 * [backup-simplify]: Simplify (+ 0 0) into 0
28.944 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
28.945 * [backup-simplify]: Simplify (+ 0) into 0
28.945 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
28.945 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
28.946 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
28.946 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
28.947 * [backup-simplify]: Simplify (- 0) into 0
28.947 * [backup-simplify]: Simplify (+ 0 0) into 0
28.948 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
28.948 * [backup-simplify]: Simplify (+ 0 0) into 0
28.948 * [backup-simplify]: Simplify (- 0) into 0
28.949 * [backup-simplify]: Simplify (+ 0 0) into 0
28.953 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0
28.955 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0
28.955 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* lambda2 R)) in lambda2
28.955 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2
28.955 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2
28.955 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
28.955 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
28.955 * [taylor]: Taking taylor expansion of -0.5 in lambda2
28.955 * [backup-simplify]: Simplify -0.5 into -0.5
28.955 * [taylor]: Taking taylor expansion of phi2 in lambda2
28.955 * [backup-simplify]: Simplify phi2 into phi2
28.955 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
28.955 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
28.955 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
28.956 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
28.956 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
28.956 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
28.956 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2
28.956 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
28.956 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
28.956 * [taylor]: Taking taylor expansion of -0.5 in lambda2
28.956 * [backup-simplify]: Simplify -0.5 into -0.5
28.956 * [taylor]: Taking taylor expansion of phi1 in lambda2
28.956 * [backup-simplify]: Simplify phi1 into phi1
28.956 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
28.956 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
28.956 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
28.956 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
28.956 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
28.957 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
28.957 * [taylor]: Taking taylor expansion of (* lambda2 R) in lambda2
28.957 * [taylor]: Taking taylor expansion of lambda2 in lambda2
28.957 * [backup-simplify]: Simplify 0 into 0
28.957 * [backup-simplify]: Simplify 1 into 1
28.957 * [taylor]: Taking taylor expansion of R in lambda2
28.957 * [backup-simplify]: Simplify R into R
28.957 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
28.957 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
28.957 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
28.958 * [backup-simplify]: Simplify (* 0 R) into 0
28.958 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 R)) into R
28.959 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R) into (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R)
28.959 * [taylor]: Taking taylor expansion of (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R lambda2)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) in lambda2
28.959 * [taylor]: Taking taylor expansion of 2 in lambda2
28.959 * [backup-simplify]: Simplify 2 into 2
28.959 * [taylor]: Taking taylor expansion of (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R lambda2)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) in lambda2
28.959 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R lambda2)) in lambda2
28.959 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
28.959 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
28.959 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
28.959 * [taylor]: Taking taylor expansion of -0.5 in lambda2
28.959 * [backup-simplify]: Simplify -0.5 into -0.5
28.959 * [taylor]: Taking taylor expansion of phi2 in lambda2
28.959 * [backup-simplify]: Simplify phi2 into phi2
28.959 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
28.959 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
28.959 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
28.959 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
28.959 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
28.959 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
28.959 * [taylor]: Taking taylor expansion of -0.5 in lambda2
28.959 * [backup-simplify]: Simplify -0.5 into -0.5
28.959 * [taylor]: Taking taylor expansion of phi2 in lambda2
28.959 * [backup-simplify]: Simplify phi2 into phi2
28.959 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
28.960 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
28.960 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
28.960 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
28.960 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
28.960 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
28.960 * [taylor]: Taking taylor expansion of -0.5 in lambda2
28.960 * [backup-simplify]: Simplify -0.5 into -0.5
28.960 * [taylor]: Taking taylor expansion of phi1 in lambda2
28.960 * [backup-simplify]: Simplify phi1 into phi1
28.960 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
28.960 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
28.960 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
28.960 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
28.960 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
28.960 * [taylor]: Taking taylor expansion of -0.5 in lambda2
28.960 * [backup-simplify]: Simplify -0.5 into -0.5
28.960 * [taylor]: Taking taylor expansion of phi1 in lambda2
28.960 * [backup-simplify]: Simplify phi1 into phi1
28.960 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
28.960 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
28.961 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
28.961 * [taylor]: Taking taylor expansion of (* R lambda2) in lambda2
28.961 * [taylor]: Taking taylor expansion of R in lambda2
28.961 * [backup-simplify]: Simplify R into R
28.961 * [taylor]: Taking taylor expansion of lambda2 in lambda2
28.961 * [backup-simplify]: Simplify 0 into 0
28.961 * [backup-simplify]: Simplify 1 into 1
28.961 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
28.961 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
28.961 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
28.962 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
28.962 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
28.962 * [backup-simplify]: Simplify (- 0) into 0
28.962 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
28.962 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
28.962 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
28.963 * [backup-simplify]: Simplify (- 0) into 0
28.963 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
28.963 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
28.963 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
28.963 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
28.963 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
28.964 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
28.964 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
28.964 * [backup-simplify]: Simplify (* R 0) into 0
28.964 * [backup-simplify]: Simplify (+ (* R 1) (* 0 0)) into R
28.965 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) into (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R)
28.965 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) in lambda2
28.965 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) in lambda2
28.965 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in lambda2
28.965 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in lambda2
28.965 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2
28.965 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2
28.965 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
28.965 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
28.965 * [taylor]: Taking taylor expansion of -0.5 in lambda2
28.965 * [backup-simplify]: Simplify -0.5 into -0.5
28.965 * [taylor]: Taking taylor expansion of phi2 in lambda2
28.965 * [backup-simplify]: Simplify phi2 into phi2
28.965 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
28.965 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
28.966 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
28.966 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
28.966 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
28.966 * [backup-simplify]: Simplify (- 0) into 0
28.966 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
28.966 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2
28.966 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
28.966 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
28.966 * [taylor]: Taking taylor expansion of -0.5 in lambda2
28.966 * [backup-simplify]: Simplify -0.5 into -0.5
28.966 * [taylor]: Taking taylor expansion of phi1 in lambda2
28.966 * [backup-simplify]: Simplify phi1 into phi1
28.966 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
28.967 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
28.967 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
28.967 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
28.967 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
28.967 * [backup-simplify]: Simplify (- 0) into 0
28.967 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
28.967 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2
28.967 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2
28.967 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
28.968 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
28.968 * [taylor]: Taking taylor expansion of -0.5 in lambda2
28.968 * [backup-simplify]: Simplify -0.5 into -0.5
28.968 * [taylor]: Taking taylor expansion of phi2 in lambda2
28.968 * [backup-simplify]: Simplify phi2 into phi2
28.968 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
28.968 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
28.968 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
28.968 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
28.968 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
28.968 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
28.968 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2
28.968 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
28.968 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
28.968 * [taylor]: Taking taylor expansion of -0.5 in lambda2
28.968 * [backup-simplify]: Simplify -0.5 into -0.5
28.968 * [taylor]: Taking taylor expansion of phi1 in lambda2
28.968 * [backup-simplify]: Simplify phi1 into phi1
28.968 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
28.969 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
28.969 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
28.969 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
28.969 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
28.969 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
28.969 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in lambda2
28.969 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
28.969 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
28.969 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
28.969 * [taylor]: Taking taylor expansion of -0.5 in lambda2
28.969 * [backup-simplify]: Simplify -0.5 into -0.5
28.969 * [taylor]: Taking taylor expansion of phi2 in lambda2
28.969 * [backup-simplify]: Simplify phi2 into phi2
28.969 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
28.969 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
28.970 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
28.970 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
28.970 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
28.970 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
28.970 * [taylor]: Taking taylor expansion of -0.5 in lambda2
28.970 * [backup-simplify]: Simplify -0.5 into -0.5
28.970 * [taylor]: Taking taylor expansion of phi2 in lambda2
28.970 * [backup-simplify]: Simplify phi2 into phi2
28.970 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
28.970 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
28.970 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
28.970 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
28.970 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
28.970 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
28.970 * [taylor]: Taking taylor expansion of -0.5 in lambda2
28.970 * [backup-simplify]: Simplify -0.5 into -0.5
28.970 * [taylor]: Taking taylor expansion of phi1 in lambda2
28.970 * [backup-simplify]: Simplify phi1 into phi1
28.970 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
28.970 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
28.970 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
28.970 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
28.970 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
28.971 * [taylor]: Taking taylor expansion of -0.5 in lambda2
28.971 * [backup-simplify]: Simplify -0.5 into -0.5
28.971 * [taylor]: Taking taylor expansion of phi1 in lambda2
28.971 * [backup-simplify]: Simplify phi1 into phi1
28.971 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
28.971 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
28.971 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
28.971 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
28.971 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
28.971 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
28.971 * [taylor]: Taking taylor expansion of -0.5 in lambda2
28.971 * [backup-simplify]: Simplify -0.5 into -0.5
28.971 * [taylor]: Taking taylor expansion of phi2 in lambda2
28.971 * [backup-simplify]: Simplify phi2 into phi2
28.971 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
28.971 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
28.971 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
28.971 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
28.971 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
28.971 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
28.971 * [taylor]: Taking taylor expansion of -0.5 in lambda2
28.971 * [backup-simplify]: Simplify -0.5 into -0.5
28.972 * [taylor]: Taking taylor expansion of phi2 in lambda2
28.972 * [backup-simplify]: Simplify phi2 into phi2
28.972 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
28.972 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
28.972 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
28.972 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
28.972 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
28.972 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
28.972 * [taylor]: Taking taylor expansion of -0.5 in lambda2
28.972 * [backup-simplify]: Simplify -0.5 into -0.5
28.972 * [taylor]: Taking taylor expansion of phi1 in lambda2
28.972 * [backup-simplify]: Simplify phi1 into phi1
28.972 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
28.972 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
28.972 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
28.972 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
28.972 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
28.972 * [taylor]: Taking taylor expansion of -0.5 in lambda2
28.972 * [backup-simplify]: Simplify -0.5 into -0.5
28.972 * [taylor]: Taking taylor expansion of phi1 in lambda2
28.972 * [backup-simplify]: Simplify phi1 into phi1
28.972 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
28.973 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
28.973 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
28.973 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
28.973 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
28.973 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
28.974 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
28.974 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
28.974 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
28.975 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
28.975 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
28.975 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
28.975 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
28.975 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
28.975 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
28.976 * [backup-simplify]: Simplify (- 0) into 0
28.976 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
28.976 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
28.976 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
28.977 * [backup-simplify]: Simplify (- 0) into 0
28.977 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
28.977 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
28.977 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
28.977 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
28.977 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
28.978 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
28.978 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
28.978 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
28.978 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
28.978 * [backup-simplify]: Simplify (- 0) into 0
28.979 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
28.979 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
28.979 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
28.979 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
28.979 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
28.979 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
28.979 * [backup-simplify]: Simplify (- 0) into 0
28.979 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
28.980 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
28.980 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
28.980 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
28.980 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
28.980 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
28.981 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
28.981 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
28.982 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
28.984 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
28.986 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))
28.988 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))
28.989 * [backup-simplify]: Simplify (+ 0) into 0
28.989 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
28.989 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
28.990 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
28.991 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
28.991 * [backup-simplify]: Simplify (- 0) into 0
28.991 * [backup-simplify]: Simplify (+ 0 0) into 0
28.992 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
28.992 * [backup-simplify]: Simplify (+ 0) into 0
28.992 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
28.993 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
28.993 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
28.994 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
28.994 * [backup-simplify]: Simplify (- 0) into 0
28.995 * [backup-simplify]: Simplify (+ 0 0) into 0
28.995 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
28.995 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
28.996 * [backup-simplify]: Simplify (+ 0) into 0
28.996 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
28.996 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
28.997 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
28.998 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
28.998 * [backup-simplify]: Simplify (+ 0 0) into 0
28.998 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
28.999 * [backup-simplify]: Simplify (+ 0) into 0
28.999 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
28.999 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
29.000 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
29.001 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
29.001 * [backup-simplify]: Simplify (+ 0 0) into 0
29.001 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
29.002 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
29.002 * [backup-simplify]: Simplify (+ 0 0) into 0
29.002 * [backup-simplify]: Simplify (+ 0) into 0
29.003 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
29.003 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
29.004 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
29.004 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
29.005 * [backup-simplify]: Simplify (+ 0 0) into 0
29.005 * [backup-simplify]: Simplify (+ 0) into 0
29.005 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
29.006 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
29.006 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
29.007 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
29.007 * [backup-simplify]: Simplify (- 0) into 0
29.008 * [backup-simplify]: Simplify (+ 0 0) into 0
29.008 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
29.008 * [backup-simplify]: Simplify (+ 0) into 0
29.009 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
29.009 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
29.010 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
29.010 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
29.011 * [backup-simplify]: Simplify (- 0) into 0
29.011 * [backup-simplify]: Simplify (+ 0 0) into 0
29.011 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
29.012 * [backup-simplify]: Simplify (+ 0) into 0
29.012 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
29.012 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
29.013 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
29.014 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
29.014 * [backup-simplify]: Simplify (+ 0 0) into 0
29.014 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
29.015 * [backup-simplify]: Simplify (+ 0) into 0
29.015 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
29.015 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
29.016 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
29.017 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
29.017 * [backup-simplify]: Simplify (+ 0 0) into 0
29.017 * [backup-simplify]: Simplify (+ 0) into 0
29.018 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
29.018 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
29.019 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
29.019 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
29.020 * [backup-simplify]: Simplify (- 0) into 0
29.020 * [backup-simplify]: Simplify (+ 0 0) into 0
29.020 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
29.021 * [backup-simplify]: Simplify (+ 0) into 0
29.021 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
29.022 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
29.022 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
29.023 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
29.023 * [backup-simplify]: Simplify (+ 0 0) into 0
29.023 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
29.024 * [backup-simplify]: Simplify (+ 0) into 0
29.024 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
29.025 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
29.025 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
29.026 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
29.026 * [backup-simplify]: Simplify (- 0) into 0
29.027 * [backup-simplify]: Simplify (+ 0 0) into 0
29.027 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
29.027 * [backup-simplify]: Simplify (+ 0 0) into 0
29.028 * [backup-simplify]: Simplify (- 0) into 0
29.028 * [backup-simplify]: Simplify (+ 0 0) into 0
29.032 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0
29.034 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0
29.036 * [backup-simplify]: Simplify (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) into (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))
29.039 * [backup-simplify]: Simplify (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R)) into (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))
29.044 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))))
29.047 * [backup-simplify]: Simplify (* (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) into (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))
29.049 * [backup-simplify]: Simplify (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))))
29.052 * [backup-simplify]: Simplify (- (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))))) into (- (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))))
29.061 * [backup-simplify]: Simplify (+ (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (- (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))))) into (- (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R)) (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))))
29.061 * [taylor]: Taking taylor expansion of (- (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R)) (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))))) in phi1
29.061 * [taylor]: Taking taylor expansion of (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R)) (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) in phi1
29.061 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R)) in phi1
29.061 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) in phi1
29.061 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) in phi1
29.062 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in phi1
29.062 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi1
29.062 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi1
29.062 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi1
29.062 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
29.062 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
29.062 * [taylor]: Taking taylor expansion of -0.5 in phi1
29.062 * [backup-simplify]: Simplify -0.5 into -0.5
29.062 * [taylor]: Taking taylor expansion of phi2 in phi1
29.062 * [backup-simplify]: Simplify phi2 into phi2
29.062 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
29.062 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
29.062 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
29.062 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
29.062 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
29.063 * [backup-simplify]: Simplify (- 0) into 0
29.063 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
29.063 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi1
29.063 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
29.063 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
29.063 * [taylor]: Taking taylor expansion of -0.5 in phi1
29.063 * [backup-simplify]: Simplify -0.5 into -0.5
29.063 * [taylor]: Taking taylor expansion of phi1 in phi1
29.063 * [backup-simplify]: Simplify 0 into 0
29.063 * [backup-simplify]: Simplify 1 into 1
29.064 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
29.064 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
29.064 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi1
29.064 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi1
29.064 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
29.064 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
29.064 * [taylor]: Taking taylor expansion of -0.5 in phi1
29.064 * [backup-simplify]: Simplify -0.5 into -0.5
29.064 * [taylor]: Taking taylor expansion of phi2 in phi1
29.064 * [backup-simplify]: Simplify phi2 into phi2
29.064 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
29.064 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
29.064 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
29.064 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
29.065 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
29.065 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
29.065 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi1
29.065 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
29.065 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
29.065 * [taylor]: Taking taylor expansion of -0.5 in phi1
29.065 * [backup-simplify]: Simplify -0.5 into -0.5
29.065 * [taylor]: Taking taylor expansion of phi1 in phi1
29.065 * [backup-simplify]: Simplify 0 into 0
29.065 * [backup-simplify]: Simplify 1 into 1
29.065 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
29.065 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
29.065 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in phi1
29.066 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi1
29.066 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
29.066 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
29.066 * [taylor]: Taking taylor expansion of -0.5 in phi1
29.066 * [backup-simplify]: Simplify -0.5 into -0.5
29.066 * [taylor]: Taking taylor expansion of phi2 in phi1
29.066 * [backup-simplify]: Simplify phi2 into phi2
29.066 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
29.066 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
29.066 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
29.066 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi1
29.066 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
29.066 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
29.066 * [taylor]: Taking taylor expansion of -0.5 in phi1
29.066 * [backup-simplify]: Simplify -0.5 into -0.5
29.066 * [taylor]: Taking taylor expansion of phi2 in phi1
29.066 * [backup-simplify]: Simplify phi2 into phi2
29.066 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
29.066 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
29.066 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
29.066 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi1
29.066 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
29.067 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
29.067 * [taylor]: Taking taylor expansion of -0.5 in phi1
29.067 * [backup-simplify]: Simplify -0.5 into -0.5
29.067 * [taylor]: Taking taylor expansion of phi1 in phi1
29.067 * [backup-simplify]: Simplify 0 into 0
29.067 * [backup-simplify]: Simplify 1 into 1
29.067 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
29.067 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
29.067 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
29.067 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
29.067 * [taylor]: Taking taylor expansion of -0.5 in phi1
29.067 * [backup-simplify]: Simplify -0.5 into -0.5
29.067 * [taylor]: Taking taylor expansion of phi1 in phi1
29.067 * [backup-simplify]: Simplify 0 into 0
29.067 * [backup-simplify]: Simplify 1 into 1
29.068 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
29.068 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
29.068 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi1
29.068 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
29.068 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
29.068 * [taylor]: Taking taylor expansion of -0.5 in phi1
29.068 * [backup-simplify]: Simplify -0.5 into -0.5
29.068 * [taylor]: Taking taylor expansion of phi2 in phi1
29.068 * [backup-simplify]: Simplify phi2 into phi2
29.068 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
29.068 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
29.068 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
29.069 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi1
29.069 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
29.069 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
29.069 * [taylor]: Taking taylor expansion of -0.5 in phi1
29.069 * [backup-simplify]: Simplify -0.5 into -0.5
29.069 * [taylor]: Taking taylor expansion of phi2 in phi1
29.069 * [backup-simplify]: Simplify phi2 into phi2
29.069 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
29.069 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
29.069 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
29.069 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi1
29.069 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
29.069 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
29.069 * [taylor]: Taking taylor expansion of -0.5 in phi1
29.069 * [backup-simplify]: Simplify -0.5 into -0.5
29.069 * [taylor]: Taking taylor expansion of phi1 in phi1
29.069 * [backup-simplify]: Simplify 0 into 0
29.069 * [backup-simplify]: Simplify 1 into 1
29.070 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
29.070 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
29.070 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
29.070 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
29.070 * [taylor]: Taking taylor expansion of -0.5 in phi1
29.070 * [backup-simplify]: Simplify -0.5 into -0.5
29.070 * [taylor]: Taking taylor expansion of phi1 in phi1
29.070 * [backup-simplify]: Simplify 0 into 0
29.070 * [backup-simplify]: Simplify 1 into 1
29.071 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
29.071 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
29.071 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
29.071 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
29.071 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
29.072 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
29.072 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
29.072 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
29.073 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
29.073 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
29.073 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
29.073 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
29.073 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
29.073 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
29.074 * [backup-simplify]: Simplify (- 0) into 0
29.074 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
29.074 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
29.074 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
29.075 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
29.075 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
29.075 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
29.075 * [backup-simplify]: Simplify (- 0) into 0
29.075 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
29.076 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
29.076 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
29.076 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
29.076 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
29.076 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
29.076 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
29.077 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
29.078 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
29.080 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
29.082 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))
29.083 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))
29.083 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
29.083 * [backup-simplify]: Simplify (+ 0) into 0
29.084 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
29.084 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
29.084 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
29.085 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
29.085 * [backup-simplify]: Simplify (- 0) into 0
29.085 * [backup-simplify]: Simplify (+ 0 0) into 0
29.085 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
29.085 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
29.086 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
29.086 * [backup-simplify]: Simplify (+ 0) into 0
29.086 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
29.086 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
29.087 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
29.087 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
29.087 * [backup-simplify]: Simplify (+ 0 0) into 0
29.087 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
29.087 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
29.088 * [backup-simplify]: Simplify (+ 0 0) into 0
29.088 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
29.088 * [backup-simplify]: Simplify (+ 0) into 0
29.088 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
29.089 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
29.089 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
29.089 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
29.090 * [backup-simplify]: Simplify (- 0) into 0
29.090 * [backup-simplify]: Simplify (+ 0 0) into 0
29.090 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
29.090 * [backup-simplify]: Simplify (+ 0) into 0
29.090 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
29.091 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
29.091 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
29.091 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
29.092 * [backup-simplify]: Simplify (+ 0 0) into 0
29.092 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
29.092 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
29.092 * [backup-simplify]: Simplify (+ 0) into 0
29.092 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
29.093 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
29.093 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
29.093 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
29.094 * [backup-simplify]: Simplify (+ 0 0) into 0
29.094 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
29.094 * [backup-simplify]: Simplify (+ 0) into 0
29.094 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
29.094 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
29.095 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
29.095 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
29.095 * [backup-simplify]: Simplify (- 0) into 0
29.096 * [backup-simplify]: Simplify (+ 0 0) into 0
29.096 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
29.099 * [backup-simplify]: Simplify (+ 0 0) into 0
29.100 * [backup-simplify]: Simplify (- 0) into 0
29.100 * [backup-simplify]: Simplify (+ 0 0) into 0
29.102 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0
29.103 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0
29.103 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R) in phi1
29.103 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi1
29.103 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi1
29.103 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
29.103 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
29.103 * [taylor]: Taking taylor expansion of -0.5 in phi1
29.104 * [backup-simplify]: Simplify -0.5 into -0.5
29.104 * [taylor]: Taking taylor expansion of phi2 in phi1
29.104 * [backup-simplify]: Simplify phi2 into phi2
29.104 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
29.104 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
29.104 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
29.104 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
29.104 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
29.104 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
29.104 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi1
29.104 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
29.104 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
29.104 * [taylor]: Taking taylor expansion of -0.5 in phi1
29.104 * [backup-simplify]: Simplify -0.5 into -0.5
29.104 * [taylor]: Taking taylor expansion of phi1 in phi1
29.104 * [backup-simplify]: Simplify 0 into 0
29.104 * [backup-simplify]: Simplify 1 into 1
29.104 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
29.104 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
29.104 * [taylor]: Taking taylor expansion of R in phi1
29.104 * [backup-simplify]: Simplify R into R
29.105 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
29.105 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
29.105 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
29.105 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R) into (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R)
29.105 * [taylor]: Taking taylor expansion of (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) in phi1
29.105 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) in phi1
29.105 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi1
29.105 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi1
29.105 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
29.105 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
29.105 * [taylor]: Taking taylor expansion of -0.5 in phi1
29.105 * [backup-simplify]: Simplify -0.5 into -0.5
29.105 * [taylor]: Taking taylor expansion of phi2 in phi1
29.105 * [backup-simplify]: Simplify phi2 into phi2
29.105 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
29.105 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
29.105 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
29.105 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
29.106 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
29.106 * [backup-simplify]: Simplify (- 0) into 0
29.106 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
29.106 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi1
29.106 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
29.106 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
29.106 * [taylor]: Taking taylor expansion of -0.5 in phi1
29.106 * [backup-simplify]: Simplify -0.5 into -0.5
29.106 * [taylor]: Taking taylor expansion of phi1 in phi1
29.106 * [backup-simplify]: Simplify 0 into 0
29.106 * [backup-simplify]: Simplify 1 into 1
29.106 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
29.106 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
29.106 * [taylor]: Taking taylor expansion of R in phi1
29.106 * [backup-simplify]: Simplify R into R
29.106 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
29.107 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
29.107 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
29.107 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) into (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R)
29.107 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) in phi1
29.107 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) in phi1
29.107 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in phi1
29.107 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi1
29.107 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi1
29.107 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi1
29.107 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
29.107 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
29.107 * [taylor]: Taking taylor expansion of -0.5 in phi1
29.107 * [backup-simplify]: Simplify -0.5 into -0.5
29.107 * [taylor]: Taking taylor expansion of phi2 in phi1
29.107 * [backup-simplify]: Simplify phi2 into phi2
29.107 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
29.107 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
29.107 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
29.107 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
29.107 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
29.108 * [backup-simplify]: Simplify (- 0) into 0
29.108 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
29.108 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi1
29.108 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
29.108 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
29.108 * [taylor]: Taking taylor expansion of -0.5 in phi1
29.108 * [backup-simplify]: Simplify -0.5 into -0.5
29.108 * [taylor]: Taking taylor expansion of phi1 in phi1
29.108 * [backup-simplify]: Simplify 0 into 0
29.108 * [backup-simplify]: Simplify 1 into 1
29.108 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
29.108 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
29.108 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi1
29.108 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi1
29.108 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
29.108 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
29.108 * [taylor]: Taking taylor expansion of -0.5 in phi1
29.108 * [backup-simplify]: Simplify -0.5 into -0.5
29.108 * [taylor]: Taking taylor expansion of phi2 in phi1
29.108 * [backup-simplify]: Simplify phi2 into phi2
29.108 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
29.109 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
29.109 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
29.109 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
29.109 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
29.109 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
29.109 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi1
29.109 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
29.109 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
29.109 * [taylor]: Taking taylor expansion of -0.5 in phi1
29.109 * [backup-simplify]: Simplify -0.5 into -0.5
29.109 * [taylor]: Taking taylor expansion of phi1 in phi1
29.109 * [backup-simplify]: Simplify 0 into 0
29.109 * [backup-simplify]: Simplify 1 into 1
29.109 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
29.109 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
29.109 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in phi1
29.109 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi1
29.109 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
29.109 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
29.109 * [taylor]: Taking taylor expansion of -0.5 in phi1
29.109 * [backup-simplify]: Simplify -0.5 into -0.5
29.109 * [taylor]: Taking taylor expansion of phi2 in phi1
29.109 * [backup-simplify]: Simplify phi2 into phi2
29.109 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
29.110 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
29.110 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
29.110 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi1
29.110 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
29.110 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
29.110 * [taylor]: Taking taylor expansion of -0.5 in phi1
29.110 * [backup-simplify]: Simplify -0.5 into -0.5
29.110 * [taylor]: Taking taylor expansion of phi2 in phi1
29.110 * [backup-simplify]: Simplify phi2 into phi2
29.110 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
29.110 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
29.110 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
29.110 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi1
29.110 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
29.110 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
29.110 * [taylor]: Taking taylor expansion of -0.5 in phi1
29.110 * [backup-simplify]: Simplify -0.5 into -0.5
29.110 * [taylor]: Taking taylor expansion of phi1 in phi1
29.110 * [backup-simplify]: Simplify 0 into 0
29.110 * [backup-simplify]: Simplify 1 into 1
29.110 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
29.110 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
29.110 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
29.110 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
29.110 * [taylor]: Taking taylor expansion of -0.5 in phi1
29.110 * [backup-simplify]: Simplify -0.5 into -0.5
29.110 * [taylor]: Taking taylor expansion of phi1 in phi1
29.110 * [backup-simplify]: Simplify 0 into 0
29.110 * [backup-simplify]: Simplify 1 into 1
29.111 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
29.111 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
29.111 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi1
29.111 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
29.111 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
29.111 * [taylor]: Taking taylor expansion of -0.5 in phi1
29.111 * [backup-simplify]: Simplify -0.5 into -0.5
29.111 * [taylor]: Taking taylor expansion of phi2 in phi1
29.111 * [backup-simplify]: Simplify phi2 into phi2
29.111 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
29.111 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
29.111 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
29.111 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi1
29.111 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
29.111 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
29.111 * [taylor]: Taking taylor expansion of -0.5 in phi1
29.111 * [backup-simplify]: Simplify -0.5 into -0.5
29.111 * [taylor]: Taking taylor expansion of phi2 in phi1
29.111 * [backup-simplify]: Simplify phi2 into phi2
29.111 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
29.111 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
29.111 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
29.111 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi1
29.111 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
29.111 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
29.111 * [taylor]: Taking taylor expansion of -0.5 in phi1
29.111 * [backup-simplify]: Simplify -0.5 into -0.5
29.111 * [taylor]: Taking taylor expansion of phi1 in phi1
29.111 * [backup-simplify]: Simplify 0 into 0
29.111 * [backup-simplify]: Simplify 1 into 1
29.112 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
29.112 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
29.112 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
29.112 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
29.112 * [taylor]: Taking taylor expansion of -0.5 in phi1
29.112 * [backup-simplify]: Simplify -0.5 into -0.5
29.112 * [taylor]: Taking taylor expansion of phi1 in phi1
29.112 * [backup-simplify]: Simplify 0 into 0
29.112 * [backup-simplify]: Simplify 1 into 1
29.112 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
29.112 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
29.112 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
29.112 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
29.113 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
29.113 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
29.113 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
29.113 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
29.113 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
29.114 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
29.114 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
29.114 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
29.114 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
29.114 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
29.114 * [backup-simplify]: Simplify (- 0) into 0
29.114 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
29.114 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
29.114 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
29.115 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
29.115 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
29.115 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
29.115 * [backup-simplify]: Simplify (- 0) into 0
29.115 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
29.115 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
29.115 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
29.115 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
29.115 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
29.115 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
29.116 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
29.116 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
29.116 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
29.117 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
29.118 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))
29.119 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))
29.119 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
29.120 * [backup-simplify]: Simplify (+ 0) into 0
29.120 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
29.120 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
29.121 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
29.121 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
29.121 * [backup-simplify]: Simplify (- 0) into 0
29.121 * [backup-simplify]: Simplify (+ 0 0) into 0
29.121 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
29.122 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
29.122 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
29.122 * [backup-simplify]: Simplify (+ 0) into 0
29.122 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
29.122 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
29.123 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
29.123 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
29.123 * [backup-simplify]: Simplify (+ 0 0) into 0
29.124 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
29.124 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
29.124 * [backup-simplify]: Simplify (+ 0 0) into 0
29.124 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
29.124 * [backup-simplify]: Simplify (+ 0) into 0
29.125 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
29.125 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
29.125 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
29.126 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
29.126 * [backup-simplify]: Simplify (- 0) into 0
29.126 * [backup-simplify]: Simplify (+ 0 0) into 0
29.126 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
29.126 * [backup-simplify]: Simplify (+ 0) into 0
29.127 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
29.127 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
29.127 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
29.128 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
29.128 * [backup-simplify]: Simplify (+ 0 0) into 0
29.128 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
29.128 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
29.128 * [backup-simplify]: Simplify (+ 0) into 0
29.129 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
29.129 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
29.129 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
29.129 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
29.130 * [backup-simplify]: Simplify (+ 0 0) into 0
29.130 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
29.130 * [backup-simplify]: Simplify (+ 0) into 0
29.130 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
29.131 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
29.131 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
29.131 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
29.132 * [backup-simplify]: Simplify (- 0) into 0
29.132 * [backup-simplify]: Simplify (+ 0 0) into 0
29.132 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
29.132 * [backup-simplify]: Simplify (+ 0 0) into 0
29.133 * [backup-simplify]: Simplify (- 0) into 0
29.133 * [backup-simplify]: Simplify (+ 0 0) into 0
29.135 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0
29.136 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0
29.136 * [taylor]: Taking taylor expansion of (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) in phi1
29.136 * [taylor]: Taking taylor expansion of 2 in phi1
29.136 * [backup-simplify]: Simplify 2 into 2
29.136 * [taylor]: Taking taylor expansion of (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) in phi1
29.136 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) in phi1
29.136 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi1
29.136 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
29.136 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
29.136 * [taylor]: Taking taylor expansion of -0.5 in phi1
29.136 * [backup-simplify]: Simplify -0.5 into -0.5
29.136 * [taylor]: Taking taylor expansion of phi2 in phi1
29.136 * [backup-simplify]: Simplify phi2 into phi2
29.136 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
29.136 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
29.136 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
29.136 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi1
29.136 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
29.136 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
29.137 * [taylor]: Taking taylor expansion of -0.5 in phi1
29.137 * [backup-simplify]: Simplify -0.5 into -0.5
29.137 * [taylor]: Taking taylor expansion of phi2 in phi1
29.137 * [backup-simplify]: Simplify phi2 into phi2
29.137 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
29.137 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
29.137 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
29.137 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi1
29.137 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
29.137 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
29.137 * [taylor]: Taking taylor expansion of -0.5 in phi1
29.137 * [backup-simplify]: Simplify -0.5 into -0.5
29.137 * [taylor]: Taking taylor expansion of phi1 in phi1
29.137 * [backup-simplify]: Simplify 0 into 0
29.137 * [backup-simplify]: Simplify 1 into 1
29.137 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
29.137 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
29.137 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
29.137 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
29.137 * [taylor]: Taking taylor expansion of -0.5 in phi1
29.137 * [backup-simplify]: Simplify -0.5 into -0.5
29.137 * [taylor]: Taking taylor expansion of phi1 in phi1
29.137 * [backup-simplify]: Simplify 0 into 0
29.137 * [backup-simplify]: Simplify 1 into 1
29.138 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
29.138 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
29.138 * [taylor]: Taking taylor expansion of R in phi1
29.138 * [backup-simplify]: Simplify R into R
29.138 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
29.138 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
29.138 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
29.138 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
29.138 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
29.138 * [backup-simplify]: Simplify (- 0) into 0
29.139 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
29.139 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
29.139 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
29.139 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
29.139 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) into (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R)
29.139 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) in phi1
29.139 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) in phi1
29.139 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in phi1
29.139 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi1
29.139 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi1
29.139 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi1
29.139 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
29.140 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
29.140 * [taylor]: Taking taylor expansion of -0.5 in phi1
29.140 * [backup-simplify]: Simplify -0.5 into -0.5
29.140 * [taylor]: Taking taylor expansion of phi2 in phi1
29.140 * [backup-simplify]: Simplify phi2 into phi2
29.140 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
29.140 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
29.140 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
29.140 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
29.140 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
29.140 * [backup-simplify]: Simplify (- 0) into 0
29.140 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
29.140 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi1
29.140 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
29.140 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
29.140 * [taylor]: Taking taylor expansion of -0.5 in phi1
29.140 * [backup-simplify]: Simplify -0.5 into -0.5
29.140 * [taylor]: Taking taylor expansion of phi1 in phi1
29.140 * [backup-simplify]: Simplify 0 into 0
29.140 * [backup-simplify]: Simplify 1 into 1
29.141 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
29.141 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
29.141 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi1
29.141 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi1
29.141 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
29.141 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
29.141 * [taylor]: Taking taylor expansion of -0.5 in phi1
29.141 * [backup-simplify]: Simplify -0.5 into -0.5
29.141 * [taylor]: Taking taylor expansion of phi2 in phi1
29.141 * [backup-simplify]: Simplify phi2 into phi2
29.141 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
29.141 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
29.141 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
29.141 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
29.141 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
29.141 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
29.141 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi1
29.141 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
29.141 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
29.141 * [taylor]: Taking taylor expansion of -0.5 in phi1
29.141 * [backup-simplify]: Simplify -0.5 into -0.5
29.141 * [taylor]: Taking taylor expansion of phi1 in phi1
29.141 * [backup-simplify]: Simplify 0 into 0
29.141 * [backup-simplify]: Simplify 1 into 1
29.142 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
29.142 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
29.142 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in phi1
29.142 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi1
29.142 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
29.142 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
29.142 * [taylor]: Taking taylor expansion of -0.5 in phi1
29.142 * [backup-simplify]: Simplify -0.5 into -0.5
29.142 * [taylor]: Taking taylor expansion of phi2 in phi1
29.142 * [backup-simplify]: Simplify phi2 into phi2
29.142 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
29.142 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
29.142 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
29.142 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi1
29.142 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
29.142 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
29.142 * [taylor]: Taking taylor expansion of -0.5 in phi1
29.142 * [backup-simplify]: Simplify -0.5 into -0.5
29.142 * [taylor]: Taking taylor expansion of phi2 in phi1
29.142 * [backup-simplify]: Simplify phi2 into phi2
29.142 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
29.142 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
29.142 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
29.142 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi1
29.142 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
29.142 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
29.142 * [taylor]: Taking taylor expansion of -0.5 in phi1
29.142 * [backup-simplify]: Simplify -0.5 into -0.5
29.142 * [taylor]: Taking taylor expansion of phi1 in phi1
29.142 * [backup-simplify]: Simplify 0 into 0
29.142 * [backup-simplify]: Simplify 1 into 1
29.143 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
29.143 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
29.143 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
29.143 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
29.143 * [taylor]: Taking taylor expansion of -0.5 in phi1
29.143 * [backup-simplify]: Simplify -0.5 into -0.5
29.143 * [taylor]: Taking taylor expansion of phi1 in phi1
29.143 * [backup-simplify]: Simplify 0 into 0
29.143 * [backup-simplify]: Simplify 1 into 1
29.143 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
29.143 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
29.143 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi1
29.143 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
29.143 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
29.143 * [taylor]: Taking taylor expansion of -0.5 in phi1
29.143 * [backup-simplify]: Simplify -0.5 into -0.5
29.143 * [taylor]: Taking taylor expansion of phi2 in phi1
29.143 * [backup-simplify]: Simplify phi2 into phi2
29.143 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
29.143 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
29.143 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
29.144 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi1
29.144 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
29.144 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
29.144 * [taylor]: Taking taylor expansion of -0.5 in phi1
29.144 * [backup-simplify]: Simplify -0.5 into -0.5
29.144 * [taylor]: Taking taylor expansion of phi2 in phi1
29.144 * [backup-simplify]: Simplify phi2 into phi2
29.144 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
29.144 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
29.144 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
29.144 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi1
29.144 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
29.144 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
29.144 * [taylor]: Taking taylor expansion of -0.5 in phi1
29.144 * [backup-simplify]: Simplify -0.5 into -0.5
29.144 * [taylor]: Taking taylor expansion of phi1 in phi1
29.144 * [backup-simplify]: Simplify 0 into 0
29.144 * [backup-simplify]: Simplify 1 into 1
29.144 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
29.144 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
29.144 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
29.144 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
29.144 * [taylor]: Taking taylor expansion of -0.5 in phi1
29.144 * [backup-simplify]: Simplify -0.5 into -0.5
29.144 * [taylor]: Taking taylor expansion of phi1 in phi1
29.144 * [backup-simplify]: Simplify 0 into 0
29.144 * [backup-simplify]: Simplify 1 into 1
29.145 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
29.145 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
29.145 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
29.145 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
29.145 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
29.145 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
29.145 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
29.145 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
29.146 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
29.146 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
29.146 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
29.146 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
29.146 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
29.146 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
29.146 * [backup-simplify]: Simplify (- 0) into 0
29.147 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
29.147 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
29.147 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
29.147 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
29.147 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
29.147 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
29.147 * [backup-simplify]: Simplify (- 0) into 0
29.147 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
29.147 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
29.148 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
29.148 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
29.148 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
29.148 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
29.148 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
29.148 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
29.149 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
29.150 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
29.151 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))
29.152 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))
29.152 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
29.152 * [backup-simplify]: Simplify (+ 0) into 0
29.153 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
29.153 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
29.153 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
29.153 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
29.154 * [backup-simplify]: Simplify (- 0) into 0
29.154 * [backup-simplify]: Simplify (+ 0 0) into 0
29.154 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
29.155 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
29.155 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
29.155 * [backup-simplify]: Simplify (+ 0) into 0
29.156 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
29.156 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
29.157 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
29.157 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
29.157 * [backup-simplify]: Simplify (+ 0 0) into 0
29.158 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
29.158 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
29.158 * [backup-simplify]: Simplify (+ 0 0) into 0
29.159 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
29.159 * [backup-simplify]: Simplify (+ 0) into 0
29.159 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
29.160 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
29.160 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
29.161 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
29.161 * [backup-simplify]: Simplify (- 0) into 0
29.162 * [backup-simplify]: Simplify (+ 0 0) into 0
29.162 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
29.162 * [backup-simplify]: Simplify (+ 0) into 0
29.163 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
29.163 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
29.164 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
29.164 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
29.164 * [backup-simplify]: Simplify (+ 0 0) into 0
29.165 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
29.165 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
29.165 * [backup-simplify]: Simplify (+ 0) into 0
29.166 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
29.166 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
29.166 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
29.167 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
29.167 * [backup-simplify]: Simplify (+ 0 0) into 0
29.167 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
29.167 * [backup-simplify]: Simplify (+ 0) into 0
29.167 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
29.168 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
29.168 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
29.168 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
29.169 * [backup-simplify]: Simplify (- 0) into 0
29.169 * [backup-simplify]: Simplify (+ 0 0) into 0
29.169 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
29.169 * [backup-simplify]: Simplify (+ 0 0) into 0
29.169 * [backup-simplify]: Simplify (- 0) into 0
29.170 * [backup-simplify]: Simplify (+ 0 0) into 0
29.172 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0
29.173 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0
29.174 * [backup-simplify]: Simplify (* (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (/ 1 R)) into (* (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (/ 1 R))
29.175 * [backup-simplify]: Simplify (* -1 (* (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (/ 1 R))) into (* -1 (* (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (/ 1 R)))
29.175 * [taylor]: Taking taylor expansion of (* -1 (* (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (/ 1 R))) in phi1
29.175 * [taylor]: Taking taylor expansion of -1 in phi1
29.175 * [backup-simplify]: Simplify -1 into -1
29.175 * [taylor]: Taking taylor expansion of (* (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (/ 1 R)) in phi1
29.175 * [taylor]: Taking taylor expansion of (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) in phi1
29.175 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in phi1
29.175 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi1
29.175 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi1
29.175 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi1
29.175 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
29.175 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
29.175 * [taylor]: Taking taylor expansion of -0.5 in phi1
29.175 * [backup-simplify]: Simplify -0.5 into -0.5
29.175 * [taylor]: Taking taylor expansion of phi2 in phi1
29.175 * [backup-simplify]: Simplify phi2 into phi2
29.175 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
29.175 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
29.175 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
29.175 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
29.176 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
29.176 * [backup-simplify]: Simplify (- 0) into 0
29.176 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
29.176 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi1
29.176 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
29.176 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
29.176 * [taylor]: Taking taylor expansion of -0.5 in phi1
29.176 * [backup-simplify]: Simplify -0.5 into -0.5
29.176 * [taylor]: Taking taylor expansion of phi1 in phi1
29.176 * [backup-simplify]: Simplify 0 into 0
29.176 * [backup-simplify]: Simplify 1 into 1
29.176 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
29.176 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
29.177 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi1
29.177 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi1
29.177 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
29.177 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
29.177 * [taylor]: Taking taylor expansion of -0.5 in phi1
29.177 * [backup-simplify]: Simplify -0.5 into -0.5
29.177 * [taylor]: Taking taylor expansion of phi2 in phi1
29.177 * [backup-simplify]: Simplify phi2 into phi2
29.177 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
29.177 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
29.177 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
29.177 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
29.177 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
29.177 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
29.177 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi1
29.177 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
29.177 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
29.177 * [taylor]: Taking taylor expansion of -0.5 in phi1
29.177 * [backup-simplify]: Simplify -0.5 into -0.5
29.177 * [taylor]: Taking taylor expansion of phi1 in phi1
29.177 * [backup-simplify]: Simplify 0 into 0
29.177 * [backup-simplify]: Simplify 1 into 1
29.177 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
29.177 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
29.177 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in phi1
29.178 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi1
29.178 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
29.178 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
29.178 * [taylor]: Taking taylor expansion of -0.5 in phi1
29.178 * [backup-simplify]: Simplify -0.5 into -0.5
29.178 * [taylor]: Taking taylor expansion of phi2 in phi1
29.178 * [backup-simplify]: Simplify phi2 into phi2
29.178 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
29.178 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
29.178 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
29.178 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi1
29.178 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
29.178 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
29.178 * [taylor]: Taking taylor expansion of -0.5 in phi1
29.178 * [backup-simplify]: Simplify -0.5 into -0.5
29.178 * [taylor]: Taking taylor expansion of phi2 in phi1
29.178 * [backup-simplify]: Simplify phi2 into phi2
29.178 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
29.178 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
29.178 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
29.178 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi1
29.178 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
29.178 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
29.178 * [taylor]: Taking taylor expansion of -0.5 in phi1
29.178 * [backup-simplify]: Simplify -0.5 into -0.5
29.178 * [taylor]: Taking taylor expansion of phi1 in phi1
29.178 * [backup-simplify]: Simplify 0 into 0
29.178 * [backup-simplify]: Simplify 1 into 1
29.178 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
29.178 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
29.179 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
29.179 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
29.179 * [taylor]: Taking taylor expansion of -0.5 in phi1
29.179 * [backup-simplify]: Simplify -0.5 into -0.5
29.179 * [taylor]: Taking taylor expansion of phi1 in phi1
29.179 * [backup-simplify]: Simplify 0 into 0
29.179 * [backup-simplify]: Simplify 1 into 1
29.179 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
29.179 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
29.179 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi1
29.179 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
29.179 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
29.179 * [taylor]: Taking taylor expansion of -0.5 in phi1
29.179 * [backup-simplify]: Simplify -0.5 into -0.5
29.179 * [taylor]: Taking taylor expansion of phi2 in phi1
29.179 * [backup-simplify]: Simplify phi2 into phi2
29.179 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
29.179 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
29.179 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
29.179 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi1
29.179 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
29.179 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
29.179 * [taylor]: Taking taylor expansion of -0.5 in phi1
29.179 * [backup-simplify]: Simplify -0.5 into -0.5
29.179 * [taylor]: Taking taylor expansion of phi2 in phi1
29.179 * [backup-simplify]: Simplify phi2 into phi2
29.179 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
29.179 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
29.180 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
29.180 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi1
29.180 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
29.180 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
29.180 * [taylor]: Taking taylor expansion of -0.5 in phi1
29.180 * [backup-simplify]: Simplify -0.5 into -0.5
29.180 * [taylor]: Taking taylor expansion of phi1 in phi1
29.180 * [backup-simplify]: Simplify 0 into 0
29.180 * [backup-simplify]: Simplify 1 into 1
29.180 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
29.180 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
29.180 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
29.180 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
29.180 * [taylor]: Taking taylor expansion of -0.5 in phi1
29.180 * [backup-simplify]: Simplify -0.5 into -0.5
29.180 * [taylor]: Taking taylor expansion of phi1 in phi1
29.180 * [backup-simplify]: Simplify 0 into 0
29.180 * [backup-simplify]: Simplify 1 into 1
29.180 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
29.180 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
29.181 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
29.181 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
29.181 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
29.181 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
29.181 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
29.181 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
29.182 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
29.182 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
29.182 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
29.182 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
29.182 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
29.182 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
29.182 * [backup-simplify]: Simplify (- 0) into 0
29.183 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
29.183 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
29.183 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
29.183 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
29.183 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
29.183 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
29.183 * [backup-simplify]: Simplify (- 0) into 0
29.183 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
29.183 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
29.184 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
29.184 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
29.184 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
29.184 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
29.184 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
29.184 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
29.185 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
29.186 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
29.187 * [backup-simplify]: Simplify (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))
29.187 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
29.187 * [backup-simplify]: Simplify (+ 0) into 0
29.188 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
29.188 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
29.188 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
29.189 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
29.189 * [backup-simplify]: Simplify (- 0) into 0
29.189 * [backup-simplify]: Simplify (+ 0 0) into 0
29.189 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
29.189 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
29.190 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
29.190 * [backup-simplify]: Simplify (+ 0) into 0
29.190 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
29.190 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
29.191 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
29.191 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
29.191 * [backup-simplify]: Simplify (+ 0 0) into 0
29.191 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
29.192 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
29.192 * [backup-simplify]: Simplify (+ 0 0) into 0
29.192 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
29.192 * [backup-simplify]: Simplify (+ 0) into 0
29.192 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
29.193 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
29.193 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
29.193 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
29.193 * [backup-simplify]: Simplify (- 0) into 0
29.194 * [backup-simplify]: Simplify (+ 0 0) into 0
29.194 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
29.194 * [backup-simplify]: Simplify (+ 0) into 0
29.194 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
29.195 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
29.195 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
29.195 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
29.196 * [backup-simplify]: Simplify (+ 0 0) into 0
29.196 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
29.196 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
29.196 * [backup-simplify]: Simplify (+ 0) into 0
29.196 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
29.197 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
29.197 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
29.197 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
29.198 * [backup-simplify]: Simplify (+ 0 0) into 0
29.198 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
29.198 * [backup-simplify]: Simplify (+ 0) into 0
29.199 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
29.199 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
29.200 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
29.200 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
29.200 * [backup-simplify]: Simplify (- 0) into 0
29.201 * [backup-simplify]: Simplify (+ 0 0) into 0
29.201 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
29.202 * [backup-simplify]: Simplify (+ 0 0) into 0
29.202 * [backup-simplify]: Simplify (- 0) into 0
29.202 * [backup-simplify]: Simplify (+ 0 0) into 0
29.204 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) into 0
29.204 * [taylor]: Taking taylor expansion of (/ 1 R) in phi1
29.205 * [taylor]: Taking taylor expansion of R in phi1
29.205 * [backup-simplify]: Simplify R into R
29.205 * [backup-simplify]: Simplify (/ 1 R) into (/ 1 R)
29.205 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)))) into 0
29.206 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)))) into 0
29.206 * [backup-simplify]: Simplify (- 0) into 0
29.206 * [backup-simplify]: Simplify (+ 0 0) into 0
29.212 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
29.213 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
29.214 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
29.214 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
29.215 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
29.215 * [backup-simplify]: Simplify (- 0) into 0
29.216 * [backup-simplify]: Simplify (+ 0 0) into 0
29.217 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
29.217 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
29.218 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
29.218 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
29.219 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
29.219 * [backup-simplify]: Simplify (- 0) into 0
29.219 * [backup-simplify]: Simplify (+ 0 0) into 0
29.220 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0
29.221 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
29.222 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
29.222 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
29.223 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
29.223 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
29.223 * [backup-simplify]: Simplify (+ 0 0) into 0
29.224 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
29.225 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
29.225 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
29.226 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
29.227 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
29.227 * [backup-simplify]: Simplify (+ 0 0) into 0
29.227 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
29.228 * [backup-simplify]: Simplify (- 0) into 0
29.228 * [backup-simplify]: Simplify (+ 0 0) into 0
29.229 * [backup-simplify]: Simplify (+ (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) 0) (+ (* 0 (/ 1 lambda2)) (* 0 -1))) into 0
29.229 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)))) into 0
29.230 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)))) into 0
29.231 * [backup-simplify]: Simplify (- 0) into 0
29.231 * [backup-simplify]: Simplify (+ 0 0) into 0
29.232 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
29.233 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
29.233 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
29.234 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
29.234 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
29.234 * [backup-simplify]: Simplify (- 0) into 0
29.235 * [backup-simplify]: Simplify (+ 0 0) into 0
29.236 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
29.237 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
29.237 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
29.238 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
29.238 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
29.239 * [backup-simplify]: Simplify (- 0) into 0
29.239 * [backup-simplify]: Simplify (+ 0 0) into 0
29.239 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0
29.240 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
29.241 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
29.241 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
29.242 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
29.242 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
29.242 * [backup-simplify]: Simplify (+ 0 0) into 0
29.243 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
29.243 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
29.243 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
29.244 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
29.244 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
29.244 * [backup-simplify]: Simplify (+ 0 0) into 0
29.245 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
29.245 * [backup-simplify]: Simplify (- 0) into 0
29.245 * [backup-simplify]: Simplify (+ 0 0) into 0
29.246 * [backup-simplify]: Simplify (+ (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) 0) (+ (* 0 (/ 1 lambda2)) (* 0 -1))) into 0
29.247 * [backup-simplify]: Simplify (+ (* (* -1 (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) 0) (+ (* (- (/ (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) lambda2) (/ (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) lambda2)) (- (/ (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) lambda2) (/ (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) lambda2))) (* 0 (* -1 (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))))) into (- (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2))) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2))))
29.247 * [backup-simplify]: Simplify (- (/ 1 phi1)) into (- (/ 1 phi1))
29.247 * [backup-simplify]: Simplify (+ (/ 1 phi2) (- (/ 1 phi1))) into (- (/ 1 phi2) (/ 1 phi1))
29.247 * [backup-simplify]: Simplify (- (/ 1 phi1)) into (- (/ 1 phi1))
29.247 * [backup-simplify]: Simplify (+ (/ 1 phi2) (- (/ 1 phi1))) into (- (/ 1 phi2) (/ 1 phi1))
29.247 * [backup-simplify]: Simplify (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1))) into (pow (- (/ 1 phi2) (/ 1 phi1)) 2)
29.249 * [backup-simplify]: Simplify (+ (- (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2))) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)))) (pow (- (/ 1 phi2) (/ 1 phi1)) 2)) into (- (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2))))) (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (+ (* 2 (/ 1 (* phi1 phi2))) (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)))))
29.257 * [backup-simplify]: Simplify (/ (- (- (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2))))) (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (+ (* 2 (/ 1 (* phi1 phi2))) (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2))))) (pow (* 1/2 (* (- (+ (* 2 (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) lambda2)) (* 2 (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) lambda2))) (+ (* 2 (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) lambda2)) (* 2 (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) lambda2)))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) 2) (+)) (* 2 (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) into (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (- (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1))))) (* (pow lambda2 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (* 2 (/ (* (pow (sin (/ -0.5 phi2)) 3) (* (pow (sin (/ -0.5 phi1)) 3) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (pow lambda2 2)))) (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 3) (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1))))) (* (pow lambda2 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (+ (/ (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)))) (* (pow lambda2 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (+ (/ (* (cos (/ -0.5 phi2)) (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)))) (* (pow lambda2 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (* 2 (/ (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1))))) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (pow lambda2 2))))))))))))) (+ (/ (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (pow lambda2 2))) (+ (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (pow lambda2 2))) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (+ (* 2 (/ 1 (* phi1 phi2))) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (pow lambda2 2))) (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2)))) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (pow lambda2 2))) (+ (* 2 (/ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (* (pow lambda2 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (* 2 (/ (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (* (pow lambda2 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))))))))))))))
29.319 * [backup-simplify]: Simplify (- (/ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (- (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1))))) (* (pow lambda2 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (* 2 (/ (* (pow (sin (/ -0.5 phi2)) 3) (* (pow (sin (/ -0.5 phi1)) 3) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (pow lambda2 2)))) (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 3) (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1))))) (* (pow lambda2 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (+ (/ (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)))) (* (pow lambda2 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (+ (/ (* (cos (/ -0.5 phi2)) (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)))) (* (pow lambda2 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (* 2 (/ (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1))))) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (pow lambda2 2))))))))))))) (+ (/ (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (pow lambda2 2))) (+ (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (pow lambda2 2))) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (+ (* 2 (/ 1 (* phi1 phi2))) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (pow lambda2 2))) (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2)))) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (pow lambda2 2))) (+ (* 2 (/ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (* (pow lambda2 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (* 2 (/ (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (* (pow lambda2 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))))))))))))) R) (+ (* (* (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (/ 1 R)) (/ 0 R)) (* (- (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R lambda2)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* lambda2 R)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* lambda2 R)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))))) (/ 0 R)))) into (- (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (/ 1 (* R (pow phi2 2))))) (+ (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1))))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* (pow lambda2 2) R)))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow lambda2 2) R)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 2 (* (/ (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (* 1/2 (* (/ 1 (* R (pow phi1 2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))))))))) (+ (* (/ 1 (* R (* phi1 phi2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) (* (pow lambda2 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) (* (pow lambda2 2) R)))) (+ (* 3 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (pow lambda2 2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))))))))
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(sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (* 1/2 (* (/ 1 (* R (pow phi1 2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))))))))) (+ (* (/ 1 (* R (* phi1 phi2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) (* (pow lambda2 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) (* (pow lambda2 2) R)))) (+ (* 3 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (pow lambda2 2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))))))))) (+ (* 0 (- (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R lambda2)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* lambda2 R)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* lambda2 R)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))))) (* 0 (* (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (/ 1 R))))) into (- (+ (* (/ 1 (* R (* phi1 phi2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (+ (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (pow lambda2 2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) (* (pow lambda2 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) (* (pow lambda2 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (* 3 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))))))) (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (/ 1 (* R (pow phi2 2))))) (+ (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1))))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow lambda2 2) R)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 2 (* (/ (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ 1 (* R (pow phi1 2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* (pow lambda2 2) R)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))))))))))
29.360 * [taylor]: Taking taylor expansion of (- (+ (* (/ 1 (* R (* phi1 phi2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (+ (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (pow lambda2 2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) (* (pow lambda2 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) (* (pow lambda2 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (* 3 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))))))) (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (/ 1 (* R (pow phi2 2))))) (+ (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1))))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow lambda2 2) R)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 2 (* (/ (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ 1 (* R (pow phi1 2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* (pow lambda2 2) R)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))))))))) in lambda2
29.360 * [taylor]: Taking taylor expansion of (+ (* (/ 1 (* R (* phi1 phi2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (+ (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (pow lambda2 2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) (* (pow lambda2 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) (* (pow lambda2 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (* 3 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))))))) in lambda2
29.360 * [taylor]: Taking taylor expansion of (* (/ 1 (* R (* phi1 phi2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) in lambda2
29.360 * [taylor]: Taking taylor expansion of (/ 1 (* R (* phi1 phi2))) in lambda2
29.360 * [taylor]: Taking taylor expansion of (* R (* phi1 phi2)) in lambda2
29.360 * [taylor]: Taking taylor expansion of R in lambda2
29.360 * [backup-simplify]: Simplify R into R
29.361 * [taylor]: Taking taylor expansion of (* phi1 phi2) in lambda2
29.361 * [taylor]: Taking taylor expansion of phi1 in lambda2
29.361 * [backup-simplify]: Simplify phi1 into phi1
29.361 * [taylor]: Taking taylor expansion of phi2 in lambda2
29.361 * [backup-simplify]: Simplify phi2 into phi2
29.361 * [backup-simplify]: Simplify (* phi1 phi2) into (* phi1 phi2)
29.361 * [backup-simplify]: Simplify (* R (* phi1 phi2)) into (* phi1 (* R phi2))
29.361 * [backup-simplify]: Simplify (/ 1 (* phi1 (* R phi2))) into (/ 1 (* phi1 (* R phi2)))
29.361 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) in lambda2
29.361 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) in lambda2
29.361 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in lambda2
29.361 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in lambda2
29.361 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2
29.361 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2
29.361 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
29.361 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
29.361 * [taylor]: Taking taylor expansion of -0.5 in lambda2
29.361 * [backup-simplify]: Simplify -0.5 into -0.5
29.361 * [taylor]: Taking taylor expansion of phi2 in lambda2
29.361 * [backup-simplify]: Simplify phi2 into phi2
29.361 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
29.361 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
29.362 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
29.362 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
29.362 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
29.362 * [backup-simplify]: Simplify (- 0) into 0
29.363 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
29.363 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2
29.363 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
29.363 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
29.363 * [taylor]: Taking taylor expansion of -0.5 in lambda2
29.363 * [backup-simplify]: Simplify -0.5 into -0.5
29.363 * [taylor]: Taking taylor expansion of phi1 in lambda2
29.363 * [backup-simplify]: Simplify phi1 into phi1
29.363 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
29.363 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
29.363 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
29.363 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
29.363 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
29.364 * [backup-simplify]: Simplify (- 0) into 0
29.364 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
29.364 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2
29.364 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2
29.364 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
29.364 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
29.364 * [taylor]: Taking taylor expansion of -0.5 in lambda2
29.364 * [backup-simplify]: Simplify -0.5 into -0.5
29.364 * [taylor]: Taking taylor expansion of phi2 in lambda2
29.364 * [backup-simplify]: Simplify phi2 into phi2
29.364 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
29.364 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
29.364 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
29.364 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
29.364 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
29.365 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
29.365 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2
29.365 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
29.365 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
29.365 * [taylor]: Taking taylor expansion of -0.5 in lambda2
29.365 * [backup-simplify]: Simplify -0.5 into -0.5
29.365 * [taylor]: Taking taylor expansion of phi1 in lambda2
29.365 * [backup-simplify]: Simplify phi1 into phi1
29.365 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
29.365 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
29.365 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
29.365 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
29.365 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
29.365 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
29.365 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in lambda2
29.365 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
29.365 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
29.366 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
29.366 * [taylor]: Taking taylor expansion of -0.5 in lambda2
29.366 * [backup-simplify]: Simplify -0.5 into -0.5
29.366 * [taylor]: Taking taylor expansion of phi2 in lambda2
29.366 * [backup-simplify]: Simplify phi2 into phi2
29.366 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
29.366 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
29.366 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
29.366 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
29.366 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
29.366 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
29.366 * [taylor]: Taking taylor expansion of -0.5 in lambda2
29.366 * [backup-simplify]: Simplify -0.5 into -0.5
29.366 * [taylor]: Taking taylor expansion of phi2 in lambda2
29.366 * [backup-simplify]: Simplify phi2 into phi2
29.366 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
29.366 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
29.366 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
29.366 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
29.366 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
29.366 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
29.366 * [taylor]: Taking taylor expansion of -0.5 in lambda2
29.366 * [backup-simplify]: Simplify -0.5 into -0.5
29.366 * [taylor]: Taking taylor expansion of phi1 in lambda2
29.366 * [backup-simplify]: Simplify phi1 into phi1
29.367 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
29.367 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
29.367 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
29.367 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
29.367 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
29.367 * [taylor]: Taking taylor expansion of -0.5 in lambda2
29.367 * [backup-simplify]: Simplify -0.5 into -0.5
29.367 * [taylor]: Taking taylor expansion of phi1 in lambda2
29.367 * [backup-simplify]: Simplify phi1 into phi1
29.367 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
29.367 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
29.367 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
29.367 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
29.367 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
29.367 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
29.367 * [taylor]: Taking taylor expansion of -0.5 in lambda2
29.367 * [backup-simplify]: Simplify -0.5 into -0.5
29.367 * [taylor]: Taking taylor expansion of phi2 in lambda2
29.367 * [backup-simplify]: Simplify phi2 into phi2
29.367 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
29.367 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
29.367 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
29.367 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
29.367 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
29.368 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
29.368 * [taylor]: Taking taylor expansion of -0.5 in lambda2
29.368 * [backup-simplify]: Simplify -0.5 into -0.5
29.368 * [taylor]: Taking taylor expansion of phi2 in lambda2
29.368 * [backup-simplify]: Simplify phi2 into phi2
29.368 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
29.368 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
29.368 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
29.368 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
29.368 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
29.368 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
29.368 * [taylor]: Taking taylor expansion of -0.5 in lambda2
29.368 * [backup-simplify]: Simplify -0.5 into -0.5
29.368 * [taylor]: Taking taylor expansion of phi1 in lambda2
29.368 * [backup-simplify]: Simplify phi1 into phi1
29.368 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
29.368 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
29.368 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
29.368 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
29.368 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
29.368 * [taylor]: Taking taylor expansion of -0.5 in lambda2
29.368 * [backup-simplify]: Simplify -0.5 into -0.5
29.368 * [taylor]: Taking taylor expansion of phi1 in lambda2
29.368 * [backup-simplify]: Simplify phi1 into phi1
29.368 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
29.368 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
29.369 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
29.369 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
29.369 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
29.369 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
29.369 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
29.370 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
29.370 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
29.371 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
29.371 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
29.371 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
29.371 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
29.371 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
29.371 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
29.372 * [backup-simplify]: Simplify (- 0) into 0
29.372 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
29.372 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
29.372 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
29.373 * [backup-simplify]: Simplify (- 0) into 0
29.373 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
29.373 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
29.373 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
29.373 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
29.373 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
29.373 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
29.374 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
29.374 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
29.374 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
29.374 * [backup-simplify]: Simplify (- 0) into 0
29.374 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
29.374 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
29.375 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
29.375 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
29.375 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
29.375 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
29.375 * [backup-simplify]: Simplify (- 0) into 0
29.375 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
29.375 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
29.376 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
29.376 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
29.376 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
29.376 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
29.376 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
29.377 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
29.378 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
29.379 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
29.381 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))
29.383 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))
29.383 * [backup-simplify]: Simplify (+ 0) into 0
29.384 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
29.384 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
29.385 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
29.386 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
29.386 * [backup-simplify]: Simplify (- 0) into 0
29.386 * [backup-simplify]: Simplify (+ 0 0) into 0
29.387 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
29.387 * [backup-simplify]: Simplify (+ 0) into 0
29.388 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
29.388 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
29.389 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
29.389 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
29.390 * [backup-simplify]: Simplify (- 0) into 0
29.390 * [backup-simplify]: Simplify (+ 0 0) into 0
29.390 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
29.391 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
29.391 * [backup-simplify]: Simplify (+ 0) into 0
29.391 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
29.392 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
29.392 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
29.393 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
29.393 * [backup-simplify]: Simplify (+ 0 0) into 0
29.393 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
29.394 * [backup-simplify]: Simplify (+ 0) into 0
29.394 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
29.394 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
29.395 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
29.396 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
29.396 * [backup-simplify]: Simplify (+ 0 0) into 0
29.396 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
29.397 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
29.397 * [backup-simplify]: Simplify (+ 0 0) into 0
29.398 * [backup-simplify]: Simplify (+ 0) into 0
29.398 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
29.398 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
29.400 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
29.401 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
29.401 * [backup-simplify]: Simplify (+ 0 0) into 0
29.401 * [backup-simplify]: Simplify (+ 0) into 0
29.402 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
29.402 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
29.403 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
29.403 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
29.404 * [backup-simplify]: Simplify (- 0) into 0
29.404 * [backup-simplify]: Simplify (+ 0 0) into 0
29.404 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
29.405 * [backup-simplify]: Simplify (+ 0) into 0
29.405 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
29.406 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
29.406 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
29.407 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
29.407 * [backup-simplify]: Simplify (- 0) into 0
29.408 * [backup-simplify]: Simplify (+ 0 0) into 0
29.408 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
29.408 * [backup-simplify]: Simplify (+ 0) into 0
29.409 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
29.409 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
29.410 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
29.410 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
29.411 * [backup-simplify]: Simplify (+ 0 0) into 0
29.411 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
29.412 * [backup-simplify]: Simplify (+ 0) into 0
29.412 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
29.412 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
29.413 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
29.414 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
29.414 * [backup-simplify]: Simplify (+ 0 0) into 0
29.414 * [backup-simplify]: Simplify (+ 0) into 0
29.415 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
29.415 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
29.416 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
29.416 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
29.417 * [backup-simplify]: Simplify (- 0) into 0
29.417 * [backup-simplify]: Simplify (+ 0 0) into 0
29.417 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
29.417 * [backup-simplify]: Simplify (+ 0) into 0
29.418 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
29.418 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
29.419 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
29.419 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
29.420 * [backup-simplify]: Simplify (+ 0 0) into 0
29.420 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
29.420 * [backup-simplify]: Simplify (+ 0) into 0
29.421 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
29.421 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
29.422 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
29.422 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
29.423 * [backup-simplify]: Simplify (- 0) into 0
29.423 * [backup-simplify]: Simplify (+ 0 0) into 0
29.424 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
29.424 * [backup-simplify]: Simplify (+ 0 0) into 0
29.424 * [backup-simplify]: Simplify (- 0) into 0
29.425 * [backup-simplify]: Simplify (+ 0 0) into 0
29.429 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0
29.431 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0
29.431 * [taylor]: Taking taylor expansion of (+ (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (pow lambda2 2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) (* (pow lambda2 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) (* (pow lambda2 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (* 3 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))))) in lambda2
29.431 * [taylor]: Taking taylor expansion of (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (pow lambda2 2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) in lambda2
29.431 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (pow lambda2 2))) in lambda2
29.431 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
29.431 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
29.431 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
29.431 * [taylor]: Taking taylor expansion of -0.5 in lambda2
29.431 * [backup-simplify]: Simplify -0.5 into -0.5
29.431 * [taylor]: Taking taylor expansion of phi2 in lambda2
29.431 * [backup-simplify]: Simplify phi2 into phi2
29.431 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
29.431 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
29.431 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
29.431 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
29.431 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
29.432 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
29.432 * [taylor]: Taking taylor expansion of -0.5 in lambda2
29.432 * [backup-simplify]: Simplify -0.5 into -0.5
29.432 * [taylor]: Taking taylor expansion of phi2 in lambda2
29.432 * [backup-simplify]: Simplify phi2 into phi2
29.432 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
29.432 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
29.432 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
29.432 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
29.432 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
29.432 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
29.432 * [taylor]: Taking taylor expansion of -0.5 in lambda2
29.432 * [backup-simplify]: Simplify -0.5 into -0.5
29.432 * [taylor]: Taking taylor expansion of phi1 in lambda2
29.432 * [backup-simplify]: Simplify phi1 into phi1
29.432 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
29.432 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
29.432 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
29.432 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
29.432 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
29.432 * [taylor]: Taking taylor expansion of -0.5 in lambda2
29.432 * [backup-simplify]: Simplify -0.5 into -0.5
29.432 * [taylor]: Taking taylor expansion of phi1 in lambda2
29.432 * [backup-simplify]: Simplify phi1 into phi1
29.433 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
29.433 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
29.433 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
29.433 * [taylor]: Taking taylor expansion of (* R (pow lambda2 2)) in lambda2
29.433 * [taylor]: Taking taylor expansion of R in lambda2
29.433 * [backup-simplify]: Simplify R into R
29.433 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
29.433 * [taylor]: Taking taylor expansion of lambda2 in lambda2
29.433 * [backup-simplify]: Simplify 0 into 0
29.433 * [backup-simplify]: Simplify 1 into 1
29.433 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
29.433 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
29.433 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
29.433 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
29.433 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
29.434 * [backup-simplify]: Simplify (- 0) into 0
29.434 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
29.434 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
29.434 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
29.435 * [backup-simplify]: Simplify (- 0) into 0
29.435 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
29.435 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
29.435 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
29.435 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
29.435 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
29.435 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
29.436 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
29.436 * [backup-simplify]: Simplify (* 1 1) into 1
29.436 * [backup-simplify]: Simplify (* R 1) into R
29.437 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) into (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R)
29.437 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) in lambda2
29.437 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) in lambda2
29.437 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in lambda2
29.437 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in lambda2
29.437 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2
29.437 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2
29.437 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
29.437 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
29.437 * [taylor]: Taking taylor expansion of -0.5 in lambda2
29.437 * [backup-simplify]: Simplify -0.5 into -0.5
29.437 * [taylor]: Taking taylor expansion of phi2 in lambda2
29.437 * [backup-simplify]: Simplify phi2 into phi2
29.437 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
29.437 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
29.437 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
29.437 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
29.438 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
29.438 * [backup-simplify]: Simplify (- 0) into 0
29.438 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
29.438 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2
29.438 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
29.438 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
29.438 * [taylor]: Taking taylor expansion of -0.5 in lambda2
29.438 * [backup-simplify]: Simplify -0.5 into -0.5
29.438 * [taylor]: Taking taylor expansion of phi1 in lambda2
29.438 * [backup-simplify]: Simplify phi1 into phi1
29.438 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
29.438 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
29.438 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
29.439 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
29.439 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
29.439 * [backup-simplify]: Simplify (- 0) into 0
29.439 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
29.439 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2
29.439 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2
29.439 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
29.439 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
29.439 * [taylor]: Taking taylor expansion of -0.5 in lambda2
29.439 * [backup-simplify]: Simplify -0.5 into -0.5
29.439 * [taylor]: Taking taylor expansion of phi2 in lambda2
29.439 * [backup-simplify]: Simplify phi2 into phi2
29.439 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
29.440 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
29.440 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
29.440 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
29.440 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
29.440 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
29.440 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2
29.440 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
29.440 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
29.440 * [taylor]: Taking taylor expansion of -0.5 in lambda2
29.440 * [backup-simplify]: Simplify -0.5 into -0.5
29.440 * [taylor]: Taking taylor expansion of phi1 in lambda2
29.440 * [backup-simplify]: Simplify phi1 into phi1
29.440 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
29.440 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
29.440 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
29.440 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
29.441 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
29.441 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
29.441 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in lambda2
29.441 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
29.441 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
29.441 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
29.441 * [taylor]: Taking taylor expansion of -0.5 in lambda2
29.441 * [backup-simplify]: Simplify -0.5 into -0.5
29.441 * [taylor]: Taking taylor expansion of phi2 in lambda2
29.441 * [backup-simplify]: Simplify phi2 into phi2
29.441 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
29.441 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
29.441 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
29.441 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
29.441 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
29.441 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
29.441 * [taylor]: Taking taylor expansion of -0.5 in lambda2
29.441 * [backup-simplify]: Simplify -0.5 into -0.5
29.441 * [taylor]: Taking taylor expansion of phi2 in lambda2
29.441 * [backup-simplify]: Simplify phi2 into phi2
29.441 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
29.442 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
29.442 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
29.442 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
29.442 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
29.442 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
29.442 * [taylor]: Taking taylor expansion of -0.5 in lambda2
29.442 * [backup-simplify]: Simplify -0.5 into -0.5
29.442 * [taylor]: Taking taylor expansion of phi1 in lambda2
29.442 * [backup-simplify]: Simplify phi1 into phi1
29.442 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
29.442 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
29.442 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
29.442 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
29.442 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
29.442 * [taylor]: Taking taylor expansion of -0.5 in lambda2
29.442 * [backup-simplify]: Simplify -0.5 into -0.5
29.442 * [taylor]: Taking taylor expansion of phi1 in lambda2
29.442 * [backup-simplify]: Simplify phi1 into phi1
29.442 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
29.442 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
29.442 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
29.442 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
29.443 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
29.443 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
29.443 * [taylor]: Taking taylor expansion of -0.5 in lambda2
29.443 * [backup-simplify]: Simplify -0.5 into -0.5
29.443 * [taylor]: Taking taylor expansion of phi2 in lambda2
29.443 * [backup-simplify]: Simplify phi2 into phi2
29.443 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
29.443 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
29.443 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
29.443 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
29.443 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
29.443 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
29.443 * [taylor]: Taking taylor expansion of -0.5 in lambda2
29.443 * [backup-simplify]: Simplify -0.5 into -0.5
29.443 * [taylor]: Taking taylor expansion of phi2 in lambda2
29.443 * [backup-simplify]: Simplify phi2 into phi2
29.443 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
29.443 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
29.443 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
29.443 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
29.443 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
29.443 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
29.443 * [taylor]: Taking taylor expansion of -0.5 in lambda2
29.443 * [backup-simplify]: Simplify -0.5 into -0.5
29.444 * [taylor]: Taking taylor expansion of phi1 in lambda2
29.444 * [backup-simplify]: Simplify phi1 into phi1
29.444 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
29.444 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
29.444 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
29.444 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
29.444 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
29.444 * [taylor]: Taking taylor expansion of -0.5 in lambda2
29.444 * [backup-simplify]: Simplify -0.5 into -0.5
29.444 * [taylor]: Taking taylor expansion of phi1 in lambda2
29.444 * [backup-simplify]: Simplify phi1 into phi1
29.444 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
29.444 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
29.444 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
29.444 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
29.445 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
29.445 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
29.445 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
29.445 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
29.446 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
29.446 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
29.446 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
29.447 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
29.447 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
29.447 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
29.447 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
29.447 * [backup-simplify]: Simplify (- 0) into 0
29.448 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
29.448 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
29.448 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
29.448 * [backup-simplify]: Simplify (- 0) into 0
29.448 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
29.448 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
29.448 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
29.449 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
29.449 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
29.449 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
29.449 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
29.449 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
29.449 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
29.450 * [backup-simplify]: Simplify (- 0) into 0
29.450 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
29.450 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
29.450 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
29.450 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
29.450 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
29.451 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
29.451 * [backup-simplify]: Simplify (- 0) into 0
29.451 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
29.451 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
29.451 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
29.451 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
29.451 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
29.452 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
29.452 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
29.453 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
29.454 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
29.456 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
29.458 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))
29.460 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))
29.460 * [backup-simplify]: Simplify (+ 0) into 0
29.461 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
29.461 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
29.462 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
29.462 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
29.463 * [backup-simplify]: Simplify (- 0) into 0
29.463 * [backup-simplify]: Simplify (+ 0 0) into 0
29.463 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
29.464 * [backup-simplify]: Simplify (+ 0) into 0
29.464 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
29.464 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
29.465 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
29.465 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
29.466 * [backup-simplify]: Simplify (- 0) into 0
29.466 * [backup-simplify]: Simplify (+ 0 0) into 0
29.466 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
29.467 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
29.467 * [backup-simplify]: Simplify (+ 0) into 0
29.468 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
29.468 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
29.469 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
29.469 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
29.469 * [backup-simplify]: Simplify (+ 0 0) into 0
29.470 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
29.470 * [backup-simplify]: Simplify (+ 0) into 0
29.470 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
29.471 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
29.471 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
29.472 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
29.472 * [backup-simplify]: Simplify (+ 0 0) into 0
29.472 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
29.473 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
29.473 * [backup-simplify]: Simplify (+ 0 0) into 0
29.473 * [backup-simplify]: Simplify (+ 0) into 0
29.474 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
29.474 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
29.475 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
29.475 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
29.476 * [backup-simplify]: Simplify (+ 0 0) into 0
29.476 * [backup-simplify]: Simplify (+ 0) into 0
29.477 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
29.477 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
29.478 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
29.478 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
29.478 * [backup-simplify]: Simplify (- 0) into 0
29.479 * [backup-simplify]: Simplify (+ 0 0) into 0
29.479 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
29.479 * [backup-simplify]: Simplify (+ 0) into 0
29.480 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
29.480 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
29.481 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
29.481 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
29.482 * [backup-simplify]: Simplify (- 0) into 0
29.482 * [backup-simplify]: Simplify (+ 0 0) into 0
29.482 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
29.487 * [backup-simplify]: Simplify (+ 0) into 0
29.488 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
29.488 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
29.489 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
29.489 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
29.490 * [backup-simplify]: Simplify (+ 0 0) into 0
29.490 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
29.490 * [backup-simplify]: Simplify (+ 0) into 0
29.491 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
29.491 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
29.492 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
29.492 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
29.493 * [backup-simplify]: Simplify (+ 0 0) into 0
29.493 * [backup-simplify]: Simplify (+ 0) into 0
29.494 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
29.494 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
29.495 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
29.495 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
29.495 * [backup-simplify]: Simplify (- 0) into 0
29.496 * [backup-simplify]: Simplify (+ 0 0) into 0
29.496 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
29.496 * [backup-simplify]: Simplify (+ 0) into 0
29.497 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
29.497 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
29.498 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
29.498 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
29.499 * [backup-simplify]: Simplify (+ 0 0) into 0
29.499 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
29.499 * [backup-simplify]: Simplify (+ 0) into 0
29.500 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
29.500 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
29.501 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
29.501 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
29.502 * [backup-simplify]: Simplify (- 0) into 0
29.502 * [backup-simplify]: Simplify (+ 0 0) into 0
29.502 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
29.503 * [backup-simplify]: Simplify (+ 0 0) into 0
29.503 * [backup-simplify]: Simplify (- 0) into 0
29.503 * [backup-simplify]: Simplify (+ 0 0) into 0
29.508 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0
29.510 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0
29.510 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) (* (pow lambda2 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) (* (pow lambda2 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (* 3 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))))) in lambda2
29.510 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) (* (pow lambda2 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) in lambda2
29.510 * [taylor]: Taking taylor expansion of 1/2 in lambda2
29.510 * [backup-simplify]: Simplify 1/2 into 1/2
29.510 * [taylor]: Taking taylor expansion of (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) (* (pow lambda2 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) in lambda2
29.510 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) (* (pow lambda2 2) R)) in lambda2
29.510 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) in lambda2
29.510 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 4) in lambda2
29.510 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
29.510 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
29.510 * [taylor]: Taking taylor expansion of -0.5 in lambda2
29.510 * [backup-simplify]: Simplify -0.5 into -0.5
29.510 * [taylor]: Taking taylor expansion of phi2 in lambda2
29.510 * [backup-simplify]: Simplify phi2 into phi2
29.511 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
29.511 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
29.511 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
29.511 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
29.511 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
29.511 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
29.511 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 4) in lambda2
29.511 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
29.511 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
29.511 * [taylor]: Taking taylor expansion of -0.5 in lambda2
29.511 * [backup-simplify]: Simplify -0.5 into -0.5
29.511 * [taylor]: Taking taylor expansion of phi1 in lambda2
29.511 * [backup-simplify]: Simplify phi1 into phi1
29.511 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
29.511 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
29.511 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
29.512 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
29.512 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
29.512 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
29.512 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) R) in lambda2
29.512 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
29.512 * [taylor]: Taking taylor expansion of lambda2 in lambda2
29.512 * [backup-simplify]: Simplify 0 into 0
29.512 * [backup-simplify]: Simplify 1 into 1
29.512 * [taylor]: Taking taylor expansion of R in lambda2
29.512 * [backup-simplify]: Simplify R into R
29.512 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
29.512 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi2)) 2)) into (pow (sin (/ -0.5 phi2)) 4)
29.513 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
29.513 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (pow (sin (/ -0.5 phi1)) 4)
29.513 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) into (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4))
29.514 * [backup-simplify]: Simplify (* 1 1) into 1
29.514 * [backup-simplify]: Simplify (* 1 R) into R
29.514 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) R) into (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) R)
29.514 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) in lambda2
29.514 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) in lambda2
29.515 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3) in lambda2
29.515 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in lambda2
29.515 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in lambda2
29.515 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2
29.515 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2
29.515 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
29.515 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
29.515 * [taylor]: Taking taylor expansion of -0.5 in lambda2
29.515 * [backup-simplify]: Simplify -0.5 into -0.5
29.515 * [taylor]: Taking taylor expansion of phi2 in lambda2
29.515 * [backup-simplify]: Simplify phi2 into phi2
29.515 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
29.515 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
29.515 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
29.515 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
29.515 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
29.516 * [backup-simplify]: Simplify (- 0) into 0
29.516 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
29.516 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2
29.516 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
29.516 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
29.516 * [taylor]: Taking taylor expansion of -0.5 in lambda2
29.516 * [backup-simplify]: Simplify -0.5 into -0.5
29.516 * [taylor]: Taking taylor expansion of phi1 in lambda2
29.516 * [backup-simplify]: Simplify phi1 into phi1
29.516 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
29.516 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
29.516 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
29.516 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
29.516 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
29.517 * [backup-simplify]: Simplify (- 0) into 0
29.517 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
29.517 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2
29.517 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2
29.517 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
29.517 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
29.517 * [taylor]: Taking taylor expansion of -0.5 in lambda2
29.517 * [backup-simplify]: Simplify -0.5 into -0.5
29.517 * [taylor]: Taking taylor expansion of phi2 in lambda2
29.517 * [backup-simplify]: Simplify phi2 into phi2
29.517 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
29.517 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
29.518 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
29.518 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
29.518 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
29.518 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
29.518 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2
29.518 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
29.518 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
29.518 * [taylor]: Taking taylor expansion of -0.5 in lambda2
29.518 * [backup-simplify]: Simplify -0.5 into -0.5
29.518 * [taylor]: Taking taylor expansion of phi1 in lambda2
29.518 * [backup-simplify]: Simplify phi1 into phi1
29.518 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
29.518 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
29.518 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
29.518 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
29.519 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
29.519 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
29.519 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in lambda2
29.519 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
29.519 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
29.519 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
29.519 * [taylor]: Taking taylor expansion of -0.5 in lambda2
29.519 * [backup-simplify]: Simplify -0.5 into -0.5
29.519 * [taylor]: Taking taylor expansion of phi2 in lambda2
29.519 * [backup-simplify]: Simplify phi2 into phi2
29.519 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
29.519 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
29.519 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
29.519 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
29.519 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
29.519 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
29.519 * [taylor]: Taking taylor expansion of -0.5 in lambda2
29.519 * [backup-simplify]: Simplify -0.5 into -0.5
29.519 * [taylor]: Taking taylor expansion of phi2 in lambda2
29.519 * [backup-simplify]: Simplify phi2 into phi2
29.519 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
29.520 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
29.520 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
29.520 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
29.520 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
29.520 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
29.520 * [taylor]: Taking taylor expansion of -0.5 in lambda2
29.520 * [backup-simplify]: Simplify -0.5 into -0.5
29.520 * [taylor]: Taking taylor expansion of phi1 in lambda2
29.520 * [backup-simplify]: Simplify phi1 into phi1
29.520 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
29.520 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
29.520 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
29.520 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
29.520 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
29.520 * [taylor]: Taking taylor expansion of -0.5 in lambda2
29.520 * [backup-simplify]: Simplify -0.5 into -0.5
29.520 * [taylor]: Taking taylor expansion of phi1 in lambda2
29.520 * [backup-simplify]: Simplify phi1 into phi1
29.520 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
29.520 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
29.521 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
29.521 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
29.521 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
29.521 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
29.521 * [taylor]: Taking taylor expansion of -0.5 in lambda2
29.521 * [backup-simplify]: Simplify -0.5 into -0.5
29.521 * [taylor]: Taking taylor expansion of phi2 in lambda2
29.521 * [backup-simplify]: Simplify phi2 into phi2
29.521 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
29.521 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
29.521 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
29.521 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
29.521 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
29.521 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
29.521 * [taylor]: Taking taylor expansion of -0.5 in lambda2
29.521 * [backup-simplify]: Simplify -0.5 into -0.5
29.521 * [taylor]: Taking taylor expansion of phi2 in lambda2
29.521 * [backup-simplify]: Simplify phi2 into phi2
29.521 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
29.521 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
29.521 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
29.521 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
29.522 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
29.522 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
29.522 * [taylor]: Taking taylor expansion of -0.5 in lambda2
29.522 * [backup-simplify]: Simplify -0.5 into -0.5
29.522 * [taylor]: Taking taylor expansion of phi1 in lambda2
29.522 * [backup-simplify]: Simplify phi1 into phi1
29.522 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
29.522 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
29.522 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
29.522 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
29.522 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
29.522 * [taylor]: Taking taylor expansion of -0.5 in lambda2
29.522 * [backup-simplify]: Simplify -0.5 into -0.5
29.522 * [taylor]: Taking taylor expansion of phi1 in lambda2
29.522 * [backup-simplify]: Simplify phi1 into phi1
29.522 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
29.522 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
29.522 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
29.522 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
29.523 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
29.523 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
29.523 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
29.523 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
29.524 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
29.525 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
29.525 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
29.525 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
29.525 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
29.525 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
29.525 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
29.526 * [backup-simplify]: Simplify (- 0) into 0
29.526 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
29.526 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
29.526 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
29.527 * [backup-simplify]: Simplify (- 0) into 0
29.527 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
29.527 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
29.527 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
29.527 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
29.527 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
29.527 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
29.528 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
29.528 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
29.528 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
29.528 * [backup-simplify]: Simplify (- 0) into 0
29.529 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
29.529 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
29.529 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
29.529 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
29.529 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
29.529 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
29.530 * [backup-simplify]: Simplify (- 0) into 0
29.530 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
29.530 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
29.530 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
29.530 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
29.530 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
29.530 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
29.531 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
29.531 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
29.532 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
29.534 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
29.538 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)
29.542 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)
29.544 * [backup-simplify]: Simplify (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) into (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))
29.546 * [backup-simplify]: Simplify (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) into (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))
29.547 * [backup-simplify]: Simplify (+ 0) into 0
29.548 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
29.548 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
29.549 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
29.549 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
29.550 * [backup-simplify]: Simplify (- 0) into 0
29.550 * [backup-simplify]: Simplify (+ 0 0) into 0
29.550 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
29.551 * [backup-simplify]: Simplify (+ 0) into 0
29.551 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
29.552 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
29.552 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
29.553 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
29.553 * [backup-simplify]: Simplify (- 0) into 0
29.554 * [backup-simplify]: Simplify (+ 0 0) into 0
29.554 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
29.554 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
29.555 * [backup-simplify]: Simplify (+ 0) into 0
29.555 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
29.555 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
29.556 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
29.557 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
29.557 * [backup-simplify]: Simplify (+ 0 0) into 0
29.557 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
29.558 * [backup-simplify]: Simplify (+ 0) into 0
29.558 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
29.558 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
29.559 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
29.560 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
29.560 * [backup-simplify]: Simplify (+ 0 0) into 0
29.560 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
29.561 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
29.561 * [backup-simplify]: Simplify (+ 0 0) into 0
29.562 * [backup-simplify]: Simplify (+ 0) into 0
29.562 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
29.562 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
29.563 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
29.564 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
29.564 * [backup-simplify]: Simplify (+ 0 0) into 0
29.564 * [backup-simplify]: Simplify (+ 0) into 0
29.565 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
29.565 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
29.566 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
29.566 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
29.567 * [backup-simplify]: Simplify (- 0) into 0
29.567 * [backup-simplify]: Simplify (+ 0 0) into 0
29.567 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
29.568 * [backup-simplify]: Simplify (+ 0) into 0
29.569 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
29.569 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
29.570 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
29.570 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
29.571 * [backup-simplify]: Simplify (- 0) into 0
29.571 * [backup-simplify]: Simplify (+ 0 0) into 0
29.571 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
29.572 * [backup-simplify]: Simplify (+ 0) into 0
29.572 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
29.572 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
29.573 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
29.574 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
29.574 * [backup-simplify]: Simplify (+ 0 0) into 0
29.575 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
29.575 * [backup-simplify]: Simplify (+ 0) into 0
29.576 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
29.576 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
29.577 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
29.577 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
29.577 * [backup-simplify]: Simplify (+ 0 0) into 0
29.578 * [backup-simplify]: Simplify (+ 0) into 0
29.578 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
29.578 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
29.579 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
29.579 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
29.579 * [backup-simplify]: Simplify (- 0) into 0
29.579 * [backup-simplify]: Simplify (+ 0 0) into 0
29.580 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
29.580 * [backup-simplify]: Simplify (+ 0) into 0
29.580 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
29.580 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
29.581 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
29.581 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
29.581 * [backup-simplify]: Simplify (+ 0 0) into 0
29.581 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
29.582 * [backup-simplify]: Simplify (+ 0) into 0
29.582 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
29.582 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
29.583 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
29.583 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
29.583 * [backup-simplify]: Simplify (- 0) into 0
29.583 * [backup-simplify]: Simplify (+ 0 0) into 0
29.584 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
29.584 * [backup-simplify]: Simplify (+ 0 0) into 0
29.584 * [backup-simplify]: Simplify (- 0) into 0
29.584 * [backup-simplify]: Simplify (+ 0 0) into 0
29.586 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into 0
29.588 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2))) into 0
29.591 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
29.592 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
29.592 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) (* (pow lambda2 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (* 3 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))) in lambda2
29.592 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) (* (pow lambda2 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) in lambda2
29.592 * [taylor]: Taking taylor expansion of 1/2 in lambda2
29.592 * [backup-simplify]: Simplify 1/2 into 1/2
29.592 * [taylor]: Taking taylor expansion of (* (/ (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) (* (pow lambda2 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) in lambda2
29.592 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) (* (pow lambda2 2) R)) in lambda2
29.592 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) in lambda2
29.592 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 4) in lambda2
29.592 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
29.592 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
29.592 * [taylor]: Taking taylor expansion of -0.5 in lambda2
29.592 * [backup-simplify]: Simplify -0.5 into -0.5
29.592 * [taylor]: Taking taylor expansion of phi2 in lambda2
29.592 * [backup-simplify]: Simplify phi2 into phi2
29.592 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
29.592 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
29.592 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
29.592 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
29.593 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
29.593 * [backup-simplify]: Simplify (- 0) into 0
29.593 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
29.593 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 4) in lambda2
29.593 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
29.593 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
29.593 * [taylor]: Taking taylor expansion of -0.5 in lambda2
29.593 * [backup-simplify]: Simplify -0.5 into -0.5
29.593 * [taylor]: Taking taylor expansion of phi1 in lambda2
29.593 * [backup-simplify]: Simplify phi1 into phi1
29.593 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
29.593 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
29.593 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
29.593 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
29.593 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
29.594 * [backup-simplify]: Simplify (- 0) into 0
29.594 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
29.594 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) R) in lambda2
29.594 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
29.594 * [taylor]: Taking taylor expansion of lambda2 in lambda2
29.594 * [backup-simplify]: Simplify 0 into 0
29.594 * [backup-simplify]: Simplify 1 into 1
29.594 * [taylor]: Taking taylor expansion of R in lambda2
29.594 * [backup-simplify]: Simplify R into R
29.594 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
29.594 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi2)) 2)) into (pow (cos (/ -0.5 phi2)) 4)
29.594 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
29.595 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (pow (cos (/ -0.5 phi1)) 4)
29.595 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) into (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4))
29.595 * [backup-simplify]: Simplify (* 1 1) into 1
29.595 * [backup-simplify]: Simplify (* 1 R) into R
29.595 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) R) into (/ (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) R)
29.595 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) in lambda2
29.595 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) in lambda2
29.595 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3) in lambda2
29.596 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in lambda2
29.596 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in lambda2
29.596 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2
29.596 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2
29.596 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
29.596 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
29.596 * [taylor]: Taking taylor expansion of -0.5 in lambda2
29.596 * [backup-simplify]: Simplify -0.5 into -0.5
29.596 * [taylor]: Taking taylor expansion of phi2 in lambda2
29.596 * [backup-simplify]: Simplify phi2 into phi2
29.596 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
29.596 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
29.596 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
29.596 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
29.596 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
29.596 * [backup-simplify]: Simplify (- 0) into 0
29.596 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
29.596 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2
29.596 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
29.596 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
29.596 * [taylor]: Taking taylor expansion of -0.5 in lambda2
29.596 * [backup-simplify]: Simplify -0.5 into -0.5
29.596 * [taylor]: Taking taylor expansion of phi1 in lambda2
29.597 * [backup-simplify]: Simplify phi1 into phi1
29.597 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
29.597 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
29.597 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
29.597 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
29.597 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
29.597 * [backup-simplify]: Simplify (- 0) into 0
29.597 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
29.597 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2
29.597 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2
29.597 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
29.597 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
29.597 * [taylor]: Taking taylor expansion of -0.5 in lambda2
29.597 * [backup-simplify]: Simplify -0.5 into -0.5
29.597 * [taylor]: Taking taylor expansion of phi2 in lambda2
29.597 * [backup-simplify]: Simplify phi2 into phi2
29.597 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
29.598 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
29.598 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
29.598 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
29.598 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
29.598 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
29.598 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2
29.598 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
29.598 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
29.598 * [taylor]: Taking taylor expansion of -0.5 in lambda2
29.598 * [backup-simplify]: Simplify -0.5 into -0.5
29.598 * [taylor]: Taking taylor expansion of phi1 in lambda2
29.598 * [backup-simplify]: Simplify phi1 into phi1
29.598 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
29.598 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
29.598 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
29.598 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
29.598 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
29.598 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
29.598 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in lambda2
29.598 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
29.598 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
29.598 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
29.598 * [taylor]: Taking taylor expansion of -0.5 in lambda2
29.598 * [backup-simplify]: Simplify -0.5 into -0.5
29.598 * [taylor]: Taking taylor expansion of phi2 in lambda2
29.598 * [backup-simplify]: Simplify phi2 into phi2
29.598 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
29.598 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
29.599 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
29.599 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
29.599 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
29.599 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
29.599 * [taylor]: Taking taylor expansion of -0.5 in lambda2
29.599 * [backup-simplify]: Simplify -0.5 into -0.5
29.599 * [taylor]: Taking taylor expansion of phi2 in lambda2
29.599 * [backup-simplify]: Simplify phi2 into phi2
29.599 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
29.599 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
29.599 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
29.599 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
29.599 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
29.599 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
29.599 * [taylor]: Taking taylor expansion of -0.5 in lambda2
29.599 * [backup-simplify]: Simplify -0.5 into -0.5
29.599 * [taylor]: Taking taylor expansion of phi1 in lambda2
29.599 * [backup-simplify]: Simplify phi1 into phi1
29.599 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
29.599 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
29.599 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
29.599 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
29.599 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
29.599 * [taylor]: Taking taylor expansion of -0.5 in lambda2
29.599 * [backup-simplify]: Simplify -0.5 into -0.5
29.600 * [taylor]: Taking taylor expansion of phi1 in lambda2
29.600 * [backup-simplify]: Simplify phi1 into phi1
29.600 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
29.600 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
29.600 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
29.600 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
29.600 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
29.600 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
29.600 * [taylor]: Taking taylor expansion of -0.5 in lambda2
29.600 * [backup-simplify]: Simplify -0.5 into -0.5
29.600 * [taylor]: Taking taylor expansion of phi2 in lambda2
29.600 * [backup-simplify]: Simplify phi2 into phi2
29.600 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
29.600 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
29.600 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
29.600 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
29.600 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
29.600 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
29.600 * [taylor]: Taking taylor expansion of -0.5 in lambda2
29.600 * [backup-simplify]: Simplify -0.5 into -0.5
29.600 * [taylor]: Taking taylor expansion of phi2 in lambda2
29.600 * [backup-simplify]: Simplify phi2 into phi2
29.600 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
29.600 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
29.600 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
29.601 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
29.601 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
29.601 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
29.601 * [taylor]: Taking taylor expansion of -0.5 in lambda2
29.601 * [backup-simplify]: Simplify -0.5 into -0.5
29.601 * [taylor]: Taking taylor expansion of phi1 in lambda2
29.601 * [backup-simplify]: Simplify phi1 into phi1
29.601 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
29.601 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
29.601 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
29.601 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
29.601 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
29.601 * [taylor]: Taking taylor expansion of -0.5 in lambda2
29.601 * [backup-simplify]: Simplify -0.5 into -0.5
29.601 * [taylor]: Taking taylor expansion of phi1 in lambda2
29.601 * [backup-simplify]: Simplify phi1 into phi1
29.601 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
29.601 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
29.601 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
29.601 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
29.601 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
29.602 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
29.602 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
29.602 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
29.602 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
29.602 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
29.603 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
29.603 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
29.603 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
29.603 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
29.603 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
29.603 * [backup-simplify]: Simplify (- 0) into 0
29.603 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
29.603 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
29.604 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
29.604 * [backup-simplify]: Simplify (- 0) into 0
29.604 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
29.604 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
29.604 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
29.604 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
29.604 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
29.604 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
29.605 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
29.605 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
29.605 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
29.605 * [backup-simplify]: Simplify (- 0) into 0
29.605 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
29.605 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
29.605 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
29.605 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
29.605 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
29.605 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
29.606 * [backup-simplify]: Simplify (- 0) into 0
29.606 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
29.606 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
29.606 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
29.606 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
29.606 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
29.606 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
29.606 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
29.607 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
29.607 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
29.608 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
29.611 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)
29.615 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)
29.617 * [backup-simplify]: Simplify (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) into (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))
29.619 * [backup-simplify]: Simplify (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) into (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))
29.620 * [backup-simplify]: Simplify (+ 0) into 0
29.620 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
29.620 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
29.621 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
29.622 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
29.622 * [backup-simplify]: Simplify (- 0) into 0
29.623 * [backup-simplify]: Simplify (+ 0 0) into 0
29.623 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
29.623 * [backup-simplify]: Simplify (+ 0) into 0
29.624 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
29.624 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
29.625 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
29.625 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
29.626 * [backup-simplify]: Simplify (- 0) into 0
29.626 * [backup-simplify]: Simplify (+ 0 0) into 0
29.626 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
29.627 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
29.627 * [backup-simplify]: Simplify (+ 0) into 0
29.628 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
29.628 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
29.629 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
29.629 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
29.630 * [backup-simplify]: Simplify (+ 0 0) into 0
29.630 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
29.630 * [backup-simplify]: Simplify (+ 0) into 0
29.631 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
29.631 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
29.632 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
29.632 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
29.633 * [backup-simplify]: Simplify (+ 0 0) into 0
29.633 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
29.633 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
29.634 * [backup-simplify]: Simplify (+ 0 0) into 0
29.634 * [backup-simplify]: Simplify (+ 0) into 0
29.635 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
29.635 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
29.636 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
29.636 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
29.637 * [backup-simplify]: Simplify (+ 0 0) into 0
29.637 * [backup-simplify]: Simplify (+ 0) into 0
29.638 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
29.638 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
29.643 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
29.644 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
29.645 * [backup-simplify]: Simplify (- 0) into 0
29.645 * [backup-simplify]: Simplify (+ 0 0) into 0
29.646 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
29.646 * [backup-simplify]: Simplify (+ 0) into 0
29.647 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
29.647 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
29.648 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
29.648 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
29.648 * [backup-simplify]: Simplify (- 0) into 0
29.649 * [backup-simplify]: Simplify (+ 0 0) into 0
29.649 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
29.650 * [backup-simplify]: Simplify (+ 0) into 0
29.650 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
29.650 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
29.651 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
29.652 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
29.652 * [backup-simplify]: Simplify (+ 0 0) into 0
29.652 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
29.653 * [backup-simplify]: Simplify (+ 0) into 0
29.653 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
29.654 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
29.654 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
29.655 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
29.655 * [backup-simplify]: Simplify (+ 0 0) into 0
29.656 * [backup-simplify]: Simplify (+ 0) into 0
29.656 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
29.656 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
29.657 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
29.658 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
29.658 * [backup-simplify]: Simplify (- 0) into 0
29.658 * [backup-simplify]: Simplify (+ 0 0) into 0
29.659 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
29.659 * [backup-simplify]: Simplify (+ 0) into 0
29.660 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
29.660 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
29.660 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
29.661 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
29.661 * [backup-simplify]: Simplify (+ 0 0) into 0
29.662 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
29.662 * [backup-simplify]: Simplify (+ 0) into 0
29.662 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
29.662 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
29.663 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
29.663 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
29.663 * [backup-simplify]: Simplify (- 0) into 0
29.663 * [backup-simplify]: Simplify (+ 0 0) into 0
29.664 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
29.664 * [backup-simplify]: Simplify (+ 0 0) into 0
29.664 * [backup-simplify]: Simplify (- 0) into 0
29.664 * [backup-simplify]: Simplify (+ 0 0) into 0
29.666 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into 0
29.668 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2))) into 0
29.670 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
29.672 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
29.672 * [taylor]: Taking taylor expansion of (* 3 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) in lambda2
29.672 * [taylor]: Taking taylor expansion of 3 in lambda2
29.672 * [backup-simplify]: Simplify 3 into 3
29.672 * [taylor]: Taking taylor expansion of (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) in lambda2
29.672 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (* R (pow lambda2 2))) in lambda2
29.672 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)))) in lambda2
29.672 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2
29.672 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
29.672 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
29.672 * [taylor]: Taking taylor expansion of -0.5 in lambda2
29.672 * [backup-simplify]: Simplify -0.5 into -0.5
29.672 * [taylor]: Taking taylor expansion of phi2 in lambda2
29.672 * [backup-simplify]: Simplify phi2 into phi2
29.672 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
29.672 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
29.672 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
29.672 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
29.672 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
29.672 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
29.672 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2))) in lambda2
29.672 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2
29.672 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
29.672 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
29.672 * [taylor]: Taking taylor expansion of -0.5 in lambda2
29.672 * [backup-simplify]: Simplify -0.5 into -0.5
29.672 * [taylor]: Taking taylor expansion of phi2 in lambda2
29.672 * [backup-simplify]: Simplify phi2 into phi2
29.673 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
29.673 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
29.673 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
29.673 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
29.673 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
29.673 * [backup-simplify]: Simplify (- 0) into 0
29.673 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
29.673 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2
29.673 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2
29.673 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
29.673 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
29.673 * [taylor]: Taking taylor expansion of -0.5 in lambda2
29.673 * [backup-simplify]: Simplify -0.5 into -0.5
29.673 * [taylor]: Taking taylor expansion of phi1 in lambda2
29.673 * [backup-simplify]: Simplify phi1 into phi1
29.673 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
29.673 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
29.674 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
29.674 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
29.674 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
29.674 * [backup-simplify]: Simplify (- 0) into 0
29.674 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
29.674 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2
29.674 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
29.674 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
29.674 * [taylor]: Taking taylor expansion of -0.5 in lambda2
29.674 * [backup-simplify]: Simplify -0.5 into -0.5
29.674 * [taylor]: Taking taylor expansion of phi1 in lambda2
29.674 * [backup-simplify]: Simplify phi1 into phi1
29.674 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
29.674 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
29.674 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
29.674 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
29.674 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
29.674 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
29.674 * [taylor]: Taking taylor expansion of (* R (pow lambda2 2)) in lambda2
29.675 * [taylor]: Taking taylor expansion of R in lambda2
29.675 * [backup-simplify]: Simplify R into R
29.675 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
29.675 * [taylor]: Taking taylor expansion of lambda2 in lambda2
29.675 * [backup-simplify]: Simplify 0 into 0
29.675 * [backup-simplify]: Simplify 1 into 1
29.675 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
29.675 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
29.675 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
29.675 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
29.675 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2))
29.675 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)))
29.676 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)))) into (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2))))
29.676 * [backup-simplify]: Simplify (* 1 1) into 1
29.676 * [backup-simplify]: Simplify (* R 1) into R
29.677 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)))) R) into (/ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)))) R)
29.677 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) in lambda2
29.677 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) in lambda2
29.677 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3) in lambda2
29.677 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in lambda2
29.677 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in lambda2
29.677 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2
29.677 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2
29.677 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
29.677 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
29.677 * [taylor]: Taking taylor expansion of -0.5 in lambda2
29.677 * [backup-simplify]: Simplify -0.5 into -0.5
29.677 * [taylor]: Taking taylor expansion of phi2 in lambda2
29.677 * [backup-simplify]: Simplify phi2 into phi2
29.677 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
29.677 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
29.677 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
29.677 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
29.677 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
29.677 * [backup-simplify]: Simplify (- 0) into 0
29.677 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
29.678 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2
29.678 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
29.678 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
29.678 * [taylor]: Taking taylor expansion of -0.5 in lambda2
29.678 * [backup-simplify]: Simplify -0.5 into -0.5
29.678 * [taylor]: Taking taylor expansion of phi1 in lambda2
29.678 * [backup-simplify]: Simplify phi1 into phi1
29.678 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
29.678 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
29.678 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
29.678 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
29.678 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
29.678 * [backup-simplify]: Simplify (- 0) into 0
29.678 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
29.678 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2
29.678 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2
29.678 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
29.678 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
29.678 * [taylor]: Taking taylor expansion of -0.5 in lambda2
29.678 * [backup-simplify]: Simplify -0.5 into -0.5
29.678 * [taylor]: Taking taylor expansion of phi2 in lambda2
29.678 * [backup-simplify]: Simplify phi2 into phi2
29.678 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
29.678 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
29.679 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
29.679 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
29.679 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
29.679 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
29.679 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2
29.679 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
29.679 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
29.679 * [taylor]: Taking taylor expansion of -0.5 in lambda2
29.679 * [backup-simplify]: Simplify -0.5 into -0.5
29.679 * [taylor]: Taking taylor expansion of phi1 in lambda2
29.679 * [backup-simplify]: Simplify phi1 into phi1
29.679 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
29.679 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
29.679 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
29.679 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
29.679 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
29.679 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
29.679 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in lambda2
29.679 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
29.679 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
29.679 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
29.679 * [taylor]: Taking taylor expansion of -0.5 in lambda2
29.679 * [backup-simplify]: Simplify -0.5 into -0.5
29.679 * [taylor]: Taking taylor expansion of phi2 in lambda2
29.679 * [backup-simplify]: Simplify phi2 into phi2
29.679 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
29.679 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
29.679 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
29.679 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
29.679 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
29.679 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
29.680 * [taylor]: Taking taylor expansion of -0.5 in lambda2
29.680 * [backup-simplify]: Simplify -0.5 into -0.5
29.680 * [taylor]: Taking taylor expansion of phi2 in lambda2
29.680 * [backup-simplify]: Simplify phi2 into phi2
29.680 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
29.680 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
29.680 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
29.680 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
29.680 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
29.680 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
29.680 * [taylor]: Taking taylor expansion of -0.5 in lambda2
29.680 * [backup-simplify]: Simplify -0.5 into -0.5
29.680 * [taylor]: Taking taylor expansion of phi1 in lambda2
29.680 * [backup-simplify]: Simplify phi1 into phi1
29.680 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
29.680 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
29.680 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
29.680 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
29.680 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
29.680 * [taylor]: Taking taylor expansion of -0.5 in lambda2
29.680 * [backup-simplify]: Simplify -0.5 into -0.5
29.680 * [taylor]: Taking taylor expansion of phi1 in lambda2
29.680 * [backup-simplify]: Simplify phi1 into phi1
29.680 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
29.680 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
29.680 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
29.680 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
29.680 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
29.680 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
29.680 * [taylor]: Taking taylor expansion of -0.5 in lambda2
29.680 * [backup-simplify]: Simplify -0.5 into -0.5
29.680 * [taylor]: Taking taylor expansion of phi2 in lambda2
29.680 * [backup-simplify]: Simplify phi2 into phi2
29.680 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
29.680 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
29.680 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
29.680 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
29.680 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
29.681 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
29.681 * [taylor]: Taking taylor expansion of -0.5 in lambda2
29.681 * [backup-simplify]: Simplify -0.5 into -0.5
29.681 * [taylor]: Taking taylor expansion of phi2 in lambda2
29.681 * [backup-simplify]: Simplify phi2 into phi2
29.681 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
29.681 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
29.681 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
29.681 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
29.681 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
29.681 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
29.681 * [taylor]: Taking taylor expansion of -0.5 in lambda2
29.681 * [backup-simplify]: Simplify -0.5 into -0.5
29.681 * [taylor]: Taking taylor expansion of phi1 in lambda2
29.681 * [backup-simplify]: Simplify phi1 into phi1
29.681 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
29.681 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
29.681 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
29.681 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
29.681 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
29.681 * [taylor]: Taking taylor expansion of -0.5 in lambda2
29.681 * [backup-simplify]: Simplify -0.5 into -0.5
29.681 * [taylor]: Taking taylor expansion of phi1 in lambda2
29.681 * [backup-simplify]: Simplify phi1 into phi1
29.681 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
29.681 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
29.681 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
29.681 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
29.681 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
29.682 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
29.682 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
29.682 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
29.682 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
29.682 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
29.682 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
29.683 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
29.683 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
29.683 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
29.683 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
29.683 * [backup-simplify]: Simplify (- 0) into 0
29.683 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
29.683 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
29.683 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
29.684 * [backup-simplify]: Simplify (- 0) into 0
29.684 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
29.684 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
29.684 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
29.684 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
29.684 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
29.684 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
29.684 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
29.684 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
29.684 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
29.685 * [backup-simplify]: Simplify (- 0) into 0
29.685 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
29.685 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
29.685 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
29.685 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
29.685 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
29.685 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
29.685 * [backup-simplify]: Simplify (- 0) into 0
29.685 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
29.685 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
29.685 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
29.686 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
29.686 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
29.686 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
29.686 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
29.686 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
29.687 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
29.688 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
29.690 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)
29.694 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)
29.696 * [backup-simplify]: Simplify (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) into (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))
29.699 * [backup-simplify]: Simplify (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) into (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))
29.699 * [backup-simplify]: Simplify (+ 0) into 0
29.700 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
29.700 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
29.701 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
29.702 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
29.702 * [backup-simplify]: Simplify (- 0) into 0
29.703 * [backup-simplify]: Simplify (+ 0 0) into 0
29.703 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
29.703 * [backup-simplify]: Simplify (+ 0) into 0
29.704 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
29.704 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
29.705 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
29.705 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
29.706 * [backup-simplify]: Simplify (- 0) into 0
29.706 * [backup-simplify]: Simplify (+ 0 0) into 0
29.706 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
29.707 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
29.707 * [backup-simplify]: Simplify (+ 0) into 0
29.708 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
29.708 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
29.709 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
29.709 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
29.709 * [backup-simplify]: Simplify (+ 0 0) into 0
29.710 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
29.710 * [backup-simplify]: Simplify (+ 0) into 0
29.711 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
29.711 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
29.712 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
29.712 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
29.712 * [backup-simplify]: Simplify (+ 0 0) into 0
29.713 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
29.713 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
29.714 * [backup-simplify]: Simplify (+ 0 0) into 0
29.714 * [backup-simplify]: Simplify (+ 0) into 0
29.714 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
29.715 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
29.715 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
29.716 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
29.716 * [backup-simplify]: Simplify (+ 0 0) into 0
29.717 * [backup-simplify]: Simplify (+ 0) into 0
29.717 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
29.717 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
29.718 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
29.719 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
29.719 * [backup-simplify]: Simplify (- 0) into 0
29.719 * [backup-simplify]: Simplify (+ 0 0) into 0
29.720 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
29.720 * [backup-simplify]: Simplify (+ 0) into 0
29.721 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
29.721 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
29.722 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
29.722 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
29.722 * [backup-simplify]: Simplify (- 0) into 0
29.723 * [backup-simplify]: Simplify (+ 0 0) into 0
29.723 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
29.723 * [backup-simplify]: Simplify (+ 0) into 0
29.724 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
29.724 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
29.725 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
29.725 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
29.726 * [backup-simplify]: Simplify (+ 0 0) into 0
29.726 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
29.727 * [backup-simplify]: Simplify (+ 0) into 0
29.727 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
29.727 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
29.728 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
29.729 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
29.729 * [backup-simplify]: Simplify (+ 0 0) into 0
29.729 * [backup-simplify]: Simplify (+ 0) into 0
29.730 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
29.730 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
29.731 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
29.731 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
29.732 * [backup-simplify]: Simplify (- 0) into 0
29.732 * [backup-simplify]: Simplify (+ 0 0) into 0
29.732 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
29.733 * [backup-simplify]: Simplify (+ 0) into 0
29.733 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
29.733 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
29.734 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
29.735 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
29.735 * [backup-simplify]: Simplify (+ 0 0) into 0
29.735 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
29.736 * [backup-simplify]: Simplify (+ 0) into 0
29.736 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
29.737 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
29.737 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
29.738 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
29.738 * [backup-simplify]: Simplify (- 0) into 0
29.739 * [backup-simplify]: Simplify (+ 0 0) into 0
29.739 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
29.740 * [backup-simplify]: Simplify (+ 0 0) into 0
29.740 * [backup-simplify]: Simplify (- 0) into 0
29.740 * [backup-simplify]: Simplify (+ 0 0) into 0
29.744 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into 0
29.748 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2))) into 0
29.753 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
29.754 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
29.755 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (/ 1 (* R (pow phi2 2))))) (+ (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1))))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow lambda2 2) R)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 2 (* (/ (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ 1 (* R (pow phi1 2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* (pow lambda2 2) R)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))))))))) in lambda2
29.755 * [taylor]: Taking taylor expansion of (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (/ 1 (* R (pow phi2 2))))) in lambda2
29.755 * [taylor]: Taking taylor expansion of 1/2 in lambda2
29.755 * [backup-simplify]: Simplify 1/2 into 1/2
29.755 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (/ 1 (* R (pow phi2 2)))) in lambda2
29.755 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) in lambda2
29.755 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) in lambda2
29.755 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in lambda2
29.755 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in lambda2
29.755 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2
29.755 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2
29.755 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
29.755 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
29.755 * [taylor]: Taking taylor expansion of -0.5 in lambda2
29.755 * [backup-simplify]: Simplify -0.5 into -0.5
29.755 * [taylor]: Taking taylor expansion of phi2 in lambda2
29.755 * [backup-simplify]: Simplify phi2 into phi2
29.755 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
29.755 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
29.755 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
29.755 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
29.755 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
29.756 * [backup-simplify]: Simplify (- 0) into 0
29.756 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
29.756 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2
29.756 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
29.756 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
29.756 * [taylor]: Taking taylor expansion of -0.5 in lambda2
29.756 * [backup-simplify]: Simplify -0.5 into -0.5
29.756 * [taylor]: Taking taylor expansion of phi1 in lambda2
29.756 * [backup-simplify]: Simplify phi1 into phi1
29.756 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
29.756 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
29.756 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
29.756 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
29.756 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
29.757 * [backup-simplify]: Simplify (- 0) into 0
29.757 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
29.757 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2
29.757 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2
29.757 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
29.757 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
29.757 * [taylor]: Taking taylor expansion of -0.5 in lambda2
29.757 * [backup-simplify]: Simplify -0.5 into -0.5
29.757 * [taylor]: Taking taylor expansion of phi2 in lambda2
29.757 * [backup-simplify]: Simplify phi2 into phi2
29.757 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
29.757 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
29.757 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
29.757 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
29.757 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
29.757 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
29.757 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2
29.757 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
29.757 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
29.757 * [taylor]: Taking taylor expansion of -0.5 in lambda2
29.757 * [backup-simplify]: Simplify -0.5 into -0.5
29.757 * [taylor]: Taking taylor expansion of phi1 in lambda2
29.758 * [backup-simplify]: Simplify phi1 into phi1
29.758 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
29.758 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
29.758 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
29.758 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
29.758 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
29.758 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
29.758 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in lambda2
29.758 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
29.758 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
29.758 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
29.758 * [taylor]: Taking taylor expansion of -0.5 in lambda2
29.758 * [backup-simplify]: Simplify -0.5 into -0.5
29.758 * [taylor]: Taking taylor expansion of phi2 in lambda2
29.758 * [backup-simplify]: Simplify phi2 into phi2
29.758 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
29.758 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
29.758 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
29.758 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
29.758 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
29.758 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
29.758 * [taylor]: Taking taylor expansion of -0.5 in lambda2
29.758 * [backup-simplify]: Simplify -0.5 into -0.5
29.758 * [taylor]: Taking taylor expansion of phi2 in lambda2
29.758 * [backup-simplify]: Simplify phi2 into phi2
29.758 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
29.758 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
29.758 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
29.758 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
29.758 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
29.758 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
29.758 * [taylor]: Taking taylor expansion of -0.5 in lambda2
29.759 * [backup-simplify]: Simplify -0.5 into -0.5
29.759 * [taylor]: Taking taylor expansion of phi1 in lambda2
29.759 * [backup-simplify]: Simplify phi1 into phi1
29.759 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
29.759 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
29.759 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
29.759 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
29.759 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
29.759 * [taylor]: Taking taylor expansion of -0.5 in lambda2
29.759 * [backup-simplify]: Simplify -0.5 into -0.5
29.759 * [taylor]: Taking taylor expansion of phi1 in lambda2
29.759 * [backup-simplify]: Simplify phi1 into phi1
29.759 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
29.759 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
29.759 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
29.759 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
29.759 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
29.759 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
29.759 * [taylor]: Taking taylor expansion of -0.5 in lambda2
29.759 * [backup-simplify]: Simplify -0.5 into -0.5
29.759 * [taylor]: Taking taylor expansion of phi2 in lambda2
29.759 * [backup-simplify]: Simplify phi2 into phi2
29.759 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
29.759 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
29.759 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
29.759 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
29.759 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
29.759 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
29.759 * [taylor]: Taking taylor expansion of -0.5 in lambda2
29.759 * [backup-simplify]: Simplify -0.5 into -0.5
29.759 * [taylor]: Taking taylor expansion of phi2 in lambda2
29.759 * [backup-simplify]: Simplify phi2 into phi2
29.759 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
29.759 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
29.759 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
29.759 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
29.760 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
29.760 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
29.760 * [taylor]: Taking taylor expansion of -0.5 in lambda2
29.760 * [backup-simplify]: Simplify -0.5 into -0.5
29.760 * [taylor]: Taking taylor expansion of phi1 in lambda2
29.760 * [backup-simplify]: Simplify phi1 into phi1
29.760 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
29.760 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
29.760 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
29.760 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
29.760 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
29.760 * [taylor]: Taking taylor expansion of -0.5 in lambda2
29.760 * [backup-simplify]: Simplify -0.5 into -0.5
29.760 * [taylor]: Taking taylor expansion of phi1 in lambda2
29.760 * [backup-simplify]: Simplify phi1 into phi1
29.760 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
29.760 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
29.760 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
29.760 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
29.760 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
29.760 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
29.761 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
29.761 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
29.761 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
29.761 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
29.761 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
29.761 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
29.761 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
29.762 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
29.762 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
29.762 * [backup-simplify]: Simplify (- 0) into 0
29.762 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
29.762 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
29.762 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
29.763 * [backup-simplify]: Simplify (- 0) into 0
29.763 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
29.763 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
29.763 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
29.763 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
29.763 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
29.763 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
29.763 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
29.763 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
29.763 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
29.764 * [backup-simplify]: Simplify (- 0) into 0
29.764 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
29.764 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
29.764 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
29.764 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
29.764 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
29.764 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
29.764 * [backup-simplify]: Simplify (- 0) into 0
29.765 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
29.765 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
29.765 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
29.765 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
29.765 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
29.765 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
29.765 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
29.766 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
29.766 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
29.767 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
29.768 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))
29.769 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))
29.770 * [backup-simplify]: Simplify (+ 0) into 0
29.770 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
29.770 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
29.771 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
29.771 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
29.771 * [backup-simplify]: Simplify (- 0) into 0
29.772 * [backup-simplify]: Simplify (+ 0 0) into 0
29.772 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
29.772 * [backup-simplify]: Simplify (+ 0) into 0
29.772 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
29.773 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
29.773 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
29.773 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
29.774 * [backup-simplify]: Simplify (- 0) into 0
29.774 * [backup-simplify]: Simplify (+ 0 0) into 0
29.774 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
29.774 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
29.775 * [backup-simplify]: Simplify (+ 0) into 0
29.775 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
29.775 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
29.776 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
29.776 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
29.776 * [backup-simplify]: Simplify (+ 0 0) into 0
29.776 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
29.777 * [backup-simplify]: Simplify (+ 0) into 0
29.777 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
29.777 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
29.778 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
29.778 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
29.778 * [backup-simplify]: Simplify (+ 0 0) into 0
29.778 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
29.779 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
29.784 * [backup-simplify]: Simplify (+ 0 0) into 0
29.785 * [backup-simplify]: Simplify (+ 0) into 0
29.785 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
29.786 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
29.787 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
29.787 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
29.788 * [backup-simplify]: Simplify (+ 0 0) into 0
29.788 * [backup-simplify]: Simplify (+ 0) into 0
29.791 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
29.791 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
29.792 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
29.792 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
29.793 * [backup-simplify]: Simplify (- 0) into 0
29.793 * [backup-simplify]: Simplify (+ 0 0) into 0
29.793 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
29.794 * [backup-simplify]: Simplify (+ 0) into 0
29.795 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
29.795 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
29.796 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
29.796 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
29.798 * [backup-simplify]: Simplify (- 0) into 0
29.798 * [backup-simplify]: Simplify (+ 0 0) into 0
29.798 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
29.799 * [backup-simplify]: Simplify (+ 0) into 0
29.799 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
29.800 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
29.801 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
29.801 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
29.802 * [backup-simplify]: Simplify (+ 0 0) into 0
29.802 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
29.802 * [backup-simplify]: Simplify (+ 0) into 0
29.803 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
29.803 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
29.804 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
29.804 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
29.805 * [backup-simplify]: Simplify (+ 0 0) into 0
29.805 * [backup-simplify]: Simplify (+ 0) into 0
29.805 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
29.806 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
29.806 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
29.807 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
29.807 * [backup-simplify]: Simplify (- 0) into 0
29.808 * [backup-simplify]: Simplify (+ 0 0) into 0
29.808 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
29.808 * [backup-simplify]: Simplify (+ 0) into 0
29.809 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
29.809 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
29.810 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
29.810 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
29.811 * [backup-simplify]: Simplify (+ 0 0) into 0
29.811 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
29.811 * [backup-simplify]: Simplify (+ 0) into 0
29.812 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
29.812 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
29.813 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
29.813 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
29.813 * [backup-simplify]: Simplify (- 0) into 0
29.814 * [backup-simplify]: Simplify (+ 0 0) into 0
29.814 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
29.814 * [backup-simplify]: Simplify (+ 0 0) into 0
29.815 * [backup-simplify]: Simplify (- 0) into 0
29.815 * [backup-simplify]: Simplify (+ 0 0) into 0
29.819 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0
29.821 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0
29.821 * [taylor]: Taking taylor expansion of (/ 1 (* R (pow phi2 2))) in lambda2
29.821 * [taylor]: Taking taylor expansion of (* R (pow phi2 2)) in lambda2
29.821 * [taylor]: Taking taylor expansion of R in lambda2
29.822 * [backup-simplify]: Simplify R into R
29.822 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2
29.822 * [taylor]: Taking taylor expansion of phi2 in lambda2
29.822 * [backup-simplify]: Simplify phi2 into phi2
29.822 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
29.822 * [backup-simplify]: Simplify (* R (pow phi2 2)) into (* R (pow phi2 2))
29.822 * [backup-simplify]: Simplify (/ 1 (* R (pow phi2 2))) into (/ 1 (* R (pow phi2 2)))
29.822 * [taylor]: Taking taylor expansion of (+ (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1))))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow lambda2 2) R)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 2 (* (/ (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ 1 (* R (pow phi1 2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* (pow lambda2 2) R)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))))))) in lambda2
29.822 * [taylor]: Taking taylor expansion of (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1))))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) in lambda2
29.822 * [taylor]: Taking taylor expansion of 2 in lambda2
29.822 * [backup-simplify]: Simplify 2 into 2
29.822 * [taylor]: Taking taylor expansion of (* (/ (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1))))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) in lambda2
29.822 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1))))) (* R (pow lambda2 2))) in lambda2
29.823 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1))))) in lambda2
29.823 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
29.823 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
29.823 * [taylor]: Taking taylor expansion of -0.5 in lambda2
29.823 * [backup-simplify]: Simplify -0.5 into -0.5
29.823 * [taylor]: Taking taylor expansion of phi2 in lambda2
29.823 * [backup-simplify]: Simplify phi2 into phi2
29.823 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
29.823 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
29.823 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
29.823 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1)))) in lambda2
29.823 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 3) in lambda2
29.823 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
29.823 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
29.823 * [taylor]: Taking taylor expansion of -0.5 in lambda2
29.823 * [backup-simplify]: Simplify -0.5 into -0.5
29.823 * [taylor]: Taking taylor expansion of phi2 in lambda2
29.823 * [backup-simplify]: Simplify phi2 into phi2
29.823 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
29.823 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
29.824 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
29.824 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
29.824 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
29.824 * [backup-simplify]: Simplify (- 0) into 0
29.824 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
29.825 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1))) in lambda2
29.825 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 3) in lambda2
29.825 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
29.825 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
29.825 * [taylor]: Taking taylor expansion of -0.5 in lambda2
29.825 * [backup-simplify]: Simplify -0.5 into -0.5
29.825 * [taylor]: Taking taylor expansion of phi1 in lambda2
29.825 * [backup-simplify]: Simplify phi1 into phi1
29.825 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
29.825 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
29.825 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
29.825 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
29.825 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
29.826 * [backup-simplify]: Simplify (- 0) into 0
29.826 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
29.826 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
29.826 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
29.826 * [taylor]: Taking taylor expansion of -0.5 in lambda2
29.826 * [backup-simplify]: Simplify -0.5 into -0.5
29.826 * [taylor]: Taking taylor expansion of phi1 in lambda2
29.826 * [backup-simplify]: Simplify phi1 into phi1
29.826 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
29.826 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
29.826 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
29.826 * [taylor]: Taking taylor expansion of (* R (pow lambda2 2)) in lambda2
29.826 * [taylor]: Taking taylor expansion of R in lambda2
29.826 * [backup-simplify]: Simplify R into R
29.826 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
29.826 * [taylor]: Taking taylor expansion of lambda2 in lambda2
29.826 * [backup-simplify]: Simplify 0 into 0
29.826 * [backup-simplify]: Simplify 1 into 1
29.827 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
29.827 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
29.827 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
29.827 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
29.827 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (pow (cos (/ -0.5 phi2)) 2)) into (pow (cos (/ -0.5 phi2)) 3)
29.827 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
29.828 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (pow (cos (/ -0.5 phi1)) 2)) into (pow (cos (/ -0.5 phi1)) 3)
29.828 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
29.828 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
29.828 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
29.828 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1))) into (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1)))
29.829 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1)))) into (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1))))
29.829 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1))))) into (* (pow (cos (/ -0.5 phi2)) 3) (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1)))))
29.830 * [backup-simplify]: Simplify (* 1 1) into 1
29.830 * [backup-simplify]: Simplify (* R 1) into R
29.830 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 3) (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1))))) R) into (/ (* (pow (cos (/ -0.5 phi2)) 3) (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1))))) R)
29.831 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) in lambda2
29.831 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) in lambda2
29.831 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3) in lambda2
29.831 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in lambda2
29.831 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in lambda2
29.831 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2
29.831 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2
29.831 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
29.831 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
29.831 * [taylor]: Taking taylor expansion of -0.5 in lambda2
29.831 * [backup-simplify]: Simplify -0.5 into -0.5
29.831 * [taylor]: Taking taylor expansion of phi2 in lambda2
29.831 * [backup-simplify]: Simplify phi2 into phi2
29.831 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
29.831 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
29.831 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
29.831 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
29.832 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
29.832 * [backup-simplify]: Simplify (- 0) into 0
29.832 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
29.832 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2
29.832 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
29.832 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
29.832 * [taylor]: Taking taylor expansion of -0.5 in lambda2
29.832 * [backup-simplify]: Simplify -0.5 into -0.5
29.832 * [taylor]: Taking taylor expansion of phi1 in lambda2
29.832 * [backup-simplify]: Simplify phi1 into phi1
29.832 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
29.832 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
29.833 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
29.833 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
29.833 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
29.833 * [backup-simplify]: Simplify (- 0) into 0
29.833 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
29.833 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2
29.833 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2
29.833 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
29.833 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
29.834 * [taylor]: Taking taylor expansion of -0.5 in lambda2
29.834 * [backup-simplify]: Simplify -0.5 into -0.5
29.834 * [taylor]: Taking taylor expansion of phi2 in lambda2
29.834 * [backup-simplify]: Simplify phi2 into phi2
29.834 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
29.834 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
29.834 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
29.834 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
29.834 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
29.834 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
29.834 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2
29.834 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
29.834 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
29.834 * [taylor]: Taking taylor expansion of -0.5 in lambda2
29.834 * [backup-simplify]: Simplify -0.5 into -0.5
29.834 * [taylor]: Taking taylor expansion of phi1 in lambda2
29.834 * [backup-simplify]: Simplify phi1 into phi1
29.834 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
29.835 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
29.835 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
29.835 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
29.835 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
29.835 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
29.835 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in lambda2
29.835 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
29.835 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
29.835 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
29.835 * [taylor]: Taking taylor expansion of -0.5 in lambda2
29.835 * [backup-simplify]: Simplify -0.5 into -0.5
29.835 * [taylor]: Taking taylor expansion of phi2 in lambda2
29.835 * [backup-simplify]: Simplify phi2 into phi2
29.835 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
29.835 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
29.836 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
29.836 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
29.836 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
29.836 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
29.836 * [taylor]: Taking taylor expansion of -0.5 in lambda2
29.836 * [backup-simplify]: Simplify -0.5 into -0.5
29.836 * [taylor]: Taking taylor expansion of phi2 in lambda2
29.836 * [backup-simplify]: Simplify phi2 into phi2
29.836 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
29.836 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
29.836 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
29.836 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
29.836 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
29.836 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
29.836 * [taylor]: Taking taylor expansion of -0.5 in lambda2
29.836 * [backup-simplify]: Simplify -0.5 into -0.5
29.836 * [taylor]: Taking taylor expansion of phi1 in lambda2
29.836 * [backup-simplify]: Simplify phi1 into phi1
29.836 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
29.836 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
29.837 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
29.837 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
29.837 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
29.837 * [taylor]: Taking taylor expansion of -0.5 in lambda2
29.837 * [backup-simplify]: Simplify -0.5 into -0.5
29.837 * [taylor]: Taking taylor expansion of phi1 in lambda2
29.837 * [backup-simplify]: Simplify phi1 into phi1
29.837 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
29.837 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
29.837 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
29.837 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
29.837 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
29.837 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
29.837 * [taylor]: Taking taylor expansion of -0.5 in lambda2
29.837 * [backup-simplify]: Simplify -0.5 into -0.5
29.837 * [taylor]: Taking taylor expansion of phi2 in lambda2
29.837 * [backup-simplify]: Simplify phi2 into phi2
29.837 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
29.837 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
29.837 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
29.837 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
29.837 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
29.838 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
29.838 * [taylor]: Taking taylor expansion of -0.5 in lambda2
29.838 * [backup-simplify]: Simplify -0.5 into -0.5
29.838 * [taylor]: Taking taylor expansion of phi2 in lambda2
29.838 * [backup-simplify]: Simplify phi2 into phi2
29.838 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
29.838 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
29.838 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
29.838 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
29.838 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
29.838 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
29.838 * [taylor]: Taking taylor expansion of -0.5 in lambda2
29.838 * [backup-simplify]: Simplify -0.5 into -0.5
29.838 * [taylor]: Taking taylor expansion of phi1 in lambda2
29.838 * [backup-simplify]: Simplify phi1 into phi1
29.838 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
29.838 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
29.838 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
29.838 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
29.838 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
29.838 * [taylor]: Taking taylor expansion of -0.5 in lambda2
29.838 * [backup-simplify]: Simplify -0.5 into -0.5
29.839 * [taylor]: Taking taylor expansion of phi1 in lambda2
29.839 * [backup-simplify]: Simplify phi1 into phi1
29.839 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
29.839 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
29.839 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
29.839 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
29.839 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
29.840 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
29.840 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
29.840 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
29.840 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
29.841 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
29.841 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
29.841 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
29.841 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
29.842 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
29.842 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
29.842 * [backup-simplify]: Simplify (- 0) into 0
29.842 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
29.843 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
29.843 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
29.843 * [backup-simplify]: Simplify (- 0) into 0
29.843 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
29.843 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
29.843 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
29.844 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
29.844 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
29.844 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
29.844 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
29.844 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
29.845 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
29.845 * [backup-simplify]: Simplify (- 0) into 0
29.845 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
29.845 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
29.845 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
29.845 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
29.846 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
29.846 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
29.846 * [backup-simplify]: Simplify (- 0) into 0
29.846 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
29.846 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
29.846 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
29.847 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
29.847 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
29.847 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
29.847 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
29.848 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
29.849 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
29.851 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
29.855 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)
29.859 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)
29.861 * [backup-simplify]: Simplify (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) into (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))
29.863 * [backup-simplify]: Simplify (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) into (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))
29.864 * [backup-simplify]: Simplify (+ 0) into 0
29.865 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
29.865 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
29.866 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
29.866 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
29.866 * [backup-simplify]: Simplify (- 0) into 0
29.867 * [backup-simplify]: Simplify (+ 0 0) into 0
29.867 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
29.867 * [backup-simplify]: Simplify (+ 0) into 0
29.868 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
29.868 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
29.869 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
29.870 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
29.870 * [backup-simplify]: Simplify (- 0) into 0
29.870 * [backup-simplify]: Simplify (+ 0 0) into 0
29.870 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
29.871 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
29.871 * [backup-simplify]: Simplify (+ 0) into 0
29.872 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
29.872 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
29.873 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
29.873 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
29.874 * [backup-simplify]: Simplify (+ 0 0) into 0
29.874 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
29.874 * [backup-simplify]: Simplify (+ 0) into 0
29.875 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
29.875 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
29.876 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
29.876 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
29.877 * [backup-simplify]: Simplify (+ 0 0) into 0
29.877 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
29.877 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
29.878 * [backup-simplify]: Simplify (+ 0 0) into 0
29.878 * [backup-simplify]: Simplify (+ 0) into 0
29.879 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
29.879 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
29.880 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
29.880 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
29.880 * [backup-simplify]: Simplify (+ 0 0) into 0
29.881 * [backup-simplify]: Simplify (+ 0) into 0
29.881 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
29.882 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
29.882 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
29.883 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
29.883 * [backup-simplify]: Simplify (- 0) into 0
29.884 * [backup-simplify]: Simplify (+ 0 0) into 0
29.884 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
29.884 * [backup-simplify]: Simplify (+ 0) into 0
29.885 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
29.885 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
29.886 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
29.886 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
29.887 * [backup-simplify]: Simplify (- 0) into 0
29.887 * [backup-simplify]: Simplify (+ 0 0) into 0
29.887 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
29.888 * [backup-simplify]: Simplify (+ 0) into 0
29.888 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
29.888 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
29.889 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
29.890 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
29.890 * [backup-simplify]: Simplify (+ 0 0) into 0
29.890 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
29.891 * [backup-simplify]: Simplify (+ 0) into 0
29.891 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
29.892 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
29.892 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
29.893 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
29.893 * [backup-simplify]: Simplify (+ 0 0) into 0
29.894 * [backup-simplify]: Simplify (+ 0) into 0
29.894 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
29.894 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
29.895 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
29.896 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
29.896 * [backup-simplify]: Simplify (- 0) into 0
29.896 * [backup-simplify]: Simplify (+ 0 0) into 0
29.897 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
29.897 * [backup-simplify]: Simplify (+ 0) into 0
29.898 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
29.898 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
29.898 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
29.899 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
29.899 * [backup-simplify]: Simplify (+ 0 0) into 0
29.900 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
29.900 * [backup-simplify]: Simplify (+ 0) into 0
29.901 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
29.901 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
29.902 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
29.902 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
29.903 * [backup-simplify]: Simplify (- 0) into 0
29.903 * [backup-simplify]: Simplify (+ 0 0) into 0
29.903 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
29.904 * [backup-simplify]: Simplify (+ 0 0) into 0
29.904 * [backup-simplify]: Simplify (- 0) into 0
29.905 * [backup-simplify]: Simplify (+ 0 0) into 0
29.908 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into 0
29.912 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2))) into 0
29.917 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
29.919 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
29.920 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow lambda2 2) R)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 2 (* (/ (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ 1 (* R (pow phi1 2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* (pow lambda2 2) R)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))))))) in lambda2
29.920 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow lambda2 2) R)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) in lambda2
29.920 * [taylor]: Taking taylor expansion of 1/2 in lambda2
29.920 * [backup-simplify]: Simplify 1/2 into 1/2
29.920 * [taylor]: Taking taylor expansion of (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow lambda2 2) R)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) in lambda2
29.920 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow lambda2 2) R)) in lambda2
29.920 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2
29.920 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2
29.920 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
29.920 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
29.920 * [taylor]: Taking taylor expansion of -0.5 in lambda2
29.920 * [backup-simplify]: Simplify -0.5 into -0.5
29.920 * [taylor]: Taking taylor expansion of phi2 in lambda2
29.920 * [backup-simplify]: Simplify phi2 into phi2
29.920 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
29.920 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
29.920 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
29.921 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
29.921 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
29.921 * [backup-simplify]: Simplify (- 0) into 0
29.921 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
29.921 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2
29.921 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
29.921 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
29.922 * [taylor]: Taking taylor expansion of -0.5 in lambda2
29.922 * [backup-simplify]: Simplify -0.5 into -0.5
29.922 * [taylor]: Taking taylor expansion of phi1 in lambda2
29.922 * [backup-simplify]: Simplify phi1 into phi1
29.922 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
29.922 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
29.922 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
29.922 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
29.922 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
29.923 * [backup-simplify]: Simplify (- 0) into 0
29.923 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
29.923 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) R) in lambda2
29.923 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
29.923 * [taylor]: Taking taylor expansion of lambda2 in lambda2
29.923 * [backup-simplify]: Simplify 0 into 0
29.923 * [backup-simplify]: Simplify 1 into 1
29.923 * [taylor]: Taking taylor expansion of R in lambda2
29.923 * [backup-simplify]: Simplify R into R
29.923 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
29.923 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
29.924 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
29.924 * [backup-simplify]: Simplify (* 1 1) into 1
29.924 * [backup-simplify]: Simplify (* 1 R) into R
29.924 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) into (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R)
29.925 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) in lambda2
29.925 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) in lambda2
29.925 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in lambda2
29.925 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in lambda2
29.925 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2
29.925 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2
29.925 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
29.925 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
29.925 * [taylor]: Taking taylor expansion of -0.5 in lambda2
29.925 * [backup-simplify]: Simplify -0.5 into -0.5
29.925 * [taylor]: Taking taylor expansion of phi2 in lambda2
29.925 * [backup-simplify]: Simplify phi2 into phi2
29.925 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
29.925 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
29.925 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
29.925 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
29.925 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
29.926 * [backup-simplify]: Simplify (- 0) into 0
29.926 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
29.926 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2
29.926 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
29.926 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
29.926 * [taylor]: Taking taylor expansion of -0.5 in lambda2
29.926 * [backup-simplify]: Simplify -0.5 into -0.5
29.926 * [taylor]: Taking taylor expansion of phi1 in lambda2
29.926 * [backup-simplify]: Simplify phi1 into phi1
29.926 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
29.926 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
29.927 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
29.927 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
29.927 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
29.927 * [backup-simplify]: Simplify (- 0) into 0
29.927 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
29.927 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2
29.927 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2
29.927 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
29.927 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
29.927 * [taylor]: Taking taylor expansion of -0.5 in lambda2
29.927 * [backup-simplify]: Simplify -0.5 into -0.5
29.927 * [taylor]: Taking taylor expansion of phi2 in lambda2
29.928 * [backup-simplify]: Simplify phi2 into phi2
29.928 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
29.928 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
29.928 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
29.928 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
29.928 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
29.928 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
29.928 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2
29.928 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
29.928 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
29.928 * [taylor]: Taking taylor expansion of -0.5 in lambda2
29.928 * [backup-simplify]: Simplify -0.5 into -0.5
29.928 * [taylor]: Taking taylor expansion of phi1 in lambda2
29.928 * [backup-simplify]: Simplify phi1 into phi1
29.928 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
29.928 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
29.929 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
29.929 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
29.929 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
29.929 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
29.929 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in lambda2
29.929 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
29.929 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
29.929 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
29.929 * [taylor]: Taking taylor expansion of -0.5 in lambda2
29.929 * [backup-simplify]: Simplify -0.5 into -0.5
29.929 * [taylor]: Taking taylor expansion of phi2 in lambda2
29.929 * [backup-simplify]: Simplify phi2 into phi2
29.929 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
29.929 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
29.929 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
29.929 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
29.929 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
29.929 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
29.929 * [taylor]: Taking taylor expansion of -0.5 in lambda2
29.929 * [backup-simplify]: Simplify -0.5 into -0.5
29.930 * [taylor]: Taking taylor expansion of phi2 in lambda2
29.930 * [backup-simplify]: Simplify phi2 into phi2
29.930 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
29.930 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
29.930 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
29.930 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
29.930 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
29.930 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
29.930 * [taylor]: Taking taylor expansion of -0.5 in lambda2
29.930 * [backup-simplify]: Simplify -0.5 into -0.5
29.930 * [taylor]: Taking taylor expansion of phi1 in lambda2
29.930 * [backup-simplify]: Simplify phi1 into phi1
29.930 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
29.930 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
29.930 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
29.930 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
29.930 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
29.930 * [taylor]: Taking taylor expansion of -0.5 in lambda2
29.930 * [backup-simplify]: Simplify -0.5 into -0.5
29.930 * [taylor]: Taking taylor expansion of phi1 in lambda2
29.930 * [backup-simplify]: Simplify phi1 into phi1
29.930 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
29.931 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
29.931 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
29.931 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
29.931 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
29.931 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
29.931 * [taylor]: Taking taylor expansion of -0.5 in lambda2
29.931 * [backup-simplify]: Simplify -0.5 into -0.5
29.931 * [taylor]: Taking taylor expansion of phi2 in lambda2
29.931 * [backup-simplify]: Simplify phi2 into phi2
29.931 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
29.931 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
29.931 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
29.931 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
29.931 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
29.931 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
29.931 * [taylor]: Taking taylor expansion of -0.5 in lambda2
29.931 * [backup-simplify]: Simplify -0.5 into -0.5
29.931 * [taylor]: Taking taylor expansion of phi2 in lambda2
29.931 * [backup-simplify]: Simplify phi2 into phi2
29.931 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
29.931 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
29.931 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
29.932 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
29.932 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
29.932 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
29.932 * [taylor]: Taking taylor expansion of -0.5 in lambda2
29.932 * [backup-simplify]: Simplify -0.5 into -0.5
29.932 * [taylor]: Taking taylor expansion of phi1 in lambda2
29.932 * [backup-simplify]: Simplify phi1 into phi1
29.932 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
29.932 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
29.932 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
29.932 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
29.932 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
29.932 * [taylor]: Taking taylor expansion of -0.5 in lambda2
29.932 * [backup-simplify]: Simplify -0.5 into -0.5
29.932 * [taylor]: Taking taylor expansion of phi1 in lambda2
29.932 * [backup-simplify]: Simplify phi1 into phi1
29.932 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
29.932 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
29.932 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
29.933 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
29.933 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
29.933 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
29.933 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
29.933 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
29.934 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
29.934 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
29.935 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
29.935 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
29.935 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
29.935 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
29.935 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
29.936 * [backup-simplify]: Simplify (- 0) into 0
29.936 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
29.936 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
29.936 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
29.936 * [backup-simplify]: Simplify (- 0) into 0
29.937 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
29.937 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
29.937 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
29.937 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
29.937 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
29.937 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
29.938 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
29.938 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
29.938 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
29.938 * [backup-simplify]: Simplify (- 0) into 0
29.938 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
29.939 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
29.939 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
29.939 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
29.939 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
29.939 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
29.939 * [backup-simplify]: Simplify (- 0) into 0
29.939 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
29.940 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
29.940 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
29.940 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
29.940 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
29.940 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
29.941 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
29.941 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
29.942 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
29.944 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
29.946 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))
29.948 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))
29.949 * [backup-simplify]: Simplify (+ 0) into 0
29.949 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
29.949 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
29.950 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
29.951 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
29.951 * [backup-simplify]: Simplify (- 0) into 0
29.951 * [backup-simplify]: Simplify (+ 0 0) into 0
29.952 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
29.952 * [backup-simplify]: Simplify (+ 0) into 0
29.953 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
29.953 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
29.954 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
29.954 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
29.954 * [backup-simplify]: Simplify (- 0) into 0
29.955 * [backup-simplify]: Simplify (+ 0 0) into 0
29.955 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
29.955 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
29.956 * [backup-simplify]: Simplify (+ 0) into 0
29.956 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
29.956 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
29.957 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
29.958 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
29.958 * [backup-simplify]: Simplify (+ 0 0) into 0
29.958 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
29.959 * [backup-simplify]: Simplify (+ 0) into 0
29.959 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
29.959 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
29.960 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
29.961 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
29.961 * [backup-simplify]: Simplify (+ 0 0) into 0
29.961 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
29.962 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
29.962 * [backup-simplify]: Simplify (+ 0 0) into 0
29.968 * [backup-simplify]: Simplify (+ 0) into 0
29.969 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
29.970 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
29.971 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
29.971 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
29.972 * [backup-simplify]: Simplify (+ 0 0) into 0
29.972 * [backup-simplify]: Simplify (+ 0) into 0
29.973 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
29.973 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
29.974 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
29.974 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
29.975 * [backup-simplify]: Simplify (- 0) into 0
29.975 * [backup-simplify]: Simplify (+ 0 0) into 0
29.975 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
29.976 * [backup-simplify]: Simplify (+ 0) into 0
29.976 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
29.976 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
29.977 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
29.978 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
29.978 * [backup-simplify]: Simplify (- 0) into 0
29.978 * [backup-simplify]: Simplify (+ 0 0) into 0
29.979 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
29.979 * [backup-simplify]: Simplify (+ 0) into 0
29.980 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
29.980 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
29.980 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
29.981 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
29.981 * [backup-simplify]: Simplify (+ 0 0) into 0
29.982 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
29.982 * [backup-simplify]: Simplify (+ 0) into 0
29.983 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
29.983 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
29.984 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
29.984 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
29.985 * [backup-simplify]: Simplify (+ 0 0) into 0
29.985 * [backup-simplify]: Simplify (+ 0) into 0
29.986 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
29.986 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
29.987 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
29.988 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
29.988 * [backup-simplify]: Simplify (- 0) into 0
29.988 * [backup-simplify]: Simplify (+ 0 0) into 0
29.989 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
29.991 * [backup-simplify]: Simplify (+ 0) into 0
29.991 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
29.992 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
29.992 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
29.993 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
29.994 * [backup-simplify]: Simplify (+ 0 0) into 0
29.994 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
29.995 * [backup-simplify]: Simplify (+ 0) into 0
29.995 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
29.995 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
29.996 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
29.997 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
29.997 * [backup-simplify]: Simplify (- 0) into 0
29.998 * [backup-simplify]: Simplify (+ 0 0) into 0
29.998 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
29.999 * [backup-simplify]: Simplify (+ 0 0) into 0
29.999 * [backup-simplify]: Simplify (- 0) into 0
30.000 * [backup-simplify]: Simplify (+ 0 0) into 0
30.004 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0
30.007 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0
30.007 * [taylor]: Taking taylor expansion of (+ (* 2 (* (/ (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ 1 (* R (pow phi1 2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* (pow lambda2 2) R)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))))) in lambda2
30.007 * [taylor]: Taking taylor expansion of (* 2 (* (/ (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) in lambda2
30.007 * [taylor]: Taking taylor expansion of 2 in lambda2
30.007 * [backup-simplify]: Simplify 2 into 2
30.007 * [taylor]: Taking taylor expansion of (* (/ (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) in lambda2
30.007 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)))) (* R (pow lambda2 2))) in lambda2
30.007 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)))) in lambda2
30.007 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 3) in lambda2
30.007 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
30.007 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
30.007 * [taylor]: Taking taylor expansion of -0.5 in lambda2
30.007 * [backup-simplify]: Simplify -0.5 into -0.5
30.007 * [taylor]: Taking taylor expansion of phi2 in lambda2
30.008 * [backup-simplify]: Simplify phi2 into phi2
30.008 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
30.008 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
30.008 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
30.008 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
30.008 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
30.008 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
30.008 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3))) in lambda2
30.008 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
30.008 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
30.008 * [taylor]: Taking taylor expansion of -0.5 in lambda2
30.008 * [backup-simplify]: Simplify -0.5 into -0.5
30.008 * [taylor]: Taking taylor expansion of phi2 in lambda2
30.008 * [backup-simplify]: Simplify phi2 into phi2
30.008 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
30.009 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
30.009 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
30.009 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)) in lambda2
30.009 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
30.009 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
30.009 * [taylor]: Taking taylor expansion of -0.5 in lambda2
30.009 * [backup-simplify]: Simplify -0.5 into -0.5
30.009 * [taylor]: Taking taylor expansion of phi1 in lambda2
30.009 * [backup-simplify]: Simplify phi1 into phi1
30.009 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
30.009 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
30.009 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
30.009 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 3) in lambda2
30.009 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
30.009 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
30.009 * [taylor]: Taking taylor expansion of -0.5 in lambda2
30.009 * [backup-simplify]: Simplify -0.5 into -0.5
30.009 * [taylor]: Taking taylor expansion of phi1 in lambda2
30.009 * [backup-simplify]: Simplify phi1 into phi1
30.009 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
30.009 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
30.010 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
30.010 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
30.010 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
30.010 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
30.010 * [taylor]: Taking taylor expansion of (* R (pow lambda2 2)) in lambda2
30.010 * [taylor]: Taking taylor expansion of R in lambda2
30.010 * [backup-simplify]: Simplify R into R
30.010 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
30.010 * [taylor]: Taking taylor expansion of lambda2 in lambda2
30.010 * [backup-simplify]: Simplify 0 into 0
30.010 * [backup-simplify]: Simplify 1 into 1
30.010 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
30.011 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (pow (sin (/ -0.5 phi2)) 2)) into (pow (sin (/ -0.5 phi2)) 3)
30.011 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
30.011 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
30.012 * [backup-simplify]: Simplify (- 0) into 0
30.012 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
30.012 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
30.012 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
30.012 * [backup-simplify]: Simplify (- 0) into 0
30.012 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
30.013 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
30.013 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 2)) into (pow (sin (/ -0.5 phi1)) 3)
30.013 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)) into (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3))
30.014 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)))
30.014 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)))) into (* (cos (/ -0.5 phi2)) (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3))))
30.015 * [backup-simplify]: Simplify (* 1 1) into 1
30.015 * [backup-simplify]: Simplify (* R 1) into R
30.016 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi2)) (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)))) R) into (/ (* (cos (/ -0.5 phi2)) (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)))) R)
30.016 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) in lambda2
30.016 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) in lambda2
30.016 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3) in lambda2
30.016 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in lambda2
30.016 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in lambda2
30.016 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2
30.016 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2
30.016 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
30.016 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
30.016 * [taylor]: Taking taylor expansion of -0.5 in lambda2
30.016 * [backup-simplify]: Simplify -0.5 into -0.5
30.016 * [taylor]: Taking taylor expansion of phi2 in lambda2
30.016 * [backup-simplify]: Simplify phi2 into phi2
30.016 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
30.016 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
30.016 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
30.016 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
30.017 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
30.017 * [backup-simplify]: Simplify (- 0) into 0
30.017 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
30.017 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2
30.017 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
30.018 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
30.018 * [taylor]: Taking taylor expansion of -0.5 in lambda2
30.018 * [backup-simplify]: Simplify -0.5 into -0.5
30.018 * [taylor]: Taking taylor expansion of phi1 in lambda2
30.018 * [backup-simplify]: Simplify phi1 into phi1
30.018 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
30.018 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
30.018 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
30.018 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
30.018 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
30.019 * [backup-simplify]: Simplify (- 0) into 0
30.019 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
30.019 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2
30.019 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2
30.019 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
30.019 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
30.019 * [taylor]: Taking taylor expansion of -0.5 in lambda2
30.019 * [backup-simplify]: Simplify -0.5 into -0.5
30.019 * [taylor]: Taking taylor expansion of phi2 in lambda2
30.019 * [backup-simplify]: Simplify phi2 into phi2
30.019 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
30.019 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
30.020 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
30.020 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
30.020 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
30.020 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
30.020 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2
30.020 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
30.020 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
30.021 * [taylor]: Taking taylor expansion of -0.5 in lambda2
30.021 * [backup-simplify]: Simplify -0.5 into -0.5
30.021 * [taylor]: Taking taylor expansion of phi1 in lambda2
30.021 * [backup-simplify]: Simplify phi1 into phi1
30.021 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
30.021 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
30.021 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
30.021 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
30.021 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
30.022 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
30.022 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in lambda2
30.022 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
30.022 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
30.022 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
30.022 * [taylor]: Taking taylor expansion of -0.5 in lambda2
30.022 * [backup-simplify]: Simplify -0.5 into -0.5
30.022 * [taylor]: Taking taylor expansion of phi2 in lambda2
30.022 * [backup-simplify]: Simplify phi2 into phi2
30.022 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
30.022 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
30.022 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
30.022 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
30.022 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
30.022 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
30.022 * [taylor]: Taking taylor expansion of -0.5 in lambda2
30.022 * [backup-simplify]: Simplify -0.5 into -0.5
30.022 * [taylor]: Taking taylor expansion of phi2 in lambda2
30.022 * [backup-simplify]: Simplify phi2 into phi2
30.022 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
30.023 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
30.023 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
30.023 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
30.023 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
30.023 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
30.023 * [taylor]: Taking taylor expansion of -0.5 in lambda2
30.023 * [backup-simplify]: Simplify -0.5 into -0.5
30.023 * [taylor]: Taking taylor expansion of phi1 in lambda2
30.023 * [backup-simplify]: Simplify phi1 into phi1
30.023 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
30.023 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
30.023 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
30.023 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
30.023 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
30.023 * [taylor]: Taking taylor expansion of -0.5 in lambda2
30.023 * [backup-simplify]: Simplify -0.5 into -0.5
30.023 * [taylor]: Taking taylor expansion of phi1 in lambda2
30.023 * [backup-simplify]: Simplify phi1 into phi1
30.023 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
30.024 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
30.024 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
30.024 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
30.024 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
30.024 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
30.024 * [taylor]: Taking taylor expansion of -0.5 in lambda2
30.024 * [backup-simplify]: Simplify -0.5 into -0.5
30.024 * [taylor]: Taking taylor expansion of phi2 in lambda2
30.024 * [backup-simplify]: Simplify phi2 into phi2
30.024 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
30.024 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
30.024 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
30.024 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
30.024 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
30.024 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
30.024 * [taylor]: Taking taylor expansion of -0.5 in lambda2
30.024 * [backup-simplify]: Simplify -0.5 into -0.5
30.024 * [taylor]: Taking taylor expansion of phi2 in lambda2
30.024 * [backup-simplify]: Simplify phi2 into phi2
30.024 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
30.025 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
30.025 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
30.025 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
30.025 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
30.025 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
30.025 * [taylor]: Taking taylor expansion of -0.5 in lambda2
30.025 * [backup-simplify]: Simplify -0.5 into -0.5
30.025 * [taylor]: Taking taylor expansion of phi1 in lambda2
30.025 * [backup-simplify]: Simplify phi1 into phi1
30.025 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
30.025 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
30.025 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
30.025 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
30.025 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
30.025 * [taylor]: Taking taylor expansion of -0.5 in lambda2
30.025 * [backup-simplify]: Simplify -0.5 into -0.5
30.025 * [taylor]: Taking taylor expansion of phi1 in lambda2
30.025 * [backup-simplify]: Simplify phi1 into phi1
30.025 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
30.025 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
30.026 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
30.026 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
30.026 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
30.026 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
30.027 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
30.027 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
30.027 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
30.028 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
30.028 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
30.028 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
30.028 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
30.028 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
30.028 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
30.029 * [backup-simplify]: Simplify (- 0) into 0
30.029 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
30.029 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
30.029 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
30.030 * [backup-simplify]: Simplify (- 0) into 0
30.030 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
30.030 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
30.030 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
30.030 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
30.031 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
30.031 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
30.031 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
30.031 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
30.031 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
30.032 * [backup-simplify]: Simplify (- 0) into 0
30.032 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
30.032 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
30.032 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
30.032 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
30.032 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
30.032 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
30.033 * [backup-simplify]: Simplify (- 0) into 0
30.033 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
30.033 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
30.033 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
30.033 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
30.034 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
30.034 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
30.034 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
30.035 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
30.036 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
30.038 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
30.042 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)
30.045 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)
30.048 * [backup-simplify]: Simplify (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) into (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))
30.050 * [backup-simplify]: Simplify (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) into (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))
30.050 * [backup-simplify]: Simplify (+ 0) into 0
30.051 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
30.051 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
30.052 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
30.053 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
30.053 * [backup-simplify]: Simplify (- 0) into 0
30.054 * [backup-simplify]: Simplify (+ 0 0) into 0
30.054 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
30.054 * [backup-simplify]: Simplify (+ 0) into 0
30.055 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
30.055 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
30.056 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
30.056 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
30.057 * [backup-simplify]: Simplify (- 0) into 0
30.057 * [backup-simplify]: Simplify (+ 0 0) into 0
30.057 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
30.058 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
30.058 * [backup-simplify]: Simplify (+ 0) into 0
30.059 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
30.059 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
30.060 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
30.060 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
30.061 * [backup-simplify]: Simplify (+ 0 0) into 0
30.061 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
30.061 * [backup-simplify]: Simplify (+ 0) into 0
30.062 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
30.062 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
30.063 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
30.063 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
30.064 * [backup-simplify]: Simplify (+ 0 0) into 0
30.064 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
30.064 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
30.065 * [backup-simplify]: Simplify (+ 0 0) into 0
30.065 * [backup-simplify]: Simplify (+ 0) into 0
30.066 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
30.066 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
30.067 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
30.067 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
30.068 * [backup-simplify]: Simplify (+ 0 0) into 0
30.068 * [backup-simplify]: Simplify (+ 0) into 0
30.068 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
30.069 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
30.069 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
30.070 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
30.070 * [backup-simplify]: Simplify (- 0) into 0
30.071 * [backup-simplify]: Simplify (+ 0 0) into 0
30.071 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
30.071 * [backup-simplify]: Simplify (+ 0) into 0
30.072 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
30.072 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
30.073 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
30.073 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
30.073 * [backup-simplify]: Simplify (- 0) into 0
30.074 * [backup-simplify]: Simplify (+ 0 0) into 0
30.074 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
30.074 * [backup-simplify]: Simplify (+ 0) into 0
30.075 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
30.075 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
30.076 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
30.076 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
30.077 * [backup-simplify]: Simplify (+ 0 0) into 0
30.077 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
30.077 * [backup-simplify]: Simplify (+ 0) into 0
30.078 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
30.078 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
30.079 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
30.079 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
30.080 * [backup-simplify]: Simplify (+ 0 0) into 0
30.080 * [backup-simplify]: Simplify (+ 0) into 0
30.080 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
30.081 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
30.081 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
30.082 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
30.082 * [backup-simplify]: Simplify (- 0) into 0
30.082 * [backup-simplify]: Simplify (+ 0 0) into 0
30.083 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
30.083 * [backup-simplify]: Simplify (+ 0) into 0
30.084 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
30.084 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
30.084 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
30.085 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
30.085 * [backup-simplify]: Simplify (+ 0 0) into 0
30.086 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
30.086 * [backup-simplify]: Simplify (+ 0) into 0
30.086 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
30.087 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
30.087 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
30.088 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
30.088 * [backup-simplify]: Simplify (- 0) into 0
30.089 * [backup-simplify]: Simplify (+ 0 0) into 0
30.089 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
30.089 * [backup-simplify]: Simplify (+ 0 0) into 0
30.089 * [backup-simplify]: Simplify (- 0) into 0
30.090 * [backup-simplify]: Simplify (+ 0 0) into 0
30.092 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into 0
30.094 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2))) into 0
30.096 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
30.097 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
30.097 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (/ 1 (* R (pow phi1 2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* (pow lambda2 2) R)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))))) in lambda2
30.097 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ 1 (* R (pow phi1 2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) in lambda2
30.097 * [taylor]: Taking taylor expansion of 1/2 in lambda2
30.097 * [backup-simplify]: Simplify 1/2 into 1/2
30.097 * [taylor]: Taking taylor expansion of (* (/ 1 (* R (pow phi1 2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) in lambda2
30.097 * [taylor]: Taking taylor expansion of (/ 1 (* R (pow phi1 2))) in lambda2
30.097 * [taylor]: Taking taylor expansion of (* R (pow phi1 2)) in lambda2
30.097 * [taylor]: Taking taylor expansion of R in lambda2
30.097 * [backup-simplify]: Simplify R into R
30.097 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2
30.097 * [taylor]: Taking taylor expansion of phi1 in lambda2
30.097 * [backup-simplify]: Simplify phi1 into phi1
30.097 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
30.098 * [backup-simplify]: Simplify (* R (pow phi1 2)) into (* (pow phi1 2) R)
30.098 * [backup-simplify]: Simplify (/ 1 (* (pow phi1 2) R)) into (/ 1 (* (pow phi1 2) R))
30.098 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) in lambda2
30.098 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) in lambda2
30.098 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in lambda2
30.098 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in lambda2
30.098 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2
30.098 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2
30.098 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
30.098 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
30.098 * [taylor]: Taking taylor expansion of -0.5 in lambda2
30.098 * [backup-simplify]: Simplify -0.5 into -0.5
30.098 * [taylor]: Taking taylor expansion of phi2 in lambda2
30.098 * [backup-simplify]: Simplify phi2 into phi2
30.098 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
30.098 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
30.098 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
30.098 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
30.098 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
30.099 * [backup-simplify]: Simplify (- 0) into 0
30.099 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
30.099 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2
30.099 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
30.099 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
30.099 * [taylor]: Taking taylor expansion of -0.5 in lambda2
30.099 * [backup-simplify]: Simplify -0.5 into -0.5
30.099 * [taylor]: Taking taylor expansion of phi1 in lambda2
30.099 * [backup-simplify]: Simplify phi1 into phi1
30.099 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
30.099 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
30.099 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
30.099 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
30.099 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
30.099 * [backup-simplify]: Simplify (- 0) into 0
30.099 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
30.099 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2
30.099 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2
30.099 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
30.099 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
30.099 * [taylor]: Taking taylor expansion of -0.5 in lambda2
30.100 * [backup-simplify]: Simplify -0.5 into -0.5
30.100 * [taylor]: Taking taylor expansion of phi2 in lambda2
30.100 * [backup-simplify]: Simplify phi2 into phi2
30.100 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
30.100 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
30.100 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
30.100 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
30.100 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
30.100 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
30.100 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2
30.100 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
30.100 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
30.100 * [taylor]: Taking taylor expansion of -0.5 in lambda2
30.100 * [backup-simplify]: Simplify -0.5 into -0.5
30.100 * [taylor]: Taking taylor expansion of phi1 in lambda2
30.100 * [backup-simplify]: Simplify phi1 into phi1
30.100 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
30.100 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
30.100 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
30.100 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
30.100 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
30.100 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
30.100 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in lambda2
30.100 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
30.100 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
30.100 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
30.100 * [taylor]: Taking taylor expansion of -0.5 in lambda2
30.100 * [backup-simplify]: Simplify -0.5 into -0.5
30.100 * [taylor]: Taking taylor expansion of phi2 in lambda2
30.100 * [backup-simplify]: Simplify phi2 into phi2
30.100 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
30.101 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
30.101 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
30.101 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
30.101 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
30.101 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
30.101 * [taylor]: Taking taylor expansion of -0.5 in lambda2
30.101 * [backup-simplify]: Simplify -0.5 into -0.5
30.101 * [taylor]: Taking taylor expansion of phi2 in lambda2
30.101 * [backup-simplify]: Simplify phi2 into phi2
30.101 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
30.101 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
30.101 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
30.101 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
30.101 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
30.101 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
30.101 * [taylor]: Taking taylor expansion of -0.5 in lambda2
30.101 * [backup-simplify]: Simplify -0.5 into -0.5
30.101 * [taylor]: Taking taylor expansion of phi1 in lambda2
30.101 * [backup-simplify]: Simplify phi1 into phi1
30.101 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
30.101 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
30.101 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
30.101 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
30.101 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
30.101 * [taylor]: Taking taylor expansion of -0.5 in lambda2
30.101 * [backup-simplify]: Simplify -0.5 into -0.5
30.101 * [taylor]: Taking taylor expansion of phi1 in lambda2
30.101 * [backup-simplify]: Simplify phi1 into phi1
30.101 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
30.101 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
30.101 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
30.101 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
30.102 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
30.102 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
30.102 * [taylor]: Taking taylor expansion of -0.5 in lambda2
30.102 * [backup-simplify]: Simplify -0.5 into -0.5
30.102 * [taylor]: Taking taylor expansion of phi2 in lambda2
30.102 * [backup-simplify]: Simplify phi2 into phi2
30.102 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
30.102 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
30.102 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
30.102 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
30.102 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
30.102 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
30.102 * [taylor]: Taking taylor expansion of -0.5 in lambda2
30.102 * [backup-simplify]: Simplify -0.5 into -0.5
30.102 * [taylor]: Taking taylor expansion of phi2 in lambda2
30.102 * [backup-simplify]: Simplify phi2 into phi2
30.102 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
30.102 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
30.102 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
30.102 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
30.102 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
30.102 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
30.102 * [taylor]: Taking taylor expansion of -0.5 in lambda2
30.102 * [backup-simplify]: Simplify -0.5 into -0.5
30.103 * [taylor]: Taking taylor expansion of phi1 in lambda2
30.103 * [backup-simplify]: Simplify phi1 into phi1
30.103 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
30.103 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
30.103 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
30.103 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
30.103 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
30.103 * [taylor]: Taking taylor expansion of -0.5 in lambda2
30.103 * [backup-simplify]: Simplify -0.5 into -0.5
30.103 * [taylor]: Taking taylor expansion of phi1 in lambda2
30.103 * [backup-simplify]: Simplify phi1 into phi1
30.103 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
30.103 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
30.103 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
30.103 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
30.104 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
30.104 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
30.104 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
30.104 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
30.105 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
30.105 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
30.105 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
30.106 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
30.106 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
30.106 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
30.106 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
30.106 * [backup-simplify]: Simplify (- 0) into 0
30.107 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
30.107 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
30.107 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
30.107 * [backup-simplify]: Simplify (- 0) into 0
30.107 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
30.107 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
30.108 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
30.108 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
30.108 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
30.108 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
30.108 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
30.108 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
30.109 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
30.109 * [backup-simplify]: Simplify (- 0) into 0
30.109 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
30.109 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
30.109 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
30.109 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
30.110 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
30.110 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
30.110 * [backup-simplify]: Simplify (- 0) into 0
30.110 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
30.110 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
30.110 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
30.111 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
30.111 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
30.111 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
30.111 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
30.112 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
30.113 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
30.115 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
30.117 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))
30.119 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))
30.119 * [backup-simplify]: Simplify (+ 0) into 0
30.120 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
30.120 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
30.121 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
30.122 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
30.122 * [backup-simplify]: Simplify (- 0) into 0
30.123 * [backup-simplify]: Simplify (+ 0 0) into 0
30.123 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
30.123 * [backup-simplify]: Simplify (+ 0) into 0
30.124 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
30.124 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
30.125 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
30.125 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
30.125 * [backup-simplify]: Simplify (- 0) into 0
30.126 * [backup-simplify]: Simplify (+ 0 0) into 0
30.126 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
30.126 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
30.127 * [backup-simplify]: Simplify (+ 0) into 0
30.127 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
30.128 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
30.128 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
30.129 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
30.129 * [backup-simplify]: Simplify (+ 0 0) into 0
30.129 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
30.130 * [backup-simplify]: Simplify (+ 0) into 0
30.130 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
30.130 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
30.131 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
30.131 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
30.132 * [backup-simplify]: Simplify (+ 0 0) into 0
30.132 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
30.132 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
30.133 * [backup-simplify]: Simplify (+ 0 0) into 0
30.133 * [backup-simplify]: Simplify (+ 0) into 0
30.134 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
30.134 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
30.135 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
30.135 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
30.135 * [backup-simplify]: Simplify (+ 0 0) into 0
30.136 * [backup-simplify]: Simplify (+ 0) into 0
30.141 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
30.142 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
30.143 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
30.143 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
30.144 * [backup-simplify]: Simplify (- 0) into 0
30.144 * [backup-simplify]: Simplify (+ 0 0) into 0
30.144 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
30.145 * [backup-simplify]: Simplify (+ 0) into 0
30.145 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
30.145 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
30.146 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
30.147 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
30.147 * [backup-simplify]: Simplify (- 0) into 0
30.147 * [backup-simplify]: Simplify (+ 0 0) into 0
30.148 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
30.148 * [backup-simplify]: Simplify (+ 0) into 0
30.149 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
30.149 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
30.149 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
30.150 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
30.150 * [backup-simplify]: Simplify (+ 0 0) into 0
30.151 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
30.151 * [backup-simplify]: Simplify (+ 0) into 0
30.152 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
30.152 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
30.153 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
30.153 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
30.154 * [backup-simplify]: Simplify (+ 0 0) into 0
30.154 * [backup-simplify]: Simplify (+ 0) into 0
30.155 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
30.155 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
30.156 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
30.156 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
30.156 * [backup-simplify]: Simplify (- 0) into 0
30.157 * [backup-simplify]: Simplify (+ 0 0) into 0
30.157 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
30.158 * [backup-simplify]: Simplify (+ 0) into 0
30.158 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
30.158 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
30.159 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
30.160 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
30.160 * [backup-simplify]: Simplify (+ 0 0) into 0
30.161 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
30.161 * [backup-simplify]: Simplify (+ 0) into 0
30.162 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
30.163 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
30.164 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
30.164 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
30.165 * [backup-simplify]: Simplify (- 0) into 0
30.165 * [backup-simplify]: Simplify (+ 0 0) into 0
30.165 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
30.166 * [backup-simplify]: Simplify (+ 0 0) into 0
30.166 * [backup-simplify]: Simplify (- 0) into 0
30.167 * [backup-simplify]: Simplify (+ 0 0) into 0
30.170 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0
30.171 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0
30.171 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* (pow lambda2 2) R)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) in lambda2
30.171 * [taylor]: Taking taylor expansion of 1/2 in lambda2
30.171 * [backup-simplify]: Simplify 1/2 into 1/2
30.171 * [taylor]: Taking taylor expansion of (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* (pow lambda2 2) R)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) in lambda2
30.171 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* (pow lambda2 2) R)) in lambda2
30.171 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2
30.171 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2
30.171 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
30.171 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
30.171 * [taylor]: Taking taylor expansion of -0.5 in lambda2
30.171 * [backup-simplify]: Simplify -0.5 into -0.5
30.171 * [taylor]: Taking taylor expansion of phi2 in lambda2
30.171 * [backup-simplify]: Simplify phi2 into phi2
30.172 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
30.172 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
30.172 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
30.172 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
30.172 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
30.172 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
30.172 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2
30.172 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
30.172 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
30.172 * [taylor]: Taking taylor expansion of -0.5 in lambda2
30.172 * [backup-simplify]: Simplify -0.5 into -0.5
30.172 * [taylor]: Taking taylor expansion of phi1 in lambda2
30.172 * [backup-simplify]: Simplify phi1 into phi1
30.172 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
30.172 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
30.172 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
30.172 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
30.172 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
30.172 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
30.172 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) R) in lambda2
30.172 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
30.172 * [taylor]: Taking taylor expansion of lambda2 in lambda2
30.172 * [backup-simplify]: Simplify 0 into 0
30.172 * [backup-simplify]: Simplify 1 into 1
30.172 * [taylor]: Taking taylor expansion of R in lambda2
30.172 * [backup-simplify]: Simplify R into R
30.172 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
30.173 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
30.173 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
30.173 * [backup-simplify]: Simplify (* 1 1) into 1
30.173 * [backup-simplify]: Simplify (* 1 R) into R
30.173 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R) into (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R)
30.174 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) in lambda2
30.174 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) in lambda2
30.174 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in lambda2
30.174 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in lambda2
30.174 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2
30.174 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2
30.174 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
30.174 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
30.174 * [taylor]: Taking taylor expansion of -0.5 in lambda2
30.174 * [backup-simplify]: Simplify -0.5 into -0.5
30.174 * [taylor]: Taking taylor expansion of phi2 in lambda2
30.174 * [backup-simplify]: Simplify phi2 into phi2
30.174 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
30.174 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
30.174 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
30.174 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
30.174 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
30.174 * [backup-simplify]: Simplify (- 0) into 0
30.174 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
30.174 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2
30.174 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
30.174 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
30.174 * [taylor]: Taking taylor expansion of -0.5 in lambda2
30.174 * [backup-simplify]: Simplify -0.5 into -0.5
30.175 * [taylor]: Taking taylor expansion of phi1 in lambda2
30.175 * [backup-simplify]: Simplify phi1 into phi1
30.175 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
30.175 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
30.175 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
30.175 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
30.175 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
30.175 * [backup-simplify]: Simplify (- 0) into 0
30.175 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
30.175 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2
30.175 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2
30.175 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
30.175 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
30.175 * [taylor]: Taking taylor expansion of -0.5 in lambda2
30.175 * [backup-simplify]: Simplify -0.5 into -0.5
30.175 * [taylor]: Taking taylor expansion of phi2 in lambda2
30.175 * [backup-simplify]: Simplify phi2 into phi2
30.175 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
30.175 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
30.175 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
30.176 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
30.176 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
30.176 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
30.176 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2
30.176 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
30.176 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
30.176 * [taylor]: Taking taylor expansion of -0.5 in lambda2
30.176 * [backup-simplify]: Simplify -0.5 into -0.5
30.176 * [taylor]: Taking taylor expansion of phi1 in lambda2
30.176 * [backup-simplify]: Simplify phi1 into phi1
30.176 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
30.176 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
30.176 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
30.176 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
30.176 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
30.176 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
30.176 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in lambda2
30.176 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
30.176 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
30.176 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
30.176 * [taylor]: Taking taylor expansion of -0.5 in lambda2
30.176 * [backup-simplify]: Simplify -0.5 into -0.5
30.176 * [taylor]: Taking taylor expansion of phi2 in lambda2
30.176 * [backup-simplify]: Simplify phi2 into phi2
30.176 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
30.176 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
30.176 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
30.176 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
30.176 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
30.176 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
30.176 * [taylor]: Taking taylor expansion of -0.5 in lambda2
30.176 * [backup-simplify]: Simplify -0.5 into -0.5
30.176 * [taylor]: Taking taylor expansion of phi2 in lambda2
30.177 * [backup-simplify]: Simplify phi2 into phi2
30.177 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
30.177 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
30.177 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
30.177 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
30.177 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
30.177 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
30.177 * [taylor]: Taking taylor expansion of -0.5 in lambda2
30.177 * [backup-simplify]: Simplify -0.5 into -0.5
30.177 * [taylor]: Taking taylor expansion of phi1 in lambda2
30.177 * [backup-simplify]: Simplify phi1 into phi1
30.177 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
30.177 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
30.177 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
30.177 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
30.177 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
30.177 * [taylor]: Taking taylor expansion of -0.5 in lambda2
30.177 * [backup-simplify]: Simplify -0.5 into -0.5
30.177 * [taylor]: Taking taylor expansion of phi1 in lambda2
30.177 * [backup-simplify]: Simplify phi1 into phi1
30.177 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
30.177 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
30.177 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
30.177 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
30.178 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
30.178 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
30.178 * [taylor]: Taking taylor expansion of -0.5 in lambda2
30.178 * [backup-simplify]: Simplify -0.5 into -0.5
30.178 * [taylor]: Taking taylor expansion of phi2 in lambda2
30.178 * [backup-simplify]: Simplify phi2 into phi2
30.178 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
30.178 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
30.178 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
30.178 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
30.178 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
30.178 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
30.178 * [taylor]: Taking taylor expansion of -0.5 in lambda2
30.178 * [backup-simplify]: Simplify -0.5 into -0.5
30.178 * [taylor]: Taking taylor expansion of phi2 in lambda2
30.178 * [backup-simplify]: Simplify phi2 into phi2
30.178 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
30.178 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
30.178 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
30.178 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
30.178 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
30.178 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
30.178 * [taylor]: Taking taylor expansion of -0.5 in lambda2
30.178 * [backup-simplify]: Simplify -0.5 into -0.5
30.179 * [taylor]: Taking taylor expansion of phi1 in lambda2
30.179 * [backup-simplify]: Simplify phi1 into phi1
30.179 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
30.179 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
30.179 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
30.179 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
30.179 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
30.179 * [taylor]: Taking taylor expansion of -0.5 in lambda2
30.179 * [backup-simplify]: Simplify -0.5 into -0.5
30.179 * [taylor]: Taking taylor expansion of phi1 in lambda2
30.179 * [backup-simplify]: Simplify phi1 into phi1
30.179 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
30.179 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
30.179 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
30.179 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
30.179 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
30.179 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
30.180 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
30.180 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
30.180 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
30.180 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
30.180 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
30.180 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
30.181 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
30.181 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
30.181 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
30.181 * [backup-simplify]: Simplify (- 0) into 0
30.181 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
30.182 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
30.182 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
30.182 * [backup-simplify]: Simplify (- 0) into 0
30.182 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
30.182 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
30.182 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
30.182 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
30.182 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
30.183 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
30.183 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
30.183 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
30.183 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
30.183 * [backup-simplify]: Simplify (- 0) into 0
30.183 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
30.183 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
30.183 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
30.183 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
30.183 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
30.184 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
30.184 * [backup-simplify]: Simplify (- 0) into 0
30.184 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
30.184 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
30.184 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
30.184 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
30.184 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
30.184 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
30.184 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
30.185 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
30.185 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
30.186 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
30.187 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))
30.188 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))
30.189 * [backup-simplify]: Simplify (+ 0) into 0
30.189 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
30.189 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
30.190 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
30.190 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
30.190 * [backup-simplify]: Simplify (- 0) into 0
30.190 * [backup-simplify]: Simplify (+ 0 0) into 0
30.190 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
30.191 * [backup-simplify]: Simplify (+ 0) into 0
30.191 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
30.191 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
30.192 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
30.192 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
30.192 * [backup-simplify]: Simplify (- 0) into 0
30.192 * [backup-simplify]: Simplify (+ 0 0) into 0
30.192 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
30.193 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
30.193 * [backup-simplify]: Simplify (+ 0) into 0
30.193 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
30.193 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
30.194 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
30.194 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
30.194 * [backup-simplify]: Simplify (+ 0 0) into 0
30.194 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
30.195 * [backup-simplify]: Simplify (+ 0) into 0
30.195 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
30.195 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
30.196 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
30.196 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
30.196 * [backup-simplify]: Simplify (+ 0 0) into 0
30.196 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
30.196 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
30.197 * [backup-simplify]: Simplify (+ 0 0) into 0
30.197 * [backup-simplify]: Simplify (+ 0) into 0
30.197 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
30.197 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
30.198 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
30.199 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
30.199 * [backup-simplify]: Simplify (+ 0 0) into 0
30.199 * [backup-simplify]: Simplify (+ 0) into 0
30.200 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
30.200 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
30.201 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
30.201 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
30.201 * [backup-simplify]: Simplify (- 0) into 0
30.202 * [backup-simplify]: Simplify (+ 0 0) into 0
30.202 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
30.202 * [backup-simplify]: Simplify (+ 0) into 0
30.202 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
30.203 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
30.203 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
30.203 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
30.203 * [backup-simplify]: Simplify (- 0) into 0
30.204 * [backup-simplify]: Simplify (+ 0 0) into 0
30.204 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
30.204 * [backup-simplify]: Simplify (+ 0) into 0
30.204 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
30.205 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
30.205 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
30.205 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
30.205 * [backup-simplify]: Simplify (+ 0 0) into 0
30.206 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
30.206 * [backup-simplify]: Simplify (+ 0) into 0
30.206 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
30.206 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
30.207 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
30.207 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
30.207 * [backup-simplify]: Simplify (+ 0 0) into 0
30.208 * [backup-simplify]: Simplify (+ 0) into 0
30.208 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
30.208 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
30.208 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
30.209 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
30.209 * [backup-simplify]: Simplify (- 0) into 0
30.209 * [backup-simplify]: Simplify (+ 0 0) into 0
30.209 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
30.210 * [backup-simplify]: Simplify (+ 0) into 0
30.210 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
30.210 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
30.210 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
30.211 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
30.211 * [backup-simplify]: Simplify (+ 0 0) into 0
30.211 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
30.211 * [backup-simplify]: Simplify (+ 0) into 0
30.212 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
30.212 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
30.212 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
30.213 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
30.213 * [backup-simplify]: Simplify (- 0) into 0
30.213 * [backup-simplify]: Simplify (+ 0 0) into 0
30.213 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
30.213 * [backup-simplify]: Simplify (+ 0 0) into 0
30.214 * [backup-simplify]: Simplify (- 0) into 0
30.214 * [backup-simplify]: Simplify (+ 0 0) into 0
30.216 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0
30.217 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0
30.217 * [backup-simplify]: Simplify (+ 0) into 0
30.218 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
30.218 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
30.218 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
30.219 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
30.219 * [backup-simplify]: Simplify (+ 0 0) into 0
30.219 * [backup-simplify]: Simplify (+ 0) into 0
30.220 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
30.220 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
30.220 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
30.220 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
30.221 * [backup-simplify]: Simplify (- 0) into 0
30.221 * [backup-simplify]: Simplify (+ 0 0) into 0
30.221 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
30.221 * [backup-simplify]: Simplify (+ 0) into 0
30.222 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
30.222 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
30.222 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
30.222 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
30.223 * [backup-simplify]: Simplify (- 0) into 0
30.223 * [backup-simplify]: Simplify (+ 0 0) into 0
30.223 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
30.223 * [backup-simplify]: Simplify (+ 0) into 0
30.224 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
30.224 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
30.224 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
30.224 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
30.225 * [backup-simplify]: Simplify (+ 0 0) into 0
30.225 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
30.225 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
30.226 * [backup-simplify]: Simplify (+ (* R 0) (* 0 1)) into 0
30.226 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) (/ 0 R)))) into 0
30.227 * [backup-simplify]: Simplify (+ (* (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0
30.227 * [backup-simplify]: Simplify (+ 0) into 0
30.228 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
30.228 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
30.228 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
30.229 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
30.229 * [backup-simplify]: Simplify (+ 0 0) into 0
30.229 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
30.229 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi1)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
30.229 * [backup-simplify]: Simplify (+ 0) into 0
30.230 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
30.230 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
30.230 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
30.231 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
30.231 * [backup-simplify]: Simplify (+ 0 0) into 0
30.231 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
30.231 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi2)) 2))) into 0
30.231 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 4) 0) (* 0 (pow (sin (/ -0.5 phi1)) 4))) into 0
30.232 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
30.232 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 R)) into 0
30.233 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) R) (/ 0 R)))) into 0
30.234 * [backup-simplify]: Simplify (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) R) 0) (* 0 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
30.235 * [backup-simplify]: Simplify (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) into (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) R))
30.237 * [backup-simplify]: Simplify (+ (* 1/2 0) (* 0 (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) R)))) into 0
30.238 * [backup-simplify]: Simplify (+ 0) into 0
30.238 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
30.238 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
30.239 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
30.240 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
30.240 * [backup-simplify]: Simplify (- 0) into 0
30.240 * [backup-simplify]: Simplify (+ 0 0) into 0
30.241 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
30.241 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi1)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
30.241 * [backup-simplify]: Simplify (+ 0) into 0
30.242 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
30.242 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
30.243 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
30.243 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
30.244 * [backup-simplify]: Simplify (- 0) into 0
30.244 * [backup-simplify]: Simplify (+ 0 0) into 0
30.244 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
30.245 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi2)) 2))) into 0
30.245 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 4) 0) (* 0 (pow (cos (/ -0.5 phi1)) 4))) into 0
30.246 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
30.247 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 R)) into 0
30.247 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) R) (/ 0 R)))) into 0
30.250 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) R) 0) (* 0 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
30.253 * [backup-simplify]: Simplify (* (/ (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) into (* (/ (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))
30.256 * [backup-simplify]: Simplify (+ (* 1/2 0) (* 0 (* (/ (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))) into 0
30.257 * [backup-simplify]: Simplify (+ 0) into 0
30.258 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
30.258 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
30.259 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
30.259 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
30.260 * [backup-simplify]: Simplify (+ 0 0) into 0
30.260 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
30.260 * [backup-simplify]: Simplify (+ 0) into 0
30.261 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
30.261 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
30.262 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
30.262 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
30.263 * [backup-simplify]: Simplify (- 0) into 0
30.263 * [backup-simplify]: Simplify (+ 0 0) into 0
30.263 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
30.264 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi1)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
30.264 * [backup-simplify]: Simplify (+ 0) into 0
30.270 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
30.271 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
30.272 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
30.272 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
30.273 * [backup-simplify]: Simplify (- 0) into 0
30.273 * [backup-simplify]: Simplify (+ 0 0) into 0
30.273 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
30.274 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)))) into 0
30.274 * [backup-simplify]: Simplify (+ 0) into 0
30.275 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
30.275 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
30.276 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
30.276 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
30.277 * [backup-simplify]: Simplify (+ 0 0) into 0
30.277 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
30.278 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2))))) into 0
30.279 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
30.280 * [backup-simplify]: Simplify (+ (* R 0) (* 0 1)) into 0
30.281 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)))) R) (/ 0 R)))) into 0
30.285 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)))) R) 0) (* 0 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
30.288 * [backup-simplify]: Simplify (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)))) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) into (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)))) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))
30.291 * [backup-simplify]: Simplify (+ (* 3 0) (* 0 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)))) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))) into 0
30.291 * [backup-simplify]: Simplify (+ 0 0) into 0
30.291 * [backup-simplify]: Simplify (+ 0 0) into 0
30.291 * [backup-simplify]: Simplify (+ 0 0) into 0
30.292 * [backup-simplify]: Simplify (+ 0 0) into 0
30.292 * [backup-simplify]: Simplify (+ 0) into 0
30.292 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
30.292 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
30.293 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
30.293 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
30.293 * [backup-simplify]: Simplify (+ 0 0) into 0
30.294 * [backup-simplify]: Simplify (+ 0) into 0
30.294 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
30.294 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
30.295 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
30.295 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
30.295 * [backup-simplify]: Simplify (- 0) into 0
30.295 * [backup-simplify]: Simplify (+ 0 0) into 0
30.295 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
30.296 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
30.296 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi1)) 3) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
30.296 * [backup-simplify]: Simplify (+ 0) into 0
30.296 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
30.296 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
30.297 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
30.297 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
30.297 * [backup-simplify]: Simplify (- 0) into 0
30.298 * [backup-simplify]: Simplify (+ 0 0) into 0
30.298 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
30.298 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (pow (cos (/ -0.5 phi2)) 2))) into 0
30.298 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 3) 0) (* 0 (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1))))) into 0
30.299 * [backup-simplify]: Simplify (+ 0) into 0
30.299 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
30.299 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
30.299 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
30.300 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
30.300 * [backup-simplify]: Simplify (+ 0 0) into 0
30.300 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1)))))) into 0
30.301 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
30.301 * [backup-simplify]: Simplify (+ (* R 0) (* 0 1)) into 0
30.301 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 3) (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1))))) R) (/ 0 R)))) into 0
30.303 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 3) (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1))))) R) 0) (* 0 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
30.304 * [backup-simplify]: Simplify (* (/ (* (pow (cos (/ -0.5 phi2)) 3) (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1))))) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) into (* (/ (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1))))) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))
30.306 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (/ (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1))))) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))) into 0
30.307 * [backup-simplify]: Simplify (+ 0) into 0
30.307 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
30.307 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
30.308 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
30.308 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
30.308 * [backup-simplify]: Simplify (- 0) into 0
30.308 * [backup-simplify]: Simplify (+ 0 0) into 0
30.308 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
30.309 * [backup-simplify]: Simplify (+ 0) into 0
30.309 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
30.309 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
30.310 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
30.310 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
30.310 * [backup-simplify]: Simplify (- 0) into 0
30.310 * [backup-simplify]: Simplify (+ 0 0) into 0
30.310 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
30.311 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
30.311 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
30.311 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 R)) into 0
30.312 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) (/ 0 R)))) into 0
30.313 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0
30.314 * [backup-simplify]: Simplify (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) into (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))
30.316 * [backup-simplify]: Simplify (+ (* 1/2 0) (* 0 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))))) into 0
30.316 * [backup-simplify]: Simplify (+ 0) into 0
30.316 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
30.317 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
30.317 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
30.317 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
30.317 * [backup-simplify]: Simplify (+ 0 0) into 0
30.318 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
30.318 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
30.318 * [backup-simplify]: Simplify (+ 0) into 0
30.318 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
30.318 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
30.319 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
30.319 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
30.319 * [backup-simplify]: Simplify (- 0) into 0
30.320 * [backup-simplify]: Simplify (+ 0 0) into 0
30.320 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (pow (sin (/ -0.5 phi1)) 3))) into 0
30.320 * [backup-simplify]: Simplify (+ 0) into 0
30.321 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
30.321 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
30.321 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
30.321 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
30.322 * [backup-simplify]: Simplify (- 0) into 0
30.322 * [backup-simplify]: Simplify (+ 0 0) into 0
30.322 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)))) into 0
30.322 * [backup-simplify]: Simplify (+ 0) into 0
30.323 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
30.323 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
30.323 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
30.324 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
30.324 * [backup-simplify]: Simplify (+ 0 0) into 0
30.324 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
30.324 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (pow (sin (/ -0.5 phi2)) 2))) into 0
30.324 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 3) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3))))) into 0
30.325 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
30.325 * [backup-simplify]: Simplify (+ (* R 0) (* 0 1)) into 0
30.326 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (cos (/ -0.5 phi2)) (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)))) R) (/ 0 R)))) into 0
30.329 * [backup-simplify]: Simplify (+ (* (/ (* (cos (/ -0.5 phi2)) (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)))) R) 0) (* 0 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
30.332 * [backup-simplify]: Simplify (* (/ (* (cos (/ -0.5 phi2)) (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)))) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) into (* (/ (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)))) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))
30.335 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (/ (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)))) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))) into 0
30.336 * [backup-simplify]: Simplify (+ 0) into 0
30.336 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
30.336 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
30.337 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
30.338 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
30.338 * [backup-simplify]: Simplify (+ 0 0) into 0
30.338 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
30.339 * [backup-simplify]: Simplify (+ 0) into 0
30.339 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
30.339 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
30.340 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
30.341 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
30.341 * [backup-simplify]: Simplify (+ 0 0) into 0
30.341 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
30.342 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
30.343 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
30.343 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 R)) into 0
30.344 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R) (/ 0 R)))) into 0
30.347 * [backup-simplify]: Simplify (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R) 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0
30.349 * [backup-simplify]: Simplify (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) into (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R))
30.352 * [backup-simplify]: Simplify (+ (* 1/2 0) (* 0 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R)))) into 0
30.352 * [backup-simplify]: Simplify (+ 0 0) into 0
30.353 * [backup-simplify]: Simplify (+ 0 0) into 0
30.354 * [backup-simplify]: Simplify (+ 0 0) into 0
30.354 * [backup-simplify]: Simplify (+ 0 0) into 0
30.354 * [backup-simplify]: Simplify (+ 0 0) into 0
30.355 * [backup-simplify]: Simplify (- 0) into 0
30.355 * [backup-simplify]: Simplify (+ 0 0) into 0
30.355 * [taylor]: Taking taylor expansion of 0 in phi1
30.355 * [backup-simplify]: Simplify 0 into 0
30.356 * [backup-simplify]: Simplify (+ 0) into 0
30.356 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
30.357 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
30.357 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
30.358 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
30.358 * [backup-simplify]: Simplify (- 0) into 0
30.359 * [backup-simplify]: Simplify (+ 0 0) into 0
30.359 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
30.359 * [backup-simplify]: Simplify (+ 0) into 0
30.360 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
30.360 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
30.361 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
30.362 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
30.362 * [backup-simplify]: Simplify (- 0) into 0
30.363 * [backup-simplify]: Simplify (+ 0 0) into 0
30.363 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
30.363 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
30.364 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 R))) into 0
30.365 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) (/ 0 R)))) into 0
30.367 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0
30.368 * [backup-simplify]: Simplify (+ 0) into 0
30.369 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
30.369 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
30.369 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
30.370 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
30.370 * [backup-simplify]: Simplify (+ 0 0) into 0
30.370 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
30.371 * [backup-simplify]: Simplify (+ 0) into 0
30.371 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
30.372 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
30.372 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
30.373 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
30.373 * [backup-simplify]: Simplify (+ 0 0) into 0
30.373 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
30.374 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
30.375 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 R))) into 0
30.375 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R) (/ 0 R)))) into 0
30.378 * [backup-simplify]: Simplify (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) 0) (* 0 (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R))) into 0
30.378 * [backup-simplify]: Simplify (+ 0 0) into 0
30.378 * [backup-simplify]: Simplify (+ 0) into 0
30.379 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
30.379 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
30.380 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
30.380 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
30.381 * [backup-simplify]: Simplify (+ 0 0) into 0
30.381 * [backup-simplify]: Simplify (+ 0) into 0
30.382 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
30.382 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
30.383 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
30.383 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
30.384 * [backup-simplify]: Simplify (- 0) into 0
30.384 * [backup-simplify]: Simplify (+ 0 0) into 0
30.384 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
30.385 * [backup-simplify]: Simplify (+ 0) into 0
30.385 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
30.385 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
30.386 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
30.387 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
30.387 * [backup-simplify]: Simplify (- 0) into 0
30.387 * [backup-simplify]: Simplify (+ 0 0) into 0
30.388 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
30.388 * [backup-simplify]: Simplify (+ 0) into 0
30.388 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
30.389 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
30.389 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
30.390 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
30.390 * [backup-simplify]: Simplify (+ 0 0) into 0
30.391 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
30.391 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 1) (* 0 0))) into 0
30.392 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) (/ 0 R)))) into 0
30.394 * [backup-simplify]: Simplify (+ (* (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0
30.398 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))))) into 0
30.398 * [backup-simplify]: Simplify (- 0) into 0
30.398 * [backup-simplify]: Simplify (+ 0 0) into 0
30.398 * [taylor]: Taking taylor expansion of 0 in phi1
30.398 * [backup-simplify]: Simplify 0 into 0
30.399 * [backup-simplify]: Simplify (- (+ (* (/ 1 R) (/ 0 R)))) into 0
30.401 * [backup-simplify]: Simplify (+ (* (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) 0) (* 0 (/ 1 R))) into 0
30.404 * [backup-simplify]: Simplify (+ (* -1 0) (* 0 (* (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (/ 1 R)))) into 0
30.404 * [taylor]: Taking taylor expansion of 0 in phi1
30.404 * [backup-simplify]: Simplify 0 into 0
30.406 * [backup-simplify]: Simplify (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R)) into (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))
30.409 * [backup-simplify]: Simplify (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) into (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))
30.414 * [backup-simplify]: Simplify (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))))
30.416 * [backup-simplify]: Simplify (* (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) into (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))
30.419 * [backup-simplify]: Simplify (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))))
30.427 * [backup-simplify]: Simplify (- (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))))) into (- (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))))
30.435 * [backup-simplify]: Simplify (+ (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (- (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))))) into (- (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R)) (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))))
30.436 * [taylor]: Taking taylor expansion of (- (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R)) (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))))) in phi2
30.436 * [taylor]: Taking taylor expansion of (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R)) (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) in phi2
30.436 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R)) in phi2
30.436 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) in phi2
30.436 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) in phi2
30.436 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in phi2
30.436 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi2
30.436 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi2
30.436 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2
30.436 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
30.436 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
30.436 * [taylor]: Taking taylor expansion of -0.5 in phi2
30.436 * [backup-simplify]: Simplify -0.5 into -0.5
30.436 * [taylor]: Taking taylor expansion of phi2 in phi2
30.436 * [backup-simplify]: Simplify 0 into 0
30.436 * [backup-simplify]: Simplify 1 into 1
30.437 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
30.437 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
30.437 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2
30.437 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
30.437 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
30.437 * [taylor]: Taking taylor expansion of -0.5 in phi2
30.437 * [backup-simplify]: Simplify -0.5 into -0.5
30.437 * [taylor]: Taking taylor expansion of phi1 in phi2
30.437 * [backup-simplify]: Simplify phi1 into phi1
30.437 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
30.437 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
30.438 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
30.438 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
30.438 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
30.438 * [backup-simplify]: Simplify (- 0) into 0
30.438 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
30.438 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi2
30.438 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2
30.438 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
30.438 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
30.438 * [taylor]: Taking taylor expansion of -0.5 in phi2
30.438 * [backup-simplify]: Simplify -0.5 into -0.5
30.438 * [taylor]: Taking taylor expansion of phi2 in phi2
30.438 * [backup-simplify]: Simplify 0 into 0
30.438 * [backup-simplify]: Simplify 1 into 1
30.438 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
30.438 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
30.439 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2
30.439 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
30.439 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
30.439 * [taylor]: Taking taylor expansion of -0.5 in phi2
30.439 * [backup-simplify]: Simplify -0.5 into -0.5
30.439 * [taylor]: Taking taylor expansion of phi1 in phi2
30.439 * [backup-simplify]: Simplify phi1 into phi1
30.439 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
30.439 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
30.439 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
30.439 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
30.439 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
30.439 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
30.439 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in phi2
30.439 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi2
30.439 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
30.439 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
30.439 * [taylor]: Taking taylor expansion of -0.5 in phi2
30.439 * [backup-simplify]: Simplify -0.5 into -0.5
30.439 * [taylor]: Taking taylor expansion of phi2 in phi2
30.439 * [backup-simplify]: Simplify 0 into 0
30.439 * [backup-simplify]: Simplify 1 into 1
30.439 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
30.439 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
30.439 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi2
30.440 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
30.440 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
30.440 * [taylor]: Taking taylor expansion of -0.5 in phi2
30.440 * [backup-simplify]: Simplify -0.5 into -0.5
30.440 * [taylor]: Taking taylor expansion of phi2 in phi2
30.440 * [backup-simplify]: Simplify 0 into 0
30.440 * [backup-simplify]: Simplify 1 into 1
30.440 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
30.440 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
30.440 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi2
30.440 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
30.440 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
30.440 * [taylor]: Taking taylor expansion of -0.5 in phi2
30.440 * [backup-simplify]: Simplify -0.5 into -0.5
30.440 * [taylor]: Taking taylor expansion of phi1 in phi2
30.440 * [backup-simplify]: Simplify phi1 into phi1
30.440 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
30.440 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
30.440 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
30.440 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
30.440 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
30.440 * [taylor]: Taking taylor expansion of -0.5 in phi2
30.440 * [backup-simplify]: Simplify -0.5 into -0.5
30.440 * [taylor]: Taking taylor expansion of phi1 in phi2
30.440 * [backup-simplify]: Simplify phi1 into phi1
30.440 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
30.440 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
30.440 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
30.440 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi2
30.441 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
30.441 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
30.441 * [taylor]: Taking taylor expansion of -0.5 in phi2
30.441 * [backup-simplify]: Simplify -0.5 into -0.5
30.441 * [taylor]: Taking taylor expansion of phi2 in phi2
30.441 * [backup-simplify]: Simplify 0 into 0
30.441 * [backup-simplify]: Simplify 1 into 1
30.441 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
30.441 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
30.441 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi2
30.441 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
30.441 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
30.441 * [taylor]: Taking taylor expansion of -0.5 in phi2
30.441 * [backup-simplify]: Simplify -0.5 into -0.5
30.441 * [taylor]: Taking taylor expansion of phi2 in phi2
30.441 * [backup-simplify]: Simplify 0 into 0
30.441 * [backup-simplify]: Simplify 1 into 1
30.441 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
30.441 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
30.441 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi2
30.441 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
30.442 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
30.442 * [taylor]: Taking taylor expansion of -0.5 in phi2
30.442 * [backup-simplify]: Simplify -0.5 into -0.5
30.442 * [taylor]: Taking taylor expansion of phi1 in phi2
30.442 * [backup-simplify]: Simplify phi1 into phi1
30.442 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
30.442 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
30.442 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
30.442 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
30.442 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
30.442 * [taylor]: Taking taylor expansion of -0.5 in phi2
30.442 * [backup-simplify]: Simplify -0.5 into -0.5
30.442 * [taylor]: Taking taylor expansion of phi1 in phi2
30.442 * [backup-simplify]: Simplify phi1 into phi1
30.442 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
30.442 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
30.442 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
30.442 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
30.442 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
30.442 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
30.442 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
30.443 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
30.443 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
30.443 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
30.443 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
30.443 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
30.444 * [backup-simplify]: Simplify (- 0) into 0
30.444 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
30.444 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
30.444 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
30.444 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
30.444 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
30.444 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
30.444 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
30.444 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
30.444 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
30.445 * [backup-simplify]: Simplify (- 0) into 0
30.445 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
30.445 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
30.445 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
30.445 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
30.445 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
30.445 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
30.445 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
30.446 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
30.446 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
30.447 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
30.448 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))
30.449 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))
30.449 * [backup-simplify]: Simplify (+ 0) into 0
30.450 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
30.450 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
30.450 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
30.451 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
30.451 * [backup-simplify]: Simplify (- 0) into 0
30.451 * [backup-simplify]: Simplify (+ 0 0) into 0
30.451 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
30.451 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
30.452 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
30.452 * [backup-simplify]: Simplify (+ 0) into 0
30.452 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
30.452 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
30.453 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
30.453 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
30.454 * [backup-simplify]: Simplify (+ 0 0) into 0
30.454 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
30.454 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
30.454 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
30.454 * [backup-simplify]: Simplify (+ 0 0) into 0
30.455 * [backup-simplify]: Simplify (+ 0) into 0
30.455 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
30.455 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
30.455 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
30.456 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
30.456 * [backup-simplify]: Simplify (+ 0 0) into 0
30.456 * [backup-simplify]: Simplify (+ 0) into 0
30.457 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
30.457 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
30.457 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
30.457 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
30.458 * [backup-simplify]: Simplify (- 0) into 0
30.458 * [backup-simplify]: Simplify (+ 0 0) into 0
30.458 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
30.458 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
30.458 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
30.459 * [backup-simplify]: Simplify (+ 0) into 0
30.459 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
30.459 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
30.459 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
30.460 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
30.460 * [backup-simplify]: Simplify (+ 0 0) into 0
30.460 * [backup-simplify]: Simplify (+ 0) into 0
30.461 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
30.461 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
30.461 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
30.461 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
30.462 * [backup-simplify]: Simplify (- 0) into 0
30.462 * [backup-simplify]: Simplify (+ 0 0) into 0
30.462 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
30.462 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
30.462 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
30.463 * [backup-simplify]: Simplify (+ 0 0) into 0
30.463 * [backup-simplify]: Simplify (- 0) into 0
30.463 * [backup-simplify]: Simplify (+ 0 0) into 0
30.465 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0
30.466 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0
30.466 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R) in phi2
30.466 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi2
30.466 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2
30.466 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
30.466 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
30.466 * [taylor]: Taking taylor expansion of -0.5 in phi2
30.466 * [backup-simplify]: Simplify -0.5 into -0.5
30.466 * [taylor]: Taking taylor expansion of phi2 in phi2
30.466 * [backup-simplify]: Simplify 0 into 0
30.466 * [backup-simplify]: Simplify 1 into 1
30.467 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
30.467 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
30.467 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2
30.467 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
30.467 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
30.467 * [taylor]: Taking taylor expansion of -0.5 in phi2
30.467 * [backup-simplify]: Simplify -0.5 into -0.5
30.467 * [taylor]: Taking taylor expansion of phi1 in phi2
30.467 * [backup-simplify]: Simplify phi1 into phi1
30.467 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
30.467 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
30.467 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
30.467 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
30.467 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
30.467 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
30.467 * [taylor]: Taking taylor expansion of R in phi2
30.467 * [backup-simplify]: Simplify R into R
30.467 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
30.467 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
30.468 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
30.468 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R) into (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R)
30.468 * [taylor]: Taking taylor expansion of (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) in phi2
30.468 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) in phi2
30.468 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi2
30.468 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2
30.468 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
30.468 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
30.468 * [taylor]: Taking taylor expansion of -0.5 in phi2
30.468 * [backup-simplify]: Simplify -0.5 into -0.5
30.468 * [taylor]: Taking taylor expansion of phi2 in phi2
30.468 * [backup-simplify]: Simplify 0 into 0
30.468 * [backup-simplify]: Simplify 1 into 1
30.468 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
30.468 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
30.469 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2
30.469 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
30.469 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
30.469 * [taylor]: Taking taylor expansion of -0.5 in phi2
30.469 * [backup-simplify]: Simplify -0.5 into -0.5
30.469 * [taylor]: Taking taylor expansion of phi1 in phi2
30.469 * [backup-simplify]: Simplify phi1 into phi1
30.469 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
30.469 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
30.469 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
30.469 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
30.469 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
30.469 * [backup-simplify]: Simplify (- 0) into 0
30.469 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
30.469 * [taylor]: Taking taylor expansion of R in phi2
30.469 * [backup-simplify]: Simplify R into R
30.469 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
30.469 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
30.470 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
30.470 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) into (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R)
30.470 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) in phi2
30.470 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) in phi2
30.470 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in phi2
30.470 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi2
30.470 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi2
30.470 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2
30.470 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
30.470 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
30.470 * [taylor]: Taking taylor expansion of -0.5 in phi2
30.470 * [backup-simplify]: Simplify -0.5 into -0.5
30.470 * [taylor]: Taking taylor expansion of phi2 in phi2
30.470 * [backup-simplify]: Simplify 0 into 0
30.470 * [backup-simplify]: Simplify 1 into 1
30.470 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
30.470 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
30.471 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2
30.471 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
30.471 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
30.471 * [taylor]: Taking taylor expansion of -0.5 in phi2
30.471 * [backup-simplify]: Simplify -0.5 into -0.5
30.471 * [taylor]: Taking taylor expansion of phi1 in phi2
30.471 * [backup-simplify]: Simplify phi1 into phi1
30.471 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
30.471 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
30.471 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
30.471 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
30.471 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
30.471 * [backup-simplify]: Simplify (- 0) into 0
30.471 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
30.471 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi2
30.471 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2
30.471 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
30.471 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
30.471 * [taylor]: Taking taylor expansion of -0.5 in phi2
30.471 * [backup-simplify]: Simplify -0.5 into -0.5
30.471 * [taylor]: Taking taylor expansion of phi2 in phi2
30.471 * [backup-simplify]: Simplify 0 into 0
30.471 * [backup-simplify]: Simplify 1 into 1
30.472 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
30.472 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
30.472 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2
30.472 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
30.472 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
30.472 * [taylor]: Taking taylor expansion of -0.5 in phi2
30.472 * [backup-simplify]: Simplify -0.5 into -0.5
30.472 * [taylor]: Taking taylor expansion of phi1 in phi2
30.472 * [backup-simplify]: Simplify phi1 into phi1
30.472 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
30.472 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
30.472 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
30.472 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
30.472 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
30.472 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
30.472 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in phi2
30.472 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi2
30.472 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
30.472 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
30.472 * [taylor]: Taking taylor expansion of -0.5 in phi2
30.472 * [backup-simplify]: Simplify -0.5 into -0.5
30.472 * [taylor]: Taking taylor expansion of phi2 in phi2
30.472 * [backup-simplify]: Simplify 0 into 0
30.472 * [backup-simplify]: Simplify 1 into 1
30.473 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
30.473 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
30.473 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi2
30.473 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
30.473 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
30.473 * [taylor]: Taking taylor expansion of -0.5 in phi2
30.473 * [backup-simplify]: Simplify -0.5 into -0.5
30.473 * [taylor]: Taking taylor expansion of phi2 in phi2
30.473 * [backup-simplify]: Simplify 0 into 0
30.473 * [backup-simplify]: Simplify 1 into 1
30.473 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
30.473 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
30.473 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi2
30.473 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
30.473 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
30.473 * [taylor]: Taking taylor expansion of -0.5 in phi2
30.473 * [backup-simplify]: Simplify -0.5 into -0.5
30.473 * [taylor]: Taking taylor expansion of phi1 in phi2
30.473 * [backup-simplify]: Simplify phi1 into phi1
30.473 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
30.473 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
30.473 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
30.473 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
30.474 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
30.474 * [taylor]: Taking taylor expansion of -0.5 in phi2
30.474 * [backup-simplify]: Simplify -0.5 into -0.5
30.474 * [taylor]: Taking taylor expansion of phi1 in phi2
30.474 * [backup-simplify]: Simplify phi1 into phi1
30.474 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
30.474 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
30.474 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
30.474 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi2
30.474 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
30.474 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
30.474 * [taylor]: Taking taylor expansion of -0.5 in phi2
30.474 * [backup-simplify]: Simplify -0.5 into -0.5
30.474 * [taylor]: Taking taylor expansion of phi2 in phi2
30.474 * [backup-simplify]: Simplify 0 into 0
30.474 * [backup-simplify]: Simplify 1 into 1
30.474 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
30.474 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
30.474 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi2
30.474 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
30.474 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
30.474 * [taylor]: Taking taylor expansion of -0.5 in phi2
30.474 * [backup-simplify]: Simplify -0.5 into -0.5
30.474 * [taylor]: Taking taylor expansion of phi2 in phi2
30.474 * [backup-simplify]: Simplify 0 into 0
30.474 * [backup-simplify]: Simplify 1 into 1
30.475 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
30.475 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
30.475 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi2
30.475 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
30.475 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
30.475 * [taylor]: Taking taylor expansion of -0.5 in phi2
30.475 * [backup-simplify]: Simplify -0.5 into -0.5
30.475 * [taylor]: Taking taylor expansion of phi1 in phi2
30.475 * [backup-simplify]: Simplify phi1 into phi1
30.475 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
30.475 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
30.475 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
30.475 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
30.475 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
30.475 * [taylor]: Taking taylor expansion of -0.5 in phi2
30.475 * [backup-simplify]: Simplify -0.5 into -0.5
30.475 * [taylor]: Taking taylor expansion of phi1 in phi2
30.475 * [backup-simplify]: Simplify phi1 into phi1
30.475 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
30.475 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
30.475 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
30.475 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
30.475 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
30.476 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
30.476 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
30.476 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
30.476 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
30.476 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
30.476 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
30.477 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
30.477 * [backup-simplify]: Simplify (- 0) into 0
30.477 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
30.477 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
30.477 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
30.477 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
30.477 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
30.477 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
30.477 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
30.478 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
30.478 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
30.478 * [backup-simplify]: Simplify (- 0) into 0
30.478 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
30.478 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
30.478 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
30.478 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
30.478 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
30.478 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
30.478 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
30.479 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
30.479 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
30.480 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
30.481 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))
30.483 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))
30.484 * [backup-simplify]: Simplify (+ 0) into 0
30.484 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
30.484 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
30.485 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
30.486 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
30.486 * [backup-simplify]: Simplify (- 0) into 0
30.486 * [backup-simplify]: Simplify (+ 0 0) into 0
30.486 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
30.487 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
30.487 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
30.487 * [backup-simplify]: Simplify (+ 0) into 0
30.488 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
30.488 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
30.489 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
30.489 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
30.490 * [backup-simplify]: Simplify (+ 0 0) into 0
30.490 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
30.490 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
30.490 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
30.491 * [backup-simplify]: Simplify (+ 0 0) into 0
30.491 * [backup-simplify]: Simplify (+ 0) into 0
30.492 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
30.492 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
30.493 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
30.493 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
30.494 * [backup-simplify]: Simplify (+ 0 0) into 0
30.494 * [backup-simplify]: Simplify (+ 0) into 0
30.494 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
30.495 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
30.495 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
30.496 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
30.496 * [backup-simplify]: Simplify (- 0) into 0
30.496 * [backup-simplify]: Simplify (+ 0 0) into 0
30.497 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
30.497 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
30.497 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
30.498 * [backup-simplify]: Simplify (+ 0) into 0
30.498 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
30.498 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
30.499 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
30.500 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
30.500 * [backup-simplify]: Simplify (+ 0 0) into 0
30.500 * [backup-simplify]: Simplify (+ 0) into 0
30.501 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
30.501 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
30.502 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
30.502 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
30.502 * [backup-simplify]: Simplify (- 0) into 0
30.502 * [backup-simplify]: Simplify (+ 0 0) into 0
30.502 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
30.503 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
30.503 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
30.503 * [backup-simplify]: Simplify (+ 0 0) into 0
30.504 * [backup-simplify]: Simplify (- 0) into 0
30.504 * [backup-simplify]: Simplify (+ 0 0) into 0
30.506 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0
30.507 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0
30.507 * [taylor]: Taking taylor expansion of (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) in phi2
30.507 * [taylor]: Taking taylor expansion of 2 in phi2
30.507 * [backup-simplify]: Simplify 2 into 2
30.507 * [taylor]: Taking taylor expansion of (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) in phi2
30.507 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) in phi2
30.507 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi2
30.507 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
30.507 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
30.507 * [taylor]: Taking taylor expansion of -0.5 in phi2
30.507 * [backup-simplify]: Simplify -0.5 into -0.5
30.507 * [taylor]: Taking taylor expansion of phi2 in phi2
30.507 * [backup-simplify]: Simplify 0 into 0
30.507 * [backup-simplify]: Simplify 1 into 1
30.508 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
30.508 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
30.508 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi2
30.508 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
30.508 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
30.508 * [taylor]: Taking taylor expansion of -0.5 in phi2
30.508 * [backup-simplify]: Simplify -0.5 into -0.5
30.508 * [taylor]: Taking taylor expansion of phi2 in phi2
30.508 * [backup-simplify]: Simplify 0 into 0
30.508 * [backup-simplify]: Simplify 1 into 1
30.508 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
30.508 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
30.508 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi2
30.508 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
30.508 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
30.508 * [taylor]: Taking taylor expansion of -0.5 in phi2
30.508 * [backup-simplify]: Simplify -0.5 into -0.5
30.508 * [taylor]: Taking taylor expansion of phi1 in phi2
30.508 * [backup-simplify]: Simplify phi1 into phi1
30.508 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
30.508 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
30.509 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
30.509 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
30.509 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
30.509 * [taylor]: Taking taylor expansion of -0.5 in phi2
30.509 * [backup-simplify]: Simplify -0.5 into -0.5
30.509 * [taylor]: Taking taylor expansion of phi1 in phi2
30.509 * [backup-simplify]: Simplify phi1 into phi1
30.509 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
30.509 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
30.509 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
30.509 * [taylor]: Taking taylor expansion of R in phi2
30.509 * [backup-simplify]: Simplify R into R
30.509 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
30.509 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
30.509 * [backup-simplify]: Simplify (- 0) into 0
30.509 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
30.509 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
30.509 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
30.510 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
30.510 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
30.510 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
30.510 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
30.510 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) into (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R)
30.510 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) in phi2
30.510 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) in phi2
30.510 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in phi2
30.510 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi2
30.510 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi2
30.511 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2
30.511 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
30.511 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
30.511 * [taylor]: Taking taylor expansion of -0.5 in phi2
30.511 * [backup-simplify]: Simplify -0.5 into -0.5
30.511 * [taylor]: Taking taylor expansion of phi2 in phi2
30.511 * [backup-simplify]: Simplify 0 into 0
30.511 * [backup-simplify]: Simplify 1 into 1
30.511 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
30.511 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
30.511 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2
30.511 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
30.511 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
30.511 * [taylor]: Taking taylor expansion of -0.5 in phi2
30.511 * [backup-simplify]: Simplify -0.5 into -0.5
30.511 * [taylor]: Taking taylor expansion of phi1 in phi2
30.511 * [backup-simplify]: Simplify phi1 into phi1
30.512 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
30.512 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
30.512 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
30.512 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
30.512 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
30.512 * [backup-simplify]: Simplify (- 0) into 0
30.512 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
30.512 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi2
30.512 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2
30.512 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
30.512 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
30.512 * [taylor]: Taking taylor expansion of -0.5 in phi2
30.512 * [backup-simplify]: Simplify -0.5 into -0.5
30.512 * [taylor]: Taking taylor expansion of phi2 in phi2
30.512 * [backup-simplify]: Simplify 0 into 0
30.512 * [backup-simplify]: Simplify 1 into 1
30.513 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
30.513 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
30.513 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2
30.513 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
30.513 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
30.513 * [taylor]: Taking taylor expansion of -0.5 in phi2
30.513 * [backup-simplify]: Simplify -0.5 into -0.5
30.513 * [taylor]: Taking taylor expansion of phi1 in phi2
30.513 * [backup-simplify]: Simplify phi1 into phi1
30.513 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
30.513 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
30.513 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
30.513 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
30.513 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
30.513 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
30.513 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in phi2
30.513 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi2
30.513 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
30.513 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
30.513 * [taylor]: Taking taylor expansion of -0.5 in phi2
30.513 * [backup-simplify]: Simplify -0.5 into -0.5
30.513 * [taylor]: Taking taylor expansion of phi2 in phi2
30.513 * [backup-simplify]: Simplify 0 into 0
30.513 * [backup-simplify]: Simplify 1 into 1
30.514 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
30.514 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
30.514 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi2
30.514 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
30.514 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
30.514 * [taylor]: Taking taylor expansion of -0.5 in phi2
30.514 * [backup-simplify]: Simplify -0.5 into -0.5
30.514 * [taylor]: Taking taylor expansion of phi2 in phi2
30.514 * [backup-simplify]: Simplify 0 into 0
30.514 * [backup-simplify]: Simplify 1 into 1
30.514 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
30.514 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
30.514 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi2
30.514 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
30.514 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
30.514 * [taylor]: Taking taylor expansion of -0.5 in phi2
30.514 * [backup-simplify]: Simplify -0.5 into -0.5
30.514 * [taylor]: Taking taylor expansion of phi1 in phi2
30.514 * [backup-simplify]: Simplify phi1 into phi1
30.515 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
30.515 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
30.515 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
30.515 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
30.515 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
30.515 * [taylor]: Taking taylor expansion of -0.5 in phi2
30.515 * [backup-simplify]: Simplify -0.5 into -0.5
30.515 * [taylor]: Taking taylor expansion of phi1 in phi2
30.515 * [backup-simplify]: Simplify phi1 into phi1
30.515 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
30.515 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
30.515 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
30.515 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi2
30.515 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
30.515 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
30.515 * [taylor]: Taking taylor expansion of -0.5 in phi2
30.515 * [backup-simplify]: Simplify -0.5 into -0.5
30.515 * [taylor]: Taking taylor expansion of phi2 in phi2
30.515 * [backup-simplify]: Simplify 0 into 0
30.515 * [backup-simplify]: Simplify 1 into 1
30.515 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
30.515 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
30.515 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi2
30.515 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
30.515 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
30.515 * [taylor]: Taking taylor expansion of -0.5 in phi2
30.515 * [backup-simplify]: Simplify -0.5 into -0.5
30.515 * [taylor]: Taking taylor expansion of phi2 in phi2
30.515 * [backup-simplify]: Simplify 0 into 0
30.515 * [backup-simplify]: Simplify 1 into 1
30.516 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
30.516 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
30.516 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi2
30.516 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
30.516 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
30.516 * [taylor]: Taking taylor expansion of -0.5 in phi2
30.516 * [backup-simplify]: Simplify -0.5 into -0.5
30.516 * [taylor]: Taking taylor expansion of phi1 in phi2
30.516 * [backup-simplify]: Simplify phi1 into phi1
30.516 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
30.516 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
30.516 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
30.516 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
30.516 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
30.516 * [taylor]: Taking taylor expansion of -0.5 in phi2
30.516 * [backup-simplify]: Simplify -0.5 into -0.5
30.516 * [taylor]: Taking taylor expansion of phi1 in phi2
30.516 * [backup-simplify]: Simplify phi1 into phi1
30.516 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
30.516 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
30.516 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
30.516 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
30.517 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
30.517 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
30.517 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
30.517 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
30.517 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
30.518 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
30.518 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
30.518 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
30.518 * [backup-simplify]: Simplify (- 0) into 0
30.518 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
30.518 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
30.518 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
30.518 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
30.518 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
30.519 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
30.519 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
30.519 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
30.519 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
30.519 * [backup-simplify]: Simplify (- 0) into 0
30.519 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
30.519 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
30.519 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
30.519 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
30.519 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
30.520 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
30.520 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
30.520 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
30.521 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
30.522 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
30.523 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))
30.524 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))
30.524 * [backup-simplify]: Simplify (+ 0) into 0
30.524 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
30.524 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
30.525 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
30.525 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
30.525 * [backup-simplify]: Simplify (- 0) into 0
30.526 * [backup-simplify]: Simplify (+ 0 0) into 0
30.526 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
30.526 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
30.526 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
30.526 * [backup-simplify]: Simplify (+ 0) into 0
30.527 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
30.527 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
30.527 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
30.528 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
30.528 * [backup-simplify]: Simplify (+ 0 0) into 0
30.528 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
30.528 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
30.528 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
30.528 * [backup-simplify]: Simplify (+ 0 0) into 0
30.529 * [backup-simplify]: Simplify (+ 0) into 0
30.529 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
30.529 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
30.530 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
30.530 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
30.530 * [backup-simplify]: Simplify (+ 0 0) into 0
30.530 * [backup-simplify]: Simplify (+ 0) into 0
30.531 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
30.531 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
30.531 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
30.531 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
30.532 * [backup-simplify]: Simplify (- 0) into 0
30.532 * [backup-simplify]: Simplify (+ 0 0) into 0
30.532 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
30.532 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
30.532 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
30.533 * [backup-simplify]: Simplify (+ 0) into 0
30.533 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
30.533 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
30.534 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
30.534 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
30.534 * [backup-simplify]: Simplify (+ 0 0) into 0
30.534 * [backup-simplify]: Simplify (+ 0) into 0
30.535 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
30.535 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
30.536 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
30.536 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
30.536 * [backup-simplify]: Simplify (- 0) into 0
30.537 * [backup-simplify]: Simplify (+ 0 0) into 0
30.537 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
30.537 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
30.537 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
30.537 * [backup-simplify]: Simplify (+ 0 0) into 0
30.538 * [backup-simplify]: Simplify (- 0) into 0
30.538 * [backup-simplify]: Simplify (+ 0 0) into 0
30.540 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0
30.541 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0
30.542 * [backup-simplify]: Simplify (* (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (/ 1 R)) into (* (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (/ 1 R))
30.543 * [backup-simplify]: Simplify (* -1 (* (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (/ 1 R))) into (* -1 (* (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (/ 1 R)))
30.543 * [taylor]: Taking taylor expansion of (* -1 (* (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (/ 1 R))) in phi2
30.543 * [taylor]: Taking taylor expansion of -1 in phi2
30.543 * [backup-simplify]: Simplify -1 into -1
30.543 * [taylor]: Taking taylor expansion of (* (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (/ 1 R)) in phi2
30.544 * [taylor]: Taking taylor expansion of (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) in phi2
30.544 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in phi2
30.544 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi2
30.544 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi2
30.544 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2
30.544 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
30.544 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
30.544 * [taylor]: Taking taylor expansion of -0.5 in phi2
30.544 * [backup-simplify]: Simplify -0.5 into -0.5
30.544 * [taylor]: Taking taylor expansion of phi2 in phi2
30.544 * [backup-simplify]: Simplify 0 into 0
30.544 * [backup-simplify]: Simplify 1 into 1
30.548 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
30.548 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
30.548 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2
30.548 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
30.548 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
30.548 * [taylor]: Taking taylor expansion of -0.5 in phi2
30.548 * [backup-simplify]: Simplify -0.5 into -0.5
30.548 * [taylor]: Taking taylor expansion of phi1 in phi2
30.548 * [backup-simplify]: Simplify phi1 into phi1
30.548 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
30.548 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
30.548 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
30.548 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
30.548 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
30.549 * [backup-simplify]: Simplify (- 0) into 0
30.549 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
30.549 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi2
30.549 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2
30.549 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
30.549 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
30.549 * [taylor]: Taking taylor expansion of -0.5 in phi2
30.549 * [backup-simplify]: Simplify -0.5 into -0.5
30.549 * [taylor]: Taking taylor expansion of phi2 in phi2
30.549 * [backup-simplify]: Simplify 0 into 0
30.549 * [backup-simplify]: Simplify 1 into 1
30.549 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
30.549 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
30.549 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2
30.549 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
30.549 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
30.549 * [taylor]: Taking taylor expansion of -0.5 in phi2
30.549 * [backup-simplify]: Simplify -0.5 into -0.5
30.549 * [taylor]: Taking taylor expansion of phi1 in phi2
30.549 * [backup-simplify]: Simplify phi1 into phi1
30.549 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
30.550 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
30.550 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
30.550 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
30.550 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
30.550 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
30.550 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in phi2
30.550 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi2
30.550 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
30.550 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
30.550 * [taylor]: Taking taylor expansion of -0.5 in phi2
30.550 * [backup-simplify]: Simplify -0.5 into -0.5
30.550 * [taylor]: Taking taylor expansion of phi2 in phi2
30.550 * [backup-simplify]: Simplify 0 into 0
30.550 * [backup-simplify]: Simplify 1 into 1
30.550 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
30.550 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
30.550 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi2
30.550 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
30.550 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
30.550 * [taylor]: Taking taylor expansion of -0.5 in phi2
30.550 * [backup-simplify]: Simplify -0.5 into -0.5
30.550 * [taylor]: Taking taylor expansion of phi2 in phi2
30.550 * [backup-simplify]: Simplify 0 into 0
30.550 * [backup-simplify]: Simplify 1 into 1
30.551 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
30.551 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
30.551 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi2
30.551 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
30.551 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
30.551 * [taylor]: Taking taylor expansion of -0.5 in phi2
30.551 * [backup-simplify]: Simplify -0.5 into -0.5
30.551 * [taylor]: Taking taylor expansion of phi1 in phi2
30.551 * [backup-simplify]: Simplify phi1 into phi1
30.551 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
30.551 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
30.551 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
30.551 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
30.551 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
30.551 * [taylor]: Taking taylor expansion of -0.5 in phi2
30.551 * [backup-simplify]: Simplify -0.5 into -0.5
30.551 * [taylor]: Taking taylor expansion of phi1 in phi2
30.551 * [backup-simplify]: Simplify phi1 into phi1
30.551 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
30.551 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
30.551 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
30.551 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi2
30.551 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
30.551 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
30.551 * [taylor]: Taking taylor expansion of -0.5 in phi2
30.551 * [backup-simplify]: Simplify -0.5 into -0.5
30.551 * [taylor]: Taking taylor expansion of phi2 in phi2
30.551 * [backup-simplify]: Simplify 0 into 0
30.551 * [backup-simplify]: Simplify 1 into 1
30.552 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
30.552 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
30.552 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi2
30.552 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
30.552 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
30.552 * [taylor]: Taking taylor expansion of -0.5 in phi2
30.552 * [backup-simplify]: Simplify -0.5 into -0.5
30.552 * [taylor]: Taking taylor expansion of phi2 in phi2
30.552 * [backup-simplify]: Simplify 0 into 0
30.552 * [backup-simplify]: Simplify 1 into 1
30.552 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
30.552 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
30.552 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi2
30.552 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
30.552 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
30.552 * [taylor]: Taking taylor expansion of -0.5 in phi2
30.552 * [backup-simplify]: Simplify -0.5 into -0.5
30.552 * [taylor]: Taking taylor expansion of phi1 in phi2
30.552 * [backup-simplify]: Simplify phi1 into phi1
30.552 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
30.552 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
30.553 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
30.553 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
30.553 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
30.553 * [taylor]: Taking taylor expansion of -0.5 in phi2
30.553 * [backup-simplify]: Simplify -0.5 into -0.5
30.553 * [taylor]: Taking taylor expansion of phi1 in phi2
30.553 * [backup-simplify]: Simplify phi1 into phi1
30.553 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
30.553 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
30.553 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
30.553 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
30.553 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
30.553 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
30.553 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
30.554 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
30.554 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
30.554 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
30.554 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
30.554 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
30.555 * [backup-simplify]: Simplify (- 0) into 0
30.555 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
30.555 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
30.555 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
30.555 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
30.555 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
30.555 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
30.555 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
30.555 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
30.556 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
30.556 * [backup-simplify]: Simplify (- 0) into 0
30.556 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
30.556 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
30.556 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
30.556 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
30.556 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
30.556 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
30.556 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
30.557 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
30.557 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
30.558 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
30.559 * [backup-simplify]: Simplify (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))
30.560 * [backup-simplify]: Simplify (+ 0) into 0
30.560 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
30.560 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
30.560 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
30.561 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
30.561 * [backup-simplify]: Simplify (- 0) into 0
30.561 * [backup-simplify]: Simplify (+ 0 0) into 0
30.561 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
30.561 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
30.562 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
30.562 * [backup-simplify]: Simplify (+ 0) into 0
30.562 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
30.562 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
30.563 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
30.563 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
30.563 * [backup-simplify]: Simplify (+ 0 0) into 0
30.563 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
30.564 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
30.564 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
30.564 * [backup-simplify]: Simplify (+ 0 0) into 0
30.564 * [backup-simplify]: Simplify (+ 0) into 0
30.565 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
30.565 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
30.565 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
30.565 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
30.566 * [backup-simplify]: Simplify (+ 0 0) into 0
30.566 * [backup-simplify]: Simplify (+ 0) into 0
30.566 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
30.566 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
30.567 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
30.567 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
30.567 * [backup-simplify]: Simplify (- 0) into 0
30.568 * [backup-simplify]: Simplify (+ 0 0) into 0
30.568 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
30.568 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
30.568 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
30.568 * [backup-simplify]: Simplify (+ 0) into 0
30.569 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
30.569 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
30.569 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
30.569 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
30.570 * [backup-simplify]: Simplify (+ 0 0) into 0
30.570 * [backup-simplify]: Simplify (+ 0) into 0
30.570 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
30.570 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
30.571 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
30.571 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
30.571 * [backup-simplify]: Simplify (- 0) into 0
30.572 * [backup-simplify]: Simplify (+ 0 0) into 0
30.572 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
30.572 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
30.572 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
30.572 * [backup-simplify]: Simplify (+ 0 0) into 0
30.572 * [backup-simplify]: Simplify (- 0) into 0
30.573 * [backup-simplify]: Simplify (+ 0 0) into 0
30.574 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) into 0
30.574 * [taylor]: Taking taylor expansion of (/ 1 R) in phi2
30.574 * [taylor]: Taking taylor expansion of R in phi2
30.574 * [backup-simplify]: Simplify R into R
30.574 * [backup-simplify]: Simplify (/ 1 R) into (/ 1 R)
30.574 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)) (* 0 (/ 0 lambda2)))) into 0
30.575 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)) (* 0 (/ 0 1)))) into 0
30.575 * [backup-simplify]: Simplify (- 0) into 0
30.575 * [backup-simplify]: Simplify (+ 0 0) into 0
30.576 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0
30.576 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0
30.576 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
30.577 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0
30.578 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0
30.578 * [backup-simplify]: Simplify (- 0) into 0
30.578 * [backup-simplify]: Simplify (+ 0 0) into 0
30.579 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0
30.579 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0
30.579 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
30.580 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0
30.581 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0
30.581 * [backup-simplify]: Simplify (- 0) into 0
30.581 * [backup-simplify]: Simplify (+ 0 0) into 0
30.582 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1)))))) into 0
30.582 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0
30.583 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0
30.583 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
30.584 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0
30.584 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0
30.584 * [backup-simplify]: Simplify (+ 0 0) into 0
30.585 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0
30.585 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0
30.585 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
30.586 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0
30.587 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0
30.587 * [backup-simplify]: Simplify (+ 0 0) into 0
30.588 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1)))))) into 0
30.588 * [backup-simplify]: Simplify (- 0) into 0
30.588 * [backup-simplify]: Simplify (+ 0 0) into 0
30.589 * [backup-simplify]: Simplify (+ (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) 0) (+ (* 0 0) (+ (* 0 (/ 1 lambda2)) (* 0 -1)))) into 0
30.589 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)) (* 0 (/ 0 lambda2)))) into 0
30.589 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)) (* 0 (/ 0 1)))) into 0
30.590 * [backup-simplify]: Simplify (- 0) into 0
30.590 * [backup-simplify]: Simplify (+ 0 0) into 0
30.590 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0
30.591 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0
30.591 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
30.592 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0
30.592 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0
30.593 * [backup-simplify]: Simplify (- 0) into 0
30.593 * [backup-simplify]: Simplify (+ 0 0) into 0
30.593 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0
30.594 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0
30.594 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
30.595 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0
30.595 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0
30.596 * [backup-simplify]: Simplify (- 0) into 0
30.596 * [backup-simplify]: Simplify (+ 0 0) into 0
30.596 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1)))))) into 0
30.597 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0
30.597 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0
30.598 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
30.598 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0
30.599 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0
30.599 * [backup-simplify]: Simplify (+ 0 0) into 0
30.600 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0
30.600 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0
30.600 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
30.601 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0
30.602 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0
30.602 * [backup-simplify]: Simplify (+ 0 0) into 0
30.602 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1)))))) into 0
30.603 * [backup-simplify]: Simplify (- 0) into 0
30.603 * [backup-simplify]: Simplify (+ 0 0) into 0
30.603 * [backup-simplify]: Simplify (+ (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) 0) (+ (* 0 0) (+ (* 0 (/ 1 lambda2)) (* 0 -1)))) into 0
30.605 * [backup-simplify]: Simplify (+ (* (* -1 (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) 0) (+ (* (- (/ (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) lambda2) (/ (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) lambda2)) 0) (+ (* 0 (- (/ (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) lambda2) (/ (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) lambda2))) (* 0 (* -1 (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))))))) into 0
30.605 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
30.605 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
30.605 * [backup-simplify]: Simplify (- 0) into 0
30.605 * [backup-simplify]: Simplify (+ 0 0) into 0
30.605 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
30.605 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
30.606 * [backup-simplify]: Simplify (- 0) into 0
30.606 * [backup-simplify]: Simplify (+ 0 0) into 0
30.606 * [backup-simplify]: Simplify (+ (* (- (/ 1 phi2) (/ 1 phi1)) 0) (* 0 (- (/ 1 phi2) (/ 1 phi1)))) into 0
30.606 * [backup-simplify]: Simplify (+ 0 0) into 0
30.692 * [backup-simplify]: Simplify (/ (- 0 (+ (* 2 (* (* 1/2 (* (- (+ (* 2 (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) lambda2)) (* 2 (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) lambda2))) (+ (* 2 (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) lambda2)) (* 2 (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) lambda2)))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (- (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1))))) (* (pow lambda2 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (* 2 (/ (* (pow (sin (/ -0.5 phi2)) 3) (* (pow (sin (/ -0.5 phi1)) 3) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (pow lambda2 2)))) (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 3) (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1))))) (* (pow lambda2 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (+ (/ (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)))) (* (pow lambda2 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (+ (/ (* (cos (/ -0.5 phi2)) (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)))) (* (pow lambda2 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (* 2 (/ (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1))))) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (pow lambda2 2))))))))))))) (+ (/ (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (pow lambda2 2))) (+ (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (pow lambda2 2))) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (+ (* 2 (/ 1 (* phi1 phi2))) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (pow lambda2 2))) (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2)))) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (pow lambda2 2))) (+ (* 2 (/ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (* (pow lambda2 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (* 2 (/ (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (* (pow lambda2 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))))))))))))))))) (* 2 (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) into (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (- (+ (* 10 (/ (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (sin (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (pow (sin (/ -0.5 phi1)) 3)))) (* (pow lambda2 3) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)))) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (* lambda2 (pow phi2 2)))) (+ (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (pow lambda2 3))) (+ (* 4 (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (* phi1 (* lambda2 phi2))))) (+ (/ (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (pow lambda2 3))) (+ (* 6 (/ (* (pow (cos (/ -0.5 phi2)) 5) (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi1)) 5) (sin (/ -0.5 phi1))))) (* (pow lambda2 3) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)))) (+ (* 10 (/ (* (pow (sin (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (pow (sin (/ -0.5 phi1)) 3)))) (* (pow lambda2 3) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)))) (+ (* 6 (/ (* (pow (sin (/ -0.5 phi2)) 5) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 5)))) (* (pow lambda2 3) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)))) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (* lambda2 (pow phi2 2)))) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (* lambda2 (pow phi1 2)))) (+ (* 3 (/ (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (* (pow lambda2 3) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (* lambda2 (pow phi1 2)))) (* 3 (/ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (* (pow lambda2 3) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))))))))))))))) (+ (* 2 (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (* lambda2 (* phi1 phi2))))) (+ (* 2 (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (* lambda2 (pow phi2 2))))) (+ (* 10 (/ (* (pow (cos (/ -0.5 phi2)) 4) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 4) (pow (sin (/ -0.5 phi1)) 2)))) (* (pow lambda2 3) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)))) (+ (* 2 (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (* (pow phi1 2) lambda2)))) (+ (* 2 (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (* lambda2 (* phi1 phi2))))) (+ (/ (* (pow (cos (/ -0.5 phi2)) 6) (pow (cos (/ -0.5 phi1)) 6)) (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2) (pow lambda2 3))) (+ (* 5 (/ (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi1)) 4) (pow (sin (/ -0.5 phi1)) 2)))) (* (pow lambda2 3) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)))) (+ (/ (* (pow (sin (/ -0.5 phi2)) 6) (pow (sin (/ -0.5 phi1)) 6)) (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2) (pow lambda2 3))) (+ (* 5 (/ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 4)))) (* (pow lambda2 3) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)))) (+ (* 4 (/ (* (pow (cos (/ -0.5 phi2)) 3) (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1))))) (* (pow lambda2 3) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (+ (* 4 (/ (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)))) (* (pow lambda2 3) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (* 10 (/ (* (pow (sin (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 4)))) (* (pow lambda2 3) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2))))))))))))))))))
30.845 * [backup-simplify]: Simplify (- (/ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (- (+ (* 10 (/ (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (sin (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (pow (sin (/ -0.5 phi1)) 3)))) (* (pow lambda2 3) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)))) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 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2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))))) (/ 0 R)) (* (- (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (/ 1 (* R (pow phi2 2))))) (+ (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1))))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* (pow lambda2 2) R)))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow lambda2 2) R)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 2 (* (/ (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (* 1/2 (* (/ 1 (* R (pow phi1 2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))))))))) (+ (* (/ 1 (* R (* phi1 phi2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) (* (pow lambda2 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) (* (pow lambda2 2) R)))) (+ (* 3 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (pow lambda2 2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))))))) (/ 0 R)))) into (- (+ (* 10 (* (/ (* (pow (sin (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (pow (sin (/ -0.5 phi1)) 3)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) (+ (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* phi1 (* R (* lambda2 phi2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) (* (pow lambda2 3) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* lambda2 (* R (pow phi1 2)))))) (+ (* 3 (* (/ (* (pow (sin (/ -0.5 phi2)) 5) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 5)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* lambda2 (* R (pow phi2 2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* lambda2 (* R (pow phi2 2)))))) (+ (* 3 (* (/ (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 5) (* (pow (cos (/ -0.5 phi1)) 5) (sin (/ -0.5 phi1))))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) (+ (* 1/2 (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) (* (pow lambda2 3) R)))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (* lambda2 (pow phi1 2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (* 3 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))))))))))))) (+ (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (* lambda2 (pow phi2 2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (+ (* 15/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 4)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) (+ (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* phi1 (* R (* lambda2 phi2))))) (+ (* 2 (* (/ (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 6) (pow (cos (/ -0.5 phi1)) 6)) (* (pow lambda2 3) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* phi1 (* R (* lambda2 phi2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (+ (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1))))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (pow phi1 2) (* R lambda2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (+ (* 15/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi1)) 4) (pow (sin (/ -0.5 phi1)) 2)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) (* 1/2 (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))) (/ (* (pow (sin (/ -0.5 phi2)) 6) (pow (sin (/ -0.5 phi1)) 6)) (* (pow lambda2 3) R))))))))))))))
31.003 * [backup-simplify]: Simplify (+ (* -1 (- (+ (* 10 (* (/ (* (pow (sin (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (pow (sin (/ -0.5 phi1)) 3)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) (+ (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* phi1 (* R (* lambda2 phi2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) (* (pow lambda2 3) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* lambda2 (* R (pow phi1 2)))))) (+ (* 3 (* (/ (* (pow (sin (/ -0.5 phi2)) 5) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 5)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* lambda2 (* R (pow phi2 2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* lambda2 (* R (pow phi2 2)))))) (+ (* 3 (* (/ (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 5) (* (pow (cos (/ -0.5 phi1)) 5) (sin (/ -0.5 phi1))))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) (+ (* 1/2 (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) (* (pow lambda2 3) R)))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (* lambda2 (pow phi1 2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (* 3 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))))))))))))) (+ (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (* lambda2 (pow phi2 2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (+ (* 15/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 4)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) (+ (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* phi1 (* R (* lambda2 phi2))))) (+ (* 2 (* (/ (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 6) (pow (cos (/ -0.5 phi1)) 6)) (* (pow lambda2 3) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* phi1 (* R (* lambda2 phi2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (+ (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1))))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (pow phi1 2) (* R lambda2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (+ (* 15/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 4) (* (pow (cos (/ 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-0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* (pow lambda2 2) R)))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow lambda2 2) R)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 2 (* (/ (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ 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-0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) (* (pow lambda2 2) R)))) (+ (* 3 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (pow lambda2 2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))))))))) (+ (* 0 (- (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R lambda2)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* lambda2 R)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* lambda2 R)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))))) (* 0 (* (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (/ 1 R)))))) into (- (+ (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (* lambda2 (pow phi1 2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (+ (* 15/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi1)) 4) (pow (sin (/ -0.5 phi1)) 2)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) (+ (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (* lambda2 (pow phi2 2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (+ (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1))))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 6) (pow (cos (/ -0.5 phi1)) 6)) (* (pow lambda2 3) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) (+ (* 2 (* (/ (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 15/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 4)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* phi1 (* R (* lambda2 phi2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (+ (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (* phi1 (* lambda2 phi2))))) (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 6) (pow (sin (/ -0.5 phi1)) 6)) (* (pow lambda2 3) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)))))))))))))) (+ (* 10 (* (/ (* (pow (sin (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (pow (sin (/ -0.5 phi1)) 3)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* lambda2 (* R (pow phi2 2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) (* (pow lambda2 3) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow phi1 2) (* lambda2 R))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 3 (* (/ (* (pow (sin (/ -0.5 phi2)) 5) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 5)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) (* (pow lambda2 3) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* lambda2 (* R (pow phi2 2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 3 (* (/ (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 5) (* (pow (cos (/ -0.5 phi1)) 5) (sin (/ -0.5 phi1))))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) (+ (* 3 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (* lambda2 (pow phi1 2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (* lambda2 (* phi1 phi2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))))))))))))))
31.005 * [taylor]: Taking taylor expansion of (- (+ (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (* lambda2 (pow phi1 2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (+ (* 15/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi1)) 4) (pow (sin (/ -0.5 phi1)) 2)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) (+ (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (* lambda2 (pow phi2 2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (+ (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1))))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 6) (pow (cos (/ -0.5 phi1)) 6)) (* (pow lambda2 3) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) (+ (* 2 (* (/ (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 15/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 4)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* phi1 (* R (* lambda2 phi2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (+ (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (* phi1 (* lambda2 phi2))))) (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 6) (pow (sin (/ -0.5 phi1)) 6)) (* (pow lambda2 3) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)))))))))))))) (+ (* 10 (* (/ (* (pow (sin (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (pow (sin (/ -0.5 phi1)) 3)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* lambda2 (* R (pow phi2 2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) (* (pow lambda2 3) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow phi1 2) (* lambda2 R))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 3 (* (/ (* (pow (sin (/ -0.5 phi2)) 5) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 5)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) (* (pow lambda2 3) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* lambda2 (* R (pow phi2 2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 3 (* (/ (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 5) (* (pow (cos (/ -0.5 phi1)) 5) (sin (/ -0.5 phi1))))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) (+ (* 3 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (* lambda2 (pow phi1 2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (* lambda2 (* phi1 phi2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))))))))))))) in lambda2
31.006 * [taylor]: Taking taylor expansion of (+ (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (* lambda2 (pow phi1 2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (+ (* 15/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi1)) 4) (pow (sin (/ -0.5 phi1)) 2)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) (+ (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (* lambda2 (pow phi2 2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (+ (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1))))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 6) (pow (cos (/ -0.5 phi1)) 6)) (* (pow lambda2 3) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) (+ (* 2 (* (/ (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 15/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 4)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* phi1 (* R (* lambda2 phi2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (+ (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (* phi1 (* lambda2 phi2))))) (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 6) (pow (sin (/ -0.5 phi1)) 6)) (* (pow lambda2 3) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)))))))))))))) in lambda2
31.006 * [taylor]: Taking taylor expansion of (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (* lambda2 (pow phi1 2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) in lambda2
31.007 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (* lambda2 (pow phi1 2)))) in lambda2
31.007 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
31.007 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
31.007 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
31.007 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.007 * [backup-simplify]: Simplify -0.5 into -0.5
31.007 * [taylor]: Taking taylor expansion of phi2 in lambda2
31.007 * [backup-simplify]: Simplify phi2 into phi2
31.007 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
31.007 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
31.007 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
31.007 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
31.007 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
31.007 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
31.007 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.007 * [backup-simplify]: Simplify -0.5 into -0.5
31.007 * [taylor]: Taking taylor expansion of phi2 in lambda2
31.007 * [backup-simplify]: Simplify phi2 into phi2
31.007 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
31.007 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
31.008 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
31.008 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
31.008 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
31.008 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
31.008 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.008 * [backup-simplify]: Simplify -0.5 into -0.5
31.008 * [taylor]: Taking taylor expansion of phi1 in lambda2
31.008 * [backup-simplify]: Simplify phi1 into phi1
31.008 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
31.008 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
31.008 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
31.008 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
31.008 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
31.008 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.008 * [backup-simplify]: Simplify -0.5 into -0.5
31.008 * [taylor]: Taking taylor expansion of phi1 in lambda2
31.008 * [backup-simplify]: Simplify phi1 into phi1
31.008 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
31.008 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
31.008 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
31.008 * [taylor]: Taking taylor expansion of (* R (* lambda2 (pow phi1 2))) in lambda2
31.008 * [taylor]: Taking taylor expansion of R in lambda2
31.008 * [backup-simplify]: Simplify R into R
31.009 * [taylor]: Taking taylor expansion of (* lambda2 (pow phi1 2)) in lambda2
31.009 * [taylor]: Taking taylor expansion of lambda2 in lambda2
31.009 * [backup-simplify]: Simplify 0 into 0
31.009 * [backup-simplify]: Simplify 1 into 1
31.009 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2
31.009 * [taylor]: Taking taylor expansion of phi1 in lambda2
31.009 * [backup-simplify]: Simplify phi1 into phi1
31.009 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
31.009 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
31.009 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
31.009 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
31.009 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
31.010 * [backup-simplify]: Simplify (- 0) into 0
31.010 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
31.010 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
31.010 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
31.011 * [backup-simplify]: Simplify (- 0) into 0
31.011 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
31.011 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
31.011 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
31.011 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
31.011 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
31.012 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
31.012 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
31.012 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
31.012 * [backup-simplify]: Simplify (* 0 (pow phi1 2)) into 0
31.012 * [backup-simplify]: Simplify (* R 0) into 0
31.012 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0
31.013 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow phi1 2))) into (pow phi1 2)
31.014 * [backup-simplify]: Simplify (+ (* R (pow phi1 2)) (* 0 0)) into (* R (pow phi1 2))
31.014 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (pow phi1 2))) into (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (pow phi1 2)))
31.014 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) in lambda2
31.014 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) in lambda2
31.014 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3) in lambda2
31.014 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in lambda2
31.014 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in lambda2
31.014 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2
31.014 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2
31.014 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
31.014 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
31.015 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.015 * [backup-simplify]: Simplify -0.5 into -0.5
31.015 * [taylor]: Taking taylor expansion of phi2 in lambda2
31.015 * [backup-simplify]: Simplify phi2 into phi2
31.015 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
31.015 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
31.015 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
31.015 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
31.015 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
31.015 * [backup-simplify]: Simplify (- 0) into 0
31.016 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
31.016 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2
31.016 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
31.016 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
31.016 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.016 * [backup-simplify]: Simplify -0.5 into -0.5
31.016 * [taylor]: Taking taylor expansion of phi1 in lambda2
31.016 * [backup-simplify]: Simplify phi1 into phi1
31.016 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
31.016 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
31.016 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
31.016 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
31.016 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
31.017 * [backup-simplify]: Simplify (- 0) into 0
31.017 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
31.017 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2
31.017 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2
31.017 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
31.017 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
31.017 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.017 * [backup-simplify]: Simplify -0.5 into -0.5
31.017 * [taylor]: Taking taylor expansion of phi2 in lambda2
31.017 * [backup-simplify]: Simplify phi2 into phi2
31.017 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
31.017 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
31.017 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
31.017 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
31.018 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
31.018 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
31.018 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2
31.018 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
31.018 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
31.018 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.018 * [backup-simplify]: Simplify -0.5 into -0.5
31.018 * [taylor]: Taking taylor expansion of phi1 in lambda2
31.018 * [backup-simplify]: Simplify phi1 into phi1
31.018 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
31.018 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
31.018 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
31.018 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
31.018 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
31.018 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
31.018 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in lambda2
31.019 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
31.019 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
31.019 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
31.019 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.019 * [backup-simplify]: Simplify -0.5 into -0.5
31.019 * [taylor]: Taking taylor expansion of phi2 in lambda2
31.019 * [backup-simplify]: Simplify phi2 into phi2
31.019 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
31.019 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
31.019 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
31.019 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
31.019 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
31.019 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
31.019 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.019 * [backup-simplify]: Simplify -0.5 into -0.5
31.019 * [taylor]: Taking taylor expansion of phi2 in lambda2
31.019 * [backup-simplify]: Simplify phi2 into phi2
31.019 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
31.019 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
31.019 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
31.019 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
31.019 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
31.020 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
31.020 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.020 * [backup-simplify]: Simplify -0.5 into -0.5
31.020 * [taylor]: Taking taylor expansion of phi1 in lambda2
31.020 * [backup-simplify]: Simplify phi1 into phi1
31.020 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
31.020 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
31.020 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
31.020 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
31.020 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
31.020 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.020 * [backup-simplify]: Simplify -0.5 into -0.5
31.020 * [taylor]: Taking taylor expansion of phi1 in lambda2
31.020 * [backup-simplify]: Simplify phi1 into phi1
31.020 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
31.020 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
31.020 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
31.020 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
31.020 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
31.020 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
31.020 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.020 * [backup-simplify]: Simplify -0.5 into -0.5
31.020 * [taylor]: Taking taylor expansion of phi2 in lambda2
31.020 * [backup-simplify]: Simplify phi2 into phi2
31.021 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
31.021 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
31.021 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
31.021 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
31.021 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
31.021 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
31.021 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.021 * [backup-simplify]: Simplify -0.5 into -0.5
31.021 * [taylor]: Taking taylor expansion of phi2 in lambda2
31.021 * [backup-simplify]: Simplify phi2 into phi2
31.021 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
31.021 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
31.021 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
31.021 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
31.021 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
31.021 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
31.021 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.021 * [backup-simplify]: Simplify -0.5 into -0.5
31.021 * [taylor]: Taking taylor expansion of phi1 in lambda2
31.021 * [backup-simplify]: Simplify phi1 into phi1
31.021 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
31.021 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
31.022 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
31.022 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
31.022 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
31.022 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.022 * [backup-simplify]: Simplify -0.5 into -0.5
31.022 * [taylor]: Taking taylor expansion of phi1 in lambda2
31.022 * [backup-simplify]: Simplify phi1 into phi1
31.022 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
31.022 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
31.022 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
31.022 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
31.022 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
31.023 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
31.023 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
31.023 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
31.023 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
31.024 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
31.024 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
31.024 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
31.025 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
31.027 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
31.028 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
31.028 * [backup-simplify]: Simplify (- 0) into 0
31.028 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
31.028 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
31.029 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
31.029 * [backup-simplify]: Simplify (- 0) into 0
31.029 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
31.029 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
31.029 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
31.029 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
31.030 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
31.030 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
31.030 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
31.030 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
31.030 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
31.031 * [backup-simplify]: Simplify (- 0) into 0
31.031 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
31.031 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
31.031 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
31.031 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
31.031 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
31.031 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
31.032 * [backup-simplify]: Simplify (- 0) into 0
31.032 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
31.032 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
31.032 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
31.032 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
31.032 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
31.033 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
31.033 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
31.034 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
31.035 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
31.037 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
31.041 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)
31.044 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)
31.046 * [backup-simplify]: Simplify (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) into (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))
31.049 * [backup-simplify]: Simplify (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) into (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))
31.049 * [backup-simplify]: Simplify (+ 0) into 0
31.050 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
31.050 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
31.051 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.051 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
31.052 * [backup-simplify]: Simplify (- 0) into 0
31.052 * [backup-simplify]: Simplify (+ 0 0) into 0
31.052 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
31.053 * [backup-simplify]: Simplify (+ 0) into 0
31.053 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
31.053 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
31.054 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.055 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
31.055 * [backup-simplify]: Simplify (- 0) into 0
31.055 * [backup-simplify]: Simplify (+ 0 0) into 0
31.055 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
31.056 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
31.056 * [backup-simplify]: Simplify (+ 0) into 0
31.057 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
31.057 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
31.058 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.058 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
31.059 * [backup-simplify]: Simplify (+ 0 0) into 0
31.059 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
31.059 * [backup-simplify]: Simplify (+ 0) into 0
31.060 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
31.060 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
31.061 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.061 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
31.061 * [backup-simplify]: Simplify (+ 0 0) into 0
31.062 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
31.062 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
31.062 * [backup-simplify]: Simplify (+ 0 0) into 0
31.062 * [backup-simplify]: Simplify (+ 0) into 0
31.063 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
31.063 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
31.063 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.064 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
31.064 * [backup-simplify]: Simplify (+ 0 0) into 0
31.064 * [backup-simplify]: Simplify (+ 0) into 0
31.064 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
31.064 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
31.065 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.065 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
31.066 * [backup-simplify]: Simplify (- 0) into 0
31.066 * [backup-simplify]: Simplify (+ 0 0) into 0
31.066 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
31.066 * [backup-simplify]: Simplify (+ 0) into 0
31.066 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
31.067 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
31.067 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.067 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
31.067 * [backup-simplify]: Simplify (- 0) into 0
31.068 * [backup-simplify]: Simplify (+ 0 0) into 0
31.068 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
31.068 * [backup-simplify]: Simplify (+ 0) into 0
31.068 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
31.069 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
31.069 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.069 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
31.070 * [backup-simplify]: Simplify (+ 0 0) into 0
31.070 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
31.070 * [backup-simplify]: Simplify (+ 0) into 0
31.070 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
31.070 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
31.071 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.071 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
31.071 * [backup-simplify]: Simplify (+ 0 0) into 0
31.072 * [backup-simplify]: Simplify (+ 0) into 0
31.072 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
31.072 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
31.073 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.073 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
31.073 * [backup-simplify]: Simplify (- 0) into 0
31.073 * [backup-simplify]: Simplify (+ 0 0) into 0
31.073 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
31.074 * [backup-simplify]: Simplify (+ 0) into 0
31.074 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
31.074 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
31.074 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.075 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
31.075 * [backup-simplify]: Simplify (+ 0 0) into 0
31.075 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
31.075 * [backup-simplify]: Simplify (+ 0) into 0
31.076 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
31.076 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
31.076 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.077 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
31.077 * [backup-simplify]: Simplify (- 0) into 0
31.077 * [backup-simplify]: Simplify (+ 0 0) into 0
31.077 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
31.078 * [backup-simplify]: Simplify (+ 0 0) into 0
31.078 * [backup-simplify]: Simplify (- 0) into 0
31.078 * [backup-simplify]: Simplify (+ 0 0) into 0
31.080 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into 0
31.082 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2))) into 0
31.085 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
31.086 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
31.086 * [taylor]: Taking taylor expansion of (+ (* 15/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi1)) 4) (pow (sin (/ -0.5 phi1)) 2)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) (+ (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (* lambda2 (pow phi2 2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (+ (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1))))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 6) (pow (cos (/ -0.5 phi1)) 6)) (* (pow lambda2 3) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) (+ (* 2 (* (/ (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 15/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 4)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* phi1 (* R (* lambda2 phi2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (+ (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (* phi1 (* lambda2 phi2))))) (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 6) (pow (sin (/ -0.5 phi1)) 6)) (* (pow lambda2 3) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))))))))))) in lambda2
31.086 * [taylor]: Taking taylor expansion of (* 15/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi1)) 4) (pow (sin (/ -0.5 phi1)) 2)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) in lambda2
31.086 * [taylor]: Taking taylor expansion of 15/2 in lambda2
31.086 * [backup-simplify]: Simplify 15/2 into 15/2
31.086 * [taylor]: Taking taylor expansion of (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi1)) 4) (pow (sin (/ -0.5 phi1)) 2)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)))) in lambda2
31.086 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi1)) 4) (pow (sin (/ -0.5 phi1)) 2)))) (* R (pow lambda2 3))) in lambda2
31.086 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi1)) 4) (pow (sin (/ -0.5 phi1)) 2)))) in lambda2
31.086 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2
31.086 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
31.086 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
31.086 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.086 * [backup-simplify]: Simplify -0.5 into -0.5
31.086 * [taylor]: Taking taylor expansion of phi2 in lambda2
31.086 * [backup-simplify]: Simplify phi2 into phi2
31.086 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
31.086 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
31.087 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
31.087 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
31.087 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
31.087 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
31.087 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi1)) 4) (pow (sin (/ -0.5 phi1)) 2))) in lambda2
31.087 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 4) in lambda2
31.087 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
31.087 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
31.087 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.087 * [backup-simplify]: Simplify -0.5 into -0.5
31.087 * [taylor]: Taking taylor expansion of phi2 in lambda2
31.087 * [backup-simplify]: Simplify phi2 into phi2
31.087 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
31.087 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
31.087 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
31.087 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
31.087 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
31.088 * [backup-simplify]: Simplify (- 0) into 0
31.088 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
31.088 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi1)) 4) (pow (sin (/ -0.5 phi1)) 2)) in lambda2
31.088 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 4) in lambda2
31.088 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
31.088 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
31.088 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.088 * [backup-simplify]: Simplify -0.5 into -0.5
31.088 * [taylor]: Taking taylor expansion of phi1 in lambda2
31.088 * [backup-simplify]: Simplify phi1 into phi1
31.088 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
31.088 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
31.088 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
31.088 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
31.088 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
31.088 * [backup-simplify]: Simplify (- 0) into 0
31.089 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
31.089 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2
31.089 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
31.089 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
31.089 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.089 * [backup-simplify]: Simplify -0.5 into -0.5
31.089 * [taylor]: Taking taylor expansion of phi1 in lambda2
31.089 * [backup-simplify]: Simplify phi1 into phi1
31.089 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
31.089 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
31.089 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
31.089 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
31.089 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
31.089 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
31.089 * [taylor]: Taking taylor expansion of (* R (pow lambda2 3)) in lambda2
31.089 * [taylor]: Taking taylor expansion of R in lambda2
31.089 * [backup-simplify]: Simplify R into R
31.089 * [taylor]: Taking taylor expansion of (pow lambda2 3) in lambda2
31.089 * [taylor]: Taking taylor expansion of lambda2 in lambda2
31.089 * [backup-simplify]: Simplify 0 into 0
31.089 * [backup-simplify]: Simplify 1 into 1
31.089 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
31.089 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
31.090 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi2)) 2)) into (pow (cos (/ -0.5 phi2)) 4)
31.090 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
31.090 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (pow (cos (/ -0.5 phi1)) 4)
31.090 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
31.090 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi1)) 4) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi1)) 4) (pow (sin (/ -0.5 phi1)) 2))
31.090 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi1)) 4) (pow (sin (/ -0.5 phi1)) 2))) into (* (pow (cos (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi1)) 4) (pow (sin (/ -0.5 phi1)) 2)))
31.091 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi1)) 4) (pow (sin (/ -0.5 phi1)) 2)))) into (* (pow (cos (/ -0.5 phi2)) 4) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 4) (pow (sin (/ -0.5 phi1)) 2))))
31.091 * [backup-simplify]: Simplify (* 1 1) into 1
31.091 * [backup-simplify]: Simplify (* 1 1) into 1
31.091 * [backup-simplify]: Simplify (* R 1) into R
31.092 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 4) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 4) (pow (sin (/ -0.5 phi1)) 2)))) R) into (/ (* (pow (cos (/ -0.5 phi2)) 4) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 4) (pow (sin (/ -0.5 phi1)) 2)))) R)
31.092 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))) in lambda2
31.092 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)) in lambda2
31.092 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5) in lambda2
31.092 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in lambda2
31.092 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in lambda2
31.092 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2
31.092 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2
31.092 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
31.092 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
31.092 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.092 * [backup-simplify]: Simplify -0.5 into -0.5
31.092 * [taylor]: Taking taylor expansion of phi2 in lambda2
31.092 * [backup-simplify]: Simplify phi2 into phi2
31.092 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
31.092 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
31.092 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
31.092 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
31.092 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
31.093 * [backup-simplify]: Simplify (- 0) into 0
31.093 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
31.093 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2
31.093 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
31.093 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
31.093 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.093 * [backup-simplify]: Simplify -0.5 into -0.5
31.093 * [taylor]: Taking taylor expansion of phi1 in lambda2
31.093 * [backup-simplify]: Simplify phi1 into phi1
31.093 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
31.093 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
31.093 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
31.093 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
31.093 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
31.093 * [backup-simplify]: Simplify (- 0) into 0
31.093 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
31.093 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2
31.093 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2
31.093 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
31.093 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
31.093 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.093 * [backup-simplify]: Simplify -0.5 into -0.5
31.093 * [taylor]: Taking taylor expansion of phi2 in lambda2
31.094 * [backup-simplify]: Simplify phi2 into phi2
31.094 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
31.094 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
31.094 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
31.094 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
31.094 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
31.094 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
31.094 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2
31.094 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
31.094 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
31.094 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.094 * [backup-simplify]: Simplify -0.5 into -0.5
31.094 * [taylor]: Taking taylor expansion of phi1 in lambda2
31.094 * [backup-simplify]: Simplify phi1 into phi1
31.094 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
31.094 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
31.094 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
31.094 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
31.094 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
31.094 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
31.094 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in lambda2
31.094 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
31.094 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
31.094 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
31.094 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.094 * [backup-simplify]: Simplify -0.5 into -0.5
31.094 * [taylor]: Taking taylor expansion of phi2 in lambda2
31.094 * [backup-simplify]: Simplify phi2 into phi2
31.094 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
31.095 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
31.095 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
31.095 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
31.095 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
31.095 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
31.095 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.095 * [backup-simplify]: Simplify -0.5 into -0.5
31.095 * [taylor]: Taking taylor expansion of phi2 in lambda2
31.095 * [backup-simplify]: Simplify phi2 into phi2
31.095 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
31.095 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
31.095 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
31.095 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
31.095 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
31.095 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
31.095 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.095 * [backup-simplify]: Simplify -0.5 into -0.5
31.095 * [taylor]: Taking taylor expansion of phi1 in lambda2
31.095 * [backup-simplify]: Simplify phi1 into phi1
31.095 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
31.095 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
31.095 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
31.095 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
31.095 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
31.095 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.095 * [backup-simplify]: Simplify -0.5 into -0.5
31.095 * [taylor]: Taking taylor expansion of phi1 in lambda2
31.095 * [backup-simplify]: Simplify phi1 into phi1
31.095 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
31.095 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
31.095 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
31.095 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
31.095 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
31.095 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
31.095 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.095 * [backup-simplify]: Simplify -0.5 into -0.5
31.095 * [taylor]: Taking taylor expansion of phi2 in lambda2
31.095 * [backup-simplify]: Simplify phi2 into phi2
31.096 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
31.096 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
31.096 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
31.096 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
31.096 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
31.096 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
31.096 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.096 * [backup-simplify]: Simplify -0.5 into -0.5
31.096 * [taylor]: Taking taylor expansion of phi2 in lambda2
31.096 * [backup-simplify]: Simplify phi2 into phi2
31.096 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
31.096 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
31.096 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
31.096 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
31.096 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
31.096 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
31.096 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.096 * [backup-simplify]: Simplify -0.5 into -0.5
31.096 * [taylor]: Taking taylor expansion of phi1 in lambda2
31.096 * [backup-simplify]: Simplify phi1 into phi1
31.096 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
31.096 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
31.096 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
31.096 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
31.096 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
31.096 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.096 * [backup-simplify]: Simplify -0.5 into -0.5
31.096 * [taylor]: Taking taylor expansion of phi1 in lambda2
31.096 * [backup-simplify]: Simplify phi1 into phi1
31.096 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
31.096 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
31.096 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
31.096 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
31.097 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
31.097 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
31.097 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
31.097 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
31.097 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
31.098 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
31.098 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
31.098 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
31.098 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
31.098 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
31.098 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
31.098 * [backup-simplify]: Simplify (- 0) into 0
31.098 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
31.098 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
31.098 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
31.099 * [backup-simplify]: Simplify (- 0) into 0
31.099 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
31.099 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
31.099 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
31.099 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
31.099 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
31.099 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
31.099 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
31.099 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
31.100 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
31.100 * [backup-simplify]: Simplify (- 0) into 0
31.100 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
31.100 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
31.100 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
31.100 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
31.100 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
31.100 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
31.100 * [backup-simplify]: Simplify (- 0) into 0
31.100 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
31.101 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
31.101 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
31.101 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
31.101 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
31.101 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
31.101 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
31.101 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
31.102 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
31.103 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
31.105 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)
31.107 * [backup-simplify]: Simplify (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 4)
31.109 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 4)) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)
31.110 * [backup-simplify]: Simplify (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)) into (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))
31.111 * [backup-simplify]: Simplify (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))) into (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)))
31.111 * [backup-simplify]: Simplify (+ 0) into 0
31.112 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
31.112 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
31.112 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.112 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
31.113 * [backup-simplify]: Simplify (- 0) into 0
31.113 * [backup-simplify]: Simplify (+ 0 0) into 0
31.113 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
31.113 * [backup-simplify]: Simplify (+ 0) into 0
31.114 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
31.114 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
31.114 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.114 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
31.115 * [backup-simplify]: Simplify (- 0) into 0
31.115 * [backup-simplify]: Simplify (+ 0 0) into 0
31.115 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
31.115 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
31.116 * [backup-simplify]: Simplify (+ 0) into 0
31.116 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
31.116 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
31.116 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.117 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
31.117 * [backup-simplify]: Simplify (+ 0 0) into 0
31.117 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
31.117 * [backup-simplify]: Simplify (+ 0) into 0
31.118 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
31.118 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
31.118 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.119 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
31.119 * [backup-simplify]: Simplify (+ 0 0) into 0
31.119 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
31.119 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
31.119 * [backup-simplify]: Simplify (+ 0 0) into 0
31.120 * [backup-simplify]: Simplify (+ 0) into 0
31.120 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
31.120 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
31.121 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.121 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
31.121 * [backup-simplify]: Simplify (+ 0 0) into 0
31.121 * [backup-simplify]: Simplify (+ 0) into 0
31.122 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
31.122 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
31.122 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.123 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
31.123 * [backup-simplify]: Simplify (- 0) into 0
31.123 * [backup-simplify]: Simplify (+ 0 0) into 0
31.123 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
31.124 * [backup-simplify]: Simplify (+ 0) into 0
31.124 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
31.124 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
31.124 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.125 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
31.125 * [backup-simplify]: Simplify (- 0) into 0
31.125 * [backup-simplify]: Simplify (+ 0 0) into 0
31.125 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
31.126 * [backup-simplify]: Simplify (+ 0) into 0
31.126 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
31.126 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
31.127 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.127 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
31.127 * [backup-simplify]: Simplify (+ 0 0) into 0
31.127 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
31.128 * [backup-simplify]: Simplify (+ 0) into 0
31.128 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
31.128 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
31.129 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.129 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
31.129 * [backup-simplify]: Simplify (+ 0 0) into 0
31.129 * [backup-simplify]: Simplify (+ 0) into 0
31.130 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
31.130 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
31.130 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.131 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
31.131 * [backup-simplify]: Simplify (- 0) into 0
31.131 * [backup-simplify]: Simplify (+ 0 0) into 0
31.131 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
31.132 * [backup-simplify]: Simplify (+ 0) into 0
31.132 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
31.132 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
31.132 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.133 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
31.133 * [backup-simplify]: Simplify (+ 0 0) into 0
31.133 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
31.133 * [backup-simplify]: Simplify (+ 0) into 0
31.134 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
31.134 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
31.134 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.135 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
31.135 * [backup-simplify]: Simplify (- 0) into 0
31.135 * [backup-simplify]: Simplify (+ 0 0) into 0
31.135 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
31.135 * [backup-simplify]: Simplify (+ 0 0) into 0
31.136 * [backup-simplify]: Simplify (- 0) into 0
31.136 * [backup-simplify]: Simplify (+ 0 0) into 0
31.138 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into 0
31.141 * [backup-simplify]: Simplify (+ (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2) 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2))) into 0
31.143 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 4))) into 0
31.149 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)) (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) into 0
31.150 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) into 0
31.150 * [taylor]: Taking taylor expansion of (+ (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (* lambda2 (pow phi2 2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (+ (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1))))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 6) (pow (cos (/ -0.5 phi1)) 6)) (* (pow lambda2 3) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) (+ (* 2 (* (/ (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 15/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 4)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* phi1 (* R (* lambda2 phi2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (+ (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (* phi1 (* lambda2 phi2))))) (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 6) (pow (sin (/ -0.5 phi1)) 6)) (* (pow lambda2 3) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)))))))))))) in lambda2
31.151 * [taylor]: Taking taylor expansion of (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (* lambda2 (pow phi2 2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) in lambda2
31.151 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (* lambda2 (pow phi2 2)))) in lambda2
31.151 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
31.151 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
31.151 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
31.151 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.151 * [backup-simplify]: Simplify -0.5 into -0.5
31.151 * [taylor]: Taking taylor expansion of phi2 in lambda2
31.151 * [backup-simplify]: Simplify phi2 into phi2
31.151 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
31.151 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
31.151 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
31.151 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
31.151 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
31.151 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
31.151 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.151 * [backup-simplify]: Simplify -0.5 into -0.5
31.151 * [taylor]: Taking taylor expansion of phi2 in lambda2
31.151 * [backup-simplify]: Simplify phi2 into phi2
31.151 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
31.151 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
31.151 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
31.151 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
31.151 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
31.151 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
31.151 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.151 * [backup-simplify]: Simplify -0.5 into -0.5
31.151 * [taylor]: Taking taylor expansion of phi1 in lambda2
31.151 * [backup-simplify]: Simplify phi1 into phi1
31.151 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
31.151 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
31.151 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
31.151 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
31.151 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
31.151 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.151 * [backup-simplify]: Simplify -0.5 into -0.5
31.152 * [taylor]: Taking taylor expansion of phi1 in lambda2
31.152 * [backup-simplify]: Simplify phi1 into phi1
31.152 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
31.152 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
31.152 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
31.152 * [taylor]: Taking taylor expansion of (* R (* lambda2 (pow phi2 2))) in lambda2
31.152 * [taylor]: Taking taylor expansion of R in lambda2
31.152 * [backup-simplify]: Simplify R into R
31.152 * [taylor]: Taking taylor expansion of (* lambda2 (pow phi2 2)) in lambda2
31.152 * [taylor]: Taking taylor expansion of lambda2 in lambda2
31.152 * [backup-simplify]: Simplify 0 into 0
31.152 * [backup-simplify]: Simplify 1 into 1
31.152 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2
31.152 * [taylor]: Taking taylor expansion of phi2 in lambda2
31.152 * [backup-simplify]: Simplify phi2 into phi2
31.152 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
31.152 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
31.152 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
31.152 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
31.152 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
31.153 * [backup-simplify]: Simplify (- 0) into 0
31.153 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
31.153 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
31.153 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
31.153 * [backup-simplify]: Simplify (- 0) into 0
31.153 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
31.153 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
31.153 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
31.153 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
31.153 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
31.154 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
31.154 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
31.154 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
31.154 * [backup-simplify]: Simplify (* 0 (pow phi2 2)) into 0
31.154 * [backup-simplify]: Simplify (* R 0) into 0
31.154 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0
31.154 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow phi2 2))) into (pow phi2 2)
31.155 * [backup-simplify]: Simplify (+ (* R (pow phi2 2)) (* 0 0)) into (* R (pow phi2 2))
31.155 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (pow phi2 2))) into (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (pow phi2 2)))
31.155 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) in lambda2
31.155 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) in lambda2
31.155 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3) in lambda2
31.155 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in lambda2
31.155 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in lambda2
31.155 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2
31.155 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2
31.155 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
31.155 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
31.155 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.155 * [backup-simplify]: Simplify -0.5 into -0.5
31.155 * [taylor]: Taking taylor expansion of phi2 in lambda2
31.155 * [backup-simplify]: Simplify phi2 into phi2
31.155 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
31.155 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
31.156 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
31.156 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
31.156 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
31.156 * [backup-simplify]: Simplify (- 0) into 0
31.156 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
31.156 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2
31.156 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
31.156 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
31.156 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.156 * [backup-simplify]: Simplify -0.5 into -0.5
31.156 * [taylor]: Taking taylor expansion of phi1 in lambda2
31.156 * [backup-simplify]: Simplify phi1 into phi1
31.156 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
31.156 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
31.156 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
31.156 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
31.156 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
31.157 * [backup-simplify]: Simplify (- 0) into 0
31.157 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
31.157 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2
31.157 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2
31.157 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
31.157 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
31.157 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.157 * [backup-simplify]: Simplify -0.5 into -0.5
31.157 * [taylor]: Taking taylor expansion of phi2 in lambda2
31.157 * [backup-simplify]: Simplify phi2 into phi2
31.157 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
31.157 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
31.157 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
31.157 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
31.157 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
31.157 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
31.157 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2
31.157 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
31.157 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
31.157 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.157 * [backup-simplify]: Simplify -0.5 into -0.5
31.157 * [taylor]: Taking taylor expansion of phi1 in lambda2
31.157 * [backup-simplify]: Simplify phi1 into phi1
31.157 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
31.158 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
31.158 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
31.158 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
31.158 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
31.158 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
31.158 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in lambda2
31.158 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
31.158 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
31.158 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
31.158 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.158 * [backup-simplify]: Simplify -0.5 into -0.5
31.158 * [taylor]: Taking taylor expansion of phi2 in lambda2
31.158 * [backup-simplify]: Simplify phi2 into phi2
31.158 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
31.158 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
31.158 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
31.159 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
31.159 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
31.159 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
31.159 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.159 * [backup-simplify]: Simplify -0.5 into -0.5
31.159 * [taylor]: Taking taylor expansion of phi2 in lambda2
31.159 * [backup-simplify]: Simplify phi2 into phi2
31.159 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
31.159 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
31.159 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
31.159 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
31.159 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
31.159 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
31.159 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.159 * [backup-simplify]: Simplify -0.5 into -0.5
31.159 * [taylor]: Taking taylor expansion of phi1 in lambda2
31.159 * [backup-simplify]: Simplify phi1 into phi1
31.159 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
31.159 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
31.159 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
31.159 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
31.159 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
31.159 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.160 * [backup-simplify]: Simplify -0.5 into -0.5
31.160 * [taylor]: Taking taylor expansion of phi1 in lambda2
31.160 * [backup-simplify]: Simplify phi1 into phi1
31.160 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
31.160 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
31.160 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
31.160 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
31.160 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
31.160 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
31.160 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.160 * [backup-simplify]: Simplify -0.5 into -0.5
31.160 * [taylor]: Taking taylor expansion of phi2 in lambda2
31.160 * [backup-simplify]: Simplify phi2 into phi2
31.160 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
31.160 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
31.160 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
31.160 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
31.160 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
31.160 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
31.160 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.160 * [backup-simplify]: Simplify -0.5 into -0.5
31.160 * [taylor]: Taking taylor expansion of phi2 in lambda2
31.160 * [backup-simplify]: Simplify phi2 into phi2
31.161 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
31.161 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
31.161 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
31.161 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
31.161 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
31.161 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
31.161 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.161 * [backup-simplify]: Simplify -0.5 into -0.5
31.161 * [taylor]: Taking taylor expansion of phi1 in lambda2
31.161 * [backup-simplify]: Simplify phi1 into phi1
31.161 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
31.161 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
31.161 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
31.161 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
31.161 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
31.161 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.161 * [backup-simplify]: Simplify -0.5 into -0.5
31.161 * [taylor]: Taking taylor expansion of phi1 in lambda2
31.161 * [backup-simplify]: Simplify phi1 into phi1
31.161 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
31.162 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
31.162 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
31.162 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
31.162 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
31.162 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
31.162 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
31.163 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
31.163 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
31.164 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
31.164 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
31.164 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
31.164 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
31.164 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
31.164 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
31.165 * [backup-simplify]: Simplify (- 0) into 0
31.165 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
31.165 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
31.165 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
31.166 * [backup-simplify]: Simplify (- 0) into 0
31.166 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
31.166 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
31.166 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
31.166 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
31.166 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
31.167 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
31.167 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
31.167 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
31.167 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
31.168 * [backup-simplify]: Simplify (- 0) into 0
31.168 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
31.168 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
31.168 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
31.168 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
31.168 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
31.168 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
31.169 * [backup-simplify]: Simplify (- 0) into 0
31.169 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
31.169 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
31.169 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
31.169 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
31.169 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
31.169 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
31.170 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
31.171 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
31.171 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
31.173 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
31.177 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)
31.181 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)
31.183 * [backup-simplify]: Simplify (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) into (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))
31.185 * [backup-simplify]: Simplify (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) into (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))
31.186 * [backup-simplify]: Simplify (+ 0) into 0
31.187 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
31.187 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
31.188 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.188 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
31.189 * [backup-simplify]: Simplify (- 0) into 0
31.189 * [backup-simplify]: Simplify (+ 0 0) into 0
31.189 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
31.190 * [backup-simplify]: Simplify (+ 0) into 0
31.190 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
31.191 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
31.191 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.192 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
31.192 * [backup-simplify]: Simplify (- 0) into 0
31.193 * [backup-simplify]: Simplify (+ 0 0) into 0
31.193 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
31.193 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
31.194 * [backup-simplify]: Simplify (+ 0) into 0
31.194 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
31.194 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
31.195 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.196 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
31.196 * [backup-simplify]: Simplify (+ 0 0) into 0
31.196 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
31.196 * [backup-simplify]: Simplify (+ 0) into 0
31.197 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
31.197 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
31.198 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.198 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
31.199 * [backup-simplify]: Simplify (+ 0 0) into 0
31.199 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
31.199 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
31.200 * [backup-simplify]: Simplify (+ 0 0) into 0
31.200 * [backup-simplify]: Simplify (+ 0) into 0
31.201 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
31.201 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
31.202 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.202 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
31.203 * [backup-simplify]: Simplify (+ 0 0) into 0
31.203 * [backup-simplify]: Simplify (+ 0) into 0
31.204 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
31.204 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
31.204 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.205 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
31.205 * [backup-simplify]: Simplify (- 0) into 0
31.206 * [backup-simplify]: Simplify (+ 0 0) into 0
31.206 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
31.206 * [backup-simplify]: Simplify (+ 0) into 0
31.207 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
31.207 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
31.208 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.208 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
31.209 * [backup-simplify]: Simplify (- 0) into 0
31.209 * [backup-simplify]: Simplify (+ 0 0) into 0
31.209 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
31.210 * [backup-simplify]: Simplify (+ 0) into 0
31.210 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
31.211 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
31.211 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.212 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
31.212 * [backup-simplify]: Simplify (+ 0 0) into 0
31.213 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
31.213 * [backup-simplify]: Simplify (+ 0) into 0
31.214 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
31.214 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
31.215 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.215 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
31.216 * [backup-simplify]: Simplify (+ 0 0) into 0
31.216 * [backup-simplify]: Simplify (+ 0) into 0
31.216 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
31.217 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
31.217 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.218 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
31.218 * [backup-simplify]: Simplify (- 0) into 0
31.219 * [backup-simplify]: Simplify (+ 0 0) into 0
31.219 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
31.219 * [backup-simplify]: Simplify (+ 0) into 0
31.220 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
31.220 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
31.221 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.221 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
31.222 * [backup-simplify]: Simplify (+ 0 0) into 0
31.222 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
31.222 * [backup-simplify]: Simplify (+ 0) into 0
31.223 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
31.223 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
31.224 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.224 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
31.225 * [backup-simplify]: Simplify (- 0) into 0
31.225 * [backup-simplify]: Simplify (+ 0 0) into 0
31.225 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
31.226 * [backup-simplify]: Simplify (+ 0 0) into 0
31.226 * [backup-simplify]: Simplify (- 0) into 0
31.227 * [backup-simplify]: Simplify (+ 0 0) into 0
31.230 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into 0
31.234 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2))) into 0
31.240 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
31.243 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
31.243 * [taylor]: Taking taylor expansion of (+ (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1))))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 6) (pow (cos (/ -0.5 phi1)) 6)) (* (pow lambda2 3) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) (+ (* 2 (* (/ (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 15/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 4)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* phi1 (* R (* lambda2 phi2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (+ (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (* phi1 (* lambda2 phi2))))) (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 6) (pow (sin (/ -0.5 phi1)) 6)) (* (pow lambda2 3) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))))))))) in lambda2
31.243 * [taylor]: Taking taylor expansion of (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1))))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) in lambda2
31.243 * [taylor]: Taking taylor expansion of 2 in lambda2
31.243 * [backup-simplify]: Simplify 2 into 2
31.243 * [taylor]: Taking taylor expansion of (* (/ (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1))))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) in lambda2
31.243 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1))))) (* R (pow lambda2 3))) in lambda2
31.243 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1))))) in lambda2
31.243 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
31.243 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
31.244 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.244 * [backup-simplify]: Simplify -0.5 into -0.5
31.244 * [taylor]: Taking taylor expansion of phi2 in lambda2
31.244 * [backup-simplify]: Simplify phi2 into phi2
31.244 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
31.244 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
31.244 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
31.244 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1)))) in lambda2
31.244 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 3) in lambda2
31.244 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
31.244 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
31.244 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.244 * [backup-simplify]: Simplify -0.5 into -0.5
31.244 * [taylor]: Taking taylor expansion of phi2 in lambda2
31.244 * [backup-simplify]: Simplify phi2 into phi2
31.244 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
31.244 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
31.244 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
31.244 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
31.245 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
31.245 * [backup-simplify]: Simplify (- 0) into 0
31.245 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
31.245 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1))) in lambda2
31.245 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 3) in lambda2
31.245 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
31.245 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
31.245 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.245 * [backup-simplify]: Simplify -0.5 into -0.5
31.246 * [taylor]: Taking taylor expansion of phi1 in lambda2
31.246 * [backup-simplify]: Simplify phi1 into phi1
31.246 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
31.246 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
31.246 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
31.246 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
31.246 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
31.246 * [backup-simplify]: Simplify (- 0) into 0
31.247 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
31.247 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
31.247 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
31.247 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.247 * [backup-simplify]: Simplify -0.5 into -0.5
31.247 * [taylor]: Taking taylor expansion of phi1 in lambda2
31.247 * [backup-simplify]: Simplify phi1 into phi1
31.247 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
31.247 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
31.247 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
31.247 * [taylor]: Taking taylor expansion of (* R (pow lambda2 3)) in lambda2
31.247 * [taylor]: Taking taylor expansion of R in lambda2
31.247 * [backup-simplify]: Simplify R into R
31.247 * [taylor]: Taking taylor expansion of (pow lambda2 3) in lambda2
31.247 * [taylor]: Taking taylor expansion of lambda2 in lambda2
31.247 * [backup-simplify]: Simplify 0 into 0
31.247 * [backup-simplify]: Simplify 1 into 1
31.247 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
31.248 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
31.248 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
31.248 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
31.248 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (pow (cos (/ -0.5 phi2)) 2)) into (pow (cos (/ -0.5 phi2)) 3)
31.248 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
31.249 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (pow (cos (/ -0.5 phi1)) 2)) into (pow (cos (/ -0.5 phi1)) 3)
31.249 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
31.249 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
31.249 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
31.249 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1))) into (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1)))
31.250 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1)))) into (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1))))
31.250 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1))))) into (* (pow (cos (/ -0.5 phi2)) 3) (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1)))))
31.251 * [backup-simplify]: Simplify (* 1 1) into 1
31.251 * [backup-simplify]: Simplify (* 1 1) into 1
31.251 * [backup-simplify]: Simplify (* R 1) into R
31.252 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 3) (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1))))) R) into (/ (* (pow (cos (/ -0.5 phi2)) 3) (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1))))) R)
31.252 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) in lambda2
31.252 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) in lambda2
31.252 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3) in lambda2
31.252 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in lambda2
31.252 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in lambda2
31.252 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2
31.252 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2
31.252 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
31.252 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
31.252 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.252 * [backup-simplify]: Simplify -0.5 into -0.5
31.252 * [taylor]: Taking taylor expansion of phi2 in lambda2
31.252 * [backup-simplify]: Simplify phi2 into phi2
31.252 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
31.252 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
31.252 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
31.253 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
31.253 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
31.253 * [backup-simplify]: Simplify (- 0) into 0
31.253 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
31.253 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2
31.253 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
31.253 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
31.253 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.253 * [backup-simplify]: Simplify -0.5 into -0.5
31.253 * [taylor]: Taking taylor expansion of phi1 in lambda2
31.253 * [backup-simplify]: Simplify phi1 into phi1
31.254 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
31.254 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
31.254 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
31.254 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
31.254 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
31.254 * [backup-simplify]: Simplify (- 0) into 0
31.254 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
31.255 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2
31.255 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2
31.255 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
31.255 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
31.255 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.255 * [backup-simplify]: Simplify -0.5 into -0.5
31.255 * [taylor]: Taking taylor expansion of phi2 in lambda2
31.255 * [backup-simplify]: Simplify phi2 into phi2
31.255 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
31.255 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
31.255 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
31.255 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
31.255 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
31.255 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
31.255 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2
31.255 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
31.255 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
31.255 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.256 * [backup-simplify]: Simplify -0.5 into -0.5
31.256 * [taylor]: Taking taylor expansion of phi1 in lambda2
31.256 * [backup-simplify]: Simplify phi1 into phi1
31.256 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
31.256 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
31.256 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
31.256 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
31.256 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
31.256 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
31.256 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in lambda2
31.256 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
31.256 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
31.256 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
31.256 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.256 * [backup-simplify]: Simplify -0.5 into -0.5
31.256 * [taylor]: Taking taylor expansion of phi2 in lambda2
31.256 * [backup-simplify]: Simplify phi2 into phi2
31.256 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
31.257 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
31.257 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
31.257 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
31.257 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
31.257 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
31.257 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.257 * [backup-simplify]: Simplify -0.5 into -0.5
31.257 * [taylor]: Taking taylor expansion of phi2 in lambda2
31.257 * [backup-simplify]: Simplify phi2 into phi2
31.257 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
31.257 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
31.257 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
31.257 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
31.257 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
31.257 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
31.257 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.257 * [backup-simplify]: Simplify -0.5 into -0.5
31.257 * [taylor]: Taking taylor expansion of phi1 in lambda2
31.257 * [backup-simplify]: Simplify phi1 into phi1
31.257 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
31.258 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
31.258 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
31.258 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
31.258 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
31.258 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.258 * [backup-simplify]: Simplify -0.5 into -0.5
31.258 * [taylor]: Taking taylor expansion of phi1 in lambda2
31.258 * [backup-simplify]: Simplify phi1 into phi1
31.258 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
31.258 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
31.258 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
31.258 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
31.258 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
31.258 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
31.258 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.258 * [backup-simplify]: Simplify -0.5 into -0.5
31.258 * [taylor]: Taking taylor expansion of phi2 in lambda2
31.258 * [backup-simplify]: Simplify phi2 into phi2
31.258 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
31.258 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
31.258 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
31.259 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
31.259 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
31.259 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
31.259 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.259 * [backup-simplify]: Simplify -0.5 into -0.5
31.259 * [taylor]: Taking taylor expansion of phi2 in lambda2
31.259 * [backup-simplify]: Simplify phi2 into phi2
31.259 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
31.259 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
31.259 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
31.259 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
31.259 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
31.259 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
31.259 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.259 * [backup-simplify]: Simplify -0.5 into -0.5
31.259 * [taylor]: Taking taylor expansion of phi1 in lambda2
31.259 * [backup-simplify]: Simplify phi1 into phi1
31.259 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
31.259 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
31.259 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
31.259 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
31.259 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
31.260 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.260 * [backup-simplify]: Simplify -0.5 into -0.5
31.260 * [taylor]: Taking taylor expansion of phi1 in lambda2
31.260 * [backup-simplify]: Simplify phi1 into phi1
31.260 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
31.260 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
31.260 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
31.260 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
31.260 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
31.261 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
31.261 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
31.261 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
31.261 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
31.262 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
31.262 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
31.262 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
31.262 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
31.263 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
31.263 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
31.263 * [backup-simplify]: Simplify (- 0) into 0
31.263 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
31.263 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
31.264 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
31.264 * [backup-simplify]: Simplify (- 0) into 0
31.264 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
31.264 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
31.264 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
31.264 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
31.265 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
31.265 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
31.265 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
31.265 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
31.265 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
31.266 * [backup-simplify]: Simplify (- 0) into 0
31.266 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
31.266 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
31.266 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
31.266 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
31.266 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
31.266 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
31.267 * [backup-simplify]: Simplify (- 0) into 0
31.267 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
31.267 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
31.267 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
31.267 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
31.267 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
31.268 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
31.268 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
31.269 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
31.270 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
31.272 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
31.275 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)
31.278 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)
31.280 * [backup-simplify]: Simplify (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) into (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))
31.281 * [backup-simplify]: Simplify (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) into (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))
31.281 * [backup-simplify]: Simplify (+ 0) into 0
31.282 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
31.282 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
31.282 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.283 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
31.283 * [backup-simplify]: Simplify (- 0) into 0
31.283 * [backup-simplify]: Simplify (+ 0 0) into 0
31.283 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
31.284 * [backup-simplify]: Simplify (+ 0) into 0
31.284 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
31.284 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
31.284 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.285 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
31.285 * [backup-simplify]: Simplify (- 0) into 0
31.285 * [backup-simplify]: Simplify (+ 0 0) into 0
31.285 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
31.286 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
31.286 * [backup-simplify]: Simplify (+ 0) into 0
31.286 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
31.286 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
31.287 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.287 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
31.287 * [backup-simplify]: Simplify (+ 0 0) into 0
31.288 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
31.288 * [backup-simplify]: Simplify (+ 0) into 0
31.288 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
31.288 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
31.289 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.289 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
31.289 * [backup-simplify]: Simplify (+ 0 0) into 0
31.289 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
31.290 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
31.290 * [backup-simplify]: Simplify (+ 0 0) into 0
31.290 * [backup-simplify]: Simplify (+ 0) into 0
31.290 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
31.291 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
31.291 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.291 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
31.292 * [backup-simplify]: Simplify (+ 0 0) into 0
31.292 * [backup-simplify]: Simplify (+ 0) into 0
31.292 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
31.292 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
31.293 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.293 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
31.293 * [backup-simplify]: Simplify (- 0) into 0
31.293 * [backup-simplify]: Simplify (+ 0 0) into 0
31.294 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
31.294 * [backup-simplify]: Simplify (+ 0) into 0
31.294 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
31.294 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
31.295 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.295 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
31.295 * [backup-simplify]: Simplify (- 0) into 0
31.296 * [backup-simplify]: Simplify (+ 0 0) into 0
31.296 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
31.296 * [backup-simplify]: Simplify (+ 0) into 0
31.296 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
31.296 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
31.297 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.297 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
31.297 * [backup-simplify]: Simplify (+ 0 0) into 0
31.298 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
31.298 * [backup-simplify]: Simplify (+ 0) into 0
31.298 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
31.299 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
31.299 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.299 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
31.300 * [backup-simplify]: Simplify (+ 0 0) into 0
31.300 * [backup-simplify]: Simplify (+ 0) into 0
31.300 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
31.300 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
31.307 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.309 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
31.309 * [backup-simplify]: Simplify (- 0) into 0
31.310 * [backup-simplify]: Simplify (+ 0 0) into 0
31.310 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
31.310 * [backup-simplify]: Simplify (+ 0) into 0
31.311 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
31.311 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
31.312 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.312 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
31.313 * [backup-simplify]: Simplify (+ 0 0) into 0
31.313 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
31.314 * [backup-simplify]: Simplify (+ 0) into 0
31.314 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
31.314 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
31.315 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.316 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
31.316 * [backup-simplify]: Simplify (- 0) into 0
31.316 * [backup-simplify]: Simplify (+ 0 0) into 0
31.317 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
31.317 * [backup-simplify]: Simplify (+ 0 0) into 0
31.317 * [backup-simplify]: Simplify (- 0) into 0
31.318 * [backup-simplify]: Simplify (+ 0 0) into 0
31.321 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into 0
31.325 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2))) into 0
31.330 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
31.332 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
31.333 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 6) (pow (cos (/ -0.5 phi1)) 6)) (* (pow lambda2 3) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) (+ (* 2 (* (/ (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 15/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 4)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* phi1 (* R (* lambda2 phi2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (+ (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (* phi1 (* lambda2 phi2))))) (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 6) (pow (sin (/ -0.5 phi1)) 6)) (* (pow lambda2 3) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)))))))))) in lambda2
31.333 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 6) (pow (cos (/ -0.5 phi1)) 6)) (* (pow lambda2 3) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) in lambda2
31.333 * [taylor]: Taking taylor expansion of 1/2 in lambda2
31.333 * [backup-simplify]: Simplify 1/2 into 1/2
31.333 * [taylor]: Taking taylor expansion of (* (/ (* (pow (cos (/ -0.5 phi2)) 6) (pow (cos (/ -0.5 phi1)) 6)) (* (pow lambda2 3) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)))) in lambda2
31.333 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 6) (pow (cos (/ -0.5 phi1)) 6)) (* (pow lambda2 3) R)) in lambda2
31.333 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 6) (pow (cos (/ -0.5 phi1)) 6)) in lambda2
31.333 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 6) in lambda2
31.333 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
31.333 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
31.333 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.333 * [backup-simplify]: Simplify -0.5 into -0.5
31.333 * [taylor]: Taking taylor expansion of phi2 in lambda2
31.333 * [backup-simplify]: Simplify phi2 into phi2
31.333 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
31.334 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
31.334 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
31.334 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
31.334 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
31.334 * [backup-simplify]: Simplify (- 0) into 0
31.335 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
31.335 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 6) in lambda2
31.335 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
31.335 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
31.335 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.335 * [backup-simplify]: Simplify -0.5 into -0.5
31.335 * [taylor]: Taking taylor expansion of phi1 in lambda2
31.335 * [backup-simplify]: Simplify phi1 into phi1
31.335 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
31.335 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
31.335 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
31.335 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
31.335 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
31.336 * [backup-simplify]: Simplify (- 0) into 0
31.336 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
31.336 * [taylor]: Taking taylor expansion of (* (pow lambda2 3) R) in lambda2
31.336 * [taylor]: Taking taylor expansion of (pow lambda2 3) in lambda2
31.336 * [taylor]: Taking taylor expansion of lambda2 in lambda2
31.336 * [backup-simplify]: Simplify 0 into 0
31.336 * [backup-simplify]: Simplify 1 into 1
31.336 * [taylor]: Taking taylor expansion of R in lambda2
31.336 * [backup-simplify]: Simplify R into R
31.336 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
31.336 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (pow (cos (/ -0.5 phi2)) 2)) into (pow (cos (/ -0.5 phi2)) 3)
31.337 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 3) (pow (cos (/ -0.5 phi2)) 3)) into (pow (cos (/ -0.5 phi2)) 6)
31.337 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
31.337 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (pow (cos (/ -0.5 phi1)) 2)) into (pow (cos (/ -0.5 phi1)) 3)
31.338 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi1)) 3) (pow (cos (/ -0.5 phi1)) 3)) into (pow (cos (/ -0.5 phi1)) 6)
31.338 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 6) (pow (cos (/ -0.5 phi1)) 6)) into (* (pow (cos (/ -0.5 phi2)) 6) (pow (cos (/ -0.5 phi1)) 6))
31.338 * [backup-simplify]: Simplify (* 1 1) into 1
31.339 * [backup-simplify]: Simplify (* 1 1) into 1
31.339 * [backup-simplify]: Simplify (* 1 R) into R
31.339 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 6) (pow (cos (/ -0.5 phi1)) 6)) R) into (/ (* (pow (cos (/ -0.5 phi2)) 6) (pow (cos (/ -0.5 phi1)) 6)) R)
31.339 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))) in lambda2
31.339 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)) in lambda2
31.339 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5) in lambda2
31.339 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in lambda2
31.339 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in lambda2
31.339 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2
31.340 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2
31.340 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
31.340 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
31.340 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.340 * [backup-simplify]: Simplify -0.5 into -0.5
31.340 * [taylor]: Taking taylor expansion of phi2 in lambda2
31.340 * [backup-simplify]: Simplify phi2 into phi2
31.340 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
31.340 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
31.340 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
31.340 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
31.340 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
31.341 * [backup-simplify]: Simplify (- 0) into 0
31.341 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
31.341 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2
31.341 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
31.341 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
31.341 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.341 * [backup-simplify]: Simplify -0.5 into -0.5
31.341 * [taylor]: Taking taylor expansion of phi1 in lambda2
31.341 * [backup-simplify]: Simplify phi1 into phi1
31.341 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
31.341 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
31.341 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
31.341 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
31.341 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
31.342 * [backup-simplify]: Simplify (- 0) into 0
31.342 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
31.342 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2
31.342 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2
31.342 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
31.342 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
31.342 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.342 * [backup-simplify]: Simplify -0.5 into -0.5
31.342 * [taylor]: Taking taylor expansion of phi2 in lambda2
31.342 * [backup-simplify]: Simplify phi2 into phi2
31.342 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
31.342 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
31.342 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
31.343 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
31.343 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
31.343 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
31.343 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2
31.343 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
31.343 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
31.343 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.343 * [backup-simplify]: Simplify -0.5 into -0.5
31.343 * [taylor]: Taking taylor expansion of phi1 in lambda2
31.343 * [backup-simplify]: Simplify phi1 into phi1
31.343 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
31.343 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
31.343 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
31.343 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
31.343 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
31.344 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
31.344 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in lambda2
31.344 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
31.344 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
31.344 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
31.344 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.344 * [backup-simplify]: Simplify -0.5 into -0.5
31.344 * [taylor]: Taking taylor expansion of phi2 in lambda2
31.344 * [backup-simplify]: Simplify phi2 into phi2
31.344 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
31.344 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
31.344 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
31.344 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
31.344 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
31.344 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
31.344 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.344 * [backup-simplify]: Simplify -0.5 into -0.5
31.344 * [taylor]: Taking taylor expansion of phi2 in lambda2
31.344 * [backup-simplify]: Simplify phi2 into phi2
31.344 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
31.344 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
31.345 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
31.345 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
31.345 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
31.345 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
31.345 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.345 * [backup-simplify]: Simplify -0.5 into -0.5
31.345 * [taylor]: Taking taylor expansion of phi1 in lambda2
31.345 * [backup-simplify]: Simplify phi1 into phi1
31.345 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
31.345 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
31.345 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
31.345 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
31.345 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
31.345 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.345 * [backup-simplify]: Simplify -0.5 into -0.5
31.345 * [taylor]: Taking taylor expansion of phi1 in lambda2
31.345 * [backup-simplify]: Simplify phi1 into phi1
31.345 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
31.345 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
31.345 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
31.346 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
31.346 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
31.346 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
31.346 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.346 * [backup-simplify]: Simplify -0.5 into -0.5
31.346 * [taylor]: Taking taylor expansion of phi2 in lambda2
31.346 * [backup-simplify]: Simplify phi2 into phi2
31.346 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
31.346 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
31.346 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
31.346 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
31.346 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
31.346 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
31.346 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.346 * [backup-simplify]: Simplify -0.5 into -0.5
31.346 * [taylor]: Taking taylor expansion of phi2 in lambda2
31.346 * [backup-simplify]: Simplify phi2 into phi2
31.346 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
31.346 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
31.346 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
31.346 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
31.346 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
31.347 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
31.347 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.347 * [backup-simplify]: Simplify -0.5 into -0.5
31.347 * [taylor]: Taking taylor expansion of phi1 in lambda2
31.347 * [backup-simplify]: Simplify phi1 into phi1
31.347 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
31.347 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
31.347 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
31.347 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
31.347 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
31.347 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.347 * [backup-simplify]: Simplify -0.5 into -0.5
31.347 * [taylor]: Taking taylor expansion of phi1 in lambda2
31.347 * [backup-simplify]: Simplify phi1 into phi1
31.347 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
31.347 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
31.347 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
31.347 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
31.348 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
31.348 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
31.349 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
31.349 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
31.349 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
31.350 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
31.350 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
31.350 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
31.350 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
31.350 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
31.350 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
31.351 * [backup-simplify]: Simplify (- 0) into 0
31.351 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
31.351 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
31.351 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
31.352 * [backup-simplify]: Simplify (- 0) into 0
31.352 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
31.352 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
31.352 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
31.352 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
31.352 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
31.353 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
31.353 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
31.353 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
31.353 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
31.354 * [backup-simplify]: Simplify (- 0) into 0
31.354 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
31.354 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
31.354 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
31.354 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
31.354 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
31.354 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
31.355 * [backup-simplify]: Simplify (- 0) into 0
31.355 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
31.355 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
31.355 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
31.355 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
31.355 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
31.356 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
31.356 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
31.357 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
31.357 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
31.359 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
31.363 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)
31.367 * [backup-simplify]: Simplify (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 4)
31.371 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 4)) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)
31.373 * [backup-simplify]: Simplify (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)) into (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))
31.375 * [backup-simplify]: Simplify (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))) into (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)))
31.376 * [backup-simplify]: Simplify (+ 0) into 0
31.377 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
31.377 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
31.378 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.378 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
31.378 * [backup-simplify]: Simplify (- 0) into 0
31.379 * [backup-simplify]: Simplify (+ 0 0) into 0
31.379 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
31.379 * [backup-simplify]: Simplify (+ 0) into 0
31.380 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
31.380 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
31.381 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.381 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
31.382 * [backup-simplify]: Simplify (- 0) into 0
31.382 * [backup-simplify]: Simplify (+ 0 0) into 0
31.382 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
31.383 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
31.383 * [backup-simplify]: Simplify (+ 0) into 0
31.384 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
31.384 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
31.385 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.385 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
31.386 * [backup-simplify]: Simplify (+ 0 0) into 0
31.386 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
31.386 * [backup-simplify]: Simplify (+ 0) into 0
31.387 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
31.387 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
31.388 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.388 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
31.389 * [backup-simplify]: Simplify (+ 0 0) into 0
31.389 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
31.389 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
31.390 * [backup-simplify]: Simplify (+ 0 0) into 0
31.390 * [backup-simplify]: Simplify (+ 0) into 0
31.391 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
31.391 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
31.392 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.392 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
31.392 * [backup-simplify]: Simplify (+ 0 0) into 0
31.393 * [backup-simplify]: Simplify (+ 0) into 0
31.393 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
31.394 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
31.394 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.395 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
31.395 * [backup-simplify]: Simplify (- 0) into 0
31.396 * [backup-simplify]: Simplify (+ 0 0) into 0
31.396 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
31.396 * [backup-simplify]: Simplify (+ 0) into 0
31.397 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
31.397 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
31.398 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.398 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
31.399 * [backup-simplify]: Simplify (- 0) into 0
31.399 * [backup-simplify]: Simplify (+ 0 0) into 0
31.399 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
31.400 * [backup-simplify]: Simplify (+ 0) into 0
31.400 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
31.400 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
31.401 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.402 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
31.402 * [backup-simplify]: Simplify (+ 0 0) into 0
31.402 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
31.403 * [backup-simplify]: Simplify (+ 0) into 0
31.403 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
31.403 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
31.404 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.405 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
31.405 * [backup-simplify]: Simplify (+ 0 0) into 0
31.405 * [backup-simplify]: Simplify (+ 0) into 0
31.406 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
31.406 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
31.407 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.407 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
31.408 * [backup-simplify]: Simplify (- 0) into 0
31.408 * [backup-simplify]: Simplify (+ 0 0) into 0
31.409 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
31.409 * [backup-simplify]: Simplify (+ 0) into 0
31.410 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
31.410 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
31.411 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.411 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
31.412 * [backup-simplify]: Simplify (+ 0 0) into 0
31.412 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
31.412 * [backup-simplify]: Simplify (+ 0) into 0
31.413 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
31.413 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
31.414 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.414 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
31.415 * [backup-simplify]: Simplify (- 0) into 0
31.415 * [backup-simplify]: Simplify (+ 0 0) into 0
31.415 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
31.416 * [backup-simplify]: Simplify (+ 0 0) into 0
31.416 * [backup-simplify]: Simplify (- 0) into 0
31.417 * [backup-simplify]: Simplify (+ 0 0) into 0
31.420 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into 0
31.424 * [backup-simplify]: Simplify (+ (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2) 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2))) into 0
31.427 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 4))) into 0
31.432 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)) (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) into 0
31.434 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) into 0
31.434 * [taylor]: Taking taylor expansion of (+ (* 2 (* (/ (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 15/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 4)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* phi1 (* R (* lambda2 phi2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (+ (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (* phi1 (* lambda2 phi2))))) (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 6) (pow (sin (/ -0.5 phi1)) 6)) (* (pow lambda2 3) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))))))) in lambda2
31.434 * [taylor]: Taking taylor expansion of (* 2 (* (/ (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) in lambda2
31.434 * [taylor]: Taking taylor expansion of 2 in lambda2
31.434 * [backup-simplify]: Simplify 2 into 2
31.434 * [taylor]: Taking taylor expansion of (* (/ (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) in lambda2
31.434 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)))) (* R (pow lambda2 3))) in lambda2
31.434 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)))) in lambda2
31.434 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 3) in lambda2
31.435 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
31.435 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
31.435 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.435 * [backup-simplify]: Simplify -0.5 into -0.5
31.435 * [taylor]: Taking taylor expansion of phi2 in lambda2
31.435 * [backup-simplify]: Simplify phi2 into phi2
31.435 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
31.435 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
31.435 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
31.435 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
31.435 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
31.435 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
31.435 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3))) in lambda2
31.435 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
31.435 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
31.435 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.435 * [backup-simplify]: Simplify -0.5 into -0.5
31.435 * [taylor]: Taking taylor expansion of phi2 in lambda2
31.435 * [backup-simplify]: Simplify phi2 into phi2
31.435 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
31.436 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
31.436 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
31.436 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)) in lambda2
31.436 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
31.436 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
31.436 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.436 * [backup-simplify]: Simplify -0.5 into -0.5
31.436 * [taylor]: Taking taylor expansion of phi1 in lambda2
31.436 * [backup-simplify]: Simplify phi1 into phi1
31.436 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
31.436 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
31.436 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
31.436 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 3) in lambda2
31.436 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
31.436 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
31.436 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.436 * [backup-simplify]: Simplify -0.5 into -0.5
31.436 * [taylor]: Taking taylor expansion of phi1 in lambda2
31.436 * [backup-simplify]: Simplify phi1 into phi1
31.436 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
31.436 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
31.436 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
31.436 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
31.437 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
31.437 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
31.437 * [taylor]: Taking taylor expansion of (* R (pow lambda2 3)) in lambda2
31.437 * [taylor]: Taking taylor expansion of R in lambda2
31.437 * [backup-simplify]: Simplify R into R
31.437 * [taylor]: Taking taylor expansion of (pow lambda2 3) in lambda2
31.437 * [taylor]: Taking taylor expansion of lambda2 in lambda2
31.437 * [backup-simplify]: Simplify 0 into 0
31.437 * [backup-simplify]: Simplify 1 into 1
31.437 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
31.437 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (pow (sin (/ -0.5 phi2)) 2)) into (pow (sin (/ -0.5 phi2)) 3)
31.437 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
31.437 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
31.438 * [backup-simplify]: Simplify (- 0) into 0
31.438 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
31.438 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
31.438 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
31.439 * [backup-simplify]: Simplify (- 0) into 0
31.439 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
31.439 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
31.439 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 2)) into (pow (sin (/ -0.5 phi1)) 3)
31.440 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)) into (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3))
31.440 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)))
31.440 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)))) into (* (cos (/ -0.5 phi2)) (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3))))
31.441 * [backup-simplify]: Simplify (* 1 1) into 1
31.441 * [backup-simplify]: Simplify (* 1 1) into 1
31.441 * [backup-simplify]: Simplify (* R 1) into R
31.442 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi2)) (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)))) R) into (/ (* (cos (/ -0.5 phi2)) (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)))) R)
31.442 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) in lambda2
31.442 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) in lambda2
31.442 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3) in lambda2
31.442 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in lambda2
31.442 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in lambda2
31.442 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2
31.442 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2
31.442 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
31.442 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
31.442 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.442 * [backup-simplify]: Simplify -0.5 into -0.5
31.442 * [taylor]: Taking taylor expansion of phi2 in lambda2
31.442 * [backup-simplify]: Simplify phi2 into phi2
31.442 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
31.442 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
31.442 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
31.443 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
31.443 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
31.443 * [backup-simplify]: Simplify (- 0) into 0
31.443 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
31.443 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2
31.443 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
31.443 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
31.443 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.443 * [backup-simplify]: Simplify -0.5 into -0.5
31.443 * [taylor]: Taking taylor expansion of phi1 in lambda2
31.443 * [backup-simplify]: Simplify phi1 into phi1
31.443 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
31.443 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
31.444 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
31.444 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
31.444 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
31.444 * [backup-simplify]: Simplify (- 0) into 0
31.444 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
31.444 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2
31.444 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2
31.444 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
31.444 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
31.444 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.444 * [backup-simplify]: Simplify -0.5 into -0.5
31.444 * [taylor]: Taking taylor expansion of phi2 in lambda2
31.444 * [backup-simplify]: Simplify phi2 into phi2
31.444 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
31.444 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
31.445 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
31.445 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
31.445 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
31.445 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
31.445 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2
31.445 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
31.445 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
31.445 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.445 * [backup-simplify]: Simplify -0.5 into -0.5
31.445 * [taylor]: Taking taylor expansion of phi1 in lambda2
31.445 * [backup-simplify]: Simplify phi1 into phi1
31.445 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
31.445 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
31.445 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
31.445 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
31.445 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
31.446 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
31.446 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in lambda2
31.446 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
31.446 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
31.446 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
31.446 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.446 * [backup-simplify]: Simplify -0.5 into -0.5
31.446 * [taylor]: Taking taylor expansion of phi2 in lambda2
31.446 * [backup-simplify]: Simplify phi2 into phi2
31.446 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
31.446 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
31.446 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
31.446 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
31.446 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
31.446 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
31.446 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.446 * [backup-simplify]: Simplify -0.5 into -0.5
31.446 * [taylor]: Taking taylor expansion of phi2 in lambda2
31.446 * [backup-simplify]: Simplify phi2 into phi2
31.446 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
31.446 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
31.446 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
31.446 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
31.446 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
31.446 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
31.446 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.446 * [backup-simplify]: Simplify -0.5 into -0.5
31.446 * [taylor]: Taking taylor expansion of phi1 in lambda2
31.447 * [backup-simplify]: Simplify phi1 into phi1
31.447 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
31.447 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
31.447 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
31.447 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
31.447 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
31.447 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.447 * [backup-simplify]: Simplify -0.5 into -0.5
31.447 * [taylor]: Taking taylor expansion of phi1 in lambda2
31.447 * [backup-simplify]: Simplify phi1 into phi1
31.447 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
31.447 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
31.447 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
31.447 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
31.447 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
31.447 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
31.447 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.447 * [backup-simplify]: Simplify -0.5 into -0.5
31.447 * [taylor]: Taking taylor expansion of phi2 in lambda2
31.447 * [backup-simplify]: Simplify phi2 into phi2
31.447 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
31.447 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
31.447 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
31.447 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
31.447 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
31.448 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
31.448 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.448 * [backup-simplify]: Simplify -0.5 into -0.5
31.448 * [taylor]: Taking taylor expansion of phi2 in lambda2
31.448 * [backup-simplify]: Simplify phi2 into phi2
31.448 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
31.448 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
31.448 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
31.448 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
31.448 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
31.448 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
31.448 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.448 * [backup-simplify]: Simplify -0.5 into -0.5
31.448 * [taylor]: Taking taylor expansion of phi1 in lambda2
31.448 * [backup-simplify]: Simplify phi1 into phi1
31.448 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
31.448 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
31.448 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
31.448 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
31.448 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
31.448 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.448 * [backup-simplify]: Simplify -0.5 into -0.5
31.448 * [taylor]: Taking taylor expansion of phi1 in lambda2
31.448 * [backup-simplify]: Simplify phi1 into phi1
31.448 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
31.448 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
31.449 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
31.449 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
31.449 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
31.449 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
31.449 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
31.449 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
31.450 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
31.450 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
31.451 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
31.451 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
31.451 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
31.451 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
31.451 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
31.451 * [backup-simplify]: Simplify (- 0) into 0
31.452 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
31.452 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
31.452 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
31.452 * [backup-simplify]: Simplify (- 0) into 0
31.452 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
31.452 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
31.452 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
31.452 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
31.453 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
31.453 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
31.453 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
31.453 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
31.453 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
31.454 * [backup-simplify]: Simplify (- 0) into 0
31.454 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
31.454 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
31.454 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
31.454 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
31.454 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
31.454 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
31.455 * [backup-simplify]: Simplify (- 0) into 0
31.455 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
31.455 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
31.455 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
31.455 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
31.455 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
31.455 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
31.456 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
31.456 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
31.457 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
31.458 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
31.460 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)
31.462 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)
31.463 * [backup-simplify]: Simplify (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) into (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))
31.464 * [backup-simplify]: Simplify (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) into (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))
31.465 * [backup-simplify]: Simplify (+ 0) into 0
31.465 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
31.465 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
31.466 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.466 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
31.466 * [backup-simplify]: Simplify (- 0) into 0
31.467 * [backup-simplify]: Simplify (+ 0 0) into 0
31.467 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
31.467 * [backup-simplify]: Simplify (+ 0) into 0
31.467 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
31.467 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
31.468 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.468 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
31.468 * [backup-simplify]: Simplify (- 0) into 0
31.469 * [backup-simplify]: Simplify (+ 0 0) into 0
31.469 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
31.469 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
31.469 * [backup-simplify]: Simplify (+ 0) into 0
31.475 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
31.475 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
31.476 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.476 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
31.477 * [backup-simplify]: Simplify (+ 0 0) into 0
31.477 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
31.477 * [backup-simplify]: Simplify (+ 0) into 0
31.477 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
31.478 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
31.478 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.478 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
31.479 * [backup-simplify]: Simplify (+ 0 0) into 0
31.479 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
31.479 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
31.479 * [backup-simplify]: Simplify (+ 0 0) into 0
31.480 * [backup-simplify]: Simplify (+ 0) into 0
31.480 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
31.480 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
31.481 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.481 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
31.481 * [backup-simplify]: Simplify (+ 0 0) into 0
31.481 * [backup-simplify]: Simplify (+ 0) into 0
31.482 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
31.482 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
31.482 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.483 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
31.483 * [backup-simplify]: Simplify (- 0) into 0
31.483 * [backup-simplify]: Simplify (+ 0 0) into 0
31.483 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
31.484 * [backup-simplify]: Simplify (+ 0) into 0
31.484 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
31.484 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
31.484 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.485 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
31.485 * [backup-simplify]: Simplify (- 0) into 0
31.485 * [backup-simplify]: Simplify (+ 0 0) into 0
31.485 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
31.486 * [backup-simplify]: Simplify (+ 0) into 0
31.486 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
31.486 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
31.487 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.487 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
31.487 * [backup-simplify]: Simplify (+ 0 0) into 0
31.487 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
31.488 * [backup-simplify]: Simplify (+ 0) into 0
31.488 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
31.488 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
31.488 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.489 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
31.489 * [backup-simplify]: Simplify (+ 0 0) into 0
31.489 * [backup-simplify]: Simplify (+ 0) into 0
31.490 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
31.490 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
31.490 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.490 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
31.491 * [backup-simplify]: Simplify (- 0) into 0
31.491 * [backup-simplify]: Simplify (+ 0 0) into 0
31.491 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
31.491 * [backup-simplify]: Simplify (+ 0) into 0
31.492 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
31.492 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
31.492 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.492 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
31.493 * [backup-simplify]: Simplify (+ 0 0) into 0
31.493 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
31.493 * [backup-simplify]: Simplify (+ 0) into 0
31.493 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
31.494 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
31.494 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.494 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
31.495 * [backup-simplify]: Simplify (- 0) into 0
31.495 * [backup-simplify]: Simplify (+ 0 0) into 0
31.495 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
31.495 * [backup-simplify]: Simplify (+ 0 0) into 0
31.495 * [backup-simplify]: Simplify (- 0) into 0
31.496 * [backup-simplify]: Simplify (+ 0 0) into 0
31.498 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into 0
31.500 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2))) into 0
31.502 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
31.503 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
31.503 * [taylor]: Taking taylor expansion of (+ (* 15/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 4)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* phi1 (* R (* lambda2 phi2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (+ (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (* phi1 (* lambda2 phi2))))) (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 6) (pow (sin (/ -0.5 phi1)) 6)) (* (pow lambda2 3) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)))))))) in lambda2
31.503 * [taylor]: Taking taylor expansion of (* 15/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 4)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) in lambda2
31.503 * [taylor]: Taking taylor expansion of 15/2 in lambda2
31.503 * [backup-simplify]: Simplify 15/2 into 15/2
31.503 * [taylor]: Taking taylor expansion of (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 4)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)))) in lambda2
31.503 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 4)))) (* R (pow lambda2 3))) in lambda2
31.504 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 4)))) in lambda2
31.504 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 4) in lambda2
31.504 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
31.504 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
31.504 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.504 * [backup-simplify]: Simplify -0.5 into -0.5
31.504 * [taylor]: Taking taylor expansion of phi2 in lambda2
31.504 * [backup-simplify]: Simplify phi2 into phi2
31.504 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
31.504 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
31.504 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
31.504 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
31.504 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
31.504 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
31.504 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 4))) in lambda2
31.504 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2
31.504 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
31.504 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
31.504 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.504 * [backup-simplify]: Simplify -0.5 into -0.5
31.504 * [taylor]: Taking taylor expansion of phi2 in lambda2
31.504 * [backup-simplify]: Simplify phi2 into phi2
31.504 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
31.504 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
31.504 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
31.504 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
31.504 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
31.505 * [backup-simplify]: Simplify (- 0) into 0
31.505 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
31.505 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 4)) in lambda2
31.505 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2
31.505 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
31.505 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
31.505 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.505 * [backup-simplify]: Simplify -0.5 into -0.5
31.505 * [taylor]: Taking taylor expansion of phi1 in lambda2
31.505 * [backup-simplify]: Simplify phi1 into phi1
31.505 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
31.505 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
31.505 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
31.505 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
31.505 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
31.506 * [backup-simplify]: Simplify (- 0) into 0
31.506 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
31.506 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 4) in lambda2
31.506 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
31.506 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
31.506 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.506 * [backup-simplify]: Simplify -0.5 into -0.5
31.506 * [taylor]: Taking taylor expansion of phi1 in lambda2
31.506 * [backup-simplify]: Simplify phi1 into phi1
31.506 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
31.506 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
31.506 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
31.506 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
31.506 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
31.506 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
31.506 * [taylor]: Taking taylor expansion of (* R (pow lambda2 3)) in lambda2
31.506 * [taylor]: Taking taylor expansion of R in lambda2
31.506 * [backup-simplify]: Simplify R into R
31.506 * [taylor]: Taking taylor expansion of (pow lambda2 3) in lambda2
31.506 * [taylor]: Taking taylor expansion of lambda2 in lambda2
31.506 * [backup-simplify]: Simplify 0 into 0
31.506 * [backup-simplify]: Simplify 1 into 1
31.506 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
31.506 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi2)) 2)) into (pow (sin (/ -0.5 phi2)) 4)
31.507 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
31.507 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
31.507 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
31.507 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (pow (sin (/ -0.5 phi1)) 4)
31.507 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 4)) into (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 4))
31.507 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 4))) into (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 4)))
31.508 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 4)))) into (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 4))))
31.508 * [backup-simplify]: Simplify (* 1 1) into 1
31.508 * [backup-simplify]: Simplify (* 1 1) into 1
31.508 * [backup-simplify]: Simplify (* R 1) into R
31.509 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 4)))) R) into (/ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 4)))) R)
31.509 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))) in lambda2
31.509 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)) in lambda2
31.509 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5) in lambda2
31.509 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in lambda2
31.509 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in lambda2
31.509 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2
31.509 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2
31.509 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
31.509 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
31.509 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.509 * [backup-simplify]: Simplify -0.5 into -0.5
31.509 * [taylor]: Taking taylor expansion of phi2 in lambda2
31.509 * [backup-simplify]: Simplify phi2 into phi2
31.509 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
31.509 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
31.510 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
31.510 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
31.510 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
31.510 * [backup-simplify]: Simplify (- 0) into 0
31.510 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
31.510 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2
31.510 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
31.510 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
31.510 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.510 * [backup-simplify]: Simplify -0.5 into -0.5
31.510 * [taylor]: Taking taylor expansion of phi1 in lambda2
31.510 * [backup-simplify]: Simplify phi1 into phi1
31.510 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
31.510 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
31.510 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
31.510 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
31.510 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
31.511 * [backup-simplify]: Simplify (- 0) into 0
31.511 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
31.511 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2
31.511 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2
31.511 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
31.511 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
31.511 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.511 * [backup-simplify]: Simplify -0.5 into -0.5
31.511 * [taylor]: Taking taylor expansion of phi2 in lambda2
31.511 * [backup-simplify]: Simplify phi2 into phi2
31.511 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
31.511 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
31.511 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
31.511 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
31.511 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
31.511 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
31.511 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2
31.511 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
31.511 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
31.511 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.511 * [backup-simplify]: Simplify -0.5 into -0.5
31.511 * [taylor]: Taking taylor expansion of phi1 in lambda2
31.511 * [backup-simplify]: Simplify phi1 into phi1
31.511 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
31.511 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
31.511 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
31.512 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
31.512 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
31.512 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
31.512 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in lambda2
31.512 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
31.512 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
31.512 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
31.512 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.512 * [backup-simplify]: Simplify -0.5 into -0.5
31.512 * [taylor]: Taking taylor expansion of phi2 in lambda2
31.512 * [backup-simplify]: Simplify phi2 into phi2
31.512 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
31.512 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
31.512 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
31.512 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
31.512 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
31.512 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
31.512 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.512 * [backup-simplify]: Simplify -0.5 into -0.5
31.512 * [taylor]: Taking taylor expansion of phi2 in lambda2
31.512 * [backup-simplify]: Simplify phi2 into phi2
31.512 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
31.512 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
31.512 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
31.512 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
31.512 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
31.512 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
31.512 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.512 * [backup-simplify]: Simplify -0.5 into -0.5
31.512 * [taylor]: Taking taylor expansion of phi1 in lambda2
31.512 * [backup-simplify]: Simplify phi1 into phi1
31.512 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
31.512 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
31.512 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
31.512 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
31.512 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
31.513 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.513 * [backup-simplify]: Simplify -0.5 into -0.5
31.513 * [taylor]: Taking taylor expansion of phi1 in lambda2
31.513 * [backup-simplify]: Simplify phi1 into phi1
31.513 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
31.513 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
31.513 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
31.513 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
31.513 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
31.513 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
31.513 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.513 * [backup-simplify]: Simplify -0.5 into -0.5
31.513 * [taylor]: Taking taylor expansion of phi2 in lambda2
31.513 * [backup-simplify]: Simplify phi2 into phi2
31.513 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
31.513 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
31.513 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
31.513 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
31.513 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
31.513 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
31.513 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.513 * [backup-simplify]: Simplify -0.5 into -0.5
31.513 * [taylor]: Taking taylor expansion of phi2 in lambda2
31.513 * [backup-simplify]: Simplify phi2 into phi2
31.513 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
31.513 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
31.513 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
31.513 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
31.513 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
31.513 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
31.513 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.513 * [backup-simplify]: Simplify -0.5 into -0.5
31.513 * [taylor]: Taking taylor expansion of phi1 in lambda2
31.513 * [backup-simplify]: Simplify phi1 into phi1
31.513 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
31.513 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
31.513 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
31.513 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
31.514 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
31.514 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.514 * [backup-simplify]: Simplify -0.5 into -0.5
31.514 * [taylor]: Taking taylor expansion of phi1 in lambda2
31.514 * [backup-simplify]: Simplify phi1 into phi1
31.514 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
31.514 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
31.514 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
31.514 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
31.514 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
31.514 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
31.514 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
31.514 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
31.515 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
31.515 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
31.515 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
31.515 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
31.515 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
31.515 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
31.515 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
31.516 * [backup-simplify]: Simplify (- 0) into 0
31.516 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
31.516 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
31.516 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
31.516 * [backup-simplify]: Simplify (- 0) into 0
31.516 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
31.516 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
31.516 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
31.516 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
31.516 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
31.517 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
31.517 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
31.517 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
31.517 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
31.517 * [backup-simplify]: Simplify (- 0) into 0
31.517 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
31.517 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
31.517 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
31.517 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
31.517 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
31.518 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
31.518 * [backup-simplify]: Simplify (- 0) into 0
31.518 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
31.518 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
31.518 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
31.518 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
31.518 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
31.518 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
31.518 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
31.519 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
31.519 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
31.520 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
31.522 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)
31.524 * [backup-simplify]: Simplify (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 4)
31.527 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 4)) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)
31.529 * [backup-simplify]: Simplify (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)) into (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))
31.531 * [backup-simplify]: Simplify (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))) into (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)))
31.532 * [backup-simplify]: Simplify (+ 0) into 0
31.532 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
31.533 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
31.533 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.534 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
31.534 * [backup-simplify]: Simplify (- 0) into 0
31.535 * [backup-simplify]: Simplify (+ 0 0) into 0
31.535 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
31.535 * [backup-simplify]: Simplify (+ 0) into 0
31.536 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
31.536 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
31.537 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.537 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
31.538 * [backup-simplify]: Simplify (- 0) into 0
31.538 * [backup-simplify]: Simplify (+ 0 0) into 0
31.538 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
31.539 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
31.539 * [backup-simplify]: Simplify (+ 0) into 0
31.540 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
31.540 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
31.541 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.541 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
31.542 * [backup-simplify]: Simplify (+ 0 0) into 0
31.542 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
31.542 * [backup-simplify]: Simplify (+ 0) into 0
31.543 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
31.543 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
31.544 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.544 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
31.545 * [backup-simplify]: Simplify (+ 0 0) into 0
31.545 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
31.545 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
31.546 * [backup-simplify]: Simplify (+ 0 0) into 0
31.546 * [backup-simplify]: Simplify (+ 0) into 0
31.547 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
31.547 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
31.548 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.548 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
31.548 * [backup-simplify]: Simplify (+ 0 0) into 0
31.549 * [backup-simplify]: Simplify (+ 0) into 0
31.550 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
31.550 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
31.551 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.551 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
31.552 * [backup-simplify]: Simplify (- 0) into 0
31.552 * [backup-simplify]: Simplify (+ 0 0) into 0
31.552 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
31.553 * [backup-simplify]: Simplify (+ 0) into 0
31.553 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
31.553 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
31.554 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.555 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
31.555 * [backup-simplify]: Simplify (- 0) into 0
31.555 * [backup-simplify]: Simplify (+ 0 0) into 0
31.556 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
31.556 * [backup-simplify]: Simplify (+ 0) into 0
31.557 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
31.557 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
31.558 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.558 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
31.558 * [backup-simplify]: Simplify (+ 0 0) into 0
31.559 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
31.559 * [backup-simplify]: Simplify (+ 0) into 0
31.560 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
31.560 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
31.561 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.561 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
31.562 * [backup-simplify]: Simplify (+ 0 0) into 0
31.562 * [backup-simplify]: Simplify (+ 0) into 0
31.563 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
31.563 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
31.564 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.564 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
31.565 * [backup-simplify]: Simplify (- 0) into 0
31.565 * [backup-simplify]: Simplify (+ 0 0) into 0
31.565 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
31.566 * [backup-simplify]: Simplify (+ 0) into 0
31.566 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
31.566 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
31.567 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.568 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
31.568 * [backup-simplify]: Simplify (+ 0 0) into 0
31.568 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
31.569 * [backup-simplify]: Simplify (+ 0) into 0
31.569 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
31.570 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
31.570 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.571 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
31.571 * [backup-simplify]: Simplify (- 0) into 0
31.572 * [backup-simplify]: Simplify (+ 0 0) into 0
31.572 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
31.572 * [backup-simplify]: Simplify (+ 0 0) into 0
31.573 * [backup-simplify]: Simplify (- 0) into 0
31.573 * [backup-simplify]: Simplify (+ 0 0) into 0
31.577 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into 0
31.581 * [backup-simplify]: Simplify (+ (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2) 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2))) into 0
31.585 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 4))) into 0
31.589 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)) (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) into 0
31.592 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) into 0
31.592 * [taylor]: Taking taylor expansion of (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* phi1 (* R (* lambda2 phi2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (+ (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (* phi1 (* lambda2 phi2))))) (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 6) (pow (sin (/ -0.5 phi1)) 6)) (* (pow lambda2 3) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))))) in lambda2
31.592 * [taylor]: Taking taylor expansion of (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* phi1 (* R (* lambda2 phi2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) in lambda2
31.592 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* phi1 (* R (* lambda2 phi2)))) in lambda2
31.592 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2
31.592 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2
31.592 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
31.592 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
31.593 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.593 * [backup-simplify]: Simplify -0.5 into -0.5
31.593 * [taylor]: Taking taylor expansion of phi2 in lambda2
31.593 * [backup-simplify]: Simplify phi2 into phi2
31.593 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
31.593 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
31.593 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
31.593 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
31.593 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
31.593 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
31.593 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2
31.593 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
31.593 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
31.593 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.593 * [backup-simplify]: Simplify -0.5 into -0.5
31.593 * [taylor]: Taking taylor expansion of phi1 in lambda2
31.594 * [backup-simplify]: Simplify phi1 into phi1
31.594 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
31.594 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
31.594 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
31.594 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
31.594 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
31.594 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
31.594 * [taylor]: Taking taylor expansion of (* phi1 (* R (* lambda2 phi2))) in lambda2
31.594 * [taylor]: Taking taylor expansion of phi1 in lambda2
31.594 * [backup-simplify]: Simplify phi1 into phi1
31.594 * [taylor]: Taking taylor expansion of (* R (* lambda2 phi2)) in lambda2
31.594 * [taylor]: Taking taylor expansion of R in lambda2
31.594 * [backup-simplify]: Simplify R into R
31.594 * [taylor]: Taking taylor expansion of (* lambda2 phi2) in lambda2
31.594 * [taylor]: Taking taylor expansion of lambda2 in lambda2
31.594 * [backup-simplify]: Simplify 0 into 0
31.594 * [backup-simplify]: Simplify 1 into 1
31.594 * [taylor]: Taking taylor expansion of phi2 in lambda2
31.594 * [backup-simplify]: Simplify phi2 into phi2
31.595 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
31.595 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
31.595 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
31.595 * [backup-simplify]: Simplify (* 0 phi2) into 0
31.595 * [backup-simplify]: Simplify (* R 0) into 0
31.595 * [backup-simplify]: Simplify (* phi1 0) into 0
31.596 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi2)) into phi2
31.597 * [backup-simplify]: Simplify (+ (* R phi2) (* 0 0)) into (* R phi2)
31.597 * [backup-simplify]: Simplify (+ (* phi1 (* R phi2)) (* 0 0)) into (* phi1 (* R phi2))
31.598 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* phi1 (* R phi2))) into (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* phi1 (* R phi2)))
31.598 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) in lambda2
31.598 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) in lambda2
31.598 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3) in lambda2
31.598 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in lambda2
31.598 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in lambda2
31.598 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2
31.598 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2
31.598 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
31.598 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
31.598 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.598 * [backup-simplify]: Simplify -0.5 into -0.5
31.598 * [taylor]: Taking taylor expansion of phi2 in lambda2
31.598 * [backup-simplify]: Simplify phi2 into phi2
31.598 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
31.598 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
31.598 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
31.599 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
31.599 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
31.599 * [backup-simplify]: Simplify (- 0) into 0
31.599 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
31.599 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2
31.599 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
31.599 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
31.599 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.599 * [backup-simplify]: Simplify -0.5 into -0.5
31.599 * [taylor]: Taking taylor expansion of phi1 in lambda2
31.600 * [backup-simplify]: Simplify phi1 into phi1
31.600 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
31.600 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
31.600 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
31.600 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
31.600 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
31.600 * [backup-simplify]: Simplify (- 0) into 0
31.600 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
31.601 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2
31.601 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2
31.601 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
31.601 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
31.601 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.601 * [backup-simplify]: Simplify -0.5 into -0.5
31.601 * [taylor]: Taking taylor expansion of phi2 in lambda2
31.601 * [backup-simplify]: Simplify phi2 into phi2
31.601 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
31.601 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
31.601 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
31.601 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
31.601 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
31.601 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
31.601 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2
31.601 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
31.601 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
31.601 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.602 * [backup-simplify]: Simplify -0.5 into -0.5
31.602 * [taylor]: Taking taylor expansion of phi1 in lambda2
31.602 * [backup-simplify]: Simplify phi1 into phi1
31.602 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
31.602 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
31.602 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
31.602 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
31.602 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
31.602 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
31.602 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in lambda2
31.602 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
31.602 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
31.602 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
31.602 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.602 * [backup-simplify]: Simplify -0.5 into -0.5
31.602 * [taylor]: Taking taylor expansion of phi2 in lambda2
31.602 * [backup-simplify]: Simplify phi2 into phi2
31.602 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
31.603 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
31.603 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
31.603 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
31.603 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
31.603 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
31.603 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.603 * [backup-simplify]: Simplify -0.5 into -0.5
31.603 * [taylor]: Taking taylor expansion of phi2 in lambda2
31.603 * [backup-simplify]: Simplify phi2 into phi2
31.603 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
31.603 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
31.603 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
31.603 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
31.603 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
31.603 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
31.603 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.603 * [backup-simplify]: Simplify -0.5 into -0.5
31.603 * [taylor]: Taking taylor expansion of phi1 in lambda2
31.603 * [backup-simplify]: Simplify phi1 into phi1
31.603 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
31.603 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
31.604 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
31.604 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
31.604 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
31.604 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.604 * [backup-simplify]: Simplify -0.5 into -0.5
31.604 * [taylor]: Taking taylor expansion of phi1 in lambda2
31.604 * [backup-simplify]: Simplify phi1 into phi1
31.604 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
31.604 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
31.604 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
31.604 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
31.604 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
31.604 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
31.604 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.604 * [backup-simplify]: Simplify -0.5 into -0.5
31.604 * [taylor]: Taking taylor expansion of phi2 in lambda2
31.604 * [backup-simplify]: Simplify phi2 into phi2
31.604 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
31.604 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
31.605 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
31.605 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
31.605 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
31.605 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
31.605 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.605 * [backup-simplify]: Simplify -0.5 into -0.5
31.605 * [taylor]: Taking taylor expansion of phi2 in lambda2
31.605 * [backup-simplify]: Simplify phi2 into phi2
31.605 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
31.605 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
31.605 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
31.605 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
31.605 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
31.605 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
31.605 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.605 * [backup-simplify]: Simplify -0.5 into -0.5
31.605 * [taylor]: Taking taylor expansion of phi1 in lambda2
31.605 * [backup-simplify]: Simplify phi1 into phi1
31.605 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
31.605 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
31.606 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
31.606 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
31.606 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
31.606 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.606 * [backup-simplify]: Simplify -0.5 into -0.5
31.606 * [taylor]: Taking taylor expansion of phi1 in lambda2
31.606 * [backup-simplify]: Simplify phi1 into phi1
31.606 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
31.606 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
31.606 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
31.606 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
31.606 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
31.607 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
31.607 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
31.607 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
31.607 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
31.608 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
31.608 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
31.609 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
31.609 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
31.609 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
31.609 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
31.609 * [backup-simplify]: Simplify (- 0) into 0
31.610 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
31.610 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
31.610 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
31.615 * [backup-simplify]: Simplify (- 0) into 0
31.615 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
31.615 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
31.615 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
31.616 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
31.616 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
31.616 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
31.616 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
31.616 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
31.616 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
31.617 * [backup-simplify]: Simplify (- 0) into 0
31.617 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
31.617 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
31.617 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
31.617 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
31.617 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
31.617 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
31.617 * [backup-simplify]: Simplify (- 0) into 0
31.617 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
31.617 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
31.618 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
31.618 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
31.618 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
31.618 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
31.618 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
31.618 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
31.619 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
31.620 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
31.622 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)
31.624 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)
31.625 * [backup-simplify]: Simplify (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) into (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))
31.626 * [backup-simplify]: Simplify (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) into (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))
31.626 * [backup-simplify]: Simplify (+ 0) into 0
31.627 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
31.627 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
31.627 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.628 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
31.628 * [backup-simplify]: Simplify (- 0) into 0
31.628 * [backup-simplify]: Simplify (+ 0 0) into 0
31.628 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
31.629 * [backup-simplify]: Simplify (+ 0) into 0
31.629 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
31.629 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
31.629 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.630 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
31.630 * [backup-simplify]: Simplify (- 0) into 0
31.630 * [backup-simplify]: Simplify (+ 0 0) into 0
31.630 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
31.631 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
31.631 * [backup-simplify]: Simplify (+ 0) into 0
31.631 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
31.631 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
31.632 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.632 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
31.633 * [backup-simplify]: Simplify (+ 0 0) into 0
31.633 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
31.633 * [backup-simplify]: Simplify (+ 0) into 0
31.633 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
31.633 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
31.634 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.634 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
31.634 * [backup-simplify]: Simplify (+ 0 0) into 0
31.635 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
31.635 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
31.635 * [backup-simplify]: Simplify (+ 0 0) into 0
31.635 * [backup-simplify]: Simplify (+ 0) into 0
31.636 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
31.636 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
31.636 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.637 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
31.637 * [backup-simplify]: Simplify (+ 0 0) into 0
31.637 * [backup-simplify]: Simplify (+ 0) into 0
31.637 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
31.638 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
31.638 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.638 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
31.639 * [backup-simplify]: Simplify (- 0) into 0
31.639 * [backup-simplify]: Simplify (+ 0 0) into 0
31.639 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
31.639 * [backup-simplify]: Simplify (+ 0) into 0
31.640 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
31.640 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
31.640 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.640 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
31.641 * [backup-simplify]: Simplify (- 0) into 0
31.641 * [backup-simplify]: Simplify (+ 0 0) into 0
31.641 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
31.641 * [backup-simplify]: Simplify (+ 0) into 0
31.642 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
31.642 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
31.642 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.643 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
31.643 * [backup-simplify]: Simplify (+ 0 0) into 0
31.643 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
31.643 * [backup-simplify]: Simplify (+ 0) into 0
31.644 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
31.644 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
31.644 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.645 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
31.645 * [backup-simplify]: Simplify (+ 0 0) into 0
31.645 * [backup-simplify]: Simplify (+ 0) into 0
31.645 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
31.646 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
31.646 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.646 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
31.647 * [backup-simplify]: Simplify (- 0) into 0
31.647 * [backup-simplify]: Simplify (+ 0 0) into 0
31.647 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
31.647 * [backup-simplify]: Simplify (+ 0) into 0
31.648 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
31.648 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
31.648 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.648 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
31.649 * [backup-simplify]: Simplify (+ 0 0) into 0
31.649 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
31.649 * [backup-simplify]: Simplify (+ 0) into 0
31.649 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
31.650 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
31.650 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.650 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
31.651 * [backup-simplify]: Simplify (- 0) into 0
31.651 * [backup-simplify]: Simplify (+ 0 0) into 0
31.651 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
31.651 * [backup-simplify]: Simplify (+ 0 0) into 0
31.651 * [backup-simplify]: Simplify (- 0) into 0
31.652 * [backup-simplify]: Simplify (+ 0 0) into 0
31.654 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into 0
31.656 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2))) into 0
31.658 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
31.659 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
31.659 * [taylor]: Taking taylor expansion of (+ (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (* phi1 (* lambda2 phi2))))) (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 6) (pow (sin (/ -0.5 phi1)) 6)) (* (pow lambda2 3) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)))))) in lambda2
31.659 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (* phi1 (* lambda2 phi2))))) in lambda2
31.659 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) in lambda2
31.659 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) in lambda2
31.659 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3) in lambda2
31.659 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in lambda2
31.659 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in lambda2
31.659 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2
31.660 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2
31.660 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
31.660 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
31.660 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.660 * [backup-simplify]: Simplify -0.5 into -0.5
31.660 * [taylor]: Taking taylor expansion of phi2 in lambda2
31.660 * [backup-simplify]: Simplify phi2 into phi2
31.660 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
31.660 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
31.660 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
31.660 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
31.660 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
31.661 * [backup-simplify]: Simplify (- 0) into 0
31.661 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
31.661 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2
31.661 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
31.661 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
31.661 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.661 * [backup-simplify]: Simplify -0.5 into -0.5
31.661 * [taylor]: Taking taylor expansion of phi1 in lambda2
31.661 * [backup-simplify]: Simplify phi1 into phi1
31.661 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
31.661 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
31.661 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
31.661 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
31.661 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
31.661 * [backup-simplify]: Simplify (- 0) into 0
31.661 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
31.661 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2
31.661 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2
31.661 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
31.661 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
31.661 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.661 * [backup-simplify]: Simplify -0.5 into -0.5
31.661 * [taylor]: Taking taylor expansion of phi2 in lambda2
31.661 * [backup-simplify]: Simplify phi2 into phi2
31.661 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
31.662 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
31.662 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
31.662 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
31.662 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
31.662 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
31.662 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2
31.662 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
31.662 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
31.662 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.662 * [backup-simplify]: Simplify -0.5 into -0.5
31.662 * [taylor]: Taking taylor expansion of phi1 in lambda2
31.662 * [backup-simplify]: Simplify phi1 into phi1
31.662 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
31.662 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
31.662 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
31.662 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
31.662 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
31.662 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
31.662 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in lambda2
31.662 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
31.662 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
31.662 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
31.662 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.662 * [backup-simplify]: Simplify -0.5 into -0.5
31.662 * [taylor]: Taking taylor expansion of phi2 in lambda2
31.662 * [backup-simplify]: Simplify phi2 into phi2
31.662 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
31.662 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
31.663 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
31.663 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
31.663 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
31.663 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
31.663 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.663 * [backup-simplify]: Simplify -0.5 into -0.5
31.663 * [taylor]: Taking taylor expansion of phi2 in lambda2
31.663 * [backup-simplify]: Simplify phi2 into phi2
31.663 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
31.663 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
31.663 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
31.663 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
31.663 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
31.663 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
31.663 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.663 * [backup-simplify]: Simplify -0.5 into -0.5
31.663 * [taylor]: Taking taylor expansion of phi1 in lambda2
31.663 * [backup-simplify]: Simplify phi1 into phi1
31.663 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
31.663 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
31.663 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
31.663 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
31.663 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
31.663 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.663 * [backup-simplify]: Simplify -0.5 into -0.5
31.663 * [taylor]: Taking taylor expansion of phi1 in lambda2
31.663 * [backup-simplify]: Simplify phi1 into phi1
31.663 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
31.663 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
31.663 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
31.663 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
31.663 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
31.663 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
31.663 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.663 * [backup-simplify]: Simplify -0.5 into -0.5
31.663 * [taylor]: Taking taylor expansion of phi2 in lambda2
31.663 * [backup-simplify]: Simplify phi2 into phi2
31.663 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
31.663 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
31.664 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
31.664 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
31.664 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
31.664 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
31.664 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.664 * [backup-simplify]: Simplify -0.5 into -0.5
31.664 * [taylor]: Taking taylor expansion of phi2 in lambda2
31.664 * [backup-simplify]: Simplify phi2 into phi2
31.664 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
31.664 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
31.664 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
31.664 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
31.664 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
31.664 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
31.664 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.664 * [backup-simplify]: Simplify -0.5 into -0.5
31.664 * [taylor]: Taking taylor expansion of phi1 in lambda2
31.664 * [backup-simplify]: Simplify phi1 into phi1
31.664 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
31.664 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
31.664 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
31.664 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
31.664 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
31.664 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.664 * [backup-simplify]: Simplify -0.5 into -0.5
31.664 * [taylor]: Taking taylor expansion of phi1 in lambda2
31.664 * [backup-simplify]: Simplify phi1 into phi1
31.664 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
31.664 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
31.664 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
31.664 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
31.665 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
31.665 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
31.665 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
31.665 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
31.665 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
31.666 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
31.666 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
31.666 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
31.666 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
31.666 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
31.666 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
31.666 * [backup-simplify]: Simplify (- 0) into 0
31.666 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
31.666 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
31.667 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
31.667 * [backup-simplify]: Simplify (- 0) into 0
31.667 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
31.667 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
31.667 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
31.667 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
31.667 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
31.667 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
31.667 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
31.667 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
31.668 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
31.668 * [backup-simplify]: Simplify (- 0) into 0
31.668 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
31.668 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
31.668 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
31.668 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
31.668 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
31.668 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
31.668 * [backup-simplify]: Simplify (- 0) into 0
31.668 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
31.669 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
31.669 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
31.669 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
31.669 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
31.669 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
31.669 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
31.669 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
31.670 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
31.671 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
31.673 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)
31.675 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)
31.676 * [backup-simplify]: Simplify (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) into (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))
31.677 * [backup-simplify]: Simplify (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) into (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))
31.677 * [backup-simplify]: Simplify (+ 0) into 0
31.678 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
31.678 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
31.678 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.679 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
31.679 * [backup-simplify]: Simplify (- 0) into 0
31.679 * [backup-simplify]: Simplify (+ 0 0) into 0
31.679 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
31.680 * [backup-simplify]: Simplify (+ 0) into 0
31.680 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
31.680 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
31.681 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.681 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
31.681 * [backup-simplify]: Simplify (- 0) into 0
31.681 * [backup-simplify]: Simplify (+ 0 0) into 0
31.682 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
31.682 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
31.682 * [backup-simplify]: Simplify (+ 0) into 0
31.682 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
31.682 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
31.683 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.683 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
31.684 * [backup-simplify]: Simplify (+ 0 0) into 0
31.684 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
31.684 * [backup-simplify]: Simplify (+ 0) into 0
31.684 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
31.684 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
31.685 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.685 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
31.685 * [backup-simplify]: Simplify (+ 0 0) into 0
31.685 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
31.686 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
31.686 * [backup-simplify]: Simplify (+ 0 0) into 0
31.686 * [backup-simplify]: Simplify (+ 0) into 0
31.687 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
31.687 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
31.687 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.687 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
31.688 * [backup-simplify]: Simplify (+ 0 0) into 0
31.688 * [backup-simplify]: Simplify (+ 0) into 0
31.688 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
31.688 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
31.689 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.689 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
31.689 * [backup-simplify]: Simplify (- 0) into 0
31.690 * [backup-simplify]: Simplify (+ 0 0) into 0
31.690 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
31.690 * [backup-simplify]: Simplify (+ 0) into 0
31.690 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
31.690 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
31.691 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.691 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
31.691 * [backup-simplify]: Simplify (- 0) into 0
31.692 * [backup-simplify]: Simplify (+ 0 0) into 0
31.692 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
31.692 * [backup-simplify]: Simplify (+ 0) into 0
31.692 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
31.693 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
31.693 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.693 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
31.694 * [backup-simplify]: Simplify (+ 0 0) into 0
31.694 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
31.694 * [backup-simplify]: Simplify (+ 0) into 0
31.694 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
31.695 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
31.695 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.695 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
31.696 * [backup-simplify]: Simplify (+ 0 0) into 0
31.696 * [backup-simplify]: Simplify (+ 0) into 0
31.696 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
31.696 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
31.697 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.697 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
31.697 * [backup-simplify]: Simplify (- 0) into 0
31.697 * [backup-simplify]: Simplify (+ 0 0) into 0
31.698 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
31.698 * [backup-simplify]: Simplify (+ 0) into 0
31.698 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
31.698 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
31.699 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.699 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
31.699 * [backup-simplify]: Simplify (+ 0 0) into 0
31.699 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
31.700 * [backup-simplify]: Simplify (+ 0) into 0
31.700 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
31.700 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
31.701 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.701 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
31.701 * [backup-simplify]: Simplify (- 0) into 0
31.701 * [backup-simplify]: Simplify (+ 0 0) into 0
31.702 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
31.702 * [backup-simplify]: Simplify (+ 0 0) into 0
31.702 * [backup-simplify]: Simplify (- 0) into 0
31.702 * [backup-simplify]: Simplify (+ 0 0) into 0
31.704 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into 0
31.706 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2))) into 0
31.709 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
31.710 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
31.710 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (* phi1 (* lambda2 phi2)))) in lambda2
31.711 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2
31.711 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2
31.711 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
31.711 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
31.711 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.711 * [backup-simplify]: Simplify -0.5 into -0.5
31.711 * [taylor]: Taking taylor expansion of phi2 in lambda2
31.711 * [backup-simplify]: Simplify phi2 into phi2
31.711 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
31.711 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
31.711 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
31.711 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
31.711 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
31.715 * [backup-simplify]: Simplify (- 0) into 0
31.715 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
31.715 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2
31.715 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
31.715 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
31.715 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.715 * [backup-simplify]: Simplify -0.5 into -0.5
31.715 * [taylor]: Taking taylor expansion of phi1 in lambda2
31.715 * [backup-simplify]: Simplify phi1 into phi1
31.715 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
31.715 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
31.715 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
31.715 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
31.716 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
31.716 * [backup-simplify]: Simplify (- 0) into 0
31.716 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
31.716 * [taylor]: Taking taylor expansion of (* R (* phi1 (* lambda2 phi2))) in lambda2
31.716 * [taylor]: Taking taylor expansion of R in lambda2
31.716 * [backup-simplify]: Simplify R into R
31.716 * [taylor]: Taking taylor expansion of (* phi1 (* lambda2 phi2)) in lambda2
31.716 * [taylor]: Taking taylor expansion of phi1 in lambda2
31.716 * [backup-simplify]: Simplify phi1 into phi1
31.716 * [taylor]: Taking taylor expansion of (* lambda2 phi2) in lambda2
31.716 * [taylor]: Taking taylor expansion of lambda2 in lambda2
31.716 * [backup-simplify]: Simplify 0 into 0
31.716 * [backup-simplify]: Simplify 1 into 1
31.716 * [taylor]: Taking taylor expansion of phi2 in lambda2
31.716 * [backup-simplify]: Simplify phi2 into phi2
31.716 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
31.717 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
31.717 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
31.717 * [backup-simplify]: Simplify (* 0 phi2) into 0
31.717 * [backup-simplify]: Simplify (* phi1 0) into 0
31.717 * [backup-simplify]: Simplify (* R 0) into 0
31.717 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi2)) into phi2
31.718 * [backup-simplify]: Simplify (+ (* phi1 phi2) (* 0 0)) into (* phi1 phi2)
31.718 * [backup-simplify]: Simplify (+ (* R (* phi1 phi2)) (* 0 0)) into (* R (* phi1 phi2))
31.718 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (* phi1 phi2))) into (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (* phi1 phi2)))
31.718 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 6) (pow (sin (/ -0.5 phi1)) 6)) (* (pow lambda2 3) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) in lambda2
31.718 * [taylor]: Taking taylor expansion of 1/2 in lambda2
31.718 * [backup-simplify]: Simplify 1/2 into 1/2
31.718 * [taylor]: Taking taylor expansion of (* (/ (* (pow (sin (/ -0.5 phi2)) 6) (pow (sin (/ -0.5 phi1)) 6)) (* (pow lambda2 3) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)))) in lambda2
31.718 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 6) (pow (sin (/ -0.5 phi1)) 6)) (* (pow lambda2 3) R)) in lambda2
31.718 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 6) (pow (sin (/ -0.5 phi1)) 6)) in lambda2
31.718 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 6) in lambda2
31.718 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
31.718 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
31.718 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.718 * [backup-simplify]: Simplify -0.5 into -0.5
31.718 * [taylor]: Taking taylor expansion of phi2 in lambda2
31.718 * [backup-simplify]: Simplify phi2 into phi2
31.718 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
31.719 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
31.719 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
31.719 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
31.719 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
31.719 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
31.719 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 6) in lambda2
31.719 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
31.719 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
31.719 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.719 * [backup-simplify]: Simplify -0.5 into -0.5
31.719 * [taylor]: Taking taylor expansion of phi1 in lambda2
31.719 * [backup-simplify]: Simplify phi1 into phi1
31.719 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
31.719 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
31.719 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
31.719 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
31.719 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
31.719 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
31.719 * [taylor]: Taking taylor expansion of (* (pow lambda2 3) R) in lambda2
31.719 * [taylor]: Taking taylor expansion of (pow lambda2 3) in lambda2
31.719 * [taylor]: Taking taylor expansion of lambda2 in lambda2
31.719 * [backup-simplify]: Simplify 0 into 0
31.719 * [backup-simplify]: Simplify 1 into 1
31.719 * [taylor]: Taking taylor expansion of R in lambda2
31.719 * [backup-simplify]: Simplify R into R
31.719 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
31.720 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (pow (sin (/ -0.5 phi2)) 2)) into (pow (sin (/ -0.5 phi2)) 3)
31.720 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 3) (pow (sin (/ -0.5 phi2)) 3)) into (pow (sin (/ -0.5 phi2)) 6)
31.720 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
31.720 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 2)) into (pow (sin (/ -0.5 phi1)) 3)
31.720 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi1)) 3) (pow (sin (/ -0.5 phi1)) 3)) into (pow (sin (/ -0.5 phi1)) 6)
31.720 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 6) (pow (sin (/ -0.5 phi1)) 6)) into (* (pow (sin (/ -0.5 phi2)) 6) (pow (sin (/ -0.5 phi1)) 6))
31.721 * [backup-simplify]: Simplify (* 1 1) into 1
31.721 * [backup-simplify]: Simplify (* 1 1) into 1
31.721 * [backup-simplify]: Simplify (* 1 R) into R
31.721 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 6) (pow (sin (/ -0.5 phi1)) 6)) R) into (/ (* (pow (sin (/ -0.5 phi2)) 6) (pow (sin (/ -0.5 phi1)) 6)) R)
31.721 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))) in lambda2
31.721 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)) in lambda2
31.721 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5) in lambda2
31.722 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in lambda2
31.722 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in lambda2
31.722 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2
31.722 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2
31.722 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
31.722 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
31.722 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.722 * [backup-simplify]: Simplify -0.5 into -0.5
31.722 * [taylor]: Taking taylor expansion of phi2 in lambda2
31.722 * [backup-simplify]: Simplify phi2 into phi2
31.722 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
31.722 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
31.722 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
31.722 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
31.722 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
31.722 * [backup-simplify]: Simplify (- 0) into 0
31.722 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
31.722 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2
31.722 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
31.722 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
31.722 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.722 * [backup-simplify]: Simplify -0.5 into -0.5
31.722 * [taylor]: Taking taylor expansion of phi1 in lambda2
31.722 * [backup-simplify]: Simplify phi1 into phi1
31.722 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
31.723 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
31.723 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
31.723 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
31.723 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
31.723 * [backup-simplify]: Simplify (- 0) into 0
31.723 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
31.723 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2
31.723 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2
31.723 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
31.723 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
31.723 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.723 * [backup-simplify]: Simplify -0.5 into -0.5
31.723 * [taylor]: Taking taylor expansion of phi2 in lambda2
31.723 * [backup-simplify]: Simplify phi2 into phi2
31.723 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
31.723 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
31.723 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
31.723 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
31.723 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
31.724 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
31.724 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2
31.724 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
31.724 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
31.724 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.724 * [backup-simplify]: Simplify -0.5 into -0.5
31.724 * [taylor]: Taking taylor expansion of phi1 in lambda2
31.724 * [backup-simplify]: Simplify phi1 into phi1
31.724 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
31.724 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
31.724 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
31.724 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
31.724 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
31.724 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
31.724 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in lambda2
31.724 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
31.724 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
31.724 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
31.724 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.724 * [backup-simplify]: Simplify -0.5 into -0.5
31.724 * [taylor]: Taking taylor expansion of phi2 in lambda2
31.724 * [backup-simplify]: Simplify phi2 into phi2
31.724 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
31.724 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
31.724 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
31.724 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
31.724 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
31.724 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
31.724 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.724 * [backup-simplify]: Simplify -0.5 into -0.5
31.724 * [taylor]: Taking taylor expansion of phi2 in lambda2
31.724 * [backup-simplify]: Simplify phi2 into phi2
31.724 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
31.725 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
31.725 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
31.725 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
31.725 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
31.725 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
31.725 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.725 * [backup-simplify]: Simplify -0.5 into -0.5
31.725 * [taylor]: Taking taylor expansion of phi1 in lambda2
31.725 * [backup-simplify]: Simplify phi1 into phi1
31.725 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
31.725 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
31.725 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
31.725 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
31.725 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
31.725 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.725 * [backup-simplify]: Simplify -0.5 into -0.5
31.725 * [taylor]: Taking taylor expansion of phi1 in lambda2
31.725 * [backup-simplify]: Simplify phi1 into phi1
31.725 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
31.725 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
31.725 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
31.725 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
31.725 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
31.725 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
31.725 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.725 * [backup-simplify]: Simplify -0.5 into -0.5
31.725 * [taylor]: Taking taylor expansion of phi2 in lambda2
31.725 * [backup-simplify]: Simplify phi2 into phi2
31.725 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
31.725 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
31.725 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
31.725 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
31.725 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
31.725 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
31.726 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.726 * [backup-simplify]: Simplify -0.5 into -0.5
31.726 * [taylor]: Taking taylor expansion of phi2 in lambda2
31.726 * [backup-simplify]: Simplify phi2 into phi2
31.726 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
31.726 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
31.726 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
31.726 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
31.726 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
31.726 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
31.726 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.726 * [backup-simplify]: Simplify -0.5 into -0.5
31.726 * [taylor]: Taking taylor expansion of phi1 in lambda2
31.726 * [backup-simplify]: Simplify phi1 into phi1
31.726 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
31.726 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
31.726 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
31.726 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
31.726 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
31.726 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.726 * [backup-simplify]: Simplify -0.5 into -0.5
31.726 * [taylor]: Taking taylor expansion of phi1 in lambda2
31.727 * [backup-simplify]: Simplify phi1 into phi1
31.727 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
31.727 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
31.727 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
31.727 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
31.727 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
31.728 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
31.728 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
31.728 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
31.728 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
31.729 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
31.729 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
31.729 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
31.729 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
31.729 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
31.730 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
31.730 * [backup-simplify]: Simplify (- 0) into 0
31.730 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
31.730 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
31.731 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
31.731 * [backup-simplify]: Simplify (- 0) into 0
31.731 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
31.731 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
31.731 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
31.732 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
31.732 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
31.732 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
31.732 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
31.732 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
31.732 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
31.733 * [backup-simplify]: Simplify (- 0) into 0
31.733 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
31.733 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
31.733 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
31.734 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
31.734 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
31.734 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
31.734 * [backup-simplify]: Simplify (- 0) into 0
31.734 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
31.735 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
31.735 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
31.735 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
31.735 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
31.735 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
31.736 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
31.736 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
31.737 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
31.739 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
31.744 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)
31.749 * [backup-simplify]: Simplify (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 4)
31.753 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 4)) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)
31.755 * [backup-simplify]: Simplify (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)) into (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))
31.757 * [backup-simplify]: Simplify (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))) into (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)))
31.758 * [backup-simplify]: Simplify (+ 0) into 0
31.759 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
31.759 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
31.760 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.760 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
31.761 * [backup-simplify]: Simplify (- 0) into 0
31.761 * [backup-simplify]: Simplify (+ 0 0) into 0
31.762 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
31.762 * [backup-simplify]: Simplify (+ 0) into 0
31.762 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
31.763 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
31.763 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.764 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
31.764 * [backup-simplify]: Simplify (- 0) into 0
31.765 * [backup-simplify]: Simplify (+ 0 0) into 0
31.765 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
31.765 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
31.766 * [backup-simplify]: Simplify (+ 0) into 0
31.766 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
31.766 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
31.767 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.767 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
31.767 * [backup-simplify]: Simplify (+ 0 0) into 0
31.767 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
31.767 * [backup-simplify]: Simplify (+ 0) into 0
31.768 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
31.768 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
31.768 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.769 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
31.769 * [backup-simplify]: Simplify (+ 0 0) into 0
31.769 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
31.769 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
31.770 * [backup-simplify]: Simplify (+ 0 0) into 0
31.770 * [backup-simplify]: Simplify (+ 0) into 0
31.770 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
31.770 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
31.771 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.771 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
31.771 * [backup-simplify]: Simplify (+ 0 0) into 0
31.772 * [backup-simplify]: Simplify (+ 0) into 0
31.772 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
31.772 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
31.772 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.773 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
31.773 * [backup-simplify]: Simplify (- 0) into 0
31.773 * [backup-simplify]: Simplify (+ 0 0) into 0
31.773 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
31.774 * [backup-simplify]: Simplify (+ 0) into 0
31.774 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
31.774 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
31.775 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.775 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
31.775 * [backup-simplify]: Simplify (- 0) into 0
31.776 * [backup-simplify]: Simplify (+ 0 0) into 0
31.776 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
31.776 * [backup-simplify]: Simplify (+ 0) into 0
31.777 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
31.777 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
31.779 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.779 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
31.779 * [backup-simplify]: Simplify (+ 0 0) into 0
31.780 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
31.780 * [backup-simplify]: Simplify (+ 0) into 0
31.780 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
31.780 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
31.781 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.781 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
31.781 * [backup-simplify]: Simplify (+ 0 0) into 0
31.782 * [backup-simplify]: Simplify (+ 0) into 0
31.782 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
31.782 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
31.782 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.783 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
31.783 * [backup-simplify]: Simplify (- 0) into 0
31.783 * [backup-simplify]: Simplify (+ 0 0) into 0
31.783 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
31.784 * [backup-simplify]: Simplify (+ 0) into 0
31.784 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
31.784 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
31.784 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.785 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
31.785 * [backup-simplify]: Simplify (+ 0 0) into 0
31.785 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
31.785 * [backup-simplify]: Simplify (+ 0) into 0
31.786 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
31.786 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
31.786 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.787 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
31.787 * [backup-simplify]: Simplify (- 0) into 0
31.787 * [backup-simplify]: Simplify (+ 0 0) into 0
31.787 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
31.788 * [backup-simplify]: Simplify (+ 0 0) into 0
31.788 * [backup-simplify]: Simplify (- 0) into 0
31.788 * [backup-simplify]: Simplify (+ 0 0) into 0
31.790 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into 0
31.792 * [backup-simplify]: Simplify (+ (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2) 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2))) into 0
31.794 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 4))) into 0
31.796 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)) (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) into 0
31.798 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) into 0
31.798 * [taylor]: Taking taylor expansion of (+ (* 10 (* (/ (* (pow (sin (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (pow (sin (/ -0.5 phi1)) 3)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* lambda2 (* R (pow phi2 2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) (* (pow lambda2 3) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow phi1 2) (* lambda2 R))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 3 (* (/ (* (pow (sin (/ -0.5 phi2)) 5) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 5)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) (* (pow lambda2 3) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* lambda2 (* R (pow phi2 2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 3 (* (/ (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 5) (* (pow (cos (/ -0.5 phi1)) 5) (sin (/ -0.5 phi1))))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) (+ (* 3 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (* lambda2 (pow phi1 2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (* lambda2 (* phi1 phi2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))))))))))))) in lambda2
31.798 * [taylor]: Taking taylor expansion of (* 10 (* (/ (* (pow (sin (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (pow (sin (/ -0.5 phi1)) 3)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) in lambda2
31.798 * [taylor]: Taking taylor expansion of 10 in lambda2
31.798 * [backup-simplify]: Simplify 10 into 10
31.798 * [taylor]: Taking taylor expansion of (* (/ (* (pow (sin (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (pow (sin (/ -0.5 phi1)) 3)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)))) in lambda2
31.798 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (pow (sin (/ -0.5 phi1)) 3)))) (* R (pow lambda2 3))) in lambda2
31.798 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (pow (sin (/ -0.5 phi1)) 3)))) in lambda2
31.798 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 3) in lambda2
31.798 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
31.798 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
31.798 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.798 * [backup-simplify]: Simplify -0.5 into -0.5
31.798 * [taylor]: Taking taylor expansion of phi2 in lambda2
31.798 * [backup-simplify]: Simplify phi2 into phi2
31.798 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
31.798 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
31.798 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
31.799 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
31.799 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
31.799 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
31.799 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (pow (sin (/ -0.5 phi1)) 3))) in lambda2
31.799 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 3) in lambda2
31.799 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
31.799 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
31.799 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.799 * [backup-simplify]: Simplify -0.5 into -0.5
31.799 * [taylor]: Taking taylor expansion of phi2 in lambda2
31.799 * [backup-simplify]: Simplify phi2 into phi2
31.799 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
31.799 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
31.799 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
31.799 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
31.799 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
31.800 * [backup-simplify]: Simplify (- 0) into 0
31.800 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
31.800 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi1)) 3) (pow (sin (/ -0.5 phi1)) 3)) in lambda2
31.800 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 3) in lambda2
31.800 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
31.800 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
31.800 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.800 * [backup-simplify]: Simplify -0.5 into -0.5
31.800 * [taylor]: Taking taylor expansion of phi1 in lambda2
31.800 * [backup-simplify]: Simplify phi1 into phi1
31.800 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
31.800 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
31.800 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
31.800 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
31.800 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
31.800 * [backup-simplify]: Simplify (- 0) into 0
31.800 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
31.800 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 3) in lambda2
31.800 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
31.800 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
31.801 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.801 * [backup-simplify]: Simplify -0.5 into -0.5
31.801 * [taylor]: Taking taylor expansion of phi1 in lambda2
31.801 * [backup-simplify]: Simplify phi1 into phi1
31.801 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
31.801 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
31.801 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
31.801 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
31.801 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
31.801 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
31.801 * [taylor]: Taking taylor expansion of (* R (pow lambda2 3)) in lambda2
31.801 * [taylor]: Taking taylor expansion of R in lambda2
31.801 * [backup-simplify]: Simplify R into R
31.801 * [taylor]: Taking taylor expansion of (pow lambda2 3) in lambda2
31.801 * [taylor]: Taking taylor expansion of lambda2 in lambda2
31.801 * [backup-simplify]: Simplify 0 into 0
31.801 * [backup-simplify]: Simplify 1 into 1
31.801 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
31.801 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (pow (sin (/ -0.5 phi2)) 2)) into (pow (sin (/ -0.5 phi2)) 3)
31.801 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
31.802 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (pow (cos (/ -0.5 phi2)) 2)) into (pow (cos (/ -0.5 phi2)) 3)
31.802 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
31.802 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (pow (cos (/ -0.5 phi1)) 2)) into (pow (cos (/ -0.5 phi1)) 3)
31.802 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
31.802 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 2)) into (pow (sin (/ -0.5 phi1)) 3)
31.803 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi1)) 3) (pow (sin (/ -0.5 phi1)) 3)) into (* (pow (cos (/ -0.5 phi1)) 3) (pow (sin (/ -0.5 phi1)) 3))
31.803 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (pow (sin (/ -0.5 phi1)) 3))) into (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (pow (sin (/ -0.5 phi1)) 3)))
31.804 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (pow (sin (/ -0.5 phi1)) 3)))) into (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (sin (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (pow (sin (/ -0.5 phi1)) 3))))
31.804 * [backup-simplify]: Simplify (* 1 1) into 1
31.805 * [backup-simplify]: Simplify (* 1 1) into 1
31.805 * [backup-simplify]: Simplify (* R 1) into R
31.805 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (sin (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (pow (sin (/ -0.5 phi1)) 3)))) R) into (/ (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (sin (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (pow (sin (/ -0.5 phi1)) 3)))) R)
31.805 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))) in lambda2
31.806 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)) in lambda2
31.806 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5) in lambda2
31.806 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in lambda2
31.806 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in lambda2
31.806 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2
31.806 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2
31.806 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
31.806 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
31.806 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.806 * [backup-simplify]: Simplify -0.5 into -0.5
31.806 * [taylor]: Taking taylor expansion of phi2 in lambda2
31.806 * [backup-simplify]: Simplify phi2 into phi2
31.806 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
31.806 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
31.806 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
31.806 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
31.806 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
31.807 * [backup-simplify]: Simplify (- 0) into 0
31.807 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
31.807 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2
31.807 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
31.807 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
31.807 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.807 * [backup-simplify]: Simplify -0.5 into -0.5
31.807 * [taylor]: Taking taylor expansion of phi1 in lambda2
31.807 * [backup-simplify]: Simplify phi1 into phi1
31.807 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
31.807 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
31.807 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
31.807 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
31.807 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
31.808 * [backup-simplify]: Simplify (- 0) into 0
31.808 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
31.808 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2
31.808 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2
31.808 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
31.808 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
31.808 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.808 * [backup-simplify]: Simplify -0.5 into -0.5
31.808 * [taylor]: Taking taylor expansion of phi2 in lambda2
31.808 * [backup-simplify]: Simplify phi2 into phi2
31.808 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
31.808 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
31.808 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
31.808 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
31.808 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
31.809 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
31.809 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2
31.809 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
31.809 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
31.809 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.809 * [backup-simplify]: Simplify -0.5 into -0.5
31.809 * [taylor]: Taking taylor expansion of phi1 in lambda2
31.809 * [backup-simplify]: Simplify phi1 into phi1
31.809 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
31.809 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
31.809 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
31.809 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
31.809 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
31.809 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
31.809 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in lambda2
31.809 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
31.809 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
31.809 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
31.809 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.809 * [backup-simplify]: Simplify -0.5 into -0.5
31.809 * [taylor]: Taking taylor expansion of phi2 in lambda2
31.810 * [backup-simplify]: Simplify phi2 into phi2
31.810 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
31.810 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
31.810 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
31.810 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
31.810 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
31.810 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
31.810 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.810 * [backup-simplify]: Simplify -0.5 into -0.5
31.810 * [taylor]: Taking taylor expansion of phi2 in lambda2
31.810 * [backup-simplify]: Simplify phi2 into phi2
31.810 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
31.810 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
31.810 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
31.810 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
31.810 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
31.810 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
31.810 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.810 * [backup-simplify]: Simplify -0.5 into -0.5
31.810 * [taylor]: Taking taylor expansion of phi1 in lambda2
31.810 * [backup-simplify]: Simplify phi1 into phi1
31.810 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
31.810 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
31.811 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
31.811 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
31.811 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
31.811 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.811 * [backup-simplify]: Simplify -0.5 into -0.5
31.811 * [taylor]: Taking taylor expansion of phi1 in lambda2
31.811 * [backup-simplify]: Simplify phi1 into phi1
31.811 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
31.811 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
31.811 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
31.811 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
31.811 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
31.811 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
31.811 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.811 * [backup-simplify]: Simplify -0.5 into -0.5
31.811 * [taylor]: Taking taylor expansion of phi2 in lambda2
31.811 * [backup-simplify]: Simplify phi2 into phi2
31.811 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
31.811 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
31.811 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
31.811 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
31.811 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
31.811 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
31.811 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.811 * [backup-simplify]: Simplify -0.5 into -0.5
31.812 * [taylor]: Taking taylor expansion of phi2 in lambda2
31.812 * [backup-simplify]: Simplify phi2 into phi2
31.812 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
31.812 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
31.812 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
31.812 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
31.812 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
31.812 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
31.812 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.812 * [backup-simplify]: Simplify -0.5 into -0.5
31.812 * [taylor]: Taking taylor expansion of phi1 in lambda2
31.812 * [backup-simplify]: Simplify phi1 into phi1
31.812 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
31.812 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
31.812 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
31.812 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
31.812 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
31.812 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.812 * [backup-simplify]: Simplify -0.5 into -0.5
31.812 * [taylor]: Taking taylor expansion of phi1 in lambda2
31.812 * [backup-simplify]: Simplify phi1 into phi1
31.812 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
31.812 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
31.813 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
31.813 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
31.813 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
31.813 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
31.813 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
31.814 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
31.814 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
31.815 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
31.815 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
31.815 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
31.815 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
31.815 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
31.815 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
31.816 * [backup-simplify]: Simplify (- 0) into 0
31.816 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
31.816 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
31.816 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
31.817 * [backup-simplify]: Simplify (- 0) into 0
31.817 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
31.817 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
31.817 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
31.817 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
31.817 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
31.818 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
31.818 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
31.818 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
31.818 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
31.818 * [backup-simplify]: Simplify (- 0) into 0
31.819 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
31.819 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
31.819 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
31.819 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
31.819 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
31.819 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
31.820 * [backup-simplify]: Simplify (- 0) into 0
31.820 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
31.820 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
31.820 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
31.820 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
31.820 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
31.820 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
31.821 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
31.822 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
31.823 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
31.825 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
31.830 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)
31.834 * [backup-simplify]: Simplify (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 4)
31.838 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 4)) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)
31.840 * [backup-simplify]: Simplify (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)) into (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))
31.842 * [backup-simplify]: Simplify (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))) into (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)))
31.843 * [backup-simplify]: Simplify (+ 0) into 0
31.843 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
31.843 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
31.844 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.845 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
31.845 * [backup-simplify]: Simplify (- 0) into 0
31.845 * [backup-simplify]: Simplify (+ 0 0) into 0
31.845 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
31.846 * [backup-simplify]: Simplify (+ 0) into 0
31.846 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
31.847 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
31.847 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.848 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
31.848 * [backup-simplify]: Simplify (- 0) into 0
31.849 * [backup-simplify]: Simplify (+ 0 0) into 0
31.849 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
31.849 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
31.850 * [backup-simplify]: Simplify (+ 0) into 0
31.850 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
31.851 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
31.851 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.852 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
31.852 * [backup-simplify]: Simplify (+ 0 0) into 0
31.852 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
31.853 * [backup-simplify]: Simplify (+ 0) into 0
31.853 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
31.854 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
31.854 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.855 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
31.855 * [backup-simplify]: Simplify (+ 0 0) into 0
31.855 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
31.856 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
31.856 * [backup-simplify]: Simplify (+ 0 0) into 0
31.857 * [backup-simplify]: Simplify (+ 0) into 0
31.857 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
31.857 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
31.858 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.858 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
31.858 * [backup-simplify]: Simplify (+ 0 0) into 0
31.859 * [backup-simplify]: Simplify (+ 0) into 0
31.859 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
31.859 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
31.859 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.860 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
31.860 * [backup-simplify]: Simplify (- 0) into 0
31.860 * [backup-simplify]: Simplify (+ 0 0) into 0
31.860 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
31.861 * [backup-simplify]: Simplify (+ 0) into 0
31.861 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
31.861 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
31.865 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.866 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
31.866 * [backup-simplify]: Simplify (- 0) into 0
31.866 * [backup-simplify]: Simplify (+ 0 0) into 0
31.866 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
31.867 * [backup-simplify]: Simplify (+ 0) into 0
31.867 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
31.867 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
31.867 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.868 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
31.868 * [backup-simplify]: Simplify (+ 0 0) into 0
31.868 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
31.868 * [backup-simplify]: Simplify (+ 0) into 0
31.869 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
31.869 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
31.869 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.870 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
31.870 * [backup-simplify]: Simplify (+ 0 0) into 0
31.870 * [backup-simplify]: Simplify (+ 0) into 0
31.870 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
31.870 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
31.871 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.871 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
31.871 * [backup-simplify]: Simplify (- 0) into 0
31.872 * [backup-simplify]: Simplify (+ 0 0) into 0
31.872 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
31.872 * [backup-simplify]: Simplify (+ 0) into 0
31.872 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
31.873 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
31.873 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.873 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
31.874 * [backup-simplify]: Simplify (+ 0 0) into 0
31.874 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
31.874 * [backup-simplify]: Simplify (+ 0) into 0
31.874 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
31.874 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
31.875 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.875 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
31.875 * [backup-simplify]: Simplify (- 0) into 0
31.876 * [backup-simplify]: Simplify (+ 0 0) into 0
31.876 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
31.876 * [backup-simplify]: Simplify (+ 0 0) into 0
31.876 * [backup-simplify]: Simplify (- 0) into 0
31.876 * [backup-simplify]: Simplify (+ 0 0) into 0
31.878 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into 0
31.880 * [backup-simplify]: Simplify (+ (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2) 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2))) into 0
31.883 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 4))) into 0
31.885 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)) (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) into 0
31.886 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) into 0
31.886 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* lambda2 (* R (pow phi2 2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) (* (pow lambda2 3) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow phi1 2) (* lambda2 R))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 3 (* (/ (* (pow (sin (/ -0.5 phi2)) 5) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 5)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) (* (pow lambda2 3) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* lambda2 (* R (pow phi2 2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 3 (* (/ (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 5) (* (pow (cos (/ -0.5 phi1)) 5) (sin (/ -0.5 phi1))))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) (+ (* 3 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (* lambda2 (pow phi1 2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (* lambda2 (* phi1 phi2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))))))))))) in lambda2
31.886 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* lambda2 (* R (pow phi2 2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) in lambda2
31.886 * [taylor]: Taking taylor expansion of 1/2 in lambda2
31.886 * [backup-simplify]: Simplify 1/2 into 1/2
31.886 * [taylor]: Taking taylor expansion of (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* lambda2 (* R (pow phi2 2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) in lambda2
31.887 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* lambda2 (* R (pow phi2 2)))) in lambda2
31.887 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2
31.887 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2
31.887 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
31.887 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
31.887 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.887 * [backup-simplify]: Simplify -0.5 into -0.5
31.887 * [taylor]: Taking taylor expansion of phi2 in lambda2
31.887 * [backup-simplify]: Simplify phi2 into phi2
31.887 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
31.887 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
31.887 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
31.887 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
31.887 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
31.887 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
31.887 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2
31.887 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
31.887 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
31.887 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.887 * [backup-simplify]: Simplify -0.5 into -0.5
31.887 * [taylor]: Taking taylor expansion of phi1 in lambda2
31.887 * [backup-simplify]: Simplify phi1 into phi1
31.887 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
31.887 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
31.887 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
31.887 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
31.887 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
31.887 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
31.887 * [taylor]: Taking taylor expansion of (* lambda2 (* R (pow phi2 2))) in lambda2
31.888 * [taylor]: Taking taylor expansion of lambda2 in lambda2
31.888 * [backup-simplify]: Simplify 0 into 0
31.888 * [backup-simplify]: Simplify 1 into 1
31.888 * [taylor]: Taking taylor expansion of (* R (pow phi2 2)) in lambda2
31.888 * [taylor]: Taking taylor expansion of R in lambda2
31.888 * [backup-simplify]: Simplify R into R
31.888 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2
31.888 * [taylor]: Taking taylor expansion of phi2 in lambda2
31.888 * [backup-simplify]: Simplify phi2 into phi2
31.888 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
31.888 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
31.888 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
31.888 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
31.888 * [backup-simplify]: Simplify (* R (pow phi2 2)) into (* R (pow phi2 2))
31.888 * [backup-simplify]: Simplify (* 0 (* R (pow phi2 2))) into 0
31.888 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0
31.888 * [backup-simplify]: Simplify (+ (* R 0) (* 0 (pow phi2 2))) into 0
31.889 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* R (pow phi2 2)))) into (* R (pow phi2 2))
31.889 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (pow phi2 2))) into (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (pow phi2 2)))
31.889 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) in lambda2
31.889 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) in lambda2
31.889 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3) in lambda2
31.889 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in lambda2
31.889 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in lambda2
31.889 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2
31.890 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2
31.890 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
31.890 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
31.890 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.890 * [backup-simplify]: Simplify -0.5 into -0.5
31.890 * [taylor]: Taking taylor expansion of phi2 in lambda2
31.890 * [backup-simplify]: Simplify phi2 into phi2
31.890 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
31.890 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
31.890 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
31.890 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
31.890 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
31.891 * [backup-simplify]: Simplify (- 0) into 0
31.891 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
31.891 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2
31.891 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
31.891 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
31.891 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.891 * [backup-simplify]: Simplify -0.5 into -0.5
31.891 * [taylor]: Taking taylor expansion of phi1 in lambda2
31.891 * [backup-simplify]: Simplify phi1 into phi1
31.891 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
31.891 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
31.891 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
31.891 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
31.891 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
31.892 * [backup-simplify]: Simplify (- 0) into 0
31.892 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
31.892 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2
31.892 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2
31.892 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
31.892 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
31.892 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.892 * [backup-simplify]: Simplify -0.5 into -0.5
31.892 * [taylor]: Taking taylor expansion of phi2 in lambda2
31.892 * [backup-simplify]: Simplify phi2 into phi2
31.892 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
31.892 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
31.892 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
31.892 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
31.893 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
31.893 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
31.893 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2
31.893 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
31.893 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
31.893 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.893 * [backup-simplify]: Simplify -0.5 into -0.5
31.893 * [taylor]: Taking taylor expansion of phi1 in lambda2
31.893 * [backup-simplify]: Simplify phi1 into phi1
31.893 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
31.893 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
31.893 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
31.893 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
31.893 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
31.893 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
31.893 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in lambda2
31.894 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
31.894 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
31.894 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
31.894 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.894 * [backup-simplify]: Simplify -0.5 into -0.5
31.894 * [taylor]: Taking taylor expansion of phi2 in lambda2
31.894 * [backup-simplify]: Simplify phi2 into phi2
31.894 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
31.894 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
31.894 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
31.894 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
31.894 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
31.894 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
31.894 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.894 * [backup-simplify]: Simplify -0.5 into -0.5
31.894 * [taylor]: Taking taylor expansion of phi2 in lambda2
31.894 * [backup-simplify]: Simplify phi2 into phi2
31.894 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
31.894 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
31.894 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
31.894 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
31.894 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
31.894 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
31.894 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.895 * [backup-simplify]: Simplify -0.5 into -0.5
31.895 * [taylor]: Taking taylor expansion of phi1 in lambda2
31.895 * [backup-simplify]: Simplify phi1 into phi1
31.895 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
31.895 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
31.895 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
31.895 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
31.895 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
31.895 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.895 * [backup-simplify]: Simplify -0.5 into -0.5
31.895 * [taylor]: Taking taylor expansion of phi1 in lambda2
31.895 * [backup-simplify]: Simplify phi1 into phi1
31.895 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
31.895 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
31.895 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
31.895 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
31.895 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
31.895 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
31.895 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.895 * [backup-simplify]: Simplify -0.5 into -0.5
31.895 * [taylor]: Taking taylor expansion of phi2 in lambda2
31.895 * [backup-simplify]: Simplify phi2 into phi2
31.896 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
31.896 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
31.896 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
31.896 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
31.896 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
31.896 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
31.896 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.896 * [backup-simplify]: Simplify -0.5 into -0.5
31.896 * [taylor]: Taking taylor expansion of phi2 in lambda2
31.896 * [backup-simplify]: Simplify phi2 into phi2
31.896 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
31.896 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
31.896 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
31.896 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
31.896 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
31.896 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
31.896 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.896 * [backup-simplify]: Simplify -0.5 into -0.5
31.896 * [taylor]: Taking taylor expansion of phi1 in lambda2
31.896 * [backup-simplify]: Simplify phi1 into phi1
31.896 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
31.897 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
31.897 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
31.897 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
31.897 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
31.897 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.897 * [backup-simplify]: Simplify -0.5 into -0.5
31.897 * [taylor]: Taking taylor expansion of phi1 in lambda2
31.897 * [backup-simplify]: Simplify phi1 into phi1
31.897 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
31.897 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
31.897 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
31.897 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
31.897 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
31.898 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
31.898 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
31.898 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
31.898 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
31.899 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
31.899 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
31.899 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
31.900 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
31.900 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
31.900 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
31.900 * [backup-simplify]: Simplify (- 0) into 0
31.900 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
31.901 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
31.901 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
31.901 * [backup-simplify]: Simplify (- 0) into 0
31.901 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
31.901 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
31.901 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
31.902 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
31.902 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
31.902 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
31.902 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
31.902 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
31.903 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
31.903 * [backup-simplify]: Simplify (- 0) into 0
31.903 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
31.903 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
31.903 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
31.903 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
31.904 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
31.904 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
31.904 * [backup-simplify]: Simplify (- 0) into 0
31.904 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
31.904 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
31.904 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
31.904 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
31.905 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
31.905 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
31.905 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
31.906 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
31.907 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
31.909 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
31.913 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)
31.916 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)
31.919 * [backup-simplify]: Simplify (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) into (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))
31.921 * [backup-simplify]: Simplify (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) into (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))
31.921 * [backup-simplify]: Simplify (+ 0) into 0
31.922 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
31.922 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
31.923 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.923 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
31.924 * [backup-simplify]: Simplify (- 0) into 0
31.924 * [backup-simplify]: Simplify (+ 0 0) into 0
31.924 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
31.925 * [backup-simplify]: Simplify (+ 0) into 0
31.925 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
31.925 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
31.926 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.927 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
31.927 * [backup-simplify]: Simplify (- 0) into 0
31.927 * [backup-simplify]: Simplify (+ 0 0) into 0
31.928 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
31.928 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
31.928 * [backup-simplify]: Simplify (+ 0) into 0
31.929 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
31.929 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
31.930 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.930 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
31.931 * [backup-simplify]: Simplify (+ 0 0) into 0
31.931 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
31.931 * [backup-simplify]: Simplify (+ 0) into 0
31.932 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
31.932 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
31.933 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.934 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
31.934 * [backup-simplify]: Simplify (+ 0 0) into 0
31.934 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
31.935 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
31.935 * [backup-simplify]: Simplify (+ 0 0) into 0
31.936 * [backup-simplify]: Simplify (+ 0) into 0
31.936 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
31.936 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
31.937 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.938 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
31.938 * [backup-simplify]: Simplify (+ 0 0) into 0
31.938 * [backup-simplify]: Simplify (+ 0) into 0
31.939 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
31.939 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
31.940 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.940 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
31.941 * [backup-simplify]: Simplify (- 0) into 0
31.941 * [backup-simplify]: Simplify (+ 0 0) into 0
31.941 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
31.942 * [backup-simplify]: Simplify (+ 0) into 0
31.942 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
31.942 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
31.943 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.944 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
31.944 * [backup-simplify]: Simplify (- 0) into 0
31.944 * [backup-simplify]: Simplify (+ 0 0) into 0
31.945 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
31.945 * [backup-simplify]: Simplify (+ 0) into 0
31.945 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
31.946 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
31.946 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.946 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
31.946 * [backup-simplify]: Simplify (+ 0 0) into 0
31.947 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
31.947 * [backup-simplify]: Simplify (+ 0) into 0
31.947 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
31.947 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
31.948 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.948 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
31.948 * [backup-simplify]: Simplify (+ 0 0) into 0
31.949 * [backup-simplify]: Simplify (+ 0) into 0
31.949 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
31.949 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
31.950 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.950 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
31.950 * [backup-simplify]: Simplify (- 0) into 0
31.950 * [backup-simplify]: Simplify (+ 0 0) into 0
31.950 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
31.951 * [backup-simplify]: Simplify (+ 0) into 0
31.951 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
31.951 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
31.952 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.952 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
31.952 * [backup-simplify]: Simplify (+ 0 0) into 0
31.952 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
31.952 * [backup-simplify]: Simplify (+ 0) into 0
31.953 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
31.953 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
31.953 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.954 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
31.954 * [backup-simplify]: Simplify (- 0) into 0
31.954 * [backup-simplify]: Simplify (+ 0 0) into 0
31.954 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
31.955 * [backup-simplify]: Simplify (+ 0 0) into 0
31.955 * [backup-simplify]: Simplify (- 0) into 0
31.955 * [backup-simplify]: Simplify (+ 0 0) into 0
31.957 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into 0
31.959 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2))) into 0
31.961 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
31.963 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
31.963 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) (* (pow lambda2 3) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow phi1 2) (* lambda2 R))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 3 (* (/ (* (pow (sin (/ -0.5 phi2)) 5) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 5)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) (* (pow lambda2 3) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* lambda2 (* R (pow phi2 2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 3 (* (/ (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 5) (* (pow (cos (/ -0.5 phi1)) 5) (sin (/ -0.5 phi1))))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) (+ (* 3 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (* lambda2 (pow phi1 2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (* lambda2 (* phi1 phi2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))))))))))) in lambda2
31.963 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) (* (pow lambda2 3) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) in lambda2
31.963 * [taylor]: Taking taylor expansion of 1/2 in lambda2
31.963 * [backup-simplify]: Simplify 1/2 into 1/2
31.963 * [taylor]: Taking taylor expansion of (* (/ (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) (* (pow lambda2 3) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) in lambda2
31.963 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) (* (pow lambda2 3) R)) in lambda2
31.963 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) in lambda2
31.963 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 4) in lambda2
31.963 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
31.963 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
31.963 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.963 * [backup-simplify]: Simplify -0.5 into -0.5
31.963 * [taylor]: Taking taylor expansion of phi2 in lambda2
31.963 * [backup-simplify]: Simplify phi2 into phi2
31.963 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
31.963 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
31.963 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
31.963 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
31.963 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
31.964 * [backup-simplify]: Simplify (- 0) into 0
31.964 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
31.964 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 4) in lambda2
31.964 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
31.964 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
31.964 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.964 * [backup-simplify]: Simplify -0.5 into -0.5
31.964 * [taylor]: Taking taylor expansion of phi1 in lambda2
31.964 * [backup-simplify]: Simplify phi1 into phi1
31.964 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
31.964 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
31.964 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
31.964 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
31.964 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
31.964 * [backup-simplify]: Simplify (- 0) into 0
31.965 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
31.965 * [taylor]: Taking taylor expansion of (* (pow lambda2 3) R) in lambda2
31.965 * [taylor]: Taking taylor expansion of (pow lambda2 3) in lambda2
31.965 * [taylor]: Taking taylor expansion of lambda2 in lambda2
31.965 * [backup-simplify]: Simplify 0 into 0
31.965 * [backup-simplify]: Simplify 1 into 1
31.965 * [taylor]: Taking taylor expansion of R in lambda2
31.965 * [backup-simplify]: Simplify R into R
31.965 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
31.965 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi2)) 2)) into (pow (cos (/ -0.5 phi2)) 4)
31.965 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
31.965 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (pow (cos (/ -0.5 phi1)) 4)
31.965 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) into (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4))
31.966 * [backup-simplify]: Simplify (* 1 1) into 1
31.966 * [backup-simplify]: Simplify (* 1 1) into 1
31.966 * [backup-simplify]: Simplify (* 1 R) into R
31.966 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) R) into (/ (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) R)
31.966 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) in lambda2
31.966 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) in lambda2
31.966 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3) in lambda2
31.966 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in lambda2
31.966 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in lambda2
31.966 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2
31.966 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2
31.966 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
31.966 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
31.966 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.966 * [backup-simplify]: Simplify -0.5 into -0.5
31.966 * [taylor]: Taking taylor expansion of phi2 in lambda2
31.966 * [backup-simplify]: Simplify phi2 into phi2
31.966 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
31.967 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
31.967 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
31.967 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
31.967 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
31.967 * [backup-simplify]: Simplify (- 0) into 0
31.967 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
31.967 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2
31.967 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
31.967 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
31.967 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.967 * [backup-simplify]: Simplify -0.5 into -0.5
31.967 * [taylor]: Taking taylor expansion of phi1 in lambda2
31.967 * [backup-simplify]: Simplify phi1 into phi1
31.967 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
31.967 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
31.967 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
31.967 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
31.967 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
31.968 * [backup-simplify]: Simplify (- 0) into 0
31.968 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
31.968 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2
31.968 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2
31.968 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
31.968 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
31.968 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.968 * [backup-simplify]: Simplify -0.5 into -0.5
31.968 * [taylor]: Taking taylor expansion of phi2 in lambda2
31.968 * [backup-simplify]: Simplify phi2 into phi2
31.968 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
31.968 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
31.968 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
31.968 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
31.968 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
31.968 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
31.968 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2
31.968 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
31.968 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
31.968 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.968 * [backup-simplify]: Simplify -0.5 into -0.5
31.968 * [taylor]: Taking taylor expansion of phi1 in lambda2
31.968 * [backup-simplify]: Simplify phi1 into phi1
31.968 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
31.968 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
31.968 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
31.969 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
31.969 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
31.969 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
31.969 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in lambda2
31.969 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
31.969 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
31.969 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
31.969 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.969 * [backup-simplify]: Simplify -0.5 into -0.5
31.969 * [taylor]: Taking taylor expansion of phi2 in lambda2
31.969 * [backup-simplify]: Simplify phi2 into phi2
31.969 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
31.969 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
31.969 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
31.969 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
31.969 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
31.969 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
31.969 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.969 * [backup-simplify]: Simplify -0.5 into -0.5
31.969 * [taylor]: Taking taylor expansion of phi2 in lambda2
31.969 * [backup-simplify]: Simplify phi2 into phi2
31.969 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
31.969 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
31.969 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
31.969 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
31.969 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
31.969 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
31.969 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.969 * [backup-simplify]: Simplify -0.5 into -0.5
31.969 * [taylor]: Taking taylor expansion of phi1 in lambda2
31.969 * [backup-simplify]: Simplify phi1 into phi1
31.969 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
31.969 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
31.970 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
31.970 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
31.970 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
31.970 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.970 * [backup-simplify]: Simplify -0.5 into -0.5
31.970 * [taylor]: Taking taylor expansion of phi1 in lambda2
31.970 * [backup-simplify]: Simplify phi1 into phi1
31.970 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
31.970 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
31.970 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
31.970 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
31.970 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
31.970 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
31.970 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.970 * [backup-simplify]: Simplify -0.5 into -0.5
31.970 * [taylor]: Taking taylor expansion of phi2 in lambda2
31.970 * [backup-simplify]: Simplify phi2 into phi2
31.970 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
31.970 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
31.970 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
31.970 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
31.970 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
31.970 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
31.970 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.970 * [backup-simplify]: Simplify -0.5 into -0.5
31.970 * [taylor]: Taking taylor expansion of phi2 in lambda2
31.970 * [backup-simplify]: Simplify phi2 into phi2
31.970 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
31.970 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
31.970 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
31.970 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
31.970 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
31.970 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
31.970 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.970 * [backup-simplify]: Simplify -0.5 into -0.5
31.970 * [taylor]: Taking taylor expansion of phi1 in lambda2
31.970 * [backup-simplify]: Simplify phi1 into phi1
31.970 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
31.971 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
31.971 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
31.971 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
31.971 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
31.971 * [taylor]: Taking taylor expansion of -0.5 in lambda2
31.971 * [backup-simplify]: Simplify -0.5 into -0.5
31.971 * [taylor]: Taking taylor expansion of phi1 in lambda2
31.971 * [backup-simplify]: Simplify phi1 into phi1
31.971 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
31.971 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
31.971 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
31.971 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
31.971 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
31.971 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
31.971 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
31.971 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
31.972 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
31.972 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
31.972 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
31.972 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
31.972 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
31.972 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
31.972 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
31.973 * [backup-simplify]: Simplify (- 0) into 0
31.973 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
31.973 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
31.973 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
31.973 * [backup-simplify]: Simplify (- 0) into 0
31.973 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
31.973 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
31.974 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
31.974 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
31.974 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
31.974 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
31.974 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
31.974 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
31.974 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
31.974 * [backup-simplify]: Simplify (- 0) into 0
31.974 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
31.975 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
31.975 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
31.975 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
31.975 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
31.975 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
31.975 * [backup-simplify]: Simplify (- 0) into 0
31.975 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
31.975 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
31.975 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
31.975 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
31.975 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
31.976 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
31.976 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
31.976 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
31.977 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
31.978 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
31.982 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)
31.986 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)
31.988 * [backup-simplify]: Simplify (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) into (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))
31.990 * [backup-simplify]: Simplify (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) into (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))
31.991 * [backup-simplify]: Simplify (+ 0) into 0
31.991 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
31.992 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
31.992 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
31.993 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
31.998 * [backup-simplify]: Simplify (- 0) into 0
31.999 * [backup-simplify]: Simplify (+ 0 0) into 0
31.999 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
31.999 * [backup-simplify]: Simplify (+ 0) into 0
32.000 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
32.000 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
32.000 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
32.001 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
32.001 * [backup-simplify]: Simplify (- 0) into 0
32.002 * [backup-simplify]: Simplify (+ 0 0) into 0
32.002 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
32.002 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
32.003 * [backup-simplify]: Simplify (+ 0) into 0
32.003 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
32.003 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
32.004 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
32.004 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
32.005 * [backup-simplify]: Simplify (+ 0 0) into 0
32.005 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
32.005 * [backup-simplify]: Simplify (+ 0) into 0
32.006 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
32.006 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
32.007 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
32.007 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
32.008 * [backup-simplify]: Simplify (+ 0 0) into 0
32.008 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
32.008 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
32.009 * [backup-simplify]: Simplify (+ 0 0) into 0
32.009 * [backup-simplify]: Simplify (+ 0) into 0
32.010 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
32.010 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
32.011 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
32.011 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
32.012 * [backup-simplify]: Simplify (+ 0 0) into 0
32.012 * [backup-simplify]: Simplify (+ 0) into 0
32.012 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
32.013 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
32.013 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
32.014 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
32.014 * [backup-simplify]: Simplify (- 0) into 0
32.015 * [backup-simplify]: Simplify (+ 0 0) into 0
32.015 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
32.015 * [backup-simplify]: Simplify (+ 0) into 0
32.016 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
32.016 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
32.017 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
32.017 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
32.018 * [backup-simplify]: Simplify (- 0) into 0
32.018 * [backup-simplify]: Simplify (+ 0 0) into 0
32.018 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
32.019 * [backup-simplify]: Simplify (+ 0) into 0
32.020 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
32.020 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
32.021 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
32.022 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
32.022 * [backup-simplify]: Simplify (+ 0 0) into 0
32.023 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
32.025 * [backup-simplify]: Simplify (+ 0) into 0
32.025 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
32.025 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
32.026 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
32.027 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
32.027 * [backup-simplify]: Simplify (+ 0 0) into 0
32.028 * [backup-simplify]: Simplify (+ 0) into 0
32.028 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
32.029 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
32.030 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
32.030 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
32.031 * [backup-simplify]: Simplify (- 0) into 0
32.031 * [backup-simplify]: Simplify (+ 0 0) into 0
32.031 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
32.032 * [backup-simplify]: Simplify (+ 0) into 0
32.033 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
32.033 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
32.034 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
32.034 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
32.035 * [backup-simplify]: Simplify (+ 0 0) into 0
32.035 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
32.035 * [backup-simplify]: Simplify (+ 0) into 0
32.036 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
32.036 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
32.037 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
32.037 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
32.037 * [backup-simplify]: Simplify (- 0) into 0
32.038 * [backup-simplify]: Simplify (+ 0 0) into 0
32.038 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
32.039 * [backup-simplify]: Simplify (+ 0 0) into 0
32.039 * [backup-simplify]: Simplify (- 0) into 0
32.039 * [backup-simplify]: Simplify (+ 0 0) into 0
32.043 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into 0
32.047 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2))) into 0
32.051 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
32.054 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
32.054 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow phi1 2) (* lambda2 R))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 3 (* (/ (* (pow (sin (/ -0.5 phi2)) 5) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 5)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) (* (pow lambda2 3) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* lambda2 (* R (pow phi2 2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 3 (* (/ (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 5) (* (pow (cos (/ -0.5 phi1)) 5) (sin (/ -0.5 phi1))))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) (+ (* 3 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (* lambda2 (pow phi1 2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (* lambda2 (* phi1 phi2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))))))))) in lambda2
32.054 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow phi1 2) (* lambda2 R))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) in lambda2
32.054 * [taylor]: Taking taylor expansion of 1/2 in lambda2
32.054 * [backup-simplify]: Simplify 1/2 into 1/2
32.054 * [taylor]: Taking taylor expansion of (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow phi1 2) (* lambda2 R))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) in lambda2
32.055 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow phi1 2) (* lambda2 R))) in lambda2
32.055 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2
32.055 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2
32.055 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
32.055 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
32.055 * [taylor]: Taking taylor expansion of -0.5 in lambda2
32.055 * [backup-simplify]: Simplify -0.5 into -0.5
32.055 * [taylor]: Taking taylor expansion of phi2 in lambda2
32.055 * [backup-simplify]: Simplify phi2 into phi2
32.055 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
32.055 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
32.055 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
32.055 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
32.055 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
32.056 * [backup-simplify]: Simplify (- 0) into 0
32.056 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
32.056 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2
32.056 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
32.056 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
32.056 * [taylor]: Taking taylor expansion of -0.5 in lambda2
32.056 * [backup-simplify]: Simplify -0.5 into -0.5
32.056 * [taylor]: Taking taylor expansion of phi1 in lambda2
32.056 * [backup-simplify]: Simplify phi1 into phi1
32.056 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
32.056 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
32.057 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
32.057 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
32.057 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
32.057 * [backup-simplify]: Simplify (- 0) into 0
32.057 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
32.057 * [taylor]: Taking taylor expansion of (* (pow phi1 2) (* lambda2 R)) in lambda2
32.057 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2
32.057 * [taylor]: Taking taylor expansion of phi1 in lambda2
32.057 * [backup-simplify]: Simplify phi1 into phi1
32.057 * [taylor]: Taking taylor expansion of (* lambda2 R) in lambda2
32.057 * [taylor]: Taking taylor expansion of lambda2 in lambda2
32.057 * [backup-simplify]: Simplify 0 into 0
32.057 * [backup-simplify]: Simplify 1 into 1
32.057 * [taylor]: Taking taylor expansion of R in lambda2
32.057 * [backup-simplify]: Simplify R into R
32.058 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
32.058 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
32.058 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
32.058 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
32.058 * [backup-simplify]: Simplify (* 0 R) into 0
32.059 * [backup-simplify]: Simplify (* (pow phi1 2) 0) into 0
32.059 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 R)) into R
32.059 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0
32.060 * [backup-simplify]: Simplify (+ (* (pow phi1 2) R) (* 0 0)) into (* (pow phi1 2) R)
32.060 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow phi1 2) R)) into (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow phi1 2) R))
32.060 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) in lambda2
32.060 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) in lambda2
32.060 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3) in lambda2
32.060 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in lambda2
32.060 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in lambda2
32.061 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2
32.061 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2
32.061 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
32.061 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
32.061 * [taylor]: Taking taylor expansion of -0.5 in lambda2
32.061 * [backup-simplify]: Simplify -0.5 into -0.5
32.061 * [taylor]: Taking taylor expansion of phi2 in lambda2
32.061 * [backup-simplify]: Simplify phi2 into phi2
32.061 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
32.061 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
32.061 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
32.061 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
32.061 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
32.062 * [backup-simplify]: Simplify (- 0) into 0
32.062 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
32.062 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2
32.062 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
32.062 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
32.062 * [taylor]: Taking taylor expansion of -0.5 in lambda2
32.062 * [backup-simplify]: Simplify -0.5 into -0.5
32.062 * [taylor]: Taking taylor expansion of phi1 in lambda2
32.062 * [backup-simplify]: Simplify phi1 into phi1
32.062 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
32.062 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
32.062 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
32.062 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
32.062 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
32.063 * [backup-simplify]: Simplify (- 0) into 0
32.063 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
32.063 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2
32.063 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2
32.063 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
32.063 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
32.063 * [taylor]: Taking taylor expansion of -0.5 in lambda2
32.063 * [backup-simplify]: Simplify -0.5 into -0.5
32.063 * [taylor]: Taking taylor expansion of phi2 in lambda2
32.063 * [backup-simplify]: Simplify phi2 into phi2
32.063 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
32.063 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
32.064 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
32.064 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
32.064 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
32.064 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
32.064 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2
32.064 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
32.064 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
32.064 * [taylor]: Taking taylor expansion of -0.5 in lambda2
32.064 * [backup-simplify]: Simplify -0.5 into -0.5
32.064 * [taylor]: Taking taylor expansion of phi1 in lambda2
32.064 * [backup-simplify]: Simplify phi1 into phi1
32.064 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
32.064 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
32.064 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
32.064 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
32.065 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
32.065 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
32.065 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in lambda2
32.065 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
32.065 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
32.065 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
32.065 * [taylor]: Taking taylor expansion of -0.5 in lambda2
32.065 * [backup-simplify]: Simplify -0.5 into -0.5
32.065 * [taylor]: Taking taylor expansion of phi2 in lambda2
32.065 * [backup-simplify]: Simplify phi2 into phi2
32.065 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
32.065 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
32.065 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
32.065 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
32.065 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
32.065 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
32.065 * [taylor]: Taking taylor expansion of -0.5 in lambda2
32.065 * [backup-simplify]: Simplify -0.5 into -0.5
32.065 * [taylor]: Taking taylor expansion of phi2 in lambda2
32.065 * [backup-simplify]: Simplify phi2 into phi2
32.065 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
32.066 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
32.066 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
32.066 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
32.066 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
32.066 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
32.066 * [taylor]: Taking taylor expansion of -0.5 in lambda2
32.066 * [backup-simplify]: Simplify -0.5 into -0.5
32.066 * [taylor]: Taking taylor expansion of phi1 in lambda2
32.066 * [backup-simplify]: Simplify phi1 into phi1
32.066 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
32.066 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
32.066 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
32.066 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
32.066 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
32.066 * [taylor]: Taking taylor expansion of -0.5 in lambda2
32.066 * [backup-simplify]: Simplify -0.5 into -0.5
32.066 * [taylor]: Taking taylor expansion of phi1 in lambda2
32.066 * [backup-simplify]: Simplify phi1 into phi1
32.066 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
32.067 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
32.067 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
32.067 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
32.067 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
32.067 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
32.067 * [taylor]: Taking taylor expansion of -0.5 in lambda2
32.067 * [backup-simplify]: Simplify -0.5 into -0.5
32.067 * [taylor]: Taking taylor expansion of phi2 in lambda2
32.067 * [backup-simplify]: Simplify phi2 into phi2
32.067 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
32.067 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
32.067 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
32.067 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
32.067 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
32.067 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
32.067 * [taylor]: Taking taylor expansion of -0.5 in lambda2
32.068 * [backup-simplify]: Simplify -0.5 into -0.5
32.068 * [taylor]: Taking taylor expansion of phi2 in lambda2
32.068 * [backup-simplify]: Simplify phi2 into phi2
32.068 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
32.068 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
32.068 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
32.068 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
32.068 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
32.068 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
32.068 * [taylor]: Taking taylor expansion of -0.5 in lambda2
32.068 * [backup-simplify]: Simplify -0.5 into -0.5
32.068 * [taylor]: Taking taylor expansion of phi1 in lambda2
32.068 * [backup-simplify]: Simplify phi1 into phi1
32.068 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
32.068 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
32.068 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
32.068 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
32.068 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
32.068 * [taylor]: Taking taylor expansion of -0.5 in lambda2
32.068 * [backup-simplify]: Simplify -0.5 into -0.5
32.068 * [taylor]: Taking taylor expansion of phi1 in lambda2
32.068 * [backup-simplify]: Simplify phi1 into phi1
32.068 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
32.069 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
32.069 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
32.069 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
32.069 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
32.069 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
32.070 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
32.070 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
32.070 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
32.071 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
32.071 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
32.071 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
32.071 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
32.071 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
32.071 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
32.072 * [backup-simplify]: Simplify (- 0) into 0
32.072 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
32.072 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
32.072 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
32.073 * [backup-simplify]: Simplify (- 0) into 0
32.073 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
32.073 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
32.073 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
32.073 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
32.073 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
32.074 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
32.074 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
32.074 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
32.074 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
32.075 * [backup-simplify]: Simplify (- 0) into 0
32.075 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
32.075 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
32.075 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
32.075 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
32.075 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
32.075 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
32.076 * [backup-simplify]: Simplify (- 0) into 0
32.076 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
32.076 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
32.076 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
32.076 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
32.076 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
32.076 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
32.077 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
32.078 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
32.078 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
32.080 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
32.084 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)
32.088 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)
32.090 * [backup-simplify]: Simplify (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) into (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))
32.092 * [backup-simplify]: Simplify (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) into (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))
32.093 * [backup-simplify]: Simplify (+ 0) into 0
32.094 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
32.094 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
32.094 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
32.095 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
32.095 * [backup-simplify]: Simplify (- 0) into 0
32.096 * [backup-simplify]: Simplify (+ 0 0) into 0
32.096 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
32.096 * [backup-simplify]: Simplify (+ 0) into 0
32.097 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
32.097 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
32.098 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
32.098 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
32.099 * [backup-simplify]: Simplify (- 0) into 0
32.099 * [backup-simplify]: Simplify (+ 0 0) into 0
32.099 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
32.100 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
32.100 * [backup-simplify]: Simplify (+ 0) into 0
32.101 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
32.101 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
32.102 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
32.102 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
32.102 * [backup-simplify]: Simplify (+ 0 0) into 0
32.103 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
32.103 * [backup-simplify]: Simplify (+ 0) into 0
32.104 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
32.104 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
32.104 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
32.105 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
32.105 * [backup-simplify]: Simplify (+ 0 0) into 0
32.106 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
32.106 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
32.106 * [backup-simplify]: Simplify (+ 0 0) into 0
32.107 * [backup-simplify]: Simplify (+ 0) into 0
32.107 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
32.107 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
32.108 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
32.109 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
32.109 * [backup-simplify]: Simplify (+ 0 0) into 0
32.109 * [backup-simplify]: Simplify (+ 0) into 0
32.110 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
32.110 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
32.111 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
32.111 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
32.112 * [backup-simplify]: Simplify (- 0) into 0
32.112 * [backup-simplify]: Simplify (+ 0 0) into 0
32.112 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
32.113 * [backup-simplify]: Simplify (+ 0) into 0
32.113 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
32.113 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
32.114 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
32.115 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
32.115 * [backup-simplify]: Simplify (- 0) into 0
32.115 * [backup-simplify]: Simplify (+ 0 0) into 0
32.116 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
32.116 * [backup-simplify]: Simplify (+ 0) into 0
32.117 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
32.117 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
32.118 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
32.118 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
32.118 * [backup-simplify]: Simplify (+ 0 0) into 0
32.119 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
32.119 * [backup-simplify]: Simplify (+ 0) into 0
32.120 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
32.120 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
32.121 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
32.121 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
32.122 * [backup-simplify]: Simplify (+ 0 0) into 0
32.122 * [backup-simplify]: Simplify (+ 0) into 0
32.122 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
32.123 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
32.123 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
32.124 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
32.124 * [backup-simplify]: Simplify (- 0) into 0
32.125 * [backup-simplify]: Simplify (+ 0 0) into 0
32.125 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
32.125 * [backup-simplify]: Simplify (+ 0) into 0
32.126 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
32.126 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
32.127 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
32.127 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
32.128 * [backup-simplify]: Simplify (+ 0 0) into 0
32.128 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
32.128 * [backup-simplify]: Simplify (+ 0) into 0
32.129 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
32.129 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
32.130 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
32.130 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
32.131 * [backup-simplify]: Simplify (- 0) into 0
32.131 * [backup-simplify]: Simplify (+ 0 0) into 0
32.131 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
32.132 * [backup-simplify]: Simplify (+ 0 0) into 0
32.132 * [backup-simplify]: Simplify (- 0) into 0
32.132 * [backup-simplify]: Simplify (+ 0 0) into 0
32.136 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into 0
32.140 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2))) into 0
32.145 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
32.147 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
32.147 * [taylor]: Taking taylor expansion of (+ (* 3 (* (/ (* (pow (sin (/ -0.5 phi2)) 5) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 5)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) (* (pow lambda2 3) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* lambda2 (* R (pow phi2 2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 3 (* (/ (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 5) (* (pow (cos (/ -0.5 phi1)) 5) (sin (/ -0.5 phi1))))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) (+ (* 3 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (* lambda2 (pow phi1 2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (* lambda2 (* phi1 phi2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))))))))) in lambda2
32.147 * [taylor]: Taking taylor expansion of (* 3 (* (/ (* (pow (sin (/ -0.5 phi2)) 5) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 5)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) in lambda2
32.147 * [taylor]: Taking taylor expansion of 3 in lambda2
32.147 * [backup-simplify]: Simplify 3 into 3
32.148 * [taylor]: Taking taylor expansion of (* (/ (* (pow (sin (/ -0.5 phi2)) 5) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 5)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)))) in lambda2
32.148 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 5) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 5)))) (* R (pow lambda2 3))) in lambda2
32.148 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 5) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 5)))) in lambda2
32.148 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 5) in lambda2
32.148 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
32.148 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
32.148 * [taylor]: Taking taylor expansion of -0.5 in lambda2
32.148 * [backup-simplify]: Simplify -0.5 into -0.5
32.148 * [taylor]: Taking taylor expansion of phi2 in lambda2
32.148 * [backup-simplify]: Simplify phi2 into phi2
32.148 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
32.148 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
32.148 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
32.148 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
32.148 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
32.148 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
32.148 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 5))) in lambda2
32.149 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
32.149 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
32.149 * [taylor]: Taking taylor expansion of -0.5 in lambda2
32.149 * [backup-simplify]: Simplify -0.5 into -0.5
32.149 * [taylor]: Taking taylor expansion of phi2 in lambda2
32.149 * [backup-simplify]: Simplify phi2 into phi2
32.149 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
32.149 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
32.149 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
32.149 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 5)) in lambda2
32.149 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
32.149 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
32.149 * [taylor]: Taking taylor expansion of -0.5 in lambda2
32.149 * [backup-simplify]: Simplify -0.5 into -0.5
32.149 * [taylor]: Taking taylor expansion of phi1 in lambda2
32.149 * [backup-simplify]: Simplify phi1 into phi1
32.149 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
32.149 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
32.149 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
32.149 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 5) in lambda2
32.149 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
32.150 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
32.150 * [taylor]: Taking taylor expansion of -0.5 in lambda2
32.150 * [backup-simplify]: Simplify -0.5 into -0.5
32.150 * [taylor]: Taking taylor expansion of phi1 in lambda2
32.150 * [backup-simplify]: Simplify phi1 into phi1
32.150 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
32.150 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
32.150 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
32.150 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
32.150 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
32.150 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
32.150 * [taylor]: Taking taylor expansion of (* R (pow lambda2 3)) in lambda2
32.150 * [taylor]: Taking taylor expansion of R in lambda2
32.150 * [backup-simplify]: Simplify R into R
32.150 * [taylor]: Taking taylor expansion of (pow lambda2 3) in lambda2
32.150 * [taylor]: Taking taylor expansion of lambda2 in lambda2
32.150 * [backup-simplify]: Simplify 0 into 0
32.150 * [backup-simplify]: Simplify 1 into 1
32.151 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
32.151 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi2)) 2)) into (pow (sin (/ -0.5 phi2)) 4)
32.151 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (pow (sin (/ -0.5 phi2)) 4)) into (pow (sin (/ -0.5 phi2)) 5)
32.151 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
32.151 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
32.152 * [backup-simplify]: Simplify (- 0) into 0
32.152 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
32.152 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
32.152 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
32.153 * [backup-simplify]: Simplify (- 0) into 0
32.153 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
32.153 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
32.154 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (pow (sin (/ -0.5 phi1)) 4)
32.154 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 4)) into (pow (sin (/ -0.5 phi1)) 5)
32.154 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 5)) into (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 5))
32.154 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 5))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 5)))
32.155 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 5) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 5)))) into (* (cos (/ -0.5 phi2)) (* (pow (sin (/ -0.5 phi2)) 5) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 5))))
32.155 * [backup-simplify]: Simplify (* 1 1) into 1
32.156 * [backup-simplify]: Simplify (* 1 1) into 1
32.156 * [backup-simplify]: Simplify (* R 1) into R
32.156 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi2)) (* (pow (sin (/ -0.5 phi2)) 5) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 5)))) R) into (/ (* (cos (/ -0.5 phi2)) (* (pow (sin (/ -0.5 phi2)) 5) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 5)))) R)
32.156 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))) in lambda2
32.157 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)) in lambda2
32.157 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5) in lambda2
32.157 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in lambda2
32.157 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in lambda2
32.157 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2
32.157 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2
32.157 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
32.157 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
32.157 * [taylor]: Taking taylor expansion of -0.5 in lambda2
32.157 * [backup-simplify]: Simplify -0.5 into -0.5
32.157 * [taylor]: Taking taylor expansion of phi2 in lambda2
32.157 * [backup-simplify]: Simplify phi2 into phi2
32.157 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
32.157 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
32.157 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
32.157 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
32.157 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
32.158 * [backup-simplify]: Simplify (- 0) into 0
32.158 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
32.158 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2
32.158 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
32.158 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
32.158 * [taylor]: Taking taylor expansion of -0.5 in lambda2
32.158 * [backup-simplify]: Simplify -0.5 into -0.5
32.158 * [taylor]: Taking taylor expansion of phi1 in lambda2
32.158 * [backup-simplify]: Simplify phi1 into phi1
32.158 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
32.158 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
32.158 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
32.159 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
32.159 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
32.159 * [backup-simplify]: Simplify (- 0) into 0
32.159 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
32.159 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2
32.159 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2
32.159 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
32.159 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
32.159 * [taylor]: Taking taylor expansion of -0.5 in lambda2
32.159 * [backup-simplify]: Simplify -0.5 into -0.5
32.159 * [taylor]: Taking taylor expansion of phi2 in lambda2
32.159 * [backup-simplify]: Simplify phi2 into phi2
32.159 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
32.160 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
32.160 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
32.160 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
32.160 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
32.160 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
32.160 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2
32.160 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
32.160 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
32.160 * [taylor]: Taking taylor expansion of -0.5 in lambda2
32.160 * [backup-simplify]: Simplify -0.5 into -0.5
32.160 * [taylor]: Taking taylor expansion of phi1 in lambda2
32.160 * [backup-simplify]: Simplify phi1 into phi1
32.160 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
32.160 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
32.160 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
32.161 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
32.161 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
32.161 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
32.161 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in lambda2
32.161 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
32.161 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
32.161 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
32.161 * [taylor]: Taking taylor expansion of -0.5 in lambda2
32.161 * [backup-simplify]: Simplify -0.5 into -0.5
32.161 * [taylor]: Taking taylor expansion of phi2 in lambda2
32.161 * [backup-simplify]: Simplify phi2 into phi2
32.161 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
32.161 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
32.161 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
32.161 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
32.161 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
32.161 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
32.161 * [taylor]: Taking taylor expansion of -0.5 in lambda2
32.161 * [backup-simplify]: Simplify -0.5 into -0.5
32.161 * [taylor]: Taking taylor expansion of phi2 in lambda2
32.161 * [backup-simplify]: Simplify phi2 into phi2
32.162 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
32.162 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
32.162 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
32.162 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
32.162 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
32.162 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
32.162 * [taylor]: Taking taylor expansion of -0.5 in lambda2
32.162 * [backup-simplify]: Simplify -0.5 into -0.5
32.162 * [taylor]: Taking taylor expansion of phi1 in lambda2
32.162 * [backup-simplify]: Simplify phi1 into phi1
32.162 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
32.162 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
32.162 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
32.162 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
32.162 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
32.162 * [taylor]: Taking taylor expansion of -0.5 in lambda2
32.162 * [backup-simplify]: Simplify -0.5 into -0.5
32.162 * [taylor]: Taking taylor expansion of phi1 in lambda2
32.162 * [backup-simplify]: Simplify phi1 into phi1
32.162 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
32.163 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
32.163 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
32.163 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
32.163 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
32.163 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
32.163 * [taylor]: Taking taylor expansion of -0.5 in lambda2
32.163 * [backup-simplify]: Simplify -0.5 into -0.5
32.163 * [taylor]: Taking taylor expansion of phi2 in lambda2
32.163 * [backup-simplify]: Simplify phi2 into phi2
32.163 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
32.163 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
32.163 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
32.163 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
32.163 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
32.163 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
32.163 * [taylor]: Taking taylor expansion of -0.5 in lambda2
32.163 * [backup-simplify]: Simplify -0.5 into -0.5
32.163 * [taylor]: Taking taylor expansion of phi2 in lambda2
32.163 * [backup-simplify]: Simplify phi2 into phi2
32.163 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
32.164 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
32.164 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
32.164 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
32.164 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
32.164 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
32.164 * [taylor]: Taking taylor expansion of -0.5 in lambda2
32.164 * [backup-simplify]: Simplify -0.5 into -0.5
32.164 * [taylor]: Taking taylor expansion of phi1 in lambda2
32.164 * [backup-simplify]: Simplify phi1 into phi1
32.164 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
32.164 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
32.164 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
32.164 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
32.164 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
32.164 * [taylor]: Taking taylor expansion of -0.5 in lambda2
32.164 * [backup-simplify]: Simplify -0.5 into -0.5
32.164 * [taylor]: Taking taylor expansion of phi1 in lambda2
32.164 * [backup-simplify]: Simplify phi1 into phi1
32.164 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
32.164 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
32.165 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
32.165 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
32.165 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
32.165 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
32.165 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
32.166 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
32.166 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
32.167 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
32.167 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
32.167 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
32.167 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
32.167 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
32.168 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
32.168 * [backup-simplify]: Simplify (- 0) into 0
32.168 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
32.168 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
32.169 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
32.169 * [backup-simplify]: Simplify (- 0) into 0
32.169 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
32.169 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
32.169 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
32.169 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
32.170 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
32.170 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
32.170 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
32.170 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
32.171 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
32.171 * [backup-simplify]: Simplify (- 0) into 0
32.171 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
32.171 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
32.171 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
32.171 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
32.172 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
32.172 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
32.172 * [backup-simplify]: Simplify (- 0) into 0
32.172 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
32.172 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
32.172 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
32.172 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
32.173 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
32.173 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
32.173 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
32.174 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
32.175 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
32.177 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
32.181 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)
32.191 * [backup-simplify]: Simplify (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 4)
32.195 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 4)) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)
32.197 * [backup-simplify]: Simplify (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)) into (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))
32.199 * [backup-simplify]: Simplify (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))) into (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)))
32.200 * [backup-simplify]: Simplify (+ 0) into 0
32.201 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
32.201 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
32.202 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
32.203 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
32.203 * [backup-simplify]: Simplify (- 0) into 0
32.204 * [backup-simplify]: Simplify (+ 0 0) into 0
32.204 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
32.205 * [backup-simplify]: Simplify (+ 0) into 0
32.205 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
32.205 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
32.206 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
32.207 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
32.207 * [backup-simplify]: Simplify (- 0) into 0
32.208 * [backup-simplify]: Simplify (+ 0 0) into 0
32.208 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
32.208 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
32.209 * [backup-simplify]: Simplify (+ 0) into 0
32.209 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
32.210 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
32.210 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
32.211 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
32.211 * [backup-simplify]: Simplify (+ 0 0) into 0
32.212 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
32.212 * [backup-simplify]: Simplify (+ 0) into 0
32.212 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
32.213 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
32.213 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
32.214 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
32.214 * [backup-simplify]: Simplify (+ 0 0) into 0
32.215 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
32.215 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
32.215 * [backup-simplify]: Simplify (+ 0 0) into 0
32.216 * [backup-simplify]: Simplify (+ 0) into 0
32.216 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
32.217 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
32.217 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
32.218 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
32.218 * [backup-simplify]: Simplify (+ 0 0) into 0
32.219 * [backup-simplify]: Simplify (+ 0) into 0
32.219 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
32.219 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
32.220 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
32.221 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
32.221 * [backup-simplify]: Simplify (- 0) into 0
32.221 * [backup-simplify]: Simplify (+ 0 0) into 0
32.222 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
32.222 * [backup-simplify]: Simplify (+ 0) into 0
32.223 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
32.223 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
32.224 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
32.224 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
32.225 * [backup-simplify]: Simplify (- 0) into 0
32.225 * [backup-simplify]: Simplify (+ 0 0) into 0
32.225 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
32.226 * [backup-simplify]: Simplify (+ 0) into 0
32.226 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
32.226 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
32.227 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
32.229 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
32.230 * [backup-simplify]: Simplify (+ 0 0) into 0
32.230 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
32.231 * [backup-simplify]: Simplify (+ 0) into 0
32.231 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
32.232 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
32.232 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
32.233 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
32.233 * [backup-simplify]: Simplify (+ 0 0) into 0
32.234 * [backup-simplify]: Simplify (+ 0) into 0
32.235 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
32.235 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
32.236 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
32.236 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
32.237 * [backup-simplify]: Simplify (- 0) into 0
32.237 * [backup-simplify]: Simplify (+ 0 0) into 0
32.237 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
32.238 * [backup-simplify]: Simplify (+ 0) into 0
32.238 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
32.238 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
32.239 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
32.239 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
32.240 * [backup-simplify]: Simplify (+ 0 0) into 0
32.240 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
32.241 * [backup-simplify]: Simplify (+ 0) into 0
32.241 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
32.241 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
32.242 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
32.243 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
32.243 * [backup-simplify]: Simplify (- 0) into 0
32.243 * [backup-simplify]: Simplify (+ 0 0) into 0
32.244 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
32.244 * [backup-simplify]: Simplify (+ 0 0) into 0
32.244 * [backup-simplify]: Simplify (- 0) into 0
32.245 * [backup-simplify]: Simplify (+ 0 0) into 0
32.248 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into 0
32.253 * [backup-simplify]: Simplify (+ (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2) 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2))) into 0
32.257 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 4))) into 0
32.261 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)) (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) into 0
32.264 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) into 0
32.264 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) (* (pow lambda2 3) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* lambda2 (* R (pow phi2 2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 3 (* (/ (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 5) (* (pow (cos (/ -0.5 phi1)) 5) (sin (/ -0.5 phi1))))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) (+ (* 3 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (* lambda2 (pow phi1 2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (* lambda2 (* phi1 phi2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))))))) in lambda2
32.264 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) (* (pow lambda2 3) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) in lambda2
32.264 * [taylor]: Taking taylor expansion of 1/2 in lambda2
32.264 * [backup-simplify]: Simplify 1/2 into 1/2
32.264 * [taylor]: Taking taylor expansion of (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) (* (pow lambda2 3) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) in lambda2
32.264 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) (* (pow lambda2 3) R)) in lambda2
32.264 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) in lambda2
32.264 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 4) in lambda2
32.264 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
32.264 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
32.264 * [taylor]: Taking taylor expansion of -0.5 in lambda2
32.264 * [backup-simplify]: Simplify -0.5 into -0.5
32.265 * [taylor]: Taking taylor expansion of phi2 in lambda2
32.265 * [backup-simplify]: Simplify phi2 into phi2
32.265 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
32.265 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
32.265 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
32.265 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
32.265 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
32.265 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
32.265 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 4) in lambda2
32.265 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
32.265 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
32.265 * [taylor]: Taking taylor expansion of -0.5 in lambda2
32.265 * [backup-simplify]: Simplify -0.5 into -0.5
32.265 * [taylor]: Taking taylor expansion of phi1 in lambda2
32.265 * [backup-simplify]: Simplify phi1 into phi1
32.265 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
32.265 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
32.265 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
32.266 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
32.266 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
32.266 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
32.266 * [taylor]: Taking taylor expansion of (* (pow lambda2 3) R) in lambda2
32.266 * [taylor]: Taking taylor expansion of (pow lambda2 3) in lambda2
32.266 * [taylor]: Taking taylor expansion of lambda2 in lambda2
32.266 * [backup-simplify]: Simplify 0 into 0
32.266 * [backup-simplify]: Simplify 1 into 1
32.266 * [taylor]: Taking taylor expansion of R in lambda2
32.266 * [backup-simplify]: Simplify R into R
32.266 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
32.266 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi2)) 2)) into (pow (sin (/ -0.5 phi2)) 4)
32.266 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
32.267 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (pow (sin (/ -0.5 phi1)) 4)
32.267 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) into (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4))
32.268 * [backup-simplify]: Simplify (* 1 1) into 1
32.268 * [backup-simplify]: Simplify (* 1 1) into 1
32.268 * [backup-simplify]: Simplify (* 1 R) into R
32.268 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) R) into (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) R)
32.268 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) in lambda2
32.268 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) in lambda2
32.268 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3) in lambda2
32.269 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in lambda2
32.269 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in lambda2
32.269 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2
32.269 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2
32.269 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
32.269 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
32.269 * [taylor]: Taking taylor expansion of -0.5 in lambda2
32.269 * [backup-simplify]: Simplify -0.5 into -0.5
32.269 * [taylor]: Taking taylor expansion of phi2 in lambda2
32.269 * [backup-simplify]: Simplify phi2 into phi2
32.269 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
32.269 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
32.269 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
32.269 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
32.269 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
32.270 * [backup-simplify]: Simplify (- 0) into 0
32.270 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
32.270 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2
32.270 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
32.270 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
32.270 * [taylor]: Taking taylor expansion of -0.5 in lambda2
32.270 * [backup-simplify]: Simplify -0.5 into -0.5
32.270 * [taylor]: Taking taylor expansion of phi1 in lambda2
32.270 * [backup-simplify]: Simplify phi1 into phi1
32.270 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
32.270 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
32.270 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
32.270 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
32.270 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
32.271 * [backup-simplify]: Simplify (- 0) into 0
32.271 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
32.271 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2
32.271 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2
32.271 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
32.271 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
32.271 * [taylor]: Taking taylor expansion of -0.5 in lambda2
32.271 * [backup-simplify]: Simplify -0.5 into -0.5
32.271 * [taylor]: Taking taylor expansion of phi2 in lambda2
32.271 * [backup-simplify]: Simplify phi2 into phi2
32.271 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
32.271 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
32.271 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
32.271 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
32.271 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
32.271 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
32.271 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2
32.271 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
32.271 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
32.271 * [taylor]: Taking taylor expansion of -0.5 in lambda2
32.271 * [backup-simplify]: Simplify -0.5 into -0.5
32.271 * [taylor]: Taking taylor expansion of phi1 in lambda2
32.272 * [backup-simplify]: Simplify phi1 into phi1
32.272 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
32.272 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
32.272 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
32.272 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
32.272 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
32.272 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
32.272 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in lambda2
32.272 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
32.272 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
32.272 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
32.272 * [taylor]: Taking taylor expansion of -0.5 in lambda2
32.272 * [backup-simplify]: Simplify -0.5 into -0.5
32.272 * [taylor]: Taking taylor expansion of phi2 in lambda2
32.272 * [backup-simplify]: Simplify phi2 into phi2
32.272 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
32.272 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
32.272 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
32.272 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
32.272 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
32.273 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
32.273 * [taylor]: Taking taylor expansion of -0.5 in lambda2
32.273 * [backup-simplify]: Simplify -0.5 into -0.5
32.273 * [taylor]: Taking taylor expansion of phi2 in lambda2
32.273 * [backup-simplify]: Simplify phi2 into phi2
32.273 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
32.273 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
32.273 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
32.273 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
32.273 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
32.273 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
32.273 * [taylor]: Taking taylor expansion of -0.5 in lambda2
32.273 * [backup-simplify]: Simplify -0.5 into -0.5
32.273 * [taylor]: Taking taylor expansion of phi1 in lambda2
32.273 * [backup-simplify]: Simplify phi1 into phi1
32.273 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
32.273 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
32.273 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
32.273 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
32.273 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
32.273 * [taylor]: Taking taylor expansion of -0.5 in lambda2
32.273 * [backup-simplify]: Simplify -0.5 into -0.5
32.273 * [taylor]: Taking taylor expansion of phi1 in lambda2
32.273 * [backup-simplify]: Simplify phi1 into phi1
32.273 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
32.273 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
32.274 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
32.274 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
32.274 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
32.274 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
32.274 * [taylor]: Taking taylor expansion of -0.5 in lambda2
32.274 * [backup-simplify]: Simplify -0.5 into -0.5
32.274 * [taylor]: Taking taylor expansion of phi2 in lambda2
32.274 * [backup-simplify]: Simplify phi2 into phi2
32.274 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
32.274 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
32.274 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
32.274 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
32.274 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
32.274 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
32.274 * [taylor]: Taking taylor expansion of -0.5 in lambda2
32.274 * [backup-simplify]: Simplify -0.5 into -0.5
32.274 * [taylor]: Taking taylor expansion of phi2 in lambda2
32.274 * [backup-simplify]: Simplify phi2 into phi2
32.274 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
32.274 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
32.274 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
32.274 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
32.274 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
32.274 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
32.274 * [taylor]: Taking taylor expansion of -0.5 in lambda2
32.274 * [backup-simplify]: Simplify -0.5 into -0.5
32.274 * [taylor]: Taking taylor expansion of phi1 in lambda2
32.274 * [backup-simplify]: Simplify phi1 into phi1
32.275 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
32.275 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
32.275 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
32.275 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
32.275 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
32.275 * [taylor]: Taking taylor expansion of -0.5 in lambda2
32.275 * [backup-simplify]: Simplify -0.5 into -0.5
32.275 * [taylor]: Taking taylor expansion of phi1 in lambda2
32.275 * [backup-simplify]: Simplify phi1 into phi1
32.275 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
32.275 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
32.275 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
32.275 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
32.275 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
32.276 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
32.276 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
32.276 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
32.276 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
32.277 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
32.277 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
32.277 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
32.277 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
32.277 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
32.277 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
32.278 * [backup-simplify]: Simplify (- 0) into 0
32.278 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
32.278 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
32.278 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
32.279 * [backup-simplify]: Simplify (- 0) into 0
32.279 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
32.279 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
32.279 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
32.279 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
32.279 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
32.279 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
32.280 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
32.280 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
32.280 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
32.280 * [backup-simplify]: Simplify (- 0) into 0
32.280 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
32.280 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
32.280 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
32.281 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
32.281 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
32.281 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
32.281 * [backup-simplify]: Simplify (- 0) into 0
32.281 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
32.281 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
32.281 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
32.281 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
32.282 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
32.282 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
32.282 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
32.283 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
32.283 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
32.285 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
32.288 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)
32.291 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)
32.293 * [backup-simplify]: Simplify (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) into (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))
32.295 * [backup-simplify]: Simplify (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) into (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))
32.296 * [backup-simplify]: Simplify (+ 0) into 0
32.296 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
32.296 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
32.297 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
32.297 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
32.298 * [backup-simplify]: Simplify (- 0) into 0
32.298 * [backup-simplify]: Simplify (+ 0 0) into 0
32.298 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
32.299 * [backup-simplify]: Simplify (+ 0) into 0
32.299 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
32.299 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
32.300 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
32.300 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
32.301 * [backup-simplify]: Simplify (- 0) into 0
32.301 * [backup-simplify]: Simplify (+ 0 0) into 0
32.301 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
32.302 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
32.302 * [backup-simplify]: Simplify (+ 0) into 0
32.303 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
32.303 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
32.304 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
32.304 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
32.305 * [backup-simplify]: Simplify (+ 0 0) into 0
32.305 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
32.305 * [backup-simplify]: Simplify (+ 0) into 0
32.306 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
32.306 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
32.307 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
32.307 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
32.308 * [backup-simplify]: Simplify (+ 0 0) into 0
32.308 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
32.308 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
32.309 * [backup-simplify]: Simplify (+ 0 0) into 0
32.309 * [backup-simplify]: Simplify (+ 0) into 0
32.310 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
32.310 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
32.311 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
32.311 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
32.311 * [backup-simplify]: Simplify (+ 0 0) into 0
32.312 * [backup-simplify]: Simplify (+ 0) into 0
32.312 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
32.313 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
32.313 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
32.314 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
32.315 * [backup-simplify]: Simplify (- 0) into 0
32.315 * [backup-simplify]: Simplify (+ 0 0) into 0
32.315 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
32.316 * [backup-simplify]: Simplify (+ 0) into 0
32.316 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
32.316 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
32.317 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
32.317 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
32.318 * [backup-simplify]: Simplify (- 0) into 0
32.318 * [backup-simplify]: Simplify (+ 0 0) into 0
32.319 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
32.319 * [backup-simplify]: Simplify (+ 0) into 0
32.319 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
32.320 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
32.320 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
32.321 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
32.321 * [backup-simplify]: Simplify (+ 0 0) into 0
32.321 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
32.322 * [backup-simplify]: Simplify (+ 0) into 0
32.322 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
32.322 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
32.323 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
32.323 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
32.324 * [backup-simplify]: Simplify (+ 0 0) into 0
32.324 * [backup-simplify]: Simplify (+ 0) into 0
32.325 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
32.325 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
32.326 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
32.326 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
32.327 * [backup-simplify]: Simplify (- 0) into 0
32.327 * [backup-simplify]: Simplify (+ 0 0) into 0
32.327 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
32.327 * [backup-simplify]: Simplify (+ 0) into 0
32.328 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
32.328 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
32.329 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
32.329 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
32.330 * [backup-simplify]: Simplify (+ 0 0) into 0
32.330 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
32.331 * [backup-simplify]: Simplify (+ 0) into 0
32.331 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
32.331 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
32.332 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
32.333 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
32.333 * [backup-simplify]: Simplify (- 0) into 0
32.333 * [backup-simplify]: Simplify (+ 0 0) into 0
32.334 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
32.334 * [backup-simplify]: Simplify (+ 0 0) into 0
32.335 * [backup-simplify]: Simplify (- 0) into 0
32.335 * [backup-simplify]: Simplify (+ 0 0) into 0
32.339 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into 0
32.343 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2))) into 0
32.347 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
32.349 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
32.349 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* lambda2 (* R (pow phi2 2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 3 (* (/ (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 5) (* (pow (cos (/ -0.5 phi1)) 5) (sin (/ -0.5 phi1))))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) (+ (* 3 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (* lambda2 (pow phi1 2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (* lambda2 (* phi1 phi2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))))))) in lambda2
32.350 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* lambda2 (* R (pow phi2 2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) in lambda2
32.350 * [taylor]: Taking taylor expansion of 1/2 in lambda2
32.350 * [backup-simplify]: Simplify 1/2 into 1/2
32.350 * [taylor]: Taking taylor expansion of (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* lambda2 (* R (pow phi2 2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) in lambda2
32.350 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* lambda2 (* R (pow phi2 2)))) in lambda2
32.350 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2
32.350 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2
32.350 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
32.350 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
32.350 * [taylor]: Taking taylor expansion of -0.5 in lambda2
32.350 * [backup-simplify]: Simplify -0.5 into -0.5
32.350 * [taylor]: Taking taylor expansion of phi2 in lambda2
32.350 * [backup-simplify]: Simplify phi2 into phi2
32.350 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
32.350 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
32.350 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
32.351 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
32.351 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
32.351 * [backup-simplify]: Simplify (- 0) into 0
32.351 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
32.351 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2
32.352 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
32.352 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
32.352 * [taylor]: Taking taylor expansion of -0.5 in lambda2
32.352 * [backup-simplify]: Simplify -0.5 into -0.5
32.352 * [taylor]: Taking taylor expansion of phi1 in lambda2
32.352 * [backup-simplify]: Simplify phi1 into phi1
32.352 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
32.352 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
32.352 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
32.352 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
32.352 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
32.357 * [backup-simplify]: Simplify (- 0) into 0
32.357 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
32.358 * [taylor]: Taking taylor expansion of (* lambda2 (* R (pow phi2 2))) in lambda2
32.358 * [taylor]: Taking taylor expansion of lambda2 in lambda2
32.358 * [backup-simplify]: Simplify 0 into 0
32.358 * [backup-simplify]: Simplify 1 into 1
32.358 * [taylor]: Taking taylor expansion of (* R (pow phi2 2)) in lambda2
32.359 * [taylor]: Taking taylor expansion of R in lambda2
32.359 * [backup-simplify]: Simplify R into R
32.359 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2
32.359 * [taylor]: Taking taylor expansion of phi2 in lambda2
32.359 * [backup-simplify]: Simplify phi2 into phi2
32.359 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
32.359 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
32.359 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
32.360 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
32.360 * [backup-simplify]: Simplify (* R (pow phi2 2)) into (* R (pow phi2 2))
32.360 * [backup-simplify]: Simplify (* 0 (* R (pow phi2 2))) into 0
32.360 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0
32.360 * [backup-simplify]: Simplify (+ (* R 0) (* 0 (pow phi2 2))) into 0
32.361 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* R (pow phi2 2)))) into (* R (pow phi2 2))
32.362 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (pow phi2 2))) into (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (pow phi2 2)))
32.362 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) in lambda2
32.362 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) in lambda2
32.362 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3) in lambda2
32.362 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in lambda2
32.362 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in lambda2
32.362 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2
32.362 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2
32.362 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
32.362 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
32.362 * [taylor]: Taking taylor expansion of -0.5 in lambda2
32.362 * [backup-simplify]: Simplify -0.5 into -0.5
32.362 * [taylor]: Taking taylor expansion of phi2 in lambda2
32.362 * [backup-simplify]: Simplify phi2 into phi2
32.362 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
32.363 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
32.363 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
32.363 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
32.363 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
32.363 * [backup-simplify]: Simplify (- 0) into 0
32.364 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
32.364 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2
32.364 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
32.364 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
32.364 * [taylor]: Taking taylor expansion of -0.5 in lambda2
32.364 * [backup-simplify]: Simplify -0.5 into -0.5
32.364 * [taylor]: Taking taylor expansion of phi1 in lambda2
32.364 * [backup-simplify]: Simplify phi1 into phi1
32.364 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
32.364 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
32.364 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
32.364 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
32.364 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
32.365 * [backup-simplify]: Simplify (- 0) into 0
32.365 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
32.365 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2
32.365 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2
32.365 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
32.365 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
32.365 * [taylor]: Taking taylor expansion of -0.5 in lambda2
32.365 * [backup-simplify]: Simplify -0.5 into -0.5
32.365 * [taylor]: Taking taylor expansion of phi2 in lambda2
32.365 * [backup-simplify]: Simplify phi2 into phi2
32.365 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
32.365 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
32.365 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
32.365 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
32.366 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
32.366 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
32.366 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2
32.366 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
32.366 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
32.366 * [taylor]: Taking taylor expansion of -0.5 in lambda2
32.366 * [backup-simplify]: Simplify -0.5 into -0.5
32.366 * [taylor]: Taking taylor expansion of phi1 in lambda2
32.366 * [backup-simplify]: Simplify phi1 into phi1
32.366 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
32.366 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
32.366 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
32.366 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
32.366 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
32.366 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
32.367 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in lambda2
32.367 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
32.367 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
32.367 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
32.367 * [taylor]: Taking taylor expansion of -0.5 in lambda2
32.367 * [backup-simplify]: Simplify -0.5 into -0.5
32.367 * [taylor]: Taking taylor expansion of phi2 in lambda2
32.367 * [backup-simplify]: Simplify phi2 into phi2
32.367 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
32.367 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
32.367 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
32.367 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
32.367 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
32.367 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
32.367 * [taylor]: Taking taylor expansion of -0.5 in lambda2
32.367 * [backup-simplify]: Simplify -0.5 into -0.5
32.367 * [taylor]: Taking taylor expansion of phi2 in lambda2
32.367 * [backup-simplify]: Simplify phi2 into phi2
32.367 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
32.367 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
32.367 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
32.367 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
32.368 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
32.368 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
32.368 * [taylor]: Taking taylor expansion of -0.5 in lambda2
32.368 * [backup-simplify]: Simplify -0.5 into -0.5
32.368 * [taylor]: Taking taylor expansion of phi1 in lambda2
32.368 * [backup-simplify]: Simplify phi1 into phi1
32.368 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
32.368 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
32.368 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
32.368 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
32.368 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
32.368 * [taylor]: Taking taylor expansion of -0.5 in lambda2
32.368 * [backup-simplify]: Simplify -0.5 into -0.5
32.368 * [taylor]: Taking taylor expansion of phi1 in lambda2
32.368 * [backup-simplify]: Simplify phi1 into phi1
32.368 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
32.368 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
32.368 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
32.368 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
32.368 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
32.368 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
32.368 * [taylor]: Taking taylor expansion of -0.5 in lambda2
32.369 * [backup-simplify]: Simplify -0.5 into -0.5
32.369 * [taylor]: Taking taylor expansion of phi2 in lambda2
32.369 * [backup-simplify]: Simplify phi2 into phi2
32.369 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
32.369 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
32.369 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
32.369 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
32.369 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
32.369 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
32.369 * [taylor]: Taking taylor expansion of -0.5 in lambda2
32.369 * [backup-simplify]: Simplify -0.5 into -0.5
32.369 * [taylor]: Taking taylor expansion of phi2 in lambda2
32.369 * [backup-simplify]: Simplify phi2 into phi2
32.369 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
32.369 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
32.369 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
32.369 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
32.369 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
32.369 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
32.369 * [taylor]: Taking taylor expansion of -0.5 in lambda2
32.369 * [backup-simplify]: Simplify -0.5 into -0.5
32.369 * [taylor]: Taking taylor expansion of phi1 in lambda2
32.369 * [backup-simplify]: Simplify phi1 into phi1
32.370 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
32.370 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
32.370 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
32.370 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
32.370 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
32.370 * [taylor]: Taking taylor expansion of -0.5 in lambda2
32.370 * [backup-simplify]: Simplify -0.5 into -0.5
32.370 * [taylor]: Taking taylor expansion of phi1 in lambda2
32.370 * [backup-simplify]: Simplify phi1 into phi1
32.370 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
32.370 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
32.370 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
32.370 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
32.371 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
32.371 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
32.371 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
32.371 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
32.372 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
32.373 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
32.373 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
32.373 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
32.373 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
32.373 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
32.374 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
32.375 * [backup-simplify]: Simplify (- 0) into 0
32.375 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
32.375 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
32.376 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
32.376 * [backup-simplify]: Simplify (- 0) into 0
32.376 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
32.376 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
32.377 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
32.377 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
32.377 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
32.377 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
32.378 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
32.378 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
32.378 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
32.378 * [backup-simplify]: Simplify (- 0) into 0
32.378 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
32.379 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
32.379 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
32.379 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
32.379 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
32.379 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
32.379 * [backup-simplify]: Simplify (- 0) into 0
32.380 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
32.380 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
32.380 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
32.380 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
32.380 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
32.380 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
32.381 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
32.381 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
32.382 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
32.384 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
32.388 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)
32.392 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)
32.394 * [backup-simplify]: Simplify (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) into (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))
32.397 * [backup-simplify]: Simplify (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) into (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))
32.397 * [backup-simplify]: Simplify (+ 0) into 0
32.398 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
32.398 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
32.399 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
32.399 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
32.400 * [backup-simplify]: Simplify (- 0) into 0
32.400 * [backup-simplify]: Simplify (+ 0 0) into 0
32.400 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
32.401 * [backup-simplify]: Simplify (+ 0) into 0
32.401 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
32.401 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
32.402 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
32.403 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
32.403 * [backup-simplify]: Simplify (- 0) into 0
32.404 * [backup-simplify]: Simplify (+ 0 0) into 0
32.404 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
32.404 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
32.405 * [backup-simplify]: Simplify (+ 0) into 0
32.405 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
32.405 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
32.406 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
32.407 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
32.407 * [backup-simplify]: Simplify (+ 0 0) into 0
32.407 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
32.408 * [backup-simplify]: Simplify (+ 0) into 0
32.408 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
32.408 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
32.409 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
32.410 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
32.410 * [backup-simplify]: Simplify (+ 0 0) into 0
32.410 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
32.411 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
32.411 * [backup-simplify]: Simplify (+ 0 0) into 0
32.412 * [backup-simplify]: Simplify (+ 0) into 0
32.412 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
32.413 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
32.414 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
32.414 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
32.415 * [backup-simplify]: Simplify (+ 0 0) into 0
32.415 * [backup-simplify]: Simplify (+ 0) into 0
32.416 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
32.416 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
32.417 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
32.418 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
32.418 * [backup-simplify]: Simplify (- 0) into 0
32.419 * [backup-simplify]: Simplify (+ 0 0) into 0
32.419 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
32.419 * [backup-simplify]: Simplify (+ 0) into 0
32.420 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
32.420 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
32.421 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
32.421 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
32.422 * [backup-simplify]: Simplify (- 0) into 0
32.422 * [backup-simplify]: Simplify (+ 0 0) into 0
32.422 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
32.423 * [backup-simplify]: Simplify (+ 0) into 0
32.423 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
32.423 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
32.424 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
32.425 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
32.425 * [backup-simplify]: Simplify (+ 0 0) into 0
32.425 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
32.426 * [backup-simplify]: Simplify (+ 0) into 0
32.426 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
32.426 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
32.427 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
32.428 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
32.428 * [backup-simplify]: Simplify (+ 0 0) into 0
32.429 * [backup-simplify]: Simplify (+ 0) into 0
32.429 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
32.429 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
32.430 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
32.431 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
32.431 * [backup-simplify]: Simplify (- 0) into 0
32.431 * [backup-simplify]: Simplify (+ 0 0) into 0
32.431 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
32.432 * [backup-simplify]: Simplify (+ 0) into 0
32.432 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
32.433 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
32.434 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
32.434 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
32.435 * [backup-simplify]: Simplify (+ 0 0) into 0
32.435 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
32.435 * [backup-simplify]: Simplify (+ 0) into 0
32.436 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
32.436 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
32.437 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
32.437 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
32.438 * [backup-simplify]: Simplify (- 0) into 0
32.438 * [backup-simplify]: Simplify (+ 0 0) into 0
32.439 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
32.439 * [backup-simplify]: Simplify (+ 0 0) into 0
32.439 * [backup-simplify]: Simplify (- 0) into 0
32.440 * [backup-simplify]: Simplify (+ 0 0) into 0
32.444 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into 0
32.448 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2))) into 0
32.452 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
32.454 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
32.454 * [taylor]: Taking taylor expansion of (+ (* 3 (* (/ (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 5) (* (pow (cos (/ -0.5 phi1)) 5) (sin (/ -0.5 phi1))))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) (+ (* 3 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (* lambda2 (pow phi1 2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (* lambda2 (* phi1 phi2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))))) in lambda2
32.455 * [taylor]: Taking taylor expansion of (* 3 (* (/ (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 5) (* (pow (cos (/ -0.5 phi1)) 5) (sin (/ -0.5 phi1))))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) in lambda2
32.455 * [taylor]: Taking taylor expansion of 3 in lambda2
32.455 * [backup-simplify]: Simplify 3 into 3
32.455 * [taylor]: Taking taylor expansion of (* (/ (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 5) (* (pow (cos (/ -0.5 phi1)) 5) (sin (/ -0.5 phi1))))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)))) in lambda2
32.455 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 5) (* (pow (cos (/ -0.5 phi1)) 5) (sin (/ -0.5 phi1))))) (* R (pow lambda2 3))) in lambda2
32.455 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 5) (* (pow (cos (/ -0.5 phi1)) 5) (sin (/ -0.5 phi1))))) in lambda2
32.455 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
32.455 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
32.455 * [taylor]: Taking taylor expansion of -0.5 in lambda2
32.455 * [backup-simplify]: Simplify -0.5 into -0.5
32.455 * [taylor]: Taking taylor expansion of phi2 in lambda2
32.455 * [backup-simplify]: Simplify phi2 into phi2
32.455 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
32.455 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
32.455 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
32.455 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 5) (* (pow (cos (/ -0.5 phi1)) 5) (sin (/ -0.5 phi1)))) in lambda2
32.456 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 5) in lambda2
32.456 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
32.456 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
32.456 * [taylor]: Taking taylor expansion of -0.5 in lambda2
32.456 * [backup-simplify]: Simplify -0.5 into -0.5
32.456 * [taylor]: Taking taylor expansion of phi2 in lambda2
32.456 * [backup-simplify]: Simplify phi2 into phi2
32.456 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
32.456 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
32.456 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
32.456 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
32.456 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
32.457 * [backup-simplify]: Simplify (- 0) into 0
32.457 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
32.457 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi1)) 5) (sin (/ -0.5 phi1))) in lambda2
32.457 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 5) in lambda2
32.457 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
32.457 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
32.457 * [taylor]: Taking taylor expansion of -0.5 in lambda2
32.457 * [backup-simplify]: Simplify -0.5 into -0.5
32.457 * [taylor]: Taking taylor expansion of phi1 in lambda2
32.457 * [backup-simplify]: Simplify phi1 into phi1
32.457 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
32.457 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
32.457 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
32.458 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
32.458 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
32.458 * [backup-simplify]: Simplify (- 0) into 0
32.458 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
32.458 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
32.458 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
32.458 * [taylor]: Taking taylor expansion of -0.5 in lambda2
32.458 * [backup-simplify]: Simplify -0.5 into -0.5
32.458 * [taylor]: Taking taylor expansion of phi1 in lambda2
32.459 * [backup-simplify]: Simplify phi1 into phi1
32.459 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
32.459 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
32.459 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
32.459 * [taylor]: Taking taylor expansion of (* R (pow lambda2 3)) in lambda2
32.459 * [taylor]: Taking taylor expansion of R in lambda2
32.459 * [backup-simplify]: Simplify R into R
32.459 * [taylor]: Taking taylor expansion of (pow lambda2 3) in lambda2
32.459 * [taylor]: Taking taylor expansion of lambda2 in lambda2
32.459 * [backup-simplify]: Simplify 0 into 0
32.459 * [backup-simplify]: Simplify 1 into 1
32.459 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
32.459 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
32.459 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
32.460 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
32.460 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi2)) 2)) into (pow (cos (/ -0.5 phi2)) 4)
32.460 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (pow (cos (/ -0.5 phi2)) 4)) into (pow (cos (/ -0.5 phi2)) 5)
32.460 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
32.461 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (pow (cos (/ -0.5 phi1)) 4)
32.461 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (pow (cos (/ -0.5 phi1)) 4)) into (pow (cos (/ -0.5 phi1)) 5)
32.461 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
32.461 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
32.461 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
32.461 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi1)) 5) (sin (/ -0.5 phi1))) into (* (pow (cos (/ -0.5 phi1)) 5) (sin (/ -0.5 phi1)))
32.462 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 5) (* (pow (cos (/ -0.5 phi1)) 5) (sin (/ -0.5 phi1)))) into (* (pow (cos (/ -0.5 phi2)) 5) (* (pow (cos (/ -0.5 phi1)) 5) (sin (/ -0.5 phi1))))
32.462 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 5) (* (pow (cos (/ -0.5 phi1)) 5) (sin (/ -0.5 phi1))))) into (* (pow (cos (/ -0.5 phi2)) 5) (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi1)) 5) (sin (/ -0.5 phi1)))))
32.463 * [backup-simplify]: Simplify (* 1 1) into 1
32.463 * [backup-simplify]: Simplify (* 1 1) into 1
32.463 * [backup-simplify]: Simplify (* R 1) into R
32.464 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 5) (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi1)) 5) (sin (/ -0.5 phi1))))) R) into (/ (* (pow (cos (/ -0.5 phi2)) 5) (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi1)) 5) (sin (/ -0.5 phi1))))) R)
32.464 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))) in lambda2
32.464 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)) in lambda2
32.464 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5) in lambda2
32.464 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in lambda2
32.464 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in lambda2
32.464 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2
32.464 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2
32.464 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
32.465 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
32.465 * [taylor]: Taking taylor expansion of -0.5 in lambda2
32.465 * [backup-simplify]: Simplify -0.5 into -0.5
32.465 * [taylor]: Taking taylor expansion of phi2 in lambda2
32.465 * [backup-simplify]: Simplify phi2 into phi2
32.465 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
32.465 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
32.465 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
32.465 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
32.465 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
32.466 * [backup-simplify]: Simplify (- 0) into 0
32.466 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
32.466 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2
32.466 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
32.466 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
32.466 * [taylor]: Taking taylor expansion of -0.5 in lambda2
32.466 * [backup-simplify]: Simplify -0.5 into -0.5
32.466 * [taylor]: Taking taylor expansion of phi1 in lambda2
32.466 * [backup-simplify]: Simplify phi1 into phi1
32.466 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
32.466 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
32.466 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
32.466 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
32.466 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
32.467 * [backup-simplify]: Simplify (- 0) into 0
32.467 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
32.467 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2
32.467 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2
32.467 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
32.467 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
32.467 * [taylor]: Taking taylor expansion of -0.5 in lambda2
32.467 * [backup-simplify]: Simplify -0.5 into -0.5
32.467 * [taylor]: Taking taylor expansion of phi2 in lambda2
32.467 * [backup-simplify]: Simplify phi2 into phi2
32.468 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
32.468 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
32.468 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
32.468 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
32.468 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
32.468 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
32.468 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2
32.468 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
32.468 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
32.468 * [taylor]: Taking taylor expansion of -0.5 in lambda2
32.468 * [backup-simplify]: Simplify -0.5 into -0.5
32.468 * [taylor]: Taking taylor expansion of phi1 in lambda2
32.468 * [backup-simplify]: Simplify phi1 into phi1
32.468 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
32.468 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
32.469 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
32.469 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
32.469 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
32.469 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
32.469 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in lambda2
32.469 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
32.469 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
32.469 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
32.469 * [taylor]: Taking taylor expansion of -0.5 in lambda2
32.469 * [backup-simplify]: Simplify -0.5 into -0.5
32.469 * [taylor]: Taking taylor expansion of phi2 in lambda2
32.469 * [backup-simplify]: Simplify phi2 into phi2
32.469 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
32.469 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
32.469 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
32.469 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
32.469 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
32.469 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
32.470 * [taylor]: Taking taylor expansion of -0.5 in lambda2
32.470 * [backup-simplify]: Simplify -0.5 into -0.5
32.470 * [taylor]: Taking taylor expansion of phi2 in lambda2
32.470 * [backup-simplify]: Simplify phi2 into phi2
32.470 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
32.470 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
32.470 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
32.470 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
32.470 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
32.470 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
32.470 * [taylor]: Taking taylor expansion of -0.5 in lambda2
32.470 * [backup-simplify]: Simplify -0.5 into -0.5
32.470 * [taylor]: Taking taylor expansion of phi1 in lambda2
32.470 * [backup-simplify]: Simplify phi1 into phi1
32.470 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
32.470 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
32.470 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
32.470 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
32.470 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
32.470 * [taylor]: Taking taylor expansion of -0.5 in lambda2
32.470 * [backup-simplify]: Simplify -0.5 into -0.5
32.470 * [taylor]: Taking taylor expansion of phi1 in lambda2
32.470 * [backup-simplify]: Simplify phi1 into phi1
32.471 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
32.471 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
32.471 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
32.471 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
32.471 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
32.471 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
32.471 * [taylor]: Taking taylor expansion of -0.5 in lambda2
32.471 * [backup-simplify]: Simplify -0.5 into -0.5
32.471 * [taylor]: Taking taylor expansion of phi2 in lambda2
32.471 * [backup-simplify]: Simplify phi2 into phi2
32.471 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
32.471 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
32.471 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
32.471 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
32.471 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
32.471 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
32.471 * [taylor]: Taking taylor expansion of -0.5 in lambda2
32.471 * [backup-simplify]: Simplify -0.5 into -0.5
32.471 * [taylor]: Taking taylor expansion of phi2 in lambda2
32.471 * [backup-simplify]: Simplify phi2 into phi2
32.471 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
32.472 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
32.472 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
32.472 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
32.472 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
32.472 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
32.472 * [taylor]: Taking taylor expansion of -0.5 in lambda2
32.472 * [backup-simplify]: Simplify -0.5 into -0.5
32.472 * [taylor]: Taking taylor expansion of phi1 in lambda2
32.472 * [backup-simplify]: Simplify phi1 into phi1
32.472 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
32.472 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
32.472 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
32.472 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
32.472 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
32.472 * [taylor]: Taking taylor expansion of -0.5 in lambda2
32.472 * [backup-simplify]: Simplify -0.5 into -0.5
32.472 * [taylor]: Taking taylor expansion of phi1 in lambda2
32.472 * [backup-simplify]: Simplify phi1 into phi1
32.472 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
32.472 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
32.473 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
32.473 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
32.473 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
32.473 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
32.474 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
32.474 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
32.474 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
32.475 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
32.475 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
32.475 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
32.475 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
32.475 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
32.475 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
32.476 * [backup-simplify]: Simplify (- 0) into 0
32.476 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
32.476 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
32.476 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
32.477 * [backup-simplify]: Simplify (- 0) into 0
32.477 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
32.477 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
32.477 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
32.477 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
32.477 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
32.478 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
32.478 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
32.478 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
32.478 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
32.479 * [backup-simplify]: Simplify (- 0) into 0
32.479 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
32.479 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
32.479 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
32.479 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
32.479 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
32.479 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
32.480 * [backup-simplify]: Simplify (- 0) into 0
32.480 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
32.480 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
32.480 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
32.480 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
32.480 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
32.481 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
32.481 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
32.482 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
32.483 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
32.485 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
32.489 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)
32.493 * [backup-simplify]: Simplify (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 4)
32.497 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 4)) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)
32.500 * [backup-simplify]: Simplify (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)) into (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))
32.502 * [backup-simplify]: Simplify (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))) into (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)))
32.503 * [backup-simplify]: Simplify (+ 0) into 0
32.503 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
32.503 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
32.504 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
32.505 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
32.505 * [backup-simplify]: Simplify (- 0) into 0
32.506 * [backup-simplify]: Simplify (+ 0 0) into 0
32.506 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
32.506 * [backup-simplify]: Simplify (+ 0) into 0
32.507 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
32.507 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
32.508 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
32.508 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
32.509 * [backup-simplify]: Simplify (- 0) into 0
32.509 * [backup-simplify]: Simplify (+ 0 0) into 0
32.509 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
32.510 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
32.510 * [backup-simplify]: Simplify (+ 0) into 0
32.511 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
32.511 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
32.512 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
32.512 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
32.513 * [backup-simplify]: Simplify (+ 0 0) into 0
32.513 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
32.513 * [backup-simplify]: Simplify (+ 0) into 0
32.514 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
32.514 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
32.515 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
32.515 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
32.516 * [backup-simplify]: Simplify (+ 0 0) into 0
32.516 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
32.516 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
32.517 * [backup-simplify]: Simplify (+ 0 0) into 0
32.517 * [backup-simplify]: Simplify (+ 0) into 0
32.518 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
32.518 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
32.519 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
32.519 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
32.520 * [backup-simplify]: Simplify (+ 0 0) into 0
32.520 * [backup-simplify]: Simplify (+ 0) into 0
32.521 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
32.521 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
32.522 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
32.522 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
32.523 * [backup-simplify]: Simplify (- 0) into 0
32.523 * [backup-simplify]: Simplify (+ 0 0) into 0
32.523 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
32.524 * [backup-simplify]: Simplify (+ 0) into 0
32.524 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
32.524 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
32.525 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
32.526 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
32.526 * [backup-simplify]: Simplify (- 0) into 0
32.526 * [backup-simplify]: Simplify (+ 0 0) into 0
32.527 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
32.527 * [backup-simplify]: Simplify (+ 0) into 0
32.528 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
32.528 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
32.529 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
32.529 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
32.530 * [backup-simplify]: Simplify (+ 0 0) into 0
32.530 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
32.530 * [backup-simplify]: Simplify (+ 0) into 0
32.531 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
32.531 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
32.532 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
32.532 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
32.533 * [backup-simplify]: Simplify (+ 0 0) into 0
32.533 * [backup-simplify]: Simplify (+ 0) into 0
32.534 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
32.534 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
32.535 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
32.535 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
32.536 * [backup-simplify]: Simplify (- 0) into 0
32.536 * [backup-simplify]: Simplify (+ 0 0) into 0
32.536 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
32.537 * [backup-simplify]: Simplify (+ 0) into 0
32.537 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
32.537 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
32.543 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
32.544 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
32.544 * [backup-simplify]: Simplify (+ 0 0) into 0
32.544 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
32.544 * [backup-simplify]: Simplify (+ 0) into 0
32.545 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
32.545 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
32.545 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
32.546 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
32.546 * [backup-simplify]: Simplify (- 0) into 0
32.546 * [backup-simplify]: Simplify (+ 0 0) into 0
32.547 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
32.547 * [backup-simplify]: Simplify (+ 0 0) into 0
32.547 * [backup-simplify]: Simplify (- 0) into 0
32.547 * [backup-simplify]: Simplify (+ 0 0) into 0
32.549 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into 0
32.552 * [backup-simplify]: Simplify (+ (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2) 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2))) into 0
32.554 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 4))) into 0
32.557 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)) (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) into 0
32.558 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) into 0
32.558 * [taylor]: Taking taylor expansion of (+ (* 3 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (* lambda2 (pow phi1 2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (* lambda2 (* phi1 phi2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))))) in lambda2
32.558 * [taylor]: Taking taylor expansion of (* 3 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) in lambda2
32.558 * [taylor]: Taking taylor expansion of 3 in lambda2
32.558 * [backup-simplify]: Simplify 3 into 3
32.558 * [taylor]: Taking taylor expansion of (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) in lambda2
32.558 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (* R (pow lambda2 3))) in lambda2
32.558 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)))) in lambda2
32.558 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2
32.558 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
32.558 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
32.558 * [taylor]: Taking taylor expansion of -0.5 in lambda2
32.559 * [backup-simplify]: Simplify -0.5 into -0.5
32.559 * [taylor]: Taking taylor expansion of phi2 in lambda2
32.559 * [backup-simplify]: Simplify phi2 into phi2
32.559 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
32.559 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
32.559 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
32.559 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
32.559 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
32.559 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
32.559 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2))) in lambda2
32.559 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2
32.559 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
32.559 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
32.559 * [taylor]: Taking taylor expansion of -0.5 in lambda2
32.559 * [backup-simplify]: Simplify -0.5 into -0.5
32.559 * [taylor]: Taking taylor expansion of phi2 in lambda2
32.559 * [backup-simplify]: Simplify phi2 into phi2
32.559 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
32.559 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
32.559 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
32.559 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
32.559 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
32.560 * [backup-simplify]: Simplify (- 0) into 0
32.560 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
32.560 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2
32.560 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2
32.560 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
32.560 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
32.560 * [taylor]: Taking taylor expansion of -0.5 in lambda2
32.560 * [backup-simplify]: Simplify -0.5 into -0.5
32.560 * [taylor]: Taking taylor expansion of phi1 in lambda2
32.560 * [backup-simplify]: Simplify phi1 into phi1
32.560 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
32.560 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
32.560 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
32.560 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
32.560 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
32.561 * [backup-simplify]: Simplify (- 0) into 0
32.561 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
32.561 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2
32.561 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
32.561 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
32.561 * [taylor]: Taking taylor expansion of -0.5 in lambda2
32.561 * [backup-simplify]: Simplify -0.5 into -0.5
32.561 * [taylor]: Taking taylor expansion of phi1 in lambda2
32.561 * [backup-simplify]: Simplify phi1 into phi1
32.561 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
32.561 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
32.561 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
32.561 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
32.561 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
32.561 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
32.561 * [taylor]: Taking taylor expansion of (* R (pow lambda2 3)) in lambda2
32.561 * [taylor]: Taking taylor expansion of R in lambda2
32.561 * [backup-simplify]: Simplify R into R
32.561 * [taylor]: Taking taylor expansion of (pow lambda2 3) in lambda2
32.561 * [taylor]: Taking taylor expansion of lambda2 in lambda2
32.561 * [backup-simplify]: Simplify 0 into 0
32.561 * [backup-simplify]: Simplify 1 into 1
32.562 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
32.562 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
32.562 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
32.562 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
32.562 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2))
32.562 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)))
32.563 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)))) into (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2))))
32.563 * [backup-simplify]: Simplify (* 1 1) into 1
32.564 * [backup-simplify]: Simplify (* 1 1) into 1
32.564 * [backup-simplify]: Simplify (* R 1) into R
32.564 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)))) R) into (/ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)))) R)
32.564 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) in lambda2
32.564 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) in lambda2
32.564 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3) in lambda2
32.564 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in lambda2
32.564 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in lambda2
32.564 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2
32.564 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2
32.564 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
32.564 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
32.564 * [taylor]: Taking taylor expansion of -0.5 in lambda2
32.564 * [backup-simplify]: Simplify -0.5 into -0.5
32.564 * [taylor]: Taking taylor expansion of phi2 in lambda2
32.564 * [backup-simplify]: Simplify phi2 into phi2
32.564 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
32.564 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
32.565 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
32.565 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
32.565 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
32.565 * [backup-simplify]: Simplify (- 0) into 0
32.565 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
32.565 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2
32.565 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
32.565 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
32.565 * [taylor]: Taking taylor expansion of -0.5 in lambda2
32.565 * [backup-simplify]: Simplify -0.5 into -0.5
32.565 * [taylor]: Taking taylor expansion of phi1 in lambda2
32.565 * [backup-simplify]: Simplify phi1 into phi1
32.565 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
32.565 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
32.565 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
32.565 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
32.566 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
32.566 * [backup-simplify]: Simplify (- 0) into 0
32.566 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
32.566 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2
32.566 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2
32.566 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
32.566 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
32.566 * [taylor]: Taking taylor expansion of -0.5 in lambda2
32.566 * [backup-simplify]: Simplify -0.5 into -0.5
32.566 * [taylor]: Taking taylor expansion of phi2 in lambda2
32.566 * [backup-simplify]: Simplify phi2 into phi2
32.566 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
32.566 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
32.566 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
32.566 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
32.566 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
32.566 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
32.566 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2
32.566 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
32.566 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
32.566 * [taylor]: Taking taylor expansion of -0.5 in lambda2
32.567 * [backup-simplify]: Simplify -0.5 into -0.5
32.567 * [taylor]: Taking taylor expansion of phi1 in lambda2
32.567 * [backup-simplify]: Simplify phi1 into phi1
32.567 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
32.567 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
32.567 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
32.567 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
32.567 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
32.567 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
32.567 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in lambda2
32.567 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
32.567 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
32.567 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
32.567 * [taylor]: Taking taylor expansion of -0.5 in lambda2
32.567 * [backup-simplify]: Simplify -0.5 into -0.5
32.567 * [taylor]: Taking taylor expansion of phi2 in lambda2
32.567 * [backup-simplify]: Simplify phi2 into phi2
32.567 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
32.567 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
32.567 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
32.567 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
32.567 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
32.567 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
32.567 * [taylor]: Taking taylor expansion of -0.5 in lambda2
32.567 * [backup-simplify]: Simplify -0.5 into -0.5
32.567 * [taylor]: Taking taylor expansion of phi2 in lambda2
32.567 * [backup-simplify]: Simplify phi2 into phi2
32.567 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
32.567 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
32.567 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
32.567 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
32.568 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
32.568 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
32.568 * [taylor]: Taking taylor expansion of -0.5 in lambda2
32.568 * [backup-simplify]: Simplify -0.5 into -0.5
32.568 * [taylor]: Taking taylor expansion of phi1 in lambda2
32.568 * [backup-simplify]: Simplify phi1 into phi1
32.568 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
32.568 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
32.568 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
32.568 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
32.568 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
32.568 * [taylor]: Taking taylor expansion of -0.5 in lambda2
32.568 * [backup-simplify]: Simplify -0.5 into -0.5
32.568 * [taylor]: Taking taylor expansion of phi1 in lambda2
32.568 * [backup-simplify]: Simplify phi1 into phi1
32.568 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
32.568 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
32.568 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
32.568 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
32.568 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
32.568 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
32.568 * [taylor]: Taking taylor expansion of -0.5 in lambda2
32.568 * [backup-simplify]: Simplify -0.5 into -0.5
32.568 * [taylor]: Taking taylor expansion of phi2 in lambda2
32.568 * [backup-simplify]: Simplify phi2 into phi2
32.568 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
32.568 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
32.568 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
32.568 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
32.568 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
32.568 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
32.568 * [taylor]: Taking taylor expansion of -0.5 in lambda2
32.568 * [backup-simplify]: Simplify -0.5 into -0.5
32.568 * [taylor]: Taking taylor expansion of phi2 in lambda2
32.568 * [backup-simplify]: Simplify phi2 into phi2
32.568 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
32.568 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
32.569 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
32.569 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
32.569 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
32.569 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
32.569 * [taylor]: Taking taylor expansion of -0.5 in lambda2
32.569 * [backup-simplify]: Simplify -0.5 into -0.5
32.569 * [taylor]: Taking taylor expansion of phi1 in lambda2
32.569 * [backup-simplify]: Simplify phi1 into phi1
32.569 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
32.569 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
32.569 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
32.569 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
32.569 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
32.569 * [taylor]: Taking taylor expansion of -0.5 in lambda2
32.569 * [backup-simplify]: Simplify -0.5 into -0.5
32.569 * [taylor]: Taking taylor expansion of phi1 in lambda2
32.569 * [backup-simplify]: Simplify phi1 into phi1
32.569 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
32.569 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
32.569 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
32.569 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
32.569 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
32.569 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
32.570 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
32.570 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
32.570 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
32.570 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
32.570 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
32.570 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
32.571 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
32.571 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
32.571 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
32.571 * [backup-simplify]: Simplify (- 0) into 0
32.571 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
32.571 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
32.571 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
32.572 * [backup-simplify]: Simplify (- 0) into 0
32.572 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
32.572 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
32.572 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
32.572 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
32.572 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
32.572 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
32.572 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
32.572 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
32.573 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
32.573 * [backup-simplify]: Simplify (- 0) into 0
32.573 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
32.573 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
32.573 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
32.573 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
32.573 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
32.573 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
32.574 * [backup-simplify]: Simplify (- 0) into 0
32.574 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
32.574 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
32.574 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
32.574 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
32.574 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
32.574 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
32.574 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
32.575 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
32.575 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
32.576 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
32.578 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)
32.581 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)
32.583 * [backup-simplify]: Simplify (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) into (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))
32.584 * [backup-simplify]: Simplify (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) into (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))
32.585 * [backup-simplify]: Simplify (+ 0) into 0
32.586 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
32.586 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
32.587 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
32.587 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
32.588 * [backup-simplify]: Simplify (- 0) into 0
32.588 * [backup-simplify]: Simplify (+ 0 0) into 0
32.588 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
32.589 * [backup-simplify]: Simplify (+ 0) into 0
32.589 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
32.589 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
32.590 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
32.591 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
32.591 * [backup-simplify]: Simplify (- 0) into 0
32.592 * [backup-simplify]: Simplify (+ 0 0) into 0
32.592 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
32.593 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
32.593 * [backup-simplify]: Simplify (+ 0) into 0
32.594 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
32.594 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
32.595 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
32.596 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
32.596 * [backup-simplify]: Simplify (+ 0 0) into 0
32.596 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
32.597 * [backup-simplify]: Simplify (+ 0) into 0
32.598 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
32.598 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
32.599 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
32.599 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
32.600 * [backup-simplify]: Simplify (+ 0 0) into 0
32.600 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
32.600 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
32.601 * [backup-simplify]: Simplify (+ 0 0) into 0
32.601 * [backup-simplify]: Simplify (+ 0) into 0
32.602 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
32.602 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
32.603 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
32.604 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
32.604 * [backup-simplify]: Simplify (+ 0 0) into 0
32.604 * [backup-simplify]: Simplify (+ 0) into 0
32.605 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
32.605 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
32.606 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
32.607 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
32.607 * [backup-simplify]: Simplify (- 0) into 0
32.607 * [backup-simplify]: Simplify (+ 0 0) into 0
32.608 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
32.608 * [backup-simplify]: Simplify (+ 0) into 0
32.609 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
32.609 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
32.610 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
32.610 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
32.611 * [backup-simplify]: Simplify (- 0) into 0
32.611 * [backup-simplify]: Simplify (+ 0 0) into 0
32.612 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
32.612 * [backup-simplify]: Simplify (+ 0) into 0
32.613 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
32.613 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
32.615 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
32.615 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
32.616 * [backup-simplify]: Simplify (+ 0 0) into 0
32.617 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
32.617 * [backup-simplify]: Simplify (+ 0) into 0
32.618 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
32.618 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
32.619 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
32.620 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
32.620 * [backup-simplify]: Simplify (+ 0 0) into 0
32.620 * [backup-simplify]: Simplify (+ 0) into 0
32.621 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
32.621 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
32.622 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
32.623 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
32.623 * [backup-simplify]: Simplify (- 0) into 0
32.623 * [backup-simplify]: Simplify (+ 0 0) into 0
32.624 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
32.624 * [backup-simplify]: Simplify (+ 0) into 0
32.625 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
32.625 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
32.626 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
32.626 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
32.626 * [backup-simplify]: Simplify (+ 0 0) into 0
32.627 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
32.627 * [backup-simplify]: Simplify (+ 0) into 0
32.628 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
32.628 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
32.629 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
32.629 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
32.630 * [backup-simplify]: Simplify (- 0) into 0
32.630 * [backup-simplify]: Simplify (+ 0 0) into 0
32.630 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
32.631 * [backup-simplify]: Simplify (+ 0 0) into 0
32.631 * [backup-simplify]: Simplify (- 0) into 0
32.632 * [backup-simplify]: Simplify (+ 0 0) into 0
32.635 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into 0
32.639 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2))) into 0
32.644 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
32.646 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
32.646 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (* lambda2 (pow phi1 2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (* lambda2 (* phi1 phi2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))) in lambda2
32.646 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (* lambda2 (pow phi1 2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) in lambda2
32.646 * [taylor]: Taking taylor expansion of 1/2 in lambda2
32.646 * [backup-simplify]: Simplify 1/2 into 1/2
32.646 * [taylor]: Taking taylor expansion of (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (* lambda2 (pow phi1 2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) in lambda2
32.647 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (* lambda2 (pow phi1 2)))) in lambda2
32.647 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2
32.647 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2
32.647 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
32.647 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
32.647 * [taylor]: Taking taylor expansion of -0.5 in lambda2
32.647 * [backup-simplify]: Simplify -0.5 into -0.5
32.647 * [taylor]: Taking taylor expansion of phi2 in lambda2
32.647 * [backup-simplify]: Simplify phi2 into phi2
32.647 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
32.647 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
32.647 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
32.647 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
32.647 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
32.647 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
32.647 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2
32.647 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
32.648 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
32.648 * [taylor]: Taking taylor expansion of -0.5 in lambda2
32.648 * [backup-simplify]: Simplify -0.5 into -0.5
32.648 * [taylor]: Taking taylor expansion of phi1 in lambda2
32.648 * [backup-simplify]: Simplify phi1 into phi1
32.648 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
32.648 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
32.648 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
32.648 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
32.648 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
32.648 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
32.648 * [taylor]: Taking taylor expansion of (* R (* lambda2 (pow phi1 2))) in lambda2
32.648 * [taylor]: Taking taylor expansion of R in lambda2
32.648 * [backup-simplify]: Simplify R into R
32.648 * [taylor]: Taking taylor expansion of (* lambda2 (pow phi1 2)) in lambda2
32.648 * [taylor]: Taking taylor expansion of lambda2 in lambda2
32.648 * [backup-simplify]: Simplify 0 into 0
32.648 * [backup-simplify]: Simplify 1 into 1
32.648 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2
32.648 * [taylor]: Taking taylor expansion of phi1 in lambda2
32.649 * [backup-simplify]: Simplify phi1 into phi1
32.649 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
32.649 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
32.649 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
32.649 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
32.649 * [backup-simplify]: Simplify (* 0 (pow phi1 2)) into 0
32.649 * [backup-simplify]: Simplify (* R 0) into 0
32.650 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0
32.650 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow phi1 2))) into (pow phi1 2)
32.651 * [backup-simplify]: Simplify (+ (* R (pow phi1 2)) (* 0 0)) into (* R (pow phi1 2))
32.651 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (pow phi1 2))) into (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (pow phi1 2)))
32.652 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) in lambda2
32.652 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) in lambda2
32.652 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3) in lambda2
32.652 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in lambda2
32.652 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in lambda2
32.652 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2
32.652 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2
32.652 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
32.652 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
32.652 * [taylor]: Taking taylor expansion of -0.5 in lambda2
32.652 * [backup-simplify]: Simplify -0.5 into -0.5
32.652 * [taylor]: Taking taylor expansion of phi2 in lambda2
32.652 * [backup-simplify]: Simplify phi2 into phi2
32.652 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
32.652 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
32.652 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
32.652 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
32.653 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
32.653 * [backup-simplify]: Simplify (- 0) into 0
32.653 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
32.653 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2
32.653 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
32.653 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
32.653 * [taylor]: Taking taylor expansion of -0.5 in lambda2
32.653 * [backup-simplify]: Simplify -0.5 into -0.5
32.653 * [taylor]: Taking taylor expansion of phi1 in lambda2
32.653 * [backup-simplify]: Simplify phi1 into phi1
32.653 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
32.654 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
32.654 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
32.654 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
32.654 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
32.654 * [backup-simplify]: Simplify (- 0) into 0
32.654 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
32.654 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2
32.654 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2
32.654 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
32.655 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
32.655 * [taylor]: Taking taylor expansion of -0.5 in lambda2
32.655 * [backup-simplify]: Simplify -0.5 into -0.5
32.655 * [taylor]: Taking taylor expansion of phi2 in lambda2
32.655 * [backup-simplify]: Simplify phi2 into phi2
32.655 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
32.655 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
32.655 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
32.655 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
32.655 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
32.655 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
32.655 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2
32.655 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
32.655 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
32.655 * [taylor]: Taking taylor expansion of -0.5 in lambda2
32.655 * [backup-simplify]: Simplify -0.5 into -0.5
32.655 * [taylor]: Taking taylor expansion of phi1 in lambda2
32.655 * [backup-simplify]: Simplify phi1 into phi1
32.655 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
32.656 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
32.656 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
32.656 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
32.656 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
32.656 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
32.656 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in lambda2
32.656 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
32.656 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
32.656 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
32.656 * [taylor]: Taking taylor expansion of -0.5 in lambda2
32.656 * [backup-simplify]: Simplify -0.5 into -0.5
32.656 * [taylor]: Taking taylor expansion of phi2 in lambda2
32.656 * [backup-simplify]: Simplify phi2 into phi2
32.656 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
32.656 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
32.657 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
32.657 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
32.657 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
32.657 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
32.657 * [taylor]: Taking taylor expansion of -0.5 in lambda2
32.657 * [backup-simplify]: Simplify -0.5 into -0.5
32.657 * [taylor]: Taking taylor expansion of phi2 in lambda2
32.657 * [backup-simplify]: Simplify phi2 into phi2
32.657 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
32.657 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
32.657 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
32.657 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
32.657 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
32.657 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
32.657 * [taylor]: Taking taylor expansion of -0.5 in lambda2
32.657 * [backup-simplify]: Simplify -0.5 into -0.5
32.657 * [taylor]: Taking taylor expansion of phi1 in lambda2
32.657 * [backup-simplify]: Simplify phi1 into phi1
32.657 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
32.657 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
32.657 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
32.657 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
32.658 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
32.658 * [taylor]: Taking taylor expansion of -0.5 in lambda2
32.658 * [backup-simplify]: Simplify -0.5 into -0.5
32.658 * [taylor]: Taking taylor expansion of phi1 in lambda2
32.658 * [backup-simplify]: Simplify phi1 into phi1
32.658 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
32.658 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
32.658 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
32.658 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
32.658 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
32.658 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
32.658 * [taylor]: Taking taylor expansion of -0.5 in lambda2
32.658 * [backup-simplify]: Simplify -0.5 into -0.5
32.658 * [taylor]: Taking taylor expansion of phi2 in lambda2
32.658 * [backup-simplify]: Simplify phi2 into phi2
32.658 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
32.658 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
32.658 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
32.658 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
32.658 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
32.658 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
32.658 * [taylor]: Taking taylor expansion of -0.5 in lambda2
32.658 * [backup-simplify]: Simplify -0.5 into -0.5
32.658 * [taylor]: Taking taylor expansion of phi2 in lambda2
32.659 * [backup-simplify]: Simplify phi2 into phi2
32.659 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
32.659 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
32.659 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
32.659 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
32.659 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
32.659 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
32.659 * [taylor]: Taking taylor expansion of -0.5 in lambda2
32.659 * [backup-simplify]: Simplify -0.5 into -0.5
32.659 * [taylor]: Taking taylor expansion of phi1 in lambda2
32.659 * [backup-simplify]: Simplify phi1 into phi1
32.659 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
32.659 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
32.659 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
32.659 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
32.659 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
32.659 * [taylor]: Taking taylor expansion of -0.5 in lambda2
32.659 * [backup-simplify]: Simplify -0.5 into -0.5
32.659 * [taylor]: Taking taylor expansion of phi1 in lambda2
32.659 * [backup-simplify]: Simplify phi1 into phi1
32.660 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
32.660 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
32.660 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
32.660 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
32.660 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
32.660 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
32.661 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
32.661 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
32.661 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
32.662 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
32.662 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
32.662 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
32.662 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
32.662 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
32.663 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
32.663 * [backup-simplify]: Simplify (- 0) into 0
32.663 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
32.663 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
32.664 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
32.664 * [backup-simplify]: Simplify (- 0) into 0
32.664 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
32.664 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
32.664 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
32.664 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
32.665 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
32.665 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
32.665 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
32.665 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
32.665 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
32.666 * [backup-simplify]: Simplify (- 0) into 0
32.666 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
32.666 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
32.666 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
32.666 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
32.666 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
32.666 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
32.667 * [backup-simplify]: Simplify (- 0) into 0
32.667 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
32.667 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
32.667 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
32.667 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
32.668 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
32.668 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
32.668 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
32.669 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
32.670 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
32.672 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
32.675 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)
32.679 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)
32.682 * [backup-simplify]: Simplify (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) into (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))
32.684 * [backup-simplify]: Simplify (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) into (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))
32.684 * [backup-simplify]: Simplify (+ 0) into 0
32.685 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
32.685 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
32.686 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
32.686 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
32.686 * [backup-simplify]: Simplify (- 0) into 0
32.687 * [backup-simplify]: Simplify (+ 0 0) into 0
32.687 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
32.687 * [backup-simplify]: Simplify (+ 0) into 0
32.687 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
32.687 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
32.688 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
32.688 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
32.688 * [backup-simplify]: Simplify (- 0) into 0
32.689 * [backup-simplify]: Simplify (+ 0 0) into 0
32.689 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
32.689 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
32.689 * [backup-simplify]: Simplify (+ 0) into 0
32.690 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
32.690 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
32.690 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
32.690 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
32.691 * [backup-simplify]: Simplify (+ 0 0) into 0
32.691 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
32.691 * [backup-simplify]: Simplify (+ 0) into 0
32.691 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
32.692 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
32.692 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
32.692 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
32.693 * [backup-simplify]: Simplify (+ 0 0) into 0
32.693 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
32.693 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
32.693 * [backup-simplify]: Simplify (+ 0 0) into 0
32.693 * [backup-simplify]: Simplify (+ 0) into 0
32.694 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
32.694 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
32.698 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
32.698 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
32.699 * [backup-simplify]: Simplify (+ 0 0) into 0
32.699 * [backup-simplify]: Simplify (+ 0) into 0
32.699 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
32.699 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
32.700 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
32.700 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
32.700 * [backup-simplify]: Simplify (- 0) into 0
32.701 * [backup-simplify]: Simplify (+ 0 0) into 0
32.701 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
32.701 * [backup-simplify]: Simplify (+ 0) into 0
32.701 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
32.701 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
32.702 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
32.702 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
32.702 * [backup-simplify]: Simplify (- 0) into 0
32.703 * [backup-simplify]: Simplify (+ 0 0) into 0
32.703 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
32.703 * [backup-simplify]: Simplify (+ 0) into 0
32.703 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
32.703 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
32.704 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
32.704 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
32.704 * [backup-simplify]: Simplify (+ 0 0) into 0
32.705 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
32.705 * [backup-simplify]: Simplify (+ 0) into 0
32.705 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
32.705 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
32.706 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
32.706 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
32.706 * [backup-simplify]: Simplify (+ 0 0) into 0
32.707 * [backup-simplify]: Simplify (+ 0) into 0
32.707 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
32.707 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
32.708 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
32.708 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
32.708 * [backup-simplify]: Simplify (- 0) into 0
32.708 * [backup-simplify]: Simplify (+ 0 0) into 0
32.708 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
32.709 * [backup-simplify]: Simplify (+ 0) into 0
32.709 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
32.709 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
32.710 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
32.710 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
32.710 * [backup-simplify]: Simplify (+ 0 0) into 0
32.710 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
32.711 * [backup-simplify]: Simplify (+ 0) into 0
32.711 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
32.711 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
32.711 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
32.712 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
32.712 * [backup-simplify]: Simplify (- 0) into 0
32.712 * [backup-simplify]: Simplify (+ 0 0) into 0
32.712 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
32.713 * [backup-simplify]: Simplify (+ 0 0) into 0
32.713 * [backup-simplify]: Simplify (- 0) into 0
32.713 * [backup-simplify]: Simplify (+ 0 0) into 0
32.715 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into 0
32.717 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2))) into 0
32.722 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
32.724 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
32.724 * [taylor]: Taking taylor expansion of (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (* lambda2 (* phi1 phi2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) in lambda2
32.724 * [taylor]: Taking taylor expansion of 2 in lambda2
32.725 * [backup-simplify]: Simplify 2 into 2
32.725 * [taylor]: Taking taylor expansion of (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (* lambda2 (* phi1 phi2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) in lambda2
32.725 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (* lambda2 (* phi1 phi2)))) in lambda2
32.725 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
32.725 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
32.725 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
32.725 * [taylor]: Taking taylor expansion of -0.5 in lambda2
32.725 * [backup-simplify]: Simplify -0.5 into -0.5
32.725 * [taylor]: Taking taylor expansion of phi2 in lambda2
32.725 * [backup-simplify]: Simplify phi2 into phi2
32.725 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
32.725 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
32.725 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
32.725 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
32.725 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
32.725 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
32.725 * [taylor]: Taking taylor expansion of -0.5 in lambda2
32.725 * [backup-simplify]: Simplify -0.5 into -0.5
32.725 * [taylor]: Taking taylor expansion of phi2 in lambda2
32.725 * [backup-simplify]: Simplify phi2 into phi2
32.725 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
32.726 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
32.726 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
32.726 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
32.726 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
32.726 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
32.726 * [taylor]: Taking taylor expansion of -0.5 in lambda2
32.726 * [backup-simplify]: Simplify -0.5 into -0.5
32.726 * [taylor]: Taking taylor expansion of phi1 in lambda2
32.726 * [backup-simplify]: Simplify phi1 into phi1
32.726 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
32.726 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
32.727 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
32.727 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
32.727 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
32.727 * [taylor]: Taking taylor expansion of -0.5 in lambda2
32.727 * [backup-simplify]: Simplify -0.5 into -0.5
32.727 * [taylor]: Taking taylor expansion of phi1 in lambda2
32.727 * [backup-simplify]: Simplify phi1 into phi1
32.727 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
32.727 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
32.727 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
32.727 * [taylor]: Taking taylor expansion of (* R (* lambda2 (* phi1 phi2))) in lambda2
32.727 * [taylor]: Taking taylor expansion of R in lambda2
32.727 * [backup-simplify]: Simplify R into R
32.727 * [taylor]: Taking taylor expansion of (* lambda2 (* phi1 phi2)) in lambda2
32.727 * [taylor]: Taking taylor expansion of lambda2 in lambda2
32.727 * [backup-simplify]: Simplify 0 into 0
32.727 * [backup-simplify]: Simplify 1 into 1
32.727 * [taylor]: Taking taylor expansion of (* phi1 phi2) in lambda2
32.727 * [taylor]: Taking taylor expansion of phi1 in lambda2
32.727 * [backup-simplify]: Simplify phi1 into phi1
32.727 * [taylor]: Taking taylor expansion of phi2 in lambda2
32.727 * [backup-simplify]: Simplify phi2 into phi2
32.727 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
32.728 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
32.728 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
32.728 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
32.728 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
32.729 * [backup-simplify]: Simplify (- 0) into 0
32.729 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
32.729 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
32.729 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
32.729 * [backup-simplify]: Simplify (- 0) into 0
32.730 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
32.730 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
32.730 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
32.730 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
32.730 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
32.730 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
32.731 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
32.731 * [backup-simplify]: Simplify (* phi1 phi2) into (* phi1 phi2)
32.731 * [backup-simplify]: Simplify (* 0 (* phi1 phi2)) into 0
32.731 * [backup-simplify]: Simplify (* R 0) into 0
32.731 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi2)) into 0
32.732 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* phi1 phi2))) into (* phi1 phi2)
32.732 * [backup-simplify]: Simplify (+ (* R (* phi1 phi2)) (* 0 0)) into (* R (* phi1 phi2))
32.733 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (* phi1 phi2))) into (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* phi1 (* R phi2)))
32.733 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) in lambda2
32.733 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) in lambda2
32.733 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3) in lambda2
32.733 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in lambda2
32.733 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in lambda2
32.733 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2
32.733 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2
32.733 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
32.733 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
32.733 * [taylor]: Taking taylor expansion of -0.5 in lambda2
32.733 * [backup-simplify]: Simplify -0.5 into -0.5
32.733 * [taylor]: Taking taylor expansion of phi2 in lambda2
32.733 * [backup-simplify]: Simplify phi2 into phi2
32.733 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
32.733 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
32.733 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
32.734 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
32.734 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
32.734 * [backup-simplify]: Simplify (- 0) into 0
32.734 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
32.734 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2
32.734 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
32.734 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
32.734 * [taylor]: Taking taylor expansion of -0.5 in lambda2
32.734 * [backup-simplify]: Simplify -0.5 into -0.5
32.734 * [taylor]: Taking taylor expansion of phi1 in lambda2
32.734 * [backup-simplify]: Simplify phi1 into phi1
32.735 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
32.735 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
32.735 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
32.735 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
32.735 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
32.735 * [backup-simplify]: Simplify (- 0) into 0
32.735 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
32.736 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2
32.736 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2
32.736 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
32.736 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
32.736 * [taylor]: Taking taylor expansion of -0.5 in lambda2
32.736 * [backup-simplify]: Simplify -0.5 into -0.5
32.736 * [taylor]: Taking taylor expansion of phi2 in lambda2
32.736 * [backup-simplify]: Simplify phi2 into phi2
32.736 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
32.736 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
32.736 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
32.736 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
32.736 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
32.736 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
32.736 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2
32.736 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
32.736 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
32.736 * [taylor]: Taking taylor expansion of -0.5 in lambda2
32.737 * [backup-simplify]: Simplify -0.5 into -0.5
32.737 * [taylor]: Taking taylor expansion of phi1 in lambda2
32.737 * [backup-simplify]: Simplify phi1 into phi1
32.737 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
32.737 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
32.737 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
32.737 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
32.737 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
32.737 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
32.737 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in lambda2
32.737 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
32.737 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
32.737 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
32.737 * [taylor]: Taking taylor expansion of -0.5 in lambda2
32.737 * [backup-simplify]: Simplify -0.5 into -0.5
32.737 * [taylor]: Taking taylor expansion of phi2 in lambda2
32.737 * [backup-simplify]: Simplify phi2 into phi2
32.738 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
32.738 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
32.738 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
32.738 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
32.738 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
32.738 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
32.738 * [taylor]: Taking taylor expansion of -0.5 in lambda2
32.738 * [backup-simplify]: Simplify -0.5 into -0.5
32.738 * [taylor]: Taking taylor expansion of phi2 in lambda2
32.738 * [backup-simplify]: Simplify phi2 into phi2
32.738 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
32.738 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
32.738 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
32.738 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
32.738 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
32.738 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
32.738 * [taylor]: Taking taylor expansion of -0.5 in lambda2
32.738 * [backup-simplify]: Simplify -0.5 into -0.5
32.738 * [taylor]: Taking taylor expansion of phi1 in lambda2
32.738 * [backup-simplify]: Simplify phi1 into phi1
32.739 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
32.739 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
32.739 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
32.739 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
32.739 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
32.739 * [taylor]: Taking taylor expansion of -0.5 in lambda2
32.739 * [backup-simplify]: Simplify -0.5 into -0.5
32.739 * [taylor]: Taking taylor expansion of phi1 in lambda2
32.739 * [backup-simplify]: Simplify phi1 into phi1
32.739 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
32.739 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
32.739 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
32.739 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
32.739 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
32.739 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
32.739 * [taylor]: Taking taylor expansion of -0.5 in lambda2
32.739 * [backup-simplify]: Simplify -0.5 into -0.5
32.739 * [taylor]: Taking taylor expansion of phi2 in lambda2
32.739 * [backup-simplify]: Simplify phi2 into phi2
32.739 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
32.740 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
32.740 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
32.740 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
32.740 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
32.740 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
32.740 * [taylor]: Taking taylor expansion of -0.5 in lambda2
32.740 * [backup-simplify]: Simplify -0.5 into -0.5
32.740 * [taylor]: Taking taylor expansion of phi2 in lambda2
32.740 * [backup-simplify]: Simplify phi2 into phi2
32.740 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
32.740 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
32.740 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
32.740 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
32.740 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
32.740 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
32.740 * [taylor]: Taking taylor expansion of -0.5 in lambda2
32.740 * [backup-simplify]: Simplify -0.5 into -0.5
32.740 * [taylor]: Taking taylor expansion of phi1 in lambda2
32.740 * [backup-simplify]: Simplify phi1 into phi1
32.740 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
32.741 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
32.741 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
32.741 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
32.741 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
32.741 * [taylor]: Taking taylor expansion of -0.5 in lambda2
32.741 * [backup-simplify]: Simplify -0.5 into -0.5
32.741 * [taylor]: Taking taylor expansion of phi1 in lambda2
32.741 * [backup-simplify]: Simplify phi1 into phi1
32.741 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
32.741 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
32.741 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
32.741 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
32.742 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
32.742 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
32.742 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
32.742 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
32.743 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
32.744 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
32.744 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
32.744 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
32.744 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
32.744 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
32.744 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
32.745 * [backup-simplify]: Simplify (- 0) into 0
32.745 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
32.745 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
32.745 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
32.746 * [backup-simplify]: Simplify (- 0) into 0
32.746 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
32.746 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
32.746 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
32.746 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
32.746 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
32.746 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
32.747 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
32.747 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
32.747 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
32.747 * [backup-simplify]: Simplify (- 0) into 0
32.748 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
32.748 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
32.748 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
32.748 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
32.748 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
32.748 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
32.748 * [backup-simplify]: Simplify (- 0) into 0
32.749 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
32.749 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
32.749 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
32.749 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
32.749 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
32.749 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
32.750 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
32.750 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
32.751 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
32.753 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
32.757 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)
32.761 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)
32.763 * [backup-simplify]: Simplify (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) into (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))
32.765 * [backup-simplify]: Simplify (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) into (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))
32.766 * [backup-simplify]: Simplify (+ 0) into 0
32.766 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
32.767 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
32.767 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
32.768 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
32.768 * [backup-simplify]: Simplify (- 0) into 0
32.769 * [backup-simplify]: Simplify (+ 0 0) into 0
32.769 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
32.769 * [backup-simplify]: Simplify (+ 0) into 0
32.770 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
32.770 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
32.771 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
32.771 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
32.772 * [backup-simplify]: Simplify (- 0) into 0
32.772 * [backup-simplify]: Simplify (+ 0 0) into 0
32.772 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
32.773 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
32.773 * [backup-simplify]: Simplify (+ 0) into 0
32.774 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
32.774 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
32.775 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
32.775 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
32.776 * [backup-simplify]: Simplify (+ 0 0) into 0
32.776 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
32.776 * [backup-simplify]: Simplify (+ 0) into 0
32.777 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
32.777 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
32.778 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
32.778 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
32.779 * [backup-simplify]: Simplify (+ 0 0) into 0
32.779 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
32.779 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
32.780 * [backup-simplify]: Simplify (+ 0 0) into 0
32.780 * [backup-simplify]: Simplify (+ 0) into 0
32.781 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
32.781 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
32.781 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
32.782 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
32.782 * [backup-simplify]: Simplify (+ 0 0) into 0
32.782 * [backup-simplify]: Simplify (+ 0) into 0
32.783 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
32.783 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
32.783 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
32.783 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
32.784 * [backup-simplify]: Simplify (- 0) into 0
32.784 * [backup-simplify]: Simplify (+ 0 0) into 0
32.784 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
32.784 * [backup-simplify]: Simplify (+ 0) into 0
32.785 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
32.785 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
32.785 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
32.786 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
32.786 * [backup-simplify]: Simplify (- 0) into 0
32.786 * [backup-simplify]: Simplify (+ 0 0) into 0
32.786 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
32.786 * [backup-simplify]: Simplify (+ 0) into 0
32.787 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
32.787 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
32.787 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
32.788 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
32.788 * [backup-simplify]: Simplify (+ 0 0) into 0
32.788 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
32.788 * [backup-simplify]: Simplify (+ 0) into 0
32.789 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
32.789 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
32.789 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
32.790 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
32.790 * [backup-simplify]: Simplify (+ 0 0) into 0
32.790 * [backup-simplify]: Simplify (+ 0) into 0
32.790 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
32.791 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
32.791 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
32.791 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
32.792 * [backup-simplify]: Simplify (- 0) into 0
32.792 * [backup-simplify]: Simplify (+ 0 0) into 0
32.792 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
32.792 * [backup-simplify]: Simplify (+ 0) into 0
32.792 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
32.793 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
32.793 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
32.793 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
32.794 * [backup-simplify]: Simplify (+ 0 0) into 0
32.794 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
32.794 * [backup-simplify]: Simplify (+ 0) into 0
32.794 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
32.794 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
32.795 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
32.795 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
32.795 * [backup-simplify]: Simplify (- 0) into 0
32.796 * [backup-simplify]: Simplify (+ 0 0) into 0
32.796 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
32.796 * [backup-simplify]: Simplify (+ 0 0) into 0
32.796 * [backup-simplify]: Simplify (- 0) into 0
32.797 * [backup-simplify]: Simplify (+ 0 0) into 0
32.799 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into 0
32.800 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2))) into 0
32.803 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
32.804 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
32.805 * [backup-simplify]: Simplify (* (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (pow phi1 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) into (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (pow phi1 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))
32.806 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
32.807 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
32.807 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
32.807 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
32.808 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
32.808 * [backup-simplify]: Simplify (- 0) into 0
32.808 * [backup-simplify]: Simplify (+ 0 0) into 0
32.808 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0
32.809 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
32.809 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
32.810 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
32.810 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
32.810 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
32.811 * [backup-simplify]: Simplify (- 0) into 0
32.811 * [backup-simplify]: Simplify (+ 0 0) into 0
32.811 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0
32.812 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0
32.812 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
32.813 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
32.813 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
32.813 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
32.814 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
32.814 * [backup-simplify]: Simplify (+ 0 0) into 0
32.814 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
32.815 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
32.815 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
32.815 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
32.816 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
32.816 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
32.816 * [backup-simplify]: Simplify (+ 0 0) into 0
32.817 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0
32.817 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0
32.818 * [backup-simplify]: Simplify (+ 0 0) into 0
32.818 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
32.819 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
32.819 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
32.819 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
32.819 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
32.820 * [backup-simplify]: Simplify (+ 0 0) into 0
32.820 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
32.825 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
32.825 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
32.826 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
32.826 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
32.826 * [backup-simplify]: Simplify (- 0) into 0
32.827 * [backup-simplify]: Simplify (+ 0 0) into 0
32.827 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
32.828 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
32.828 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
32.828 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
32.829 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
32.829 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
32.829 * [backup-simplify]: Simplify (- 0) into 0
32.830 * [backup-simplify]: Simplify (+ 0 0) into 0
32.830 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
32.831 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
32.831 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
32.831 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
32.832 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
32.832 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
32.832 * [backup-simplify]: Simplify (+ 0 0) into 0
32.833 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into 0
32.833 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
32.834 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
32.834 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
32.835 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
32.836 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
32.836 * [backup-simplify]: Simplify (+ 0 0) into 0
32.838 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
32.839 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
32.839 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
32.840 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
32.840 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
32.841 * [backup-simplify]: Simplify (- 0) into 0
32.841 * [backup-simplify]: Simplify (+ 0 0) into 0
32.842 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
32.843 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
32.844 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
32.844 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
32.845 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
32.845 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
32.846 * [backup-simplify]: Simplify (+ 0 0) into 0
32.846 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
32.847 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
32.848 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
32.848 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
32.849 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
32.850 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
32.850 * [backup-simplify]: Simplify (- 0) into 0
32.851 * [backup-simplify]: Simplify (+ 0 0) into 0
32.851 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into 0
32.852 * [backup-simplify]: Simplify (+ 0 0) into 0
32.852 * [backup-simplify]: Simplify (- 0) into 0
32.853 * [backup-simplify]: Simplify (+ 0 0) into 0
32.857 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) into 0
32.860 * [backup-simplify]: Simplify (+ (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2) 0) (+ (* 0 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)))) into 0
32.863 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 4)))) into 0
32.867 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)) (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))) (* 0 (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) into 0
32.869 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) into 0
32.869 * [backup-simplify]: Simplify (+ 0) into 0
32.870 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
32.870 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
32.870 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
32.871 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
32.871 * [backup-simplify]: Simplify (+ 0 0) into 0
32.871 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
32.871 * [backup-simplify]: Simplify (+ 0) into 0
32.872 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
32.872 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
32.872 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
32.872 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
32.873 * [backup-simplify]: Simplify (- 0) into 0
32.873 * [backup-simplify]: Simplify (+ 0 0) into 0
32.873 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
32.873 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi1)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
32.873 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi1)) 4) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
32.874 * [backup-simplify]: Simplify (+ 0) into 0
32.874 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
32.874 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
32.875 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
32.875 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
32.875 * [backup-simplify]: Simplify (- 0) into 0
32.875 * [backup-simplify]: Simplify (+ 0 0) into 0
32.876 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
32.876 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi2)) 2))) into 0
32.876 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 4) 0) (* 0 (* (pow (cos (/ -0.5 phi1)) 4) (pow (sin (/ -0.5 phi1)) 2)))) into 0
32.876 * [backup-simplify]: Simplify (+ 0) into 0
32.877 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
32.877 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
32.877 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
32.878 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
32.878 * [backup-simplify]: Simplify (+ 0 0) into 0
32.878 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
32.878 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (* (pow (cos (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi1)) 4) (pow (sin (/ -0.5 phi1)) 2))))) into 0
32.879 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
32.879 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
32.880 * [backup-simplify]: Simplify (+ (* R 0) (* 0 1)) into 0
32.880 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 4) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 4) (pow (sin (/ -0.5 phi1)) 2)))) R) (/ 0 R)))) into 0
32.881 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
32.881 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
32.881 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
32.882 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
32.882 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
32.882 * [backup-simplify]: Simplify (+ 0 0) into 0
32.883 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
32.883 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
32.884 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
32.884 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
32.884 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
32.885 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
32.885 * [backup-simplify]: Simplify (- 0) into 0
32.885 * [backup-simplify]: Simplify (+ 0 0) into 0
32.886 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0
32.886 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0
32.887 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi1)) 4) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0
32.887 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
32.888 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
32.888 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
32.888 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
32.889 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
32.889 * [backup-simplify]: Simplify (- 0) into 0
32.889 * [backup-simplify]: Simplify (+ 0 0) into 0
32.890 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0
32.890 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi2)) 2)))) into 0
32.891 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 4) 0) (+ (* 0 0) (* 0 (* (pow (cos (/ -0.5 phi1)) 4) (pow (sin (/ -0.5 phi1)) 2))))) into 0
32.891 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
32.892 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
32.892 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
32.892 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
32.893 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
32.893 * [backup-simplify]: Simplify (+ 0 0) into 0
32.893 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0
32.894 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (* (pow (cos (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi1)) 4) (pow (sin (/ -0.5 phi1)) 2)))))) into 0
32.895 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
32.895 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
32.896 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (* 0 1))) into 0
32.896 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 4) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 4) (pow (sin (/ -0.5 phi1)) 2)))) R) (/ 0 R)) (* 0 (/ 0 R)))) into 0
32.898 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 4) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 4) (pow (sin (/ -0.5 phi1)) 2)))) R) 0) (+ (* 0 0) (* 0 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)))))) into 0
32.900 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 4) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 4) (pow (sin (/ -0.5 phi1)) 2)))) R) 0) (* 0 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) into 0
32.901 * [backup-simplify]: Simplify (* (/ (* (pow (cos (/ -0.5 phi2)) 4) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 4) (pow (sin (/ -0.5 phi1)) 2)))) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)))) into (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi1)) 4) (pow (sin (/ -0.5 phi1)) 2)))) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))
32.904 * [backup-simplify]: Simplify (+ (* 15/2 0) (+ (* 0 0) (* 0 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi1)) 4) (pow (sin (/ -0.5 phi1)) 2)))) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))))) into 0
32.905 * [backup-simplify]: Simplify (* (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (pow phi2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) into (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (pow phi2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))
32.906 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
32.907 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
32.907 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
32.907 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
32.908 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
32.908 * [backup-simplify]: Simplify (- 0) into 0
32.908 * [backup-simplify]: Simplify (+ 0 0) into 0
32.909 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0
32.909 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
32.910 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
32.910 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
32.910 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
32.911 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
32.911 * [backup-simplify]: Simplify (- 0) into 0
32.911 * [backup-simplify]: Simplify (+ 0 0) into 0
32.911 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0
32.912 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0
32.912 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
32.913 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
32.913 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
32.913 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
32.914 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
32.914 * [backup-simplify]: Simplify (+ 0 0) into 0
32.914 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
32.915 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
32.915 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
32.915 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
32.916 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
32.916 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
32.917 * [backup-simplify]: Simplify (+ 0 0) into 0
32.917 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0
32.917 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0
32.918 * [backup-simplify]: Simplify (+ 0 0) into 0
32.919 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
32.920 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
32.920 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
32.922 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
32.923 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
32.923 * [backup-simplify]: Simplify (+ 0 0) into 0
32.924 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
32.925 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
32.926 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
32.927 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
32.927 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
32.928 * [backup-simplify]: Simplify (- 0) into 0
32.928 * [backup-simplify]: Simplify (+ 0 0) into 0
32.929 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
32.930 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
32.931 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
32.931 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
32.932 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
32.932 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
32.933 * [backup-simplify]: Simplify (- 0) into 0
32.933 * [backup-simplify]: Simplify (+ 0 0) into 0
32.934 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
32.935 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
32.935 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
32.936 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
32.936 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
32.937 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
32.937 * [backup-simplify]: Simplify (+ 0 0) into 0
32.938 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into 0
32.939 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
32.945 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
32.946 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
32.947 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
32.948 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
32.948 * [backup-simplify]: Simplify (+ 0 0) into 0
32.949 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
32.950 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
32.951 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
32.951 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
32.952 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
32.952 * [backup-simplify]: Simplify (- 0) into 0
32.953 * [backup-simplify]: Simplify (+ 0 0) into 0
32.953 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
32.954 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
32.955 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
32.955 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
32.956 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
32.957 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
32.957 * [backup-simplify]: Simplify (+ 0 0) into 0
32.958 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
32.959 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
32.960 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
32.960 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
32.961 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
32.961 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
32.962 * [backup-simplify]: Simplify (- 0) into 0
32.962 * [backup-simplify]: Simplify (+ 0 0) into 0
32.963 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into 0
32.963 * [backup-simplify]: Simplify (+ 0 0) into 0
32.964 * [backup-simplify]: Simplify (- 0) into 0
32.964 * [backup-simplify]: Simplify (+ 0 0) into 0
32.968 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) into 0
32.974 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)))) into 0
32.981 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (* 0 (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
32.984 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
32.985 * [backup-simplify]: Simplify (+ 0) into 0
32.985 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
32.985 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
32.986 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
32.987 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
32.987 * [backup-simplify]: Simplify (+ 0 0) into 0
32.987 * [backup-simplify]: Simplify (+ 0) into 0
32.988 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
32.988 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
32.989 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
32.989 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
32.990 * [backup-simplify]: Simplify (- 0) into 0
32.990 * [backup-simplify]: Simplify (+ 0 0) into 0
32.990 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
32.991 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
32.991 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi1)) 3) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
32.991 * [backup-simplify]: Simplify (+ 0) into 0
32.992 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
32.992 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
32.993 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
32.993 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
32.994 * [backup-simplify]: Simplify (- 0) into 0
32.994 * [backup-simplify]: Simplify (+ 0 0) into 0
32.994 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
32.995 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (pow (cos (/ -0.5 phi2)) 2))) into 0
32.995 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 3) 0) (* 0 (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1))))) into 0
32.996 * [backup-simplify]: Simplify (+ 0) into 0
32.996 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
32.996 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
32.997 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
32.998 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
32.998 * [backup-simplify]: Simplify (+ 0 0) into 0
32.999 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1)))))) into 0
33.000 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
33.000 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
33.001 * [backup-simplify]: Simplify (+ (* R 0) (* 0 1)) into 0
33.001 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 3) (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1))))) R) (/ 0 R)))) into 0
33.002 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
33.003 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
33.003 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
33.004 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
33.005 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
33.005 * [backup-simplify]: Simplify (+ 0 0) into 0
33.006 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
33.007 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
33.007 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
33.008 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
33.008 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
33.009 * [backup-simplify]: Simplify (- 0) into 0
33.009 * [backup-simplify]: Simplify (+ 0 0) into 0
33.010 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0
33.011 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0
33.011 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi1)) 3) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
33.012 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
33.013 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
33.013 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
33.014 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
33.014 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
33.015 * [backup-simplify]: Simplify (- 0) into 0
33.015 * [backup-simplify]: Simplify (+ 0 0) into 0
33.016 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0
33.016 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi2)) 2)))) into 0
33.017 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 3) 0) (+ (* 0 0) (* 0 (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1)))))) into 0
33.018 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
33.019 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
33.019 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
33.020 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
33.021 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
33.021 * [backup-simplify]: Simplify (+ 0 0) into 0
33.022 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1))))))) into 0
33.023 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
33.024 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
33.024 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (* 0 1))) into 0
33.025 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 3) (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1))))) R) (/ 0 R)) (* 0 (/ 0 R)))) into 0
33.029 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 3) (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1))))) R) 0) (+ (* 0 0) (* 0 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))) into 0
33.032 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 3) (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1))))) R) 0) (* 0 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
33.035 * [backup-simplify]: Simplify (* (/ (* (pow (cos (/ -0.5 phi2)) 3) (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1))))) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) into (* (/ (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1))))) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))
33.039 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (* (/ (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1))))) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))))) into 0
33.040 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
33.041 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
33.041 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
33.042 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
33.043 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
33.043 * [backup-simplify]: Simplify (- 0) into 0
33.043 * [backup-simplify]: Simplify (+ 0 0) into 0
33.044 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0
33.045 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
33.046 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
33.046 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
33.047 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
33.047 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
33.048 * [backup-simplify]: Simplify (- 0) into 0
33.048 * [backup-simplify]: Simplify (+ 0 0) into 0
33.049 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0
33.050 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0
33.051 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
33.052 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
33.052 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
33.053 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
33.054 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
33.054 * [backup-simplify]: Simplify (+ 0 0) into 0
33.055 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
33.056 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
33.056 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
33.057 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
33.058 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
33.058 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
33.059 * [backup-simplify]: Simplify (+ 0 0) into 0
33.059 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0
33.060 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0
33.060 * [backup-simplify]: Simplify (+ 0 0) into 0
33.061 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
33.062 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
33.062 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
33.063 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
33.064 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
33.064 * [backup-simplify]: Simplify (+ 0 0) into 0
33.065 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
33.066 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
33.066 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
33.067 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
33.067 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
33.068 * [backup-simplify]: Simplify (- 0) into 0
33.068 * [backup-simplify]: Simplify (+ 0 0) into 0
33.068 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
33.069 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
33.070 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
33.070 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
33.071 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
33.072 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
33.072 * [backup-simplify]: Simplify (- 0) into 0
33.073 * [backup-simplify]: Simplify (+ 0 0) into 0
33.073 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
33.074 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
33.075 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
33.075 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
33.076 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
33.077 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
33.077 * [backup-simplify]: Simplify (+ 0 0) into 0
33.078 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into 0
33.079 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
33.079 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
33.080 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
33.080 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
33.081 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
33.081 * [backup-simplify]: Simplify (+ 0 0) into 0
33.082 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
33.083 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
33.083 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
33.084 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
33.085 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
33.085 * [backup-simplify]: Simplify (- 0) into 0
33.085 * [backup-simplify]: Simplify (+ 0 0) into 0
33.086 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
33.086 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
33.087 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
33.087 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
33.087 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
33.088 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
33.088 * [backup-simplify]: Simplify (+ 0 0) into 0
33.088 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
33.089 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
33.089 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
33.089 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
33.090 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
33.090 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
33.090 * [backup-simplify]: Simplify (- 0) into 0
33.091 * [backup-simplify]: Simplify (+ 0 0) into 0
33.091 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into 0
33.091 * [backup-simplify]: Simplify (+ 0 0) into 0
33.091 * [backup-simplify]: Simplify (- 0) into 0
33.092 * [backup-simplify]: Simplify (+ 0 0) into 0
33.094 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) into 0
33.102 * [backup-simplify]: Simplify (+ (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2) 0) (+ (* 0 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)))) into 0
33.107 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 4)))) into 0
33.114 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)) (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))) (* 0 (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) into 0
33.117 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) into 0
33.118 * [backup-simplify]: Simplify (+ 0) into 0
33.118 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
33.118 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
33.119 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
33.120 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
33.120 * [backup-simplify]: Simplify (- 0) into 0
33.120 * [backup-simplify]: Simplify (+ 0 0) into 0
33.121 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
33.121 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
33.121 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi1)) 3) 0) (* 0 (pow (cos (/ -0.5 phi1)) 3))) into 0
33.122 * [backup-simplify]: Simplify (+ 0) into 0
33.122 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
33.123 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
33.123 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
33.124 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
33.124 * [backup-simplify]: Simplify (- 0) into 0
33.124 * [backup-simplify]: Simplify (+ 0 0) into 0
33.125 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
33.125 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (pow (cos (/ -0.5 phi2)) 2))) into 0
33.125 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 3) 0) (* 0 (pow (cos (/ -0.5 phi2)) 3))) into 0
33.126 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 6) 0) (* 0 (pow (cos (/ -0.5 phi1)) 6))) into 0
33.126 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
33.127 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
33.128 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 R)) into 0
33.128 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 6) (pow (cos (/ -0.5 phi1)) 6)) R) (/ 0 R)))) into 0
33.129 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
33.130 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
33.130 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
33.131 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
33.131 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
33.132 * [backup-simplify]: Simplify (- 0) into 0
33.132 * [backup-simplify]: Simplify (+ 0 0) into 0
33.133 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0
33.133 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0
33.134 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi1)) 3) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 3)))) into 0
33.135 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
33.136 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
33.136 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
33.137 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
33.137 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
33.138 * [backup-simplify]: Simplify (- 0) into 0
33.138 * [backup-simplify]: Simplify (+ 0 0) into 0
33.139 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0
33.139 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi2)) 2)))) into 0
33.140 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 3) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi2)) 3)))) into 0
33.142 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 6) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 6)))) into 0
33.143 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
33.144 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
33.145 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 R))) into 0
33.146 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 6) (pow (cos (/ -0.5 phi1)) 6)) R) (/ 0 R)) (* 0 (/ 0 R)))) into 0
33.155 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 6) (pow (cos (/ -0.5 phi1)) 6)) R) 0) (+ (* 0 0) (* 0 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)))))) into 0
33.159 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 6) (pow (cos (/ -0.5 phi1)) 6)) R) 0) (* 0 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) into 0
33.162 * [backup-simplify]: Simplify (* (/ (* (pow (cos (/ -0.5 phi2)) 6) (pow (cos (/ -0.5 phi1)) 6)) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)))) into (* (/ (* (pow (cos (/ -0.5 phi2)) 6) (pow (cos (/ -0.5 phi1)) 6)) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))
33.166 * [backup-simplify]: Simplify (+ (* 1/2 0) (+ (* 0 0) (* 0 (* (/ (* (pow (cos (/ -0.5 phi2)) 6) (pow (cos (/ -0.5 phi1)) 6)) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))))) into 0
33.167 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
33.168 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
33.168 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
33.169 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
33.169 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
33.170 * [backup-simplify]: Simplify (- 0) into 0
33.170 * [backup-simplify]: Simplify (+ 0 0) into 0
33.171 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0
33.172 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
33.172 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
33.173 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
33.173 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
33.174 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
33.174 * [backup-simplify]: Simplify (- 0) into 0
33.175 * [backup-simplify]: Simplify (+ 0 0) into 0
33.175 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0
33.176 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0
33.177 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
33.178 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
33.178 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
33.179 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
33.179 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
33.180 * [backup-simplify]: Simplify (+ 0 0) into 0
33.180 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
33.181 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
33.182 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
33.182 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
33.183 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
33.183 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
33.184 * [backup-simplify]: Simplify (+ 0 0) into 0
33.184 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0
33.185 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0
33.186 * [backup-simplify]: Simplify (+ 0 0) into 0
33.186 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
33.187 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
33.187 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
33.188 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
33.189 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
33.189 * [backup-simplify]: Simplify (+ 0 0) into 0
33.190 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
33.191 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
33.191 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
33.192 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
33.192 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
33.193 * [backup-simplify]: Simplify (- 0) into 0
33.193 * [backup-simplify]: Simplify (+ 0 0) into 0
33.194 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
33.194 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
33.195 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
33.195 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
33.196 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
33.197 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
33.197 * [backup-simplify]: Simplify (- 0) into 0
33.198 * [backup-simplify]: Simplify (+ 0 0) into 0
33.198 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
33.199 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
33.200 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
33.200 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
33.201 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
33.201 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
33.202 * [backup-simplify]: Simplify (+ 0 0) into 0
33.202 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into 0
33.203 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
33.203 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
33.203 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
33.204 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
33.204 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
33.204 * [backup-simplify]: Simplify (+ 0 0) into 0
33.205 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
33.205 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
33.205 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
33.206 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
33.206 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
33.206 * [backup-simplify]: Simplify (- 0) into 0
33.207 * [backup-simplify]: Simplify (+ 0 0) into 0
33.207 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
33.207 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
33.208 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
33.208 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
33.209 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
33.209 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
33.209 * [backup-simplify]: Simplify (+ 0 0) into 0
33.210 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
33.210 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
33.211 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
33.211 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
33.211 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
33.212 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
33.212 * [backup-simplify]: Simplify (- 0) into 0
33.212 * [backup-simplify]: Simplify (+ 0 0) into 0
33.213 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into 0
33.213 * [backup-simplify]: Simplify (+ 0 0) into 0
33.213 * [backup-simplify]: Simplify (- 0) into 0
33.213 * [backup-simplify]: Simplify (+ 0 0) into 0
33.215 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) into 0
33.218 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)))) into 0
33.221 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (* 0 (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
33.223 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
33.223 * [backup-simplify]: Simplify (+ 0) into 0
33.224 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
33.224 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
33.224 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
33.224 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
33.225 * [backup-simplify]: Simplify (+ 0 0) into 0
33.225 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
33.225 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
33.225 * [backup-simplify]: Simplify (+ 0) into 0
33.226 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
33.226 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
33.226 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
33.226 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
33.227 * [backup-simplify]: Simplify (- 0) into 0
33.227 * [backup-simplify]: Simplify (+ 0 0) into 0
33.227 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (pow (sin (/ -0.5 phi1)) 3))) into 0
33.227 * [backup-simplify]: Simplify (+ 0) into 0
33.228 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
33.228 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
33.228 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
33.228 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
33.229 * [backup-simplify]: Simplify (- 0) into 0
33.229 * [backup-simplify]: Simplify (+ 0 0) into 0
33.229 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)))) into 0
33.229 * [backup-simplify]: Simplify (+ 0) into 0
33.230 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
33.230 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
33.230 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
33.231 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
33.235 * [backup-simplify]: Simplify (+ 0 0) into 0
33.236 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
33.236 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (pow (sin (/ -0.5 phi2)) 2))) into 0
33.236 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 3) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3))))) into 0
33.237 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
33.237 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
33.238 * [backup-simplify]: Simplify (+ (* R 0) (* 0 1)) into 0
33.238 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (cos (/ -0.5 phi2)) (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)))) R) (/ 0 R)))) into 0
33.239 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
33.239 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
33.239 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
33.240 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
33.240 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
33.240 * [backup-simplify]: Simplify (+ 0 0) into 0
33.241 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
33.241 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0
33.242 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
33.242 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
33.242 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
33.243 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
33.243 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
33.243 * [backup-simplify]: Simplify (- 0) into 0
33.243 * [backup-simplify]: Simplify (+ 0 0) into 0
33.244 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 3)))) into 0
33.244 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
33.245 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
33.245 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
33.245 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
33.246 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
33.246 * [backup-simplify]: Simplify (- 0) into 0
33.246 * [backup-simplify]: Simplify (+ 0 0) into 0
33.247 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3))))) into 0
33.247 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
33.248 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
33.248 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
33.249 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
33.249 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
33.249 * [backup-simplify]: Simplify (+ 0 0) into 0
33.249 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0
33.250 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi2)) 2)))) into 0
33.250 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 3) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)))))) into 0
33.251 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
33.252 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
33.252 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (* 0 1))) into 0
33.252 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (cos (/ -0.5 phi2)) (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)))) R) (/ 0 R)) (* 0 (/ 0 R)))) into 0
33.255 * [backup-simplify]: Simplify (+ (* (/ (* (cos (/ -0.5 phi2)) (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)))) R) 0) (+ (* 0 0) (* 0 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))) into 0
33.258 * [backup-simplify]: Simplify (+ (* (/ (* (cos (/ -0.5 phi2)) (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)))) R) 0) (* 0 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
33.261 * [backup-simplify]: Simplify (* (/ (* (cos (/ -0.5 phi2)) (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)))) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) into (* (/ (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)))) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))
33.265 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (* (/ (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)))) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))))) into 0
33.267 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
33.268 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
33.268 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
33.269 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
33.269 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
33.270 * [backup-simplify]: Simplify (- 0) into 0
33.270 * [backup-simplify]: Simplify (+ 0 0) into 0
33.271 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0
33.271 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
33.272 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
33.272 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
33.273 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
33.274 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
33.274 * [backup-simplify]: Simplify (- 0) into 0
33.275 * [backup-simplify]: Simplify (+ 0 0) into 0
33.275 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0
33.276 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0
33.277 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
33.278 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
33.278 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
33.279 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
33.279 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
33.280 * [backup-simplify]: Simplify (+ 0 0) into 0
33.280 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
33.281 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
33.282 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
33.282 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
33.283 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
33.284 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
33.284 * [backup-simplify]: Simplify (+ 0 0) into 0
33.285 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0
33.286 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0
33.286 * [backup-simplify]: Simplify (+ 0 0) into 0
33.287 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
33.288 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
33.288 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
33.289 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
33.289 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
33.290 * [backup-simplify]: Simplify (+ 0 0) into 0
33.291 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
33.291 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
33.292 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
33.292 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
33.293 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
33.293 * [backup-simplify]: Simplify (- 0) into 0
33.294 * [backup-simplify]: Simplify (+ 0 0) into 0
33.294 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
33.295 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
33.296 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
33.296 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
33.297 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
33.298 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
33.298 * [backup-simplify]: Simplify (- 0) into 0
33.298 * [backup-simplify]: Simplify (+ 0 0) into 0
33.299 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
33.300 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
33.301 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
33.301 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
33.302 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
33.302 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
33.303 * [backup-simplify]: Simplify (+ 0 0) into 0
33.303 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into 0
33.304 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
33.305 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
33.305 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
33.306 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
33.307 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
33.307 * [backup-simplify]: Simplify (+ 0 0) into 0
33.308 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
33.309 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
33.309 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
33.309 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
33.310 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
33.310 * [backup-simplify]: Simplify (- 0) into 0
33.311 * [backup-simplify]: Simplify (+ 0 0) into 0
33.311 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
33.312 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
33.313 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
33.313 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
33.314 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
33.315 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
33.315 * [backup-simplify]: Simplify (+ 0 0) into 0
33.316 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
33.317 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
33.317 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
33.318 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
33.318 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
33.319 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
33.319 * [backup-simplify]: Simplify (- 0) into 0
33.320 * [backup-simplify]: Simplify (+ 0 0) into 0
33.321 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into 0
33.321 * [backup-simplify]: Simplify (+ 0 0) into 0
33.322 * [backup-simplify]: Simplify (- 0) into 0
33.322 * [backup-simplify]: Simplify (+ 0 0) into 0
33.326 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) into 0
33.331 * [backup-simplify]: Simplify (+ (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2) 0) (+ (* 0 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)))) into 0
33.336 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 4)))) into 0
33.342 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)) (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))) (* 0 (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) into 0
33.346 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) into 0
33.346 * [backup-simplify]: Simplify (+ 0) into 0
33.347 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
33.347 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
33.348 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
33.349 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
33.349 * [backup-simplify]: Simplify (+ 0 0) into 0
33.349 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
33.350 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi1)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
33.350 * [backup-simplify]: Simplify (+ 0) into 0
33.351 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
33.351 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
33.352 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
33.353 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
33.353 * [backup-simplify]: Simplify (- 0) into 0
33.353 * [backup-simplify]: Simplify (+ 0 0) into 0
33.354 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
33.354 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi1)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 4))) into 0
33.355 * [backup-simplify]: Simplify (+ 0) into 0
33.355 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
33.355 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
33.356 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
33.357 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
33.357 * [backup-simplify]: Simplify (- 0) into 0
33.358 * [backup-simplify]: Simplify (+ 0 0) into 0
33.358 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
33.358 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 4)))) into 0
33.359 * [backup-simplify]: Simplify (+ 0) into 0
33.359 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
33.360 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
33.361 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
33.361 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
33.362 * [backup-simplify]: Simplify (+ 0 0) into 0
33.362 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
33.362 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi2)) 2))) into 0
33.363 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 4) 0) (* 0 (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 4))))) into 0
33.364 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
33.365 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
33.365 * [backup-simplify]: Simplify (+ (* R 0) (* 0 1)) into 0
33.366 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 4)))) R) (/ 0 R)))) into 0
33.368 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
33.368 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
33.369 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
33.370 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
33.370 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
33.371 * [backup-simplify]: Simplify (+ 0 0) into 0
33.372 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
33.373 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0
33.374 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
33.374 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
33.375 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
33.376 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
33.376 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
33.377 * [backup-simplify]: Simplify (- 0) into 0
33.377 * [backup-simplify]: Simplify (+ 0 0) into 0
33.378 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0
33.379 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 4)))) into 0
33.379 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
33.380 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
33.380 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
33.381 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
33.382 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
33.382 * [backup-simplify]: Simplify (- 0) into 0
33.389 * [backup-simplify]: Simplify (+ 0 0) into 0
33.390 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0
33.392 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 4))))) into 0
33.392 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
33.393 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
33.393 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
33.394 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
33.395 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
33.395 * [backup-simplify]: Simplify (+ 0 0) into 0
33.396 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0
33.397 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi2)) 2)))) into 0
33.398 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 4) 0) (+ (* 0 0) (* 0 (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 4)))))) into 0
33.399 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
33.399 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
33.400 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (* 0 1))) into 0
33.401 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 4)))) R) (/ 0 R)) (* 0 (/ 0 R)))) into 0
33.405 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 4)))) R) 0) (+ (* 0 0) (* 0 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)))))) into 0
33.408 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 4)))) R) 0) (* 0 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) into 0
33.411 * [backup-simplify]: Simplify (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 4)))) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)))) into (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 4)))) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))
33.415 * [backup-simplify]: Simplify (+ (* 15/2 0) (+ (* 0 0) (* 0 (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 4)))) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))))) into 0
33.417 * [backup-simplify]: Simplify (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* phi1 (* R phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) into (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (* phi1 phi2))))
33.420 * [backup-simplify]: Simplify (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (* phi1 phi2)))) into (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* phi1 (* R phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))
33.421 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
33.422 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
33.422 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
33.423 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
33.424 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
33.424 * [backup-simplify]: Simplify (- 0) into 0
33.424 * [backup-simplify]: Simplify (+ 0 0) into 0
33.425 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0
33.426 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
33.427 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
33.427 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
33.428 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
33.428 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
33.429 * [backup-simplify]: Simplify (- 0) into 0
33.429 * [backup-simplify]: Simplify (+ 0 0) into 0
33.430 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0
33.431 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0
33.434 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
33.435 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
33.435 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
33.436 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
33.437 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
33.437 * [backup-simplify]: Simplify (+ 0 0) into 0
33.438 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
33.439 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
33.440 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
33.440 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
33.441 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
33.442 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
33.442 * [backup-simplify]: Simplify (+ 0 0) into 0
33.443 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0
33.443 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0
33.444 * [backup-simplify]: Simplify (+ 0 0) into 0
33.445 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
33.446 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
33.446 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
33.447 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
33.447 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
33.448 * [backup-simplify]: Simplify (+ 0 0) into 0
33.449 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
33.449 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
33.450 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
33.451 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
33.451 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
33.452 * [backup-simplify]: Simplify (- 0) into 0
33.452 * [backup-simplify]: Simplify (+ 0 0) into 0
33.453 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
33.454 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
33.454 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
33.454 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
33.455 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
33.456 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
33.456 * [backup-simplify]: Simplify (- 0) into 0
33.456 * [backup-simplify]: Simplify (+ 0 0) into 0
33.457 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
33.458 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
33.459 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
33.459 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
33.459 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
33.460 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
33.460 * [backup-simplify]: Simplify (+ 0 0) into 0
33.461 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into 0
33.462 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
33.463 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
33.463 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
33.464 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
33.465 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
33.465 * [backup-simplify]: Simplify (+ 0 0) into 0
33.466 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
33.467 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
33.467 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
33.468 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
33.468 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
33.468 * [backup-simplify]: Simplify (- 0) into 0
33.469 * [backup-simplify]: Simplify (+ 0 0) into 0
33.469 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
33.470 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
33.471 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
33.471 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
33.472 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
33.473 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
33.473 * [backup-simplify]: Simplify (+ 0 0) into 0
33.474 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
33.475 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
33.475 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
33.476 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
33.476 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
33.477 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
33.477 * [backup-simplify]: Simplify (- 0) into 0
33.478 * [backup-simplify]: Simplify (+ 0 0) into 0
33.478 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into 0
33.479 * [backup-simplify]: Simplify (+ 0 0) into 0
33.479 * [backup-simplify]: Simplify (- 0) into 0
33.480 * [backup-simplify]: Simplify (+ 0 0) into 0
33.484 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) into 0
33.489 * [backup-simplify]: Simplify (+ (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2) 0) (+ (* 0 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)))) into 0
33.495 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 4)))) into 0
33.503 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)) (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))) (* 0 (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) into 0
33.507 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) into 0
33.507 * [backup-simplify]: Simplify (+ 0) into 0
33.508 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
33.508 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
33.509 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
33.510 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
33.510 * [backup-simplify]: Simplify (+ 0 0) into 0
33.510 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
33.510 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
33.511 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi1)) 3) 0) (* 0 (pow (sin (/ -0.5 phi1)) 3))) into 0
33.511 * [backup-simplify]: Simplify (+ 0) into 0
33.512 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
33.512 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
33.513 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
33.513 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
33.514 * [backup-simplify]: Simplify (+ 0 0) into 0
33.514 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
33.514 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (pow (sin (/ -0.5 phi2)) 2))) into 0
33.515 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 3) 0) (* 0 (pow (sin (/ -0.5 phi2)) 3))) into 0
33.515 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 6) 0) (* 0 (pow (sin (/ -0.5 phi1)) 6))) into 0
33.516 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
33.516 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
33.517 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 R)) into 0
33.517 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 6) (pow (sin (/ -0.5 phi1)) 6)) R) (/ 0 R)))) into 0
33.518 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
33.519 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
33.519 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
33.520 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
33.520 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
33.521 * [backup-simplify]: Simplify (+ 0 0) into 0
33.521 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
33.522 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0
33.523 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi1)) 3) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 3)))) into 0
33.524 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
33.525 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
33.525 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
33.526 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
33.526 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
33.527 * [backup-simplify]: Simplify (+ 0 0) into 0
33.527 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0
33.528 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi2)) 2)))) into 0
33.529 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 3) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi2)) 3)))) into 0
33.529 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 6) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 6)))) into 0
33.530 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
33.531 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
33.532 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 R))) into 0
33.532 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 6) (pow (sin (/ -0.5 phi1)) 6)) R) (/ 0 R)) (* 0 (/ 0 R)))) into 0
33.536 * [backup-simplify]: Simplify (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 6) (pow (sin (/ -0.5 phi1)) 6)) R) 0) (+ (* 0 0) (* 0 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)))))) into 0
33.538 * [backup-simplify]: Simplify (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 6) (pow (sin (/ -0.5 phi1)) 6)) R) 0) (* 0 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) into 0
33.541 * [backup-simplify]: Simplify (* (/ (* (pow (sin (/ -0.5 phi2)) 6) (pow (sin (/ -0.5 phi1)) 6)) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)))) into (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))) (/ (* (pow (sin (/ -0.5 phi2)) 6) (pow (sin (/ -0.5 phi1)) 6)) R))
33.545 * [backup-simplify]: Simplify (+ (* 1/2 0) (+ (* 0 0) (* 0 (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))) (/ (* (pow (sin (/ -0.5 phi2)) 6) (pow (sin (/ -0.5 phi1)) 6)) R))))) into 0
33.547 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* phi1 (* R phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) 0) into (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (* phi1 phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))
33.550 * [backup-simplify]: Simplify (+ (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (* phi1 phi2)))) (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (* phi1 phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into (+ (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* phi1 (* R phi2)))) (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* phi1 (* R phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))
33.557 * [backup-simplify]: Simplify (+ 0 (+ (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* phi1 (* R phi2)))) (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* phi1 (* R phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))) into (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (* phi1 phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (* phi1 phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))
33.561 * [backup-simplify]: Simplify (+ 0 (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (* phi1 phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (* phi1 phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))) into (+ (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* phi1 (* R phi2)))) (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* phi1 (* R phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))
33.564 * [backup-simplify]: Simplify (+ 0 (+ (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* phi1 (* R phi2)))) (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* phi1 (* R phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))) into (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (* phi1 phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (* phi1 phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))
33.567 * [backup-simplify]: Simplify (+ 0 (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (* phi1 phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (* phi1 phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))) into (+ (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* phi1 (* R phi2)))) (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* phi1 (* R phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))
33.572 * [backup-simplify]: Simplify (+ (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (pow phi2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (+ (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* phi1 (* R phi2)))) (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* phi1 (* R phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))) into (+ (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (pow phi2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (* phi1 phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (* phi1 phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))))
33.579 * [backup-simplify]: Simplify (+ 0 (+ (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (pow phi2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (* phi1 phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (* phi1 phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))))) into (+ (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (pow phi2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* phi1 (* R phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* phi1 (* R phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))))
33.592 * [backup-simplify]: Simplify (+ (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (pow phi1 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (+ (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (pow phi2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* phi1 (* R phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* phi1 (* R phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))))) into (+ (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (pow phi2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (+ (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (pow phi1 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (* phi1 phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (* phi1 phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))))
33.594 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
33.595 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
33.595 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
33.596 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
33.596 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
33.597 * [backup-simplify]: Simplify (- 0) into 0
33.597 * [backup-simplify]: Simplify (+ 0 0) into 0
33.598 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0
33.599 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
33.599 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
33.600 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
33.600 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
33.601 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
33.601 * [backup-simplify]: Simplify (- 0) into 0
33.602 * [backup-simplify]: Simplify (+ 0 0) into 0
33.603 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0
33.603 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0
33.604 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
33.605 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
33.605 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
33.606 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
33.607 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
33.607 * [backup-simplify]: Simplify (+ 0 0) into 0
33.607 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
33.608 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
33.609 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
33.609 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
33.610 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
33.611 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
33.611 * [backup-simplify]: Simplify (+ 0 0) into 0
33.612 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0
33.612 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0
33.613 * [backup-simplify]: Simplify (+ 0 0) into 0
33.614 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
33.614 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
33.615 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
33.615 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
33.616 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
33.616 * [backup-simplify]: Simplify (+ 0 0) into 0
33.617 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
33.618 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
33.618 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
33.619 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
33.620 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
33.620 * [backup-simplify]: Simplify (- 0) into 0
33.620 * [backup-simplify]: Simplify (+ 0 0) into 0
33.621 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
33.622 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
33.623 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
33.623 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
33.624 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
33.624 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
33.625 * [backup-simplify]: Simplify (- 0) into 0
33.625 * [backup-simplify]: Simplify (+ 0 0) into 0
33.626 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
33.627 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
33.627 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
33.627 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
33.628 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
33.629 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
33.629 * [backup-simplify]: Simplify (+ 0 0) into 0
33.630 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into 0
33.631 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
33.632 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
33.632 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
33.633 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
33.634 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
33.634 * [backup-simplify]: Simplify (+ 0 0) into 0
33.635 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
33.636 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
33.636 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
33.637 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
33.638 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
33.638 * [backup-simplify]: Simplify (- 0) into 0
33.638 * [backup-simplify]: Simplify (+ 0 0) into 0
33.639 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
33.640 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
33.641 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
33.641 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
33.642 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
33.642 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
33.643 * [backup-simplify]: Simplify (+ 0 0) into 0
33.643 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
33.644 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
33.645 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
33.645 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
33.646 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
33.647 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
33.647 * [backup-simplify]: Simplify (- 0) into 0
33.648 * [backup-simplify]: Simplify (+ 0 0) into 0
33.648 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into 0
33.649 * [backup-simplify]: Simplify (+ 0 0) into 0
33.649 * [backup-simplify]: Simplify (- 0) into 0
33.649 * [backup-simplify]: Simplify (+ 0 0) into 0
33.654 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) into 0
33.659 * [backup-simplify]: Simplify (+ (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2) 0) (+ (* 0 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)))) into 0
33.664 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 4)))) into 0
33.671 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)) (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))) (* 0 (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) into 0
33.674 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) into 0
33.675 * [backup-simplify]: Simplify (+ 0) into 0
33.675 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
33.676 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
33.676 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
33.677 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
33.677 * [backup-simplify]: Simplify (+ 0 0) into 0
33.677 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
33.678 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
33.678 * [backup-simplify]: Simplify (+ 0) into 0
33.679 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
33.679 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
33.680 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
33.680 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
33.680 * [backup-simplify]: Simplify (- 0) into 0
33.681 * [backup-simplify]: Simplify (+ 0 0) into 0
33.681 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
33.681 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
33.682 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi1)) 3) 0) (* 0 (pow (sin (/ -0.5 phi1)) 3))) into 0
33.682 * [backup-simplify]: Simplify (+ 0) into 0
33.683 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
33.683 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
33.684 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
33.684 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
33.684 * [backup-simplify]: Simplify (- 0) into 0
33.685 * [backup-simplify]: Simplify (+ 0 0) into 0
33.685 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
33.685 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (pow (cos (/ -0.5 phi2)) 2))) into 0
33.686 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 3) 0) (* 0 (* (pow (cos (/ -0.5 phi1)) 3) (pow (sin (/ -0.5 phi1)) 3)))) into 0
33.686 * [backup-simplify]: Simplify (+ 0) into 0
33.687 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
33.687 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
33.688 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
33.688 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
33.689 * [backup-simplify]: Simplify (+ 0 0) into 0
33.689 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
33.689 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (pow (sin (/ -0.5 phi2)) 2))) into 0
33.690 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 3) 0) (* 0 (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (pow (sin (/ -0.5 phi1)) 3))))) into 0
33.690 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
33.691 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
33.692 * [backup-simplify]: Simplify (+ (* R 0) (* 0 1)) into 0
33.693 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (sin (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (pow (sin (/ -0.5 phi1)) 3)))) R) (/ 0 R)))) into 0
33.694 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
33.694 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
33.695 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
33.695 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
33.696 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
33.696 * [backup-simplify]: Simplify (+ 0 0) into 0
33.697 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
33.697 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0
33.703 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
33.705 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
33.705 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
33.706 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
33.706 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
33.707 * [backup-simplify]: Simplify (- 0) into 0
33.707 * [backup-simplify]: Simplify (+ 0 0) into 0
33.707 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0
33.708 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0
33.709 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi1)) 3) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 3)))) into 0
33.710 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
33.710 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
33.711 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
33.711 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
33.712 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
33.712 * [backup-simplify]: Simplify (- 0) into 0
33.713 * [backup-simplify]: Simplify (+ 0 0) into 0
33.713 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0
33.714 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi2)) 2)))) into 0
33.715 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 3) 0) (+ (* 0 0) (* 0 (* (pow (cos (/ -0.5 phi1)) 3) (pow (sin (/ -0.5 phi1)) 3))))) into 0
33.716 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
33.717 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
33.717 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
33.718 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
33.718 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
33.719 * [backup-simplify]: Simplify (+ 0 0) into 0
33.719 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0
33.720 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi2)) 2)))) into 0
33.721 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 3) 0) (+ (* 0 0) (* 0 (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (pow (sin (/ -0.5 phi1)) 3)))))) into 0
33.722 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
33.723 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
33.724 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (* 0 1))) into 0
33.725 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (sin (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (pow (sin (/ -0.5 phi1)) 3)))) R) (/ 0 R)) (* 0 (/ 0 R)))) into 0
33.729 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (sin (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (pow (sin (/ -0.5 phi1)) 3)))) R) 0) (+ (* 0 0) (* 0 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)))))) into 0
33.732 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (sin (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (pow (sin (/ -0.5 phi1)) 3)))) R) 0) (* 0 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) into 0
33.735 * [backup-simplify]: Simplify (* (/ (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (sin (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (pow (sin (/ -0.5 phi1)) 3)))) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)))) into (* (/ (* (pow (sin (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (pow (sin (/ -0.5 phi1)) 3)))) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))
33.739 * [backup-simplify]: Simplify (+ (* 10 0) (+ (* 0 0) (* 0 (* (/ (* (pow (sin (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (pow (sin (/ -0.5 phi1)) 3)))) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))))) into 0
33.742 * [backup-simplify]: Simplify (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (pow phi2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) into (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (pow phi2 2))))
33.745 * [backup-simplify]: Simplify (* 1/2 (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (pow phi2 2))))) into (* 1/2 (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (pow phi2 2)))))
33.747 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
33.747 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
33.748 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
33.748 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
33.749 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
33.749 * [backup-simplify]: Simplify (- 0) into 0
33.750 * [backup-simplify]: Simplify (+ 0 0) into 0
33.750 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0
33.751 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
33.752 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
33.752 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
33.753 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
33.753 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
33.754 * [backup-simplify]: Simplify (- 0) into 0
33.754 * [backup-simplify]: Simplify (+ 0 0) into 0
33.755 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0
33.756 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0
33.758 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
33.759 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
33.759 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
33.760 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
33.761 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
33.761 * [backup-simplify]: Simplify (+ 0 0) into 0
33.762 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
33.763 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
33.764 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
33.764 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
33.765 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
33.765 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
33.766 * [backup-simplify]: Simplify (+ 0 0) into 0
33.766 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0
33.767 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0
33.768 * [backup-simplify]: Simplify (+ 0 0) into 0
33.768 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
33.769 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
33.770 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
33.770 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
33.771 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
33.771 * [backup-simplify]: Simplify (+ 0 0) into 0
33.772 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
33.773 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
33.773 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
33.774 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
33.775 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
33.775 * [backup-simplify]: Simplify (- 0) into 0
33.775 * [backup-simplify]: Simplify (+ 0 0) into 0
33.776 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
33.777 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
33.778 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
33.778 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
33.779 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
33.779 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
33.780 * [backup-simplify]: Simplify (- 0) into 0
33.780 * [backup-simplify]: Simplify (+ 0 0) into 0
33.781 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
33.782 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
33.783 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
33.783 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
33.784 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
33.785 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
33.785 * [backup-simplify]: Simplify (+ 0 0) into 0
33.786 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into 0
33.787 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
33.787 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
33.788 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
33.788 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
33.789 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
33.789 * [backup-simplify]: Simplify (+ 0 0) into 0
33.790 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
33.791 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
33.791 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
33.792 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
33.793 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
33.793 * [backup-simplify]: Simplify (- 0) into 0
33.793 * [backup-simplify]: Simplify (+ 0 0) into 0
33.794 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
33.795 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
33.796 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
33.796 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
33.797 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
33.797 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
33.798 * [backup-simplify]: Simplify (+ 0 0) into 0
33.798 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
33.799 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
33.800 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
33.800 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
33.801 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
33.802 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
33.802 * [backup-simplify]: Simplify (- 0) into 0
33.802 * [backup-simplify]: Simplify (+ 0 0) into 0
33.803 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into 0
33.803 * [backup-simplify]: Simplify (+ 0 0) into 0
33.804 * [backup-simplify]: Simplify (- 0) into 0
33.804 * [backup-simplify]: Simplify (+ 0 0) into 0
33.808 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) into 0
33.813 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)))) into 0
33.819 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (* 0 (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
33.822 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
33.822 * [backup-simplify]: Simplify (+ 0) into 0
33.823 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
33.823 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
33.823 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
33.824 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
33.824 * [backup-simplify]: Simplify (- 0) into 0
33.824 * [backup-simplify]: Simplify (+ 0 0) into 0
33.824 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
33.825 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi1)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
33.825 * [backup-simplify]: Simplify (+ 0) into 0
33.825 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
33.825 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
33.826 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
33.826 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
33.826 * [backup-simplify]: Simplify (- 0) into 0
33.826 * [backup-simplify]: Simplify (+ 0 0) into 0
33.827 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
33.827 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi2)) 2))) into 0
33.827 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 4) 0) (* 0 (pow (cos (/ -0.5 phi1)) 4))) into 0
33.827 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
33.828 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
33.828 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 R)) into 0
33.828 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) R) (/ 0 R)))) into 0
33.829 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
33.829 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
33.829 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
33.830 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
33.830 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
33.831 * [backup-simplify]: Simplify (- 0) into 0
33.831 * [backup-simplify]: Simplify (+ 0 0) into 0
33.831 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0
33.832 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0
33.832 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
33.833 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
33.833 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
33.833 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
33.833 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
33.834 * [backup-simplify]: Simplify (- 0) into 0
33.834 * [backup-simplify]: Simplify (+ 0 0) into 0
33.834 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0
33.835 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi2)) 2)))) into 0
33.835 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 4) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 4)))) into 0
33.836 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
33.836 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
33.837 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 R))) into 0
33.837 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) R) (/ 0 R)) (* 0 (/ 0 R)))) into 0
33.839 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) R) 0) (+ (* 0 0) (* 0 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))) into 0
33.840 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) R) 0) (* 0 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
33.842 * [backup-simplify]: Simplify (* (/ (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) into (* (/ (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))
33.844 * [backup-simplify]: Simplify (+ (* 1/2 0) (+ (* 0 0) (* 0 (* (/ (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))))) into 0
33.845 * [backup-simplify]: Simplify (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow phi1 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) into (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (pow phi1 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))
33.848 * [backup-simplify]: Simplify (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (pow phi1 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (pow phi1 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))
33.855 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
33.857 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
33.857 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
33.858 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
33.859 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
33.859 * [backup-simplify]: Simplify (- 0) into 0
33.859 * [backup-simplify]: Simplify (+ 0 0) into 0
33.860 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0
33.861 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
33.862 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
33.862 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
33.863 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
33.863 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
33.864 * [backup-simplify]: Simplify (- 0) into 0
33.864 * [backup-simplify]: Simplify (+ 0 0) into 0
33.865 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0
33.866 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0
33.866 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
33.867 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
33.867 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
33.868 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
33.869 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
33.869 * [backup-simplify]: Simplify (+ 0 0) into 0
33.870 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
33.871 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
33.872 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
33.872 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
33.873 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
33.873 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
33.874 * [backup-simplify]: Simplify (+ 0 0) into 0
33.874 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0
33.875 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0
33.876 * [backup-simplify]: Simplify (+ 0 0) into 0
33.876 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
33.877 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
33.878 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
33.878 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
33.879 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
33.879 * [backup-simplify]: Simplify (+ 0 0) into 0
33.880 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
33.881 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
33.881 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
33.882 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
33.883 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
33.883 * [backup-simplify]: Simplify (- 0) into 0
33.883 * [backup-simplify]: Simplify (+ 0 0) into 0
33.884 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
33.885 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
33.886 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
33.886 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
33.887 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
33.887 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
33.888 * [backup-simplify]: Simplify (- 0) into 0
33.888 * [backup-simplify]: Simplify (+ 0 0) into 0
33.889 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
33.890 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
33.890 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
33.891 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
33.892 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
33.892 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
33.892 * [backup-simplify]: Simplify (+ 0 0) into 0
33.893 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into 0
33.895 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
33.895 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
33.896 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
33.896 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
33.897 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
33.897 * [backup-simplify]: Simplify (+ 0 0) into 0
33.898 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
33.899 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
33.899 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
33.900 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
33.900 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
33.901 * [backup-simplify]: Simplify (- 0) into 0
33.901 * [backup-simplify]: Simplify (+ 0 0) into 0
33.902 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
33.902 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
33.903 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
33.903 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
33.904 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
33.905 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
33.905 * [backup-simplify]: Simplify (+ 0 0) into 0
33.906 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
33.907 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
33.907 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
33.907 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
33.908 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
33.909 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
33.909 * [backup-simplify]: Simplify (- 0) into 0
33.909 * [backup-simplify]: Simplify (+ 0 0) into 0
33.910 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into 0
33.910 * [backup-simplify]: Simplify (+ 0 0) into 0
33.911 * [backup-simplify]: Simplify (- 0) into 0
33.911 * [backup-simplify]: Simplify (+ 0 0) into 0
33.915 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) into 0
33.919 * [backup-simplify]: Simplify (+ (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2) 0) (+ (* 0 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)))) into 0
33.923 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 4)))) into 0
33.929 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)) (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))) (* 0 (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) into 0
33.933 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) into 0
33.933 * [backup-simplify]: Simplify (+ 0) into 0
33.934 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
33.934 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
33.935 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
33.935 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
33.936 * [backup-simplify]: Simplify (+ 0 0) into 0
33.936 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
33.937 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi1)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
33.937 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (pow (sin (/ -0.5 phi1)) 4))) into 0
33.937 * [backup-simplify]: Simplify (+ 0) into 0
33.938 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
33.938 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
33.939 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
33.939 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
33.940 * [backup-simplify]: Simplify (- 0) into 0
33.940 * [backup-simplify]: Simplify (+ 0 0) into 0
33.941 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (pow (sin (/ -0.5 phi1)) 5))) into 0
33.941 * [backup-simplify]: Simplify (+ 0) into 0
33.942 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
33.942 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
33.943 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
33.943 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
33.944 * [backup-simplify]: Simplify (- 0) into 0
33.945 * [backup-simplify]: Simplify (+ 0 0) into 0
33.945 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 5)))) into 0
33.946 * [backup-simplify]: Simplify (+ 0) into 0
33.946 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
33.946 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
33.947 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
33.948 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
33.948 * [backup-simplify]: Simplify (+ 0 0) into 0
33.948 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
33.949 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi2)) 2))) into 0
33.949 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (pow (sin (/ -0.5 phi2)) 4))) into 0
33.950 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 5) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 5))))) into 0
33.950 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
33.951 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
33.951 * [backup-simplify]: Simplify (+ (* R 0) (* 0 1)) into 0
33.952 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (cos (/ -0.5 phi2)) (* (pow (sin (/ -0.5 phi2)) 5) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 5)))) R) (/ 0 R)))) into 0
33.953 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
33.954 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
33.955 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
33.956 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
33.956 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
33.957 * [backup-simplify]: Simplify (+ 0 0) into 0
33.957 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
33.958 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0
33.959 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 4)))) into 0
33.960 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
33.961 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
33.961 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
33.962 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
33.963 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
33.963 * [backup-simplify]: Simplify (- 0) into 0
33.963 * [backup-simplify]: Simplify (+ 0 0) into 0
33.964 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 5)))) into 0
33.965 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
33.966 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
33.966 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
33.967 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
33.967 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
33.968 * [backup-simplify]: Simplify (- 0) into 0
33.968 * [backup-simplify]: Simplify (+ 0 0) into 0
33.969 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 5))))) into 0
33.970 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
33.970 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
33.971 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
33.971 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
33.972 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
33.972 * [backup-simplify]: Simplify (+ 0 0) into 0
33.973 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0
33.974 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi2)) 2)))) into 0
33.975 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi2)) 4)))) into 0
33.976 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 5) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 5)))))) into 0
33.977 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
33.978 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
33.979 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (* 0 1))) into 0
33.979 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (cos (/ -0.5 phi2)) (* (pow (sin (/ -0.5 phi2)) 5) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 5)))) R) (/ 0 R)) (* 0 (/ 0 R)))) into 0
33.982 * [backup-simplify]: Simplify (+ (* (/ (* (cos (/ -0.5 phi2)) (* (pow (sin (/ -0.5 phi2)) 5) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 5)))) R) 0) (+ (* 0 0) (* 0 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)))))) into 0
33.984 * [backup-simplify]: Simplify (+ (* (/ (* (cos (/ -0.5 phi2)) (* (pow (sin (/ -0.5 phi2)) 5) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 5)))) R) 0) (* 0 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) into 0
33.986 * [backup-simplify]: Simplify (* (/ (* (cos (/ -0.5 phi2)) (* (pow (sin (/ -0.5 phi2)) 5) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 5)))) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)))) into (* (/ (* (pow (sin (/ -0.5 phi2)) 5) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 5)))) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))
33.990 * [backup-simplify]: Simplify (+ (* 3 0) (+ (* 0 0) (* 0 (* (/ (* (pow (sin (/ -0.5 phi2)) 5) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 5)))) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))))) into 0
33.991 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
33.991 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
33.991 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
33.992 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
33.992 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
33.993 * [backup-simplify]: Simplify (- 0) into 0
33.993 * [backup-simplify]: Simplify (+ 0 0) into 0
33.993 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0
33.994 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
33.994 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
33.995 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
33.995 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
33.995 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
33.996 * [backup-simplify]: Simplify (- 0) into 0
33.996 * [backup-simplify]: Simplify (+ 0 0) into 0
33.996 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0
33.997 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0
33.997 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
33.998 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
33.998 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
33.998 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
33.999 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
33.999 * [backup-simplify]: Simplify (+ 0 0) into 0
33.999 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
34.000 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
34.000 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
34.000 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
34.001 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
34.001 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
34.002 * [backup-simplify]: Simplify (+ 0 0) into 0
34.007 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0
34.007 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0
34.008 * [backup-simplify]: Simplify (+ 0 0) into 0
34.008 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
34.009 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
34.009 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
34.009 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
34.010 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
34.010 * [backup-simplify]: Simplify (+ 0 0) into 0
34.011 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
34.012 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
34.012 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
34.013 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
34.014 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
34.014 * [backup-simplify]: Simplify (- 0) into 0
34.015 * [backup-simplify]: Simplify (+ 0 0) into 0
34.015 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
34.016 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
34.017 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
34.017 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
34.018 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
34.019 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
34.019 * [backup-simplify]: Simplify (- 0) into 0
34.019 * [backup-simplify]: Simplify (+ 0 0) into 0
34.020 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
34.021 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
34.022 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
34.022 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
34.023 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
34.024 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
34.024 * [backup-simplify]: Simplify (+ 0 0) into 0
34.025 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into 0
34.026 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
34.026 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
34.027 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
34.027 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
34.028 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
34.028 * [backup-simplify]: Simplify (+ 0 0) into 0
34.029 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
34.030 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
34.030 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
34.031 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
34.032 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
34.032 * [backup-simplify]: Simplify (- 0) into 0
34.033 * [backup-simplify]: Simplify (+ 0 0) into 0
34.033 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
34.034 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
34.035 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
34.035 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
34.036 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
34.037 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
34.037 * [backup-simplify]: Simplify (+ 0 0) into 0
34.038 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
34.039 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
34.040 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
34.040 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
34.041 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
34.041 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
34.042 * [backup-simplify]: Simplify (- 0) into 0
34.042 * [backup-simplify]: Simplify (+ 0 0) into 0
34.043 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into 0
34.043 * [backup-simplify]: Simplify (+ 0 0) into 0
34.044 * [backup-simplify]: Simplify (- 0) into 0
34.044 * [backup-simplify]: Simplify (+ 0 0) into 0
34.048 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) into 0
34.053 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)))) into 0
34.059 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (* 0 (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
34.063 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
34.064 * [backup-simplify]: Simplify (+ 0) into 0
34.064 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
34.064 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
34.066 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
34.066 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
34.066 * [backup-simplify]: Simplify (+ 0 0) into 0
34.067 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
34.067 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi1)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
34.067 * [backup-simplify]: Simplify (+ 0) into 0
34.068 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
34.068 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
34.069 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
34.070 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
34.070 * [backup-simplify]: Simplify (+ 0 0) into 0
34.070 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
34.070 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi2)) 2))) into 0
34.071 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 4) 0) (* 0 (pow (sin (/ -0.5 phi1)) 4))) into 0
34.072 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
34.072 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
34.073 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 R)) into 0
34.073 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) R) (/ 0 R)))) into 0
34.074 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
34.074 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
34.074 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
34.075 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
34.075 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
34.075 * [backup-simplify]: Simplify (+ 0 0) into 0
34.076 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
34.076 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0
34.077 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
34.077 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
34.077 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
34.078 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
34.078 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
34.078 * [backup-simplify]: Simplify (+ 0 0) into 0
34.079 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0
34.079 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi2)) 2)))) into 0
34.080 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 4) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 4)))) into 0
34.080 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
34.081 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
34.081 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 R))) into 0
34.082 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) R) (/ 0 R)) (* 0 (/ 0 R)))) into 0
34.083 * [backup-simplify]: Simplify (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) R) 0) (+ (* 0 0) (* 0 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))) into 0
34.085 * [backup-simplify]: Simplify (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) R) 0) (* 0 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
34.086 * [backup-simplify]: Simplify (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) into (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) R))
34.088 * [backup-simplify]: Simplify (+ (* 1/2 0) (+ (* 0 0) (* 0 (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) R))))) into 0
34.090 * [backup-simplify]: Simplify (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (pow phi2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) into (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (pow phi2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))
34.091 * [backup-simplify]: Simplify (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (pow phi2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (pow phi2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))
34.092 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
34.092 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
34.093 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
34.093 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
34.093 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
34.094 * [backup-simplify]: Simplify (- 0) into 0
34.094 * [backup-simplify]: Simplify (+ 0 0) into 0
34.094 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0
34.095 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
34.095 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
34.095 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
34.096 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
34.096 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
34.096 * [backup-simplify]: Simplify (- 0) into 0
34.097 * [backup-simplify]: Simplify (+ 0 0) into 0
34.097 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0
34.097 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0
34.098 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
34.098 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
34.099 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
34.099 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
34.099 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
34.100 * [backup-simplify]: Simplify (+ 0 0) into 0
34.100 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
34.100 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
34.101 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
34.101 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
34.102 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
34.102 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
34.103 * [backup-simplify]: Simplify (+ 0 0) into 0
34.103 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0
34.104 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0
34.104 * [backup-simplify]: Simplify (+ 0 0) into 0
34.105 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
34.106 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
34.106 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
34.107 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
34.108 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
34.108 * [backup-simplify]: Simplify (+ 0 0) into 0
34.109 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
34.110 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
34.110 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
34.111 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
34.111 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
34.112 * [backup-simplify]: Simplify (- 0) into 0
34.112 * [backup-simplify]: Simplify (+ 0 0) into 0
34.113 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
34.114 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
34.114 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
34.115 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
34.115 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
34.116 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
34.116 * [backup-simplify]: Simplify (- 0) into 0
34.117 * [backup-simplify]: Simplify (+ 0 0) into 0
34.117 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
34.118 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
34.119 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
34.119 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
34.120 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
34.121 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
34.121 * [backup-simplify]: Simplify (+ 0 0) into 0
34.122 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into 0
34.123 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
34.124 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
34.124 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
34.125 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
34.126 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
34.126 * [backup-simplify]: Simplify (+ 0 0) into 0
34.127 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
34.128 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
34.128 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
34.129 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
34.129 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
34.130 * [backup-simplify]: Simplify (- 0) into 0
34.130 * [backup-simplify]: Simplify (+ 0 0) into 0
34.131 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
34.131 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
34.132 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
34.132 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
34.133 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
34.134 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
34.134 * [backup-simplify]: Simplify (+ 0 0) into 0
34.134 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
34.135 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
34.135 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
34.135 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
34.136 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
34.136 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
34.137 * [backup-simplify]: Simplify (- 0) into 0
34.141 * [backup-simplify]: Simplify (+ 0 0) into 0
34.142 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into 0
34.143 * [backup-simplify]: Simplify (+ 0 0) into 0
34.143 * [backup-simplify]: Simplify (- 0) into 0
34.143 * [backup-simplify]: Simplify (+ 0 0) into 0
34.145 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) into 0
34.148 * [backup-simplify]: Simplify (+ (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2) 0) (+ (* 0 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)))) into 0
34.150 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 4)))) into 0
34.153 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)) (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))) (* 0 (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) into 0
34.155 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) into 0
34.156 * [backup-simplify]: Simplify (+ 0) into 0
34.156 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
34.156 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
34.157 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
34.157 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
34.158 * [backup-simplify]: Simplify (+ 0 0) into 0
34.158 * [backup-simplify]: Simplify (+ 0) into 0
34.158 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
34.158 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
34.159 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
34.159 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
34.159 * [backup-simplify]: Simplify (- 0) into 0
34.160 * [backup-simplify]: Simplify (+ 0 0) into 0
34.160 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
34.160 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi1)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
34.160 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (pow (cos (/ -0.5 phi1)) 4))) into 0
34.160 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi1)) 5) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
34.161 * [backup-simplify]: Simplify (+ 0) into 0
34.161 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
34.161 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
34.162 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
34.162 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
34.163 * [backup-simplify]: Simplify (- 0) into 0
34.163 * [backup-simplify]: Simplify (+ 0 0) into 0
34.164 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
34.164 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi2)) 2))) into 0
34.164 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (pow (cos (/ -0.5 phi2)) 4))) into 0
34.165 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 5) 0) (* 0 (* (pow (cos (/ -0.5 phi1)) 5) (sin (/ -0.5 phi1))))) into 0
34.165 * [backup-simplify]: Simplify (+ 0) into 0
34.166 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
34.166 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
34.167 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
34.168 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
34.168 * [backup-simplify]: Simplify (+ 0 0) into 0
34.169 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (pow (cos (/ -0.5 phi2)) 5) (* (pow (cos (/ -0.5 phi1)) 5) (sin (/ -0.5 phi1)))))) into 0
34.170 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
34.170 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
34.171 * [backup-simplify]: Simplify (+ (* R 0) (* 0 1)) into 0
34.172 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 5) (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi1)) 5) (sin (/ -0.5 phi1))))) R) (/ 0 R)))) into 0
34.173 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
34.173 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
34.174 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
34.175 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
34.175 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
34.176 * [backup-simplify]: Simplify (+ 0 0) into 0
34.176 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
34.177 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
34.177 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
34.178 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
34.178 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
34.179 * [backup-simplify]: Simplify (- 0) into 0
34.179 * [backup-simplify]: Simplify (+ 0 0) into 0
34.179 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0
34.180 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0
34.180 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 4)))) into 0
34.180 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi1)) 5) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
34.181 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
34.181 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
34.182 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
34.182 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
34.182 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
34.183 * [backup-simplify]: Simplify (- 0) into 0
34.183 * [backup-simplify]: Simplify (+ 0 0) into 0
34.183 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0
34.184 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi2)) 2)))) into 0
34.184 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi2)) 4)))) into 0
34.185 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 5) 0) (+ (* 0 0) (* 0 (* (pow (cos (/ -0.5 phi1)) 5) (sin (/ -0.5 phi1)))))) into 0
34.185 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
34.186 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
34.186 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
34.186 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
34.187 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
34.187 * [backup-simplify]: Simplify (+ 0 0) into 0
34.188 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (pow (cos (/ -0.5 phi2)) 5) (* (pow (cos (/ -0.5 phi1)) 5) (sin (/ -0.5 phi1))))))) into 0
34.188 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
34.189 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
34.189 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (* 0 1))) into 0
34.189 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 5) (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi1)) 5) (sin (/ -0.5 phi1))))) R) (/ 0 R)) (* 0 (/ 0 R)))) into 0
34.191 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 5) (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi1)) 5) (sin (/ -0.5 phi1))))) R) 0) (+ (* 0 0) (* 0 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)))))) into 0
34.193 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 5) (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi1)) 5) (sin (/ -0.5 phi1))))) R) 0) (* 0 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) into 0
34.194 * [backup-simplify]: Simplify (* (/ (* (pow (cos (/ -0.5 phi2)) 5) (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi1)) 5) (sin (/ -0.5 phi1))))) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)))) into (* (/ (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 5) (* (pow (cos (/ -0.5 phi1)) 5) (sin (/ -0.5 phi1))))) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))
34.197 * [backup-simplify]: Simplify (+ (* 3 0) (+ (* 0 0) (* 0 (* (/ (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 5) (* (pow (cos (/ -0.5 phi1)) 5) (sin (/ -0.5 phi1))))) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))))) into 0
34.197 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
34.198 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
34.198 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
34.198 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
34.199 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
34.199 * [backup-simplify]: Simplify (- 0) into 0
34.199 * [backup-simplify]: Simplify (+ 0 0) into 0
34.200 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0
34.200 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
34.201 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
34.201 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
34.201 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
34.201 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
34.202 * [backup-simplify]: Simplify (- 0) into 0
34.202 * [backup-simplify]: Simplify (+ 0 0) into 0
34.202 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0
34.203 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0
34.203 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
34.204 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
34.204 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
34.204 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
34.205 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
34.205 * [backup-simplify]: Simplify (+ 0 0) into 0
34.206 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
34.207 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
34.208 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
34.208 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
34.209 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
34.209 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
34.210 * [backup-simplify]: Simplify (+ 0 0) into 0
34.210 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0
34.211 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0
34.212 * [backup-simplify]: Simplify (+ 0 0) into 0
34.213 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
34.214 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
34.214 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
34.215 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
34.215 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
34.215 * [backup-simplify]: Simplify (+ 0 0) into 0
34.216 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
34.217 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
34.217 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
34.218 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
34.219 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
34.219 * [backup-simplify]: Simplify (- 0) into 0
34.220 * [backup-simplify]: Simplify (+ 0 0) into 0
34.220 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
34.221 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
34.222 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
34.222 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
34.223 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
34.224 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
34.224 * [backup-simplify]: Simplify (- 0) into 0
34.224 * [backup-simplify]: Simplify (+ 0 0) into 0
34.225 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
34.226 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
34.227 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
34.227 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
34.228 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
34.229 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
34.229 * [backup-simplify]: Simplify (+ 0 0) into 0
34.230 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into 0
34.231 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
34.232 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
34.232 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
34.233 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
34.234 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
34.234 * [backup-simplify]: Simplify (+ 0 0) into 0
34.235 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
34.236 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
34.237 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
34.237 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
34.238 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
34.239 * [backup-simplify]: Simplify (- 0) into 0
34.239 * [backup-simplify]: Simplify (+ 0 0) into 0
34.240 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
34.241 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
34.242 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
34.242 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
34.243 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
34.243 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
34.244 * [backup-simplify]: Simplify (+ 0 0) into 0
34.245 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
34.246 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
34.246 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
34.246 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
34.247 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
34.247 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
34.247 * [backup-simplify]: Simplify (- 0) into 0
34.247 * [backup-simplify]: Simplify (+ 0 0) into 0
34.248 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into 0
34.248 * [backup-simplify]: Simplify (+ 0 0) into 0
34.248 * [backup-simplify]: Simplify (- 0) into 0
34.249 * [backup-simplify]: Simplify (+ 0 0) into 0
34.251 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) into 0
34.254 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)))) into 0
34.257 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (* 0 (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
34.264 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
34.264 * [backup-simplify]: Simplify (+ 0) into 0
34.265 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
34.265 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
34.265 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
34.266 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
34.266 * [backup-simplify]: Simplify (+ 0 0) into 0
34.266 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
34.267 * [backup-simplify]: Simplify (+ 0) into 0
34.267 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
34.267 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
34.267 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
34.268 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
34.268 * [backup-simplify]: Simplify (- 0) into 0
34.268 * [backup-simplify]: Simplify (+ 0 0) into 0
34.268 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
34.269 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi1)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
34.269 * [backup-simplify]: Simplify (+ 0) into 0
34.269 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
34.269 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
34.270 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
34.270 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
34.270 * [backup-simplify]: Simplify (- 0) into 0
34.271 * [backup-simplify]: Simplify (+ 0 0) into 0
34.271 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
34.271 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)))) into 0
34.271 * [backup-simplify]: Simplify (+ 0) into 0
34.272 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
34.272 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
34.272 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
34.273 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
34.273 * [backup-simplify]: Simplify (+ 0 0) into 0
34.273 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
34.274 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2))))) into 0
34.274 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
34.275 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
34.276 * [backup-simplify]: Simplify (+ (* R 0) (* 0 1)) into 0
34.277 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)))) R) (/ 0 R)))) into 0
34.278 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
34.279 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
34.280 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
34.282 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
34.282 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
34.283 * [backup-simplify]: Simplify (+ 0 0) into 0
34.283 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
34.284 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
34.285 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
34.285 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
34.286 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
34.287 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
34.287 * [backup-simplify]: Simplify (- 0) into 0
34.288 * [backup-simplify]: Simplify (+ 0 0) into 0
34.288 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0
34.289 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0
34.290 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
34.291 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
34.291 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
34.292 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
34.293 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
34.293 * [backup-simplify]: Simplify (- 0) into 0
34.294 * [backup-simplify]: Simplify (+ 0 0) into 0
34.294 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0
34.295 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2))))) into 0
34.297 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
34.297 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
34.298 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
34.298 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
34.299 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
34.299 * [backup-simplify]: Simplify (+ 0 0) into 0
34.300 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0
34.301 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)))))) into 0
34.302 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
34.303 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
34.303 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (* 0 1))) into 0
34.304 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)))) R) (/ 0 R)) (* 0 (/ 0 R)))) into 0
34.308 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)))) R) 0) (+ (* 0 0) (* 0 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))) into 0
34.311 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)))) R) 0) (* 0 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
34.314 * [backup-simplify]: Simplify (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)))) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) into (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)))) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))
34.319 * [backup-simplify]: Simplify (+ (* 3 0) (+ (* 0 0) (* 0 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)))) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))))) into 0
34.322 * [backup-simplify]: Simplify (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (pow phi1 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) into (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* (pow phi1 2) R)))
34.325 * [backup-simplify]: Simplify (* 1/2 (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* (pow phi1 2) R)))) into (* 1/2 (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* (pow phi1 2) R))))
34.328 * [backup-simplify]: Simplify (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* phi1 (* R phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) into (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (* phi1 phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))
34.331 * [backup-simplify]: Simplify (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (* phi1 phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* phi1 (* R phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))
34.338 * [backup-simplify]: Simplify (+ (* 1/2 (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* (pow phi1 2) R)))) (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* phi1 (* R phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))) into (+ (* 1/2 (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (pow phi1 2))))) (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (* phi1 phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))))
34.345 * [backup-simplify]: Simplify (+ 0 (+ (* 1/2 (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (pow phi1 2))))) (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (* phi1 phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))))) into (+ (* 1/2 (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (pow phi1 2))))) (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* phi1 (* R phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))))
34.351 * [backup-simplify]: Simplify (+ 0 (+ (* 1/2 (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (pow phi1 2))))) (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* phi1 (* R phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))))) into (+ (* 1/2 (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (pow phi1 2))))) (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (* phi1 phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))))
34.357 * [backup-simplify]: Simplify (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (pow phi2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (pow phi1 2))))) (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (* phi1 phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))))) into (+ (* 1/2 (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (pow phi1 2))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (pow phi2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* phi1 (* R phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))))
34.363 * [backup-simplify]: Simplify (+ 0 (+ (* 1/2 (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (pow phi1 2))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (pow phi2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* phi1 (* R phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))))) into (+ (* 1/2 (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (pow phi1 2))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (pow phi2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (* phi1 phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))))
34.369 * [backup-simplify]: Simplify (+ 0 (+ (* 1/2 (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (pow phi1 2))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (pow phi2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (* phi1 phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))))) into (+ (* 1/2 (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (pow phi1 2))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (pow phi2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* phi1 (* R phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))))
34.377 * [backup-simplify]: Simplify (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (pow phi1 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (pow phi1 2))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (pow phi2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* phi1 (* R phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))))) into (+ (* 1/2 (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (pow phi1 2))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (pow phi2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (* phi1 phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow phi1 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))))))
34.392 * [backup-simplify]: Simplify (+ 0 (+ (* 1/2 (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (pow phi1 2))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (pow phi2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (* phi1 phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow phi1 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))))))) into (+ (* 1/2 (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (pow phi1 2))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (pow phi2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* phi1 (* R phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow phi1 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))))))
34.407 * [backup-simplify]: Simplify (+ (* 1/2 (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (pow phi2 2))))) (+ (* 1/2 (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (pow phi1 2))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (pow phi2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* phi1 (* R phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow phi1 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))))))) into (+ (* 1/2 (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (pow phi1 2))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (pow phi2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (* phi1 phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (pow phi2 2))))) (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow phi1 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))))))
34.419 * [backup-simplify]: Simplify (+ 0 (+ (* 1/2 (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (pow phi1 2))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (pow phi2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (* phi1 phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (pow phi2 2))))) (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow phi1 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))))))) into (+ (* 1/2 (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (pow phi1 2))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (pow phi2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* phi1 (* R phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (pow phi2 2))))) (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (pow phi1 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))))))
34.440 * [backup-simplify]: Simplify (- (+ (* 1/2 (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (pow phi1 2))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (pow phi2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* phi1 (* R phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (pow phi2 2))))) (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (pow phi1 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))))))) into (- (+ (* 1/2 (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (pow phi1 2))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (pow phi2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (* phi1 phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (pow phi2 2))))) (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow phi1 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))))))))
34.479 * [backup-simplify]: Simplify (+ (+ (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (pow phi2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (+ (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (pow phi1 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (* phi1 phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (* phi1 phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))))) (- (+ (* 1/2 (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (pow phi1 2))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (pow phi2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (* phi1 phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (pow phi2 2))))) (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow phi1 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))))))))) into (- (+ (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (pow phi1 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (+ (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (pow phi2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (+ (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* phi1 (* R phi2)))) (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* phi1 (* R phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (pow phi2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (pow phi2 2))))) (+ (* 1/2 (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* (pow phi1 2) R)))) (+ (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* phi1 (* R phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow phi1 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))))))))
34.480 * [taylor]: Taking taylor expansion of (- (+ (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (pow phi1 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (+ (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (pow phi2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (+ (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* phi1 (* R phi2)))) (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* phi1 (* R phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (pow phi2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (pow phi2 2))))) (+ (* 1/2 (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* (pow phi1 2) R)))) (+ (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* phi1 (* R phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow phi1 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))))))) in phi1
34.481 * [taylor]: Taking taylor expansion of (+ (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (pow phi1 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (+ (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (pow phi2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (+ (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* phi1 (* R phi2)))) (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* phi1 (* R phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))))) in phi1
34.481 * [taylor]: Taking taylor expansion of (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (pow phi1 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) in phi1
34.481 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (pow phi1 2))) in phi1
34.481 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi1
34.481 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
34.481 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
34.481 * [taylor]: Taking taylor expansion of -0.5 in phi1
34.481 * [backup-simplify]: Simplify -0.5 into -0.5
34.481 * [taylor]: Taking taylor expansion of phi2 in phi1
34.481 * [backup-simplify]: Simplify phi2 into phi2
34.481 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
34.481 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
34.481 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
34.482 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi1
34.482 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
34.482 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
34.482 * [taylor]: Taking taylor expansion of -0.5 in phi1
34.482 * [backup-simplify]: Simplify -0.5 into -0.5
34.482 * [taylor]: Taking taylor expansion of phi2 in phi1
34.482 * [backup-simplify]: Simplify phi2 into phi2
34.482 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
34.482 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
34.482 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
34.482 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi1
34.482 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
34.482 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
34.482 * [taylor]: Taking taylor expansion of -0.5 in phi1
34.482 * [backup-simplify]: Simplify -0.5 into -0.5
34.482 * [taylor]: Taking taylor expansion of phi1 in phi1
34.482 * [backup-simplify]: Simplify 0 into 0
34.482 * [backup-simplify]: Simplify 1 into 1
34.483 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
34.483 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
34.483 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
34.483 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
34.483 * [taylor]: Taking taylor expansion of -0.5 in phi1
34.483 * [backup-simplify]: Simplify -0.5 into -0.5
34.483 * [taylor]: Taking taylor expansion of phi1 in phi1
34.483 * [backup-simplify]: Simplify 0 into 0
34.483 * [backup-simplify]: Simplify 1 into 1
34.484 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
34.484 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
34.484 * [taylor]: Taking taylor expansion of (* R (pow phi1 2)) in phi1
34.484 * [taylor]: Taking taylor expansion of R in phi1
34.484 * [backup-simplify]: Simplify R into R
34.484 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1
34.484 * [taylor]: Taking taylor expansion of phi1 in phi1
34.484 * [backup-simplify]: Simplify 0 into 0
34.484 * [backup-simplify]: Simplify 1 into 1
34.484 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
34.484 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
34.485 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
34.485 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
34.485 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
34.485 * [backup-simplify]: Simplify (- 0) into 0
34.485 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
34.485 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
34.486 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
34.486 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
34.486 * [backup-simplify]: Simplify (* 1 1) into 1
34.486 * [backup-simplify]: Simplify (* R 1) into R
34.486 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) into (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R)
34.486 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) in phi1
34.486 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) in phi1
34.486 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3) in phi1
34.486 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in phi1
34.486 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi1
34.486 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi1
34.486 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi1
34.486 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
34.487 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
34.487 * [taylor]: Taking taylor expansion of -0.5 in phi1
34.487 * [backup-simplify]: Simplify -0.5 into -0.5
34.487 * [taylor]: Taking taylor expansion of phi2 in phi1
34.487 * [backup-simplify]: Simplify phi2 into phi2
34.487 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
34.487 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
34.487 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
34.487 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
34.487 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
34.487 * [backup-simplify]: Simplify (- 0) into 0
34.487 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
34.487 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi1
34.487 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
34.487 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
34.487 * [taylor]: Taking taylor expansion of -0.5 in phi1
34.487 * [backup-simplify]: Simplify -0.5 into -0.5
34.487 * [taylor]: Taking taylor expansion of phi1 in phi1
34.487 * [backup-simplify]: Simplify 0 into 0
34.487 * [backup-simplify]: Simplify 1 into 1
34.488 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
34.488 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
34.488 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi1
34.488 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi1
34.488 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
34.488 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
34.488 * [taylor]: Taking taylor expansion of -0.5 in phi1
34.488 * [backup-simplify]: Simplify -0.5 into -0.5
34.488 * [taylor]: Taking taylor expansion of phi2 in phi1
34.488 * [backup-simplify]: Simplify phi2 into phi2
34.488 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
34.488 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
34.488 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
34.488 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
34.488 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
34.488 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
34.488 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi1
34.488 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
34.488 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
34.488 * [taylor]: Taking taylor expansion of -0.5 in phi1
34.488 * [backup-simplify]: Simplify -0.5 into -0.5
34.488 * [taylor]: Taking taylor expansion of phi1 in phi1
34.488 * [backup-simplify]: Simplify 0 into 0
34.488 * [backup-simplify]: Simplify 1 into 1
34.489 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
34.489 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
34.489 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in phi1
34.489 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi1
34.489 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
34.489 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
34.489 * [taylor]: Taking taylor expansion of -0.5 in phi1
34.489 * [backup-simplify]: Simplify -0.5 into -0.5
34.489 * [taylor]: Taking taylor expansion of phi2 in phi1
34.489 * [backup-simplify]: Simplify phi2 into phi2
34.489 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
34.489 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
34.489 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
34.489 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi1
34.489 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
34.489 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
34.489 * [taylor]: Taking taylor expansion of -0.5 in phi1
34.489 * [backup-simplify]: Simplify -0.5 into -0.5
34.489 * [taylor]: Taking taylor expansion of phi2 in phi1
34.489 * [backup-simplify]: Simplify phi2 into phi2
34.489 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
34.489 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
34.489 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
34.489 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi1
34.489 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
34.489 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
34.489 * [taylor]: Taking taylor expansion of -0.5 in phi1
34.489 * [backup-simplify]: Simplify -0.5 into -0.5
34.489 * [taylor]: Taking taylor expansion of phi1 in phi1
34.489 * [backup-simplify]: Simplify 0 into 0
34.489 * [backup-simplify]: Simplify 1 into 1
34.490 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
34.490 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
34.490 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
34.490 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
34.490 * [taylor]: Taking taylor expansion of -0.5 in phi1
34.490 * [backup-simplify]: Simplify -0.5 into -0.5
34.490 * [taylor]: Taking taylor expansion of phi1 in phi1
34.490 * [backup-simplify]: Simplify 0 into 0
34.490 * [backup-simplify]: Simplify 1 into 1
34.490 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
34.490 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
34.490 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi1
34.490 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
34.490 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
34.490 * [taylor]: Taking taylor expansion of -0.5 in phi1
34.490 * [backup-simplify]: Simplify -0.5 into -0.5
34.490 * [taylor]: Taking taylor expansion of phi2 in phi1
34.490 * [backup-simplify]: Simplify phi2 into phi2
34.490 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
34.490 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
34.491 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
34.491 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi1
34.491 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
34.491 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
34.491 * [taylor]: Taking taylor expansion of -0.5 in phi1
34.491 * [backup-simplify]: Simplify -0.5 into -0.5
34.491 * [taylor]: Taking taylor expansion of phi2 in phi1
34.491 * [backup-simplify]: Simplify phi2 into phi2
34.491 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
34.491 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
34.491 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
34.491 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi1
34.491 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
34.491 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
34.491 * [taylor]: Taking taylor expansion of -0.5 in phi1
34.491 * [backup-simplify]: Simplify -0.5 into -0.5
34.491 * [taylor]: Taking taylor expansion of phi1 in phi1
34.491 * [backup-simplify]: Simplify 0 into 0
34.491 * [backup-simplify]: Simplify 1 into 1
34.491 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
34.491 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
34.491 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
34.491 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
34.491 * [taylor]: Taking taylor expansion of -0.5 in phi1
34.491 * [backup-simplify]: Simplify -0.5 into -0.5
34.491 * [taylor]: Taking taylor expansion of phi1 in phi1
34.491 * [backup-simplify]: Simplify 0 into 0
34.491 * [backup-simplify]: Simplify 1 into 1
34.492 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
34.492 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
34.492 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
34.492 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
34.492 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
34.492 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
34.492 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
34.493 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
34.493 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
34.493 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
34.493 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
34.493 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
34.493 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
34.493 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
34.494 * [backup-simplify]: Simplify (- 0) into 0
34.494 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
34.494 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
34.494 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
34.494 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
34.494 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
34.494 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
34.494 * [backup-simplify]: Simplify (- 0) into 0
34.495 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
34.495 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
34.495 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
34.495 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
34.495 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
34.495 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
34.495 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
34.496 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
34.496 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
34.497 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
34.499 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)
34.501 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)
34.502 * [backup-simplify]: Simplify (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) into (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))
34.503 * [backup-simplify]: Simplify (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) into (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))
34.503 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
34.504 * [backup-simplify]: Simplify (+ 0) into 0
34.504 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
34.504 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
34.505 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
34.505 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
34.505 * [backup-simplify]: Simplify (- 0) into 0
34.505 * [backup-simplify]: Simplify (+ 0 0) into 0
34.506 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
34.506 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
34.506 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
34.506 * [backup-simplify]: Simplify (+ 0) into 0
34.507 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
34.507 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
34.507 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
34.508 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
34.508 * [backup-simplify]: Simplify (+ 0 0) into 0
34.508 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
34.508 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
34.509 * [backup-simplify]: Simplify (+ 0 0) into 0
34.509 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
34.509 * [backup-simplify]: Simplify (+ 0) into 0
34.509 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
34.509 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
34.510 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
34.510 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
34.510 * [backup-simplify]: Simplify (- 0) into 0
34.511 * [backup-simplify]: Simplify (+ 0 0) into 0
34.511 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
34.511 * [backup-simplify]: Simplify (+ 0) into 0
34.511 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
34.511 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
34.512 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
34.512 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
34.512 * [backup-simplify]: Simplify (+ 0 0) into 0
34.513 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
34.513 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
34.513 * [backup-simplify]: Simplify (+ 0) into 0
34.513 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
34.513 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
34.514 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
34.515 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
34.515 * [backup-simplify]: Simplify (+ 0 0) into 0
34.515 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
34.515 * [backup-simplify]: Simplify (+ 0) into 0
34.516 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
34.516 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
34.517 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
34.517 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
34.522 * [backup-simplify]: Simplify (- 0) into 0
34.523 * [backup-simplify]: Simplify (+ 0 0) into 0
34.523 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
34.524 * [backup-simplify]: Simplify (+ 0 0) into 0
34.524 * [backup-simplify]: Simplify (- 0) into 0
34.524 * [backup-simplify]: Simplify (+ 0 0) into 0
34.528 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into 0
34.531 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2))) into 0
34.536 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
34.538 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
34.538 * [taylor]: Taking taylor expansion of (+ (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (pow phi2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (+ (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* phi1 (* R phi2)))) (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* phi1 (* R phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))) in phi1
34.539 * [taylor]: Taking taylor expansion of (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (pow phi2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) in phi1
34.539 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (pow phi2 2))) in phi1
34.539 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi1
34.539 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
34.539 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
34.539 * [taylor]: Taking taylor expansion of -0.5 in phi1
34.539 * [backup-simplify]: Simplify -0.5 into -0.5
34.539 * [taylor]: Taking taylor expansion of phi2 in phi1
34.539 * [backup-simplify]: Simplify phi2 into phi2
34.539 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
34.539 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
34.539 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
34.539 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi1
34.539 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
34.539 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
34.539 * [taylor]: Taking taylor expansion of -0.5 in phi1
34.539 * [backup-simplify]: Simplify -0.5 into -0.5
34.539 * [taylor]: Taking taylor expansion of phi2 in phi1
34.539 * [backup-simplify]: Simplify phi2 into phi2
34.539 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
34.540 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
34.540 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
34.540 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi1
34.540 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
34.540 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
34.540 * [taylor]: Taking taylor expansion of -0.5 in phi1
34.540 * [backup-simplify]: Simplify -0.5 into -0.5
34.540 * [taylor]: Taking taylor expansion of phi1 in phi1
34.540 * [backup-simplify]: Simplify 0 into 0
34.540 * [backup-simplify]: Simplify 1 into 1
34.540 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
34.541 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
34.541 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
34.541 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
34.541 * [taylor]: Taking taylor expansion of -0.5 in phi1
34.541 * [backup-simplify]: Simplify -0.5 into -0.5
34.541 * [taylor]: Taking taylor expansion of phi1 in phi1
34.541 * [backup-simplify]: Simplify 0 into 0
34.541 * [backup-simplify]: Simplify 1 into 1
34.541 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
34.541 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
34.541 * [taylor]: Taking taylor expansion of (* R (pow phi2 2)) in phi1
34.541 * [taylor]: Taking taylor expansion of R in phi1
34.541 * [backup-simplify]: Simplify R into R
34.541 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1
34.541 * [taylor]: Taking taylor expansion of phi2 in phi1
34.542 * [backup-simplify]: Simplify phi2 into phi2
34.542 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
34.542 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
34.542 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
34.542 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
34.542 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
34.542 * [backup-simplify]: Simplify (- 0) into 0
34.543 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
34.543 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
34.543 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
34.543 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
34.543 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
34.544 * [backup-simplify]: Simplify (* R (pow phi2 2)) into (* R (pow phi2 2))
34.544 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (pow phi2 2))) into (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (pow phi2 2)))
34.544 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) in phi1
34.544 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) in phi1
34.544 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3) in phi1
34.544 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in phi1
34.544 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi1
34.544 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi1
34.545 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi1
34.545 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
34.545 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
34.545 * [taylor]: Taking taylor expansion of -0.5 in phi1
34.545 * [backup-simplify]: Simplify -0.5 into -0.5
34.545 * [taylor]: Taking taylor expansion of phi2 in phi1
34.545 * [backup-simplify]: Simplify phi2 into phi2
34.545 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
34.545 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
34.545 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
34.545 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
34.545 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
34.546 * [backup-simplify]: Simplify (- 0) into 0
34.546 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
34.546 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi1
34.546 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
34.546 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
34.546 * [taylor]: Taking taylor expansion of -0.5 in phi1
34.546 * [backup-simplify]: Simplify -0.5 into -0.5
34.546 * [taylor]: Taking taylor expansion of phi1 in phi1
34.546 * [backup-simplify]: Simplify 0 into 0
34.546 * [backup-simplify]: Simplify 1 into 1
34.547 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
34.547 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
34.547 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi1
34.547 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi1
34.547 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
34.547 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
34.547 * [taylor]: Taking taylor expansion of -0.5 in phi1
34.547 * [backup-simplify]: Simplify -0.5 into -0.5
34.547 * [taylor]: Taking taylor expansion of phi2 in phi1
34.547 * [backup-simplify]: Simplify phi2 into phi2
34.547 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
34.547 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
34.547 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
34.547 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
34.547 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
34.548 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
34.548 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi1
34.548 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
34.548 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
34.548 * [taylor]: Taking taylor expansion of -0.5 in phi1
34.548 * [backup-simplify]: Simplify -0.5 into -0.5
34.548 * [taylor]: Taking taylor expansion of phi1 in phi1
34.548 * [backup-simplify]: Simplify 0 into 0
34.548 * [backup-simplify]: Simplify 1 into 1
34.548 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
34.548 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
34.548 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in phi1
34.548 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi1
34.548 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
34.549 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
34.549 * [taylor]: Taking taylor expansion of -0.5 in phi1
34.549 * [backup-simplify]: Simplify -0.5 into -0.5
34.549 * [taylor]: Taking taylor expansion of phi2 in phi1
34.549 * [backup-simplify]: Simplify phi2 into phi2
34.549 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
34.549 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
34.549 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
34.549 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi1
34.549 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
34.549 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
34.549 * [taylor]: Taking taylor expansion of -0.5 in phi1
34.549 * [backup-simplify]: Simplify -0.5 into -0.5
34.549 * [taylor]: Taking taylor expansion of phi2 in phi1
34.549 * [backup-simplify]: Simplify phi2 into phi2
34.549 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
34.549 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
34.549 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
34.549 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi1
34.549 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
34.549 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
34.549 * [taylor]: Taking taylor expansion of -0.5 in phi1
34.549 * [backup-simplify]: Simplify -0.5 into -0.5
34.549 * [taylor]: Taking taylor expansion of phi1 in phi1
34.549 * [backup-simplify]: Simplify 0 into 0
34.550 * [backup-simplify]: Simplify 1 into 1
34.550 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
34.550 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
34.550 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
34.550 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
34.550 * [taylor]: Taking taylor expansion of -0.5 in phi1
34.550 * [backup-simplify]: Simplify -0.5 into -0.5
34.550 * [taylor]: Taking taylor expansion of phi1 in phi1
34.550 * [backup-simplify]: Simplify 0 into 0
34.550 * [backup-simplify]: Simplify 1 into 1
34.551 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
34.551 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
34.551 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi1
34.551 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
34.551 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
34.551 * [taylor]: Taking taylor expansion of -0.5 in phi1
34.551 * [backup-simplify]: Simplify -0.5 into -0.5
34.551 * [taylor]: Taking taylor expansion of phi2 in phi1
34.551 * [backup-simplify]: Simplify phi2 into phi2
34.551 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
34.551 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
34.551 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
34.551 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi1
34.551 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
34.551 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
34.551 * [taylor]: Taking taylor expansion of -0.5 in phi1
34.552 * [backup-simplify]: Simplify -0.5 into -0.5
34.552 * [taylor]: Taking taylor expansion of phi2 in phi1
34.552 * [backup-simplify]: Simplify phi2 into phi2
34.552 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
34.552 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
34.552 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
34.552 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi1
34.552 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
34.552 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
34.552 * [taylor]: Taking taylor expansion of -0.5 in phi1
34.552 * [backup-simplify]: Simplify -0.5 into -0.5
34.552 * [taylor]: Taking taylor expansion of phi1 in phi1
34.552 * [backup-simplify]: Simplify 0 into 0
34.552 * [backup-simplify]: Simplify 1 into 1
34.553 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
34.553 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
34.553 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
34.553 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
34.553 * [taylor]: Taking taylor expansion of -0.5 in phi1
34.553 * [backup-simplify]: Simplify -0.5 into -0.5
34.553 * [taylor]: Taking taylor expansion of phi1 in phi1
34.553 * [backup-simplify]: Simplify 0 into 0
34.553 * [backup-simplify]: Simplify 1 into 1
34.553 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
34.553 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
34.554 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
34.554 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
34.554 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
34.554 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
34.555 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
34.555 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
34.556 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
34.556 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
34.556 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
34.556 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
34.556 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
34.556 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
34.557 * [backup-simplify]: Simplify (- 0) into 0
34.557 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
34.557 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
34.557 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
34.558 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
34.558 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
34.558 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
34.559 * [backup-simplify]: Simplify (- 0) into 0
34.559 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
34.559 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
34.559 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
34.559 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
34.560 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
34.560 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
34.560 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
34.561 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
34.562 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
34.563 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
34.564 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)
34.566 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)
34.568 * [backup-simplify]: Simplify (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) into (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))
34.569 * [backup-simplify]: Simplify (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) into (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))
34.569 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
34.570 * [backup-simplify]: Simplify (+ 0) into 0
34.570 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
34.571 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
34.571 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
34.571 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
34.572 * [backup-simplify]: Simplify (- 0) into 0
34.572 * [backup-simplify]: Simplify (+ 0 0) into 0
34.572 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
34.572 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
34.572 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
34.573 * [backup-simplify]: Simplify (+ 0) into 0
34.573 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
34.573 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
34.574 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
34.574 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
34.574 * [backup-simplify]: Simplify (+ 0 0) into 0
34.574 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
34.575 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
34.575 * [backup-simplify]: Simplify (+ 0 0) into 0
34.575 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
34.575 * [backup-simplify]: Simplify (+ 0) into 0
34.576 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
34.576 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
34.576 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
34.577 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
34.577 * [backup-simplify]: Simplify (- 0) into 0
34.577 * [backup-simplify]: Simplify (+ 0 0) into 0
34.577 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
34.578 * [backup-simplify]: Simplify (+ 0) into 0
34.578 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
34.578 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
34.579 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
34.579 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
34.579 * [backup-simplify]: Simplify (+ 0 0) into 0
34.579 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
34.579 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
34.580 * [backup-simplify]: Simplify (+ 0) into 0
34.580 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
34.580 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
34.580 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
34.581 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
34.581 * [backup-simplify]: Simplify (+ 0 0) into 0
34.581 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
34.581 * [backup-simplify]: Simplify (+ 0) into 0
34.582 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
34.582 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
34.582 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
34.583 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
34.583 * [backup-simplify]: Simplify (- 0) into 0
34.583 * [backup-simplify]: Simplify (+ 0 0) into 0
34.583 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
34.584 * [backup-simplify]: Simplify (+ 0 0) into 0
34.584 * [backup-simplify]: Simplify (- 0) into 0
34.584 * [backup-simplify]: Simplify (+ 0 0) into 0
34.586 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into 0
34.588 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2))) into 0
34.590 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
34.591 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
34.591 * [taylor]: Taking taylor expansion of (+ (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* phi1 (* R phi2)))) (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* phi1 (* R phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) in phi1
34.591 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* phi1 (* R phi2)))) in phi1
34.592 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) in phi1
34.592 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) in phi1
34.592 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3) in phi1
34.592 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in phi1
34.592 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi1
34.592 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi1
34.592 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi1
34.592 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
34.592 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
34.592 * [taylor]: Taking taylor expansion of -0.5 in phi1
34.592 * [backup-simplify]: Simplify -0.5 into -0.5
34.592 * [taylor]: Taking taylor expansion of phi2 in phi1
34.592 * [backup-simplify]: Simplify phi2 into phi2
34.592 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
34.592 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
34.592 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
34.592 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
34.592 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
34.593 * [backup-simplify]: Simplify (- 0) into 0
34.593 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
34.593 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi1
34.593 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
34.593 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
34.593 * [taylor]: Taking taylor expansion of -0.5 in phi1
34.593 * [backup-simplify]: Simplify -0.5 into -0.5
34.593 * [taylor]: Taking taylor expansion of phi1 in phi1
34.593 * [backup-simplify]: Simplify 0 into 0
34.593 * [backup-simplify]: Simplify 1 into 1
34.593 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
34.593 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
34.593 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi1
34.593 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi1
34.593 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
34.593 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
34.593 * [taylor]: Taking taylor expansion of -0.5 in phi1
34.593 * [backup-simplify]: Simplify -0.5 into -0.5
34.593 * [taylor]: Taking taylor expansion of phi2 in phi1
34.593 * [backup-simplify]: Simplify phi2 into phi2
34.593 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
34.593 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
34.593 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
34.594 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
34.594 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
34.594 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
34.594 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi1
34.594 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
34.594 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
34.594 * [taylor]: Taking taylor expansion of -0.5 in phi1
34.594 * [backup-simplify]: Simplify -0.5 into -0.5
34.594 * [taylor]: Taking taylor expansion of phi1 in phi1
34.594 * [backup-simplify]: Simplify 0 into 0
34.594 * [backup-simplify]: Simplify 1 into 1
34.594 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
34.594 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
34.594 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in phi1
34.594 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi1
34.594 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
34.594 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
34.594 * [taylor]: Taking taylor expansion of -0.5 in phi1
34.594 * [backup-simplify]: Simplify -0.5 into -0.5
34.594 * [taylor]: Taking taylor expansion of phi2 in phi1
34.594 * [backup-simplify]: Simplify phi2 into phi2
34.594 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
34.594 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
34.595 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
34.595 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi1
34.595 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
34.595 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
34.595 * [taylor]: Taking taylor expansion of -0.5 in phi1
34.595 * [backup-simplify]: Simplify -0.5 into -0.5
34.595 * [taylor]: Taking taylor expansion of phi2 in phi1
34.595 * [backup-simplify]: Simplify phi2 into phi2
34.595 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
34.595 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
34.595 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
34.595 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi1
34.595 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
34.595 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
34.595 * [taylor]: Taking taylor expansion of -0.5 in phi1
34.595 * [backup-simplify]: Simplify -0.5 into -0.5
34.595 * [taylor]: Taking taylor expansion of phi1 in phi1
34.595 * [backup-simplify]: Simplify 0 into 0
34.595 * [backup-simplify]: Simplify 1 into 1
34.595 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
34.595 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
34.595 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
34.595 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
34.595 * [taylor]: Taking taylor expansion of -0.5 in phi1
34.595 * [backup-simplify]: Simplify -0.5 into -0.5
34.595 * [taylor]: Taking taylor expansion of phi1 in phi1
34.595 * [backup-simplify]: Simplify 0 into 0
34.595 * [backup-simplify]: Simplify 1 into 1
34.596 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
34.596 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
34.596 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi1
34.596 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
34.596 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
34.596 * [taylor]: Taking taylor expansion of -0.5 in phi1
34.596 * [backup-simplify]: Simplify -0.5 into -0.5
34.596 * [taylor]: Taking taylor expansion of phi2 in phi1
34.596 * [backup-simplify]: Simplify phi2 into phi2
34.596 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
34.596 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
34.596 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
34.596 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi1
34.596 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
34.596 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
34.596 * [taylor]: Taking taylor expansion of -0.5 in phi1
34.596 * [backup-simplify]: Simplify -0.5 into -0.5
34.596 * [taylor]: Taking taylor expansion of phi2 in phi1
34.596 * [backup-simplify]: Simplify phi2 into phi2
34.596 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
34.596 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
34.596 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
34.596 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi1
34.596 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
34.596 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
34.596 * [taylor]: Taking taylor expansion of -0.5 in phi1
34.596 * [backup-simplify]: Simplify -0.5 into -0.5
34.596 * [taylor]: Taking taylor expansion of phi1 in phi1
34.596 * [backup-simplify]: Simplify 0 into 0
34.596 * [backup-simplify]: Simplify 1 into 1
34.597 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
34.597 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
34.597 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
34.597 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
34.597 * [taylor]: Taking taylor expansion of -0.5 in phi1
34.597 * [backup-simplify]: Simplify -0.5 into -0.5
34.597 * [taylor]: Taking taylor expansion of phi1 in phi1
34.597 * [backup-simplify]: Simplify 0 into 0
34.597 * [backup-simplify]: Simplify 1 into 1
34.597 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
34.597 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
34.597 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
34.597 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
34.598 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
34.598 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
34.598 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
34.598 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
34.599 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
34.599 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
34.599 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
34.599 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
34.599 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
34.599 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
34.599 * [backup-simplify]: Simplify (- 0) into 0
34.600 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
34.600 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
34.600 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
34.600 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
34.600 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
34.600 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
34.601 * [backup-simplify]: Simplify (- 0) into 0
34.601 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
34.601 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
34.601 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
34.601 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
34.601 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
34.601 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
34.602 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
34.602 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
34.603 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
34.604 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
34.606 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)
34.608 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)
34.609 * [backup-simplify]: Simplify (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) into (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))
34.611 * [backup-simplify]: Simplify (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) into (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))
34.611 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
34.611 * [backup-simplify]: Simplify (+ 0) into 0
34.612 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
34.612 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
34.612 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
34.613 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
34.613 * [backup-simplify]: Simplify (- 0) into 0
34.613 * [backup-simplify]: Simplify (+ 0 0) into 0
34.613 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
34.614 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
34.614 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
34.614 * [backup-simplify]: Simplify (+ 0) into 0
34.615 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
34.615 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
34.616 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
34.616 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
34.617 * [backup-simplify]: Simplify (+ 0 0) into 0
34.617 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
34.617 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
34.618 * [backup-simplify]: Simplify (+ 0 0) into 0
34.618 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
34.619 * [backup-simplify]: Simplify (+ 0) into 0
34.619 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
34.619 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
34.620 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
34.621 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
34.621 * [backup-simplify]: Simplify (- 0) into 0
34.621 * [backup-simplify]: Simplify (+ 0 0) into 0
34.622 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
34.622 * [backup-simplify]: Simplify (+ 0) into 0
34.622 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
34.622 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
34.623 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
34.623 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
34.623 * [backup-simplify]: Simplify (+ 0 0) into 0
34.623 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
34.623 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
34.624 * [backup-simplify]: Simplify (+ 0) into 0
34.624 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
34.624 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
34.625 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
34.625 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
34.625 * [backup-simplify]: Simplify (+ 0 0) into 0
34.625 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
34.626 * [backup-simplify]: Simplify (+ 0) into 0
34.626 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
34.626 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
34.626 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
34.627 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
34.627 * [backup-simplify]: Simplify (- 0) into 0
34.627 * [backup-simplify]: Simplify (+ 0 0) into 0
34.627 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
34.628 * [backup-simplify]: Simplify (+ 0 0) into 0
34.628 * [backup-simplify]: Simplify (- 0) into 0
34.628 * [backup-simplify]: Simplify (+ 0 0) into 0
34.630 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into 0
34.632 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2))) into 0
34.634 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
34.636 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
34.636 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* phi1 (* R phi2))) in phi1
34.636 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi1
34.636 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi1
34.636 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
34.636 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
34.636 * [taylor]: Taking taylor expansion of -0.5 in phi1
34.636 * [backup-simplify]: Simplify -0.5 into -0.5
34.636 * [taylor]: Taking taylor expansion of phi2 in phi1
34.636 * [backup-simplify]: Simplify phi2 into phi2
34.636 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
34.636 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
34.636 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
34.636 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
34.636 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
34.636 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
34.636 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi1
34.636 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
34.636 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
34.636 * [taylor]: Taking taylor expansion of -0.5 in phi1
34.636 * [backup-simplify]: Simplify -0.5 into -0.5
34.636 * [taylor]: Taking taylor expansion of phi1 in phi1
34.636 * [backup-simplify]: Simplify 0 into 0
34.636 * [backup-simplify]: Simplify 1 into 1
34.637 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
34.637 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
34.637 * [taylor]: Taking taylor expansion of (* phi1 (* R phi2)) in phi1
34.637 * [taylor]: Taking taylor expansion of phi1 in phi1
34.637 * [backup-simplify]: Simplify 0 into 0
34.637 * [backup-simplify]: Simplify 1 into 1
34.637 * [taylor]: Taking taylor expansion of (* R phi2) in phi1
34.637 * [taylor]: Taking taylor expansion of R in phi1
34.637 * [backup-simplify]: Simplify R into R
34.637 * [taylor]: Taking taylor expansion of phi2 in phi1
34.637 * [backup-simplify]: Simplify phi2 into phi2
34.637 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
34.637 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
34.637 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
34.637 * [backup-simplify]: Simplify (* R phi2) into (* R phi2)
34.637 * [backup-simplify]: Simplify (* 0 (* R phi2)) into 0
34.637 * [backup-simplify]: Simplify (+ (* R 0) (* 0 phi2)) into 0
34.638 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* R phi2))) into (* R phi2)
34.638 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R phi2)) into (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R phi2))
34.638 * [taylor]: Taking taylor expansion of (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* phi1 (* R phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) in phi1
34.638 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* phi1 (* R phi2))) in phi1
34.638 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi1
34.638 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi1
34.638 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
34.638 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
34.638 * [taylor]: Taking taylor expansion of -0.5 in phi1
34.638 * [backup-simplify]: Simplify -0.5 into -0.5
34.638 * [taylor]: Taking taylor expansion of phi2 in phi1
34.638 * [backup-simplify]: Simplify phi2 into phi2
34.638 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
34.638 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
34.638 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
34.638 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
34.638 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
34.639 * [backup-simplify]: Simplify (- 0) into 0
34.639 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
34.639 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi1
34.639 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
34.639 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
34.639 * [taylor]: Taking taylor expansion of -0.5 in phi1
34.639 * [backup-simplify]: Simplify -0.5 into -0.5
34.639 * [taylor]: Taking taylor expansion of phi1 in phi1
34.639 * [backup-simplify]: Simplify 0 into 0
34.639 * [backup-simplify]: Simplify 1 into 1
34.639 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
34.639 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
34.639 * [taylor]: Taking taylor expansion of (* phi1 (* R phi2)) in phi1
34.639 * [taylor]: Taking taylor expansion of phi1 in phi1
34.639 * [backup-simplify]: Simplify 0 into 0
34.639 * [backup-simplify]: Simplify 1 into 1
34.639 * [taylor]: Taking taylor expansion of (* R phi2) in phi1
34.639 * [taylor]: Taking taylor expansion of R in phi1
34.639 * [backup-simplify]: Simplify R into R
34.639 * [taylor]: Taking taylor expansion of phi2 in phi1
34.639 * [backup-simplify]: Simplify phi2 into phi2
34.639 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
34.640 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
34.640 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
34.640 * [backup-simplify]: Simplify (* R phi2) into (* R phi2)
34.640 * [backup-simplify]: Simplify (* 0 (* R phi2)) into 0
34.640 * [backup-simplify]: Simplify (+ (* R 0) (* 0 phi2)) into 0
34.640 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* R phi2))) into (* R phi2)
34.640 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R phi2)) into (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R phi2))
34.640 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) in phi1
34.640 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) in phi1
34.641 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3) in phi1
34.641 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in phi1
34.641 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi1
34.641 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi1
34.641 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi1
34.641 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
34.641 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
34.641 * [taylor]: Taking taylor expansion of -0.5 in phi1
34.641 * [backup-simplify]: Simplify -0.5 into -0.5
34.641 * [taylor]: Taking taylor expansion of phi2 in phi1
34.641 * [backup-simplify]: Simplify phi2 into phi2
34.641 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
34.641 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
34.641 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
34.641 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
34.641 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
34.641 * [backup-simplify]: Simplify (- 0) into 0
34.641 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
34.641 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi1
34.641 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
34.641 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
34.641 * [taylor]: Taking taylor expansion of -0.5 in phi1
34.641 * [backup-simplify]: Simplify -0.5 into -0.5
34.641 * [taylor]: Taking taylor expansion of phi1 in phi1
34.641 * [backup-simplify]: Simplify 0 into 0
34.641 * [backup-simplify]: Simplify 1 into 1
34.642 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
34.642 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
34.642 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi1
34.642 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi1
34.642 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
34.642 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
34.642 * [taylor]: Taking taylor expansion of -0.5 in phi1
34.642 * [backup-simplify]: Simplify -0.5 into -0.5
34.642 * [taylor]: Taking taylor expansion of phi2 in phi1
34.642 * [backup-simplify]: Simplify phi2 into phi2
34.642 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
34.642 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
34.642 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
34.642 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
34.642 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
34.642 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
34.642 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi1
34.642 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
34.642 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
34.642 * [taylor]: Taking taylor expansion of -0.5 in phi1
34.642 * [backup-simplify]: Simplify -0.5 into -0.5
34.642 * [taylor]: Taking taylor expansion of phi1 in phi1
34.642 * [backup-simplify]: Simplify 0 into 0
34.642 * [backup-simplify]: Simplify 1 into 1
34.643 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
34.643 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
34.643 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in phi1
34.643 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi1
34.643 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
34.643 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
34.643 * [taylor]: Taking taylor expansion of -0.5 in phi1
34.643 * [backup-simplify]: Simplify -0.5 into -0.5
34.643 * [taylor]: Taking taylor expansion of phi2 in phi1
34.643 * [backup-simplify]: Simplify phi2 into phi2
34.643 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
34.643 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
34.643 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
34.643 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi1
34.643 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
34.643 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
34.643 * [taylor]: Taking taylor expansion of -0.5 in phi1
34.643 * [backup-simplify]: Simplify -0.5 into -0.5
34.643 * [taylor]: Taking taylor expansion of phi2 in phi1
34.643 * [backup-simplify]: Simplify phi2 into phi2
34.643 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
34.643 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
34.643 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
34.643 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi1
34.643 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
34.643 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
34.643 * [taylor]: Taking taylor expansion of -0.5 in phi1
34.643 * [backup-simplify]: Simplify -0.5 into -0.5
34.643 * [taylor]: Taking taylor expansion of phi1 in phi1
34.643 * [backup-simplify]: Simplify 0 into 0
34.643 * [backup-simplify]: Simplify 1 into 1
34.644 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
34.644 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
34.644 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
34.644 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
34.644 * [taylor]: Taking taylor expansion of -0.5 in phi1
34.644 * [backup-simplify]: Simplify -0.5 into -0.5
34.644 * [taylor]: Taking taylor expansion of phi1 in phi1
34.644 * [backup-simplify]: Simplify 0 into 0
34.644 * [backup-simplify]: Simplify 1 into 1
34.644 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
34.644 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
34.644 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi1
34.644 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
34.644 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
34.644 * [taylor]: Taking taylor expansion of -0.5 in phi1
34.644 * [backup-simplify]: Simplify -0.5 into -0.5
34.644 * [taylor]: Taking taylor expansion of phi2 in phi1
34.644 * [backup-simplify]: Simplify phi2 into phi2
34.644 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
34.644 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
34.645 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
34.645 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi1
34.645 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
34.645 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
34.645 * [taylor]: Taking taylor expansion of -0.5 in phi1
34.645 * [backup-simplify]: Simplify -0.5 into -0.5
34.645 * [taylor]: Taking taylor expansion of phi2 in phi1
34.645 * [backup-simplify]: Simplify phi2 into phi2
34.645 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
34.645 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
34.645 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
34.645 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi1
34.645 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
34.645 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
34.645 * [taylor]: Taking taylor expansion of -0.5 in phi1
34.645 * [backup-simplify]: Simplify -0.5 into -0.5
34.645 * [taylor]: Taking taylor expansion of phi1 in phi1
34.645 * [backup-simplify]: Simplify 0 into 0
34.645 * [backup-simplify]: Simplify 1 into 1
34.645 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
34.645 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
34.645 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
34.645 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
34.645 * [taylor]: Taking taylor expansion of -0.5 in phi1
34.645 * [backup-simplify]: Simplify -0.5 into -0.5
34.645 * [taylor]: Taking taylor expansion of phi1 in phi1
34.645 * [backup-simplify]: Simplify 0 into 0
34.645 * [backup-simplify]: Simplify 1 into 1
34.646 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
34.646 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
34.646 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
34.646 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
34.646 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
34.646 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
34.646 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
34.647 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
34.647 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
34.647 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
34.647 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
34.647 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
34.647 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
34.647 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
34.652 * [backup-simplify]: Simplify (- 0) into 0
34.652 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
34.652 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
34.653 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
34.653 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
34.653 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
34.653 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
34.654 * [backup-simplify]: Simplify (- 0) into 0
34.654 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
34.654 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
34.654 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
34.654 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
34.654 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
34.655 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
34.655 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
34.656 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
34.657 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
34.659 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
34.662 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)
34.666 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)
34.668 * [backup-simplify]: Simplify (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) into (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))
34.670 * [backup-simplify]: Simplify (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) into (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))
34.670 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
34.670 * [backup-simplify]: Simplify (+ 0) into 0
34.671 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
34.671 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
34.671 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
34.672 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
34.672 * [backup-simplify]: Simplify (- 0) into 0
34.672 * [backup-simplify]: Simplify (+ 0 0) into 0
34.672 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
34.672 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
34.673 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
34.673 * [backup-simplify]: Simplify (+ 0) into 0
34.673 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
34.673 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
34.674 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
34.674 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
34.674 * [backup-simplify]: Simplify (+ 0 0) into 0
34.674 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
34.675 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
34.675 * [backup-simplify]: Simplify (+ 0 0) into 0
34.675 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
34.675 * [backup-simplify]: Simplify (+ 0) into 0
34.675 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
34.676 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
34.676 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
34.676 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
34.677 * [backup-simplify]: Simplify (- 0) into 0
34.677 * [backup-simplify]: Simplify (+ 0 0) into 0
34.677 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
34.677 * [backup-simplify]: Simplify (+ 0) into 0
34.678 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
34.678 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
34.678 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
34.678 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
34.679 * [backup-simplify]: Simplify (+ 0 0) into 0
34.679 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
34.679 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
34.679 * [backup-simplify]: Simplify (+ 0) into 0
34.679 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
34.680 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
34.680 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
34.680 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
34.681 * [backup-simplify]: Simplify (+ 0 0) into 0
34.681 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
34.681 * [backup-simplify]: Simplify (+ 0) into 0
34.681 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
34.681 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
34.682 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
34.682 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
34.682 * [backup-simplify]: Simplify (- 0) into 0
34.683 * [backup-simplify]: Simplify (+ 0 0) into 0
34.683 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
34.683 * [backup-simplify]: Simplify (+ 0 0) into 0
34.683 * [backup-simplify]: Simplify (- 0) into 0
34.683 * [backup-simplify]: Simplify (+ 0 0) into 0
34.685 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into 0
34.687 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2))) into 0
34.690 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
34.691 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
34.691 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (pow phi2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (pow phi2 2))))) (+ (* 1/2 (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* (pow phi1 2) R)))) (+ (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* phi1 (* R phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow phi1 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))))))) in phi1
34.691 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (pow phi2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) in phi1
34.691 * [taylor]: Taking taylor expansion of 1/2 in phi1
34.691 * [backup-simplify]: Simplify 1/2 into 1/2
34.691 * [taylor]: Taking taylor expansion of (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (pow phi2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) in phi1
34.691 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (pow phi2 2))) in phi1
34.691 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi1
34.691 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi1
34.691 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
34.691 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
34.691 * [taylor]: Taking taylor expansion of -0.5 in phi1
34.691 * [backup-simplify]: Simplify -0.5 into -0.5
34.691 * [taylor]: Taking taylor expansion of phi2 in phi1
34.691 * [backup-simplify]: Simplify phi2 into phi2
34.691 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
34.691 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
34.691 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
34.692 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
34.692 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
34.692 * [backup-simplify]: Simplify (- 0) into 0
34.692 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
34.692 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi1
34.692 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
34.692 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
34.692 * [taylor]: Taking taylor expansion of -0.5 in phi1
34.692 * [backup-simplify]: Simplify -0.5 into -0.5
34.692 * [taylor]: Taking taylor expansion of phi1 in phi1
34.692 * [backup-simplify]: Simplify 0 into 0
34.692 * [backup-simplify]: Simplify 1 into 1
34.692 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
34.693 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
34.693 * [taylor]: Taking taylor expansion of (* R (pow phi2 2)) in phi1
34.693 * [taylor]: Taking taylor expansion of R in phi1
34.693 * [backup-simplify]: Simplify R into R
34.693 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1
34.693 * [taylor]: Taking taylor expansion of phi2 in phi1
34.693 * [backup-simplify]: Simplify phi2 into phi2
34.693 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
34.693 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
34.693 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
34.693 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
34.693 * [backup-simplify]: Simplify (* R (pow phi2 2)) into (* R (pow phi2 2))
34.693 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (pow phi2 2))) into (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (pow phi2 2)))
34.693 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) in phi1
34.693 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) in phi1
34.694 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3) in phi1
34.694 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in phi1
34.694 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi1
34.694 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi1
34.694 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi1
34.694 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
34.694 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
34.694 * [taylor]: Taking taylor expansion of -0.5 in phi1
34.694 * [backup-simplify]: Simplify -0.5 into -0.5
34.694 * [taylor]: Taking taylor expansion of phi2 in phi1
34.694 * [backup-simplify]: Simplify phi2 into phi2
34.694 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
34.694 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
34.694 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
34.694 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
34.694 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
34.694 * [backup-simplify]: Simplify (- 0) into 0
34.694 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
34.694 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi1
34.694 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
34.694 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
34.694 * [taylor]: Taking taylor expansion of -0.5 in phi1
34.694 * [backup-simplify]: Simplify -0.5 into -0.5
34.694 * [taylor]: Taking taylor expansion of phi1 in phi1
34.694 * [backup-simplify]: Simplify 0 into 0
34.694 * [backup-simplify]: Simplify 1 into 1
34.695 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
34.695 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
34.695 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi1
34.695 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi1
34.695 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
34.695 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
34.695 * [taylor]: Taking taylor expansion of -0.5 in phi1
34.695 * [backup-simplify]: Simplify -0.5 into -0.5
34.695 * [taylor]: Taking taylor expansion of phi2 in phi1
34.695 * [backup-simplify]: Simplify phi2 into phi2
34.695 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
34.695 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
34.695 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
34.695 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
34.695 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
34.695 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
34.695 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi1
34.695 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
34.695 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
34.695 * [taylor]: Taking taylor expansion of -0.5 in phi1
34.695 * [backup-simplify]: Simplify -0.5 into -0.5
34.695 * [taylor]: Taking taylor expansion of phi1 in phi1
34.695 * [backup-simplify]: Simplify 0 into 0
34.695 * [backup-simplify]: Simplify 1 into 1
34.696 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
34.696 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
34.696 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in phi1
34.696 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi1
34.696 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
34.696 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
34.696 * [taylor]: Taking taylor expansion of -0.5 in phi1
34.696 * [backup-simplify]: Simplify -0.5 into -0.5
34.696 * [taylor]: Taking taylor expansion of phi2 in phi1
34.696 * [backup-simplify]: Simplify phi2 into phi2
34.696 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
34.696 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
34.696 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
34.696 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi1
34.696 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
34.696 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
34.696 * [taylor]: Taking taylor expansion of -0.5 in phi1
34.696 * [backup-simplify]: Simplify -0.5 into -0.5
34.696 * [taylor]: Taking taylor expansion of phi2 in phi1
34.696 * [backup-simplify]: Simplify phi2 into phi2
34.696 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
34.696 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
34.696 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
34.696 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi1
34.696 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
34.696 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
34.696 * [taylor]: Taking taylor expansion of -0.5 in phi1
34.696 * [backup-simplify]: Simplify -0.5 into -0.5
34.696 * [taylor]: Taking taylor expansion of phi1 in phi1
34.697 * [backup-simplify]: Simplify 0 into 0
34.697 * [backup-simplify]: Simplify 1 into 1
34.697 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
34.697 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
34.697 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
34.697 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
34.697 * [taylor]: Taking taylor expansion of -0.5 in phi1
34.697 * [backup-simplify]: Simplify -0.5 into -0.5
34.697 * [taylor]: Taking taylor expansion of phi1 in phi1
34.697 * [backup-simplify]: Simplify 0 into 0
34.697 * [backup-simplify]: Simplify 1 into 1
34.697 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
34.697 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
34.697 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi1
34.697 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
34.697 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
34.697 * [taylor]: Taking taylor expansion of -0.5 in phi1
34.697 * [backup-simplify]: Simplify -0.5 into -0.5
34.697 * [taylor]: Taking taylor expansion of phi2 in phi1
34.698 * [backup-simplify]: Simplify phi2 into phi2
34.698 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
34.698 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
34.698 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
34.698 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi1
34.698 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
34.698 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
34.698 * [taylor]: Taking taylor expansion of -0.5 in phi1
34.698 * [backup-simplify]: Simplify -0.5 into -0.5
34.698 * [taylor]: Taking taylor expansion of phi2 in phi1
34.698 * [backup-simplify]: Simplify phi2 into phi2
34.698 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
34.698 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
34.698 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
34.698 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi1
34.698 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
34.698 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
34.698 * [taylor]: Taking taylor expansion of -0.5 in phi1
34.698 * [backup-simplify]: Simplify -0.5 into -0.5
34.698 * [taylor]: Taking taylor expansion of phi1 in phi1
34.698 * [backup-simplify]: Simplify 0 into 0
34.698 * [backup-simplify]: Simplify 1 into 1
34.698 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
34.698 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
34.698 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
34.698 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
34.698 * [taylor]: Taking taylor expansion of -0.5 in phi1
34.698 * [backup-simplify]: Simplify -0.5 into -0.5
34.699 * [taylor]: Taking taylor expansion of phi1 in phi1
34.699 * [backup-simplify]: Simplify 0 into 0
34.699 * [backup-simplify]: Simplify 1 into 1
34.699 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
34.699 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
34.699 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
34.699 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
34.699 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
34.699 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
34.699 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
34.700 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
34.700 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
34.700 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
34.700 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
34.700 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
34.700 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
34.700 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
34.701 * [backup-simplify]: Simplify (- 0) into 0
34.701 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
34.701 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
34.701 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
34.701 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
34.701 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
34.701 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
34.702 * [backup-simplify]: Simplify (- 0) into 0
34.702 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
34.702 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
34.702 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
34.702 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
34.702 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
34.702 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
34.702 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
34.703 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
34.703 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
34.704 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
34.706 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)
34.708 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)
34.709 * [backup-simplify]: Simplify (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) into (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))
34.710 * [backup-simplify]: Simplify (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) into (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))
34.710 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
34.710 * [backup-simplify]: Simplify (+ 0) into 0
34.711 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
34.711 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
34.711 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
34.712 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
34.712 * [backup-simplify]: Simplify (- 0) into 0
34.712 * [backup-simplify]: Simplify (+ 0 0) into 0
34.712 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
34.712 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
34.713 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
34.713 * [backup-simplify]: Simplify (+ 0) into 0
34.713 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
34.713 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
34.714 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
34.714 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
34.714 * [backup-simplify]: Simplify (+ 0 0) into 0
34.714 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
34.715 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
34.715 * [backup-simplify]: Simplify (+ 0 0) into 0
34.715 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
34.715 * [backup-simplify]: Simplify (+ 0) into 0
34.715 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
34.716 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
34.716 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
34.716 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
34.717 * [backup-simplify]: Simplify (- 0) into 0
34.717 * [backup-simplify]: Simplify (+ 0 0) into 0
34.717 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
34.717 * [backup-simplify]: Simplify (+ 0) into 0
34.717 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
34.718 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
34.718 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
34.718 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
34.719 * [backup-simplify]: Simplify (+ 0 0) into 0
34.719 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
34.719 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
34.719 * [backup-simplify]: Simplify (+ 0) into 0
34.719 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
34.720 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
34.720 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
34.720 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
34.721 * [backup-simplify]: Simplify (+ 0 0) into 0
34.721 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
34.721 * [backup-simplify]: Simplify (+ 0) into 0
34.721 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
34.721 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
34.722 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
34.722 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
34.722 * [backup-simplify]: Simplify (- 0) into 0
34.723 * [backup-simplify]: Simplify (+ 0 0) into 0
34.723 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
34.723 * [backup-simplify]: Simplify (+ 0 0) into 0
34.723 * [backup-simplify]: Simplify (- 0) into 0
34.723 * [backup-simplify]: Simplify (+ 0 0) into 0
34.725 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into 0
34.730 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2))) into 0
34.734 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
34.737 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
34.737 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (pow phi2 2))))) (+ (* 1/2 (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* (pow phi1 2) R)))) (+ (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* phi1 (* R phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow phi1 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))))) in phi1
34.737 * [taylor]: Taking taylor expansion of (* 1/2 (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (pow phi2 2))))) in phi1
34.737 * [taylor]: Taking taylor expansion of 1/2 in phi1
34.737 * [backup-simplify]: Simplify 1/2 into 1/2
34.737 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (pow phi2 2)))) in phi1
34.737 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) in phi1
34.737 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) in phi1
34.737 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3) in phi1
34.737 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in phi1
34.737 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi1
34.737 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi1
34.738 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi1
34.738 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
34.738 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
34.738 * [taylor]: Taking taylor expansion of -0.5 in phi1
34.738 * [backup-simplify]: Simplify -0.5 into -0.5
34.738 * [taylor]: Taking taylor expansion of phi2 in phi1
34.738 * [backup-simplify]: Simplify phi2 into phi2
34.738 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
34.738 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
34.738 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
34.738 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
34.738 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
34.739 * [backup-simplify]: Simplify (- 0) into 0
34.739 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
34.739 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi1
34.739 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
34.739 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
34.739 * [taylor]: Taking taylor expansion of -0.5 in phi1
34.739 * [backup-simplify]: Simplify -0.5 into -0.5
34.739 * [taylor]: Taking taylor expansion of phi1 in phi1
34.739 * [backup-simplify]: Simplify 0 into 0
34.739 * [backup-simplify]: Simplify 1 into 1
34.740 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
34.740 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
34.740 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi1
34.740 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi1
34.740 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
34.740 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
34.740 * [taylor]: Taking taylor expansion of -0.5 in phi1
34.740 * [backup-simplify]: Simplify -0.5 into -0.5
34.740 * [taylor]: Taking taylor expansion of phi2 in phi1
34.740 * [backup-simplify]: Simplify phi2 into phi2
34.740 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
34.740 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
34.740 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
34.740 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
34.741 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
34.741 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
34.741 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi1
34.741 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
34.741 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
34.741 * [taylor]: Taking taylor expansion of -0.5 in phi1
34.741 * [backup-simplify]: Simplify -0.5 into -0.5
34.741 * [taylor]: Taking taylor expansion of phi1 in phi1
34.741 * [backup-simplify]: Simplify 0 into 0
34.741 * [backup-simplify]: Simplify 1 into 1
34.741 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
34.742 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
34.742 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in phi1
34.742 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi1
34.742 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
34.742 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
34.742 * [taylor]: Taking taylor expansion of -0.5 in phi1
34.742 * [backup-simplify]: Simplify -0.5 into -0.5
34.742 * [taylor]: Taking taylor expansion of phi2 in phi1
34.742 * [backup-simplify]: Simplify phi2 into phi2
34.742 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
34.742 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
34.742 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
34.742 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi1
34.742 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
34.742 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
34.742 * [taylor]: Taking taylor expansion of -0.5 in phi1
34.742 * [backup-simplify]: Simplify -0.5 into -0.5
34.742 * [taylor]: Taking taylor expansion of phi2 in phi1
34.742 * [backup-simplify]: Simplify phi2 into phi2
34.742 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
34.742 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
34.743 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
34.743 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi1
34.743 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
34.743 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
34.743 * [taylor]: Taking taylor expansion of -0.5 in phi1
34.743 * [backup-simplify]: Simplify -0.5 into -0.5
34.743 * [taylor]: Taking taylor expansion of phi1 in phi1
34.743 * [backup-simplify]: Simplify 0 into 0
34.743 * [backup-simplify]: Simplify 1 into 1
34.743 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
34.743 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
34.743 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
34.743 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
34.744 * [taylor]: Taking taylor expansion of -0.5 in phi1
34.744 * [backup-simplify]: Simplify -0.5 into -0.5
34.744 * [taylor]: Taking taylor expansion of phi1 in phi1
34.744 * [backup-simplify]: Simplify 0 into 0
34.744 * [backup-simplify]: Simplify 1 into 1
34.744 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
34.744 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
34.744 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi1
34.744 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
34.744 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
34.744 * [taylor]: Taking taylor expansion of -0.5 in phi1
34.744 * [backup-simplify]: Simplify -0.5 into -0.5
34.744 * [taylor]: Taking taylor expansion of phi2 in phi1
34.744 * [backup-simplify]: Simplify phi2 into phi2
34.745 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
34.745 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
34.745 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
34.745 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi1
34.745 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
34.745 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
34.745 * [taylor]: Taking taylor expansion of -0.5 in phi1
34.745 * [backup-simplify]: Simplify -0.5 into -0.5
34.745 * [taylor]: Taking taylor expansion of phi2 in phi1
34.745 * [backup-simplify]: Simplify phi2 into phi2
34.745 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
34.745 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
34.745 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
34.745 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi1
34.745 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
34.745 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
34.745 * [taylor]: Taking taylor expansion of -0.5 in phi1
34.745 * [backup-simplify]: Simplify -0.5 into -0.5
34.745 * [taylor]: Taking taylor expansion of phi1 in phi1
34.745 * [backup-simplify]: Simplify 0 into 0
34.745 * [backup-simplify]: Simplify 1 into 1
34.746 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
34.746 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
34.746 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
34.746 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
34.746 * [taylor]: Taking taylor expansion of -0.5 in phi1
34.746 * [backup-simplify]: Simplify -0.5 into -0.5
34.746 * [taylor]: Taking taylor expansion of phi1 in phi1
34.746 * [backup-simplify]: Simplify 0 into 0
34.746 * [backup-simplify]: Simplify 1 into 1
34.747 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
34.747 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
34.747 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
34.747 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
34.748 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
34.748 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
34.748 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
34.748 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
34.749 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
34.749 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
34.749 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
34.749 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
34.750 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
34.750 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
34.750 * [backup-simplify]: Simplify (- 0) into 0
34.750 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
34.750 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
34.751 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
34.751 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
34.751 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
34.751 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
34.752 * [backup-simplify]: Simplify (- 0) into 0
34.752 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
34.752 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
34.752 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
34.752 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
34.752 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
34.753 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
34.753 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
34.754 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
34.755 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
34.756 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
34.760 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)
34.763 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)
34.764 * [backup-simplify]: Simplify (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) into (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))
34.765 * [backup-simplify]: Simplify (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) into (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))
34.765 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
34.766 * [backup-simplify]: Simplify (+ 0) into 0
34.766 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
34.766 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
34.767 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
34.767 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
34.767 * [backup-simplify]: Simplify (- 0) into 0
34.767 * [backup-simplify]: Simplify (+ 0 0) into 0
34.767 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
34.768 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
34.768 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
34.768 * [backup-simplify]: Simplify (+ 0) into 0
34.768 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
34.768 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
34.769 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
34.769 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
34.769 * [backup-simplify]: Simplify (+ 0 0) into 0
34.770 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
34.770 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
34.770 * [backup-simplify]: Simplify (+ 0 0) into 0
34.770 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
34.770 * [backup-simplify]: Simplify (+ 0) into 0
34.771 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
34.771 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
34.771 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
34.772 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
34.772 * [backup-simplify]: Simplify (- 0) into 0
34.772 * [backup-simplify]: Simplify (+ 0 0) into 0
34.772 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
34.772 * [backup-simplify]: Simplify (+ 0) into 0
34.773 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
34.773 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
34.773 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
34.778 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
34.778 * [backup-simplify]: Simplify (+ 0 0) into 0
34.779 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
34.779 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
34.779 * [backup-simplify]: Simplify (+ 0) into 0
34.780 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
34.780 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
34.780 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
34.780 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
34.781 * [backup-simplify]: Simplify (+ 0 0) into 0
34.781 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
34.781 * [backup-simplify]: Simplify (+ 0) into 0
34.781 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
34.782 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
34.782 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
34.782 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
34.783 * [backup-simplify]: Simplify (- 0) into 0
34.783 * [backup-simplify]: Simplify (+ 0 0) into 0
34.783 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
34.783 * [backup-simplify]: Simplify (+ 0 0) into 0
34.783 * [backup-simplify]: Simplify (- 0) into 0
34.784 * [backup-simplify]: Simplify (+ 0 0) into 0
34.786 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into 0
34.790 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2))) into 0
34.794 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
34.797 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
34.797 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (pow phi2 2))) in phi1
34.797 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi1
34.797 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi1
34.797 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
34.797 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
34.797 * [taylor]: Taking taylor expansion of -0.5 in phi1
34.797 * [backup-simplify]: Simplify -0.5 into -0.5
34.797 * [taylor]: Taking taylor expansion of phi2 in phi1
34.797 * [backup-simplify]: Simplify phi2 into phi2
34.797 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
34.797 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
34.797 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
34.798 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
34.798 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
34.798 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
34.798 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi1
34.798 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
34.798 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
34.798 * [taylor]: Taking taylor expansion of -0.5 in phi1
34.798 * [backup-simplify]: Simplify -0.5 into -0.5
34.798 * [taylor]: Taking taylor expansion of phi1 in phi1
34.798 * [backup-simplify]: Simplify 0 into 0
34.798 * [backup-simplify]: Simplify 1 into 1
34.799 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
34.799 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
34.799 * [taylor]: Taking taylor expansion of (* R (pow phi2 2)) in phi1
34.799 * [taylor]: Taking taylor expansion of R in phi1
34.799 * [backup-simplify]: Simplify R into R
34.799 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1
34.799 * [taylor]: Taking taylor expansion of phi2 in phi1
34.799 * [backup-simplify]: Simplify phi2 into phi2
34.799 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
34.799 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
34.800 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
34.800 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
34.800 * [backup-simplify]: Simplify (* R (pow phi2 2)) into (* R (pow phi2 2))
34.800 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (pow phi2 2))) into (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (pow phi2 2)))
34.801 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* (pow phi1 2) R)))) (+ (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* phi1 (* R phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow phi1 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))))) in phi1
34.801 * [taylor]: Taking taylor expansion of (* 1/2 (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* (pow phi1 2) R)))) in phi1
34.801 * [taylor]: Taking taylor expansion of 1/2 in phi1
34.801 * [backup-simplify]: Simplify 1/2 into 1/2
34.801 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* (pow phi1 2) R))) in phi1
34.801 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) in phi1
34.801 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) in phi1
34.801 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3) in phi1
34.801 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in phi1
34.801 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi1
34.801 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi1
34.801 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi1
34.801 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
34.801 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
34.801 * [taylor]: Taking taylor expansion of -0.5 in phi1
34.801 * [backup-simplify]: Simplify -0.5 into -0.5
34.801 * [taylor]: Taking taylor expansion of phi2 in phi1
34.801 * [backup-simplify]: Simplify phi2 into phi2
34.801 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
34.802 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
34.802 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
34.802 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
34.802 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
34.802 * [backup-simplify]: Simplify (- 0) into 0
34.803 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
34.803 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi1
34.803 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
34.803 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
34.803 * [taylor]: Taking taylor expansion of -0.5 in phi1
34.803 * [backup-simplify]: Simplify -0.5 into -0.5
34.803 * [taylor]: Taking taylor expansion of phi1 in phi1
34.803 * [backup-simplify]: Simplify 0 into 0
34.803 * [backup-simplify]: Simplify 1 into 1
34.803 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
34.803 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
34.803 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi1
34.803 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi1
34.804 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
34.804 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
34.804 * [taylor]: Taking taylor expansion of -0.5 in phi1
34.804 * [backup-simplify]: Simplify -0.5 into -0.5
34.804 * [taylor]: Taking taylor expansion of phi2 in phi1
34.804 * [backup-simplify]: Simplify phi2 into phi2
34.804 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
34.804 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
34.804 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
34.804 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
34.804 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
34.804 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
34.804 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi1
34.804 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
34.804 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
34.804 * [taylor]: Taking taylor expansion of -0.5 in phi1
34.804 * [backup-simplify]: Simplify -0.5 into -0.5
34.804 * [taylor]: Taking taylor expansion of phi1 in phi1
34.804 * [backup-simplify]: Simplify 0 into 0
34.804 * [backup-simplify]: Simplify 1 into 1
34.805 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
34.805 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
34.805 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in phi1
34.805 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi1
34.805 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
34.805 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
34.805 * [taylor]: Taking taylor expansion of -0.5 in phi1
34.805 * [backup-simplify]: Simplify -0.5 into -0.5
34.805 * [taylor]: Taking taylor expansion of phi2 in phi1
34.805 * [backup-simplify]: Simplify phi2 into phi2
34.805 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
34.805 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
34.806 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
34.806 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi1
34.806 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
34.806 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
34.806 * [taylor]: Taking taylor expansion of -0.5 in phi1
34.806 * [backup-simplify]: Simplify -0.5 into -0.5
34.806 * [taylor]: Taking taylor expansion of phi2 in phi1
34.806 * [backup-simplify]: Simplify phi2 into phi2
34.806 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
34.806 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
34.806 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
34.806 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi1
34.806 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
34.806 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
34.806 * [taylor]: Taking taylor expansion of -0.5 in phi1
34.806 * [backup-simplify]: Simplify -0.5 into -0.5
34.806 * [taylor]: Taking taylor expansion of phi1 in phi1
34.806 * [backup-simplify]: Simplify 0 into 0
34.806 * [backup-simplify]: Simplify 1 into 1
34.807 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
34.807 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
34.807 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
34.807 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
34.807 * [taylor]: Taking taylor expansion of -0.5 in phi1
34.807 * [backup-simplify]: Simplify -0.5 into -0.5
34.807 * [taylor]: Taking taylor expansion of phi1 in phi1
34.807 * [backup-simplify]: Simplify 0 into 0
34.807 * [backup-simplify]: Simplify 1 into 1
34.808 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
34.808 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
34.808 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi1
34.808 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
34.808 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
34.808 * [taylor]: Taking taylor expansion of -0.5 in phi1
34.808 * [backup-simplify]: Simplify -0.5 into -0.5
34.808 * [taylor]: Taking taylor expansion of phi2 in phi1
34.808 * [backup-simplify]: Simplify phi2 into phi2
34.808 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
34.808 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
34.808 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
34.808 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi1
34.808 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
34.808 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
34.808 * [taylor]: Taking taylor expansion of -0.5 in phi1
34.808 * [backup-simplify]: Simplify -0.5 into -0.5
34.808 * [taylor]: Taking taylor expansion of phi2 in phi1
34.808 * [backup-simplify]: Simplify phi2 into phi2
34.808 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
34.809 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
34.809 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
34.809 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi1
34.809 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
34.809 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
34.809 * [taylor]: Taking taylor expansion of -0.5 in phi1
34.809 * [backup-simplify]: Simplify -0.5 into -0.5
34.809 * [taylor]: Taking taylor expansion of phi1 in phi1
34.809 * [backup-simplify]: Simplify 0 into 0
34.809 * [backup-simplify]: Simplify 1 into 1
34.809 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
34.809 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
34.809 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
34.810 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
34.810 * [taylor]: Taking taylor expansion of -0.5 in phi1
34.810 * [backup-simplify]: Simplify -0.5 into -0.5
34.810 * [taylor]: Taking taylor expansion of phi1 in phi1
34.810 * [backup-simplify]: Simplify 0 into 0
34.810 * [backup-simplify]: Simplify 1 into 1
34.810 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
34.810 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
34.810 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
34.811 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
34.811 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
34.811 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
34.811 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
34.812 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
34.813 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
34.813 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
34.813 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
34.813 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
34.813 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
34.813 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
34.814 * [backup-simplify]: Simplify (- 0) into 0
34.814 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
34.814 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
34.814 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
34.815 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
34.815 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
34.815 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
34.815 * [backup-simplify]: Simplify (- 0) into 0
34.815 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
34.815 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
34.816 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
34.816 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
34.816 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
34.816 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
34.816 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
34.817 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
34.818 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
34.820 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
34.824 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)
34.828 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)
34.830 * [backup-simplify]: Simplify (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) into (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))
34.833 * [backup-simplify]: Simplify (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) into (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))
34.833 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
34.834 * [backup-simplify]: Simplify (+ 0) into 0
34.834 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
34.834 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
34.835 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
34.836 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
34.836 * [backup-simplify]: Simplify (- 0) into 0
34.836 * [backup-simplify]: Simplify (+ 0 0) into 0
34.837 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
34.837 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
34.837 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
34.838 * [backup-simplify]: Simplify (+ 0) into 0
34.838 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
34.839 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
34.839 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
34.840 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
34.840 * [backup-simplify]: Simplify (+ 0 0) into 0
34.841 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
34.841 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
34.841 * [backup-simplify]: Simplify (+ 0 0) into 0
34.842 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
34.842 * [backup-simplify]: Simplify (+ 0) into 0
34.843 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
34.843 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
34.844 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
34.844 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
34.845 * [backup-simplify]: Simplify (- 0) into 0
34.845 * [backup-simplify]: Simplify (+ 0 0) into 0
34.845 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
34.846 * [backup-simplify]: Simplify (+ 0) into 0
34.847 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
34.847 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
34.848 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
34.848 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
34.849 * [backup-simplify]: Simplify (+ 0 0) into 0
34.849 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
34.849 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
34.850 * [backup-simplify]: Simplify (+ 0) into 0
34.850 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
34.850 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
34.851 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
34.852 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
34.852 * [backup-simplify]: Simplify (+ 0 0) into 0
34.852 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
34.853 * [backup-simplify]: Simplify (+ 0) into 0
34.853 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
34.854 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
34.854 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
34.855 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
34.855 * [backup-simplify]: Simplify (- 0) into 0
34.856 * [backup-simplify]: Simplify (+ 0 0) into 0
34.856 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
34.856 * [backup-simplify]: Simplify (+ 0 0) into 0
34.857 * [backup-simplify]: Simplify (- 0) into 0
34.857 * [backup-simplify]: Simplify (+ 0 0) into 0
34.860 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into 0
34.864 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2))) into 0
34.869 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
34.871 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
34.871 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* (pow phi1 2) R)) in phi1
34.871 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi1
34.871 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi1
34.871 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
34.871 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
34.871 * [taylor]: Taking taylor expansion of -0.5 in phi1
34.871 * [backup-simplify]: Simplify -0.5 into -0.5
34.871 * [taylor]: Taking taylor expansion of phi2 in phi1
34.871 * [backup-simplify]: Simplify phi2 into phi2
34.871 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
34.871 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
34.872 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
34.872 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
34.872 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
34.872 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
34.872 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi1
34.872 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
34.872 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
34.872 * [taylor]: Taking taylor expansion of -0.5 in phi1
34.872 * [backup-simplify]: Simplify -0.5 into -0.5
34.872 * [taylor]: Taking taylor expansion of phi1 in phi1
34.872 * [backup-simplify]: Simplify 0 into 0
34.872 * [backup-simplify]: Simplify 1 into 1
34.873 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
34.873 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
34.873 * [taylor]: Taking taylor expansion of (* (pow phi1 2) R) in phi1
34.873 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1
34.873 * [taylor]: Taking taylor expansion of phi1 in phi1
34.873 * [backup-simplify]: Simplify 0 into 0
34.873 * [backup-simplify]: Simplify 1 into 1
34.873 * [taylor]: Taking taylor expansion of R in phi1
34.873 * [backup-simplify]: Simplify R into R
34.873 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
34.873 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
34.874 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
34.874 * [backup-simplify]: Simplify (* 1 1) into 1
34.874 * [backup-simplify]: Simplify (* 1 R) into R
34.874 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R) into (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R)
34.874 * [taylor]: Taking taylor expansion of (+ (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* phi1 (* R phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow phi1 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))) in phi1
34.875 * [taylor]: Taking taylor expansion of (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* phi1 (* R phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) in phi1
34.875 * [taylor]: Taking taylor expansion of 2 in phi1
34.875 * [backup-simplify]: Simplify 2 into 2
34.875 * [taylor]: Taking taylor expansion of (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* phi1 (* R phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) in phi1
34.875 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* phi1 (* R phi2))) in phi1
34.875 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi1
34.875 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
34.875 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
34.875 * [taylor]: Taking taylor expansion of -0.5 in phi1
34.875 * [backup-simplify]: Simplify -0.5 into -0.5
34.875 * [taylor]: Taking taylor expansion of phi2 in phi1
34.875 * [backup-simplify]: Simplify phi2 into phi2
34.875 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
34.875 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
34.875 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
34.875 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi1
34.875 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
34.875 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
34.875 * [taylor]: Taking taylor expansion of -0.5 in phi1
34.875 * [backup-simplify]: Simplify -0.5 into -0.5
34.875 * [taylor]: Taking taylor expansion of phi2 in phi1
34.875 * [backup-simplify]: Simplify phi2 into phi2
34.875 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
34.875 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
34.875 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
34.875 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi1
34.876 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
34.876 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
34.876 * [taylor]: Taking taylor expansion of -0.5 in phi1
34.876 * [backup-simplify]: Simplify -0.5 into -0.5
34.876 * [taylor]: Taking taylor expansion of phi1 in phi1
34.876 * [backup-simplify]: Simplify 0 into 0
34.876 * [backup-simplify]: Simplify 1 into 1
34.876 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
34.876 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
34.876 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
34.876 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
34.876 * [taylor]: Taking taylor expansion of -0.5 in phi1
34.876 * [backup-simplify]: Simplify -0.5 into -0.5
34.876 * [taylor]: Taking taylor expansion of phi1 in phi1
34.877 * [backup-simplify]: Simplify 0 into 0
34.877 * [backup-simplify]: Simplify 1 into 1
34.877 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
34.877 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
34.877 * [taylor]: Taking taylor expansion of (* phi1 (* R phi2)) in phi1
34.877 * [taylor]: Taking taylor expansion of phi1 in phi1
34.877 * [backup-simplify]: Simplify 0 into 0
34.877 * [backup-simplify]: Simplify 1 into 1
34.877 * [taylor]: Taking taylor expansion of (* R phi2) in phi1
34.877 * [taylor]: Taking taylor expansion of R in phi1
34.877 * [backup-simplify]: Simplify R into R
34.877 * [taylor]: Taking taylor expansion of phi2 in phi1
34.877 * [backup-simplify]: Simplify phi2 into phi2
34.877 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
34.878 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
34.878 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
34.878 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
34.878 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
34.878 * [backup-simplify]: Simplify (- 0) into 0
34.878 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
34.879 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
34.879 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
34.879 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
34.879 * [backup-simplify]: Simplify (* R phi2) into (* R phi2)
34.879 * [backup-simplify]: Simplify (* 0 (* R phi2)) into 0
34.879 * [backup-simplify]: Simplify (+ (* R 0) (* 0 phi2)) into 0
34.880 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* R phi2))) into (* R phi2)
34.881 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R phi2)) into (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R phi2))
34.881 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) in phi1
34.881 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) in phi1
34.881 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3) in phi1
34.881 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in phi1
34.881 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi1
34.882 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi1
34.882 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi1
34.882 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
34.882 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
34.882 * [taylor]: Taking taylor expansion of -0.5 in phi1
34.882 * [backup-simplify]: Simplify -0.5 into -0.5
34.882 * [taylor]: Taking taylor expansion of phi2 in phi1
34.882 * [backup-simplify]: Simplify phi2 into phi2
34.882 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
34.882 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
34.882 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
34.882 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
34.883 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
34.883 * [backup-simplify]: Simplify (- 0) into 0
34.883 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
34.883 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi1
34.883 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
34.883 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
34.883 * [taylor]: Taking taylor expansion of -0.5 in phi1
34.883 * [backup-simplify]: Simplify -0.5 into -0.5
34.883 * [taylor]: Taking taylor expansion of phi1 in phi1
34.883 * [backup-simplify]: Simplify 0 into 0
34.883 * [backup-simplify]: Simplify 1 into 1
34.884 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
34.884 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
34.884 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi1
34.884 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi1
34.884 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
34.884 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
34.884 * [taylor]: Taking taylor expansion of -0.5 in phi1
34.884 * [backup-simplify]: Simplify -0.5 into -0.5
34.884 * [taylor]: Taking taylor expansion of phi2 in phi1
34.884 * [backup-simplify]: Simplify phi2 into phi2
34.884 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
34.884 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
34.884 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
34.884 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
34.885 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
34.885 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
34.885 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi1
34.885 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
34.885 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
34.885 * [taylor]: Taking taylor expansion of -0.5 in phi1
34.885 * [backup-simplify]: Simplify -0.5 into -0.5
34.885 * [taylor]: Taking taylor expansion of phi1 in phi1
34.885 * [backup-simplify]: Simplify 0 into 0
34.885 * [backup-simplify]: Simplify 1 into 1
34.885 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
34.886 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
34.886 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in phi1
34.886 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi1
34.886 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
34.886 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
34.886 * [taylor]: Taking taylor expansion of -0.5 in phi1
34.886 * [backup-simplify]: Simplify -0.5 into -0.5
34.886 * [taylor]: Taking taylor expansion of phi2 in phi1
34.886 * [backup-simplify]: Simplify phi2 into phi2
34.886 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
34.886 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
34.886 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
34.886 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi1
34.886 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
34.886 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
34.886 * [taylor]: Taking taylor expansion of -0.5 in phi1
34.886 * [backup-simplify]: Simplify -0.5 into -0.5
34.886 * [taylor]: Taking taylor expansion of phi2 in phi1
34.886 * [backup-simplify]: Simplify phi2 into phi2
34.886 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
34.886 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
34.887 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
34.887 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi1
34.887 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
34.887 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
34.887 * [taylor]: Taking taylor expansion of -0.5 in phi1
34.887 * [backup-simplify]: Simplify -0.5 into -0.5
34.887 * [taylor]: Taking taylor expansion of phi1 in phi1
34.887 * [backup-simplify]: Simplify 0 into 0
34.887 * [backup-simplify]: Simplify 1 into 1
34.887 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
34.887 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
34.887 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
34.888 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
34.888 * [taylor]: Taking taylor expansion of -0.5 in phi1
34.888 * [backup-simplify]: Simplify -0.5 into -0.5
34.888 * [taylor]: Taking taylor expansion of phi1 in phi1
34.888 * [backup-simplify]: Simplify 0 into 0
34.888 * [backup-simplify]: Simplify 1 into 1
34.888 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
34.888 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
34.888 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi1
34.888 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
34.888 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
34.888 * [taylor]: Taking taylor expansion of -0.5 in phi1
34.888 * [backup-simplify]: Simplify -0.5 into -0.5
34.888 * [taylor]: Taking taylor expansion of phi2 in phi1
34.888 * [backup-simplify]: Simplify phi2 into phi2
34.889 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
34.889 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
34.889 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
34.889 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi1
34.889 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
34.889 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
34.889 * [taylor]: Taking taylor expansion of -0.5 in phi1
34.889 * [backup-simplify]: Simplify -0.5 into -0.5
34.889 * [taylor]: Taking taylor expansion of phi2 in phi1
34.889 * [backup-simplify]: Simplify phi2 into phi2
34.889 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
34.889 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
34.889 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
34.889 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi1
34.889 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
34.889 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
34.889 * [taylor]: Taking taylor expansion of -0.5 in phi1
34.889 * [backup-simplify]: Simplify -0.5 into -0.5
34.889 * [taylor]: Taking taylor expansion of phi1 in phi1
34.889 * [backup-simplify]: Simplify 0 into 0
34.889 * [backup-simplify]: Simplify 1 into 1
34.890 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
34.890 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
34.890 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
34.890 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
34.890 * [taylor]: Taking taylor expansion of -0.5 in phi1
34.890 * [backup-simplify]: Simplify -0.5 into -0.5
34.890 * [taylor]: Taking taylor expansion of phi1 in phi1
34.890 * [backup-simplify]: Simplify 0 into 0
34.890 * [backup-simplify]: Simplify 1 into 1
34.891 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
34.891 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
34.891 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
34.891 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
34.892 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
34.892 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
34.892 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
34.892 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
34.893 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
34.893 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
34.893 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
34.893 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
34.894 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
34.894 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
34.894 * [backup-simplify]: Simplify (- 0) into 0
34.894 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
34.894 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
34.895 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
34.895 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
34.895 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
34.895 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
34.896 * [backup-simplify]: Simplify (- 0) into 0
34.896 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
34.896 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
34.896 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
34.896 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
34.896 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
34.896 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
34.897 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
34.897 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
34.898 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
34.900 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
34.904 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)
34.907 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)
34.909 * [backup-simplify]: Simplify (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) into (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))
34.911 * [backup-simplify]: Simplify (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) into (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))
34.911 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
34.912 * [backup-simplify]: Simplify (+ 0) into 0
34.913 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
34.913 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
34.914 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
34.914 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
34.915 * [backup-simplify]: Simplify (- 0) into 0
34.915 * [backup-simplify]: Simplify (+ 0 0) into 0
34.915 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
34.915 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
34.916 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
34.916 * [backup-simplify]: Simplify (+ 0) into 0
34.917 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
34.917 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
34.918 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
34.918 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
34.918 * [backup-simplify]: Simplify (+ 0 0) into 0
34.919 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
34.919 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
34.919 * [backup-simplify]: Simplify (+ 0 0) into 0
34.920 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
34.920 * [backup-simplify]: Simplify (+ 0) into 0
34.921 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
34.921 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
34.922 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
34.922 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
34.923 * [backup-simplify]: Simplify (- 0) into 0
34.923 * [backup-simplify]: Simplify (+ 0 0) into 0
34.923 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
34.924 * [backup-simplify]: Simplify (+ 0) into 0
34.924 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
34.924 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
34.925 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
34.925 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
34.926 * [backup-simplify]: Simplify (+ 0 0) into 0
34.926 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
34.926 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
34.927 * [backup-simplify]: Simplify (+ 0) into 0
34.927 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
34.928 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
34.928 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
34.929 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
34.929 * [backup-simplify]: Simplify (+ 0 0) into 0
34.929 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
34.930 * [backup-simplify]: Simplify (+ 0) into 0
34.930 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
34.931 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
34.931 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
34.932 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
34.932 * [backup-simplify]: Simplify (- 0) into 0
34.933 * [backup-simplify]: Simplify (+ 0 0) into 0
34.933 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
34.933 * [backup-simplify]: Simplify (+ 0 0) into 0
34.934 * [backup-simplify]: Simplify (- 0) into 0
34.934 * [backup-simplify]: Simplify (+ 0 0) into 0
34.938 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into 0
34.942 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2))) into 0
34.947 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
34.950 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
34.950 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow phi1 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) in phi1
34.950 * [taylor]: Taking taylor expansion of 1/2 in phi1
34.950 * [backup-simplify]: Simplify 1/2 into 1/2
34.950 * [taylor]: Taking taylor expansion of (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow phi1 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) in phi1
34.950 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow phi1 2) R)) in phi1
34.950 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi1
34.950 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi1
34.950 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
34.950 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
34.950 * [taylor]: Taking taylor expansion of -0.5 in phi1
34.950 * [backup-simplify]: Simplify -0.5 into -0.5
34.950 * [taylor]: Taking taylor expansion of phi2 in phi1
34.950 * [backup-simplify]: Simplify phi2 into phi2
34.950 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
34.950 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
34.950 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
34.950 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
34.951 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
34.951 * [backup-simplify]: Simplify (- 0) into 0
34.951 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
34.951 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi1
34.951 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
34.951 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
34.951 * [taylor]: Taking taylor expansion of -0.5 in phi1
34.952 * [backup-simplify]: Simplify -0.5 into -0.5
34.952 * [taylor]: Taking taylor expansion of phi1 in phi1
34.952 * [backup-simplify]: Simplify 0 into 0
34.952 * [backup-simplify]: Simplify 1 into 1
34.957 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
34.958 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
34.958 * [taylor]: Taking taylor expansion of (* (pow phi1 2) R) in phi1
34.958 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1
34.958 * [taylor]: Taking taylor expansion of phi1 in phi1
34.958 * [backup-simplify]: Simplify 0 into 0
34.958 * [backup-simplify]: Simplify 1 into 1
34.958 * [taylor]: Taking taylor expansion of R in phi1
34.958 * [backup-simplify]: Simplify R into R
34.958 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
34.958 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
34.959 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
34.959 * [backup-simplify]: Simplify (* 1 1) into 1
34.959 * [backup-simplify]: Simplify (* 1 R) into R
34.960 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) into (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R)
34.960 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) in phi1
34.960 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) in phi1
34.960 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3) in phi1
34.960 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in phi1
34.960 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi1
34.960 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi1
34.960 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi1
34.960 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
34.960 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
34.960 * [taylor]: Taking taylor expansion of -0.5 in phi1
34.960 * [backup-simplify]: Simplify -0.5 into -0.5
34.960 * [taylor]: Taking taylor expansion of phi2 in phi1
34.960 * [backup-simplify]: Simplify phi2 into phi2
34.961 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
34.961 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
34.961 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
34.961 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
34.961 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
34.961 * [backup-simplify]: Simplify (- 0) into 0
34.962 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
34.962 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi1
34.962 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
34.962 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
34.962 * [taylor]: Taking taylor expansion of -0.5 in phi1
34.962 * [backup-simplify]: Simplify -0.5 into -0.5
34.962 * [taylor]: Taking taylor expansion of phi1 in phi1
34.962 * [backup-simplify]: Simplify 0 into 0
34.962 * [backup-simplify]: Simplify 1 into 1
34.962 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
34.962 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
34.963 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi1
34.963 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi1
34.963 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
34.963 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
34.963 * [taylor]: Taking taylor expansion of -0.5 in phi1
34.963 * [backup-simplify]: Simplify -0.5 into -0.5
34.963 * [taylor]: Taking taylor expansion of phi2 in phi1
34.963 * [backup-simplify]: Simplify phi2 into phi2
34.963 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
34.963 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
34.963 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
34.963 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
34.963 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
34.963 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
34.963 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi1
34.963 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
34.963 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
34.963 * [taylor]: Taking taylor expansion of -0.5 in phi1
34.963 * [backup-simplify]: Simplify -0.5 into -0.5
34.964 * [taylor]: Taking taylor expansion of phi1 in phi1
34.964 * [backup-simplify]: Simplify 0 into 0
34.964 * [backup-simplify]: Simplify 1 into 1
34.964 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
34.964 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
34.964 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in phi1
34.964 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi1
34.964 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
34.964 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
34.964 * [taylor]: Taking taylor expansion of -0.5 in phi1
34.964 * [backup-simplify]: Simplify -0.5 into -0.5
34.964 * [taylor]: Taking taylor expansion of phi2 in phi1
34.964 * [backup-simplify]: Simplify phi2 into phi2
34.964 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
34.965 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
34.965 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
34.965 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi1
34.965 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
34.965 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
34.965 * [taylor]: Taking taylor expansion of -0.5 in phi1
34.965 * [backup-simplify]: Simplify -0.5 into -0.5
34.965 * [taylor]: Taking taylor expansion of phi2 in phi1
34.965 * [backup-simplify]: Simplify phi2 into phi2
34.965 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
34.965 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
34.965 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
34.965 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi1
34.965 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
34.965 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
34.965 * [taylor]: Taking taylor expansion of -0.5 in phi1
34.965 * [backup-simplify]: Simplify -0.5 into -0.5
34.965 * [taylor]: Taking taylor expansion of phi1 in phi1
34.965 * [backup-simplify]: Simplify 0 into 0
34.965 * [backup-simplify]: Simplify 1 into 1
34.966 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
34.966 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
34.966 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
34.966 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
34.966 * [taylor]: Taking taylor expansion of -0.5 in phi1
34.966 * [backup-simplify]: Simplify -0.5 into -0.5
34.966 * [taylor]: Taking taylor expansion of phi1 in phi1
34.966 * [backup-simplify]: Simplify 0 into 0
34.966 * [backup-simplify]: Simplify 1 into 1
34.967 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
34.967 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
34.967 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi1
34.967 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
34.967 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
34.967 * [taylor]: Taking taylor expansion of -0.5 in phi1
34.967 * [backup-simplify]: Simplify -0.5 into -0.5
34.967 * [taylor]: Taking taylor expansion of phi2 in phi1
34.967 * [backup-simplify]: Simplify phi2 into phi2
34.967 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
34.967 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
34.967 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
34.967 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi1
34.967 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
34.967 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
34.967 * [taylor]: Taking taylor expansion of -0.5 in phi1
34.967 * [backup-simplify]: Simplify -0.5 into -0.5
34.967 * [taylor]: Taking taylor expansion of phi2 in phi1
34.967 * [backup-simplify]: Simplify phi2 into phi2
34.968 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
34.968 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
34.968 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
34.968 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi1
34.968 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
34.968 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
34.968 * [taylor]: Taking taylor expansion of -0.5 in phi1
34.968 * [backup-simplify]: Simplify -0.5 into -0.5
34.968 * [taylor]: Taking taylor expansion of phi1 in phi1
34.968 * [backup-simplify]: Simplify 0 into 0
34.968 * [backup-simplify]: Simplify 1 into 1
34.968 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
34.969 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
34.969 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
34.969 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
34.969 * [taylor]: Taking taylor expansion of -0.5 in phi1
34.969 * [backup-simplify]: Simplify -0.5 into -0.5
34.969 * [taylor]: Taking taylor expansion of phi1 in phi1
34.969 * [backup-simplify]: Simplify 0 into 0
34.969 * [backup-simplify]: Simplify 1 into 1
34.969 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
34.969 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
34.970 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
34.970 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
34.970 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
34.970 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
34.970 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
34.971 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
34.972 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
34.972 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
34.972 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
34.972 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
34.972 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
34.972 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
34.973 * [backup-simplify]: Simplify (- 0) into 0
34.973 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
34.973 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
34.973 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
34.974 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
34.974 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
34.974 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
34.974 * [backup-simplify]: Simplify (- 0) into 0
34.974 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
34.974 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
34.975 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
34.975 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
34.975 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
34.975 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
34.975 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
34.976 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
34.977 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
34.979 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
34.983 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)
34.987 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)
34.989 * [backup-simplify]: Simplify (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) into (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))
34.991 * [backup-simplify]: Simplify (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) into (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))
34.992 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
34.992 * [backup-simplify]: Simplify (+ 0) into 0
34.993 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
34.993 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
34.994 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
34.994 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
34.995 * [backup-simplify]: Simplify (- 0) into 0
34.995 * [backup-simplify]: Simplify (+ 0 0) into 0
34.995 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
34.996 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
34.996 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
34.996 * [backup-simplify]: Simplify (+ 0) into 0
34.997 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
34.997 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
34.998 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
34.998 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
34.999 * [backup-simplify]: Simplify (+ 0 0) into 0
34.999 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
34.999 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
35.000 * [backup-simplify]: Simplify (+ 0 0) into 0
35.000 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
35.000 * [backup-simplify]: Simplify (+ 0) into 0
35.001 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
35.001 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
35.002 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
35.002 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
35.003 * [backup-simplify]: Simplify (- 0) into 0
35.003 * [backup-simplify]: Simplify (+ 0 0) into 0
35.003 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
35.004 * [backup-simplify]: Simplify (+ 0) into 0
35.004 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
35.004 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
35.005 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
35.006 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
35.006 * [backup-simplify]: Simplify (+ 0 0) into 0
35.007 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
35.007 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
35.007 * [backup-simplify]: Simplify (+ 0) into 0
35.008 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
35.008 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
35.009 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
35.009 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
35.010 * [backup-simplify]: Simplify (+ 0 0) into 0
35.010 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
35.010 * [backup-simplify]: Simplify (+ 0) into 0
35.011 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
35.011 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
35.012 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
35.012 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
35.013 * [backup-simplify]: Simplify (- 0) into 0
35.013 * [backup-simplify]: Simplify (+ 0 0) into 0
35.014 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
35.014 * [backup-simplify]: Simplify (+ 0 0) into 0
35.014 * [backup-simplify]: Simplify (- 0) into 0
35.015 * [backup-simplify]: Simplify (+ 0 0) into 0
35.019 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into 0
35.023 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2))) into 0
35.027 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
35.029 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
35.030 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
35.030 * [backup-simplify]: Simplify (+ 0) into 0
35.031 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
35.031 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
35.032 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
35.032 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
35.033 * [backup-simplify]: Simplify (- 0) into 0
35.033 * [backup-simplify]: Simplify (+ 0 0) into 0
35.033 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
35.034 * [backup-simplify]: Simplify (+ 0) into 0
35.034 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
35.035 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
35.035 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
35.036 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
35.036 * [backup-simplify]: Simplify (+ 0 0) into 0
35.037 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
35.037 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
35.038 * [backup-simplify]: Simplify (+ (* R 0) (* 0 1)) into 0
35.038 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) (/ 0 R)))) into 0
35.041 * [backup-simplify]: Simplify (+ (* (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) 0) (* 0 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
35.044 * [backup-simplify]: Simplify (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R phi2))) into (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R phi2)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))
35.047 * [backup-simplify]: Simplify (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R phi2)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) into (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R phi2)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))
35.051 * [backup-simplify]: Simplify (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R phi2)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R phi2)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R phi2)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R phi2)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))
35.055 * [backup-simplify]: Simplify (+ 0 (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R phi2)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R phi2)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))) into (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R phi2)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R phi2))))
35.058 * [backup-simplify]: Simplify (+ 0 (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R phi2)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R phi2))))) into (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R phi2)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R phi2)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))
35.058 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
35.059 * [backup-simplify]: Simplify (+ 0) into 0
35.059 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
35.059 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
35.060 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
35.060 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
35.060 * [backup-simplify]: Simplify (+ 0 0) into 0
35.060 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
35.061 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
35.061 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
35.061 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 R)) into 0
35.062 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R) (/ 0 R)))) into 0
35.063 * [backup-simplify]: Simplify (+ (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) 0) (* 0 (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R))) into 0
35.064 * [backup-simplify]: Simplify (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R)) into (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))
35.066 * [backup-simplify]: Simplify (+ (* 1/2 0) (* 0 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))) into 0
35.068 * [backup-simplify]: Simplify (* (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R phi2)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) into (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R phi2)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))
35.069 * [backup-simplify]: Simplify (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R phi2)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R phi2)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))
35.070 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
35.070 * [backup-simplify]: Simplify (+ 0) into 0
35.071 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
35.071 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
35.071 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
35.072 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
35.072 * [backup-simplify]: Simplify (- 0) into 0
35.072 * [backup-simplify]: Simplify (+ 0 0) into 0
35.072 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
35.073 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
35.073 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
35.073 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 R)) into 0
35.074 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) (/ 0 R)))) into 0
35.077 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) 0) (* 0 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
35.080 * [backup-simplify]: Simplify (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) into (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))
35.083 * [backup-simplify]: Simplify (+ (* 1/2 0) (* 0 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))) into 0
35.087 * [backup-simplify]: Simplify (+ (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R phi2)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) 0) into (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R phi2)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))
35.090 * [backup-simplify]: Simplify (+ 0 (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R phi2)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))) into (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R phi2)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))
35.093 * [backup-simplify]: Simplify (+ 0 (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R phi2)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))) into (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R phi2)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))
35.097 * [backup-simplify]: Simplify (+ 0 (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R phi2)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))) into (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R phi2)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))
35.100 * [backup-simplify]: Simplify (- (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R phi2)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))) into (- (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R phi2)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))))
35.106 * [backup-simplify]: Simplify (+ (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R phi2)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R phi2)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (- (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R phi2)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))))) into (- (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R phi2)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R phi2)))) (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R phi2)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))))
35.107 * [taylor]: Taking taylor expansion of (- (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R phi2)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R phi2)))) (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R phi2)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))) in phi2
35.107 * [taylor]: Taking taylor expansion of (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R phi2)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R phi2)))) in phi2
35.107 * [taylor]: Taking taylor expansion of (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R phi2)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) in phi2
35.107 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R phi2)) in phi2
35.107 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi2
35.107 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2
35.107 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
35.107 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
35.107 * [taylor]: Taking taylor expansion of -0.5 in phi2
35.107 * [backup-simplify]: Simplify -0.5 into -0.5
35.107 * [taylor]: Taking taylor expansion of phi2 in phi2
35.107 * [backup-simplify]: Simplify 0 into 0
35.107 * [backup-simplify]: Simplify 1 into 1
35.115 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
35.115 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
35.115 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2
35.115 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
35.115 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
35.115 * [taylor]: Taking taylor expansion of -0.5 in phi2
35.115 * [backup-simplify]: Simplify -0.5 into -0.5
35.115 * [taylor]: Taking taylor expansion of phi1 in phi2
35.115 * [backup-simplify]: Simplify phi1 into phi1
35.115 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
35.115 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
35.115 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
35.115 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
35.115 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
35.116 * [backup-simplify]: Simplify (- 0) into 0
35.116 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
35.116 * [taylor]: Taking taylor expansion of (* R phi2) in phi2
35.116 * [taylor]: Taking taylor expansion of R in phi2
35.116 * [backup-simplify]: Simplify R into R
35.116 * [taylor]: Taking taylor expansion of phi2 in phi2
35.116 * [backup-simplify]: Simplify 0 into 0
35.116 * [backup-simplify]: Simplify 1 into 1
35.117 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
35.117 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
35.117 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
35.117 * [backup-simplify]: Simplify (* R 0) into 0
35.117 * [backup-simplify]: Simplify (+ (* R 1) (* 0 0)) into R
35.118 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) into (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R)
35.118 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) in phi2
35.118 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) in phi2
35.118 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3) in phi2
35.118 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in phi2
35.118 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi2
35.118 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi2
35.118 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2
35.118 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
35.118 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
35.118 * [taylor]: Taking taylor expansion of -0.5 in phi2
35.118 * [backup-simplify]: Simplify -0.5 into -0.5
35.118 * [taylor]: Taking taylor expansion of phi2 in phi2
35.118 * [backup-simplify]: Simplify 0 into 0
35.118 * [backup-simplify]: Simplify 1 into 1
35.118 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
35.118 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
35.119 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2
35.119 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
35.119 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
35.119 * [taylor]: Taking taylor expansion of -0.5 in phi2
35.119 * [backup-simplify]: Simplify -0.5 into -0.5
35.119 * [taylor]: Taking taylor expansion of phi1 in phi2
35.119 * [backup-simplify]: Simplify phi1 into phi1
35.119 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
35.119 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
35.119 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
35.119 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
35.119 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
35.119 * [backup-simplify]: Simplify (- 0) into 0
35.119 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
35.119 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi2
35.119 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2
35.119 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
35.119 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
35.119 * [taylor]: Taking taylor expansion of -0.5 in phi2
35.119 * [backup-simplify]: Simplify -0.5 into -0.5
35.119 * [taylor]: Taking taylor expansion of phi2 in phi2
35.120 * [backup-simplify]: Simplify 0 into 0
35.120 * [backup-simplify]: Simplify 1 into 1
35.120 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
35.120 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
35.120 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2
35.120 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
35.120 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
35.120 * [taylor]: Taking taylor expansion of -0.5 in phi2
35.120 * [backup-simplify]: Simplify -0.5 into -0.5
35.120 * [taylor]: Taking taylor expansion of phi1 in phi2
35.120 * [backup-simplify]: Simplify phi1 into phi1
35.120 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
35.120 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
35.120 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
35.120 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
35.120 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
35.120 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
35.120 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in phi2
35.121 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi2
35.121 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
35.121 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
35.121 * [taylor]: Taking taylor expansion of -0.5 in phi2
35.121 * [backup-simplify]: Simplify -0.5 into -0.5
35.121 * [taylor]: Taking taylor expansion of phi2 in phi2
35.121 * [backup-simplify]: Simplify 0 into 0
35.121 * [backup-simplify]: Simplify 1 into 1
35.121 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
35.121 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
35.121 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi2
35.121 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
35.121 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
35.121 * [taylor]: Taking taylor expansion of -0.5 in phi2
35.121 * [backup-simplify]: Simplify -0.5 into -0.5
35.121 * [taylor]: Taking taylor expansion of phi2 in phi2
35.121 * [backup-simplify]: Simplify 0 into 0
35.121 * [backup-simplify]: Simplify 1 into 1
35.122 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
35.122 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
35.122 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi2
35.122 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
35.122 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
35.122 * [taylor]: Taking taylor expansion of -0.5 in phi2
35.122 * [backup-simplify]: Simplify -0.5 into -0.5
35.122 * [taylor]: Taking taylor expansion of phi1 in phi2
35.122 * [backup-simplify]: Simplify phi1 into phi1
35.122 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
35.122 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
35.122 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
35.122 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
35.122 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
35.122 * [taylor]: Taking taylor expansion of -0.5 in phi2
35.122 * [backup-simplify]: Simplify -0.5 into -0.5
35.122 * [taylor]: Taking taylor expansion of phi1 in phi2
35.122 * [backup-simplify]: Simplify phi1 into phi1
35.122 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
35.122 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
35.122 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
35.122 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi2
35.122 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
35.122 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
35.122 * [taylor]: Taking taylor expansion of -0.5 in phi2
35.122 * [backup-simplify]: Simplify -0.5 into -0.5
35.122 * [taylor]: Taking taylor expansion of phi2 in phi2
35.122 * [backup-simplify]: Simplify 0 into 0
35.122 * [backup-simplify]: Simplify 1 into 1
35.123 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
35.123 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
35.123 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi2
35.123 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
35.123 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
35.123 * [taylor]: Taking taylor expansion of -0.5 in phi2
35.123 * [backup-simplify]: Simplify -0.5 into -0.5
35.123 * [taylor]: Taking taylor expansion of phi2 in phi2
35.123 * [backup-simplify]: Simplify 0 into 0
35.123 * [backup-simplify]: Simplify 1 into 1
35.123 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
35.123 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
35.123 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi2
35.123 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
35.123 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
35.123 * [taylor]: Taking taylor expansion of -0.5 in phi2
35.123 * [backup-simplify]: Simplify -0.5 into -0.5
35.123 * [taylor]: Taking taylor expansion of phi1 in phi2
35.123 * [backup-simplify]: Simplify phi1 into phi1
35.123 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
35.123 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
35.123 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
35.123 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
35.123 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
35.123 * [taylor]: Taking taylor expansion of -0.5 in phi2
35.124 * [backup-simplify]: Simplify -0.5 into -0.5
35.124 * [taylor]: Taking taylor expansion of phi1 in phi2
35.124 * [backup-simplify]: Simplify phi1 into phi1
35.124 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
35.124 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
35.124 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
35.124 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
35.124 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
35.124 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
35.124 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
35.124 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
35.124 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
35.125 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
35.125 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
35.125 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
35.125 * [backup-simplify]: Simplify (- 0) into 0
35.125 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
35.125 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
35.126 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
35.126 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
35.126 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
35.126 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
35.126 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
35.126 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
35.126 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
35.126 * [backup-simplify]: Simplify (- 0) into 0
35.126 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
35.127 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
35.127 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
35.127 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
35.127 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
35.127 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
35.127 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
35.127 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
35.128 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
35.129 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
35.131 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)
35.133 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)
35.134 * [backup-simplify]: Simplify (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) into (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))
35.135 * [backup-simplify]: Simplify (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) into (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))
35.135 * [backup-simplify]: Simplify (+ 0) into 0
35.136 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
35.136 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
35.136 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
35.137 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
35.137 * [backup-simplify]: Simplify (- 0) into 0
35.137 * [backup-simplify]: Simplify (+ 0 0) into 0
35.137 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
35.138 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
35.138 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
35.138 * [backup-simplify]: Simplify (+ 0) into 0
35.138 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
35.139 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
35.139 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
35.139 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
35.140 * [backup-simplify]: Simplify (+ 0 0) into 0
35.140 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
35.140 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
35.140 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
35.140 * [backup-simplify]: Simplify (+ 0 0) into 0
35.141 * [backup-simplify]: Simplify (+ 0) into 0
35.141 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
35.141 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
35.142 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
35.142 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
35.143 * [backup-simplify]: Simplify (+ 0 0) into 0
35.143 * [backup-simplify]: Simplify (+ 0) into 0
35.144 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
35.144 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
35.145 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
35.145 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
35.145 * [backup-simplify]: Simplify (- 0) into 0
35.146 * [backup-simplify]: Simplify (+ 0 0) into 0
35.146 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
35.146 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
35.146 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
35.147 * [backup-simplify]: Simplify (+ 0) into 0
35.147 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
35.147 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
35.148 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
35.149 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
35.149 * [backup-simplify]: Simplify (+ 0 0) into 0
35.149 * [backup-simplify]: Simplify (+ 0) into 0
35.150 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
35.150 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
35.151 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
35.151 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
35.152 * [backup-simplify]: Simplify (- 0) into 0
35.152 * [backup-simplify]: Simplify (+ 0 0) into 0
35.152 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
35.152 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
35.153 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
35.153 * [backup-simplify]: Simplify (+ 0 0) into 0
35.153 * [backup-simplify]: Simplify (- 0) into 0
35.154 * [backup-simplify]: Simplify (+ 0 0) into 0
35.157 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into 0
35.160 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2))) into 0
35.164 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
35.166 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
35.166 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R phi2))) in phi2
35.166 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) in phi2
35.167 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) in phi2
35.167 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3) in phi2
35.167 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in phi2
35.167 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi2
35.167 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi2
35.167 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2
35.167 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
35.167 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
35.167 * [taylor]: Taking taylor expansion of -0.5 in phi2
35.167 * [backup-simplify]: Simplify -0.5 into -0.5
35.167 * [taylor]: Taking taylor expansion of phi2 in phi2
35.167 * [backup-simplify]: Simplify 0 into 0
35.167 * [backup-simplify]: Simplify 1 into 1
35.168 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
35.168 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
35.168 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2
35.168 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
35.168 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
35.168 * [taylor]: Taking taylor expansion of -0.5 in phi2
35.168 * [backup-simplify]: Simplify -0.5 into -0.5
35.168 * [taylor]: Taking taylor expansion of phi1 in phi2
35.168 * [backup-simplify]: Simplify phi1 into phi1
35.168 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
35.168 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
35.168 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
35.168 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
35.168 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
35.169 * [backup-simplify]: Simplify (- 0) into 0
35.169 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
35.169 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi2
35.169 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2
35.169 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
35.169 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
35.169 * [taylor]: Taking taylor expansion of -0.5 in phi2
35.169 * [backup-simplify]: Simplify -0.5 into -0.5
35.169 * [taylor]: Taking taylor expansion of phi2 in phi2
35.169 * [backup-simplify]: Simplify 0 into 0
35.169 * [backup-simplify]: Simplify 1 into 1
35.169 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
35.170 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
35.170 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2
35.170 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
35.170 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
35.170 * [taylor]: Taking taylor expansion of -0.5 in phi2
35.170 * [backup-simplify]: Simplify -0.5 into -0.5
35.170 * [taylor]: Taking taylor expansion of phi1 in phi2
35.170 * [backup-simplify]: Simplify phi1 into phi1
35.170 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
35.170 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
35.170 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
35.170 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
35.170 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
35.170 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
35.170 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in phi2
35.170 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi2
35.170 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
35.170 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
35.170 * [taylor]: Taking taylor expansion of -0.5 in phi2
35.170 * [backup-simplify]: Simplify -0.5 into -0.5
35.170 * [taylor]: Taking taylor expansion of phi2 in phi2
35.170 * [backup-simplify]: Simplify 0 into 0
35.170 * [backup-simplify]: Simplify 1 into 1
35.171 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
35.171 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
35.171 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi2
35.171 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
35.171 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
35.171 * [taylor]: Taking taylor expansion of -0.5 in phi2
35.171 * [backup-simplify]: Simplify -0.5 into -0.5
35.171 * [taylor]: Taking taylor expansion of phi2 in phi2
35.171 * [backup-simplify]: Simplify 0 into 0
35.171 * [backup-simplify]: Simplify 1 into 1
35.171 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
35.171 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
35.171 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi2
35.171 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
35.171 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
35.171 * [taylor]: Taking taylor expansion of -0.5 in phi2
35.171 * [backup-simplify]: Simplify -0.5 into -0.5
35.171 * [taylor]: Taking taylor expansion of phi1 in phi2
35.171 * [backup-simplify]: Simplify phi1 into phi1
35.171 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
35.171 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
35.171 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
35.171 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
35.171 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
35.171 * [taylor]: Taking taylor expansion of -0.5 in phi2
35.171 * [backup-simplify]: Simplify -0.5 into -0.5
35.171 * [taylor]: Taking taylor expansion of phi1 in phi2
35.171 * [backup-simplify]: Simplify phi1 into phi1
35.172 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
35.172 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
35.172 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
35.172 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi2
35.172 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
35.172 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
35.172 * [taylor]: Taking taylor expansion of -0.5 in phi2
35.172 * [backup-simplify]: Simplify -0.5 into -0.5
35.172 * [taylor]: Taking taylor expansion of phi2 in phi2
35.172 * [backup-simplify]: Simplify 0 into 0
35.172 * [backup-simplify]: Simplify 1 into 1
35.172 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
35.172 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
35.172 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi2
35.172 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
35.172 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
35.172 * [taylor]: Taking taylor expansion of -0.5 in phi2
35.172 * [backup-simplify]: Simplify -0.5 into -0.5
35.172 * [taylor]: Taking taylor expansion of phi2 in phi2
35.172 * [backup-simplify]: Simplify 0 into 0
35.172 * [backup-simplify]: Simplify 1 into 1
35.173 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
35.173 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
35.173 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi2
35.173 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
35.173 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
35.173 * [taylor]: Taking taylor expansion of -0.5 in phi2
35.173 * [backup-simplify]: Simplify -0.5 into -0.5
35.173 * [taylor]: Taking taylor expansion of phi1 in phi2
35.173 * [backup-simplify]: Simplify phi1 into phi1
35.173 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
35.173 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
35.173 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
35.173 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
35.173 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
35.173 * [taylor]: Taking taylor expansion of -0.5 in phi2
35.173 * [backup-simplify]: Simplify -0.5 into -0.5
35.173 * [taylor]: Taking taylor expansion of phi1 in phi2
35.173 * [backup-simplify]: Simplify phi1 into phi1
35.173 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
35.173 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
35.173 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
35.173 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
35.173 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
35.174 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
35.174 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
35.174 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
35.174 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
35.174 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
35.174 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
35.175 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
35.175 * [backup-simplify]: Simplify (- 0) into 0
35.175 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
35.175 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
35.175 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
35.175 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
35.175 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
35.175 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
35.176 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
35.176 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
35.176 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
35.176 * [backup-simplify]: Simplify (- 0) into 0
35.176 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
35.176 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
35.176 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
35.176 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
35.176 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
35.176 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
35.177 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
35.177 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
35.177 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
35.178 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
35.180 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)
35.182 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)
35.184 * [backup-simplify]: Simplify (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) into (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))
35.185 * [backup-simplify]: Simplify (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) into (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))
35.186 * [backup-simplify]: Simplify (+ 0) into 0
35.186 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
35.186 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
35.187 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
35.187 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
35.188 * [backup-simplify]: Simplify (- 0) into 0
35.188 * [backup-simplify]: Simplify (+ 0 0) into 0
35.188 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
35.188 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
35.188 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
35.189 * [backup-simplify]: Simplify (+ 0) into 0
35.189 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
35.189 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
35.190 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
35.190 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
35.190 * [backup-simplify]: Simplify (+ 0 0) into 0
35.191 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
35.191 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
35.191 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
35.191 * [backup-simplify]: Simplify (+ 0 0) into 0
35.192 * [backup-simplify]: Simplify (+ 0) into 0
35.192 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
35.192 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
35.193 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
35.193 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
35.193 * [backup-simplify]: Simplify (+ 0 0) into 0
35.193 * [backup-simplify]: Simplify (+ 0) into 0
35.194 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
35.194 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
35.194 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
35.195 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
35.195 * [backup-simplify]: Simplify (- 0) into 0
35.195 * [backup-simplify]: Simplify (+ 0 0) into 0
35.195 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
35.195 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
35.195 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
35.196 * [backup-simplify]: Simplify (+ 0) into 0
35.196 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
35.196 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
35.197 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
35.197 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
35.197 * [backup-simplify]: Simplify (+ 0 0) into 0
35.197 * [backup-simplify]: Simplify (+ 0) into 0
35.198 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
35.198 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
35.199 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
35.199 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
35.200 * [backup-simplify]: Simplify (- 0) into 0
35.200 * [backup-simplify]: Simplify (+ 0 0) into 0
35.200 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
35.201 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
35.201 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
35.201 * [backup-simplify]: Simplify (+ 0 0) into 0
35.202 * [backup-simplify]: Simplify (- 0) into 0
35.202 * [backup-simplify]: Simplify (+ 0 0) into 0
35.206 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into 0
35.210 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2))) into 0
35.215 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
35.217 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
35.217 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R phi2)) in phi2
35.217 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi2
35.218 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2
35.218 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
35.218 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
35.218 * [taylor]: Taking taylor expansion of -0.5 in phi2
35.218 * [backup-simplify]: Simplify -0.5 into -0.5
35.218 * [taylor]: Taking taylor expansion of phi2 in phi2
35.218 * [backup-simplify]: Simplify 0 into 0
35.218 * [backup-simplify]: Simplify 1 into 1
35.218 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
35.219 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
35.219 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2
35.219 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
35.219 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
35.219 * [taylor]: Taking taylor expansion of -0.5 in phi2
35.219 * [backup-simplify]: Simplify -0.5 into -0.5
35.219 * [taylor]: Taking taylor expansion of phi1 in phi2
35.219 * [backup-simplify]: Simplify phi1 into phi1
35.219 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
35.219 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
35.219 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
35.219 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
35.219 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
35.219 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
35.219 * [taylor]: Taking taylor expansion of (* R phi2) in phi2
35.219 * [taylor]: Taking taylor expansion of R in phi2
35.219 * [backup-simplify]: Simplify R into R
35.219 * [taylor]: Taking taylor expansion of phi2 in phi2
35.220 * [backup-simplify]: Simplify 0 into 0
35.220 * [backup-simplify]: Simplify 1 into 1
35.220 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
35.220 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
35.220 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
35.220 * [backup-simplify]: Simplify (* R 0) into 0
35.221 * [backup-simplify]: Simplify (+ (* R 1) (* 0 0)) into R
35.221 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R) into (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R)
35.221 * [taylor]: Taking taylor expansion of (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R phi2)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) in phi2
35.222 * [taylor]: Taking taylor expansion of 2 in phi2
35.222 * [backup-simplify]: Simplify 2 into 2
35.222 * [taylor]: Taking taylor expansion of (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R phi2)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) in phi2
35.222 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R phi2)) in phi2
35.222 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi2
35.222 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
35.222 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
35.222 * [taylor]: Taking taylor expansion of -0.5 in phi2
35.222 * [backup-simplify]: Simplify -0.5 into -0.5
35.222 * [taylor]: Taking taylor expansion of phi2 in phi2
35.222 * [backup-simplify]: Simplify 0 into 0
35.222 * [backup-simplify]: Simplify 1 into 1
35.222 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
35.223 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
35.223 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi2
35.223 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
35.223 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
35.223 * [taylor]: Taking taylor expansion of -0.5 in phi2
35.223 * [backup-simplify]: Simplify -0.5 into -0.5
35.223 * [taylor]: Taking taylor expansion of phi2 in phi2
35.223 * [backup-simplify]: Simplify 0 into 0
35.223 * [backup-simplify]: Simplify 1 into 1
35.223 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
35.223 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
35.223 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi2
35.223 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
35.224 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
35.224 * [taylor]: Taking taylor expansion of -0.5 in phi2
35.224 * [backup-simplify]: Simplify -0.5 into -0.5
35.224 * [taylor]: Taking taylor expansion of phi1 in phi2
35.224 * [backup-simplify]: Simplify phi1 into phi1
35.224 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
35.224 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
35.224 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
35.224 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
35.224 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
35.224 * [taylor]: Taking taylor expansion of -0.5 in phi2
35.224 * [backup-simplify]: Simplify -0.5 into -0.5
35.224 * [taylor]: Taking taylor expansion of phi1 in phi2
35.224 * [backup-simplify]: Simplify phi1 into phi1
35.224 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
35.224 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
35.224 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
35.224 * [taylor]: Taking taylor expansion of (* R phi2) in phi2
35.224 * [taylor]: Taking taylor expansion of R in phi2
35.224 * [backup-simplify]: Simplify R into R
35.224 * [taylor]: Taking taylor expansion of phi2 in phi2
35.224 * [backup-simplify]: Simplify 0 into 0
35.225 * [backup-simplify]: Simplify 1 into 1
35.225 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
35.225 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
35.225 * [backup-simplify]: Simplify (- 0) into 0
35.225 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
35.225 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
35.226 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
35.226 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
35.226 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
35.226 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
35.226 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
35.226 * [backup-simplify]: Simplify (* R 0) into 0
35.227 * [backup-simplify]: Simplify (+ (* R 1) (* 0 0)) into R
35.227 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) into (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R)
35.227 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) in phi2
35.227 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) in phi2
35.228 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3) in phi2
35.228 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in phi2
35.228 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi2
35.228 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi2
35.228 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2
35.228 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
35.228 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
35.228 * [taylor]: Taking taylor expansion of -0.5 in phi2
35.228 * [backup-simplify]: Simplify -0.5 into -0.5
35.228 * [taylor]: Taking taylor expansion of phi2 in phi2
35.228 * [backup-simplify]: Simplify 0 into 0
35.228 * [backup-simplify]: Simplify 1 into 1
35.228 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
35.229 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
35.229 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2
35.229 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
35.229 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
35.229 * [taylor]: Taking taylor expansion of -0.5 in phi2
35.229 * [backup-simplify]: Simplify -0.5 into -0.5
35.229 * [taylor]: Taking taylor expansion of phi1 in phi2
35.229 * [backup-simplify]: Simplify phi1 into phi1
35.229 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
35.229 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
35.229 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
35.229 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
35.229 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
35.230 * [backup-simplify]: Simplify (- 0) into 0
35.230 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
35.230 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi2
35.230 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2
35.230 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
35.230 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
35.230 * [taylor]: Taking taylor expansion of -0.5 in phi2
35.230 * [backup-simplify]: Simplify -0.5 into -0.5
35.230 * [taylor]: Taking taylor expansion of phi2 in phi2
35.230 * [backup-simplify]: Simplify 0 into 0
35.230 * [backup-simplify]: Simplify 1 into 1
35.231 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
35.231 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
35.231 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2
35.231 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
35.231 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
35.231 * [taylor]: Taking taylor expansion of -0.5 in phi2
35.231 * [backup-simplify]: Simplify -0.5 into -0.5
35.231 * [taylor]: Taking taylor expansion of phi1 in phi2
35.231 * [backup-simplify]: Simplify phi1 into phi1
35.231 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
35.231 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
35.231 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
35.231 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
35.231 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
35.231 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
35.232 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in phi2
35.232 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi2
35.232 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
35.232 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
35.232 * [taylor]: Taking taylor expansion of -0.5 in phi2
35.232 * [backup-simplify]: Simplify -0.5 into -0.5
35.232 * [taylor]: Taking taylor expansion of phi2 in phi2
35.232 * [backup-simplify]: Simplify 0 into 0
35.232 * [backup-simplify]: Simplify 1 into 1
35.232 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
35.232 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
35.232 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi2
35.232 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
35.233 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
35.233 * [taylor]: Taking taylor expansion of -0.5 in phi2
35.233 * [backup-simplify]: Simplify -0.5 into -0.5
35.233 * [taylor]: Taking taylor expansion of phi2 in phi2
35.233 * [backup-simplify]: Simplify 0 into 0
35.233 * [backup-simplify]: Simplify 1 into 1
35.233 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
35.233 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
35.233 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi2
35.233 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
35.233 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
35.233 * [taylor]: Taking taylor expansion of -0.5 in phi2
35.233 * [backup-simplify]: Simplify -0.5 into -0.5
35.233 * [taylor]: Taking taylor expansion of phi1 in phi2
35.233 * [backup-simplify]: Simplify phi1 into phi1
35.234 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
35.234 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
35.234 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
35.234 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
35.234 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
35.234 * [taylor]: Taking taylor expansion of -0.5 in phi2
35.234 * [backup-simplify]: Simplify -0.5 into -0.5
35.234 * [taylor]: Taking taylor expansion of phi1 in phi2
35.234 * [backup-simplify]: Simplify phi1 into phi1
35.234 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
35.234 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
35.234 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
35.234 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi2
35.234 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
35.234 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
35.234 * [taylor]: Taking taylor expansion of -0.5 in phi2
35.234 * [backup-simplify]: Simplify -0.5 into -0.5
35.234 * [taylor]: Taking taylor expansion of phi2 in phi2
35.234 * [backup-simplify]: Simplify 0 into 0
35.234 * [backup-simplify]: Simplify 1 into 1
35.235 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
35.235 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
35.235 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi2
35.235 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
35.235 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
35.235 * [taylor]: Taking taylor expansion of -0.5 in phi2
35.235 * [backup-simplify]: Simplify -0.5 into -0.5
35.235 * [taylor]: Taking taylor expansion of phi2 in phi2
35.235 * [backup-simplify]: Simplify 0 into 0
35.235 * [backup-simplify]: Simplify 1 into 1
35.236 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
35.236 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
35.236 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi2
35.236 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
35.236 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
35.236 * [taylor]: Taking taylor expansion of -0.5 in phi2
35.236 * [backup-simplify]: Simplify -0.5 into -0.5
35.236 * [taylor]: Taking taylor expansion of phi1 in phi2
35.236 * [backup-simplify]: Simplify phi1 into phi1
35.236 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
35.236 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
35.236 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
35.236 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
35.236 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
35.236 * [taylor]: Taking taylor expansion of -0.5 in phi2
35.236 * [backup-simplify]: Simplify -0.5 into -0.5
35.236 * [taylor]: Taking taylor expansion of phi1 in phi2
35.236 * [backup-simplify]: Simplify phi1 into phi1
35.237 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
35.237 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
35.237 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
35.237 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
35.237 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
35.238 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
35.238 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
35.238 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
35.238 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
35.239 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
35.239 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
35.239 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
35.240 * [backup-simplify]: Simplify (- 0) into 0
35.240 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
35.240 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
35.240 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
35.240 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
35.240 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
35.241 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
35.241 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
35.241 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
35.241 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
35.242 * [backup-simplify]: Simplify (- 0) into 0
35.242 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
35.242 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
35.242 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
35.242 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
35.242 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
35.243 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
35.243 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
35.244 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
35.245 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
35.246 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
35.250 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)
35.254 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)
35.256 * [backup-simplify]: Simplify (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) into (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))
35.258 * [backup-simplify]: Simplify (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) into (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))
35.264 * [backup-simplify]: Simplify (+ 0) into 0
35.265 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
35.265 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
35.265 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
35.265 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
35.266 * [backup-simplify]: Simplify (- 0) into 0
35.266 * [backup-simplify]: Simplify (+ 0 0) into 0
35.266 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
35.266 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
35.266 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
35.267 * [backup-simplify]: Simplify (+ 0) into 0
35.267 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
35.267 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
35.268 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
35.268 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
35.268 * [backup-simplify]: Simplify (+ 0 0) into 0
35.268 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
35.268 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
35.269 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
35.269 * [backup-simplify]: Simplify (+ 0 0) into 0
35.269 * [backup-simplify]: Simplify (+ 0) into 0
35.269 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
35.269 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
35.270 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
35.270 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
35.270 * [backup-simplify]: Simplify (+ 0 0) into 0
35.271 * [backup-simplify]: Simplify (+ 0) into 0
35.271 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
35.271 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
35.272 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
35.272 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
35.272 * [backup-simplify]: Simplify (- 0) into 0
35.272 * [backup-simplify]: Simplify (+ 0 0) into 0
35.272 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
35.273 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
35.273 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
35.273 * [backup-simplify]: Simplify (+ 0) into 0
35.273 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
35.273 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
35.274 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
35.274 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
35.274 * [backup-simplify]: Simplify (+ 0 0) into 0
35.275 * [backup-simplify]: Simplify (+ 0) into 0
35.275 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
35.275 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
35.276 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
35.276 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
35.276 * [backup-simplify]: Simplify (- 0) into 0
35.276 * [backup-simplify]: Simplify (+ 0 0) into 0
35.276 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
35.277 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
35.277 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
35.277 * [backup-simplify]: Simplify (+ 0 0) into 0
35.277 * [backup-simplify]: Simplify (- 0) into 0
35.277 * [backup-simplify]: Simplify (+ 0 0) into 0
35.279 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into 0
35.281 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2))) into 0
35.284 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
35.285 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
35.286 * [backup-simplify]: Simplify (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) into (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))
35.288 * [backup-simplify]: Simplify (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R)) into (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))
35.292 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))
35.295 * [backup-simplify]: Simplify (* (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) into (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))
35.298 * [backup-simplify]: Simplify (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))
35.301 * [backup-simplify]: Simplify (- (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))) into (- (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))))
35.311 * [backup-simplify]: Simplify (+ (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (- (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))))) into (- (+ (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R)) (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))))
35.311 * [taylor]: Taking taylor expansion of (- (+ (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R)) (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))) in R
35.311 * [taylor]: Taking taylor expansion of (+ (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R)) (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) in R
35.311 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R)) in R
35.311 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) in R
35.311 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) in R
35.311 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3) in R
35.312 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in R
35.312 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in R
35.312 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in R
35.312 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in R
35.312 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in R
35.312 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R
35.312 * [taylor]: Taking taylor expansion of -0.5 in R
35.312 * [backup-simplify]: Simplify -0.5 into -0.5
35.312 * [taylor]: Taking taylor expansion of phi2 in R
35.312 * [backup-simplify]: Simplify phi2 into phi2
35.312 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
35.312 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
35.312 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
35.312 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
35.312 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
35.313 * [backup-simplify]: Simplify (- 0) into 0
35.313 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
35.313 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in R
35.313 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in R
35.313 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R
35.313 * [taylor]: Taking taylor expansion of -0.5 in R
35.313 * [backup-simplify]: Simplify -0.5 into -0.5
35.313 * [taylor]: Taking taylor expansion of phi1 in R
35.313 * [backup-simplify]: Simplify phi1 into phi1
35.313 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
35.313 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
35.314 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
35.314 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
35.314 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
35.314 * [backup-simplify]: Simplify (- 0) into 0
35.314 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
35.314 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in R
35.314 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in R
35.314 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in R
35.314 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R
35.314 * [taylor]: Taking taylor expansion of -0.5 in R
35.314 * [backup-simplify]: Simplify -0.5 into -0.5
35.315 * [taylor]: Taking taylor expansion of phi2 in R
35.315 * [backup-simplify]: Simplify phi2 into phi2
35.315 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
35.315 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
35.315 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
35.315 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
35.315 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
35.315 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
35.315 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in R
35.315 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in R
35.315 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R
35.315 * [taylor]: Taking taylor expansion of -0.5 in R
35.315 * [backup-simplify]: Simplify -0.5 into -0.5
35.315 * [taylor]: Taking taylor expansion of phi1 in R
35.315 * [backup-simplify]: Simplify phi1 into phi1
35.315 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
35.316 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
35.316 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
35.316 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
35.316 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
35.316 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
35.316 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in R
35.316 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in R
35.316 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in R
35.316 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R
35.316 * [taylor]: Taking taylor expansion of -0.5 in R
35.316 * [backup-simplify]: Simplify -0.5 into -0.5
35.316 * [taylor]: Taking taylor expansion of phi2 in R
35.316 * [backup-simplify]: Simplify phi2 into phi2
35.316 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
35.316 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
35.316 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
35.317 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in R
35.317 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in R
35.317 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R
35.317 * [taylor]: Taking taylor expansion of -0.5 in R
35.317 * [backup-simplify]: Simplify -0.5 into -0.5
35.317 * [taylor]: Taking taylor expansion of phi2 in R
35.317 * [backup-simplify]: Simplify phi2 into phi2
35.317 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
35.317 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
35.317 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
35.317 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in R
35.317 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in R
35.317 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R
35.317 * [taylor]: Taking taylor expansion of -0.5 in R
35.317 * [backup-simplify]: Simplify -0.5 into -0.5
35.317 * [taylor]: Taking taylor expansion of phi1 in R
35.317 * [backup-simplify]: Simplify phi1 into phi1
35.317 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
35.317 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
35.317 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
35.317 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in R
35.317 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R
35.318 * [taylor]: Taking taylor expansion of -0.5 in R
35.318 * [backup-simplify]: Simplify -0.5 into -0.5
35.318 * [taylor]: Taking taylor expansion of phi1 in R
35.318 * [backup-simplify]: Simplify phi1 into phi1
35.318 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
35.318 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
35.318 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
35.318 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in R
35.318 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in R
35.318 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R
35.318 * [taylor]: Taking taylor expansion of -0.5 in R
35.318 * [backup-simplify]: Simplify -0.5 into -0.5
35.318 * [taylor]: Taking taylor expansion of phi2 in R
35.318 * [backup-simplify]: Simplify phi2 into phi2
35.318 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
35.318 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
35.318 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
35.318 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in R
35.318 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in R
35.318 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R
35.318 * [taylor]: Taking taylor expansion of -0.5 in R
35.318 * [backup-simplify]: Simplify -0.5 into -0.5
35.319 * [taylor]: Taking taylor expansion of phi2 in R
35.319 * [backup-simplify]: Simplify phi2 into phi2
35.319 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
35.319 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
35.319 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
35.319 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in R
35.319 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in R
35.319 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R
35.319 * [taylor]: Taking taylor expansion of -0.5 in R
35.319 * [backup-simplify]: Simplify -0.5 into -0.5
35.319 * [taylor]: Taking taylor expansion of phi1 in R
35.319 * [backup-simplify]: Simplify phi1 into phi1
35.319 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
35.319 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
35.319 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
35.319 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in R
35.319 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R
35.319 * [taylor]: Taking taylor expansion of -0.5 in R
35.319 * [backup-simplify]: Simplify -0.5 into -0.5
35.319 * [taylor]: Taking taylor expansion of phi1 in R
35.319 * [backup-simplify]: Simplify phi1 into phi1
35.319 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
35.320 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
35.320 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
35.320 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
35.320 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
35.320 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
35.321 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
35.321 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
35.321 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
35.322 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
35.322 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
35.323 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
35.323 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
35.323 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
35.323 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
35.323 * [backup-simplify]: Simplify (- 0) into 0
35.324 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
35.324 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
35.324 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
35.324 * [backup-simplify]: Simplify (- 0) into 0
35.324 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
35.324 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
35.325 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
35.325 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
35.325 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
35.325 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
35.325 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
35.326 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
35.326 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
35.326 * [backup-simplify]: Simplify (- 0) into 0
35.326 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
35.326 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
35.326 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
35.327 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
35.327 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
35.327 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
35.327 * [backup-simplify]: Simplify (- 0) into 0
35.327 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
35.327 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
35.328 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
35.328 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
35.328 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
35.328 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
35.328 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
35.329 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
35.330 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
35.332 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
35.336 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)
35.340 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)
35.342 * [backup-simplify]: Simplify (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) into (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))
35.344 * [backup-simplify]: Simplify (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) into (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))
35.345 * [backup-simplify]: Simplify (+ 0) into 0
35.346 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
35.346 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
35.347 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
35.347 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
35.347 * [backup-simplify]: Simplify (- 0) into 0
35.348 * [backup-simplify]: Simplify (+ 0 0) into 0
35.348 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
35.348 * [backup-simplify]: Simplify (+ 0) into 0
35.349 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
35.349 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
35.350 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
35.350 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
35.351 * [backup-simplify]: Simplify (- 0) into 0
35.351 * [backup-simplify]: Simplify (+ 0 0) into 0
35.351 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
35.352 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
35.352 * [backup-simplify]: Simplify (+ 0) into 0
35.353 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
35.353 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
35.354 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
35.354 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
35.354 * [backup-simplify]: Simplify (+ 0 0) into 0
35.354 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
35.354 * [backup-simplify]: Simplify (+ 0) into 0
35.355 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
35.355 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
35.355 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
35.356 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
35.356 * [backup-simplify]: Simplify (+ 0 0) into 0
35.356 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
35.356 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
35.356 * [backup-simplify]: Simplify (+ 0 0) into 0
35.357 * [backup-simplify]: Simplify (+ 0) into 0
35.357 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
35.357 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
35.358 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
35.358 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
35.358 * [backup-simplify]: Simplify (+ 0 0) into 0
35.358 * [backup-simplify]: Simplify (+ 0) into 0
35.359 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
35.359 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
35.359 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
35.360 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
35.360 * [backup-simplify]: Simplify (- 0) into 0
35.360 * [backup-simplify]: Simplify (+ 0 0) into 0
35.360 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
35.360 * [backup-simplify]: Simplify (+ 0) into 0
35.361 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
35.361 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
35.361 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
35.362 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
35.362 * [backup-simplify]: Simplify (- 0) into 0
35.362 * [backup-simplify]: Simplify (+ 0 0) into 0
35.362 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
35.363 * [backup-simplify]: Simplify (+ 0) into 0
35.363 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
35.363 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
35.364 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
35.364 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
35.364 * [backup-simplify]: Simplify (+ 0 0) into 0
35.364 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
35.365 * [backup-simplify]: Simplify (+ 0) into 0
35.365 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
35.365 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
35.365 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
35.366 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
35.366 * [backup-simplify]: Simplify (+ 0 0) into 0
35.366 * [backup-simplify]: Simplify (+ 0) into 0
35.367 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
35.367 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
35.367 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
35.368 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
35.368 * [backup-simplify]: Simplify (- 0) into 0
35.368 * [backup-simplify]: Simplify (+ 0 0) into 0
35.368 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
35.368 * [backup-simplify]: Simplify (+ 0) into 0
35.369 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
35.369 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
35.369 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
35.370 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
35.370 * [backup-simplify]: Simplify (+ 0 0) into 0
35.370 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
35.370 * [backup-simplify]: Simplify (+ 0) into 0
35.371 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
35.371 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
35.371 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
35.371 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
35.372 * [backup-simplify]: Simplify (- 0) into 0
35.372 * [backup-simplify]: Simplify (+ 0 0) into 0
35.372 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
35.373 * [backup-simplify]: Simplify (+ 0 0) into 0
35.373 * [backup-simplify]: Simplify (- 0) into 0
35.373 * [backup-simplify]: Simplify (+ 0 0) into 0
35.375 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into 0
35.377 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2))) into 0
35.379 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
35.381 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
35.381 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R) in R
35.381 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in R
35.381 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in R
35.381 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in R
35.381 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R
35.381 * [taylor]: Taking taylor expansion of -0.5 in R
35.381 * [backup-simplify]: Simplify -0.5 into -0.5
35.381 * [taylor]: Taking taylor expansion of phi2 in R
35.381 * [backup-simplify]: Simplify phi2 into phi2
35.381 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
35.381 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
35.381 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
35.381 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
35.381 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
35.381 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
35.381 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in R
35.381 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in R
35.381 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R
35.381 * [taylor]: Taking taylor expansion of -0.5 in R
35.382 * [backup-simplify]: Simplify -0.5 into -0.5
35.382 * [taylor]: Taking taylor expansion of phi1 in R
35.382 * [backup-simplify]: Simplify phi1 into phi1
35.382 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
35.382 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
35.382 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
35.382 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
35.382 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
35.382 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
35.382 * [taylor]: Taking taylor expansion of R in R
35.382 * [backup-simplify]: Simplify 0 into 0
35.382 * [backup-simplify]: Simplify 1 into 1
35.382 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
35.382 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
35.383 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
35.383 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) 1) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
35.383 * [taylor]: Taking taylor expansion of (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) in R
35.383 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) in R
35.383 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in R
35.383 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in R
35.383 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in R
35.383 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R
35.383 * [taylor]: Taking taylor expansion of -0.5 in R
35.383 * [backup-simplify]: Simplify -0.5 into -0.5
35.383 * [taylor]: Taking taylor expansion of phi2 in R
35.383 * [backup-simplify]: Simplify phi2 into phi2
35.383 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
35.384 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
35.384 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
35.384 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
35.384 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
35.384 * [backup-simplify]: Simplify (- 0) into 0
35.385 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
35.385 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in R
35.385 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in R
35.385 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R
35.385 * [taylor]: Taking taylor expansion of -0.5 in R
35.385 * [backup-simplify]: Simplify -0.5 into -0.5
35.385 * [taylor]: Taking taylor expansion of phi1 in R
35.385 * [backup-simplify]: Simplify phi1 into phi1
35.385 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
35.385 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
35.385 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
35.385 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
35.385 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
35.386 * [backup-simplify]: Simplify (- 0) into 0
35.386 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
35.386 * [taylor]: Taking taylor expansion of R in R
35.386 * [backup-simplify]: Simplify 0 into 0
35.386 * [backup-simplify]: Simplify 1 into 1
35.386 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
35.386 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
35.386 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
35.387 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) 1) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
35.387 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) in R
35.387 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) in R
35.387 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3) in R
35.387 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in R
35.387 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in R
35.387 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in R
35.387 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in R
35.387 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in R
35.387 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R
35.387 * [taylor]: Taking taylor expansion of -0.5 in R
35.387 * [backup-simplify]: Simplify -0.5 into -0.5
35.387 * [taylor]: Taking taylor expansion of phi2 in R
35.387 * [backup-simplify]: Simplify phi2 into phi2
35.387 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
35.387 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
35.387 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
35.388 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
35.388 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
35.388 * [backup-simplify]: Simplify (- 0) into 0
35.388 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
35.388 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in R
35.388 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in R
35.388 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R
35.388 * [taylor]: Taking taylor expansion of -0.5 in R
35.388 * [backup-simplify]: Simplify -0.5 into -0.5
35.388 * [taylor]: Taking taylor expansion of phi1 in R
35.388 * [backup-simplify]: Simplify phi1 into phi1
35.388 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
35.389 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
35.389 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
35.389 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
35.389 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
35.389 * [backup-simplify]: Simplify (- 0) into 0
35.389 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
35.389 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in R
35.389 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in R
35.389 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in R
35.389 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R
35.389 * [taylor]: Taking taylor expansion of -0.5 in R
35.389 * [backup-simplify]: Simplify -0.5 into -0.5
35.389 * [taylor]: Taking taylor expansion of phi2 in R
35.389 * [backup-simplify]: Simplify phi2 into phi2
35.390 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
35.390 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
35.390 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
35.390 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
35.390 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
35.390 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
35.390 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in R
35.390 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in R
35.390 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R
35.390 * [taylor]: Taking taylor expansion of -0.5 in R
35.390 * [backup-simplify]: Simplify -0.5 into -0.5
35.390 * [taylor]: Taking taylor expansion of phi1 in R
35.390 * [backup-simplify]: Simplify phi1 into phi1
35.390 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
35.390 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
35.390 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
35.390 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
35.391 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
35.391 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
35.391 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in R
35.391 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in R
35.391 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in R
35.391 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R
35.391 * [taylor]: Taking taylor expansion of -0.5 in R
35.391 * [backup-simplify]: Simplify -0.5 into -0.5
35.391 * [taylor]: Taking taylor expansion of phi2 in R
35.391 * [backup-simplify]: Simplify phi2 into phi2
35.391 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
35.391 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
35.391 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
35.391 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in R
35.391 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in R
35.391 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R
35.391 * [taylor]: Taking taylor expansion of -0.5 in R
35.391 * [backup-simplify]: Simplify -0.5 into -0.5
35.391 * [taylor]: Taking taylor expansion of phi2 in R
35.391 * [backup-simplify]: Simplify phi2 into phi2
35.391 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
35.391 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
35.391 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
35.392 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in R
35.392 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in R
35.392 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R
35.392 * [taylor]: Taking taylor expansion of -0.5 in R
35.392 * [backup-simplify]: Simplify -0.5 into -0.5
35.392 * [taylor]: Taking taylor expansion of phi1 in R
35.392 * [backup-simplify]: Simplify phi1 into phi1
35.392 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
35.392 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
35.392 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
35.392 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in R
35.392 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R
35.392 * [taylor]: Taking taylor expansion of -0.5 in R
35.392 * [backup-simplify]: Simplify -0.5 into -0.5
35.392 * [taylor]: Taking taylor expansion of phi1 in R
35.392 * [backup-simplify]: Simplify phi1 into phi1
35.392 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
35.392 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
35.392 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
35.392 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in R
35.392 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in R
35.392 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R
35.392 * [taylor]: Taking taylor expansion of -0.5 in R
35.392 * [backup-simplify]: Simplify -0.5 into -0.5
35.392 * [taylor]: Taking taylor expansion of phi2 in R
35.392 * [backup-simplify]: Simplify phi2 into phi2
35.392 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
35.393 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
35.393 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
35.393 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in R
35.393 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in R
35.393 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R
35.393 * [taylor]: Taking taylor expansion of -0.5 in R
35.393 * [backup-simplify]: Simplify -0.5 into -0.5
35.393 * [taylor]: Taking taylor expansion of phi2 in R
35.393 * [backup-simplify]: Simplify phi2 into phi2
35.393 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
35.393 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
35.393 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
35.393 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in R
35.393 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in R
35.393 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R
35.393 * [taylor]: Taking taylor expansion of -0.5 in R
35.393 * [backup-simplify]: Simplify -0.5 into -0.5
35.393 * [taylor]: Taking taylor expansion of phi1 in R
35.393 * [backup-simplify]: Simplify phi1 into phi1
35.393 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
35.393 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
35.393 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
35.393 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in R
35.393 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R
35.394 * [taylor]: Taking taylor expansion of -0.5 in R
35.394 * [backup-simplify]: Simplify -0.5 into -0.5
35.394 * [taylor]: Taking taylor expansion of phi1 in R
35.394 * [backup-simplify]: Simplify phi1 into phi1
35.394 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
35.394 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
35.394 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
35.394 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
35.394 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
35.394 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
35.395 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
35.395 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
35.395 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
35.396 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
35.396 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
35.396 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
35.396 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
35.396 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
35.396 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
35.397 * [backup-simplify]: Simplify (- 0) into 0
35.397 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
35.397 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
35.397 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
35.405 * [backup-simplify]: Simplify (- 0) into 0
35.405 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
35.405 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
35.405 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
35.405 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
35.405 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
35.406 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
35.406 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
35.406 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
35.406 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
35.410 * [backup-simplify]: Simplify (- 0) into 0
35.410 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
35.410 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
35.410 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
35.410 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
35.411 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
35.411 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
35.411 * [backup-simplify]: Simplify (- 0) into 0
35.411 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
35.411 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
35.412 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
35.412 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
35.412 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
35.412 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
35.412 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
35.413 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
35.414 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
35.416 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
35.420 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)
35.424 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)
35.427 * [backup-simplify]: Simplify (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) into (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))
35.429 * [backup-simplify]: Simplify (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) into (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))
35.430 * [backup-simplify]: Simplify (+ 0) into 0
35.430 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
35.430 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
35.431 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
35.432 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
35.432 * [backup-simplify]: Simplify (- 0) into 0
35.432 * [backup-simplify]: Simplify (+ 0 0) into 0
35.432 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
35.433 * [backup-simplify]: Simplify (+ 0) into 0
35.433 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
35.434 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
35.434 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
35.435 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
35.435 * [backup-simplify]: Simplify (- 0) into 0
35.436 * [backup-simplify]: Simplify (+ 0 0) into 0
35.436 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
35.437 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
35.437 * [backup-simplify]: Simplify (+ 0) into 0
35.438 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
35.438 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
35.439 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
35.440 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
35.440 * [backup-simplify]: Simplify (+ 0 0) into 0
35.440 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
35.441 * [backup-simplify]: Simplify (+ 0) into 0
35.441 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
35.442 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
35.442 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
35.443 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
35.443 * [backup-simplify]: Simplify (+ 0 0) into 0
35.443 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
35.444 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
35.444 * [backup-simplify]: Simplify (+ 0 0) into 0
35.445 * [backup-simplify]: Simplify (+ 0) into 0
35.445 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
35.446 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
35.446 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
35.447 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
35.447 * [backup-simplify]: Simplify (+ 0 0) into 0
35.448 * [backup-simplify]: Simplify (+ 0) into 0
35.448 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
35.448 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
35.449 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
35.450 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
35.450 * [backup-simplify]: Simplify (- 0) into 0
35.450 * [backup-simplify]: Simplify (+ 0 0) into 0
35.451 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
35.451 * [backup-simplify]: Simplify (+ 0) into 0
35.452 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
35.452 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
35.453 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
35.453 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
35.453 * [backup-simplify]: Simplify (- 0) into 0
35.454 * [backup-simplify]: Simplify (+ 0 0) into 0
35.454 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
35.455 * [backup-simplify]: Simplify (+ 0) into 0
35.455 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
35.455 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
35.456 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
35.456 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
35.457 * [backup-simplify]: Simplify (+ 0 0) into 0
35.457 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
35.457 * [backup-simplify]: Simplify (+ 0) into 0
35.458 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
35.458 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
35.459 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
35.459 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
35.460 * [backup-simplify]: Simplify (+ 0 0) into 0
35.460 * [backup-simplify]: Simplify (+ 0) into 0
35.461 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
35.461 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
35.462 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
35.462 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
35.462 * [backup-simplify]: Simplify (- 0) into 0
35.463 * [backup-simplify]: Simplify (+ 0 0) into 0
35.463 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
35.463 * [backup-simplify]: Simplify (+ 0) into 0
35.464 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
35.464 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
35.465 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
35.465 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
35.466 * [backup-simplify]: Simplify (+ 0 0) into 0
35.466 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
35.466 * [backup-simplify]: Simplify (+ 0) into 0
35.467 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
35.467 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
35.468 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
35.468 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
35.469 * [backup-simplify]: Simplify (- 0) into 0
35.469 * [backup-simplify]: Simplify (+ 0 0) into 0
35.469 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
35.470 * [backup-simplify]: Simplify (+ 0 0) into 0
35.470 * [backup-simplify]: Simplify (- 0) into 0
35.470 * [backup-simplify]: Simplify (+ 0 0) into 0
35.474 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into 0
35.478 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2))) into 0
35.482 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
35.485 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
35.485 * [taylor]: Taking taylor expansion of (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) in R
35.485 * [taylor]: Taking taylor expansion of 2 in R
35.485 * [backup-simplify]: Simplify 2 into 2
35.485 * [taylor]: Taking taylor expansion of (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) in R
35.486 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) in R
35.486 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in R
35.486 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in R
35.486 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R
35.486 * [taylor]: Taking taylor expansion of -0.5 in R
35.486 * [backup-simplify]: Simplify -0.5 into -0.5
35.486 * [taylor]: Taking taylor expansion of phi2 in R
35.486 * [backup-simplify]: Simplify phi2 into phi2
35.486 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
35.486 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
35.486 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
35.486 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in R
35.486 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in R
35.486 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R
35.486 * [taylor]: Taking taylor expansion of -0.5 in R
35.486 * [backup-simplify]: Simplify -0.5 into -0.5
35.486 * [taylor]: Taking taylor expansion of phi2 in R
35.486 * [backup-simplify]: Simplify phi2 into phi2
35.486 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
35.486 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
35.486 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
35.486 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in R
35.487 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in R
35.487 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R
35.487 * [taylor]: Taking taylor expansion of -0.5 in R
35.487 * [backup-simplify]: Simplify -0.5 into -0.5
35.487 * [taylor]: Taking taylor expansion of phi1 in R
35.487 * [backup-simplify]: Simplify phi1 into phi1
35.487 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
35.487 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
35.487 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
35.487 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in R
35.487 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R
35.487 * [taylor]: Taking taylor expansion of -0.5 in R
35.487 * [backup-simplify]: Simplify -0.5 into -0.5
35.487 * [taylor]: Taking taylor expansion of phi1 in R
35.487 * [backup-simplify]: Simplify phi1 into phi1
35.487 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
35.487 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
35.487 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
35.487 * [taylor]: Taking taylor expansion of R in R
35.487 * [backup-simplify]: Simplify 0 into 0
35.487 * [backup-simplify]: Simplify 1 into 1
35.488 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
35.488 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
35.488 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
35.488 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
35.488 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
35.489 * [backup-simplify]: Simplify (- 0) into 0
35.489 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
35.489 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
35.489 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
35.489 * [backup-simplify]: Simplify (- 0) into 0
35.490 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
35.490 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
35.490 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
35.490 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
35.490 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
35.490 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
35.491 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
35.491 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) 1) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
35.491 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) in R
35.491 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) in R
35.491 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3) in R
35.491 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in R
35.491 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in R
35.491 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in R
35.491 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in R
35.491 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in R
35.491 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R
35.491 * [taylor]: Taking taylor expansion of -0.5 in R
35.491 * [backup-simplify]: Simplify -0.5 into -0.5
35.492 * [taylor]: Taking taylor expansion of phi2 in R
35.492 * [backup-simplify]: Simplify phi2 into phi2
35.492 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
35.492 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
35.492 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
35.492 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
35.492 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
35.492 * [backup-simplify]: Simplify (- 0) into 0
35.493 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
35.493 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in R
35.493 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in R
35.493 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R
35.493 * [taylor]: Taking taylor expansion of -0.5 in R
35.493 * [backup-simplify]: Simplify -0.5 into -0.5
35.493 * [taylor]: Taking taylor expansion of phi1 in R
35.493 * [backup-simplify]: Simplify phi1 into phi1
35.493 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
35.493 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
35.493 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
35.493 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
35.493 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
35.494 * [backup-simplify]: Simplify (- 0) into 0
35.494 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
35.494 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in R
35.494 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in R
35.494 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in R
35.494 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R
35.494 * [taylor]: Taking taylor expansion of -0.5 in R
35.494 * [backup-simplify]: Simplify -0.5 into -0.5
35.494 * [taylor]: Taking taylor expansion of phi2 in R
35.494 * [backup-simplify]: Simplify phi2 into phi2
35.494 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
35.494 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
35.494 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
35.494 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
35.495 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
35.495 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
35.495 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in R
35.495 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in R
35.495 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R
35.495 * [taylor]: Taking taylor expansion of -0.5 in R
35.495 * [backup-simplify]: Simplify -0.5 into -0.5
35.495 * [taylor]: Taking taylor expansion of phi1 in R
35.495 * [backup-simplify]: Simplify phi1 into phi1
35.495 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
35.495 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
35.495 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
35.495 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
35.495 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
35.495 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
35.495 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in R
35.496 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in R
35.496 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in R
35.496 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R
35.496 * [taylor]: Taking taylor expansion of -0.5 in R
35.496 * [backup-simplify]: Simplify -0.5 into -0.5
35.496 * [taylor]: Taking taylor expansion of phi2 in R
35.496 * [backup-simplify]: Simplify phi2 into phi2
35.496 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
35.496 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
35.496 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
35.496 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in R
35.496 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in R
35.496 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R
35.496 * [taylor]: Taking taylor expansion of -0.5 in R
35.496 * [backup-simplify]: Simplify -0.5 into -0.5
35.496 * [taylor]: Taking taylor expansion of phi2 in R
35.496 * [backup-simplify]: Simplify phi2 into phi2
35.496 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
35.496 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
35.496 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
35.496 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in R
35.497 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in R
35.497 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R
35.497 * [taylor]: Taking taylor expansion of -0.5 in R
35.497 * [backup-simplify]: Simplify -0.5 into -0.5
35.497 * [taylor]: Taking taylor expansion of phi1 in R
35.497 * [backup-simplify]: Simplify phi1 into phi1
35.497 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
35.497 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
35.497 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
35.497 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in R
35.497 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R
35.497 * [taylor]: Taking taylor expansion of -0.5 in R
35.497 * [backup-simplify]: Simplify -0.5 into -0.5
35.497 * [taylor]: Taking taylor expansion of phi1 in R
35.497 * [backup-simplify]: Simplify phi1 into phi1
35.497 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
35.497 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
35.497 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
35.497 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in R
35.497 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in R
35.497 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R
35.497 * [taylor]: Taking taylor expansion of -0.5 in R
35.498 * [backup-simplify]: Simplify -0.5 into -0.5
35.498 * [taylor]: Taking taylor expansion of phi2 in R
35.498 * [backup-simplify]: Simplify phi2 into phi2
35.498 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
35.498 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
35.498 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
35.498 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in R
35.498 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in R
35.498 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R
35.498 * [taylor]: Taking taylor expansion of -0.5 in R
35.498 * [backup-simplify]: Simplify -0.5 into -0.5
35.498 * [taylor]: Taking taylor expansion of phi2 in R
35.498 * [backup-simplify]: Simplify phi2 into phi2
35.498 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
35.498 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
35.498 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
35.498 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in R
35.498 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in R
35.498 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R
35.498 * [taylor]: Taking taylor expansion of -0.5 in R
35.498 * [backup-simplify]: Simplify -0.5 into -0.5
35.498 * [taylor]: Taking taylor expansion of phi1 in R
35.499 * [backup-simplify]: Simplify phi1 into phi1
35.499 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
35.499 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
35.499 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
35.499 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in R
35.499 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R
35.499 * [taylor]: Taking taylor expansion of -0.5 in R
35.499 * [backup-simplify]: Simplify -0.5 into -0.5
35.499 * [taylor]: Taking taylor expansion of phi1 in R
35.499 * [backup-simplify]: Simplify phi1 into phi1
35.499 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
35.499 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
35.499 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
35.499 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
35.500 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
35.500 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
35.500 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
35.500 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
35.501 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
35.501 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
35.502 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
35.502 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
35.502 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
35.502 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
35.502 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
35.503 * [backup-simplify]: Simplify (- 0) into 0
35.503 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
35.503 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
35.503 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
35.503 * [backup-simplify]: Simplify (- 0) into 0
35.503 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
35.504 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
35.504 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
35.504 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
35.504 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
35.504 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
35.505 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
35.505 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
35.505 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
35.505 * [backup-simplify]: Simplify (- 0) into 0
35.505 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
35.505 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
35.506 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
35.506 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
35.506 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
35.506 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
35.506 * [backup-simplify]: Simplify (- 0) into 0
35.506 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
35.507 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
35.507 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
35.507 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
35.507 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
35.507 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
35.508 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
35.508 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
35.509 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
35.511 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
35.515 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)
35.519 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)
35.521 * [backup-simplify]: Simplify (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) into (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))
35.523 * [backup-simplify]: Simplify (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) into (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))
35.524 * [backup-simplify]: Simplify (+ 0) into 0
35.524 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
35.525 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
35.525 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
35.526 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
35.526 * [backup-simplify]: Simplify (- 0) into 0
35.527 * [backup-simplify]: Simplify (+ 0 0) into 0
35.527 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
35.527 * [backup-simplify]: Simplify (+ 0) into 0
35.528 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
35.528 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
35.529 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
35.529 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
35.530 * [backup-simplify]: Simplify (- 0) into 0
35.530 * [backup-simplify]: Simplify (+ 0 0) into 0
35.530 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
35.531 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
35.531 * [backup-simplify]: Simplify (+ 0) into 0
35.531 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
35.532 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
35.532 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
35.533 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
35.534 * [backup-simplify]: Simplify (+ 0 0) into 0
35.534 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
35.534 * [backup-simplify]: Simplify (+ 0) into 0
35.535 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
35.535 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
35.536 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
35.536 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
35.536 * [backup-simplify]: Simplify (+ 0 0) into 0
35.537 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
35.537 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
35.537 * [backup-simplify]: Simplify (+ 0 0) into 0
35.538 * [backup-simplify]: Simplify (+ 0) into 0
35.538 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
35.539 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
35.539 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
35.540 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
35.540 * [backup-simplify]: Simplify (+ 0 0) into 0
35.540 * [backup-simplify]: Simplify (+ 0) into 0
35.541 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
35.541 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
35.542 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
35.542 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
35.543 * [backup-simplify]: Simplify (- 0) into 0
35.543 * [backup-simplify]: Simplify (+ 0 0) into 0
35.543 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
35.544 * [backup-simplify]: Simplify (+ 0) into 0
35.544 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
35.544 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
35.545 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
35.545 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
35.546 * [backup-simplify]: Simplify (- 0) into 0
35.546 * [backup-simplify]: Simplify (+ 0 0) into 0
35.546 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
35.547 * [backup-simplify]: Simplify (+ 0) into 0
35.547 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
35.547 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
35.548 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
35.549 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
35.549 * [backup-simplify]: Simplify (+ 0 0) into 0
35.549 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
35.550 * [backup-simplify]: Simplify (+ 0) into 0
35.550 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
35.551 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
35.551 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
35.552 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
35.552 * [backup-simplify]: Simplify (+ 0 0) into 0
35.553 * [backup-simplify]: Simplify (+ 0) into 0
35.553 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
35.553 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
35.554 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
35.554 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
35.555 * [backup-simplify]: Simplify (- 0) into 0
35.555 * [backup-simplify]: Simplify (+ 0 0) into 0
35.555 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
35.556 * [backup-simplify]: Simplify (+ 0) into 0
35.556 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
35.556 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
35.557 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
35.558 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
35.558 * [backup-simplify]: Simplify (+ 0 0) into 0
35.558 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
35.559 * [backup-simplify]: Simplify (+ 0) into 0
35.559 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
35.559 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
35.560 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
35.560 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
35.561 * [backup-simplify]: Simplify (- 0) into 0
35.561 * [backup-simplify]: Simplify (+ 0 0) into 0
35.561 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
35.562 * [backup-simplify]: Simplify (+ 0 0) into 0
35.562 * [backup-simplify]: Simplify (- 0) into 0
35.563 * [backup-simplify]: Simplify (+ 0 0) into 0
35.566 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into 0
35.570 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2))) into 0
35.575 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
35.577 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
35.580 * [backup-simplify]: Simplify (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (* (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))
35.583 * [backup-simplify]: Simplify (* (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) into (* (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))
35.594 * [backup-simplify]: Simplify (+ (* (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (* (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into (+ (* (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (* (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))
35.596 * [backup-simplify]: Simplify (* (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) into (* (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))
35.597 * [backup-simplify]: Simplify (* 2 (* (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into (* 2 (* (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))
35.599 * [backup-simplify]: Simplify (- (* 2 (* (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))) into (- (* 2 (* (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))))
35.603 * [backup-simplify]: Simplify (+ (+ (* (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (* (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (- (* 2 (* (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))))) into (- (+ (* (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (* 2 (* (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))))
35.608 * [backup-simplify]: Simplify (- (+ (* (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (* 2 (* (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))) into (- (+ (* (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (* (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (* 2 (* (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))))
35.610 * [backup-simplify]: Simplify (* (/ 1 (* phi1 (* R phi2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) into (* (/ 1 (* R (* phi1 phi2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))
35.611 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
35.612 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
35.612 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
35.612 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
35.613 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
35.613 * [backup-simplify]: Simplify (- 0) into 0
35.613 * [backup-simplify]: Simplify (+ 0 0) into 0
35.614 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0
35.614 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
35.615 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
35.615 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
35.615 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
35.616 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
35.616 * [backup-simplify]: Simplify (- 0) into 0
35.616 * [backup-simplify]: Simplify (+ 0 0) into 0
35.617 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0
35.617 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0
35.618 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
35.618 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
35.618 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
35.619 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
35.619 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
35.620 * [backup-simplify]: Simplify (+ 0 0) into 0
35.620 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
35.621 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
35.621 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
35.621 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
35.622 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
35.623 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
35.623 * [backup-simplify]: Simplify (+ 0 0) into 0
35.624 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0
35.624 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0
35.625 * [backup-simplify]: Simplify (+ 0 0) into 0
35.626 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
35.627 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
35.627 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
35.628 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
35.628 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
35.629 * [backup-simplify]: Simplify (+ 0 0) into 0
35.630 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
35.631 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
35.631 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
35.632 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
35.632 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
35.633 * [backup-simplify]: Simplify (- 0) into 0
35.633 * [backup-simplify]: Simplify (+ 0 0) into 0
35.634 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
35.635 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
35.636 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
35.636 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
35.637 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
35.637 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
35.638 * [backup-simplify]: Simplify (- 0) into 0
35.638 * [backup-simplify]: Simplify (+ 0 0) into 0
35.641 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
35.642 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
35.643 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
35.643 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
35.644 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
35.645 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
35.646 * [backup-simplify]: Simplify (+ 0 0) into 0
35.646 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into 0
35.647 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
35.648 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
35.648 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
35.649 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
35.650 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
35.650 * [backup-simplify]: Simplify (+ 0 0) into 0
35.651 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
35.652 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
35.652 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
35.653 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
35.653 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
35.654 * [backup-simplify]: Simplify (- 0) into 0
35.654 * [backup-simplify]: Simplify (+ 0 0) into 0
35.654 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
35.655 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
35.656 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
35.656 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
35.657 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
35.658 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
35.658 * [backup-simplify]: Simplify (+ 0 0) into 0
35.659 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
35.660 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
35.660 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
35.661 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
35.661 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
35.662 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
35.662 * [backup-simplify]: Simplify (- 0) into 0
35.663 * [backup-simplify]: Simplify (+ 0 0) into 0
35.663 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into 0
35.664 * [backup-simplify]: Simplify (+ 0 0) into 0
35.664 * [backup-simplify]: Simplify (- 0) into 0
35.664 * [backup-simplify]: Simplify (+ 0 0) into 0
35.670 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (* 0 (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0
35.673 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0
35.674 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
35.675 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
35.675 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
35.676 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
35.676 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
35.677 * [backup-simplify]: Simplify (+ 0 0) into 0
35.678 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
35.678 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
35.678 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
35.679 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
35.680 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
35.680 * [backup-simplify]: Simplify (- 0) into 0
35.680 * [backup-simplify]: Simplify (+ 0 0) into 0
35.681 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
35.682 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
35.682 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
35.683 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
35.683 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
35.684 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
35.684 * [backup-simplify]: Simplify (- 0) into 0
35.684 * [backup-simplify]: Simplify (+ 0 0) into 0
35.685 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
35.686 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
35.686 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
35.687 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
35.687 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
35.688 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
35.688 * [backup-simplify]: Simplify (+ 0 0) into 0
35.689 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into 0
35.690 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
35.690 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (* 0 1))) into 0
35.691 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) (/ 0 R)) (* 0 (/ 0 R)))) into 0
35.693 * [backup-simplify]: Simplify (+ (* (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) 0) (+ (* 0 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))))) into 0
35.695 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
35.695 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
35.696 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
35.696 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
35.697 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
35.698 * [backup-simplify]: Simplify (- 0) into 0
35.698 * [backup-simplify]: Simplify (+ 0 0) into 0
35.698 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0
35.699 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
35.700 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
35.700 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
35.701 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
35.702 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
35.703 * [backup-simplify]: Simplify (- 0) into 0
35.703 * [backup-simplify]: Simplify (+ 0 0) into 0
35.704 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0
35.705 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0
35.706 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
35.707 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
35.707 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
35.708 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
35.708 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
35.709 * [backup-simplify]: Simplify (+ 0 0) into 0
35.709 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
35.710 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
35.711 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
35.711 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
35.712 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
35.713 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
35.713 * [backup-simplify]: Simplify (+ 0 0) into 0
35.714 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0
35.715 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0
35.715 * [backup-simplify]: Simplify (+ 0 0) into 0
35.716 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
35.717 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
35.717 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
35.718 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
35.719 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
35.720 * [backup-simplify]: Simplify (+ 0 0) into 0
35.720 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
35.721 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
35.722 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
35.722 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
35.723 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
35.723 * [backup-simplify]: Simplify (- 0) into 0
35.724 * [backup-simplify]: Simplify (+ 0 0) into 0
35.724 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
35.732 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
35.733 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
35.733 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
35.734 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
35.735 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
35.735 * [backup-simplify]: Simplify (- 0) into 0
35.736 * [backup-simplify]: Simplify (+ 0 0) into 0
35.736 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
35.737 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
35.738 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
35.738 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
35.739 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
35.739 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
35.740 * [backup-simplify]: Simplify (+ 0 0) into 0
35.740 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into 0
35.741 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
35.742 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
35.742 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
35.743 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
35.743 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
35.744 * [backup-simplify]: Simplify (+ 0 0) into 0
35.745 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
35.745 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
35.746 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
35.746 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
35.747 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
35.747 * [backup-simplify]: Simplify (- 0) into 0
35.748 * [backup-simplify]: Simplify (+ 0 0) into 0
35.748 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
35.749 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
35.750 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
35.750 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
35.751 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
35.752 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
35.752 * [backup-simplify]: Simplify (+ 0 0) into 0
35.753 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
35.753 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
35.754 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
35.754 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
35.755 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
35.756 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
35.756 * [backup-simplify]: Simplify (- 0) into 0
35.757 * [backup-simplify]: Simplify (+ 0 0) into 0
35.757 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into 0
35.758 * [backup-simplify]: Simplify (+ 0 0) into 0
35.758 * [backup-simplify]: Simplify (- 0) into 0
35.758 * [backup-simplify]: Simplify (+ 0 0) into 0
35.762 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) into 0
35.767 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)))) into 0
35.773 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (* 0 (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
35.776 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
35.777 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
35.778 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
35.778 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
35.779 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
35.780 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
35.780 * [backup-simplify]: Simplify (+ 0 0) into 0
35.781 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
35.782 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0
35.783 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
35.783 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
35.784 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
35.784 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
35.785 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
35.785 * [backup-simplify]: Simplify (+ 0 0) into 0
35.786 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0
35.787 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi2)) 2)))) into 0
35.788 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 4) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 4)))) into 0
35.788 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
35.789 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 R))) into 0
35.790 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) R) (/ 0 R)) (* 0 (/ 0 R)))) into 0
35.793 * [backup-simplify]: Simplify (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) R) 0) (+ (* 0 0) (* 0 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))) into 0
35.797 * [backup-simplify]: Simplify (+ (* 1/2 0) (+ (* 0 0) (* 0 (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) R))))) into 0
35.798 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
35.799 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
35.799 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
35.800 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
35.801 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
35.801 * [backup-simplify]: Simplify (- 0) into 0
35.802 * [backup-simplify]: Simplify (+ 0 0) into 0
35.803 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0
35.804 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
35.804 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
35.805 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
35.806 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
35.807 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
35.807 * [backup-simplify]: Simplify (- 0) into 0
35.807 * [backup-simplify]: Simplify (+ 0 0) into 0
35.808 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0
35.809 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0
35.810 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
35.811 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
35.811 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
35.812 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
35.813 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
35.813 * [backup-simplify]: Simplify (+ 0 0) into 0
35.814 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
35.815 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
35.816 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
35.816 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
35.817 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
35.818 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
35.818 * [backup-simplify]: Simplify (+ 0 0) into 0
35.819 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0
35.820 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0
35.820 * [backup-simplify]: Simplify (+ 0 0) into 0
35.821 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
35.822 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
35.822 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
35.822 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
35.823 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
35.823 * [backup-simplify]: Simplify (+ 0 0) into 0
35.824 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
35.824 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
35.824 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
35.825 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
35.826 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
35.826 * [backup-simplify]: Simplify (- 0) into 0
35.826 * [backup-simplify]: Simplify (+ 0 0) into 0
35.826 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
35.827 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
35.827 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
35.828 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
35.828 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
35.828 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
35.829 * [backup-simplify]: Simplify (- 0) into 0
35.829 * [backup-simplify]: Simplify (+ 0 0) into 0
35.830 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
35.832 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
35.833 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
35.833 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
35.834 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
35.834 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
35.834 * [backup-simplify]: Simplify (+ 0 0) into 0
35.835 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into 0
35.835 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
35.836 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
35.836 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
35.837 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
35.837 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
35.837 * [backup-simplify]: Simplify (+ 0 0) into 0
35.838 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
35.838 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
35.839 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
35.839 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
35.839 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
35.840 * [backup-simplify]: Simplify (- 0) into 0
35.840 * [backup-simplify]: Simplify (+ 0 0) into 0
35.840 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
35.841 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
35.841 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
35.841 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
35.842 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
35.842 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
35.842 * [backup-simplify]: Simplify (+ 0 0) into 0
35.843 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
35.843 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
35.844 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
35.844 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
35.844 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
35.845 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
35.845 * [backup-simplify]: Simplify (- 0) into 0
35.845 * [backup-simplify]: Simplify (+ 0 0) into 0
35.846 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into 0
35.846 * [backup-simplify]: Simplify (+ 0 0) into 0
35.846 * [backup-simplify]: Simplify (- 0) into 0
35.846 * [backup-simplify]: Simplify (+ 0 0) into 0
35.848 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) into 0
35.851 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)))) into 0
35.855 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (* 0 (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
35.859 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
35.860 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
35.861 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
35.861 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
35.862 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
35.862 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
35.863 * [backup-simplify]: Simplify (- 0) into 0
35.863 * [backup-simplify]: Simplify (+ 0 0) into 0
35.864 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0
35.865 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0
35.865 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
35.866 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
35.866 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
35.867 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
35.868 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
35.868 * [backup-simplify]: Simplify (- 0) into 0
35.869 * [backup-simplify]: Simplify (+ 0 0) into 0
35.869 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0
35.870 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi2)) 2)))) into 0
35.871 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 4) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 4)))) into 0
35.878 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
35.880 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 R))) into 0
35.880 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) R) (/ 0 R)) (* 0 (/ 0 R)))) into 0
35.884 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) R) 0) (+ (* 0 0) (* 0 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))) into 0
35.887 * [backup-simplify]: Simplify (+ (* 1/2 0) (+ (* 0 0) (* 0 (* (/ (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))))) into 0
35.889 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
35.889 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
35.890 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
35.891 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
35.891 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
35.892 * [backup-simplify]: Simplify (- 0) into 0
35.892 * [backup-simplify]: Simplify (+ 0 0) into 0
35.893 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0
35.893 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
35.894 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
35.894 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
35.895 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
35.896 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
35.896 * [backup-simplify]: Simplify (- 0) into 0
35.897 * [backup-simplify]: Simplify (+ 0 0) into 0
35.897 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0
35.898 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0
35.899 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
35.900 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
35.900 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
35.901 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
35.901 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
35.902 * [backup-simplify]: Simplify (+ 0 0) into 0
35.902 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
35.903 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
35.904 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
35.904 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
35.905 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
35.906 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
35.906 * [backup-simplify]: Simplify (+ 0 0) into 0
35.907 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0
35.908 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0
35.908 * [backup-simplify]: Simplify (+ 0 0) into 0
35.909 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
35.910 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
35.910 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
35.911 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
35.912 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
35.912 * [backup-simplify]: Simplify (+ 0 0) into 0
35.913 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
35.914 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
35.914 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
35.915 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
35.915 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
35.916 * [backup-simplify]: Simplify (- 0) into 0
35.916 * [backup-simplify]: Simplify (+ 0 0) into 0
35.917 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
35.918 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
35.918 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
35.919 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
35.919 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
35.920 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
35.920 * [backup-simplify]: Simplify (- 0) into 0
35.921 * [backup-simplify]: Simplify (+ 0 0) into 0
35.922 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
35.922 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
35.923 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
35.924 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
35.924 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
35.925 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
35.925 * [backup-simplify]: Simplify (+ 0 0) into 0
35.926 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into 0
35.927 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
35.928 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
35.928 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
35.929 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
35.929 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
35.930 * [backup-simplify]: Simplify (+ 0 0) into 0
35.931 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
35.931 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
35.932 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
35.932 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
35.933 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
35.933 * [backup-simplify]: Simplify (- 0) into 0
35.934 * [backup-simplify]: Simplify (+ 0 0) into 0
35.934 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
35.935 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
35.936 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
35.937 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
35.937 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
35.938 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
35.938 * [backup-simplify]: Simplify (+ 0 0) into 0
35.939 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
35.940 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
35.942 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
35.942 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
35.943 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
35.943 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
35.944 * [backup-simplify]: Simplify (- 0) into 0
35.944 * [backup-simplify]: Simplify (+ 0 0) into 0
35.945 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into 0
35.945 * [backup-simplify]: Simplify (+ 0 0) into 0
35.946 * [backup-simplify]: Simplify (- 0) into 0
35.946 * [backup-simplify]: Simplify (+ 0 0) into 0
35.950 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) into 0
35.955 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)))) into 0
35.961 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (* 0 (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
35.965 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
35.966 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
35.966 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
35.967 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
35.967 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
35.968 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
35.968 * [backup-simplify]: Simplify (+ 0 0) into 0
35.969 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
35.970 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
35.970 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
35.971 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
35.971 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
35.972 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
35.972 * [backup-simplify]: Simplify (- 0) into 0
35.973 * [backup-simplify]: Simplify (+ 0 0) into 0
35.973 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0
35.974 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0
35.975 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
35.976 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
35.976 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
35.977 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
35.977 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
35.978 * [backup-simplify]: Simplify (- 0) into 0
35.978 * [backup-simplify]: Simplify (+ 0 0) into 0
35.979 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0
35.980 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2))))) into 0
35.980 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
35.981 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
35.981 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
35.982 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
35.983 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
35.983 * [backup-simplify]: Simplify (+ 0 0) into 0
35.984 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0
35.985 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)))))) into 0
35.986 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
35.987 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (* 0 1))) into 0
35.988 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)))) R) (/ 0 R)) (* 0 (/ 0 R)))) into 0
35.991 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)))) R) 0) (+ (* 0 0) (* 0 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))) into 0
35.996 * [backup-simplify]: Simplify (+ (* 3 0) (+ (* 0 0) (* 0 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)))) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))))) into 0
35.997 * [backup-simplify]: Simplify (+ 0 0) into 0
35.997 * [backup-simplify]: Simplify (+ 0 0) into 0
35.998 * [backup-simplify]: Simplify (+ 0 0) into 0
36.000 * [backup-simplify]: Simplify (+ (* (/ 1 (* R (* phi1 phi2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) 0) into (* (/ 1 (* phi1 (* R phi2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))
36.002 * [backup-simplify]: Simplify (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (/ 1 (* R (pow phi2 2)))) into (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (/ 1 (* R (pow phi2 2))))
36.005 * [backup-simplify]: Simplify (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (/ 1 (* R (pow phi2 2))))) into (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (/ 1 (* R (pow phi2 2)))))
36.006 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
36.007 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
36.007 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
36.008 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
36.009 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
36.009 * [backup-simplify]: Simplify (- 0) into 0
36.009 * [backup-simplify]: Simplify (+ 0 0) into 0
36.010 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0
36.011 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
36.012 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
36.012 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
36.013 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
36.013 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
36.014 * [backup-simplify]: Simplify (- 0) into 0
36.014 * [backup-simplify]: Simplify (+ 0 0) into 0
36.015 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0
36.015 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0
36.016 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
36.017 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
36.017 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
36.018 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
36.019 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
36.019 * [backup-simplify]: Simplify (+ 0 0) into 0
36.020 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
36.020 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
36.021 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
36.021 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
36.022 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
36.023 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
36.023 * [backup-simplify]: Simplify (+ 0 0) into 0
36.024 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0
36.024 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0
36.025 * [backup-simplify]: Simplify (+ 0 0) into 0
36.026 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
36.026 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
36.027 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
36.027 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
36.028 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
36.028 * [backup-simplify]: Simplify (+ 0 0) into 0
36.029 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
36.030 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
36.030 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
36.031 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
36.032 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
36.032 * [backup-simplify]: Simplify (- 0) into 0
36.032 * [backup-simplify]: Simplify (+ 0 0) into 0
36.033 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
36.034 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
36.041 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
36.042 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
36.043 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
36.044 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
36.044 * [backup-simplify]: Simplify (- 0) into 0
36.044 * [backup-simplify]: Simplify (+ 0 0) into 0
36.045 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
36.046 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
36.047 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
36.047 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
36.048 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
36.049 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
36.049 * [backup-simplify]: Simplify (+ 0 0) into 0
36.050 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into 0
36.051 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
36.052 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
36.052 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
36.053 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
36.053 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
36.054 * [backup-simplify]: Simplify (+ 0 0) into 0
36.055 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
36.056 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
36.056 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
36.057 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
36.058 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
36.059 * [backup-simplify]: Simplify (- 0) into 0
36.059 * [backup-simplify]: Simplify (+ 0 0) into 0
36.060 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
36.061 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
36.062 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
36.062 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
36.063 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
36.064 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
36.065 * [backup-simplify]: Simplify (+ 0 0) into 0
36.066 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
36.067 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
36.068 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
36.068 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
36.069 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
36.070 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
36.070 * [backup-simplify]: Simplify (- 0) into 0
36.070 * [backup-simplify]: Simplify (+ 0 0) into 0
36.071 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into 0
36.072 * [backup-simplify]: Simplify (+ 0 0) into 0
36.072 * [backup-simplify]: Simplify (- 0) into 0
36.072 * [backup-simplify]: Simplify (+ 0 0) into 0
36.076 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) into 0
36.081 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)))) into 0
36.087 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (* 0 (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
36.090 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
36.091 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
36.092 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
36.093 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
36.094 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
36.094 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
36.095 * [backup-simplify]: Simplify (+ 0 0) into 0
36.096 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
36.097 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
36.097 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
36.098 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
36.098 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
36.099 * [backup-simplify]: Simplify (- 0) into 0
36.099 * [backup-simplify]: Simplify (+ 0 0) into 0
36.100 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0
36.101 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0
36.102 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi1)) 3) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
36.103 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
36.104 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
36.104 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
36.105 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
36.105 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
36.106 * [backup-simplify]: Simplify (- 0) into 0
36.106 * [backup-simplify]: Simplify (+ 0 0) into 0
36.107 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0
36.108 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi2)) 2)))) into 0
36.109 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 3) 0) (+ (* 0 0) (* 0 (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1)))))) into 0
36.110 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
36.111 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
36.111 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
36.112 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
36.113 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
36.113 * [backup-simplify]: Simplify (+ 0 0) into 0
36.114 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1))))))) into 0
36.115 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
36.116 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (* 0 1))) into 0
36.117 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 3) (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1))))) R) (/ 0 R)) (* 0 (/ 0 R)))) into 0
36.120 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 3) (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1))))) R) 0) (+ (* 0 0) (* 0 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))) into 0
36.125 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (* (/ (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1))))) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))))) into 0
36.126 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
36.127 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
36.127 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
36.128 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
36.129 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
36.129 * [backup-simplify]: Simplify (- 0) into 0
36.129 * [backup-simplify]: Simplify (+ 0 0) into 0
36.130 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0
36.131 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
36.132 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
36.132 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
36.133 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
36.133 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
36.134 * [backup-simplify]: Simplify (- 0) into 0
36.134 * [backup-simplify]: Simplify (+ 0 0) into 0
36.134 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0
36.135 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0
36.136 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
36.137 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
36.137 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
36.138 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
36.138 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
36.139 * [backup-simplify]: Simplify (+ 0 0) into 0
36.139 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
36.140 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
36.141 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
36.141 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
36.142 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
36.143 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
36.143 * [backup-simplify]: Simplify (+ 0 0) into 0
36.143 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0
36.144 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0
36.145 * [backup-simplify]: Simplify (+ 0 0) into 0
36.146 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
36.146 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
36.147 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
36.147 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
36.148 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
36.148 * [backup-simplify]: Simplify (+ 0 0) into 0
36.149 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
36.150 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
36.150 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
36.151 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
36.152 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
36.152 * [backup-simplify]: Simplify (- 0) into 0
36.153 * [backup-simplify]: Simplify (+ 0 0) into 0
36.153 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
36.154 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
36.155 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
36.155 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
36.156 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
36.157 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
36.157 * [backup-simplify]: Simplify (- 0) into 0
36.157 * [backup-simplify]: Simplify (+ 0 0) into 0
36.158 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
36.158 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
36.159 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
36.159 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
36.159 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
36.160 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
36.160 * [backup-simplify]: Simplify (+ 0 0) into 0
36.160 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into 0
36.161 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
36.161 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
36.162 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
36.162 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
36.162 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
36.163 * [backup-simplify]: Simplify (+ 0 0) into 0
36.163 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
36.164 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
36.164 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
36.164 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
36.164 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
36.165 * [backup-simplify]: Simplify (- 0) into 0
36.165 * [backup-simplify]: Simplify (+ 0 0) into 0
36.165 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
36.166 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
36.166 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
36.166 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
36.167 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
36.167 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
36.168 * [backup-simplify]: Simplify (+ 0 0) into 0
36.168 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
36.169 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
36.169 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
36.169 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
36.170 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
36.170 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
36.170 * [backup-simplify]: Simplify (- 0) into 0
36.170 * [backup-simplify]: Simplify (+ 0 0) into 0
36.171 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into 0
36.171 * [backup-simplify]: Simplify (+ 0 0) into 0
36.171 * [backup-simplify]: Simplify (- 0) into 0
36.172 * [backup-simplify]: Simplify (+ 0 0) into 0
36.175 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (* 0 (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0
36.176 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0
36.177 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
36.177 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
36.178 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
36.178 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
36.178 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
36.179 * [backup-simplify]: Simplify (- 0) into 0
36.179 * [backup-simplify]: Simplify (+ 0 0) into 0
36.179 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0
36.180 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
36.180 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
36.180 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
36.181 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
36.181 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
36.181 * [backup-simplify]: Simplify (- 0) into 0
36.182 * [backup-simplify]: Simplify (+ 0 0) into 0
36.182 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0
36.183 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0
36.183 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
36.190 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 R))) into 0
36.191 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) (/ 0 R)) (* 0 (/ 0 R)))) into 0
36.194 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) 0) (+ (* 0 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))))) into 0
36.198 * [backup-simplify]: Simplify (+ (* 1/2 0) (+ (* 0 0) (* 0 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))))) into 0
36.199 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
36.200 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
36.200 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
36.201 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
36.202 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
36.202 * [backup-simplify]: Simplify (- 0) into 0
36.202 * [backup-simplify]: Simplify (+ 0 0) into 0
36.203 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0
36.203 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
36.204 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
36.204 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
36.204 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
36.205 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
36.205 * [backup-simplify]: Simplify (- 0) into 0
36.205 * [backup-simplify]: Simplify (+ 0 0) into 0
36.205 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0
36.206 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0
36.207 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
36.207 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
36.207 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
36.208 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
36.208 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
36.208 * [backup-simplify]: Simplify (+ 0 0) into 0
36.209 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
36.209 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
36.210 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
36.210 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
36.210 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
36.210 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
36.211 * [backup-simplify]: Simplify (+ 0 0) into 0
36.211 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0
36.212 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0
36.212 * [backup-simplify]: Simplify (+ 0 0) into 0
36.212 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
36.213 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
36.213 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
36.214 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
36.214 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
36.214 * [backup-simplify]: Simplify (+ 0 0) into 0
36.215 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
36.215 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
36.215 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
36.216 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
36.216 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
36.217 * [backup-simplify]: Simplify (- 0) into 0
36.217 * [backup-simplify]: Simplify (+ 0 0) into 0
36.217 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
36.218 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
36.218 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
36.219 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
36.219 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
36.219 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
36.220 * [backup-simplify]: Simplify (- 0) into 0
36.220 * [backup-simplify]: Simplify (+ 0 0) into 0
36.220 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
36.221 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
36.221 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
36.221 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
36.222 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
36.222 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
36.222 * [backup-simplify]: Simplify (+ 0 0) into 0
36.223 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into 0
36.223 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
36.224 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
36.224 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
36.224 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
36.225 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
36.225 * [backup-simplify]: Simplify (+ 0 0) into 0
36.226 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
36.226 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
36.226 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
36.227 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
36.227 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
36.227 * [backup-simplify]: Simplify (- 0) into 0
36.228 * [backup-simplify]: Simplify (+ 0 0) into 0
36.228 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
36.228 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
36.229 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
36.229 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
36.230 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
36.230 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
36.231 * [backup-simplify]: Simplify (+ 0 0) into 0
36.231 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
36.232 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
36.233 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
36.233 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
36.234 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
36.235 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
36.235 * [backup-simplify]: Simplify (- 0) into 0
36.235 * [backup-simplify]: Simplify (+ 0 0) into 0
36.236 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into 0
36.237 * [backup-simplify]: Simplify (+ 0 0) into 0
36.237 * [backup-simplify]: Simplify (- 0) into 0
36.237 * [backup-simplify]: Simplify (+ 0 0) into 0
36.242 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) into 0
36.246 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)))) into 0
36.249 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (* 0 (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
36.251 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
36.252 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
36.252 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
36.252 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
36.253 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
36.253 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
36.253 * [backup-simplify]: Simplify (+ 0 0) into 0
36.254 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
36.254 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0
36.255 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
36.255 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
36.255 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
36.256 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
36.256 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
36.257 * [backup-simplify]: Simplify (- 0) into 0
36.257 * [backup-simplify]: Simplify (+ 0 0) into 0
36.257 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 3)))) into 0
36.258 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
36.258 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
36.258 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
36.259 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
36.259 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
36.259 * [backup-simplify]: Simplify (- 0) into 0
36.260 * [backup-simplify]: Simplify (+ 0 0) into 0
36.260 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3))))) into 0
36.261 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
36.261 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
36.261 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
36.262 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
36.262 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
36.262 * [backup-simplify]: Simplify (+ 0 0) into 0
36.263 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0
36.263 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi2)) 2)))) into 0
36.264 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 3) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)))))) into 0
36.264 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
36.265 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (* 0 1))) into 0
36.265 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (cos (/ -0.5 phi2)) (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)))) R) (/ 0 R)) (* 0 (/ 0 R)))) into 0
36.267 * [backup-simplify]: Simplify (+ (* (/ (* (cos (/ -0.5 phi2)) (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)))) R) 0) (+ (* 0 0) (* 0 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))) into 0
36.269 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (* (/ (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)))) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))))) into 0
36.270 * [backup-simplify]: Simplify (* (/ 1 (* (pow phi1 2) R)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) into (* (/ 1 (* R (pow phi1 2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))
36.272 * [backup-simplify]: Simplify (* 1/2 (* (/ 1 (* R (pow phi1 2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into (* 1/2 (* (/ 1 (* R (pow phi1 2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))))
36.272 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
36.273 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
36.273 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
36.273 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
36.274 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
36.274 * [backup-simplify]: Simplify (- 0) into 0
36.274 * [backup-simplify]: Simplify (+ 0 0) into 0
36.275 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0
36.275 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
36.276 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
36.276 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
36.276 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
36.277 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
36.277 * [backup-simplify]: Simplify (- 0) into 0
36.277 * [backup-simplify]: Simplify (+ 0 0) into 0
36.277 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0
36.278 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0
36.279 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
36.280 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
36.280 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
36.281 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
36.281 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
36.282 * [backup-simplify]: Simplify (+ 0 0) into 0
36.282 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
36.283 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
36.284 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
36.284 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
36.285 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
36.285 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
36.286 * [backup-simplify]: Simplify (+ 0 0) into 0
36.286 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0
36.287 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0
36.288 * [backup-simplify]: Simplify (+ 0 0) into 0
36.289 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
36.290 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
36.290 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
36.291 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
36.291 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
36.292 * [backup-simplify]: Simplify (+ 0 0) into 0
36.293 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
36.294 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
36.294 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
36.295 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
36.296 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
36.296 * [backup-simplify]: Simplify (- 0) into 0
36.297 * [backup-simplify]: Simplify (+ 0 0) into 0
36.297 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
36.299 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
36.300 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
36.300 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
36.301 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
36.302 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
36.302 * [backup-simplify]: Simplify (- 0) into 0
36.302 * [backup-simplify]: Simplify (+ 0 0) into 0
36.303 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
36.304 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
36.305 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
36.305 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
36.313 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
36.314 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
36.314 * [backup-simplify]: Simplify (+ 0 0) into 0
36.315 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into 0
36.316 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
36.316 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
36.317 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
36.317 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
36.318 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
36.319 * [backup-simplify]: Simplify (+ 0 0) into 0
36.320 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
36.320 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
36.321 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
36.321 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
36.322 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
36.322 * [backup-simplify]: Simplify (- 0) into 0
36.323 * [backup-simplify]: Simplify (+ 0 0) into 0
36.323 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
36.324 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
36.325 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
36.325 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
36.326 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
36.326 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
36.327 * [backup-simplify]: Simplify (+ 0 0) into 0
36.327 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
36.328 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
36.329 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
36.329 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
36.330 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
36.331 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
36.331 * [backup-simplify]: Simplify (- 0) into 0
36.331 * [backup-simplify]: Simplify (+ 0 0) into 0
36.332 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into 0
36.332 * [backup-simplify]: Simplify (+ 0 0) into 0
36.333 * [backup-simplify]: Simplify (- 0) into 0
36.333 * [backup-simplify]: Simplify (+ 0 0) into 0
36.340 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (* 0 (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0
36.343 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0
36.343 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
36.344 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
36.344 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
36.344 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
36.345 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
36.345 * [backup-simplify]: Simplify (+ 0 0) into 0
36.345 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
36.346 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
36.346 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
36.347 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
36.347 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
36.347 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
36.348 * [backup-simplify]: Simplify (+ 0 0) into 0
36.348 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0
36.348 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0
36.349 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
36.349 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 R))) into 0
36.350 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R) (/ 0 R)) (* 0 (/ 0 R)))) into 0
36.351 * [backup-simplify]: Simplify (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R) 0) (+ (* 0 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))))) into 0
36.353 * [backup-simplify]: Simplify (+ (* 1/2 0) (+ (* 0 0) (* 0 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R))))) into 0
36.354 * [backup-simplify]: Simplify (+ (* 1/2 (* (/ 1 (* R (pow phi1 2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) 0) into (* 1/2 (* (/ 1 (* (pow phi1 2) R)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))))
36.356 * [backup-simplify]: Simplify (+ 0 (* 1/2 (* (/ 1 (* (pow phi1 2) R)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))))) into (* 1/2 (* (/ 1 (* R (pow phi1 2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))))
36.357 * [backup-simplify]: Simplify (+ 0 (* 1/2 (* (/ 1 (* R (pow phi1 2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))))) into (* 1/2 (* (/ 1 (* (pow phi1 2) R)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))))
36.358 * [backup-simplify]: Simplify (+ 0 (* 1/2 (* (/ 1 (* (pow phi1 2) R)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))))) into (* 1/2 (* (/ 1 (* R (pow phi1 2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))))
36.361 * [backup-simplify]: Simplify (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (/ 1 (* R (pow phi2 2))))) (* 1/2 (* (/ 1 (* R (pow phi1 2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))))) into (+ (* 1/2 (* (/ 1 (* (pow phi1 2) R)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (/ 1 (* R (pow phi2 2))))))
36.363 * [backup-simplify]: Simplify (- (+ (* 1/2 (* (/ 1 (* (pow phi1 2) R)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (/ 1 (* R (pow phi2 2))))))) into (- (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (/ 1 (* R (pow phi2 2))))) (* 1/2 (* (/ 1 (* (pow phi1 2) R)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))))))
36.367 * [backup-simplify]: Simplify (+ (* (/ 1 (* phi1 (* R phi2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (- (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (/ 1 (* R (pow phi2 2))))) (* 1/2 (* (/ 1 (* (pow phi1 2) R)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))))))) into (- (* (/ 1 (* R (* phi1 phi2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (+ (* 1/2 (* (/ 1 (* R (pow phi1 2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (/ 1 (* R (pow phi2 2)))))))
36.367 * [taylor]: Taking taylor expansion of (- (* (/ 1 (* R (* phi1 phi2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (+ (* 1/2 (* (/ 1 (* R (pow phi1 2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (/ 1 (* R (pow phi2 2))))))) in phi1
36.367 * [taylor]: Taking taylor expansion of (* (/ 1 (* R (* phi1 phi2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) in phi1
36.367 * [taylor]: Taking taylor expansion of (/ 1 (* R (* phi1 phi2))) in phi1
36.368 * [taylor]: Taking taylor expansion of (* R (* phi1 phi2)) in phi1
36.368 * [taylor]: Taking taylor expansion of R in phi1
36.368 * [backup-simplify]: Simplify R into R
36.368 * [taylor]: Taking taylor expansion of (* phi1 phi2) in phi1
36.368 * [taylor]: Taking taylor expansion of phi1 in phi1
36.368 * [backup-simplify]: Simplify 0 into 0
36.368 * [backup-simplify]: Simplify 1 into 1
36.368 * [taylor]: Taking taylor expansion of phi2 in phi1
36.368 * [backup-simplify]: Simplify phi2 into phi2
36.368 * [backup-simplify]: Simplify (* 0 phi2) into 0
36.368 * [backup-simplify]: Simplify (* R 0) into 0
36.368 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi2)) into phi2
36.368 * [backup-simplify]: Simplify (+ (* R phi2) (* 0 0)) into (* R phi2)
36.368 * [backup-simplify]: Simplify (/ 1 (* R phi2)) into (/ 1 (* R phi2))
36.368 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) in phi1
36.369 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) in phi1
36.369 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in phi1
36.369 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi1
36.369 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi1
36.369 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi1
36.369 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
36.369 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
36.369 * [taylor]: Taking taylor expansion of -0.5 in phi1
36.369 * [backup-simplify]: Simplify -0.5 into -0.5
36.369 * [taylor]: Taking taylor expansion of phi2 in phi1
36.369 * [backup-simplify]: Simplify phi2 into phi2
36.369 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
36.369 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
36.369 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
36.369 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
36.369 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
36.369 * [backup-simplify]: Simplify (- 0) into 0
36.369 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
36.369 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi1
36.369 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
36.369 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
36.369 * [taylor]: Taking taylor expansion of -0.5 in phi1
36.369 * [backup-simplify]: Simplify -0.5 into -0.5
36.369 * [taylor]: Taking taylor expansion of phi1 in phi1
36.369 * [backup-simplify]: Simplify 0 into 0
36.369 * [backup-simplify]: Simplify 1 into 1
36.370 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
36.370 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
36.370 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi1
36.370 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi1
36.370 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
36.370 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
36.370 * [taylor]: Taking taylor expansion of -0.5 in phi1
36.370 * [backup-simplify]: Simplify -0.5 into -0.5
36.370 * [taylor]: Taking taylor expansion of phi2 in phi1
36.370 * [backup-simplify]: Simplify phi2 into phi2
36.370 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
36.370 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
36.370 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
36.370 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
36.370 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
36.370 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
36.370 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi1
36.370 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
36.370 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
36.370 * [taylor]: Taking taylor expansion of -0.5 in phi1
36.370 * [backup-simplify]: Simplify -0.5 into -0.5
36.370 * [taylor]: Taking taylor expansion of phi1 in phi1
36.370 * [backup-simplify]: Simplify 0 into 0
36.370 * [backup-simplify]: Simplify 1 into 1
36.371 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
36.371 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
36.371 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in phi1
36.371 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi1
36.371 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
36.371 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
36.371 * [taylor]: Taking taylor expansion of -0.5 in phi1
36.371 * [backup-simplify]: Simplify -0.5 into -0.5
36.371 * [taylor]: Taking taylor expansion of phi2 in phi1
36.371 * [backup-simplify]: Simplify phi2 into phi2
36.371 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
36.371 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
36.371 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
36.371 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi1
36.371 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
36.371 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
36.371 * [taylor]: Taking taylor expansion of -0.5 in phi1
36.371 * [backup-simplify]: Simplify -0.5 into -0.5
36.371 * [taylor]: Taking taylor expansion of phi2 in phi1
36.371 * [backup-simplify]: Simplify phi2 into phi2
36.371 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
36.371 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
36.371 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
36.371 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi1
36.371 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
36.371 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
36.371 * [taylor]: Taking taylor expansion of -0.5 in phi1
36.371 * [backup-simplify]: Simplify -0.5 into -0.5
36.371 * [taylor]: Taking taylor expansion of phi1 in phi1
36.371 * [backup-simplify]: Simplify 0 into 0
36.371 * [backup-simplify]: Simplify 1 into 1
36.372 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
36.372 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
36.372 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
36.372 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
36.372 * [taylor]: Taking taylor expansion of -0.5 in phi1
36.372 * [backup-simplify]: Simplify -0.5 into -0.5
36.372 * [taylor]: Taking taylor expansion of phi1 in phi1
36.372 * [backup-simplify]: Simplify 0 into 0
36.372 * [backup-simplify]: Simplify 1 into 1
36.372 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
36.372 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
36.372 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi1
36.372 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
36.372 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
36.372 * [taylor]: Taking taylor expansion of -0.5 in phi1
36.372 * [backup-simplify]: Simplify -0.5 into -0.5
36.372 * [taylor]: Taking taylor expansion of phi2 in phi1
36.372 * [backup-simplify]: Simplify phi2 into phi2
36.372 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
36.372 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
36.373 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
36.373 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi1
36.373 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
36.373 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
36.373 * [taylor]: Taking taylor expansion of -0.5 in phi1
36.373 * [backup-simplify]: Simplify -0.5 into -0.5
36.373 * [taylor]: Taking taylor expansion of phi2 in phi1
36.373 * [backup-simplify]: Simplify phi2 into phi2
36.373 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
36.373 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
36.373 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
36.373 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi1
36.373 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
36.373 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
36.373 * [taylor]: Taking taylor expansion of -0.5 in phi1
36.373 * [backup-simplify]: Simplify -0.5 into -0.5
36.373 * [taylor]: Taking taylor expansion of phi1 in phi1
36.373 * [backup-simplify]: Simplify 0 into 0
36.373 * [backup-simplify]: Simplify 1 into 1
36.373 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
36.373 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
36.373 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
36.373 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
36.373 * [taylor]: Taking taylor expansion of -0.5 in phi1
36.373 * [backup-simplify]: Simplify -0.5 into -0.5
36.373 * [taylor]: Taking taylor expansion of phi1 in phi1
36.373 * [backup-simplify]: Simplify 0 into 0
36.374 * [backup-simplify]: Simplify 1 into 1
36.374 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
36.374 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
36.374 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
36.374 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
36.375 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
36.375 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
36.375 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
36.375 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
36.376 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
36.376 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
36.377 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
36.377 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
36.377 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
36.377 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
36.377 * [backup-simplify]: Simplify (- 0) into 0
36.377 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
36.378 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
36.378 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
36.378 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
36.379 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
36.379 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
36.379 * [backup-simplify]: Simplify (- 0) into 0
36.379 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
36.379 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
36.379 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
36.380 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
36.380 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
36.380 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
36.380 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
36.381 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
36.382 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
36.384 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
36.386 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))
36.388 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))
36.388 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
36.389 * [backup-simplify]: Simplify (+ 0) into 0
36.389 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
36.389 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
36.390 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
36.391 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
36.391 * [backup-simplify]: Simplify (- 0) into 0
36.392 * [backup-simplify]: Simplify (+ 0 0) into 0
36.392 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
36.392 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
36.392 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
36.393 * [backup-simplify]: Simplify (+ 0) into 0
36.393 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
36.393 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
36.394 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
36.395 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
36.395 * [backup-simplify]: Simplify (+ 0 0) into 0
36.395 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
36.396 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
36.396 * [backup-simplify]: Simplify (+ 0 0) into 0
36.396 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
36.397 * [backup-simplify]: Simplify (+ 0) into 0
36.397 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
36.397 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
36.398 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
36.399 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
36.399 * [backup-simplify]: Simplify (- 0) into 0
36.399 * [backup-simplify]: Simplify (+ 0 0) into 0
36.400 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
36.400 * [backup-simplify]: Simplify (+ 0) into 0
36.401 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
36.401 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
36.402 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
36.402 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
36.403 * [backup-simplify]: Simplify (+ 0 0) into 0
36.403 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
36.403 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
36.404 * [backup-simplify]: Simplify (+ 0) into 0
36.404 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
36.404 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
36.405 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
36.406 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
36.406 * [backup-simplify]: Simplify (+ 0 0) into 0
36.406 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
36.406 * [backup-simplify]: Simplify (+ 0) into 0
36.407 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
36.407 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
36.407 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
36.407 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
36.408 * [backup-simplify]: Simplify (- 0) into 0
36.408 * [backup-simplify]: Simplify (+ 0 0) into 0
36.408 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
36.408 * [backup-simplify]: Simplify (+ 0 0) into 0
36.408 * [backup-simplify]: Simplify (- 0) into 0
36.409 * [backup-simplify]: Simplify (+ 0 0) into 0
36.411 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0
36.412 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0
36.412 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (/ 1 (* R (pow phi1 2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (/ 1 (* R (pow phi2 2)))))) in phi1
36.412 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ 1 (* R (pow phi1 2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) in phi1
36.412 * [taylor]: Taking taylor expansion of 1/2 in phi1
36.412 * [backup-simplify]: Simplify 1/2 into 1/2
36.412 * [taylor]: Taking taylor expansion of (* (/ 1 (* R (pow phi1 2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) in phi1
36.412 * [taylor]: Taking taylor expansion of (/ 1 (* R (pow phi1 2))) in phi1
36.412 * [taylor]: Taking taylor expansion of (* R (pow phi1 2)) in phi1
36.412 * [taylor]: Taking taylor expansion of R in phi1
36.412 * [backup-simplify]: Simplify R into R
36.412 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1
36.412 * [taylor]: Taking taylor expansion of phi1 in phi1
36.412 * [backup-simplify]: Simplify 0 into 0
36.412 * [backup-simplify]: Simplify 1 into 1
36.412 * [backup-simplify]: Simplify (* 1 1) into 1
36.412 * [backup-simplify]: Simplify (* R 1) into R
36.412 * [backup-simplify]: Simplify (/ 1 R) into (/ 1 R)
36.413 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) in phi1
36.413 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) in phi1
36.413 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in phi1
36.413 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi1
36.413 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi1
36.413 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi1
36.413 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
36.413 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
36.413 * [taylor]: Taking taylor expansion of -0.5 in phi1
36.413 * [backup-simplify]: Simplify -0.5 into -0.5
36.413 * [taylor]: Taking taylor expansion of phi2 in phi1
36.413 * [backup-simplify]: Simplify phi2 into phi2
36.413 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
36.413 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
36.413 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
36.413 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
36.413 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
36.413 * [backup-simplify]: Simplify (- 0) into 0
36.413 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
36.413 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi1
36.413 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
36.413 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
36.413 * [taylor]: Taking taylor expansion of -0.5 in phi1
36.413 * [backup-simplify]: Simplify -0.5 into -0.5
36.413 * [taylor]: Taking taylor expansion of phi1 in phi1
36.413 * [backup-simplify]: Simplify 0 into 0
36.413 * [backup-simplify]: Simplify 1 into 1
36.414 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
36.414 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
36.414 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi1
36.414 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi1
36.414 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
36.414 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
36.414 * [taylor]: Taking taylor expansion of -0.5 in phi1
36.414 * [backup-simplify]: Simplify -0.5 into -0.5
36.414 * [taylor]: Taking taylor expansion of phi2 in phi1
36.414 * [backup-simplify]: Simplify phi2 into phi2
36.414 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
36.414 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
36.414 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
36.414 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
36.414 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
36.414 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
36.414 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi1
36.414 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
36.414 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
36.414 * [taylor]: Taking taylor expansion of -0.5 in phi1
36.414 * [backup-simplify]: Simplify -0.5 into -0.5
36.414 * [taylor]: Taking taylor expansion of phi1 in phi1
36.414 * [backup-simplify]: Simplify 0 into 0
36.414 * [backup-simplify]: Simplify 1 into 1
36.415 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
36.415 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
36.415 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in phi1
36.415 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi1
36.415 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
36.415 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
36.415 * [taylor]: Taking taylor expansion of -0.5 in phi1
36.415 * [backup-simplify]: Simplify -0.5 into -0.5
36.415 * [taylor]: Taking taylor expansion of phi2 in phi1
36.415 * [backup-simplify]: Simplify phi2 into phi2
36.415 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
36.415 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
36.415 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
36.415 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi1
36.415 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
36.415 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
36.415 * [taylor]: Taking taylor expansion of -0.5 in phi1
36.415 * [backup-simplify]: Simplify -0.5 into -0.5
36.415 * [taylor]: Taking taylor expansion of phi2 in phi1
36.415 * [backup-simplify]: Simplify phi2 into phi2
36.415 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
36.415 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
36.415 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
36.415 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi1
36.415 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
36.415 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
36.415 * [taylor]: Taking taylor expansion of -0.5 in phi1
36.415 * [backup-simplify]: Simplify -0.5 into -0.5
36.415 * [taylor]: Taking taylor expansion of phi1 in phi1
36.415 * [backup-simplify]: Simplify 0 into 0
36.415 * [backup-simplify]: Simplify 1 into 1
36.416 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
36.416 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
36.416 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
36.416 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
36.416 * [taylor]: Taking taylor expansion of -0.5 in phi1
36.416 * [backup-simplify]: Simplify -0.5 into -0.5
36.416 * [taylor]: Taking taylor expansion of phi1 in phi1
36.416 * [backup-simplify]: Simplify 0 into 0
36.416 * [backup-simplify]: Simplify 1 into 1
36.416 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
36.416 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
36.416 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi1
36.416 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
36.416 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
36.416 * [taylor]: Taking taylor expansion of -0.5 in phi1
36.416 * [backup-simplify]: Simplify -0.5 into -0.5
36.416 * [taylor]: Taking taylor expansion of phi2 in phi1
36.416 * [backup-simplify]: Simplify phi2 into phi2
36.416 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
36.417 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
36.417 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
36.417 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi1
36.417 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
36.417 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
36.417 * [taylor]: Taking taylor expansion of -0.5 in phi1
36.417 * [backup-simplify]: Simplify -0.5 into -0.5
36.417 * [taylor]: Taking taylor expansion of phi2 in phi1
36.417 * [backup-simplify]: Simplify phi2 into phi2
36.417 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
36.417 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
36.417 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
36.417 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi1
36.417 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
36.417 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
36.417 * [taylor]: Taking taylor expansion of -0.5 in phi1
36.417 * [backup-simplify]: Simplify -0.5 into -0.5
36.417 * [taylor]: Taking taylor expansion of phi1 in phi1
36.417 * [backup-simplify]: Simplify 0 into 0
36.417 * [backup-simplify]: Simplify 1 into 1
36.417 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
36.417 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
36.417 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
36.417 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
36.417 * [taylor]: Taking taylor expansion of -0.5 in phi1
36.417 * [backup-simplify]: Simplify -0.5 into -0.5
36.417 * [taylor]: Taking taylor expansion of phi1 in phi1
36.417 * [backup-simplify]: Simplify 0 into 0
36.417 * [backup-simplify]: Simplify 1 into 1
36.418 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
36.418 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
36.418 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
36.418 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
36.418 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
36.418 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
36.418 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
36.419 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
36.419 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
36.419 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
36.419 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
36.419 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
36.419 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
36.419 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
36.420 * [backup-simplify]: Simplify (- 0) into 0
36.420 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
36.420 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
36.420 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
36.420 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
36.420 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
36.420 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
36.420 * [backup-simplify]: Simplify (- 0) into 0
36.420 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
36.421 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
36.421 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
36.421 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
36.421 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
36.421 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
36.421 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
36.421 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
36.422 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
36.423 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
36.424 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))
36.425 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))
36.425 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
36.425 * [backup-simplify]: Simplify (+ 0) into 0
36.426 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
36.426 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
36.426 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
36.426 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
36.427 * [backup-simplify]: Simplify (- 0) into 0
36.427 * [backup-simplify]: Simplify (+ 0 0) into 0
36.427 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
36.427 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
36.427 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
36.428 * [backup-simplify]: Simplify (+ 0) into 0
36.428 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
36.428 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
36.428 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
36.429 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
36.429 * [backup-simplify]: Simplify (+ 0 0) into 0
36.429 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
36.429 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
36.430 * [backup-simplify]: Simplify (+ 0 0) into 0
36.430 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
36.430 * [backup-simplify]: Simplify (+ 0) into 0
36.430 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
36.430 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
36.431 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
36.431 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
36.431 * [backup-simplify]: Simplify (- 0) into 0
36.432 * [backup-simplify]: Simplify (+ 0 0) into 0
36.432 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
36.432 * [backup-simplify]: Simplify (+ 0) into 0
36.436 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
36.437 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
36.437 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
36.438 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
36.438 * [backup-simplify]: Simplify (+ 0 0) into 0
36.438 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
36.439 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
36.439 * [backup-simplify]: Simplify (+ 0) into 0
36.439 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
36.440 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
36.440 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
36.441 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
36.441 * [backup-simplify]: Simplify (+ 0 0) into 0
36.442 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
36.442 * [backup-simplify]: Simplify (+ 0) into 0
36.442 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
36.443 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
36.443 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
36.444 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
36.444 * [backup-simplify]: Simplify (- 0) into 0
36.445 * [backup-simplify]: Simplify (+ 0 0) into 0
36.445 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
36.445 * [backup-simplify]: Simplify (+ 0 0) into 0
36.446 * [backup-simplify]: Simplify (- 0) into 0
36.446 * [backup-simplify]: Simplify (+ 0 0) into 0
36.450 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0
36.452 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0
36.452 * [taylor]: Taking taylor expansion of (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (/ 1 (* R (pow phi2 2))))) in phi1
36.452 * [taylor]: Taking taylor expansion of 1/2 in phi1
36.452 * [backup-simplify]: Simplify 1/2 into 1/2
36.452 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (/ 1 (* R (pow phi2 2)))) in phi1
36.452 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) in phi1
36.452 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) in phi1
36.453 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in phi1
36.453 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi1
36.453 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi1
36.453 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi1
36.453 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
36.453 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
36.453 * [taylor]: Taking taylor expansion of -0.5 in phi1
36.453 * [backup-simplify]: Simplify -0.5 into -0.5
36.453 * [taylor]: Taking taylor expansion of phi2 in phi1
36.453 * [backup-simplify]: Simplify phi2 into phi2
36.453 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
36.453 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
36.453 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
36.453 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
36.453 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
36.454 * [backup-simplify]: Simplify (- 0) into 0
36.454 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
36.454 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi1
36.454 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
36.454 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
36.454 * [taylor]: Taking taylor expansion of -0.5 in phi1
36.454 * [backup-simplify]: Simplify -0.5 into -0.5
36.454 * [taylor]: Taking taylor expansion of phi1 in phi1
36.454 * [backup-simplify]: Simplify 0 into 0
36.454 * [backup-simplify]: Simplify 1 into 1
36.455 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
36.455 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
36.455 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi1
36.455 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi1
36.455 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
36.455 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
36.455 * [taylor]: Taking taylor expansion of -0.5 in phi1
36.455 * [backup-simplify]: Simplify -0.5 into -0.5
36.455 * [taylor]: Taking taylor expansion of phi2 in phi1
36.455 * [backup-simplify]: Simplify phi2 into phi2
36.455 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
36.455 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
36.455 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
36.455 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
36.455 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
36.456 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
36.456 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi1
36.456 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
36.456 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
36.456 * [taylor]: Taking taylor expansion of -0.5 in phi1
36.456 * [backup-simplify]: Simplify -0.5 into -0.5
36.456 * [taylor]: Taking taylor expansion of phi1 in phi1
36.456 * [backup-simplify]: Simplify 0 into 0
36.456 * [backup-simplify]: Simplify 1 into 1
36.456 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
36.456 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
36.456 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in phi1
36.456 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi1
36.457 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
36.457 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
36.457 * [taylor]: Taking taylor expansion of -0.5 in phi1
36.457 * [backup-simplify]: Simplify -0.5 into -0.5
36.457 * [taylor]: Taking taylor expansion of phi2 in phi1
36.457 * [backup-simplify]: Simplify phi2 into phi2
36.457 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
36.457 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
36.457 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
36.457 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi1
36.457 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
36.457 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
36.457 * [taylor]: Taking taylor expansion of -0.5 in phi1
36.457 * [backup-simplify]: Simplify -0.5 into -0.5
36.457 * [taylor]: Taking taylor expansion of phi2 in phi1
36.457 * [backup-simplify]: Simplify phi2 into phi2
36.457 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
36.457 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
36.457 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
36.457 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi1
36.457 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
36.457 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
36.458 * [taylor]: Taking taylor expansion of -0.5 in phi1
36.458 * [backup-simplify]: Simplify -0.5 into -0.5
36.458 * [taylor]: Taking taylor expansion of phi1 in phi1
36.458 * [backup-simplify]: Simplify 0 into 0
36.458 * [backup-simplify]: Simplify 1 into 1
36.458 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
36.458 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
36.458 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
36.458 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
36.458 * [taylor]: Taking taylor expansion of -0.5 in phi1
36.458 * [backup-simplify]: Simplify -0.5 into -0.5
36.458 * [taylor]: Taking taylor expansion of phi1 in phi1
36.458 * [backup-simplify]: Simplify 0 into 0
36.458 * [backup-simplify]: Simplify 1 into 1
36.459 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
36.459 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
36.459 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi1
36.459 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
36.459 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
36.459 * [taylor]: Taking taylor expansion of -0.5 in phi1
36.459 * [backup-simplify]: Simplify -0.5 into -0.5
36.459 * [taylor]: Taking taylor expansion of phi2 in phi1
36.459 * [backup-simplify]: Simplify phi2 into phi2
36.459 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
36.459 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
36.459 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
36.459 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi1
36.459 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
36.460 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
36.460 * [taylor]: Taking taylor expansion of -0.5 in phi1
36.460 * [backup-simplify]: Simplify -0.5 into -0.5
36.460 * [taylor]: Taking taylor expansion of phi2 in phi1
36.460 * [backup-simplify]: Simplify phi2 into phi2
36.460 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
36.460 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
36.460 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
36.460 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi1
36.460 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
36.460 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
36.460 * [taylor]: Taking taylor expansion of -0.5 in phi1
36.460 * [backup-simplify]: Simplify -0.5 into -0.5
36.460 * [taylor]: Taking taylor expansion of phi1 in phi1
36.460 * [backup-simplify]: Simplify 0 into 0
36.460 * [backup-simplify]: Simplify 1 into 1
36.461 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
36.461 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
36.461 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
36.461 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
36.461 * [taylor]: Taking taylor expansion of -0.5 in phi1
36.461 * [backup-simplify]: Simplify -0.5 into -0.5
36.461 * [taylor]: Taking taylor expansion of phi1 in phi1
36.461 * [backup-simplify]: Simplify 0 into 0
36.461 * [backup-simplify]: Simplify 1 into 1
36.461 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
36.461 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
36.462 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
36.462 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
36.462 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
36.462 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
36.463 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
36.463 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
36.464 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
36.464 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
36.464 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
36.464 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
36.464 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
36.464 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
36.465 * [backup-simplify]: Simplify (- 0) into 0
36.465 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
36.465 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
36.465 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
36.466 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
36.466 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
36.466 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
36.466 * [backup-simplify]: Simplify (- 0) into 0
36.466 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
36.467 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
36.467 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
36.467 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
36.467 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
36.467 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
36.468 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
36.468 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
36.469 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
36.471 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
36.473 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))
36.475 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))
36.475 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
36.476 * [backup-simplify]: Simplify (+ 0) into 0
36.476 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
36.477 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
36.477 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
36.478 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
36.478 * [backup-simplify]: Simplify (- 0) into 0
36.479 * [backup-simplify]: Simplify (+ 0 0) into 0
36.479 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
36.480 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
36.480 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
36.480 * [backup-simplify]: Simplify (+ 0) into 0
36.481 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
36.481 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
36.482 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
36.482 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
36.482 * [backup-simplify]: Simplify (+ 0 0) into 0
36.483 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
36.483 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
36.483 * [backup-simplify]: Simplify (+ 0 0) into 0
36.484 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
36.484 * [backup-simplify]: Simplify (+ 0) into 0
36.484 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
36.485 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
36.485 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
36.486 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
36.486 * [backup-simplify]: Simplify (- 0) into 0
36.487 * [backup-simplify]: Simplify (+ 0 0) into 0
36.487 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
36.487 * [backup-simplify]: Simplify (+ 0) into 0
36.488 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
36.488 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
36.489 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
36.489 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
36.489 * [backup-simplify]: Simplify (+ 0 0) into 0
36.490 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
36.490 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
36.490 * [backup-simplify]: Simplify (+ 0) into 0
36.490 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
36.490 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
36.491 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
36.491 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
36.491 * [backup-simplify]: Simplify (+ 0 0) into 0
36.492 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
36.492 * [backup-simplify]: Simplify (+ 0) into 0
36.492 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
36.492 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
36.493 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
36.493 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
36.493 * [backup-simplify]: Simplify (- 0) into 0
36.493 * [backup-simplify]: Simplify (+ 0 0) into 0
36.494 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
36.494 * [backup-simplify]: Simplify (+ 0 0) into 0
36.494 * [backup-simplify]: Simplify (- 0) into 0
36.494 * [backup-simplify]: Simplify (+ 0 0) into 0
36.496 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0
36.497 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0
36.497 * [taylor]: Taking taylor expansion of (/ 1 (* R (pow phi2 2))) in phi1
36.497 * [taylor]: Taking taylor expansion of (* R (pow phi2 2)) in phi1
36.498 * [taylor]: Taking taylor expansion of R in phi1
36.498 * [backup-simplify]: Simplify R into R
36.498 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1
36.498 * [taylor]: Taking taylor expansion of phi2 in phi1
36.498 * [backup-simplify]: Simplify phi2 into phi2
36.498 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
36.498 * [backup-simplify]: Simplify (* R (pow phi2 2)) into (* R (pow phi2 2))
36.498 * [backup-simplify]: Simplify (/ 1 (* R (pow phi2 2))) into (/ 1 (* R (pow phi2 2)))
36.499 * [backup-simplify]: Simplify (* (/ 1 (* R phi2)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) into (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (/ 1 (* R phi2)))
36.499 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
36.500 * [backup-simplify]: Simplify (+ (* R 0) (* 0 1)) into 0
36.500 * [backup-simplify]: Simplify (- (+ (* (/ 1 R) (/ 0 R)))) into 0
36.501 * [backup-simplify]: Simplify (+ (* (/ 1 R) 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0
36.502 * [backup-simplify]: Simplify (* (/ 1 R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) into (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (/ 1 R))
36.503 * [backup-simplify]: Simplify (+ (* 1/2 0) (* 0 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (/ 1 R)))) into 0
36.504 * [backup-simplify]: Simplify (+ 0 0) into 0
36.504 * [backup-simplify]: Simplify (- 0) into 0
36.505 * [backup-simplify]: Simplify (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (/ 1 (* R phi2))) 0) into (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (/ 1 (* R phi2)))
36.505 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (/ 1 (* R phi2))) in phi2
36.505 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) in phi2
36.505 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) in phi2
36.505 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in phi2
36.505 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi2
36.505 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi2
36.505 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2
36.505 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
36.505 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
36.505 * [taylor]: Taking taylor expansion of -0.5 in phi2
36.505 * [backup-simplify]: Simplify -0.5 into -0.5
36.505 * [taylor]: Taking taylor expansion of phi2 in phi2
36.505 * [backup-simplify]: Simplify 0 into 0
36.505 * [backup-simplify]: Simplify 1 into 1
36.506 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
36.506 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
36.506 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2
36.506 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
36.506 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
36.506 * [taylor]: Taking taylor expansion of -0.5 in phi2
36.506 * [backup-simplify]: Simplify -0.5 into -0.5
36.506 * [taylor]: Taking taylor expansion of phi1 in phi2
36.506 * [backup-simplify]: Simplify phi1 into phi1
36.506 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
36.506 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
36.506 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
36.506 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
36.506 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
36.506 * [backup-simplify]: Simplify (- 0) into 0
36.506 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
36.506 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi2
36.506 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2
36.506 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
36.506 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
36.506 * [taylor]: Taking taylor expansion of -0.5 in phi2
36.506 * [backup-simplify]: Simplify -0.5 into -0.5
36.506 * [taylor]: Taking taylor expansion of phi2 in phi2
36.506 * [backup-simplify]: Simplify 0 into 0
36.506 * [backup-simplify]: Simplify 1 into 1
36.507 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
36.507 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
36.507 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2
36.507 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
36.507 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
36.507 * [taylor]: Taking taylor expansion of -0.5 in phi2
36.507 * [backup-simplify]: Simplify -0.5 into -0.5
36.507 * [taylor]: Taking taylor expansion of phi1 in phi2
36.507 * [backup-simplify]: Simplify phi1 into phi1
36.507 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
36.507 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
36.507 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
36.507 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
36.507 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
36.507 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
36.507 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in phi2
36.507 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi2
36.507 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
36.507 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
36.507 * [taylor]: Taking taylor expansion of -0.5 in phi2
36.507 * [backup-simplify]: Simplify -0.5 into -0.5
36.507 * [taylor]: Taking taylor expansion of phi2 in phi2
36.507 * [backup-simplify]: Simplify 0 into 0
36.507 * [backup-simplify]: Simplify 1 into 1
36.508 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
36.508 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
36.508 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi2
36.508 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
36.508 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
36.508 * [taylor]: Taking taylor expansion of -0.5 in phi2
36.508 * [backup-simplify]: Simplify -0.5 into -0.5
36.508 * [taylor]: Taking taylor expansion of phi2 in phi2
36.508 * [backup-simplify]: Simplify 0 into 0
36.508 * [backup-simplify]: Simplify 1 into 1
36.508 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
36.508 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
36.508 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi2
36.508 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
36.508 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
36.508 * [taylor]: Taking taylor expansion of -0.5 in phi2
36.508 * [backup-simplify]: Simplify -0.5 into -0.5
36.508 * [taylor]: Taking taylor expansion of phi1 in phi2
36.508 * [backup-simplify]: Simplify phi1 into phi1
36.508 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
36.509 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
36.509 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
36.509 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
36.509 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
36.509 * [taylor]: Taking taylor expansion of -0.5 in phi2
36.509 * [backup-simplify]: Simplify -0.5 into -0.5
36.509 * [taylor]: Taking taylor expansion of phi1 in phi2
36.509 * [backup-simplify]: Simplify phi1 into phi1
36.509 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
36.509 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
36.509 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
36.509 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi2
36.509 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
36.509 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
36.509 * [taylor]: Taking taylor expansion of -0.5 in phi2
36.509 * [backup-simplify]: Simplify -0.5 into -0.5
36.509 * [taylor]: Taking taylor expansion of phi2 in phi2
36.509 * [backup-simplify]: Simplify 0 into 0
36.509 * [backup-simplify]: Simplify 1 into 1
36.509 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
36.509 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
36.509 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi2
36.509 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
36.509 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
36.509 * [taylor]: Taking taylor expansion of -0.5 in phi2
36.509 * [backup-simplify]: Simplify -0.5 into -0.5
36.509 * [taylor]: Taking taylor expansion of phi2 in phi2
36.509 * [backup-simplify]: Simplify 0 into 0
36.509 * [backup-simplify]: Simplify 1 into 1
36.510 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
36.510 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
36.510 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi2
36.510 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
36.510 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
36.510 * [taylor]: Taking taylor expansion of -0.5 in phi2
36.510 * [backup-simplify]: Simplify -0.5 into -0.5
36.510 * [taylor]: Taking taylor expansion of phi1 in phi2
36.510 * [backup-simplify]: Simplify phi1 into phi1
36.510 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
36.510 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
36.510 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
36.510 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
36.510 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
36.510 * [taylor]: Taking taylor expansion of -0.5 in phi2
36.510 * [backup-simplify]: Simplify -0.5 into -0.5
36.510 * [taylor]: Taking taylor expansion of phi1 in phi2
36.510 * [backup-simplify]: Simplify phi1 into phi1
36.510 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
36.510 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
36.510 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
36.510 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
36.510 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
36.511 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
36.511 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
36.511 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
36.511 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
36.511 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
36.512 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
36.512 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
36.512 * [backup-simplify]: Simplify (- 0) into 0
36.512 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
36.512 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
36.512 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
36.512 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
36.512 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
36.512 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
36.513 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
36.513 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
36.513 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
36.513 * [backup-simplify]: Simplify (- 0) into 0
36.513 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
36.513 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
36.513 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
36.513 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
36.513 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
36.513 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
36.514 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
36.514 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
36.514 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
36.515 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
36.516 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))
36.518 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))
36.518 * [backup-simplify]: Simplify (+ 0) into 0
36.518 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
36.519 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
36.519 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
36.519 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
36.519 * [backup-simplify]: Simplify (- 0) into 0
36.520 * [backup-simplify]: Simplify (+ 0 0) into 0
36.520 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
36.520 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
36.520 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
36.520 * [backup-simplify]: Simplify (+ 0) into 0
36.521 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
36.521 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
36.521 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
36.522 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
36.522 * [backup-simplify]: Simplify (+ 0 0) into 0
36.522 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
36.522 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
36.522 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
36.523 * [backup-simplify]: Simplify (+ 0 0) into 0
36.523 * [backup-simplify]: Simplify (+ 0) into 0
36.523 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
36.523 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
36.524 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
36.524 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
36.524 * [backup-simplify]: Simplify (+ 0 0) into 0
36.524 * [backup-simplify]: Simplify (+ 0) into 0
36.525 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
36.525 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
36.525 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
36.526 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
36.526 * [backup-simplify]: Simplify (- 0) into 0
36.526 * [backup-simplify]: Simplify (+ 0 0) into 0
36.527 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
36.527 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
36.527 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
36.528 * [backup-simplify]: Simplify (+ 0) into 0
36.528 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
36.528 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
36.529 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
36.530 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
36.530 * [backup-simplify]: Simplify (+ 0 0) into 0
36.530 * [backup-simplify]: Simplify (+ 0) into 0
36.531 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
36.531 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
36.532 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
36.532 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
36.533 * [backup-simplify]: Simplify (- 0) into 0
36.533 * [backup-simplify]: Simplify (+ 0 0) into 0
36.533 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
36.534 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
36.534 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
36.534 * [backup-simplify]: Simplify (+ 0 0) into 0
36.535 * [backup-simplify]: Simplify (- 0) into 0
36.535 * [backup-simplify]: Simplify (+ 0 0) into 0
36.539 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0
36.541 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0
36.541 * [taylor]: Taking taylor expansion of (/ 1 (* R phi2)) in phi2
36.542 * [taylor]: Taking taylor expansion of (* R phi2) in phi2
36.542 * [taylor]: Taking taylor expansion of R in phi2
36.542 * [backup-simplify]: Simplify R into R
36.542 * [taylor]: Taking taylor expansion of phi2 in phi2
36.542 * [backup-simplify]: Simplify 0 into 0
36.542 * [backup-simplify]: Simplify 1 into 1
36.542 * [backup-simplify]: Simplify (* R 0) into 0
36.542 * [backup-simplify]: Simplify (+ (* R 1) (* 0 0)) into R
36.542 * [backup-simplify]: Simplify (/ 1 R) into (/ 1 R)
36.544 * [backup-simplify]: Simplify (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (/ 1 R)) into (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (/ 1 R))
36.545 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (/ 1 R)) in R
36.545 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) in R
36.545 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) in R
36.545 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in R
36.545 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in R
36.545 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in R
36.545 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in R
36.545 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in R
36.545 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R
36.545 * [taylor]: Taking taylor expansion of -0.5 in R
36.545 * [backup-simplify]: Simplify -0.5 into -0.5
36.545 * [taylor]: Taking taylor expansion of phi2 in R
36.545 * [backup-simplify]: Simplify phi2 into phi2
36.545 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
36.545 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
36.545 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
36.545 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
36.546 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
36.546 * [backup-simplify]: Simplify (- 0) into 0
36.546 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
36.546 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in R
36.546 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in R
36.546 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R
36.546 * [taylor]: Taking taylor expansion of -0.5 in R
36.546 * [backup-simplify]: Simplify -0.5 into -0.5
36.547 * [taylor]: Taking taylor expansion of phi1 in R
36.547 * [backup-simplify]: Simplify phi1 into phi1
36.547 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
36.547 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
36.547 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
36.547 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
36.547 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
36.547 * [backup-simplify]: Simplify (- 0) into 0
36.548 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
36.548 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in R
36.548 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in R
36.548 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in R
36.548 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R
36.548 * [taylor]: Taking taylor expansion of -0.5 in R
36.548 * [backup-simplify]: Simplify -0.5 into -0.5
36.548 * [taylor]: Taking taylor expansion of phi2 in R
36.548 * [backup-simplify]: Simplify phi2 into phi2
36.548 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
36.548 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
36.548 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
36.548 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
36.548 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
36.548 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
36.548 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in R
36.548 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in R
36.549 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R
36.549 * [taylor]: Taking taylor expansion of -0.5 in R
36.549 * [backup-simplify]: Simplify -0.5 into -0.5
36.549 * [taylor]: Taking taylor expansion of phi1 in R
36.549 * [backup-simplify]: Simplify phi1 into phi1
36.549 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
36.549 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
36.549 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
36.549 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
36.549 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
36.549 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
36.549 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in R
36.549 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in R
36.549 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in R
36.549 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R
36.549 * [taylor]: Taking taylor expansion of -0.5 in R
36.549 * [backup-simplify]: Simplify -0.5 into -0.5
36.549 * [taylor]: Taking taylor expansion of phi2 in R
36.549 * [backup-simplify]: Simplify phi2 into phi2
36.550 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
36.550 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
36.550 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
36.550 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in R
36.550 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in R
36.550 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R
36.550 * [taylor]: Taking taylor expansion of -0.5 in R
36.550 * [backup-simplify]: Simplify -0.5 into -0.5
36.550 * [taylor]: Taking taylor expansion of phi2 in R
36.550 * [backup-simplify]: Simplify phi2 into phi2
36.550 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
36.550 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
36.550 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
36.550 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in R
36.550 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in R
36.550 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R
36.550 * [taylor]: Taking taylor expansion of -0.5 in R
36.550 * [backup-simplify]: Simplify -0.5 into -0.5
36.550 * [taylor]: Taking taylor expansion of phi1 in R
36.550 * [backup-simplify]: Simplify phi1 into phi1
36.550 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
36.551 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
36.551 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
36.551 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in R
36.551 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R
36.551 * [taylor]: Taking taylor expansion of -0.5 in R
36.551 * [backup-simplify]: Simplify -0.5 into -0.5
36.551 * [taylor]: Taking taylor expansion of phi1 in R
36.551 * [backup-simplify]: Simplify phi1 into phi1
36.551 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
36.551 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
36.551 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
36.551 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in R
36.551 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in R
36.551 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R
36.551 * [taylor]: Taking taylor expansion of -0.5 in R
36.551 * [backup-simplify]: Simplify -0.5 into -0.5
36.551 * [taylor]: Taking taylor expansion of phi2 in R
36.551 * [backup-simplify]: Simplify phi2 into phi2
36.551 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
36.551 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
36.552 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
36.552 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in R
36.552 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in R
36.552 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R
36.552 * [taylor]: Taking taylor expansion of -0.5 in R
36.552 * [backup-simplify]: Simplify -0.5 into -0.5
36.552 * [taylor]: Taking taylor expansion of phi2 in R
36.552 * [backup-simplify]: Simplify phi2 into phi2
36.552 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
36.552 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
36.552 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
36.552 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in R
36.552 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in R
36.552 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R
36.552 * [taylor]: Taking taylor expansion of -0.5 in R
36.552 * [backup-simplify]: Simplify -0.5 into -0.5
36.552 * [taylor]: Taking taylor expansion of phi1 in R
36.552 * [backup-simplify]: Simplify phi1 into phi1
36.552 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
36.552 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
36.552 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
36.553 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in R
36.553 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R
36.553 * [taylor]: Taking taylor expansion of -0.5 in R
36.553 * [backup-simplify]: Simplify -0.5 into -0.5
36.553 * [taylor]: Taking taylor expansion of phi1 in R
36.553 * [backup-simplify]: Simplify phi1 into phi1
36.553 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
36.553 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
36.553 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
36.553 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
36.553 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
36.554 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
36.554 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
36.554 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
36.554 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
36.555 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
36.555 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
36.555 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
36.556 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
36.556 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
36.556 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
36.556 * [backup-simplify]: Simplify (- 0) into 0
36.556 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
36.557 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
36.557 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
36.557 * [backup-simplify]: Simplify (- 0) into 0
36.557 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
36.557 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
36.557 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
36.558 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
36.558 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
36.558 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
36.558 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
36.558 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
36.559 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
36.559 * [backup-simplify]: Simplify (- 0) into 0
36.559 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
36.559 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
36.559 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
36.559 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
36.560 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
36.560 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
36.560 * [backup-simplify]: Simplify (- 0) into 0
36.560 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
36.560 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
36.560 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
36.560 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
36.561 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
36.561 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
36.561 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
36.562 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
36.563 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
36.565 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
36.567 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))
36.569 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))
36.570 * [backup-simplify]: Simplify (+ 0) into 0
36.570 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
36.570 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
36.571 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
36.572 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
36.572 * [backup-simplify]: Simplify (- 0) into 0
36.572 * [backup-simplify]: Simplify (+ 0 0) into 0
36.573 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
36.573 * [backup-simplify]: Simplify (+ 0) into 0
36.574 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
36.574 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
36.574 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
36.575 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
36.575 * [backup-simplify]: Simplify (- 0) into 0
36.576 * [backup-simplify]: Simplify (+ 0 0) into 0
36.576 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
36.576 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
36.576 * [backup-simplify]: Simplify (+ 0) into 0
36.577 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
36.577 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
36.577 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
36.578 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
36.578 * [backup-simplify]: Simplify (+ 0 0) into 0
36.578 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
36.579 * [backup-simplify]: Simplify (+ 0) into 0
36.579 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
36.579 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
36.584 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
36.584 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
36.585 * [backup-simplify]: Simplify (+ 0 0) into 0
36.585 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
36.585 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
36.585 * [backup-simplify]: Simplify (+ 0 0) into 0
36.586 * [backup-simplify]: Simplify (+ 0) into 0
36.586 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
36.586 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
36.586 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
36.587 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
36.587 * [backup-simplify]: Simplify (+ 0 0) into 0
36.587 * [backup-simplify]: Simplify (+ 0) into 0
36.587 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
36.588 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
36.588 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
36.588 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
36.589 * [backup-simplify]: Simplify (- 0) into 0
36.589 * [backup-simplify]: Simplify (+ 0 0) into 0
36.589 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
36.589 * [backup-simplify]: Simplify (+ 0) into 0
36.590 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
36.590 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
36.590 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
36.591 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
36.591 * [backup-simplify]: Simplify (- 0) into 0
36.591 * [backup-simplify]: Simplify (+ 0 0) into 0
36.591 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
36.591 * [backup-simplify]: Simplify (+ 0) into 0
36.592 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
36.592 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
36.592 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
36.593 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
36.593 * [backup-simplify]: Simplify (+ 0 0) into 0
36.593 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
36.593 * [backup-simplify]: Simplify (+ 0) into 0
36.594 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
36.594 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
36.594 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
36.594 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
36.595 * [backup-simplify]: Simplify (+ 0 0) into 0
36.595 * [backup-simplify]: Simplify (+ 0) into 0
36.595 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
36.595 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
36.596 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
36.596 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
36.597 * [backup-simplify]: Simplify (- 0) into 0
36.597 * [backup-simplify]: Simplify (+ 0 0) into 0
36.597 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
36.597 * [backup-simplify]: Simplify (+ 0) into 0
36.597 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
36.598 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
36.598 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
36.598 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
36.599 * [backup-simplify]: Simplify (+ 0 0) into 0
36.599 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
36.599 * [backup-simplify]: Simplify (+ 0) into 0
36.599 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
36.599 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
36.600 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
36.600 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
36.600 * [backup-simplify]: Simplify (- 0) into 0
36.601 * [backup-simplify]: Simplify (+ 0 0) into 0
36.601 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
36.601 * [backup-simplify]: Simplify (+ 0 0) into 0
36.601 * [backup-simplify]: Simplify (- 0) into 0
36.602 * [backup-simplify]: Simplify (+ 0 0) into 0
36.606 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0
36.608 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0
36.608 * [taylor]: Taking taylor expansion of (/ 1 R) in R
36.608 * [taylor]: Taking taylor expansion of R in R
36.608 * [backup-simplify]: Simplify 0 into 0
36.608 * [backup-simplify]: Simplify 1 into 1
36.609 * [backup-simplify]: Simplify (/ 1 1) into 1
36.611 * [backup-simplify]: Simplify (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) 1) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))
36.613 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))
36.614 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
36.615 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
36.615 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
36.616 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
36.617 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
36.617 * [backup-simplify]: Simplify (- 0) into 0
36.617 * [backup-simplify]: Simplify (+ 0 0) into 0
36.618 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0
36.619 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
36.620 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
36.620 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
36.621 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
36.621 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
36.622 * [backup-simplify]: Simplify (- 0) into 0
36.622 * [backup-simplify]: Simplify (+ 0 0) into 0
36.623 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0
36.623 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0
36.624 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
36.625 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
36.625 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
36.626 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
36.627 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
36.627 * [backup-simplify]: Simplify (+ 0 0) into 0
36.628 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
36.629 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
36.629 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
36.630 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
36.630 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
36.631 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
36.631 * [backup-simplify]: Simplify (+ 0 0) into 0
36.632 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0
36.633 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0
36.633 * [backup-simplify]: Simplify (+ 0 0) into 0
36.634 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
36.635 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
36.635 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
36.636 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
36.636 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
36.637 * [backup-simplify]: Simplify (+ 0 0) into 0
36.638 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
36.638 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
36.639 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
36.641 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
36.642 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
36.643 * [backup-simplify]: Simplify (- 0) into 0
36.643 * [backup-simplify]: Simplify (+ 0 0) into 0
36.644 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
36.645 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
36.646 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
36.646 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
36.647 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
36.647 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
36.648 * [backup-simplify]: Simplify (- 0) into 0
36.648 * [backup-simplify]: Simplify (+ 0 0) into 0
36.649 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
36.650 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
36.651 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
36.651 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
36.652 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
36.652 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
36.653 * [backup-simplify]: Simplify (+ 0 0) into 0
36.653 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into 0
36.654 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
36.655 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
36.655 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
36.656 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
36.657 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
36.657 * [backup-simplify]: Simplify (+ 0 0) into 0
36.658 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
36.659 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
36.659 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
36.660 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
36.660 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
36.661 * [backup-simplify]: Simplify (- 0) into 0
36.661 * [backup-simplify]: Simplify (+ 0 0) into 0
36.662 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
36.663 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
36.663 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
36.664 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
36.664 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
36.665 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
36.665 * [backup-simplify]: Simplify (+ 0 0) into 0
36.666 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
36.667 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
36.668 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
36.668 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
36.669 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
36.669 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
36.670 * [backup-simplify]: Simplify (- 0) into 0
36.670 * [backup-simplify]: Simplify (+ 0 0) into 0
36.671 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into 0
36.671 * [backup-simplify]: Simplify (+ 0 0) into 0
36.672 * [backup-simplify]: Simplify (- 0) into 0
36.672 * [backup-simplify]: Simplify (+ 0 0) into 0
36.678 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (* 0 (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0
36.681 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0
36.682 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
36.683 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
36.683 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
36.684 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
36.684 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
36.685 * [backup-simplify]: Simplify (- 0) into 0
36.685 * [backup-simplify]: Simplify (+ 0 0) into 0
36.685 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0
36.686 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
36.687 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
36.687 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
36.688 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
36.689 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
36.689 * [backup-simplify]: Simplify (- 0) into 0
36.689 * [backup-simplify]: Simplify (+ 0 0) into 0
36.690 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0
36.691 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0
36.692 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (+ (* 0 0) (* 0 R)))) into 0
36.693 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) (/ 0 R)) (* 0 (/ 0 R)))) into 0
36.696 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) 0) (+ (* 0 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))))) into 0
36.697 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
36.697 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
36.698 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
36.698 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
36.699 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
36.699 * [backup-simplify]: Simplify (+ 0 0) into 0
36.700 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
36.701 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
36.702 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
36.702 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
36.703 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
36.703 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
36.704 * [backup-simplify]: Simplify (+ 0 0) into 0
36.704 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0
36.705 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0
36.706 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (+ (* 0 0) (* 0 R)))) into 0
36.707 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R) (/ 0 R)) (* 0 (/ 0 R)))) into 0
36.708 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
36.709 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
36.709 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
36.710 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
36.711 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
36.711 * [backup-simplify]: Simplify (- 0) into 0
36.711 * [backup-simplify]: Simplify (+ 0 0) into 0
36.712 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0
36.713 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
36.714 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
36.714 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
36.715 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
36.716 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
36.716 * [backup-simplify]: Simplify (- 0) into 0
36.717 * [backup-simplify]: Simplify (+ 0 0) into 0
36.717 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0
36.718 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0
36.719 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
36.720 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
36.720 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
36.721 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
36.722 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
36.722 * [backup-simplify]: Simplify (+ 0 0) into 0
36.722 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
36.723 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
36.724 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
36.725 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
36.726 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
36.733 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
36.734 * [backup-simplify]: Simplify (+ 0 0) into 0
36.735 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0
36.735 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0
36.736 * [backup-simplify]: Simplify (+ 0 0) into 0
36.737 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
36.737 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
36.738 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
36.738 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
36.739 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
36.739 * [backup-simplify]: Simplify (+ 0 0) into 0
36.740 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
36.741 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
36.741 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
36.742 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
36.742 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
36.743 * [backup-simplify]: Simplify (- 0) into 0
36.743 * [backup-simplify]: Simplify (+ 0 0) into 0
36.743 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
36.744 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
36.745 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
36.745 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
36.746 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
36.746 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
36.747 * [backup-simplify]: Simplify (- 0) into 0
36.747 * [backup-simplify]: Simplify (+ 0 0) into 0
36.748 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
36.748 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
36.749 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
36.749 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
36.750 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
36.751 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
36.751 * [backup-simplify]: Simplify (+ 0 0) into 0
36.752 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into 0
36.752 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
36.753 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
36.753 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
36.754 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
36.755 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
36.755 * [backup-simplify]: Simplify (+ 0 0) into 0
36.756 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
36.756 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
36.757 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
36.757 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
36.758 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
36.758 * [backup-simplify]: Simplify (- 0) into 0
36.758 * [backup-simplify]: Simplify (+ 0 0) into 0
36.759 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
36.759 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
36.760 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
36.760 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
36.760 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
36.761 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
36.761 * [backup-simplify]: Simplify (+ 0 0) into 0
36.761 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
36.762 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
36.762 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
36.762 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
36.763 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
36.763 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
36.763 * [backup-simplify]: Simplify (- 0) into 0
36.764 * [backup-simplify]: Simplify (+ 0 0) into 0
36.764 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into 0
36.764 * [backup-simplify]: Simplify (+ 0 0) into 0
36.765 * [backup-simplify]: Simplify (- 0) into 0
36.765 * [backup-simplify]: Simplify (+ 0 0) into 0
36.768 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (* 0 (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0
36.769 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0
36.771 * [backup-simplify]: Simplify (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) 0) (+ (* 0 0) (* 0 (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R)))) into 0
36.771 * [backup-simplify]: Simplify (+ 0 0) into 0
36.772 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
36.772 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
36.772 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
36.773 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
36.773 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
36.774 * [backup-simplify]: Simplify (- 0) into 0
36.774 * [backup-simplify]: Simplify (+ 0 0) into 0
36.774 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0
36.775 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
36.775 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
36.775 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
36.776 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
36.776 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
36.776 * [backup-simplify]: Simplify (- 0) into 0
36.777 * [backup-simplify]: Simplify (+ 0 0) into 0
36.777 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0
36.778 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0
36.778 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
36.779 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
36.779 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
36.779 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
36.780 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
36.780 * [backup-simplify]: Simplify (+ 0 0) into 0
36.780 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
36.781 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
36.781 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
36.782 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
36.782 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
36.782 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
36.783 * [backup-simplify]: Simplify (+ 0 0) into 0
36.783 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0
36.784 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0
36.784 * [backup-simplify]: Simplify (+ 0 0) into 0
36.784 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
36.785 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
36.785 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
36.785 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
36.786 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
36.786 * [backup-simplify]: Simplify (+ 0 0) into 0
36.787 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
36.787 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
36.787 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
36.788 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
36.788 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
36.788 * [backup-simplify]: Simplify (- 0) into 0
36.789 * [backup-simplify]: Simplify (+ 0 0) into 0
36.789 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
36.790 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
36.790 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
36.791 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
36.791 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
36.792 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
36.792 * [backup-simplify]: Simplify (- 0) into 0
36.793 * [backup-simplify]: Simplify (+ 0 0) into 0
36.793 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
36.794 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
36.795 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
36.795 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
36.795 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
36.796 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
36.796 * [backup-simplify]: Simplify (+ 0 0) into 0
36.797 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into 0
36.798 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
36.798 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
36.799 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
36.799 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
36.800 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
36.800 * [backup-simplify]: Simplify (+ 0 0) into 0
36.801 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
36.802 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
36.802 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
36.803 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
36.803 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
36.804 * [backup-simplify]: Simplify (- 0) into 0
36.804 * [backup-simplify]: Simplify (+ 0 0) into 0
36.805 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
36.805 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
36.806 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
36.806 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
36.807 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
36.808 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
36.808 * [backup-simplify]: Simplify (+ 0 0) into 0
36.808 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
36.809 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
36.810 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
36.810 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
36.811 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
36.812 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
36.812 * [backup-simplify]: Simplify (- 0) into 0
36.812 * [backup-simplify]: Simplify (+ 0 0) into 0
36.813 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into 0
36.813 * [backup-simplify]: Simplify (+ 0 0) into 0
36.814 * [backup-simplify]: Simplify (- 0) into 0
36.814 * [backup-simplify]: Simplify (+ 0 0) into 0
36.820 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (* 0 (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0
36.823 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0
36.823 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
36.824 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
36.824 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
36.825 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
36.825 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
36.825 * [backup-simplify]: Simplify (+ 0 0) into 0
36.826 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
36.826 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
36.827 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
36.827 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
36.828 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
36.828 * [backup-simplify]: Simplify (- 0) into 0
36.828 * [backup-simplify]: Simplify (+ 0 0) into 0
36.828 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
36.829 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
36.830 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
36.830 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
36.830 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
36.831 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
36.831 * [backup-simplify]: Simplify (- 0) into 0
36.831 * [backup-simplify]: Simplify (+ 0 0) into 0
36.831 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
36.832 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
36.832 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
36.833 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
36.833 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
36.833 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
36.834 * [backup-simplify]: Simplify (+ 0 0) into 0
36.834 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into 0
36.835 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (+ (* 0 1) (* 0 0)))) into 0
36.836 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) (/ 0 R)) (* 0 (/ 0 R)))) into 0
36.839 * [backup-simplify]: Simplify (+ (* (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) 0) (+ (* 0 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))))) into 0
36.842 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))))) into 0
36.843 * [backup-simplify]: Simplify (- 0) into 0
36.843 * [backup-simplify]: Simplify (+ 0 0) into 0
36.843 * [taylor]: Taking taylor expansion of 0 in phi1
36.843 * [backup-simplify]: Simplify 0 into 0
36.843 * [backup-simplify]: Simplify (- (+ (* (/ 1 R) (/ 0 R)) (* 0 (/ 0 R)))) into 0
36.844 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
36.845 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
36.845 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
36.846 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
36.847 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
36.847 * [backup-simplify]: Simplify (- 0) into 0
36.848 * [backup-simplify]: Simplify (+ 0 0) into 0
36.848 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0
36.849 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
36.850 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
36.850 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
36.851 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
36.851 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
36.852 * [backup-simplify]: Simplify (- 0) into 0
36.852 * [backup-simplify]: Simplify (+ 0 0) into 0
36.853 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0
36.854 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0
36.861 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
36.862 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
36.863 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
36.864 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
36.864 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
36.864 * [backup-simplify]: Simplify (+ 0 0) into 0
36.865 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
36.866 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
36.867 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
36.867 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
36.868 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
36.868 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
36.869 * [backup-simplify]: Simplify (+ 0 0) into 0
36.869 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0
36.870 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0
36.870 * [backup-simplify]: Simplify (+ 0 0) into 0
36.873 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
36.874 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
36.874 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
36.874 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
36.875 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
36.876 * [backup-simplify]: Simplify (+ 0 0) into 0
36.876 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
36.877 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
36.878 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
36.878 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
36.879 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
36.879 * [backup-simplify]: Simplify (- 0) into 0
36.880 * [backup-simplify]: Simplify (+ 0 0) into 0
36.880 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
36.881 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
36.882 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
36.882 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
36.883 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
36.883 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
36.884 * [backup-simplify]: Simplify (- 0) into 0
36.884 * [backup-simplify]: Simplify (+ 0 0) into 0
36.885 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
36.886 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
36.886 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
36.887 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
36.887 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
36.888 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
36.888 * [backup-simplify]: Simplify (+ 0 0) into 0
36.889 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into 0
36.890 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
36.891 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
36.891 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
36.892 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
36.893 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
36.893 * [backup-simplify]: Simplify (+ 0 0) into 0
36.894 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
36.895 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
36.895 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
36.896 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
36.896 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
36.897 * [backup-simplify]: Simplify (- 0) into 0
36.897 * [backup-simplify]: Simplify (+ 0 0) into 0
36.898 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
36.898 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
36.899 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
36.899 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
36.900 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
36.901 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
36.901 * [backup-simplify]: Simplify (+ 0 0) into 0
36.902 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
36.903 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
36.903 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
36.904 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
36.904 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
36.905 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
36.905 * [backup-simplify]: Simplify (- 0) into 0
36.906 * [backup-simplify]: Simplify (+ 0 0) into 0
36.906 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into 0
36.907 * [backup-simplify]: Simplify (+ 0 0) into 0
36.907 * [backup-simplify]: Simplify (- 0) into 0
36.908 * [backup-simplify]: Simplify (+ 0 0) into 0
36.910 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) into 0
36.913 * [backup-simplify]: Simplify (+ (* (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) 0) (+ (* 0 0) (* 0 (/ 1 R)))) into 0
36.916 * [backup-simplify]: Simplify (+ (* -1 0) (+ (* 0 0) (* 0 (* (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (/ 1 R))))) into 0
36.916 * [taylor]: Taking taylor expansion of 0 in phi1
36.916 * [backup-simplify]: Simplify 0 into 0
36.916 * [taylor]: Taking taylor expansion of 0 in phi2
36.916 * [backup-simplify]: Simplify 0 into 0
36.916 * [taylor]: Taking taylor expansion of 0 in phi2
36.916 * [backup-simplify]: Simplify 0 into 0
36.916 * [taylor]: Taking taylor expansion of 0 in phi2
36.916 * [backup-simplify]: Simplify 0 into 0
36.917 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
36.917 * [backup-simplify]: Simplify (+ 0) into 0
36.918 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
36.918 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
36.919 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
36.919 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
36.919 * [backup-simplify]: Simplify (+ 0 0) into 0
36.920 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
36.920 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
36.921 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R) (/ 0 R)))) into 0
36.922 * [backup-simplify]: Simplify (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) 0) (* 0 (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R))) into 0
36.923 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
36.923 * [backup-simplify]: Simplify (+ 0) into 0
36.923 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
36.923 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
36.924 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
36.924 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
36.924 * [backup-simplify]: Simplify (- 0) into 0
36.925 * [backup-simplify]: Simplify (+ 0 0) into 0
36.925 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
36.925 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
36.925 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) (/ 0 R)))) into 0
36.926 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0
36.927 * [backup-simplify]: Simplify (+ 0 0) into 0
36.927 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
36.927 * [backup-simplify]: Simplify (+ 0) into 0
36.927 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
36.928 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
36.928 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
36.928 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
36.929 * [backup-simplify]: Simplify (- 0) into 0
36.929 * [backup-simplify]: Simplify (+ 0 0) into 0
36.929 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
36.929 * [backup-simplify]: Simplify (+ 0) into 0
36.930 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
36.930 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
36.930 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
36.930 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
36.931 * [backup-simplify]: Simplify (+ 0 0) into 0
36.931 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
36.931 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) (/ 0 R)))) into 0
36.932 * [backup-simplify]: Simplify (+ (* (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0
36.934 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))))) into 0
36.934 * [backup-simplify]: Simplify (- 0) into 0
36.935 * [backup-simplify]: Simplify (+ 0 0) into 0
36.935 * [taylor]: Taking taylor expansion of 0 in phi2
36.935 * [backup-simplify]: Simplify 0 into 0
36.935 * [backup-simplify]: Simplify (- (+ (* (/ 1 R) (/ 0 R)))) into 0
36.936 * [backup-simplify]: Simplify (+ (* (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) 0) (* 0 (/ 1 R))) into 0
36.937 * [backup-simplify]: Simplify (+ (* -1 0) (* 0 (* (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (/ 1 R)))) into 0
36.937 * [taylor]: Taking taylor expansion of 0 in phi2
36.937 * [backup-simplify]: Simplify 0 into 0
36.938 * [backup-simplify]: Simplify (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R)) into (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))
36.940 * [backup-simplify]: Simplify (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) into (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))
36.942 * [backup-simplify]: Simplify (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))))
36.944 * [backup-simplify]: Simplify (* (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) into (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))
36.945 * [backup-simplify]: Simplify (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))))
36.946 * [backup-simplify]: Simplify (- (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))))) into (- (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))))
36.951 * [backup-simplify]: Simplify (+ (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (- (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))))) into (- (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R)) (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))))
36.951 * [taylor]: Taking taylor expansion of (- (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R)) (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))))) in R
36.951 * [taylor]: Taking taylor expansion of (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R)) (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) in R
36.951 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R)) in R
36.951 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) in R
36.951 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) in R
36.951 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in R
36.951 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in R
36.951 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in R
36.951 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in R
36.951 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in R
36.951 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R
36.951 * [taylor]: Taking taylor expansion of -0.5 in R
36.951 * [backup-simplify]: Simplify -0.5 into -0.5
36.951 * [taylor]: Taking taylor expansion of phi2 in R
36.951 * [backup-simplify]: Simplify phi2 into phi2
36.951 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
36.951 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
36.952 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
36.952 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
36.952 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
36.952 * [backup-simplify]: Simplify (- 0) into 0
36.952 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
36.952 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in R
36.952 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in R
36.952 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R
36.952 * [taylor]: Taking taylor expansion of -0.5 in R
36.952 * [backup-simplify]: Simplify -0.5 into -0.5
36.952 * [taylor]: Taking taylor expansion of phi1 in R
36.952 * [backup-simplify]: Simplify phi1 into phi1
36.952 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
36.952 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
36.952 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
36.952 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
36.953 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
36.953 * [backup-simplify]: Simplify (- 0) into 0
36.953 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
36.953 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in R
36.953 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in R
36.953 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in R
36.953 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R
36.953 * [taylor]: Taking taylor expansion of -0.5 in R
36.953 * [backup-simplify]: Simplify -0.5 into -0.5
36.953 * [taylor]: Taking taylor expansion of phi2 in R
36.953 * [backup-simplify]: Simplify phi2 into phi2
36.953 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
36.953 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
36.953 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
36.953 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
36.953 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
36.953 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
36.953 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in R
36.953 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in R
36.953 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R
36.953 * [taylor]: Taking taylor expansion of -0.5 in R
36.953 * [backup-simplify]: Simplify -0.5 into -0.5
36.953 * [taylor]: Taking taylor expansion of phi1 in R
36.953 * [backup-simplify]: Simplify phi1 into phi1
36.954 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
36.954 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
36.954 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
36.954 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
36.954 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
36.954 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
36.954 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in R
36.954 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in R
36.954 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in R
36.954 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R
36.954 * [taylor]: Taking taylor expansion of -0.5 in R
36.954 * [backup-simplify]: Simplify -0.5 into -0.5
36.954 * [taylor]: Taking taylor expansion of phi2 in R
36.954 * [backup-simplify]: Simplify phi2 into phi2
36.954 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
36.954 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
36.954 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
36.954 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in R
36.954 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in R
36.954 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R
36.954 * [taylor]: Taking taylor expansion of -0.5 in R
36.954 * [backup-simplify]: Simplify -0.5 into -0.5
36.954 * [taylor]: Taking taylor expansion of phi2 in R
36.954 * [backup-simplify]: Simplify phi2 into phi2
36.954 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
36.954 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
36.954 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
36.954 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in R
36.954 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in R
36.954 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R
36.954 * [taylor]: Taking taylor expansion of -0.5 in R
36.954 * [backup-simplify]: Simplify -0.5 into -0.5
36.954 * [taylor]: Taking taylor expansion of phi1 in R
36.954 * [backup-simplify]: Simplify phi1 into phi1
36.955 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
36.955 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
36.955 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
36.955 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in R
36.955 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R
36.955 * [taylor]: Taking taylor expansion of -0.5 in R
36.955 * [backup-simplify]: Simplify -0.5 into -0.5
36.955 * [taylor]: Taking taylor expansion of phi1 in R
36.955 * [backup-simplify]: Simplify phi1 into phi1
36.955 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
36.955 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
36.955 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
36.955 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in R
36.955 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in R
36.955 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R
36.955 * [taylor]: Taking taylor expansion of -0.5 in R
36.955 * [backup-simplify]: Simplify -0.5 into -0.5
36.955 * [taylor]: Taking taylor expansion of phi2 in R
36.955 * [backup-simplify]: Simplify phi2 into phi2
36.955 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
36.955 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
36.955 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
36.955 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in R
36.955 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in R
36.955 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R
36.955 * [taylor]: Taking taylor expansion of -0.5 in R
36.955 * [backup-simplify]: Simplify -0.5 into -0.5
36.955 * [taylor]: Taking taylor expansion of phi2 in R
36.955 * [backup-simplify]: Simplify phi2 into phi2
36.955 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
36.955 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
36.955 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
36.955 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in R
36.955 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in R
36.955 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R
36.955 * [taylor]: Taking taylor expansion of -0.5 in R
36.955 * [backup-simplify]: Simplify -0.5 into -0.5
36.955 * [taylor]: Taking taylor expansion of phi1 in R
36.956 * [backup-simplify]: Simplify phi1 into phi1
36.956 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
36.956 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
36.956 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
36.956 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in R
36.956 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R
36.956 * [taylor]: Taking taylor expansion of -0.5 in R
36.956 * [backup-simplify]: Simplify -0.5 into -0.5
36.956 * [taylor]: Taking taylor expansion of phi1 in R
36.956 * [backup-simplify]: Simplify phi1 into phi1
36.956 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
36.956 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
36.956 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
36.956 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
36.956 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
36.956 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
36.956 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
36.956 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
36.957 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
36.957 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
36.957 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
36.957 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
36.957 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
36.957 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
36.958 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
36.958 * [backup-simplify]: Simplify (- 0) into 0
36.958 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
36.958 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
36.958 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
36.959 * [backup-simplify]: Simplify (- 0) into 0
36.959 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
36.959 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
36.959 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
36.959 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
36.959 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
36.960 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
36.960 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
36.960 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
36.960 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
36.961 * [backup-simplify]: Simplify (- 0) into 0
36.961 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
36.961 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
36.961 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
36.961 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
36.961 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
36.961 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
36.962 * [backup-simplify]: Simplify (- 0) into 0
36.962 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
36.962 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
36.962 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
36.962 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
36.962 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
36.962 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
36.963 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
36.963 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
36.964 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
36.966 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
36.968 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))
36.970 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))
36.971 * [backup-simplify]: Simplify (+ 0) into 0
36.971 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
36.972 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
36.973 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
36.973 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
36.973 * [backup-simplify]: Simplify (- 0) into 0
36.974 * [backup-simplify]: Simplify (+ 0 0) into 0
36.974 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
36.974 * [backup-simplify]: Simplify (+ 0) into 0
36.975 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
36.975 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
36.976 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
36.976 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
36.977 * [backup-simplify]: Simplify (- 0) into 0
36.977 * [backup-simplify]: Simplify (+ 0 0) into 0
36.977 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
36.978 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
36.978 * [backup-simplify]: Simplify (+ 0) into 0
36.979 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
36.979 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
36.980 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
36.980 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
36.980 * [backup-simplify]: Simplify (+ 0 0) into 0
36.981 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
36.981 * [backup-simplify]: Simplify (+ 0) into 0
36.982 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
36.982 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
36.983 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
36.983 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
36.983 * [backup-simplify]: Simplify (+ 0 0) into 0
36.984 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
36.984 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
36.984 * [backup-simplify]: Simplify (+ 0 0) into 0
36.985 * [backup-simplify]: Simplify (+ 0) into 0
36.985 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
36.986 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
36.986 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
36.987 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
36.987 * [backup-simplify]: Simplify (+ 0 0) into 0
36.988 * [backup-simplify]: Simplify (+ 0) into 0
36.988 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
36.988 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
36.989 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
36.989 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
36.990 * [backup-simplify]: Simplify (- 0) into 0
36.990 * [backup-simplify]: Simplify (+ 0 0) into 0
36.990 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
36.991 * [backup-simplify]: Simplify (+ 0) into 0
36.991 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
36.991 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
36.992 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
36.993 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
36.993 * [backup-simplify]: Simplify (- 0) into 0
36.993 * [backup-simplify]: Simplify (+ 0 0) into 0
36.993 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
36.994 * [backup-simplify]: Simplify (+ 0) into 0
36.994 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
36.994 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
37.000 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
37.001 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
37.001 * [backup-simplify]: Simplify (+ 0 0) into 0
37.001 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
37.001 * [backup-simplify]: Simplify (+ 0) into 0
37.002 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
37.002 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
37.002 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
37.003 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
37.003 * [backup-simplify]: Simplify (+ 0 0) into 0
37.003 * [backup-simplify]: Simplify (+ 0) into 0
37.003 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
37.003 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
37.004 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
37.004 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
37.004 * [backup-simplify]: Simplify (- 0) into 0
37.005 * [backup-simplify]: Simplify (+ 0 0) into 0
37.005 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
37.005 * [backup-simplify]: Simplify (+ 0) into 0
37.005 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
37.005 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
37.006 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
37.006 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
37.006 * [backup-simplify]: Simplify (+ 0 0) into 0
37.007 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
37.007 * [backup-simplify]: Simplify (+ 0) into 0
37.007 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
37.007 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
37.008 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
37.008 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
37.008 * [backup-simplify]: Simplify (- 0) into 0
37.008 * [backup-simplify]: Simplify (+ 0 0) into 0
37.009 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
37.009 * [backup-simplify]: Simplify (+ 0 0) into 0
37.009 * [backup-simplify]: Simplify (- 0) into 0
37.009 * [backup-simplify]: Simplify (+ 0 0) into 0
37.011 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0
37.012 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0
37.012 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R) in R
37.012 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in R
37.012 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in R
37.013 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in R
37.013 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R
37.013 * [taylor]: Taking taylor expansion of -0.5 in R
37.013 * [backup-simplify]: Simplify -0.5 into -0.5
37.013 * [taylor]: Taking taylor expansion of phi2 in R
37.013 * [backup-simplify]: Simplify phi2 into phi2
37.013 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
37.013 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
37.013 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
37.013 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
37.013 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
37.013 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
37.013 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in R
37.013 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in R
37.013 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R
37.013 * [taylor]: Taking taylor expansion of -0.5 in R
37.013 * [backup-simplify]: Simplify -0.5 into -0.5
37.013 * [taylor]: Taking taylor expansion of phi1 in R
37.013 * [backup-simplify]: Simplify phi1 into phi1
37.013 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
37.013 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
37.013 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
37.013 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
37.013 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
37.013 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
37.014 * [taylor]: Taking taylor expansion of R in R
37.014 * [backup-simplify]: Simplify 0 into 0
37.014 * [backup-simplify]: Simplify 1 into 1
37.014 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
37.014 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
37.014 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
37.015 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) 1) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
37.015 * [taylor]: Taking taylor expansion of (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) in R
37.015 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) in R
37.015 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in R
37.015 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in R
37.015 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in R
37.015 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R
37.015 * [taylor]: Taking taylor expansion of -0.5 in R
37.015 * [backup-simplify]: Simplify -0.5 into -0.5
37.015 * [taylor]: Taking taylor expansion of phi2 in R
37.015 * [backup-simplify]: Simplify phi2 into phi2
37.015 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
37.015 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
37.015 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
37.015 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
37.015 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
37.016 * [backup-simplify]: Simplify (- 0) into 0
37.016 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
37.016 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in R
37.016 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in R
37.016 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R
37.016 * [taylor]: Taking taylor expansion of -0.5 in R
37.016 * [backup-simplify]: Simplify -0.5 into -0.5
37.016 * [taylor]: Taking taylor expansion of phi1 in R
37.016 * [backup-simplify]: Simplify phi1 into phi1
37.016 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
37.017 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
37.017 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
37.017 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
37.017 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
37.017 * [backup-simplify]: Simplify (- 0) into 0
37.017 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
37.017 * [taylor]: Taking taylor expansion of R in R
37.017 * [backup-simplify]: Simplify 0 into 0
37.018 * [backup-simplify]: Simplify 1 into 1
37.018 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
37.018 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
37.018 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
37.019 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) 1) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
37.019 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) in R
37.019 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) in R
37.019 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in R
37.019 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in R
37.019 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in R
37.019 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in R
37.019 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in R
37.019 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R
37.019 * [taylor]: Taking taylor expansion of -0.5 in R
37.019 * [backup-simplify]: Simplify -0.5 into -0.5
37.019 * [taylor]: Taking taylor expansion of phi2 in R
37.019 * [backup-simplify]: Simplify phi2 into phi2
37.019 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
37.019 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
37.019 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
37.020 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
37.020 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
37.020 * [backup-simplify]: Simplify (- 0) into 0
37.020 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
37.020 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in R
37.020 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in R
37.020 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R
37.020 * [taylor]: Taking taylor expansion of -0.5 in R
37.020 * [backup-simplify]: Simplify -0.5 into -0.5
37.020 * [taylor]: Taking taylor expansion of phi1 in R
37.020 * [backup-simplify]: Simplify phi1 into phi1
37.020 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
37.021 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
37.021 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
37.021 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
37.021 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
37.021 * [backup-simplify]: Simplify (- 0) into 0
37.021 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
37.021 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in R
37.022 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in R
37.022 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in R
37.022 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R
37.022 * [taylor]: Taking taylor expansion of -0.5 in R
37.022 * [backup-simplify]: Simplify -0.5 into -0.5
37.022 * [taylor]: Taking taylor expansion of phi2 in R
37.022 * [backup-simplify]: Simplify phi2 into phi2
37.022 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
37.022 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
37.022 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
37.022 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
37.022 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
37.023 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
37.023 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in R
37.023 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in R
37.023 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R
37.023 * [taylor]: Taking taylor expansion of -0.5 in R
37.023 * [backup-simplify]: Simplify -0.5 into -0.5
37.023 * [taylor]: Taking taylor expansion of phi1 in R
37.023 * [backup-simplify]: Simplify phi1 into phi1
37.023 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
37.023 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
37.023 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
37.023 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
37.023 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
37.023 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
37.023 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in R
37.024 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in R
37.024 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in R
37.024 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R
37.024 * [taylor]: Taking taylor expansion of -0.5 in R
37.024 * [backup-simplify]: Simplify -0.5 into -0.5
37.024 * [taylor]: Taking taylor expansion of phi2 in R
37.024 * [backup-simplify]: Simplify phi2 into phi2
37.024 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
37.024 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
37.024 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
37.024 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in R
37.024 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in R
37.024 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R
37.024 * [taylor]: Taking taylor expansion of -0.5 in R
37.024 * [backup-simplify]: Simplify -0.5 into -0.5
37.024 * [taylor]: Taking taylor expansion of phi2 in R
37.024 * [backup-simplify]: Simplify phi2 into phi2
37.024 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
37.024 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
37.024 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
37.024 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in R
37.024 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in R
37.025 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R
37.025 * [taylor]: Taking taylor expansion of -0.5 in R
37.025 * [backup-simplify]: Simplify -0.5 into -0.5
37.025 * [taylor]: Taking taylor expansion of phi1 in R
37.025 * [backup-simplify]: Simplify phi1 into phi1
37.025 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
37.025 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
37.025 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
37.025 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in R
37.025 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R
37.025 * [taylor]: Taking taylor expansion of -0.5 in R
37.025 * [backup-simplify]: Simplify -0.5 into -0.5
37.025 * [taylor]: Taking taylor expansion of phi1 in R
37.025 * [backup-simplify]: Simplify phi1 into phi1
37.025 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
37.025 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
37.025 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
37.025 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in R
37.025 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in R
37.025 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R
37.025 * [taylor]: Taking taylor expansion of -0.5 in R
37.026 * [backup-simplify]: Simplify -0.5 into -0.5
37.026 * [taylor]: Taking taylor expansion of phi2 in R
37.026 * [backup-simplify]: Simplify phi2 into phi2
37.026 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
37.026 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
37.026 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
37.026 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in R
37.026 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in R
37.026 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R
37.026 * [taylor]: Taking taylor expansion of -0.5 in R
37.026 * [backup-simplify]: Simplify -0.5 into -0.5
37.026 * [taylor]: Taking taylor expansion of phi2 in R
37.026 * [backup-simplify]: Simplify phi2 into phi2
37.026 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
37.026 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
37.026 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
37.026 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in R
37.026 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in R
37.026 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R
37.026 * [taylor]: Taking taylor expansion of -0.5 in R
37.026 * [backup-simplify]: Simplify -0.5 into -0.5
37.026 * [taylor]: Taking taylor expansion of phi1 in R
37.027 * [backup-simplify]: Simplify phi1 into phi1
37.027 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
37.027 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
37.027 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
37.027 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in R
37.027 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R
37.027 * [taylor]: Taking taylor expansion of -0.5 in R
37.027 * [backup-simplify]: Simplify -0.5 into -0.5
37.027 * [taylor]: Taking taylor expansion of phi1 in R
37.027 * [backup-simplify]: Simplify phi1 into phi1
37.027 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
37.027 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
37.027 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
37.027 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
37.028 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
37.028 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
37.028 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
37.028 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
37.029 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
37.029 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
37.030 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
37.030 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
37.030 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
37.030 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
37.030 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
37.031 * [backup-simplify]: Simplify (- 0) into 0
37.031 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
37.031 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
37.031 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
37.031 * [backup-simplify]: Simplify (- 0) into 0
37.031 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
37.032 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
37.032 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
37.032 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
37.032 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
37.032 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
37.033 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
37.033 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
37.033 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
37.033 * [backup-simplify]: Simplify (- 0) into 0
37.033 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
37.034 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
37.034 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
37.034 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
37.034 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
37.034 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
37.034 * [backup-simplify]: Simplify (- 0) into 0
37.034 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
37.035 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
37.035 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
37.035 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
37.035 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
37.035 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
37.036 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
37.036 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
37.037 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
37.039 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
37.041 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))
37.043 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))
37.044 * [backup-simplify]: Simplify (+ 0) into 0
37.045 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
37.045 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
37.046 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
37.046 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
37.047 * [backup-simplify]: Simplify (- 0) into 0
37.047 * [backup-simplify]: Simplify (+ 0 0) into 0
37.047 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
37.048 * [backup-simplify]: Simplify (+ 0) into 0
37.048 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
37.049 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
37.049 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
37.050 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
37.050 * [backup-simplify]: Simplify (- 0) into 0
37.050 * [backup-simplify]: Simplify (+ 0 0) into 0
37.050 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
37.051 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
37.051 * [backup-simplify]: Simplify (+ 0) into 0
37.051 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
37.051 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
37.052 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
37.052 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
37.052 * [backup-simplify]: Simplify (+ 0 0) into 0
37.052 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
37.053 * [backup-simplify]: Simplify (+ 0) into 0
37.053 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
37.053 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
37.053 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
37.054 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
37.054 * [backup-simplify]: Simplify (+ 0 0) into 0
37.054 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
37.054 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
37.055 * [backup-simplify]: Simplify (+ 0 0) into 0
37.055 * [backup-simplify]: Simplify (+ 0) into 0
37.055 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
37.055 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
37.056 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
37.056 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
37.056 * [backup-simplify]: Simplify (+ 0 0) into 0
37.056 * [backup-simplify]: Simplify (+ 0) into 0
37.057 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
37.057 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
37.057 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
37.058 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
37.058 * [backup-simplify]: Simplify (- 0) into 0
37.058 * [backup-simplify]: Simplify (+ 0 0) into 0
37.058 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
37.058 * [backup-simplify]: Simplify (+ 0) into 0
37.059 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
37.059 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
37.059 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
37.060 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
37.060 * [backup-simplify]: Simplify (- 0) into 0
37.060 * [backup-simplify]: Simplify (+ 0 0) into 0
37.060 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
37.060 * [backup-simplify]: Simplify (+ 0) into 0
37.061 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
37.061 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
37.061 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
37.062 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
37.062 * [backup-simplify]: Simplify (+ 0 0) into 0
37.062 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
37.062 * [backup-simplify]: Simplify (+ 0) into 0
37.063 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
37.063 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
37.063 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
37.063 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
37.064 * [backup-simplify]: Simplify (+ 0 0) into 0
37.064 * [backup-simplify]: Simplify (+ 0) into 0
37.064 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
37.064 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
37.065 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
37.065 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
37.065 * [backup-simplify]: Simplify (- 0) into 0
37.065 * [backup-simplify]: Simplify (+ 0 0) into 0
37.066 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
37.066 * [backup-simplify]: Simplify (+ 0) into 0
37.066 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
37.066 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
37.067 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
37.067 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
37.067 * [backup-simplify]: Simplify (+ 0 0) into 0
37.067 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
37.068 * [backup-simplify]: Simplify (+ 0) into 0
37.068 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
37.068 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
37.068 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
37.069 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
37.069 * [backup-simplify]: Simplify (- 0) into 0
37.069 * [backup-simplify]: Simplify (+ 0 0) into 0
37.069 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
37.070 * [backup-simplify]: Simplify (+ 0 0) into 0
37.070 * [backup-simplify]: Simplify (- 0) into 0
37.070 * [backup-simplify]: Simplify (+ 0 0) into 0
37.072 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0
37.073 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0
37.073 * [taylor]: Taking taylor expansion of (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) in R
37.073 * [taylor]: Taking taylor expansion of 2 in R
37.073 * [backup-simplify]: Simplify 2 into 2
37.073 * [taylor]: Taking taylor expansion of (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) in R
37.073 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) in R
37.073 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in R
37.073 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in R
37.073 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R
37.073 * [taylor]: Taking taylor expansion of -0.5 in R
37.073 * [backup-simplify]: Simplify -0.5 into -0.5
37.074 * [taylor]: Taking taylor expansion of phi2 in R
37.074 * [backup-simplify]: Simplify phi2 into phi2
37.074 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
37.074 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
37.074 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
37.074 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in R
37.074 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in R
37.074 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R
37.074 * [taylor]: Taking taylor expansion of -0.5 in R
37.074 * [backup-simplify]: Simplify -0.5 into -0.5
37.074 * [taylor]: Taking taylor expansion of phi2 in R
37.074 * [backup-simplify]: Simplify phi2 into phi2
37.074 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
37.074 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
37.074 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
37.074 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in R
37.074 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in R
37.074 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R
37.074 * [taylor]: Taking taylor expansion of -0.5 in R
37.074 * [backup-simplify]: Simplify -0.5 into -0.5
37.074 * [taylor]: Taking taylor expansion of phi1 in R
37.074 * [backup-simplify]: Simplify phi1 into phi1
37.074 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
37.074 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
37.074 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
37.074 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in R
37.074 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R
37.074 * [taylor]: Taking taylor expansion of -0.5 in R
37.074 * [backup-simplify]: Simplify -0.5 into -0.5
37.074 * [taylor]: Taking taylor expansion of phi1 in R
37.074 * [backup-simplify]: Simplify phi1 into phi1
37.074 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
37.074 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
37.074 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
37.074 * [taylor]: Taking taylor expansion of R in R
37.074 * [backup-simplify]: Simplify 0 into 0
37.074 * [backup-simplify]: Simplify 1 into 1
37.075 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
37.075 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
37.075 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
37.075 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
37.075 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
37.075 * [backup-simplify]: Simplify (- 0) into 0
37.075 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
37.075 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
37.075 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
37.076 * [backup-simplify]: Simplify (- 0) into 0
37.076 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
37.076 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
37.076 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
37.076 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
37.076 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
37.076 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
37.076 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
37.077 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) 1) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
37.077 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) in R
37.077 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) in R
37.077 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in R
37.077 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in R
37.077 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in R
37.077 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in R
37.077 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in R
37.077 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R
37.077 * [taylor]: Taking taylor expansion of -0.5 in R
37.077 * [backup-simplify]: Simplify -0.5 into -0.5
37.077 * [taylor]: Taking taylor expansion of phi2 in R
37.077 * [backup-simplify]: Simplify phi2 into phi2
37.077 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
37.077 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
37.077 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
37.077 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
37.077 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
37.078 * [backup-simplify]: Simplify (- 0) into 0
37.078 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
37.078 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in R
37.078 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in R
37.078 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R
37.078 * [taylor]: Taking taylor expansion of -0.5 in R
37.078 * [backup-simplify]: Simplify -0.5 into -0.5
37.078 * [taylor]: Taking taylor expansion of phi1 in R
37.078 * [backup-simplify]: Simplify phi1 into phi1
37.078 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
37.078 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
37.078 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
37.078 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
37.078 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
37.078 * [backup-simplify]: Simplify (- 0) into 0
37.078 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
37.078 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in R
37.078 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in R
37.078 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in R
37.078 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R
37.078 * [taylor]: Taking taylor expansion of -0.5 in R
37.079 * [backup-simplify]: Simplify -0.5 into -0.5
37.079 * [taylor]: Taking taylor expansion of phi2 in R
37.079 * [backup-simplify]: Simplify phi2 into phi2
37.079 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
37.079 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
37.079 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
37.079 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
37.079 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
37.079 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
37.079 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in R
37.079 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in R
37.079 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R
37.079 * [taylor]: Taking taylor expansion of -0.5 in R
37.079 * [backup-simplify]: Simplify -0.5 into -0.5
37.079 * [taylor]: Taking taylor expansion of phi1 in R
37.079 * [backup-simplify]: Simplify phi1 into phi1
37.079 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
37.079 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
37.079 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
37.079 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
37.080 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
37.080 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
37.080 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in R
37.080 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in R
37.080 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in R
37.080 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R
37.080 * [taylor]: Taking taylor expansion of -0.5 in R
37.080 * [backup-simplify]: Simplify -0.5 into -0.5
37.080 * [taylor]: Taking taylor expansion of phi2 in R
37.080 * [backup-simplify]: Simplify phi2 into phi2
37.080 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
37.080 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
37.080 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
37.080 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in R
37.080 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in R
37.080 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R
37.080 * [taylor]: Taking taylor expansion of -0.5 in R
37.080 * [backup-simplify]: Simplify -0.5 into -0.5
37.080 * [taylor]: Taking taylor expansion of phi2 in R
37.080 * [backup-simplify]: Simplify phi2 into phi2
37.081 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
37.081 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
37.081 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
37.081 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in R
37.081 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in R
37.081 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R
37.081 * [taylor]: Taking taylor expansion of -0.5 in R
37.081 * [backup-simplify]: Simplify -0.5 into -0.5
37.081 * [taylor]: Taking taylor expansion of phi1 in R
37.081 * [backup-simplify]: Simplify phi1 into phi1
37.081 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
37.081 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
37.081 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
37.081 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in R
37.081 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R
37.081 * [taylor]: Taking taylor expansion of -0.5 in R
37.081 * [backup-simplify]: Simplify -0.5 into -0.5
37.081 * [taylor]: Taking taylor expansion of phi1 in R
37.081 * [backup-simplify]: Simplify phi1 into phi1
37.081 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
37.081 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
37.082 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
37.082 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in R
37.082 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in R
37.082 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R
37.082 * [taylor]: Taking taylor expansion of -0.5 in R
37.082 * [backup-simplify]: Simplify -0.5 into -0.5
37.082 * [taylor]: Taking taylor expansion of phi2 in R
37.082 * [backup-simplify]: Simplify phi2 into phi2
37.082 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
37.082 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
37.082 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
37.082 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in R
37.082 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in R
37.082 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R
37.082 * [taylor]: Taking taylor expansion of -0.5 in R
37.082 * [backup-simplify]: Simplify -0.5 into -0.5
37.082 * [taylor]: Taking taylor expansion of phi2 in R
37.082 * [backup-simplify]: Simplify phi2 into phi2
37.083 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
37.083 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
37.083 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
37.083 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in R
37.083 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in R
37.083 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R
37.083 * [taylor]: Taking taylor expansion of -0.5 in R
37.083 * [backup-simplify]: Simplify -0.5 into -0.5
37.083 * [taylor]: Taking taylor expansion of phi1 in R
37.083 * [backup-simplify]: Simplify phi1 into phi1
37.083 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
37.083 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
37.083 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
37.083 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in R
37.083 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R
37.083 * [taylor]: Taking taylor expansion of -0.5 in R
37.083 * [backup-simplify]: Simplify -0.5 into -0.5
37.083 * [taylor]: Taking taylor expansion of phi1 in R
37.083 * [backup-simplify]: Simplify phi1 into phi1
37.083 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
37.083 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
37.084 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
37.084 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
37.084 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
37.084 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
37.084 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
37.085 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
37.085 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
37.086 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
37.086 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
37.086 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
37.086 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
37.086 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
37.086 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
37.087 * [backup-simplify]: Simplify (- 0) into 0
37.087 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
37.087 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
37.087 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
37.088 * [backup-simplify]: Simplify (- 0) into 0
37.088 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
37.088 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
37.088 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
37.088 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
37.088 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
37.088 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
37.089 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
37.089 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
37.089 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
37.089 * [backup-simplify]: Simplify (- 0) into 0
37.090 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
37.090 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
37.090 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
37.090 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
37.090 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
37.090 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
37.090 * [backup-simplify]: Simplify (- 0) into 0
37.091 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
37.091 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
37.091 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
37.091 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
37.091 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
37.091 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
37.092 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
37.092 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
37.093 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
37.095 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
37.097 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))
37.099 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))
37.100 * [backup-simplify]: Simplify (+ 0) into 0
37.100 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
37.100 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
37.101 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
37.101 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
37.102 * [backup-simplify]: Simplify (- 0) into 0
37.102 * [backup-simplify]: Simplify (+ 0 0) into 0
37.102 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
37.103 * [backup-simplify]: Simplify (+ 0) into 0
37.103 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
37.103 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
37.104 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
37.104 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
37.105 * [backup-simplify]: Simplify (- 0) into 0
37.105 * [backup-simplify]: Simplify (+ 0 0) into 0
37.105 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
37.106 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
37.106 * [backup-simplify]: Simplify (+ 0) into 0
37.107 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
37.107 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
37.107 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
37.108 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
37.108 * [backup-simplify]: Simplify (+ 0 0) into 0
37.108 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
37.109 * [backup-simplify]: Simplify (+ 0) into 0
37.109 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
37.110 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
37.110 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
37.111 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
37.111 * [backup-simplify]: Simplify (+ 0 0) into 0
37.111 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
37.112 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
37.112 * [backup-simplify]: Simplify (+ 0 0) into 0
37.113 * [backup-simplify]: Simplify (+ 0) into 0
37.113 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
37.113 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
37.114 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
37.115 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
37.115 * [backup-simplify]: Simplify (+ 0 0) into 0
37.115 * [backup-simplify]: Simplify (+ 0) into 0
37.116 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
37.116 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
37.117 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
37.117 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
37.118 * [backup-simplify]: Simplify (- 0) into 0
37.118 * [backup-simplify]: Simplify (+ 0 0) into 0
37.118 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
37.119 * [backup-simplify]: Simplify (+ 0) into 0
37.119 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
37.119 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
37.120 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
37.121 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
37.121 * [backup-simplify]: Simplify (- 0) into 0
37.121 * [backup-simplify]: Simplify (+ 0 0) into 0
37.122 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
37.122 * [backup-simplify]: Simplify (+ 0) into 0
37.123 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
37.123 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
37.124 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
37.124 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
37.124 * [backup-simplify]: Simplify (+ 0 0) into 0
37.125 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
37.125 * [backup-simplify]: Simplify (+ 0) into 0
37.126 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
37.126 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
37.126 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
37.127 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
37.127 * [backup-simplify]: Simplify (+ 0 0) into 0
37.128 * [backup-simplify]: Simplify (+ 0) into 0
37.128 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
37.128 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
37.129 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
37.130 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
37.130 * [backup-simplify]: Simplify (- 0) into 0
37.130 * [backup-simplify]: Simplify (+ 0 0) into 0
37.131 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
37.131 * [backup-simplify]: Simplify (+ 0) into 0
37.132 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
37.132 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
37.133 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
37.133 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
37.134 * [backup-simplify]: Simplify (+ 0 0) into 0
37.134 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
37.134 * [backup-simplify]: Simplify (+ 0) into 0
37.134 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
37.134 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
37.135 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
37.135 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
37.135 * [backup-simplify]: Simplify (- 0) into 0
37.136 * [backup-simplify]: Simplify (+ 0 0) into 0
37.136 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
37.136 * [backup-simplify]: Simplify (+ 0 0) into 0
37.136 * [backup-simplify]: Simplify (- 0) into 0
37.136 * [backup-simplify]: Simplify (+ 0 0) into 0
37.139 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0
37.140 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0
37.141 * [backup-simplify]: Simplify (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (* (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))
37.142 * [backup-simplify]: Simplify (* (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) into (* (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))
37.149 * [backup-simplify]: Simplify (+ (* (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (* (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into (+ (* (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (* (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))))
37.150 * [backup-simplify]: Simplify (* (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) into (* (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))
37.152 * [backup-simplify]: Simplify (* 2 (* (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into (* 2 (* (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))))
37.153 * [backup-simplify]: Simplify (- (* 2 (* (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))))) into (- (* 2 (* (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))))
37.157 * [backup-simplify]: Simplify (+ (+ (* (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (* (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (- (* 2 (* (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))))) into (- (+ (* (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (* 2 (* (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))))
37.161 * [backup-simplify]: Simplify (- (+ (* (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (* 2 (* (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))))) into (- (+ (* (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (* (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (* 2 (* (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))))
37.176 * [backup-simplify]: Simplify (+ (* (- (+ (* (* (pow (sin (/ -0.5 (/ 1 (- phi2)))) 2) (pow (sin (/ -0.5 (/ 1 (- phi1)))) 2)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 (/ 1 (- phi2)))) 2) (pow (cos (/ -0.5 (/ 1 (- phi1)))) 2)) (* (pow (sin (/ -0.5 (/ 1 (- phi2)))) 2) (pow (sin (/ -0.5 (/ 1 (- phi1)))) 2))) (+ (* (sin (/ -0.5 (/ 1 (- phi2)))) (* (cos (/ -0.5 (/ 1 (- phi2)))) (* (cos (/ -0.5 (/ 1 (- phi1)))) (sin (/ -0.5 (/ 1 (- phi1))))))) (* (cos (/ -0.5 (/ 1 (- phi2)))) (* (sin (/ -0.5 (/ 1 (- phi2)))) (* (cos (/ -0.5 (/ 1 (- phi1)))) (sin (/ -0.5 (/ 1 (- phi1)))))))))))) (* (* (pow (cos (/ -0.5 (/ 1 (- phi2)))) 2) (pow (cos (/ -0.5 (/ 1 (- phi1)))) 2)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 (/ 1 (- phi2)))) 2) (pow (cos (/ -0.5 (/ 1 (- phi1)))) 2)) (* (pow (sin (/ -0.5 (/ 1 (- phi2)))) 2) (pow (sin (/ -0.5 (/ 1 (- phi1)))) 2))) (+ (* (sin (/ -0.5 (/ 1 (- phi2)))) (* (cos (/ -0.5 (/ 1 (- phi2)))) (* (cos (/ -0.5 (/ 1 (- phi1)))) (sin (/ -0.5 (/ 1 (- phi1))))))) (* (cos (/ -0.5 (/ 1 (- phi2)))) (* (sin (/ -0.5 (/ 1 (- phi2)))) (* (cos (/ -0.5 (/ 1 (- phi1)))) (sin (/ -0.5 (/ 1 (- phi1))))))))))))) (* 2 (* (* (cos (/ -0.5 (/ 1 (- phi2)))) (* (sin (/ -0.5 (/ 1 (- phi2)))) (* (cos (/ -0.5 (/ 1 (- phi1)))) (sin (/ -0.5 (/ 1 (- phi1))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 (/ 1 (- phi2)))) 2) (pow (cos (/ -0.5 (/ 1 (- phi1)))) 2)) (* (pow (sin (/ -0.5 (/ 1 (- phi2)))) 2) (pow (sin (/ -0.5 (/ 1 (- phi1)))) 2))) (+ (* (sin (/ -0.5 (/ 1 (- phi2)))) (* (cos (/ -0.5 (/ 1 (- phi2)))) (* (cos (/ -0.5 (/ 1 (- phi1)))) (sin (/ -0.5 (/ 1 (- phi1))))))) (* (cos (/ -0.5 (/ 1 (- phi2)))) (* (sin (/ -0.5 (/ 1 (- phi2)))) (* (cos (/ -0.5 (/ 1 (- phi1)))) (sin (/ -0.5 (/ 1 (- phi1)))))))))))))) (* (/ 1 (/ 1 (- R))) (* 1 (* 1 (* (/ 1 (/ 1 (- lambda2))) 1))))) (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 (/ 1 (- phi2)))) 2) (pow (cos (/ -0.5 (/ 1 (- phi1)))) 2)) (* (pow (sin (/ -0.5 (/ 1 (- phi2)))) 2) (pow (sin (/ -0.5 (/ 1 (- phi1)))) 2))) (+ (* (sin (/ -0.5 (/ 1 (- phi2)))) (* (cos (/ -0.5 (/ 1 (- phi2)))) (* (cos (/ -0.5 (/ 1 (- phi1)))) (sin (/ -0.5 (/ 1 (- phi1))))))) (* (cos (/ -0.5 (/ 1 (- phi2)))) (* (sin (/ -0.5 (/ 1 (- phi2)))) (* (cos (/ -0.5 (/ 1 (- phi1)))) (sin (/ -0.5 (/ 1 (- phi1))))))))))) (* (/ 1 (/ 1 (- R))) (* (/ 1 (/ 1 (- phi2))) (* (/ 1 (/ 1 (- phi1))) (* 1 (/ 1 (- lambda1))))))) (* (- (+ (* (* (pow (cos (/ -0.5 (/ 1 (- phi2)))) 2) (pow (cos (/ -0.5 (/ 1 (- phi1)))) 2)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 (/ 1 (- phi2)))) 2) (pow (cos (/ -0.5 (/ 1 (- phi1)))) 2)) (* (pow (sin (/ -0.5 (/ 1 (- phi2)))) 2) (pow (sin (/ -0.5 (/ 1 (- phi1)))) 2))) (+ (* (sin (/ -0.5 (/ 1 (- phi2)))) (* (cos (/ -0.5 (/ 1 (- phi2)))) (* (cos (/ -0.5 (/ 1 (- phi1)))) (sin (/ -0.5 (/ 1 (- phi1))))))) (* (cos (/ -0.5 (/ 1 (- phi2)))) (* (sin (/ -0.5 (/ 1 (- phi2)))) (* (cos (/ -0.5 (/ 1 (- phi1)))) (sin (/ -0.5 (/ 1 (- phi1))))))))) 3)))) (* (* (pow (sin (/ -0.5 (/ 1 (- phi2)))) 2) (pow (sin (/ -0.5 (/ 1 (- phi1)))) 2)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 (/ 1 (- phi2)))) 2) (pow (cos (/ -0.5 (/ 1 (- phi1)))) 2)) (* (pow (sin (/ -0.5 (/ 1 (- phi2)))) 2) (pow (sin (/ -0.5 (/ 1 (- phi1)))) 2))) (+ (* (sin (/ -0.5 (/ 1 (- phi2)))) (* (cos (/ -0.5 (/ 1 (- phi2)))) (* (cos (/ -0.5 (/ 1 (- phi1)))) (sin (/ -0.5 (/ 1 (- phi1))))))) (* (cos (/ -0.5 (/ 1 (- phi2)))) (* (sin (/ -0.5 (/ 1 (- phi2)))) (* (cos (/ -0.5 (/ 1 (- phi1)))) (sin (/ -0.5 (/ 1 (- phi1))))))))) 3))))) (* 2 (* (* (cos (/ -0.5 (/ 1 (- phi2)))) (* (sin (/ -0.5 (/ 1 (- phi2)))) (* (cos (/ -0.5 (/ 1 (- phi1)))) (sin (/ -0.5 (/ 1 (- phi1))))))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 (/ 1 (- phi2)))) 2) (pow (cos (/ -0.5 (/ 1 (- phi1)))) 2)) (* (pow (sin (/ -0.5 (/ 1 (- phi2)))) 2) (pow (sin (/ -0.5 (/ 1 (- phi1)))) 2))) (+ (* (sin (/ -0.5 (/ 1 (- phi2)))) (* (cos (/ -0.5 (/ 1 (- phi2)))) (* (cos (/ -0.5 (/ 1 (- phi1)))) (sin (/ -0.5 (/ 1 (- phi1))))))) (* (cos (/ -0.5 (/ 1 (- phi2)))) (* (sin (/ -0.5 (/ 1 (- phi2)))) (* (cos (/ -0.5 (/ 1 (- phi1)))) (sin (/ -0.5 (/ 1 (- phi1))))))))) 3)))))) (* (/ 1 (/ 1 (- R))) (* (/ 1 (/ 1 (- phi2))) (* (/ 1 (/ 1 (- phi1))) (* (/ 1 (/ 1 (- lambda2))) (pow (/ 1 (- lambda1)) 2)))))))) into (- (+ (* (/ (* (pow (cos (* 0.5 phi1)) 2) (* R (* (pow (cos (* 0.5 phi2)) 2) (* phi1 (* lambda2 phi2))))) (pow lambda1 2)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (* 2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))))) 3)))) (+ (* (/ (* R (* phi2 phi1)) lambda1) (sqrt (/ 1 (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (* 2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))))))) (+ (* (* R (* lambda2 (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)))) (sqrt (/ 1 (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (* 2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))))))) (+ (* (* lambda2 (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) R))) (sqrt (/ 1 (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (* 2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))))))) (* (/ (* (pow (sin (* 0.5 phi1)) 2) (* R (* phi1 (* lambda2 (* (pow (sin (* 0.5 phi2)) 2) phi2))))) (pow lambda1 2)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (* 2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))))) 3)))))))) (+ (* 2 (* (/ (* (sin (* 0.5 phi1)) (* R (* (cos (* 0.5 phi2)) (* phi1 (* (cos (* 0.5 phi1)) (* lambda2 (* (sin (* 0.5 phi2)) phi2))))))) (pow lambda1 2)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (* 2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))))) 3))))) (* 2 (* (* (cos (* 0.5 phi1)) (* R (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi2)) (* lambda2 (sin (* 0.5 phi2))))))) (sqrt (/ 1 (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (* 2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))))))))))
37.177 * * * [progress]: simplifying candidates
37.179 * [simplify]: Simplifying:
  (expm1 (* (sin (* phi1 0.5)) (sin (* phi2 0.5))))
  (log1p (* (sin (* phi1 0.5)) (sin (* phi2 0.5))))
  (- (cos (- (* phi1 0.5) (* phi2 0.5))) (cos (+ (* phi1 0.5) (* phi2 0.5))))
  (* (sin (* phi1 0.5)) (sin (* phi2 0.5)))
  (+ (log (sin (* phi1 0.5))) (log (sin (* phi2 0.5))))
  (log (* (sin (* phi1 0.5)) (sin (* phi2 0.5))))
  (exp (* (sin (* phi1 0.5)) (sin (* phi2 0.5))))
  (* (* (* (sin (* phi1 0.5)) (sin (* phi1 0.5))) (sin (* phi1 0.5))) (* (* (sin (* phi2 0.5)) (sin (* phi2 0.5))) (sin (* phi2 0.5))))
  (* (cbrt (* (sin (* phi1 0.5)) (sin (* phi2 0.5)))) (cbrt (* (sin (* phi1 0.5)) (sin (* phi2 0.5)))))
  (cbrt (* (sin (* phi1 0.5)) (sin (* phi2 0.5))))
  (* (* (* (sin (* phi1 0.5)) (sin (* phi2 0.5))) (* (sin (* phi1 0.5)) (sin (* phi2 0.5)))) (* (sin (* phi1 0.5)) (sin (* phi2 0.5))))
  (sqrt (* (sin (* phi1 0.5)) (sin (* phi2 0.5))))
  (sqrt (* (sin (* phi1 0.5)) (sin (* phi2 0.5))))
  (* (sqrt (sin (* phi1 0.5))) (sqrt (sin (* phi2 0.5))))
  (* (sqrt (sin (* phi1 0.5))) (sqrt (sin (* phi2 0.5))))
  (* (sin (* phi1 0.5)) (* (cbrt (sin (* phi2 0.5))) (cbrt (sin (* phi2 0.5)))))
  (* (sin (* phi1 0.5)) (sqrt (sin (* phi2 0.5))))
  (* (sin (* phi1 0.5)) 1)
  (* (cbrt (sin (* phi1 0.5))) (sin (* phi2 0.5)))
  (* (sqrt (sin (* phi1 0.5))) (sin (* phi2 0.5)))
  (* (sin (* phi1 0.5)) (sin (* phi2 0.5)))
  (expm1 (* (- lambda1 lambda2) (- (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) (* (sin (* phi1 0.5)) (sin (* phi2 0.5))))))
  (log1p (* (- lambda1 lambda2) (- (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) (* (sin (* phi1 0.5)) (sin (* phi2 0.5))))))
  (* (- lambda1 lambda2) (- (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) (* (sin (* phi1 0.5)) (sin (* phi2 0.5)))))
  (+ (log (- lambda1 lambda2)) (log (- (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) (* (sin (* phi1 0.5)) (sin (* phi2 0.5))))))
  (log (* (- lambda1 lambda2) (- (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) (* (sin (* phi1 0.5)) (sin (* phi2 0.5))))))
  (exp (* (- lambda1 lambda2) (- (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) (* (sin (* phi1 0.5)) (sin (* phi2 0.5))))))
  (* (* (* (- lambda1 lambda2) (- lambda1 lambda2)) (- lambda1 lambda2)) (* (* (- (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) (* (sin (* phi1 0.5)) (sin (* phi2 0.5)))) (- (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) (* (sin (* phi1 0.5)) (sin (* phi2 0.5))))) (- (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) (* (sin (* phi1 0.5)) (sin (* phi2 0.5))))))
  (* (cbrt (* (- lambda1 lambda2) (- (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) (* (sin (* phi1 0.5)) (sin (* phi2 0.5)))))) (cbrt (* (- lambda1 lambda2) (- (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) (* (sin (* phi1 0.5)) (sin (* phi2 0.5)))))))
  (cbrt (* (- lambda1 lambda2) (- (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) (* (sin (* phi1 0.5)) (sin (* phi2 0.5))))))
  (* (* (* (- lambda1 lambda2) (- (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) (* (sin (* phi1 0.5)) (sin (* phi2 0.5))))) (* (- lambda1 lambda2) (- (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) (* (sin (* phi1 0.5)) (sin (* phi2 0.5)))))) (* (- lambda1 lambda2) (- (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) (* (sin (* phi1 0.5)) (sin (* phi2 0.5))))))
  (sqrt (* (- lambda1 lambda2) (- (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) (* (sin (* phi1 0.5)) (sin (* phi2 0.5))))))
  (sqrt (* (- lambda1 lambda2) (- (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) (* (sin (* phi1 0.5)) (sin (* phi2 0.5))))))
  (* (- (pow lambda1 3) (pow lambda2 3)) (- (+ (cos (+ (* phi1 0.5) (* phi2 0.5))) (cos (- (* phi1 0.5) (* phi2 0.5)))) (- (cos (- (* phi1 0.5) (* phi2 0.5))) (cos (+ (* phi1 0.5) (* phi2 0.5))))))
  (* (+ (* lambda1 lambda1) (+ (* lambda2 lambda2) (* lambda1 lambda2))) 2)
  (* (- (pow lambda1 3) (pow lambda2 3)) (- (* (+ (cos (+ (* phi1 0.5) (* phi2 0.5))) (cos (- (* phi1 0.5) (* phi2 0.5)))) 2) (* 2 (- (cos (- (* phi1 0.5) (* phi2 0.5))) (cos (+ (* phi1 0.5) (* phi2 0.5)))))))
  (* (+ (* lambda1 lambda1) (+ (* lambda2 lambda2) (* lambda1 lambda2))) (* 2 2))
  (* (- (pow lambda1 3) (pow lambda2 3)) (- (pow (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) 3) (pow (* (sin (* phi1 0.5)) (sin (* phi2 0.5))) 3)))
  (* (+ (* lambda1 lambda1) (+ (* lambda2 lambda2) (* lambda1 lambda2))) (+ (* (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) (* (cos (* phi1 0.5)) (cos (* phi2 0.5)))) (+ (* (* (sin (* phi1 0.5)) (sin (* phi2 0.5))) (* (sin (* phi1 0.5)) (sin (* phi2 0.5)))) (* (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) (* (sin (* phi1 0.5)) (sin (* phi2 0.5)))))))
  (* (- (pow lambda1 3) (pow lambda2 3)) (- (* (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) (* (cos (* phi1 0.5)) (cos (* phi2 0.5)))) (* (* (sin (* phi1 0.5)) (sin (* phi2 0.5))) (* (sin (* phi1 0.5)) (sin (* phi2 0.5))))))
  (* (+ (* lambda1 lambda1) (+ (* lambda2 lambda2) (* lambda1 lambda2))) (+ (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) (* (sin (* phi1 0.5)) (sin (* phi2 0.5)))))
  (* (- (* lambda1 lambda1) (* lambda2 lambda2)) (- (+ (cos (+ (* phi1 0.5) (* phi2 0.5))) (cos (- (* phi1 0.5) (* phi2 0.5)))) (- (cos (- (* phi1 0.5) (* phi2 0.5))) (cos (+ (* phi1 0.5) (* phi2 0.5))))))
  (* (+ lambda1 lambda2) 2)
  (* (- (* lambda1 lambda1) (* lambda2 lambda2)) (- (* (+ (cos (+ (* phi1 0.5) (* phi2 0.5))) (cos (- (* phi1 0.5) (* phi2 0.5)))) 2) (* 2 (- (cos (- (* phi1 0.5) (* phi2 0.5))) (cos (+ (* phi1 0.5) (* phi2 0.5)))))))
  (* (+ lambda1 lambda2) (* 2 2))
  (* (- (* lambda1 lambda1) (* lambda2 lambda2)) (- (pow (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) 3) (pow (* (sin (* phi1 0.5)) (sin (* phi2 0.5))) 3)))
  (* (+ lambda1 lambda2) (+ (* (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) (* (cos (* phi1 0.5)) (cos (* phi2 0.5)))) (+ (* (* (sin (* phi1 0.5)) (sin (* phi2 0.5))) (* (sin (* phi1 0.5)) (sin (* phi2 0.5)))) (* (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) (* (sin (* phi1 0.5)) (sin (* phi2 0.5)))))))
  (* (- (* lambda1 lambda1) (* lambda2 lambda2)) (- (* (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) (* (cos (* phi1 0.5)) (cos (* phi2 0.5)))) (* (* (sin (* phi1 0.5)) (sin (* phi2 0.5))) (* (sin (* phi1 0.5)) (sin (* phi2 0.5))))))
  (* (+ lambda1 lambda2) (+ (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) (* (sin (* phi1 0.5)) (sin (* phi2 0.5)))))
  (* (sqrt (- lambda1 lambda2)) (sqrt (- (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) (* (sin (* phi1 0.5)) (sin (* phi2 0.5))))))
  (* (sqrt (- lambda1 lambda2)) (sqrt (- (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) (* (sin (* phi1 0.5)) (sin (* phi2 0.5))))))
  (* (- lambda1 lambda2) (fma (cos (* phi1 0.5)) (cos (* phi2 0.5)) (- (* (sin (* phi2 0.5)) (sin (* phi1 0.5))))))
  (* (- lambda1 lambda2) (fma (- (sin (* phi2 0.5))) (sin (* phi1 0.5)) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))))
  (* (- lambda1 lambda2) (* (cos (* phi1 0.5)) (cos (* phi2 0.5))))
  (* (- lambda1 lambda2) (- (* (sin (* phi1 0.5)) (sin (* phi2 0.5)))))
  (* (- lambda1 lambda2) (* (cos (* phi1 0.5)) (cos (* phi2 0.5))))
  (* (- lambda1 lambda2) (- (* (sin (* phi1 0.5)) (sin (* phi2 0.5)))))
  (* (fma (cos (* phi1 0.5)) (cos (* phi2 0.5)) (- (* (sin (* phi2 0.5)) (sin (* phi1 0.5))))) (- lambda1 lambda2))
  (* (fma (- (sin (* phi2 0.5))) (sin (* phi1 0.5)) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) (- lambda1 lambda2))
  (* (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) (- lambda1 lambda2))
  (* (- (* (sin (* phi1 0.5)) (sin (* phi2 0.5)))) (- lambda1 lambda2))
  (* (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) (- lambda1 lambda2))
  (* (- (* (sin (* phi1 0.5)) (sin (* phi2 0.5)))) (- lambda1 lambda2))
  (* (- lambda1 lambda2) (* (cbrt (- (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) (* (sin (* phi1 0.5)) (sin (* phi2 0.5))))) (cbrt (- (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) (* (sin (* phi1 0.5)) (sin (* phi2 0.5)))))))
  (* (- lambda1 lambda2) (sqrt (- (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) (* (sin (* phi1 0.5)) (sin (* phi2 0.5))))))
  (* (- lambda1 lambda2) 1)
  (* (cbrt (- lambda1 lambda2)) (- (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) (* (sin (* phi1 0.5)) (sin (* phi2 0.5)))))
  (* (sqrt (- lambda1 lambda2)) (- (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) (* (sin (* phi1 0.5)) (sin (* phi2 0.5)))))
  (* (- lambda1 lambda2) (- (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) (* (sin (* phi1 0.5)) (sin (* phi2 0.5)))))
  (* (- (sqrt lambda1) (sqrt lambda2)) (- (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) (* (sin (* phi1 0.5)) (sin (* phi2 0.5)))))
  (* (- lambda1 lambda2) (- (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) (* (sin (* phi1 0.5)) (sin (* phi2 0.5)))))
  (* (- lambda1 lambda2) (- (+ (cos (+ (* phi1 0.5) (* phi2 0.5))) (cos (- (* phi1 0.5) (* phi2 0.5)))) (- (cos (- (* phi1 0.5) (* phi2 0.5))) (cos (+ (* phi1 0.5) (* phi2 0.5))))))
  (* (- lambda1 lambda2) (- (* (+ (cos (+ (* phi1 0.5) (* phi2 0.5))) (cos (- (* phi1 0.5) (* phi2 0.5)))) 2) (* 2 (- (cos (- (* phi1 0.5) (* phi2 0.5))) (cos (+ (* phi1 0.5) (* phi2 0.5)))))))
  (* (- lambda1 lambda2) (- (pow (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) 3) (pow (* (sin (* phi1 0.5)) (sin (* phi2 0.5))) 3)))
  (* (- lambda1 lambda2) (- (* (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) (* (cos (* phi1 0.5)) (cos (* phi2 0.5)))) (* (* (sin (* phi1 0.5)) (sin (* phi2 0.5))) (* (sin (* phi1 0.5)) (sin (* phi2 0.5))))))
  (* (- (pow lambda1 3) (pow lambda2 3)) (- (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) (* (sin (* phi1 0.5)) (sin (* phi2 0.5)))))
  (* (- (* lambda1 lambda1) (* lambda2 lambda2)) (- (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) (* (sin (* phi1 0.5)) (sin (* phi2 0.5)))))
  (fma (cos (* phi1 0.5)) (cos (* phi2 0.5)) (- (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))))
  (fma (- (sin (* phi2 0.5))) (sin (* phi1 0.5)) (* (sin (* phi2 0.5)) (sin (* phi1 0.5))))
  (expm1 (- (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) (* (sin (* phi1 0.5)) (sin (* phi2 0.5)))))
  (log1p (- (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) (* (sin (* phi1 0.5)) (sin (* phi2 0.5)))))
  (- (* (sin (* phi1 0.5)) (sin (* phi2 0.5))))
  (/ (exp (* (cos (* phi1 0.5)) (cos (* phi2 0.5)))) (exp (* (sin (* phi1 0.5)) (sin (* phi2 0.5)))))
  (log (- (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) (* (sin (* phi1 0.5)) (sin (* phi2 0.5)))))
  (exp (- (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) (* (sin (* phi1 0.5)) (sin (* phi2 0.5)))))
  (* (cbrt (- (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) (* (sin (* phi1 0.5)) (sin (* phi2 0.5))))) (cbrt (- (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) (* (sin (* phi1 0.5)) (sin (* phi2 0.5))))))
  (cbrt (- (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) (* (sin (* phi1 0.5)) (sin (* phi2 0.5)))))
  (* (* (- (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) (* (sin (* phi1 0.5)) (sin (* phi2 0.5)))) (- (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) (* (sin (* phi1 0.5)) (sin (* phi2 0.5))))) (- (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) (* (sin (* phi1 0.5)) (sin (* phi2 0.5)))))
  (sqrt (- (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) (* (sin (* phi1 0.5)) (sin (* phi2 0.5)))))
  (sqrt (- (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) (* (sin (* phi1 0.5)) (sin (* phi2 0.5)))))
  (- (+ (cos (+ (* phi1 0.5) (* phi2 0.5))) (cos (- (* phi1 0.5) (* phi2 0.5)))) (- (cos (- (* phi1 0.5) (* phi2 0.5))) (cos (+ (* phi1 0.5) (* phi2 0.5)))))
  (- (* (+ (cos (+ (* phi1 0.5) (* phi2 0.5))) (cos (- (* phi1 0.5) (* phi2 0.5)))) 2) (* 2 (- (cos (- (* phi1 0.5) (* phi2 0.5))) (cos (+ (* phi1 0.5) (* phi2 0.5))))))
  (* 2 2)
  (- (pow (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) 3) (pow (* (sin (* phi1 0.5)) (sin (* phi2 0.5))) 3))
  (+ (* (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) (* (cos (* phi1 0.5)) (cos (* phi2 0.5)))) (+ (* (* (sin (* phi1 0.5)) (sin (* phi2 0.5))) (* (sin (* phi1 0.5)) (sin (* phi2 0.5)))) (* (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) (* (sin (* phi1 0.5)) (sin (* phi2 0.5))))))
  (- (* (sin (* phi1 0.5)) (sin (* phi2 0.5))))
  (- (* (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) (* (cos (* phi1 0.5)) (cos (* phi2 0.5)))) (* (* (sin (* phi1 0.5)) (sin (* phi2 0.5))) (* (sin (* phi1 0.5)) (sin (* phi2 0.5)))))
  (+ (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) (* (sin (* phi1 0.5)) (sin (* phi2 0.5))))
  (- (* (sin (* phi1 0.5)) (sin (* phi2 0.5))))
  (expm1 (* (hypot (* (- lambda1 lambda2) (- (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) (* (sin (* phi1 0.5)) (sin (* phi2 0.5))))) (- phi1 phi2)) R))
  (log1p (* (hypot (* (- lambda1 lambda2) (- (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) (* (sin (* phi1 0.5)) (sin (* phi2 0.5))))) (- phi1 phi2)) R))
  (* (hypot (* (- lambda1 lambda2) (- (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) (* (sin (* phi1 0.5)) (sin (* phi2 0.5))))) (- phi1 phi2)) R)
  (+ (log (hypot (* (- lambda1 lambda2) (- (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) (* (sin (* phi1 0.5)) (sin (* phi2 0.5))))) (- phi1 phi2))) (log R))
  (log (* (hypot (* (- lambda1 lambda2) (- (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) (* (sin (* phi1 0.5)) (sin (* phi2 0.5))))) (- phi1 phi2)) R))
  (exp (* (hypot (* (- lambda1 lambda2) (- (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) (* (sin (* phi1 0.5)) (sin (* phi2 0.5))))) (- phi1 phi2)) R))
  (* (* (* (hypot (* (- lambda1 lambda2) (- (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) (* (sin (* phi1 0.5)) (sin (* phi2 0.5))))) (- phi1 phi2)) (hypot (* (- lambda1 lambda2) (- (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) (* (sin (* phi1 0.5)) (sin (* phi2 0.5))))) (- phi1 phi2))) (hypot (* (- lambda1 lambda2) (- (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) (* (sin (* phi1 0.5)) (sin (* phi2 0.5))))) (- phi1 phi2))) (* (* R R) R))
  (* (cbrt (* (hypot (* (- lambda1 lambda2) (- (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) (* (sin (* phi1 0.5)) (sin (* phi2 0.5))))) (- phi1 phi2)) R)) (cbrt (* (hypot (* (- lambda1 lambda2) (- (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) (* (sin (* phi1 0.5)) (sin (* phi2 0.5))))) (- phi1 phi2)) R)))
  (cbrt (* (hypot (* (- lambda1 lambda2) (- (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) (* (sin (* phi1 0.5)) (sin (* phi2 0.5))))) (- phi1 phi2)) R))
  (* (* (* (hypot (* (- lambda1 lambda2) (- (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) (* (sin (* phi1 0.5)) (sin (* phi2 0.5))))) (- phi1 phi2)) R) (* (hypot (* (- lambda1 lambda2) (- (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) (* (sin (* phi1 0.5)) (sin (* phi2 0.5))))) (- phi1 phi2)) R)) (* (hypot (* (- lambda1 lambda2) (- (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) (* (sin (* phi1 0.5)) (sin (* phi2 0.5))))) (- phi1 phi2)) R))
  (sqrt (* (hypot (* (- lambda1 lambda2) (- (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) (* (sin (* phi1 0.5)) (sin (* phi2 0.5))))) (- phi1 phi2)) R))
  (sqrt (* (hypot (* (- lambda1 lambda2) (- (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) (* (sin (* phi1 0.5)) (sin (* phi2 0.5))))) (- phi1 phi2)) R))
  (* (sqrt (hypot (* (- lambda1 lambda2) (- (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) (* (sin (* phi1 0.5)) (sin (* phi2 0.5))))) (- phi1 phi2))) (sqrt R))
  (* (sqrt (hypot (* (- lambda1 lambda2) (- (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) (* (sin (* phi1 0.5)) (sin (* phi2 0.5))))) (- phi1 phi2))) (sqrt R))
  (* (hypot (* (- lambda1 lambda2) (- (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) (* (sin (* phi1 0.5)) (sin (* phi2 0.5))))) (- phi1 phi2)) (* (cbrt R) (cbrt R)))
  (* (hypot (* (- lambda1 lambda2) (- (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) (* (sin (* phi1 0.5)) (sin (* phi2 0.5))))) (- phi1 phi2)) (sqrt R))
  (* (hypot (* (- lambda1 lambda2) (- (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) (* (sin (* phi1 0.5)) (sin (* phi2 0.5))))) (- phi1 phi2)) 1)
  (* (cbrt (hypot (* (- lambda1 lambda2) (- (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) (* (sin (* phi1 0.5)) (sin (* phi2 0.5))))) (- phi1 phi2))) R)
  (* (sqrt (hypot (* (- lambda1 lambda2) (- (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) (* (sin (* phi1 0.5)) (sin (* phi2 0.5))))) (- phi1 phi2))) R)
  (* (hypot (* (- lambda1 lambda2) (- (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) (* (sin (* phi1 0.5)) (sin (* phi2 0.5))))) (- phi1 phi2)) R)
  (* 0.25 (* phi1 phi2))
  (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))
  (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))
  (- lambda1 lambda2)
  (- (+ (* lambda1 (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2)))) (* lambda2 (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))) (+ (* lambda2 (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2)))) (* lambda1 (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))))
  (- (+ (* lambda1 (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2)))) (* lambda2 (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))) (+ (* lambda2 (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2)))) (* lambda1 (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))))
  (- 1 (+ (* 0.25 (* phi1 phi2)) (* 0.125 (pow phi1 2))))
  (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))
  (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))
  0
  (- (+ (* 2 (* (/ (* (cos (* 0.5 phi1)) (* R (* (cos (* 0.5 phi2)) (* phi1 (* (sin (* 0.5 phi1)) (* lambda2 (* (sin (* 0.5 phi2)) phi2))))))) (* (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (* 2 (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))))) (pow lambda1 2))) (sqrt (/ 1 (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))))))))) (* 2 (* (* (cos (* 0.5 phi1)) (* (cos (* 0.5 phi2)) (* R (* (sin (* 0.5 phi1)) (* lambda2 (sin (* 0.5 phi2))))))) (sqrt (/ 1 (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))))))))) (+ (* (/ (* (pow (sin (* 0.5 phi1)) 2) (* R (* phi1 (* lambda2 (* (pow (sin (* 0.5 phi2)) 2) phi2))))) (* (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (* 2 (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))))) (pow lambda1 2))) (sqrt (/ 1 (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))))))) (+ (* (/ (* (pow (cos (* 0.5 phi1)) 2) (* R (* (pow (cos (* 0.5 phi2)) 2) (* phi1 (* lambda2 phi2))))) (* (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (* 2 (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))))) (pow lambda1 2))) (sqrt (/ 1 (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))))))) (+ (* (* R (* lambda2 (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)))) (sqrt (/ 1 (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))))))) (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))))))) (/ (* phi1 (* R phi2)) lambda1)) (* (* R (* lambda2 (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2)))) (sqrt (/ 1 (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))))))))))))
  (- (+ (* (/ (* (pow (cos (* 0.5 phi1)) 2) (* R (* (pow (cos (* 0.5 phi2)) 2) (* phi1 (* lambda2 phi2))))) (pow lambda1 2)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (* 2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))))) 3)))) (+ (* (/ (* R (* phi2 phi1)) lambda1) (sqrt (/ 1 (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (* 2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))))))) (+ (* (* R (* lambda2 (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)))) (sqrt (/ 1 (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (* 2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))))))) (+ (* (* lambda2 (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) R))) (sqrt (/ 1 (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (* 2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))))))) (* (/ (* (pow (sin (* 0.5 phi1)) 2) (* R (* phi1 (* lambda2 (* (pow (sin (* 0.5 phi2)) 2) phi2))))) (pow lambda1 2)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (* 2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))))) 3)))))))) (+ (* 2 (* (/ (* (sin (* 0.5 phi1)) (* R (* (cos (* 0.5 phi2)) (* phi1 (* (cos (* 0.5 phi1)) (* lambda2 (* (sin (* 0.5 phi2)) phi2))))))) (pow lambda1 2)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (* 2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))))) 3))))) (* 2 (* (* (cos (* 0.5 phi1)) (* R (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi2)) (* lambda2 (sin (* 0.5 phi2))))))) (sqrt (/ 1 (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (* 2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))))))))))
37.184 * * [simplify]: iteration 0: 314 enodes
37.277 * * [simplify]: iteration 1: 911 enodes
37.783 * * [simplify]: iteration 2: 3855 enodes
38.800 * * [simplify]: iteration complete: 5000 enodes
38.801 * * [simplify]: Extracting #0: cost 97 inf + 0
38.804 * * [simplify]: Extracting #1: cost 690 inf + 2
38.828 * * [simplify]: Extracting #2: cost 1077 inf + 822
38.841 * * [simplify]: Extracting #3: cost 1284 inf + 5583
38.855 * * [simplify]: Extracting #4: cost 1222 inf + 51811
38.910 * * [simplify]: Extracting #5: cost 809 inf + 202032
39.052 * * [simplify]: Extracting #6: cost 311 inf + 465923
39.301 * * [simplify]: Extracting #7: cost 141 inf + 625316
39.644 * * [simplify]: Extracting #8: cost 65 inf + 713165
40.030 * * [simplify]: Extracting #9: cost 5 inf + 797878
40.497 * * [simplify]: Extracting #10: cost 0 inf + 808581
40.936 * * [simplify]: Extracting #11: cost 0 inf + 808541
41.425 * [simplify]: Simplified to:
  (expm1 (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))))
  (log1p (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))))
  (- (cos (* (- phi1 phi2) 0.5)) (cos (* 0.5 (+ phi1 phi2))))
  (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))
  (log (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))))
  (log (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))))
  (exp (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))))
  (* (* (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))))
  (* (cbrt (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))) (cbrt (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))))
  (cbrt (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))))
  (* (* (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))))
  (sqrt (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))))
  (sqrt (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))))
  (* (sqrt (sin (* phi1 0.5))) (sqrt (sin (* 0.5 phi2))))
  (* (sqrt (sin (* phi1 0.5))) (sqrt (sin (* 0.5 phi2))))
  (* (* (sin (* phi1 0.5)) (cbrt (sin (* 0.5 phi2)))) (cbrt (sin (* 0.5 phi2))))
  (* (sin (* phi1 0.5)) (sqrt (sin (* 0.5 phi2))))
  (sin (* phi1 0.5))
  (* (cbrt (sin (* phi1 0.5))) (sin (* 0.5 phi2)))
  (* (sin (* 0.5 phi2)) (sqrt (sin (* phi1 0.5))))
  (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))
  (expm1 (* (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))) (- lambda1 lambda2)))
  (log1p (* (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))) (- lambda1 lambda2)))
  (* (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))) (- lambda1 lambda2))
  (log (* (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))) (- lambda1 lambda2)))
  (log (* (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))) (- lambda1 lambda2)))
  (exp (* (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))) (- lambda1 lambda2)))
  (* (* (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))) (- lambda1 lambda2)) (* (* (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))) (- lambda1 lambda2)) (* (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))) (- lambda1 lambda2))))
  (* (cbrt (* (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))) (- lambda1 lambda2))) (cbrt (* (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))) (- lambda1 lambda2))))
  (cbrt (* (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))) (- lambda1 lambda2)))
  (* (* (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))) (- lambda1 lambda2)) (* (* (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))) (- lambda1 lambda2)) (* (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))) (- lambda1 lambda2))))
  (sqrt (* (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))) (- lambda1 lambda2)))
  (sqrt (* (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))) (- lambda1 lambda2)))
  (* (+ (+ (cos (* 0.5 (+ phi1 phi2))) (- (cos (* (- phi1 phi2) 0.5)) (cos (* (- phi1 phi2) 0.5)))) (cos (* 0.5 (+ phi1 phi2)))) (- (* lambda1 (* lambda1 lambda1)) (* lambda2 (* lambda2 lambda2))))
  (* (fma lambda1 lambda1 (* lambda2 (+ lambda1 lambda2))) 2)
  (* (- (* lambda1 (* lambda1 lambda1)) (* lambda2 (* lambda2 lambda2))) (* 2 (+ (+ (cos (* 0.5 (+ phi1 phi2))) (- (cos (* (- phi1 phi2) 0.5)) (cos (* (- phi1 phi2) 0.5)))) (cos (* 0.5 (+ phi1 phi2))))))
  (* (fma lambda1 lambda1 (* lambda2 (+ lambda1 lambda2))) 4)
  (* (- (* (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))))) (* (* (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))))) (- (* lambda1 (* lambda1 lambda1)) (* lambda2 (* lambda2 lambda2))))
  (* (fma (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))) (fma (cos (* phi1 0.5)) (cos (* 0.5 phi2)) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))))) (fma lambda1 lambda1 (* lambda2 (+ lambda1 lambda2))))
  (* (- (* lambda1 (* lambda1 lambda1)) (* lambda2 (* lambda2 lambda2))) (- (* (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (cos (* 0.5 phi2)) (cos (* phi1 0.5)))) (* (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))))))
  (* (fma lambda1 lambda1 (* lambda2 (+ lambda1 lambda2))) (fma (cos (* phi1 0.5)) (cos (* 0.5 phi2)) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))))
  (* (+ (+ (cos (* 0.5 (+ phi1 phi2))) (- (cos (* (- phi1 phi2) 0.5)) (cos (* (- phi1 phi2) 0.5)))) (cos (* 0.5 (+ phi1 phi2)))) (* (+ lambda1 lambda2) (- lambda1 lambda2)))
  (* (+ lambda1 lambda2) 2)
  (* (* (+ lambda1 lambda2) (- lambda1 lambda2)) (* 2 (+ (+ (cos (* 0.5 (+ phi1 phi2))) (- (cos (* (- phi1 phi2) 0.5)) (cos (* (- phi1 phi2) 0.5)))) (cos (* 0.5 (+ phi1 phi2))))))
  (* (+ lambda1 lambda2) 4)
  (* (+ lambda1 lambda2) (* (- lambda1 lambda2) (- (* (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))))) (* (* (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))))))
  (* (fma (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))) (fma (cos (* phi1 0.5)) (cos (* 0.5 phi2)) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))))) (+ lambda1 lambda2))
  (* (- (* (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (cos (* 0.5 phi2)) (cos (* phi1 0.5)))) (* (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))))) (* (+ lambda1 lambda2) (- lambda1 lambda2)))
  (* (+ lambda1 lambda2) (fma (cos (* phi1 0.5)) (cos (* 0.5 phi2)) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))))
  (* (sqrt (- lambda1 lambda2)) (sqrt (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))))))
  (* (sqrt (- lambda1 lambda2)) (sqrt (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))))))
  (* (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))) (- lambda1 lambda2))
  (* (- lambda1 lambda2) (fma (- (sin (* 0.5 phi2))) (sin (* phi1 0.5)) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))))
  (* (cos (* phi1 0.5)) (* (- lambda1 lambda2) (cos (* 0.5 phi2))))
  (- (* (* (- lambda1 lambda2) (sin (* phi1 0.5))) (sin (* 0.5 phi2))))
  (* (cos (* phi1 0.5)) (* (- lambda1 lambda2) (cos (* 0.5 phi2))))
  (- (* (* (- lambda1 lambda2) (sin (* phi1 0.5))) (sin (* 0.5 phi2))))
  (* (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))) (- lambda1 lambda2))
  (* (- lambda1 lambda2) (fma (- (sin (* 0.5 phi2))) (sin (* phi1 0.5)) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))))
  (* (cos (* phi1 0.5)) (* (- lambda1 lambda2) (cos (* 0.5 phi2))))
  (- (* (* (- lambda1 lambda2) (sin (* phi1 0.5))) (sin (* 0.5 phi2))))
  (* (cos (* phi1 0.5)) (* (- lambda1 lambda2) (cos (* 0.5 phi2))))
  (- (* (* (- lambda1 lambda2) (sin (* phi1 0.5))) (sin (* 0.5 phi2))))
  (* (* (- lambda1 lambda2) (cbrt (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))))) (cbrt (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))))))
  (* (sqrt (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))))) (- lambda1 lambda2))
  (- lambda1 lambda2)
  (* (cbrt (- lambda1 lambda2)) (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))))
  (* (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))) (sqrt (- lambda1 lambda2)))
  (* (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))) (- lambda1 lambda2))
  (* (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))) (- (sqrt lambda1) (sqrt lambda2)))
  (* (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))) (- lambda1 lambda2))
  (* (+ (+ (cos (* 0.5 (+ phi1 phi2))) (- (cos (* (- phi1 phi2) 0.5)) (cos (* (- phi1 phi2) 0.5)))) (cos (* 0.5 (+ phi1 phi2)))) (- lambda1 lambda2))
  (* (* 2 (+ (+ (cos (* 0.5 (+ phi1 phi2))) (- (cos (* (- phi1 phi2) 0.5)) (cos (* (- phi1 phi2) 0.5)))) (cos (* 0.5 (+ phi1 phi2))))) (- lambda1 lambda2))
  (* (- lambda1 lambda2) (- (* (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))))) (* (* (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))))))
  (* (- (* (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (cos (* 0.5 phi2)) (cos (* phi1 0.5)))) (* (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))))) (- lambda1 lambda2))
  (* (- (* lambda1 (* lambda1 lambda1)) (* lambda2 (* lambda2 lambda2))) (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))))
  (* (* (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))) (+ lambda1 lambda2)) (- lambda1 lambda2))
  (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))))
  (fma (- (sin (* 0.5 phi2))) (sin (* phi1 0.5)) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))))
  (expm1 (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))))
  (log1p (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))))
  (* (- (sin (* 0.5 phi2))) (sin (* phi1 0.5)))
  (exp (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))))
  (log (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))))
  (exp (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))))
  (* (cbrt (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))))) (cbrt (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))))))
  (cbrt (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))))
  (* (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))) (* (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))) (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))))))
  (sqrt (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))))
  (sqrt (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))))
  (+ (+ (cos (* 0.5 (+ phi1 phi2))) (- (cos (* (- phi1 phi2) 0.5)) (cos (* (- phi1 phi2) 0.5)))) (cos (* 0.5 (+ phi1 phi2))))
  (* 2 (+ (+ (cos (* 0.5 (+ phi1 phi2))) (- (cos (* (- phi1 phi2) 0.5)) (cos (* (- phi1 phi2) 0.5)))) (cos (* 0.5 (+ phi1 phi2)))))
  4
  (- (* (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))))) (* (* (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))))
  (fma (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))) (fma (cos (* phi1 0.5)) (cos (* 0.5 phi2)) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))))))
  (* (- (sin (* 0.5 phi2))) (sin (* phi1 0.5)))
  (- (* (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (cos (* 0.5 phi2)) (cos (* phi1 0.5)))) (* (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))))
  (fma (cos (* phi1 0.5)) (cos (* 0.5 phi2)) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))))
  (* (- (sin (* 0.5 phi2))) (sin (* phi1 0.5)))
  (expm1 (* (hypot (* (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))) (- lambda1 lambda2)) (- phi1 phi2)) R))
  (log1p (* (hypot (* (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))) (- lambda1 lambda2)) (- phi1 phi2)) R))
  (* (hypot (* (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))) (- lambda1 lambda2)) (- phi1 phi2)) R)
  (log (* (hypot (* (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))) (- lambda1 lambda2)) (- phi1 phi2)) R))
  (log (* (hypot (* (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))) (- lambda1 lambda2)) (- phi1 phi2)) R))
  (exp (* (hypot (* (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))) (- lambda1 lambda2)) (- phi1 phi2)) R))
  (* (* (hypot (* (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))) (- lambda1 lambda2)) (- phi1 phi2)) (hypot (* (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))) (- lambda1 lambda2)) (- phi1 phi2))) (* (hypot (* (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))) (- lambda1 lambda2)) (- phi1 phi2)) (* R (* R R))))
  (* (cbrt (* (hypot (* (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))) (- lambda1 lambda2)) (- phi1 phi2)) R)) (cbrt (* (hypot (* (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))) (- lambda1 lambda2)) (- phi1 phi2)) R)))
  (cbrt (* (hypot (* (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))) (- lambda1 lambda2)) (- phi1 phi2)) R))
  (* (* (hypot (* (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))) (- lambda1 lambda2)) (- phi1 phi2)) R) (* (* (hypot (* (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))) (- lambda1 lambda2)) (- phi1 phi2)) R) (* (hypot (* (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))) (- lambda1 lambda2)) (- phi1 phi2)) R)))
  (sqrt (* (hypot (* (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))) (- lambda1 lambda2)) (- phi1 phi2)) R))
  (sqrt (* (hypot (* (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))) (- lambda1 lambda2)) (- phi1 phi2)) R))
  (* (sqrt R) (sqrt (hypot (* (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))) (- lambda1 lambda2)) (- phi1 phi2))))
  (* (sqrt R) (sqrt (hypot (* (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))) (- lambda1 lambda2)) (- phi1 phi2))))
  (* (* (hypot (* (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))) (- lambda1 lambda2)) (- phi1 phi2)) (cbrt R)) (cbrt R))
  (* (sqrt R) (hypot (* (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))) (- lambda1 lambda2)) (- phi1 phi2)))
  (hypot (* (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))) (- lambda1 lambda2)) (- phi1 phi2))
  (* (cbrt (hypot (* (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))) (- lambda1 lambda2)) (- phi1 phi2))) R)
  (* (sqrt (hypot (* (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))) (- lambda1 lambda2)) (- phi1 phi2))) R)
  (* (hypot (* (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))) (- lambda1 lambda2)) (- phi1 phi2)) R)
  (* (* 0.25 phi1) phi2)
  (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))
  (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))
  (- lambda1 lambda2)
  (fma lambda2 (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))) (- (* (* lambda1 (cos (* 0.5 phi2))) (cos (* phi1 0.5))) (fma (sin (* phi1 0.5)) (* (sin (* 0.5 phi2)) lambda1) (* (cos (* 0.5 phi2)) (* (cos (* phi1 0.5)) lambda2)))))
  (fma lambda2 (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))) (- (* (* lambda1 (cos (* 0.5 phi2))) (cos (* phi1 0.5))) (fma (sin (* phi1 0.5)) (* (sin (* 0.5 phi2)) lambda1) (* (cos (* 0.5 phi2)) (* (cos (* phi1 0.5)) lambda2)))))
  (- 1 (fma 0.125 (* phi1 phi1) (* (* 0.25 phi1) phi2)))
  (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))))
  (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))))
  0
  (- (* (* (sqrt (/ 1 (- (fma (* (sin (* 0.5 phi2)) (sin (* phi1 0.5))) (* (sin (* 0.5 phi2)) (sin (* phi1 0.5))) (* (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))))) (* (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))) (fma (cos (* phi1 0.5)) (sin (* phi1 0.5)) (* (sin (* phi1 0.5)) (cos (* phi1 0.5)))))))) (fma (/ (* (cos (* phi1 0.5)) R) (* lambda1 lambda1)) (/ (* phi1 (* (* (* (sin (* phi1 0.5)) lambda2) (* (sin (* 0.5 phi2)) phi2)) (cos (* 0.5 phi2)))) (fma (* (sin (* 0.5 phi2)) (sin (* phi1 0.5))) (* (sin (* 0.5 phi2)) (sin (* phi1 0.5))) (fma (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (* (* (cos (* phi1 0.5)) (sin (* phi1 0.5))) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))) -2)))) (* (* (* (* (sin (* phi1 0.5)) lambda2) (* (sin (* 0.5 phi2)) R)) (cos (* 0.5 phi2))) (cos (* phi1 0.5))))) 2) (fma (sqrt (/ 1 (- (fma (* (sin (* 0.5 phi2)) (sin (* phi1 0.5))) (* (sin (* 0.5 phi2)) (sin (* phi1 0.5))) (* (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))))) (* (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))) (fma (cos (* phi1 0.5)) (sin (* phi1 0.5)) (* (sin (* phi1 0.5)) (cos (* phi1 0.5)))))))) (fma (/ (* (sin (* phi1 0.5)) (sin (* phi1 0.5))) (* (* (fma (* (sin (* 0.5 phi2)) (sin (* phi1 0.5))) (* (sin (* 0.5 phi2)) (sin (* phi1 0.5))) (fma (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (* (* (cos (* phi1 0.5)) (sin (* phi1 0.5))) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))) -2))) lambda1) lambda1)) (* R (* (* lambda2 (* phi2 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi2))))) (/ (* (* (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) R)) (* lambda2 (* phi2 phi1))) (* (* (fma (* (sin (* 0.5 phi2)) (sin (* phi1 0.5))) (* (sin (* 0.5 phi2)) (sin (* phi1 0.5))) (fma (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (* (* (cos (* phi1 0.5)) (sin (* phi1 0.5))) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))) -2))) lambda1) lambda1))) (fma (* (sqrt (/ 1 (- (fma (* (sin (* 0.5 phi2)) (sin (* phi1 0.5))) (* (sin (* 0.5 phi2)) (sin (* phi1 0.5))) (* (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))))) (* (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))) (fma (cos (* phi1 0.5)) (sin (* phi1 0.5)) (* (sin (* phi1 0.5)) (cos (* phi1 0.5)))))))) (* lambda2 R)) (* (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))) (* (sqrt (/ 1 (- (fma (* (sin (* 0.5 phi2)) (sin (* phi1 0.5))) (* (sin (* 0.5 phi2)) (sin (* phi1 0.5))) (* (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))))) (* (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))) (fma (cos (* phi1 0.5)) (sin (* phi1 0.5)) (* (sin (* phi1 0.5)) (cos (* phi1 0.5)))))))) (fma (* lambda2 R) (* (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (cos (* 0.5 phi2)) (cos (* phi1 0.5)))) (/ R (/ lambda1 (* phi2 phi1))))))))
  (fma -2 (fma (sqrt (/ (/ 1 (fma (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))) (fma (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* -2 (* (* (cos (* phi1 0.5)) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))) (cos (* 0.5 phi2))))))) (* (fma (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))) (fma (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* -2 (* (* (cos (* phi1 0.5)) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))) (cos (* 0.5 phi2)))))) (fma (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))) (fma (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* -2 (* (* (cos (* phi1 0.5)) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))) (cos (* 0.5 phi2))))))))) (/ (sin (* phi1 0.5)) (/ (/ (* lambda1 lambda1) (* R (cos (* 0.5 phi2)))) (* (* (* (cos (* phi1 0.5)) lambda2) (* (sin (* 0.5 phi2)) phi2)) phi1))) (* (* (* (* (sin (* phi1 0.5)) lambda2) (* (sin (* 0.5 phi2)) R)) (cos (* 0.5 phi2))) (* (cos (* phi1 0.5)) (sqrt (/ 1 (fma (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))) (fma (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* -2 (* (* (cos (* phi1 0.5)) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))) (cos (* 0.5 phi2))))))))))) (fma (sqrt (/ (/ 1 (fma (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))) (fma (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* -2 (* (* (cos (* phi1 0.5)) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))) (cos (* 0.5 phi2))))))) (* (fma (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))) (fma (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* -2 (* (* (cos (* phi1 0.5)) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))) (cos (* 0.5 phi2)))))) (fma (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))) (fma (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* -2 (* (* (cos (* phi1 0.5)) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))) (cos (* 0.5 phi2))))))))) (/ (* (* (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) R)) (* lambda2 (* phi2 phi1))) (* lambda1 lambda1)) (fma (sqrt (/ 1 (fma (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))) (fma (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* -2 (* (* (cos (* phi1 0.5)) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))) (cos (* 0.5 phi2)))))))) (/ R (/ lambda1 (* phi2 phi1))) (fma (sqrt (/ (/ 1 (fma (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))) (fma (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* -2 (* (* (cos (* phi1 0.5)) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))) (cos (* 0.5 phi2))))))) (* (fma (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))) (fma (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* -2 (* (* (cos (* phi1 0.5)) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))) (cos (* 0.5 phi2)))))) (fma (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))) (fma (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* -2 (* (* (cos (* phi1 0.5)) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))) (cos (* 0.5 phi2))))))))) (* (/ (* (sin (* phi1 0.5)) (sin (* phi1 0.5))) (* lambda1 lambda1)) (* R (* (* lambda2 (* phi2 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi2)))))) (* (sqrt (/ 1 (fma (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))) (fma (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* -2 (* (* (cos (* phi1 0.5)) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))) (cos (* 0.5 phi2)))))))) (fma R (* lambda2 (* (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))))) (* R (* lambda2 (* (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))))))))))))
41.450 * * * [progress]: adding candidates to table
42.593 * * [progress]: iteration 4 / 4
42.593 * * * [progress]: picking best candidate
42.670 * * * * [pick]: Picked  #<alt (λ (R lambda1 lambda2 phi1 phi2) (* (hypot (* (- lambda1 lambda2) (fma (cos (* phi1 0.5)) (cos (* phi2 0.5)) (- (* (sin (* phi1 0.5)) (sin (* phi2 0.5)))))) (- phi1 phi2)) R))>
42.670 * * * [progress]: localizing error
42.738 * * * [progress]: generating rewritten candidates
42.738 * * * * [progress]: [ 1 / 4 ] rewriting at (2 1 1 2 3 1)
42.768 * * * * [progress]: [ 2 / 4 ] rewriting at (2 1 1)
42.802 * * * * [progress]: [ 3 / 4 ] rewriting at (2 1 1 2)
42.803 * * * * [progress]: [ 4 / 4 ] rewriting at (2)
42.815 * * * [progress]: generating series expansions
42.815 * * * * [progress]: [ 1 / 4 ] generating series at (2 1 1 2 3 1)
42.815 * [backup-simplify]: Simplify (* (sin (* phi1 0.5)) (sin (* phi2 0.5))) into (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))
42.815 * [approximate]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))) in (phi1 phi2) around 0
42.815 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))) in phi2
42.815 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi2
42.815 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2
42.815 * [taylor]: Taking taylor expansion of 0.5 in phi2
42.815 * [backup-simplify]: Simplify 0.5 into 0.5
42.815 * [taylor]: Taking taylor expansion of phi1 in phi2
42.815 * [backup-simplify]: Simplify phi1 into phi1
42.815 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
42.816 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
42.816 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
42.816 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2
42.816 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2
42.816 * [taylor]: Taking taylor expansion of 0.5 in phi2
42.816 * [backup-simplify]: Simplify 0.5 into 0.5
42.816 * [taylor]: Taking taylor expansion of phi2 in phi2
42.816 * [backup-simplify]: Simplify 0 into 0
42.816 * [backup-simplify]: Simplify 1 into 1
42.816 * [backup-simplify]: Simplify (* 0.5 0) into 0
42.817 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
42.817 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))) in phi1
42.817 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1
42.817 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
42.817 * [taylor]: Taking taylor expansion of 0.5 in phi1
42.817 * [backup-simplify]: Simplify 0.5 into 0.5
42.817 * [taylor]: Taking taylor expansion of phi1 in phi1
42.817 * [backup-simplify]: Simplify 0 into 0
42.817 * [backup-simplify]: Simplify 1 into 1
42.818 * [backup-simplify]: Simplify (* 0.5 0) into 0
42.819 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
42.819 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi1
42.819 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi1
42.819 * [taylor]: Taking taylor expansion of 0.5 in phi1
42.819 * [backup-simplify]: Simplify 0.5 into 0.5
42.819 * [taylor]: Taking taylor expansion of phi2 in phi1
42.819 * [backup-simplify]: Simplify phi2 into phi2
42.819 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
42.819 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
42.819 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
42.819 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))) in phi1
42.819 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1
42.819 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
42.819 * [taylor]: Taking taylor expansion of 0.5 in phi1
42.819 * [backup-simplify]: Simplify 0.5 into 0.5
42.819 * [taylor]: Taking taylor expansion of phi1 in phi1
42.819 * [backup-simplify]: Simplify 0 into 0
42.819 * [backup-simplify]: Simplify 1 into 1
42.819 * [backup-simplify]: Simplify (* 0.5 0) into 0
42.820 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
42.820 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi1
42.820 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi1
42.820 * [taylor]: Taking taylor expansion of 0.5 in phi1
42.820 * [backup-simplify]: Simplify 0.5 into 0.5
42.820 * [taylor]: Taking taylor expansion of phi2 in phi1
42.820 * [backup-simplify]: Simplify phi2 into phi2
42.820 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
42.820 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
42.820 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
42.821 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2))
42.821 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0
42.821 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2))
42.821 * [backup-simplify]: Simplify (* 0 (sin (* 0.5 phi2))) into 0
42.821 * [taylor]: Taking taylor expansion of 0 in phi2
42.821 * [backup-simplify]: Simplify 0 into 0
42.821 * [backup-simplify]: Simplify 0 into 0
42.821 * [backup-simplify]: Simplify (+ 0) into 0
42.821 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 1)) into 0
42.822 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0
42.822 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
42.822 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 0)) into 0
42.823 * [backup-simplify]: Simplify (+ 0 0) into 0
42.824 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5
42.824 * [backup-simplify]: Simplify (+ (* 0 0) (* 0.5 (sin (* 0.5 phi2)))) into (* 0.5 (sin (* 0.5 phi2)))
42.824 * [taylor]: Taking taylor expansion of (* 0.5 (sin (* 0.5 phi2))) in phi2
42.824 * [taylor]: Taking taylor expansion of 0.5 in phi2
42.824 * [backup-simplify]: Simplify 0.5 into 0.5
42.824 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2
42.824 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2
42.824 * [taylor]: Taking taylor expansion of 0.5 in phi2
42.824 * [backup-simplify]: Simplify 0.5 into 0.5
42.824 * [taylor]: Taking taylor expansion of phi2 in phi2
42.824 * [backup-simplify]: Simplify 0 into 0
42.825 * [backup-simplify]: Simplify 1 into 1
42.825 * [backup-simplify]: Simplify (* 0.5 0) into 0
42.826 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
42.826 * [backup-simplify]: Simplify (* 0.5 0) into 0
42.826 * [backup-simplify]: Simplify 0 into 0
42.826 * [backup-simplify]: Simplify 0 into 0
42.826 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
42.827 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
42.827 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 phi2))) into 0
42.828 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
42.828 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
42.828 * [backup-simplify]: Simplify (+ 0 0) into 0
42.829 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 1) (* 0 0))) into 0
42.829 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
42.830 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 0.5 0) (* 0 (sin (* 0.5 phi2))))) into 0
42.830 * [taylor]: Taking taylor expansion of 0 in phi2
42.830 * [backup-simplify]: Simplify 0 into 0
42.830 * [backup-simplify]: Simplify 0 into 0
42.832 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5
42.832 * [backup-simplify]: Simplify (+ (* 0.5 0.5) (* 0 0)) into 0.25
42.832 * [backup-simplify]: Simplify 0.25 into 0.25
42.832 * [backup-simplify]: Simplify 0 into 0
42.833 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0
42.833 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0
42.834 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (+ (* 0 0) (* 0 phi2)))) into 0
42.835 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0
42.835 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0
42.836 * [backup-simplify]: Simplify (+ 0 0) into 0
42.836 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (+ (* 0 1) (* 0 0)))) into 0
42.839 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into (- 0.020833333333333332)
42.840 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 0.5 0) (+ (* 0 0) (* (- 0.020833333333333332) (sin (* 0.5 phi2)))))) into (- (* 0.020833333333333332 (sin (* 0.5 phi2))))
42.840 * [taylor]: Taking taylor expansion of (- (* 0.020833333333333332 (sin (* 0.5 phi2)))) in phi2
42.840 * [taylor]: Taking taylor expansion of (* 0.020833333333333332 (sin (* 0.5 phi2))) in phi2
42.840 * [taylor]: Taking taylor expansion of 0.020833333333333332 in phi2
42.840 * [backup-simplify]: Simplify 0.020833333333333332 into 0.020833333333333332
42.840 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2
42.840 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2
42.840 * [taylor]: Taking taylor expansion of 0.5 in phi2
42.840 * [backup-simplify]: Simplify 0.5 into 0.5
42.840 * [taylor]: Taking taylor expansion of phi2 in phi2
42.840 * [backup-simplify]: Simplify 0 into 0
42.840 * [backup-simplify]: Simplify 1 into 1
42.840 * [backup-simplify]: Simplify (* 0.5 0) into 0
42.841 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
42.842 * [backup-simplify]: Simplify (* 0.020833333333333332 0) into 0
42.842 * [backup-simplify]: Simplify (- 0) into 0
42.842 * [backup-simplify]: Simplify 0 into 0
42.842 * [backup-simplify]: Simplify 0 into 0
42.842 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 1) (* 0 0))) into 0
42.843 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
42.843 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0.5) (* 0 0))) into 0
42.843 * [backup-simplify]: Simplify 0 into 0
42.843 * [backup-simplify]: Simplify 0 into 0
42.845 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 4) 24)) 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) (* -1 (/ (pow 0 2) 2)) 0) into 0
42.845 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (+ (* 0 0) (* 0 1))))) into 0
42.847 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (+ (* 0 0) (+ (* 0 0) (* 0 phi2))))) into 0
42.848 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 2) 2) (/ (pow 0 1) 1)) 0 0 (* 1 (/ (pow 0 1) 1))) into 0
42.849 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (+ (* 0 0) (* 0 0))))) into 0
42.850 * [backup-simplify]: Simplify (+ 0 0) into 0
42.851 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (+ (* 0 0) (+ (* 0 1) (* 0 0))))) into 0
42.852 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0.5 2) 2) (/ (pow 0 1) 1)) 0 0 (* 1 (/ (pow 0 1) 1))) into 0
42.854 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 0.5 0) (+ (* 0 0) (+ (* (- 0.020833333333333332) 0) (* 0 (sin (* 0.5 phi2))))))) into 0
42.854 * [taylor]: Taking taylor expansion of 0 in phi2
42.854 * [backup-simplify]: Simplify 0 into 0
42.854 * [backup-simplify]: Simplify 0 into 0
42.855 * [backup-simplify]: Simplify (* 0.25 (* phi2 phi1)) into (* 0.25 (* phi1 phi2))
42.855 * [backup-simplify]: Simplify (* (sin (* (/ 1 phi1) 0.5)) (sin (* (/ 1 phi2) 0.5))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
42.855 * [approximate]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in (phi1 phi2) around 0
42.855 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in phi2
42.855 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
42.855 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
42.855 * [taylor]: Taking taylor expansion of 0.5 in phi2
42.855 * [backup-simplify]: Simplify 0.5 into 0.5
42.855 * [taylor]: Taking taylor expansion of phi2 in phi2
42.855 * [backup-simplify]: Simplify 0 into 0
42.855 * [backup-simplify]: Simplify 1 into 1
42.856 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
42.856 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
42.856 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
42.856 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
42.856 * [taylor]: Taking taylor expansion of 0.5 in phi2
42.856 * [backup-simplify]: Simplify 0.5 into 0.5
42.856 * [taylor]: Taking taylor expansion of phi1 in phi2
42.856 * [backup-simplify]: Simplify phi1 into phi1
42.856 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
42.856 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
42.856 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
42.856 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in phi1
42.856 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
42.856 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
42.856 * [taylor]: Taking taylor expansion of 0.5 in phi1
42.856 * [backup-simplify]: Simplify 0.5 into 0.5
42.856 * [taylor]: Taking taylor expansion of phi2 in phi1
42.856 * [backup-simplify]: Simplify phi2 into phi2
42.856 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
42.856 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
42.857 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
42.857 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
42.857 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
42.857 * [taylor]: Taking taylor expansion of 0.5 in phi1
42.857 * [backup-simplify]: Simplify 0.5 into 0.5
42.857 * [taylor]: Taking taylor expansion of phi1 in phi1
42.857 * [backup-simplify]: Simplify 0 into 0
42.857 * [backup-simplify]: Simplify 1 into 1
42.857 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
42.857 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
42.857 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in phi1
42.857 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
42.857 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
42.857 * [taylor]: Taking taylor expansion of 0.5 in phi1
42.857 * [backup-simplify]: Simplify 0.5 into 0.5
42.858 * [taylor]: Taking taylor expansion of phi2 in phi1
42.858 * [backup-simplify]: Simplify phi2 into phi2
42.858 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
42.858 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
42.858 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
42.858 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
42.858 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
42.858 * [taylor]: Taking taylor expansion of 0.5 in phi1
42.858 * [backup-simplify]: Simplify 0.5 into 0.5
42.858 * [taylor]: Taking taylor expansion of phi1 in phi1
42.858 * [backup-simplify]: Simplify 0 into 0
42.858 * [backup-simplify]: Simplify 1 into 1
42.858 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
42.859 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
42.859 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
42.859 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
42.859 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
42.859 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
42.859 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in phi2
42.859 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
42.859 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
42.859 * [taylor]: Taking taylor expansion of 0.5 in phi2
42.859 * [backup-simplify]: Simplify 0.5 into 0.5
42.859 * [taylor]: Taking taylor expansion of phi2 in phi2
42.859 * [backup-simplify]: Simplify 0 into 0
42.859 * [backup-simplify]: Simplify 1 into 1
42.860 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
42.860 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
42.860 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
42.860 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
42.860 * [taylor]: Taking taylor expansion of 0.5 in phi2
42.860 * [backup-simplify]: Simplify 0.5 into 0.5
42.860 * [taylor]: Taking taylor expansion of phi1 in phi2
42.860 * [backup-simplify]: Simplify phi1 into phi1
42.860 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
42.860 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
42.860 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
42.861 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
42.861 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
42.861 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
42.861 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
42.861 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
42.862 * [backup-simplify]: Simplify (+ 0) into 0
42.862 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
42.862 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
42.863 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
42.864 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
42.864 * [backup-simplify]: Simplify (+ 0 0) into 0
42.864 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
42.864 * [taylor]: Taking taylor expansion of 0 in phi2
42.865 * [backup-simplify]: Simplify 0 into 0
42.865 * [backup-simplify]: Simplify 0 into 0
42.865 * [backup-simplify]: Simplify (+ 0) into 0
42.866 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
42.866 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
42.867 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
42.867 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
42.867 * [backup-simplify]: Simplify (+ 0 0) into 0
42.868 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
42.868 * [backup-simplify]: Simplify 0 into 0
42.869 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
42.869 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
42.869 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
42.870 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
42.871 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
42.878 * [backup-simplify]: Simplify (+ 0 0) into 0
42.878 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
42.879 * [taylor]: Taking taylor expansion of 0 in phi2
42.879 * [backup-simplify]: Simplify 0 into 0
42.879 * [backup-simplify]: Simplify 0 into 0
42.879 * [backup-simplify]: Simplify 0 into 0
42.880 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
42.880 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
42.881 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
42.881 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
42.882 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
42.882 * [backup-simplify]: Simplify (+ 0 0) into 0
42.883 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
42.883 * [backup-simplify]: Simplify 0 into 0
42.884 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0
42.885 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0
42.885 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
42.886 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0
42.887 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0
42.888 * [backup-simplify]: Simplify (+ 0 0) into 0
42.889 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1)))))) into 0
42.889 * [taylor]: Taking taylor expansion of 0 in phi2
42.889 * [backup-simplify]: Simplify 0 into 0
42.889 * [backup-simplify]: Simplify 0 into 0
42.889 * [backup-simplify]: Simplify (* (sin (/ 0.5 (/ 1 phi2))) (sin (/ 0.5 (/ 1 phi1)))) into (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))
42.889 * [backup-simplify]: Simplify (* (sin (* (/ 1 (- phi1)) 0.5)) (sin (* (/ 1 (- phi2)) 0.5))) into (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))
42.889 * [approximate]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in (phi1 phi2) around 0
42.889 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi2
42.890 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
42.890 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
42.890 * [taylor]: Taking taylor expansion of -0.5 in phi2
42.890 * [backup-simplify]: Simplify -0.5 into -0.5
42.890 * [taylor]: Taking taylor expansion of phi2 in phi2
42.890 * [backup-simplify]: Simplify 0 into 0
42.890 * [backup-simplify]: Simplify 1 into 1
42.890 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
42.890 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
42.890 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
42.890 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
42.890 * [taylor]: Taking taylor expansion of -0.5 in phi2
42.890 * [backup-simplify]: Simplify -0.5 into -0.5
42.890 * [taylor]: Taking taylor expansion of phi1 in phi2
42.890 * [backup-simplify]: Simplify phi1 into phi1
42.890 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
42.890 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
42.891 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
42.891 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi1
42.891 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
42.891 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
42.891 * [taylor]: Taking taylor expansion of -0.5 in phi1
42.891 * [backup-simplify]: Simplify -0.5 into -0.5
42.891 * [taylor]: Taking taylor expansion of phi2 in phi1
42.891 * [backup-simplify]: Simplify phi2 into phi2
42.891 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
42.891 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
42.891 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
42.891 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
42.891 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
42.891 * [taylor]: Taking taylor expansion of -0.5 in phi1
42.891 * [backup-simplify]: Simplify -0.5 into -0.5
42.891 * [taylor]: Taking taylor expansion of phi1 in phi1
42.891 * [backup-simplify]: Simplify 0 into 0
42.891 * [backup-simplify]: Simplify 1 into 1
42.892 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
42.892 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
42.892 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi1
42.892 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
42.892 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
42.892 * [taylor]: Taking taylor expansion of -0.5 in phi1
42.892 * [backup-simplify]: Simplify -0.5 into -0.5
42.892 * [taylor]: Taking taylor expansion of phi2 in phi1
42.892 * [backup-simplify]: Simplify phi2 into phi2
42.892 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
42.892 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
42.892 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
42.892 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
42.892 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
42.892 * [taylor]: Taking taylor expansion of -0.5 in phi1
42.892 * [backup-simplify]: Simplify -0.5 into -0.5
42.892 * [taylor]: Taking taylor expansion of phi1 in phi1
42.892 * [backup-simplify]: Simplify 0 into 0
42.892 * [backup-simplify]: Simplify 1 into 1
42.893 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
42.893 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
42.893 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
42.893 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
42.893 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
42.893 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))
42.893 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi2
42.893 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
42.893 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
42.893 * [taylor]: Taking taylor expansion of -0.5 in phi2
42.893 * [backup-simplify]: Simplify -0.5 into -0.5
42.893 * [taylor]: Taking taylor expansion of phi2 in phi2
42.893 * [backup-simplify]: Simplify 0 into 0
42.893 * [backup-simplify]: Simplify 1 into 1
42.894 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
42.894 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
42.894 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
42.894 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
42.894 * [taylor]: Taking taylor expansion of -0.5 in phi2
42.894 * [backup-simplify]: Simplify -0.5 into -0.5
42.894 * [taylor]: Taking taylor expansion of phi1 in phi2
42.894 * [backup-simplify]: Simplify phi1 into phi1
42.894 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
42.894 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
42.894 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
42.894 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
42.894 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
42.895 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
42.895 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))
42.895 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))
42.895 * [backup-simplify]: Simplify (+ 0) into 0
42.896 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
42.896 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
42.897 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
42.897 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
42.897 * [backup-simplify]: Simplify (+ 0 0) into 0
42.898 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
42.898 * [taylor]: Taking taylor expansion of 0 in phi2
42.898 * [backup-simplify]: Simplify 0 into 0
42.898 * [backup-simplify]: Simplify 0 into 0
42.898 * [backup-simplify]: Simplify (+ 0) into 0
42.899 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
42.899 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
42.899 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
42.900 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
42.900 * [backup-simplify]: Simplify (+ 0 0) into 0
42.900 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
42.900 * [backup-simplify]: Simplify 0 into 0
42.901 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
42.902 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
42.902 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
42.903 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
42.903 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
42.904 * [backup-simplify]: Simplify (+ 0 0) into 0
42.904 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
42.904 * [taylor]: Taking taylor expansion of 0 in phi2
42.904 * [backup-simplify]: Simplify 0 into 0
42.904 * [backup-simplify]: Simplify 0 into 0
42.904 * [backup-simplify]: Simplify 0 into 0
42.905 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
42.906 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
42.906 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
42.907 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
42.907 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
42.908 * [backup-simplify]: Simplify (+ 0 0) into 0
42.908 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
42.908 * [backup-simplify]: Simplify 0 into 0
42.909 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0
42.910 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0
42.910 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
42.911 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0
42.912 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0
42.912 * [backup-simplify]: Simplify (+ 0 0) into 0
42.913 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1)))))) into 0
42.913 * [taylor]: Taking taylor expansion of 0 in phi2
42.913 * [backup-simplify]: Simplify 0 into 0
42.913 * [backup-simplify]: Simplify 0 into 0
42.913 * [backup-simplify]: Simplify (* (sin (/ -0.5 (/ 1 (- phi2)))) (sin (/ -0.5 (/ 1 (- phi1))))) into (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))
42.914 * * * * [progress]: [ 2 / 4 ] generating series at (2 1 1)
42.914 * [backup-simplify]: Simplify (* (- lambda1 lambda2) (fma (cos (* phi1 0.5)) (cos (* phi2 0.5)) (- (* (sin (* phi1 0.5)) (sin (* phi2 0.5)))))) into (* (- lambda1 lambda2) (fma (cos (* 0.5 phi1)) (cos (* 0.5 phi2)) (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))))
42.914 * [approximate]: Taking taylor expansion of (* (- lambda1 lambda2) (fma (cos (* 0.5 phi1)) (cos (* 0.5 phi2)) (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))))) in (lambda1 lambda2 phi1 phi2) around 0
42.914 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (fma (cos (* 0.5 phi1)) (cos (* 0.5 phi2)) (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))))) in phi2
42.914 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in phi2
42.914 * [taylor]: Taking taylor expansion of lambda1 in phi2
42.914 * [backup-simplify]: Simplify lambda1 into lambda1
42.914 * [taylor]: Taking taylor expansion of lambda2 in phi2
42.914 * [backup-simplify]: Simplify lambda2 into lambda2
42.914 * [taylor]: Taking taylor expansion of (fma (cos (* 0.5 phi1)) (cos (* 0.5 phi2)) (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))) in phi2
42.914 * [taylor]: Rewrote expression to (+ (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))))
42.914 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) in phi2
42.915 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi2
42.915 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2
42.915 * [taylor]: Taking taylor expansion of 0.5 in phi2
42.915 * [backup-simplify]: Simplify 0.5 into 0.5
42.915 * [taylor]: Taking taylor expansion of phi1 in phi2
42.915 * [backup-simplify]: Simplify phi1 into phi1
42.915 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
42.915 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
42.915 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
42.915 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2
42.915 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2
42.915 * [taylor]: Taking taylor expansion of 0.5 in phi2
42.915 * [backup-simplify]: Simplify 0.5 into 0.5
42.915 * [taylor]: Taking taylor expansion of phi2 in phi2
42.915 * [backup-simplify]: Simplify 0 into 0
42.915 * [backup-simplify]: Simplify 1 into 1
42.916 * [backup-simplify]: Simplify (* 0.5 0) into 0
42.917 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
42.917 * [taylor]: Taking taylor expansion of (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))) in phi2
42.917 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))) in phi2
42.917 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi2
42.917 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2
42.917 * [taylor]: Taking taylor expansion of 0.5 in phi2
42.917 * [backup-simplify]: Simplify 0.5 into 0.5
42.917 * [taylor]: Taking taylor expansion of phi1 in phi2
42.917 * [backup-simplify]: Simplify phi1 into phi1
42.917 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
42.917 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
42.917 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
42.917 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2
42.917 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2
42.917 * [taylor]: Taking taylor expansion of 0.5 in phi2
42.917 * [backup-simplify]: Simplify 0.5 into 0.5
42.918 * [taylor]: Taking taylor expansion of phi2 in phi2
42.918 * [backup-simplify]: Simplify 0 into 0
42.918 * [backup-simplify]: Simplify 1 into 1
42.918 * [backup-simplify]: Simplify (* 0.5 0) into 0
42.919 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
42.919 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (fma (cos (* 0.5 phi1)) (cos (* 0.5 phi2)) (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))))) in phi1
42.919 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in phi1
42.919 * [taylor]: Taking taylor expansion of lambda1 in phi1
42.919 * [backup-simplify]: Simplify lambda1 into lambda1
42.919 * [taylor]: Taking taylor expansion of lambda2 in phi1
42.919 * [backup-simplify]: Simplify lambda2 into lambda2
42.919 * [taylor]: Taking taylor expansion of (fma (cos (* 0.5 phi1)) (cos (* 0.5 phi2)) (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))) in phi1
42.920 * [taylor]: Rewrote expression to (+ (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))))
42.920 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) in phi1
42.920 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1
42.920 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
42.920 * [taylor]: Taking taylor expansion of 0.5 in phi1
42.920 * [backup-simplify]: Simplify 0.5 into 0.5
42.920 * [taylor]: Taking taylor expansion of phi1 in phi1
42.920 * [backup-simplify]: Simplify 0 into 0
42.920 * [backup-simplify]: Simplify 1 into 1
42.920 * [backup-simplify]: Simplify (* 0.5 0) into 0
42.922 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
42.922 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi1
42.922 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi1
42.922 * [taylor]: Taking taylor expansion of 0.5 in phi1
42.922 * [backup-simplify]: Simplify 0.5 into 0.5
42.922 * [taylor]: Taking taylor expansion of phi2 in phi1
42.922 * [backup-simplify]: Simplify phi2 into phi2
42.922 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
42.922 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
42.922 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
42.922 * [taylor]: Taking taylor expansion of (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))) in phi1
42.922 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))) in phi1
42.922 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1
42.922 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
42.922 * [taylor]: Taking taylor expansion of 0.5 in phi1
42.922 * [backup-simplify]: Simplify 0.5 into 0.5
42.923 * [taylor]: Taking taylor expansion of phi1 in phi1
42.923 * [backup-simplify]: Simplify 0 into 0
42.923 * [backup-simplify]: Simplify 1 into 1
42.923 * [backup-simplify]: Simplify (* 0.5 0) into 0
42.925 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
42.925 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi1
42.925 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi1
42.925 * [taylor]: Taking taylor expansion of 0.5 in phi1
42.925 * [backup-simplify]: Simplify 0.5 into 0.5
42.925 * [taylor]: Taking taylor expansion of phi2 in phi1
42.925 * [backup-simplify]: Simplify phi2 into phi2
42.925 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
42.925 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
42.925 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
42.925 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (fma (cos (* 0.5 phi1)) (cos (* 0.5 phi2)) (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))))) in lambda2
42.925 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in lambda2
42.925 * [taylor]: Taking taylor expansion of lambda1 in lambda2
42.925 * [backup-simplify]: Simplify lambda1 into lambda1
42.925 * [taylor]: Taking taylor expansion of lambda2 in lambda2
42.926 * [backup-simplify]: Simplify 0 into 0
42.926 * [backup-simplify]: Simplify 1 into 1
42.926 * [taylor]: Taking taylor expansion of (fma (cos (* 0.5 phi1)) (cos (* 0.5 phi2)) (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))) in lambda2
42.926 * [taylor]: Rewrote expression to (+ (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))))
42.926 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) in lambda2
42.926 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda2
42.926 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
42.926 * [taylor]: Taking taylor expansion of 0.5 in lambda2
42.926 * [backup-simplify]: Simplify 0.5 into 0.5
42.926 * [taylor]: Taking taylor expansion of phi1 in lambda2
42.926 * [backup-simplify]: Simplify phi1 into phi1
42.926 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
42.926 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
42.926 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
42.926 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda2
42.926 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
42.926 * [taylor]: Taking taylor expansion of 0.5 in lambda2
42.926 * [backup-simplify]: Simplify 0.5 into 0.5
42.926 * [taylor]: Taking taylor expansion of phi2 in lambda2
42.926 * [backup-simplify]: Simplify phi2 into phi2
42.926 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
42.927 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
42.927 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
42.927 * [taylor]: Taking taylor expansion of (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))) in lambda2
42.927 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))) in lambda2
42.927 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda2
42.927 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
42.927 * [taylor]: Taking taylor expansion of 0.5 in lambda2
42.927 * [backup-simplify]: Simplify 0.5 into 0.5
42.927 * [taylor]: Taking taylor expansion of phi1 in lambda2
42.927 * [backup-simplify]: Simplify phi1 into phi1
42.927 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
42.927 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
42.927 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
42.927 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda2
42.927 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
42.927 * [taylor]: Taking taylor expansion of 0.5 in lambda2
42.927 * [backup-simplify]: Simplify 0.5 into 0.5
42.927 * [taylor]: Taking taylor expansion of phi2 in lambda2
42.927 * [backup-simplify]: Simplify phi2 into phi2
42.927 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
42.927 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
42.928 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
42.928 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (fma (cos (* 0.5 phi1)) (cos (* 0.5 phi2)) (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))))) in lambda1
42.928 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in lambda1
42.928 * [taylor]: Taking taylor expansion of lambda1 in lambda1
42.928 * [backup-simplify]: Simplify 0 into 0
42.928 * [backup-simplify]: Simplify 1 into 1
42.928 * [taylor]: Taking taylor expansion of lambda2 in lambda1
42.928 * [backup-simplify]: Simplify lambda2 into lambda2
42.928 * [taylor]: Taking taylor expansion of (fma (cos (* 0.5 phi1)) (cos (* 0.5 phi2)) (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))) in lambda1
42.928 * [taylor]: Rewrote expression to (+ (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))))
42.928 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) in lambda1
42.928 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda1
42.928 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda1
42.928 * [taylor]: Taking taylor expansion of 0.5 in lambda1
42.928 * [backup-simplify]: Simplify 0.5 into 0.5
42.928 * [taylor]: Taking taylor expansion of phi1 in lambda1
42.928 * [backup-simplify]: Simplify phi1 into phi1
42.928 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
42.928 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
42.928 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
42.928 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda1
42.928 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda1
42.929 * [taylor]: Taking taylor expansion of 0.5 in lambda1
42.929 * [backup-simplify]: Simplify 0.5 into 0.5
42.929 * [taylor]: Taking taylor expansion of phi2 in lambda1
42.929 * [backup-simplify]: Simplify phi2 into phi2
42.929 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
42.929 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
42.929 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
42.929 * [taylor]: Taking taylor expansion of (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))) in lambda1
42.929 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))) in lambda1
42.929 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda1
42.929 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda1
42.929 * [taylor]: Taking taylor expansion of 0.5 in lambda1
42.929 * [backup-simplify]: Simplify 0.5 into 0.5
42.929 * [taylor]: Taking taylor expansion of phi1 in lambda1
42.929 * [backup-simplify]: Simplify phi1 into phi1
42.929 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
42.929 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
42.929 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
42.929 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda1
42.929 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda1
42.929 * [taylor]: Taking taylor expansion of 0.5 in lambda1
42.929 * [backup-simplify]: Simplify 0.5 into 0.5
42.929 * [taylor]: Taking taylor expansion of phi2 in lambda1
42.929 * [backup-simplify]: Simplify phi2 into phi2
42.930 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
42.930 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
42.930 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
42.930 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (fma (cos (* 0.5 phi1)) (cos (* 0.5 phi2)) (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))))) in lambda1
42.930 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in lambda1
42.930 * [taylor]: Taking taylor expansion of lambda1 in lambda1
42.930 * [backup-simplify]: Simplify 0 into 0
42.930 * [backup-simplify]: Simplify 1 into 1
42.930 * [taylor]: Taking taylor expansion of lambda2 in lambda1
42.930 * [backup-simplify]: Simplify lambda2 into lambda2
42.930 * [taylor]: Taking taylor expansion of (fma (cos (* 0.5 phi1)) (cos (* 0.5 phi2)) (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))) in lambda1
42.930 * [taylor]: Rewrote expression to (+ (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))))
42.930 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) in lambda1
42.930 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda1
42.930 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda1
42.930 * [taylor]: Taking taylor expansion of 0.5 in lambda1
42.930 * [backup-simplify]: Simplify 0.5 into 0.5
42.930 * [taylor]: Taking taylor expansion of phi1 in lambda1
42.930 * [backup-simplify]: Simplify phi1 into phi1
42.930 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
42.930 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
42.931 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
42.931 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda1
42.931 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda1
42.931 * [taylor]: Taking taylor expansion of 0.5 in lambda1
42.931 * [backup-simplify]: Simplify 0.5 into 0.5
42.931 * [taylor]: Taking taylor expansion of phi2 in lambda1
42.931 * [backup-simplify]: Simplify phi2 into phi2
42.931 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
42.931 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
42.931 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
42.931 * [taylor]: Taking taylor expansion of (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))) in lambda1
42.931 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))) in lambda1
42.931 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda1
42.931 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda1
42.931 * [taylor]: Taking taylor expansion of 0.5 in lambda1
42.931 * [backup-simplify]: Simplify 0.5 into 0.5
42.931 * [taylor]: Taking taylor expansion of phi1 in lambda1
42.931 * [backup-simplify]: Simplify phi1 into phi1
42.931 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
42.931 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
42.931 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
42.931 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda1
42.932 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda1
42.932 * [taylor]: Taking taylor expansion of 0.5 in lambda1
42.932 * [backup-simplify]: Simplify 0.5 into 0.5
42.932 * [taylor]: Taking taylor expansion of phi2 in lambda1
42.932 * [backup-simplify]: Simplify phi2 into phi2
42.932 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
42.932 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
42.932 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
42.932 * [backup-simplify]: Simplify (- lambda2) into (- lambda2)
42.932 * [backup-simplify]: Simplify (+ 0 (- lambda2)) into (- lambda2)
42.932 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
42.932 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
42.933 * [backup-simplify]: Simplify (- 0) into 0
42.933 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
42.933 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2))
42.933 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0
42.934 * [backup-simplify]: Simplify (- 0) into 0
42.934 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2))
42.934 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) into (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2)))
42.934 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1))
42.934 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0
42.934 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1))
42.934 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2))
42.934 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0
42.935 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2))
42.935 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))) into (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))
42.935 * [backup-simplify]: Simplify (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))) into (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))
42.935 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))) into (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))
42.936 * [backup-simplify]: Simplify (* (- lambda2) (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))) into (* -1 (* lambda2 (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))))
42.936 * [taylor]: Taking taylor expansion of (* -1 (* lambda2 (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))))) in lambda2
42.936 * [taylor]: Taking taylor expansion of -1 in lambda2
42.936 * [backup-simplify]: Simplify -1 into -1
42.936 * [taylor]: Taking taylor expansion of (* lambda2 (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))) in lambda2
42.936 * [taylor]: Taking taylor expansion of lambda2 in lambda2
42.936 * [backup-simplify]: Simplify 0 into 0
42.936 * [backup-simplify]: Simplify 1 into 1
42.936 * [taylor]: Taking taylor expansion of (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))) in lambda2
42.936 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) in lambda2
42.936 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda2
42.936 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
42.936 * [taylor]: Taking taylor expansion of 0.5 in lambda2
42.936 * [backup-simplify]: Simplify 0.5 into 0.5
42.936 * [taylor]: Taking taylor expansion of phi1 in lambda2
42.936 * [backup-simplify]: Simplify phi1 into phi1
42.936 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
42.936 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
42.936 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
42.936 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda2
42.936 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
42.937 * [taylor]: Taking taylor expansion of 0.5 in lambda2
42.937 * [backup-simplify]: Simplify 0.5 into 0.5
42.937 * [taylor]: Taking taylor expansion of phi2 in lambda2
42.937 * [backup-simplify]: Simplify phi2 into phi2
42.937 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
42.937 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
42.937 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
42.937 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))) in lambda2
42.937 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda2
42.937 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
42.937 * [taylor]: Taking taylor expansion of 0.5 in lambda2
42.937 * [backup-simplify]: Simplify 0.5 into 0.5
42.937 * [taylor]: Taking taylor expansion of phi1 in lambda2
42.937 * [backup-simplify]: Simplify phi1 into phi1
42.937 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
42.937 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
42.937 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
42.937 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda2
42.937 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
42.937 * [taylor]: Taking taylor expansion of 0.5 in lambda2
42.937 * [backup-simplify]: Simplify 0.5 into 0.5
42.937 * [taylor]: Taking taylor expansion of phi2 in lambda2
42.937 * [backup-simplify]: Simplify phi2 into phi2
42.938 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
42.938 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
42.938 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
42.938 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
42.938 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
42.938 * [backup-simplify]: Simplify (- 0) into 0
42.939 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
42.939 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2))
42.939 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0
42.939 * [backup-simplify]: Simplify (- 0) into 0
42.939 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2))
42.939 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) into (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2)))
42.940 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1))
42.940 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0
42.940 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1))
42.940 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2))
42.940 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0
42.940 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2))
42.940 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))) into (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))
42.940 * [backup-simplify]: Simplify (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))) into (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))
42.941 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))) into (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))
42.941 * [backup-simplify]: Simplify (* 0 (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))) into 0
42.942 * [backup-simplify]: Simplify (* -1 0) into 0
42.942 * [taylor]: Taking taylor expansion of 0 in phi1
42.942 * [backup-simplify]: Simplify 0 into 0
42.942 * [taylor]: Taking taylor expansion of 0 in phi2
42.942 * [backup-simplify]: Simplify 0 into 0
42.942 * [backup-simplify]: Simplify 0 into 0
42.942 * [backup-simplify]: Simplify (+ 0) into 0
42.943 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0
42.943 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0
42.944 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
42.945 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 0)) into 0
42.945 * [backup-simplify]: Simplify (- 0) into 0
42.945 * [backup-simplify]: Simplify (+ 0 0) into 0
42.946 * [backup-simplify]: Simplify (+ 0) into 0
42.946 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0
42.947 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0
42.947 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
42.948 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 0)) into 0
42.949 * [backup-simplify]: Simplify (- 0) into 0
42.949 * [backup-simplify]: Simplify (+ 0 0) into 0
42.949 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 (cos (* 0.5 phi2)))) into 0
42.949 * [backup-simplify]: Simplify (+ 0) into 0
42.950 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 1)) into 0
42.950 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0
42.951 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
42.952 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 0)) into 0
42.952 * [backup-simplify]: Simplify (+ 0 0) into 0
42.952 * [backup-simplify]: Simplify (+ 0) into 0
42.953 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 1)) into 0
42.953 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0
42.954 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
42.955 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 0)) into 0
42.955 * [backup-simplify]: Simplify (+ 0 0) into 0
42.955 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 (sin (* 0.5 phi2)))) into 0
42.956 * [backup-simplify]: Simplify (- 0) into 0
42.956 * [backup-simplify]: Simplify (+ 0 0) into 0
42.956 * [backup-simplify]: Simplify (- 0) into 0
42.957 * [backup-simplify]: Simplify (+ 1 0) into 1
42.957 * [backup-simplify]: Simplify (+ (* (- lambda2) 0) (* 1 (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))))) into (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))
42.957 * [taylor]: Taking taylor expansion of (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))) in lambda2
42.957 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) in lambda2
42.957 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda2
42.957 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
42.957 * [taylor]: Taking taylor expansion of 0.5 in lambda2
42.957 * [backup-simplify]: Simplify 0.5 into 0.5
42.957 * [taylor]: Taking taylor expansion of phi1 in lambda2
42.957 * [backup-simplify]: Simplify phi1 into phi1
42.958 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
42.958 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
42.958 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
42.958 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda2
42.958 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
42.958 * [taylor]: Taking taylor expansion of 0.5 in lambda2
42.958 * [backup-simplify]: Simplify 0.5 into 0.5
42.958 * [taylor]: Taking taylor expansion of phi2 in lambda2
42.958 * [backup-simplify]: Simplify phi2 into phi2
42.958 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
42.958 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
42.958 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
42.958 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))) in lambda2
42.958 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda2
42.958 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
42.958 * [taylor]: Taking taylor expansion of 0.5 in lambda2
42.958 * [backup-simplify]: Simplify 0.5 into 0.5
42.958 * [taylor]: Taking taylor expansion of phi1 in lambda2
42.958 * [backup-simplify]: Simplify phi1 into phi1
42.958 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
42.958 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
42.959 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
42.959 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda2
42.959 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
42.959 * [taylor]: Taking taylor expansion of 0.5 in lambda2
42.959 * [backup-simplify]: Simplify 0.5 into 0.5
42.959 * [taylor]: Taking taylor expansion of phi2 in lambda2
42.959 * [backup-simplify]: Simplify phi2 into phi2
42.959 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
42.959 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
42.959 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
42.959 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
42.959 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
42.960 * [backup-simplify]: Simplify (- 0) into 0
42.960 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
42.960 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2))
42.960 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0
42.960 * [backup-simplify]: Simplify (- 0) into 0
42.960 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2))
42.961 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) into (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2)))
42.961 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1))
42.961 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0
42.961 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1))
42.961 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2))
42.961 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0
42.961 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2))
42.961 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))) into (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))
42.962 * [backup-simplify]: Simplify (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))) into (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))
42.962 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))) into (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))
42.962 * [taylor]: Taking taylor expansion of (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))) in phi1
42.962 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) in phi1
42.962 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1
42.962 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
42.962 * [taylor]: Taking taylor expansion of 0.5 in phi1
42.962 * [backup-simplify]: Simplify 0.5 into 0.5
42.962 * [taylor]: Taking taylor expansion of phi1 in phi1
42.962 * [backup-simplify]: Simplify 0 into 0
42.962 * [backup-simplify]: Simplify 1 into 1
42.963 * [backup-simplify]: Simplify (* 0.5 0) into 0
42.964 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
42.964 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi1
42.964 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi1
42.965 * [taylor]: Taking taylor expansion of 0.5 in phi1
42.965 * [backup-simplify]: Simplify 0.5 into 0.5
42.965 * [taylor]: Taking taylor expansion of phi2 in phi1
42.965 * [backup-simplify]: Simplify phi2 into phi2
42.965 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
42.965 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
42.965 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
42.965 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))) in phi1
42.965 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1
42.965 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
42.965 * [taylor]: Taking taylor expansion of 0.5 in phi1
42.965 * [backup-simplify]: Simplify 0.5 into 0.5
42.965 * [taylor]: Taking taylor expansion of phi1 in phi1
42.965 * [backup-simplify]: Simplify 0 into 0
42.965 * [backup-simplify]: Simplify 1 into 1
42.966 * [backup-simplify]: Simplify (* 0.5 0) into 0
42.967 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
42.967 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi1
42.967 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi1
42.967 * [taylor]: Taking taylor expansion of 0.5 in phi1
42.967 * [backup-simplify]: Simplify 0.5 into 0.5
42.967 * [taylor]: Taking taylor expansion of phi2 in phi1
42.967 * [backup-simplify]: Simplify phi2 into phi2
42.967 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
42.968 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
42.968 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
42.968 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2))
42.968 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0
42.968 * [backup-simplify]: Simplify (- 0) into 0
42.968 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2))
42.968 * [backup-simplify]: Simplify (* 1 (cos (* 0.5 phi2))) into (cos (* 0.5 phi2))
42.969 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2))
42.969 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0
42.969 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2))
42.969 * [backup-simplify]: Simplify (* 0 (sin (* 0.5 phi2))) into 0
42.969 * [backup-simplify]: Simplify (- 0) into 0
42.969 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2))
42.969 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2
42.969 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2
42.969 * [taylor]: Taking taylor expansion of 0.5 in phi2
42.969 * [backup-simplify]: Simplify 0.5 into 0.5
42.969 * [taylor]: Taking taylor expansion of phi2 in phi2
42.969 * [backup-simplify]: Simplify 0 into 0
42.969 * [backup-simplify]: Simplify 1 into 1
42.970 * [backup-simplify]: Simplify (* 0.5 0) into 0
42.971 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
42.971 * [backup-simplify]: Simplify 1 into 1
42.972 * [backup-simplify]: Simplify (+ 0) into 0
42.972 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0
42.973 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0
42.974 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
42.974 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 0)) into 0
42.974 * [backup-simplify]: Simplify (- 0) into 0
42.975 * [backup-simplify]: Simplify (+ 0 0) into 0
42.975 * [backup-simplify]: Simplify (+ 0) into 0
42.976 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0
42.976 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0
42.977 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
42.977 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 0)) into 0
42.978 * [backup-simplify]: Simplify (- 0) into 0
42.978 * [backup-simplify]: Simplify (+ 0 0) into 0
42.978 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 (cos (* 0.5 phi2)))) into 0
42.979 * [backup-simplify]: Simplify (+ 0) into 0
42.979 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 1)) into 0
42.980 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0
42.980 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
42.981 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 0)) into 0
42.981 * [backup-simplify]: Simplify (+ 0 0) into 0
42.982 * [backup-simplify]: Simplify (+ 0) into 0
42.982 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 1)) into 0
42.982 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0
42.983 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
42.983 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 0)) into 0
42.983 * [backup-simplify]: Simplify (+ 0 0) into 0
42.983 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 (sin (* 0.5 phi2)))) into 0
42.983 * [backup-simplify]: Simplify (- 0) into 0
42.984 * [backup-simplify]: Simplify (+ 0 0) into 0
42.984 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))))) into (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))
42.985 * [backup-simplify]: Simplify (+ (* -1 (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))) (* 0 0)) into (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))) (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))))
42.985 * [taylor]: Taking taylor expansion of (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))) (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2)))) in phi1
42.985 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))) in phi1
42.985 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1
42.985 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
42.985 * [taylor]: Taking taylor expansion of 0.5 in phi1
42.985 * [backup-simplify]: Simplify 0.5 into 0.5
42.985 * [taylor]: Taking taylor expansion of phi1 in phi1
42.985 * [backup-simplify]: Simplify 0 into 0
42.985 * [backup-simplify]: Simplify 1 into 1
42.985 * [backup-simplify]: Simplify (* 0.5 0) into 0
42.986 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
42.986 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi1
42.986 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi1
42.986 * [taylor]: Taking taylor expansion of 0.5 in phi1
42.986 * [backup-simplify]: Simplify 0.5 into 0.5
42.986 * [taylor]: Taking taylor expansion of phi2 in phi1
42.986 * [backup-simplify]: Simplify phi2 into phi2
42.986 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
42.986 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
42.986 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
42.986 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) in phi1
42.986 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1
42.986 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
42.986 * [taylor]: Taking taylor expansion of 0.5 in phi1
42.986 * [backup-simplify]: Simplify 0.5 into 0.5
42.986 * [taylor]: Taking taylor expansion of phi1 in phi1
42.986 * [backup-simplify]: Simplify 0 into 0
42.986 * [backup-simplify]: Simplify 1 into 1
42.987 * [backup-simplify]: Simplify (* 0.5 0) into 0
42.988 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
42.988 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi1
42.988 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi1
42.988 * [taylor]: Taking taylor expansion of 0.5 in phi1
42.988 * [backup-simplify]: Simplify 0.5 into 0.5
42.988 * [taylor]: Taking taylor expansion of phi2 in phi1
42.988 * [backup-simplify]: Simplify phi2 into phi2
42.988 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
42.988 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
42.988 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
42.988 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2))
42.989 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0
42.989 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2))
42.989 * [backup-simplify]: Simplify (* 0 (sin (* 0.5 phi2))) into 0
42.989 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2))
42.989 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0
42.989 * [backup-simplify]: Simplify (- 0) into 0
42.989 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2))
42.989 * [backup-simplify]: Simplify (* 1 (cos (* 0.5 phi2))) into (cos (* 0.5 phi2))
42.989 * [backup-simplify]: Simplify (- (cos (* 0.5 phi2))) into (- (cos (* 0.5 phi2)))
42.989 * [backup-simplify]: Simplify (+ 0 (- (cos (* 0.5 phi2)))) into (- (cos (* 0.5 phi2)))
42.989 * [taylor]: Taking taylor expansion of (- (cos (* 0.5 phi2))) in phi2
42.989 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2
42.989 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2
42.989 * [taylor]: Taking taylor expansion of 0.5 in phi2
42.989 * [backup-simplify]: Simplify 0.5 into 0.5
42.989 * [taylor]: Taking taylor expansion of phi2 in phi2
42.989 * [backup-simplify]: Simplify 0 into 0
42.990 * [backup-simplify]: Simplify 1 into 1
42.990 * [backup-simplify]: Simplify (* 0.5 0) into 0
42.991 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
42.991 * [backup-simplify]: Simplify (- 1) into -1
42.991 * [backup-simplify]: Simplify -1 into -1
42.991 * [taylor]: Taking taylor expansion of 0 in phi2
42.991 * [backup-simplify]: Simplify 0 into 0
42.991 * [backup-simplify]: Simplify 0 into 0
42.991 * [backup-simplify]: Simplify 0 into 0
42.992 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
42.992 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
42.993 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 phi2))) into 0
42.993 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
42.994 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
42.994 * [backup-simplify]: Simplify (- 0) into 0
42.994 * [backup-simplify]: Simplify (+ 0 0) into 0
42.995 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
42.995 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
42.996 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 phi1))) into 0
42.996 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
42.996 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
42.997 * [backup-simplify]: Simplify (- 0) into 0
42.997 * [backup-simplify]: Simplify (+ 0 0) into 0
42.997 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (* 0.5 phi2))))) into 0
42.998 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
42.998 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
42.999 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 phi2))) into 0
42.999 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
43.000 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
43.000 * [backup-simplify]: Simplify (+ 0 0) into 0
43.000 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
43.001 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
43.001 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 phi1))) into 0
43.002 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
43.002 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
43.002 * [backup-simplify]: Simplify (+ 0 0) into 0
43.003 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (* 0.5 phi2))))) into 0
43.003 * [backup-simplify]: Simplify (- 0) into 0
43.003 * [backup-simplify]: Simplify (+ 0 0) into 0
43.003 * [backup-simplify]: Simplify (- 0) into 0
43.004 * [backup-simplify]: Simplify (+ 0 0) into 0
43.004 * [backup-simplify]: Simplify (+ (* (- lambda2) 0) (+ (* 1 0) (* 0 (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))))) into 0
43.004 * [taylor]: Taking taylor expansion of 0 in lambda2
43.004 * [backup-simplify]: Simplify 0 into 0
43.004 * [taylor]: Taking taylor expansion of 0 in phi1
43.004 * [backup-simplify]: Simplify 0 into 0
43.004 * [taylor]: Taking taylor expansion of 0 in phi2
43.004 * [backup-simplify]: Simplify 0 into 0
43.004 * [backup-simplify]: Simplify 0 into 0
43.004 * [backup-simplify]: Simplify (+ 0) into 0
43.005 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0
43.005 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0
43.006 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
43.006 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 0)) into 0
43.006 * [backup-simplify]: Simplify (- 0) into 0
43.006 * [backup-simplify]: Simplify (+ 0 0) into 0
43.007 * [backup-simplify]: Simplify (+ 0) into 0
43.007 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0
43.007 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0
43.008 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
43.008 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 0)) into 0
43.008 * [backup-simplify]: Simplify (- 0) into 0
43.008 * [backup-simplify]: Simplify (+ 0 0) into 0
43.008 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 (cos (* 0.5 phi2)))) into 0
43.009 * [backup-simplify]: Simplify (+ 0) into 0
43.009 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 1)) into 0
43.009 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0
43.010 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
43.010 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 0)) into 0
43.010 * [backup-simplify]: Simplify (+ 0 0) into 0
43.011 * [backup-simplify]: Simplify (+ 0) into 0
43.011 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 1)) into 0
43.011 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0
43.012 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
43.012 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 0)) into 0
43.012 * [backup-simplify]: Simplify (+ 0 0) into 0
43.012 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 (sin (* 0.5 phi2)))) into 0
43.012 * [backup-simplify]: Simplify (- 0) into 0
43.013 * [backup-simplify]: Simplify (+ 0 0) into 0
43.013 * [taylor]: Taking taylor expansion of 0 in phi1
43.013 * [backup-simplify]: Simplify 0 into 0
43.013 * [taylor]: Taking taylor expansion of 0 in phi2
43.013 * [backup-simplify]: Simplify 0 into 0
43.013 * [backup-simplify]: Simplify 0 into 0
43.020 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
43.021 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
43.022 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 phi2))) into 0
43.022 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
43.023 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
43.023 * [backup-simplify]: Simplify (- 0) into 0
43.024 * [backup-simplify]: Simplify (+ 0 0) into 0
43.025 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
43.025 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
43.026 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 phi1))) into 0
43.027 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
43.028 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
43.028 * [backup-simplify]: Simplify (- 0) into 0
43.028 * [backup-simplify]: Simplify (+ 0 0) into 0
43.029 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (* 0.5 phi2))))) into 0
43.030 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
43.030 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
43.031 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 phi2))) into 0
43.032 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
43.033 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
43.033 * [backup-simplify]: Simplify (+ 0 0) into 0
43.034 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
43.035 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
43.035 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 phi1))) into 0
43.036 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
43.037 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
43.037 * [backup-simplify]: Simplify (+ 0 0) into 0
43.038 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (* 0.5 phi2))))) into 0
43.038 * [backup-simplify]: Simplify (- 0) into 0
43.038 * [backup-simplify]: Simplify (+ 0 0) into 0
43.039 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))))) into 0
43.041 * [backup-simplify]: Simplify (+ (* -1 0) (+ (* 0 (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))) (* 0 0))) into 0
43.041 * [taylor]: Taking taylor expansion of 0 in phi1
43.041 * [backup-simplify]: Simplify 0 into 0
43.041 * [taylor]: Taking taylor expansion of 0 in phi2
43.041 * [backup-simplify]: Simplify 0 into 0
43.041 * [backup-simplify]: Simplify 0 into 0
43.041 * [backup-simplify]: Simplify (+ 0) into 0
43.042 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0
43.042 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0
43.042 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
43.043 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 0)) into 0
43.043 * [backup-simplify]: Simplify (- 0) into 0
43.043 * [backup-simplify]: Simplify (+ 0 0) into 0
43.043 * [backup-simplify]: Simplify (+ 0) into 0
43.044 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (cos (* 0.5 phi2)))) into 0
43.044 * [backup-simplify]: Simplify (+ 0) into 0
43.045 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 1)) into 0
43.045 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0
43.045 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
43.046 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 0)) into 0
43.046 * [backup-simplify]: Simplify (+ 0 0) into 0
43.047 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5
43.047 * [backup-simplify]: Simplify (+ (* 0 0) (* 0.5 (sin (* 0.5 phi2)))) into (* 0.5 (sin (* 0.5 phi2)))
43.048 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi2)))) into (- (* 0.5 (sin (* 0.5 phi2))))
43.048 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi2))))) into (- (* 0.5 (sin (* 0.5 phi2))))
43.048 * [taylor]: Taking taylor expansion of (- (* 0.5 (sin (* 0.5 phi2)))) in phi2
43.048 * [taylor]: Taking taylor expansion of (* 0.5 (sin (* 0.5 phi2))) in phi2
43.048 * [taylor]: Taking taylor expansion of 0.5 in phi2
43.048 * [backup-simplify]: Simplify 0.5 into 0.5
43.048 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2
43.048 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2
43.048 * [taylor]: Taking taylor expansion of 0.5 in phi2
43.048 * [backup-simplify]: Simplify 0.5 into 0.5
43.048 * [taylor]: Taking taylor expansion of phi2 in phi2
43.048 * [backup-simplify]: Simplify 0 into 0
43.048 * [backup-simplify]: Simplify 1 into 1
43.048 * [backup-simplify]: Simplify (* 0.5 0) into 0
43.049 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
43.049 * [backup-simplify]: Simplify (* 0.5 0) into 0
43.050 * [backup-simplify]: Simplify (- 0) into 0
43.050 * [backup-simplify]: Simplify 0 into 0
43.050 * [backup-simplify]: Simplify (+ (* -1 (* 1 (* 1 (* lambda2 1)))) (* 1 (* 1 (* 1 (* 1 lambda1))))) into (- lambda1 lambda2)
43.050 * [backup-simplify]: Simplify (* (- (/ 1 lambda1) (/ 1 lambda2)) (fma (cos (* (/ 1 phi1) 0.5)) (cos (* (/ 1 phi2) 0.5)) (- (* (sin (* (/ 1 phi1) 0.5)) (sin (* (/ 1 phi2) 0.5)))))) into (* (fma (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2)) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (/ 1 lambda1) (/ 1 lambda2)))
43.050 * [approximate]: Taking taylor expansion of (* (fma (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2)) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (/ 1 lambda1) (/ 1 lambda2))) in (lambda1 lambda2 phi1 phi2) around 0
43.050 * [taylor]: Taking taylor expansion of (* (fma (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2)) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (/ 1 lambda1) (/ 1 lambda2))) in phi2
43.050 * [taylor]: Taking taylor expansion of (fma (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2)) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in phi2
43.050 * [taylor]: Rewrote expression to (+ (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
43.050 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) in phi2
43.050 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
43.050 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
43.050 * [taylor]: Taking taylor expansion of 0.5 in phi2
43.050 * [backup-simplify]: Simplify 0.5 into 0.5
43.051 * [taylor]: Taking taylor expansion of phi1 in phi2
43.051 * [backup-simplify]: Simplify phi1 into phi1
43.051 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
43.051 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
43.051 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
43.051 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
43.051 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
43.051 * [taylor]: Taking taylor expansion of 0.5 in phi2
43.051 * [backup-simplify]: Simplify 0.5 into 0.5
43.051 * [taylor]: Taking taylor expansion of phi2 in phi2
43.051 * [backup-simplify]: Simplify 0 into 0
43.051 * [backup-simplify]: Simplify 1 into 1
43.051 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
43.051 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
43.051 * [taylor]: Taking taylor expansion of (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in phi2
43.051 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in phi2
43.051 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
43.051 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
43.051 * [taylor]: Taking taylor expansion of 0.5 in phi2
43.051 * [backup-simplify]: Simplify 0.5 into 0.5
43.051 * [taylor]: Taking taylor expansion of phi2 in phi2
43.051 * [backup-simplify]: Simplify 0 into 0
43.051 * [backup-simplify]: Simplify 1 into 1
43.052 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
43.052 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
43.052 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
43.052 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
43.052 * [taylor]: Taking taylor expansion of 0.5 in phi2
43.052 * [backup-simplify]: Simplify 0.5 into 0.5
43.052 * [taylor]: Taking taylor expansion of phi1 in phi2
43.052 * [backup-simplify]: Simplify phi1 into phi1
43.052 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
43.052 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
43.052 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
43.052 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in phi2
43.052 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in phi2
43.052 * [taylor]: Taking taylor expansion of lambda1 in phi2
43.052 * [backup-simplify]: Simplify lambda1 into lambda1
43.052 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1)
43.052 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in phi2
43.052 * [taylor]: Taking taylor expansion of lambda2 in phi2
43.052 * [backup-simplify]: Simplify lambda2 into lambda2
43.052 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
43.052 * [taylor]: Taking taylor expansion of (* (fma (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2)) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (/ 1 lambda1) (/ 1 lambda2))) in phi1
43.052 * [taylor]: Taking taylor expansion of (fma (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2)) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in phi1
43.052 * [taylor]: Rewrote expression to (+ (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
43.052 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) in phi1
43.052 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
43.052 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
43.052 * [taylor]: Taking taylor expansion of 0.5 in phi1
43.052 * [backup-simplify]: Simplify 0.5 into 0.5
43.052 * [taylor]: Taking taylor expansion of phi1 in phi1
43.052 * [backup-simplify]: Simplify 0 into 0
43.052 * [backup-simplify]: Simplify 1 into 1
43.053 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
43.053 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
43.053 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
43.053 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
43.053 * [taylor]: Taking taylor expansion of 0.5 in phi1
43.053 * [backup-simplify]: Simplify 0.5 into 0.5
43.053 * [taylor]: Taking taylor expansion of phi2 in phi1
43.053 * [backup-simplify]: Simplify phi2 into phi2
43.053 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
43.053 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
43.053 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
43.053 * [taylor]: Taking taylor expansion of (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in phi1
43.053 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in phi1
43.053 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
43.053 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
43.053 * [taylor]: Taking taylor expansion of 0.5 in phi1
43.053 * [backup-simplify]: Simplify 0.5 into 0.5
43.053 * [taylor]: Taking taylor expansion of phi2 in phi1
43.053 * [backup-simplify]: Simplify phi2 into phi2
43.053 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
43.053 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
43.053 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
43.053 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
43.053 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
43.053 * [taylor]: Taking taylor expansion of 0.5 in phi1
43.053 * [backup-simplify]: Simplify 0.5 into 0.5
43.053 * [taylor]: Taking taylor expansion of phi1 in phi1
43.053 * [backup-simplify]: Simplify 0 into 0
43.053 * [backup-simplify]: Simplify 1 into 1
43.054 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
43.054 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
43.054 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in phi1
43.054 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in phi1
43.054 * [taylor]: Taking taylor expansion of lambda1 in phi1
43.054 * [backup-simplify]: Simplify lambda1 into lambda1
43.054 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1)
43.054 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in phi1
43.054 * [taylor]: Taking taylor expansion of lambda2 in phi1
43.054 * [backup-simplify]: Simplify lambda2 into lambda2
43.054 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
43.054 * [taylor]: Taking taylor expansion of (* (fma (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2)) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (/ 1 lambda1) (/ 1 lambda2))) in lambda2
43.054 * [taylor]: Taking taylor expansion of (fma (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2)) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
43.054 * [taylor]: Rewrote expression to (+ (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
43.054 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) in lambda2
43.054 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
43.054 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
43.054 * [taylor]: Taking taylor expansion of 0.5 in lambda2
43.054 * [backup-simplify]: Simplify 0.5 into 0.5
43.054 * [taylor]: Taking taylor expansion of phi1 in lambda2
43.054 * [backup-simplify]: Simplify phi1 into phi1
43.054 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
43.054 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
43.054 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
43.054 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
43.054 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
43.054 * [taylor]: Taking taylor expansion of 0.5 in lambda2
43.054 * [backup-simplify]: Simplify 0.5 into 0.5
43.054 * [taylor]: Taking taylor expansion of phi2 in lambda2
43.054 * [backup-simplify]: Simplify phi2 into phi2
43.054 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
43.054 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
43.054 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
43.055 * [taylor]: Taking taylor expansion of (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
43.055 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
43.055 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
43.055 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
43.055 * [taylor]: Taking taylor expansion of 0.5 in lambda2
43.055 * [backup-simplify]: Simplify 0.5 into 0.5
43.055 * [taylor]: Taking taylor expansion of phi2 in lambda2
43.055 * [backup-simplify]: Simplify phi2 into phi2
43.055 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
43.055 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
43.055 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
43.055 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
43.055 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
43.055 * [taylor]: Taking taylor expansion of 0.5 in lambda2
43.055 * [backup-simplify]: Simplify 0.5 into 0.5
43.055 * [taylor]: Taking taylor expansion of phi1 in lambda2
43.055 * [backup-simplify]: Simplify phi1 into phi1
43.055 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
43.055 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
43.055 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
43.055 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in lambda2
43.055 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda2
43.055 * [taylor]: Taking taylor expansion of lambda1 in lambda2
43.055 * [backup-simplify]: Simplify lambda1 into lambda1
43.055 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1)
43.055 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda2
43.055 * [taylor]: Taking taylor expansion of lambda2 in lambda2
43.055 * [backup-simplify]: Simplify 0 into 0
43.055 * [backup-simplify]: Simplify 1 into 1
43.055 * [backup-simplify]: Simplify (/ 1 1) into 1
43.055 * [taylor]: Taking taylor expansion of (* (fma (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2)) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (/ 1 lambda1) (/ 1 lambda2))) in lambda1
43.055 * [taylor]: Taking taylor expansion of (fma (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2)) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda1
43.056 * [taylor]: Rewrote expression to (+ (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
43.056 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) in lambda1
43.056 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda1
43.056 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1
43.056 * [taylor]: Taking taylor expansion of 0.5 in lambda1
43.056 * [backup-simplify]: Simplify 0.5 into 0.5
43.056 * [taylor]: Taking taylor expansion of phi1 in lambda1
43.056 * [backup-simplify]: Simplify phi1 into phi1
43.056 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
43.056 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
43.056 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
43.056 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda1
43.056 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1
43.056 * [taylor]: Taking taylor expansion of 0.5 in lambda1
43.056 * [backup-simplify]: Simplify 0.5 into 0.5
43.056 * [taylor]: Taking taylor expansion of phi2 in lambda1
43.056 * [backup-simplify]: Simplify phi2 into phi2
43.056 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
43.056 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
43.056 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
43.056 * [taylor]: Taking taylor expansion of (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda1
43.056 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda1
43.056 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda1
43.056 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1
43.056 * [taylor]: Taking taylor expansion of 0.5 in lambda1
43.056 * [backup-simplify]: Simplify 0.5 into 0.5
43.056 * [taylor]: Taking taylor expansion of phi2 in lambda1
43.056 * [backup-simplify]: Simplify phi2 into phi2
43.056 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
43.056 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
43.056 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
43.056 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda1
43.056 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1
43.056 * [taylor]: Taking taylor expansion of 0.5 in lambda1
43.056 * [backup-simplify]: Simplify 0.5 into 0.5
43.056 * [taylor]: Taking taylor expansion of phi1 in lambda1
43.056 * [backup-simplify]: Simplify phi1 into phi1
43.056 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
43.057 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
43.057 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
43.057 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in lambda1
43.057 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1
43.057 * [taylor]: Taking taylor expansion of lambda1 in lambda1
43.057 * [backup-simplify]: Simplify 0 into 0
43.057 * [backup-simplify]: Simplify 1 into 1
43.057 * [backup-simplify]: Simplify (/ 1 1) into 1
43.057 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda1
43.057 * [taylor]: Taking taylor expansion of lambda2 in lambda1
43.057 * [backup-simplify]: Simplify lambda2 into lambda2
43.057 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
43.057 * [taylor]: Taking taylor expansion of (* (fma (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2)) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (/ 1 lambda1) (/ 1 lambda2))) in lambda1
43.057 * [taylor]: Taking taylor expansion of (fma (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2)) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda1
43.057 * [taylor]: Rewrote expression to (+ (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
43.057 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) in lambda1
43.057 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda1
43.057 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1
43.057 * [taylor]: Taking taylor expansion of 0.5 in lambda1
43.057 * [backup-simplify]: Simplify 0.5 into 0.5
43.057 * [taylor]: Taking taylor expansion of phi1 in lambda1
43.057 * [backup-simplify]: Simplify phi1 into phi1
43.057 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
43.057 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
43.058 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
43.058 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda1
43.058 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1
43.058 * [taylor]: Taking taylor expansion of 0.5 in lambda1
43.058 * [backup-simplify]: Simplify 0.5 into 0.5
43.058 * [taylor]: Taking taylor expansion of phi2 in lambda1
43.058 * [backup-simplify]: Simplify phi2 into phi2
43.058 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
43.058 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
43.058 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
43.058 * [taylor]: Taking taylor expansion of (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda1
43.058 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda1
43.058 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda1
43.058 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1
43.058 * [taylor]: Taking taylor expansion of 0.5 in lambda1
43.058 * [backup-simplify]: Simplify 0.5 into 0.5
43.058 * [taylor]: Taking taylor expansion of phi2 in lambda1
43.058 * [backup-simplify]: Simplify phi2 into phi2
43.058 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
43.058 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
43.058 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
43.058 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda1
43.058 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1
43.058 * [taylor]: Taking taylor expansion of 0.5 in lambda1
43.058 * [backup-simplify]: Simplify 0.5 into 0.5
43.058 * [taylor]: Taking taylor expansion of phi1 in lambda1
43.058 * [backup-simplify]: Simplify phi1 into phi1
43.058 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
43.058 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
43.058 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
43.058 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in lambda1
43.058 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1
43.058 * [taylor]: Taking taylor expansion of lambda1 in lambda1
43.058 * [backup-simplify]: Simplify 0 into 0
43.058 * [backup-simplify]: Simplify 1 into 1
43.059 * [backup-simplify]: Simplify (/ 1 1) into 1
43.059 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda1
43.059 * [taylor]: Taking taylor expansion of lambda2 in lambda1
43.059 * [backup-simplify]: Simplify lambda2 into lambda2
43.059 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
43.059 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
43.059 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
43.059 * [backup-simplify]: Simplify (- 0) into 0
43.059 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
43.059 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
43.059 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
43.060 * [backup-simplify]: Simplify (- 0) into 0
43.060 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
43.060 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
43.060 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
43.060 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
43.060 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
43.060 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
43.060 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
43.060 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
43.060 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
43.060 * [backup-simplify]: Simplify (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
43.060 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
43.061 * [backup-simplify]: Simplify (+ 1 0) into 1
43.061 * [backup-simplify]: Simplify (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) 1) into (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
43.061 * [taylor]: Taking taylor expansion of (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
43.061 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
43.061 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
43.061 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
43.061 * [taylor]: Taking taylor expansion of 0.5 in lambda2
43.061 * [backup-simplify]: Simplify 0.5 into 0.5
43.061 * [taylor]: Taking taylor expansion of phi2 in lambda2
43.061 * [backup-simplify]: Simplify phi2 into phi2
43.061 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
43.061 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
43.061 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
43.061 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
43.061 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
43.061 * [taylor]: Taking taylor expansion of 0.5 in lambda2
43.061 * [backup-simplify]: Simplify 0.5 into 0.5
43.061 * [taylor]: Taking taylor expansion of phi1 in lambda2
43.061 * [backup-simplify]: Simplify phi1 into phi1
43.061 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
43.061 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
43.062 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
43.062 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
43.062 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
43.062 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
43.062 * [taylor]: Taking taylor expansion of 0.5 in lambda2
43.062 * [backup-simplify]: Simplify 0.5 into 0.5
43.062 * [taylor]: Taking taylor expansion of phi2 in lambda2
43.062 * [backup-simplify]: Simplify phi2 into phi2
43.062 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
43.062 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
43.062 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
43.062 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
43.062 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
43.062 * [taylor]: Taking taylor expansion of 0.5 in lambda2
43.062 * [backup-simplify]: Simplify 0.5 into 0.5
43.062 * [taylor]: Taking taylor expansion of phi1 in lambda2
43.062 * [backup-simplify]: Simplify phi1 into phi1
43.062 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
43.062 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
43.062 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
43.063 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
43.063 * [backup-simplify]: Simplify (- (/ 1 lambda2)) into (- (/ 1 lambda2))
43.063 * [backup-simplify]: Simplify (+ 0 (- (/ 1 lambda2))) into (- (/ 1 lambda2))
43.063 * [backup-simplify]: Simplify (+ 0) into 0
43.063 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
43.063 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
43.064 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
43.064 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
43.064 * [backup-simplify]: Simplify (- 0) into 0
43.064 * [backup-simplify]: Simplify (+ 0 0) into 0
43.065 * [backup-simplify]: Simplify (+ 0) into 0
43.065 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
43.065 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
43.066 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
43.066 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
43.066 * [backup-simplify]: Simplify (- 0) into 0
43.066 * [backup-simplify]: Simplify (+ 0 0) into 0
43.066 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
43.067 * [backup-simplify]: Simplify (+ 0) into 0
43.067 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
43.067 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
43.068 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
43.068 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
43.068 * [backup-simplify]: Simplify (+ 0 0) into 0
43.068 * [backup-simplify]: Simplify (+ 0) into 0
43.069 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
43.069 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
43.069 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
43.069 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
43.070 * [backup-simplify]: Simplify (+ 0 0) into 0
43.070 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
43.070 * [backup-simplify]: Simplify (- 0) into 0
43.070 * [backup-simplify]: Simplify (+ 0 0) into 0
43.071 * [backup-simplify]: Simplify (+ (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) (- (/ 1 lambda2))) (* 0 1)) into (- (/ (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) lambda2) (/ (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) lambda2))
43.071 * [taylor]: Taking taylor expansion of (- (/ (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) lambda2) (/ (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) lambda2)) in lambda2
43.071 * [taylor]: Taking taylor expansion of (/ (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) lambda2) in lambda2
43.071 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
43.071 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
43.071 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
43.071 * [taylor]: Taking taylor expansion of 0.5 in lambda2
43.071 * [backup-simplify]: Simplify 0.5 into 0.5
43.071 * [taylor]: Taking taylor expansion of phi2 in lambda2
43.071 * [backup-simplify]: Simplify phi2 into phi2
43.071 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
43.071 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
43.071 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
43.071 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
43.071 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
43.071 * [taylor]: Taking taylor expansion of 0.5 in lambda2
43.071 * [backup-simplify]: Simplify 0.5 into 0.5
43.071 * [taylor]: Taking taylor expansion of phi1 in lambda2
43.071 * [backup-simplify]: Simplify phi1 into phi1
43.071 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
43.071 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
43.071 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
43.071 * [taylor]: Taking taylor expansion of lambda2 in lambda2
43.071 * [backup-simplify]: Simplify 0 into 0
43.071 * [backup-simplify]: Simplify 1 into 1
43.071 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
43.072 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
43.072 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
43.072 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
43.072 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
43.072 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
43.072 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
43.072 * [backup-simplify]: Simplify (/ (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) 1) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
43.072 * [taylor]: Taking taylor expansion of (/ (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) lambda2) in lambda2
43.072 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
43.072 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
43.072 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
43.072 * [taylor]: Taking taylor expansion of 0.5 in lambda2
43.072 * [backup-simplify]: Simplify 0.5 into 0.5
43.072 * [taylor]: Taking taylor expansion of phi2 in lambda2
43.072 * [backup-simplify]: Simplify phi2 into phi2
43.072 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
43.072 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
43.072 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
43.072 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
43.072 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
43.072 * [taylor]: Taking taylor expansion of 0.5 in lambda2
43.072 * [backup-simplify]: Simplify 0.5 into 0.5
43.072 * [taylor]: Taking taylor expansion of phi1 in lambda2
43.072 * [backup-simplify]: Simplify phi1 into phi1
43.072 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
43.072 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
43.073 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
43.073 * [taylor]: Taking taylor expansion of lambda2 in lambda2
43.073 * [backup-simplify]: Simplify 0 into 0
43.073 * [backup-simplify]: Simplify 1 into 1
43.073 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
43.073 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
43.073 * [backup-simplify]: Simplify (- 0) into 0
43.073 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
43.073 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
43.073 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
43.073 * [backup-simplify]: Simplify (- 0) into 0
43.073 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
43.074 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
43.074 * [backup-simplify]: Simplify (/ (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) 1) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
43.074 * [backup-simplify]: Simplify (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
43.074 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
43.074 * [taylor]: Taking taylor expansion of (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in phi1
43.074 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in phi1
43.074 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
43.074 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
43.074 * [taylor]: Taking taylor expansion of 0.5 in phi1
43.074 * [backup-simplify]: Simplify 0.5 into 0.5
43.074 * [taylor]: Taking taylor expansion of phi2 in phi1
43.074 * [backup-simplify]: Simplify phi2 into phi2
43.074 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
43.074 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
43.074 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
43.074 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
43.074 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
43.074 * [taylor]: Taking taylor expansion of 0.5 in phi1
43.074 * [backup-simplify]: Simplify 0.5 into 0.5
43.074 * [taylor]: Taking taylor expansion of phi1 in phi1
43.074 * [backup-simplify]: Simplify 0 into 0
43.074 * [backup-simplify]: Simplify 1 into 1
43.075 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
43.075 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
43.075 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in phi1
43.075 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
43.075 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
43.075 * [taylor]: Taking taylor expansion of 0.5 in phi1
43.075 * [backup-simplify]: Simplify 0.5 into 0.5
43.075 * [taylor]: Taking taylor expansion of phi2 in phi1
43.075 * [backup-simplify]: Simplify phi2 into phi2
43.075 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
43.075 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
43.075 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
43.075 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
43.075 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
43.075 * [taylor]: Taking taylor expansion of 0.5 in phi1
43.075 * [backup-simplify]: Simplify 0.5 into 0.5
43.075 * [taylor]: Taking taylor expansion of phi1 in phi1
43.075 * [backup-simplify]: Simplify 0 into 0
43.075 * [backup-simplify]: Simplify 1 into 1
43.075 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
43.075 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
43.076 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
43.076 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
43.076 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
43.076 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
43.076 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
43.076 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
43.076 * [backup-simplify]: Simplify (- 0) into 0
43.076 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
43.076 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
43.076 * [backup-simplify]: Simplify (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
43.077 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
43.077 * [taylor]: Taking taylor expansion of (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in phi2
43.077 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in phi2
43.077 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
43.077 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
43.077 * [taylor]: Taking taylor expansion of 0.5 in phi2
43.077 * [backup-simplify]: Simplify 0.5 into 0.5
43.077 * [taylor]: Taking taylor expansion of phi2 in phi2
43.077 * [backup-simplify]: Simplify 0 into 0
43.077 * [backup-simplify]: Simplify 1 into 1
43.077 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
43.077 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
43.077 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
43.077 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
43.077 * [taylor]: Taking taylor expansion of 0.5 in phi2
43.077 * [backup-simplify]: Simplify 0.5 into 0.5
43.077 * [taylor]: Taking taylor expansion of phi1 in phi2
43.077 * [backup-simplify]: Simplify phi1 into phi1
43.078 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
43.078 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
43.078 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
43.078 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in phi2
43.078 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
43.078 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
43.078 * [taylor]: Taking taylor expansion of 0.5 in phi2
43.078 * [backup-simplify]: Simplify 0.5 into 0.5
43.078 * [taylor]: Taking taylor expansion of phi2 in phi2
43.078 * [backup-simplify]: Simplify 0 into 0
43.078 * [backup-simplify]: Simplify 1 into 1
43.078 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
43.078 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
43.078 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
43.078 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
43.078 * [taylor]: Taking taylor expansion of 0.5 in phi2
43.078 * [backup-simplify]: Simplify 0.5 into 0.5
43.078 * [taylor]: Taking taylor expansion of phi1 in phi2
43.078 * [backup-simplify]: Simplify phi1 into phi1
43.078 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
43.078 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
43.078 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
43.078 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
43.079 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
43.079 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
43.079 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
43.079 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
43.079 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
43.079 * [backup-simplify]: Simplify (- 0) into 0
43.079 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
43.079 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
43.079 * [backup-simplify]: Simplify (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
43.080 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
43.080 * [backup-simplify]: Simplify (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
43.080 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
43.080 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
43.080 * [backup-simplify]: Simplify (- 0) into 0
43.080 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
43.080 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
43.080 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
43.081 * [backup-simplify]: Simplify (- 0) into 0
43.081 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
43.081 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
43.081 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
43.081 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
43.081 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
43.081 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
43.081 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
43.081 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
43.081 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
43.081 * [backup-simplify]: Simplify (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
43.081 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
43.081 * [taylor]: Taking taylor expansion of (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in phi1
43.082 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in phi1
43.082 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
43.082 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
43.082 * [taylor]: Taking taylor expansion of 0.5 in phi1
43.082 * [backup-simplify]: Simplify 0.5 into 0.5
43.082 * [taylor]: Taking taylor expansion of phi2 in phi1
43.082 * [backup-simplify]: Simplify phi2 into phi2
43.082 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
43.082 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
43.082 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
43.082 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
43.082 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
43.082 * [taylor]: Taking taylor expansion of 0.5 in phi1
43.082 * [backup-simplify]: Simplify 0.5 into 0.5
43.082 * [taylor]: Taking taylor expansion of phi1 in phi1
43.082 * [backup-simplify]: Simplify 0 into 0
43.082 * [backup-simplify]: Simplify 1 into 1
43.082 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
43.082 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
43.082 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in phi1
43.082 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
43.082 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
43.082 * [taylor]: Taking taylor expansion of 0.5 in phi1
43.082 * [backup-simplify]: Simplify 0.5 into 0.5
43.082 * [taylor]: Taking taylor expansion of phi2 in phi1
43.082 * [backup-simplify]: Simplify phi2 into phi2
43.082 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
43.082 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
43.083 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
43.083 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
43.083 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
43.083 * [taylor]: Taking taylor expansion of 0.5 in phi1
43.083 * [backup-simplify]: Simplify 0.5 into 0.5
43.083 * [taylor]: Taking taylor expansion of phi1 in phi1
43.083 * [backup-simplify]: Simplify 0 into 0
43.083 * [backup-simplify]: Simplify 1 into 1
43.083 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
43.083 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
43.083 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
43.083 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
43.083 * [backup-simplify]: Simplify (- 0) into 0
43.083 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
43.084 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
43.084 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
43.084 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
43.084 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
43.084 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
43.084 * [backup-simplify]: Simplify (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
43.084 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
43.084 * [taylor]: Taking taylor expansion of (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in phi2
43.084 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in phi2
43.084 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
43.084 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
43.084 * [taylor]: Taking taylor expansion of 0.5 in phi2
43.084 * [backup-simplify]: Simplify 0.5 into 0.5
43.084 * [taylor]: Taking taylor expansion of phi2 in phi2
43.084 * [backup-simplify]: Simplify 0 into 0
43.084 * [backup-simplify]: Simplify 1 into 1
43.085 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
43.085 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
43.085 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
43.085 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
43.085 * [taylor]: Taking taylor expansion of 0.5 in phi2
43.085 * [backup-simplify]: Simplify 0.5 into 0.5
43.085 * [taylor]: Taking taylor expansion of phi1 in phi2
43.085 * [backup-simplify]: Simplify phi1 into phi1
43.085 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
43.085 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
43.085 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
43.085 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in phi2
43.085 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
43.085 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
43.085 * [taylor]: Taking taylor expansion of 0.5 in phi2
43.085 * [backup-simplify]: Simplify 0.5 into 0.5
43.085 * [taylor]: Taking taylor expansion of phi2 in phi2
43.085 * [backup-simplify]: Simplify 0 into 0
43.085 * [backup-simplify]: Simplify 1 into 1
43.085 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
43.085 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
43.085 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
43.086 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
43.086 * [taylor]: Taking taylor expansion of 0.5 in phi2
43.086 * [backup-simplify]: Simplify 0.5 into 0.5
43.086 * [taylor]: Taking taylor expansion of phi1 in phi2
43.086 * [backup-simplify]: Simplify phi1 into phi1
43.086 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
43.086 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
43.086 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
43.086 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
43.086 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
43.086 * [backup-simplify]: Simplify (- 0) into 0
43.086 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
43.086 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
43.086 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
43.087 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
43.087 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
43.087 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
43.087 * [backup-simplify]: Simplify (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
43.087 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
43.087 * [backup-simplify]: Simplify (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
43.088 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)))) into 0
43.088 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)))) into 0
43.088 * [backup-simplify]: Simplify (- 0) into 0
43.088 * [backup-simplify]: Simplify (+ 0 0) into 0
43.089 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
43.089 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
43.090 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
43.090 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
43.090 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
43.091 * [backup-simplify]: Simplify (- 0) into 0
43.091 * [backup-simplify]: Simplify (+ 0 0) into 0
43.091 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
43.092 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
43.092 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
43.092 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
43.093 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
43.093 * [backup-simplify]: Simplify (- 0) into 0
43.093 * [backup-simplify]: Simplify (+ 0 0) into 0
43.093 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
43.094 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
43.094 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
43.094 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
43.095 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
43.095 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
43.095 * [backup-simplify]: Simplify (+ 0 0) into 0
43.096 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
43.096 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
43.097 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
43.097 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
43.097 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
43.098 * [backup-simplify]: Simplify (+ 0 0) into 0
43.098 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
43.099 * [backup-simplify]: Simplify (- 0) into 0
43.099 * [backup-simplify]: Simplify (+ 0 0) into 0
43.100 * [backup-simplify]: Simplify (+ (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) 0) (+ (* 0 (- (/ 1 lambda2))) (* 0 1))) into 0
43.100 * [taylor]: Taking taylor expansion of 0 in lambda2
43.100 * [backup-simplify]: Simplify 0 into 0
43.101 * [backup-simplify]: Simplify (+ 0) into 0
43.101 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
43.101 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
43.102 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
43.103 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
43.103 * [backup-simplify]: Simplify (+ 0 0) into 0
43.103 * [backup-simplify]: Simplify (+ 0) into 0
43.104 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
43.104 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
43.105 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
43.105 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
43.106 * [backup-simplify]: Simplify (+ 0 0) into 0
43.106 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
43.107 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) (/ 0 1)))) into 0
43.107 * [backup-simplify]: Simplify (+ 0) into 0
43.108 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
43.108 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
43.109 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
43.109 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
43.109 * [backup-simplify]: Simplify (- 0) into 0
43.110 * [backup-simplify]: Simplify (+ 0 0) into 0
43.110 * [backup-simplify]: Simplify (+ 0) into 0
43.111 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
43.111 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
43.112 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
43.112 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
43.113 * [backup-simplify]: Simplify (- 0) into 0
43.113 * [backup-simplify]: Simplify (+ 0 0) into 0
43.113 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
43.114 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (/ 0 1)))) into 0
43.115 * [backup-simplify]: Simplify (- 0) into 0
43.115 * [backup-simplify]: Simplify (+ 0 0) into 0
43.115 * [taylor]: Taking taylor expansion of 0 in phi1
43.115 * [backup-simplify]: Simplify 0 into 0
43.115 * [taylor]: Taking taylor expansion of 0 in phi2
43.115 * [backup-simplify]: Simplify 0 into 0
43.115 * [backup-simplify]: Simplify 0 into 0
43.116 * [backup-simplify]: Simplify (+ 0) into 0
43.116 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
43.116 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
43.117 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
43.117 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
43.118 * [backup-simplify]: Simplify (- 0) into 0
43.118 * [backup-simplify]: Simplify (+ 0 0) into 0
43.118 * [backup-simplify]: Simplify (+ 0) into 0
43.118 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
43.119 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
43.119 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
43.119 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
43.120 * [backup-simplify]: Simplify (- 0) into 0
43.120 * [backup-simplify]: Simplify (+ 0 0) into 0
43.120 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
43.120 * [backup-simplify]: Simplify (+ 0) into 0
43.120 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
43.121 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
43.121 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
43.121 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
43.122 * [backup-simplify]: Simplify (+ 0 0) into 0
43.122 * [backup-simplify]: Simplify (+ 0) into 0
43.122 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
43.122 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
43.123 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
43.123 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
43.123 * [backup-simplify]: Simplify (+ 0 0) into 0
43.123 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
43.123 * [backup-simplify]: Simplify (- 0) into 0
43.124 * [backup-simplify]: Simplify (+ 0 0) into 0
43.124 * [taylor]: Taking taylor expansion of 0 in phi1
43.124 * [backup-simplify]: Simplify 0 into 0
43.124 * [taylor]: Taking taylor expansion of 0 in phi2
43.124 * [backup-simplify]: Simplify 0 into 0
43.124 * [backup-simplify]: Simplify 0 into 0
43.124 * [backup-simplify]: Simplify (+ 0) into 0
43.124 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
43.124 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
43.125 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
43.125 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
43.125 * [backup-simplify]: Simplify (+ 0 0) into 0
43.126 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
43.126 * [backup-simplify]: Simplify (+ 0) into 0
43.126 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
43.126 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
43.127 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
43.127 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
43.127 * [backup-simplify]: Simplify (- 0) into 0
43.127 * [backup-simplify]: Simplify (+ 0 0) into 0
43.128 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
43.128 * [backup-simplify]: Simplify (- 0) into 0
43.128 * [backup-simplify]: Simplify (+ 0 0) into 0
43.128 * [taylor]: Taking taylor expansion of 0 in phi2
43.128 * [backup-simplify]: Simplify 0 into 0
43.128 * [backup-simplify]: Simplify 0 into 0
43.128 * [backup-simplify]: Simplify (+ 0) into 0
43.129 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
43.129 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
43.129 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
43.129 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
43.130 * [backup-simplify]: Simplify (- 0) into 0
43.130 * [backup-simplify]: Simplify (+ 0 0) into 0
43.130 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
43.130 * [backup-simplify]: Simplify (+ 0) into 0
43.131 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
43.131 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
43.131 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
43.131 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
43.132 * [backup-simplify]: Simplify (+ 0 0) into 0
43.132 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
43.137 * [backup-simplify]: Simplify (- 0) into 0
43.137 * [backup-simplify]: Simplify (+ 0 0) into 0
43.137 * [taylor]: Taking taylor expansion of 0 in phi2
43.137 * [backup-simplify]: Simplify 0 into 0
43.137 * [backup-simplify]: Simplify 0 into 0
43.138 * [backup-simplify]: Simplify (+ 0) into 0
43.138 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
43.138 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
43.139 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
43.139 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
43.139 * [backup-simplify]: Simplify (+ 0 0) into 0
43.139 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
43.139 * [backup-simplify]: Simplify (+ 0) into 0
43.140 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
43.140 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
43.140 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
43.141 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
43.141 * [backup-simplify]: Simplify (- 0) into 0
43.141 * [backup-simplify]: Simplify (+ 0 0) into 0
43.141 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
43.141 * [backup-simplify]: Simplify (- 0) into 0
43.142 * [backup-simplify]: Simplify (+ 0 0) into 0
43.142 * [backup-simplify]: Simplify 0 into 0
43.142 * [backup-simplify]: Simplify (+ 0) into 0
43.142 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
43.142 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
43.143 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
43.143 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
43.143 * [backup-simplify]: Simplify (- 0) into 0
43.144 * [backup-simplify]: Simplify (+ 0 0) into 0
43.144 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
43.144 * [backup-simplify]: Simplify (+ 0) into 0
43.144 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
43.144 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
43.145 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
43.145 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
43.145 * [backup-simplify]: Simplify (+ 0 0) into 0
43.145 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
43.146 * [backup-simplify]: Simplify (- 0) into 0
43.146 * [backup-simplify]: Simplify (+ 0 0) into 0
43.146 * [backup-simplify]: Simplify 0 into 0
43.147 * [backup-simplify]: Simplify (+ (* (- (* (cos (/ 0.5 (/ 1 phi2))) (cos (/ 0.5 (/ 1 phi1)))) (* (sin (/ 0.5 (/ 1 phi2))) (sin (/ 0.5 (/ 1 phi1))))) (* 1 (* 1 (* 1 (/ 1 (/ 1 lambda1)))))) (* (- (* (sin (/ 0.5 (/ 1 phi2))) (sin (/ 0.5 (/ 1 phi1)))) (* (cos (/ 0.5 (/ 1 phi2))) (cos (/ 0.5 (/ 1 phi1))))) (* 1 (* 1 (* (/ 1 (/ 1 lambda2)) 1))))) into (- (+ (* lambda1 (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2)))) (* lambda2 (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))) (+ (* lambda2 (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2)))) (* lambda1 (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))))
43.147 * [backup-simplify]: Simplify (* (- (/ 1 (- lambda1)) (/ 1 (- lambda2))) (fma (cos (* (/ 1 (- phi1)) 0.5)) (cos (* (/ 1 (- phi2)) 0.5)) (- (* (sin (* (/ 1 (- phi1)) 0.5)) (sin (* (/ 1 (- phi2)) 0.5)))))) into (* (fma (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (/ 1 lambda2) (/ 1 lambda1)))
43.147 * [approximate]: Taking taylor expansion of (* (fma (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (/ 1 lambda2) (/ 1 lambda1))) in (lambda1 lambda2 phi1 phi2) around 0
43.147 * [taylor]: Taking taylor expansion of (* (fma (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (/ 1 lambda2) (/ 1 lambda1))) in phi2
43.147 * [taylor]: Taking taylor expansion of (fma (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in phi2
43.147 * [taylor]: Rewrote expression to (+ (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))
43.147 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))) in phi2
43.147 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
43.147 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
43.147 * [taylor]: Taking taylor expansion of -0.5 in phi2
43.147 * [backup-simplify]: Simplify -0.5 into -0.5
43.147 * [taylor]: Taking taylor expansion of phi1 in phi2
43.147 * [backup-simplify]: Simplify phi1 into phi1
43.147 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
43.147 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
43.147 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
43.147 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
43.147 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
43.148 * [taylor]: Taking taylor expansion of -0.5 in phi2
43.148 * [backup-simplify]: Simplify -0.5 into -0.5
43.148 * [taylor]: Taking taylor expansion of phi2 in phi2
43.148 * [backup-simplify]: Simplify 0 into 0
43.148 * [backup-simplify]: Simplify 1 into 1
43.148 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
43.148 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
43.148 * [taylor]: Taking taylor expansion of (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in phi2
43.148 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi2
43.148 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
43.148 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
43.148 * [taylor]: Taking taylor expansion of -0.5 in phi2
43.148 * [backup-simplify]: Simplify -0.5 into -0.5
43.148 * [taylor]: Taking taylor expansion of phi2 in phi2
43.148 * [backup-simplify]: Simplify 0 into 0
43.148 * [backup-simplify]: Simplify 1 into 1
43.148 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
43.148 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
43.148 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
43.149 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
43.149 * [taylor]: Taking taylor expansion of -0.5 in phi2
43.149 * [backup-simplify]: Simplify -0.5 into -0.5
43.149 * [taylor]: Taking taylor expansion of phi1 in phi2
43.149 * [backup-simplify]: Simplify phi1 into phi1
43.149 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
43.149 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
43.149 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
43.149 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in phi2
43.149 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in phi2
43.149 * [taylor]: Taking taylor expansion of lambda2 in phi2
43.149 * [backup-simplify]: Simplify lambda2 into lambda2
43.149 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
43.149 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in phi2
43.149 * [taylor]: Taking taylor expansion of lambda1 in phi2
43.149 * [backup-simplify]: Simplify lambda1 into lambda1
43.149 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1)
43.149 * [taylor]: Taking taylor expansion of (* (fma (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (/ 1 lambda2) (/ 1 lambda1))) in phi1
43.149 * [taylor]: Taking taylor expansion of (fma (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in phi1
43.149 * [taylor]: Rewrote expression to (+ (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))
43.149 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))) in phi1
43.149 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
43.149 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
43.149 * [taylor]: Taking taylor expansion of -0.5 in phi1
43.149 * [backup-simplify]: Simplify -0.5 into -0.5
43.149 * [taylor]: Taking taylor expansion of phi1 in phi1
43.149 * [backup-simplify]: Simplify 0 into 0
43.149 * [backup-simplify]: Simplify 1 into 1
43.150 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
43.150 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
43.150 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
43.150 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
43.150 * [taylor]: Taking taylor expansion of -0.5 in phi1
43.150 * [backup-simplify]: Simplify -0.5 into -0.5
43.150 * [taylor]: Taking taylor expansion of phi2 in phi1
43.150 * [backup-simplify]: Simplify phi2 into phi2
43.150 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
43.150 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
43.150 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
43.150 * [taylor]: Taking taylor expansion of (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in phi1
43.150 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi1
43.150 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
43.150 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
43.150 * [taylor]: Taking taylor expansion of -0.5 in phi1
43.150 * [backup-simplify]: Simplify -0.5 into -0.5
43.150 * [taylor]: Taking taylor expansion of phi2 in phi1
43.150 * [backup-simplify]: Simplify phi2 into phi2
43.150 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
43.150 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
43.150 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
43.150 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
43.150 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
43.150 * [taylor]: Taking taylor expansion of -0.5 in phi1
43.150 * [backup-simplify]: Simplify -0.5 into -0.5
43.150 * [taylor]: Taking taylor expansion of phi1 in phi1
43.150 * [backup-simplify]: Simplify 0 into 0
43.150 * [backup-simplify]: Simplify 1 into 1
43.151 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
43.151 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
43.151 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in phi1
43.151 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in phi1
43.151 * [taylor]: Taking taylor expansion of lambda2 in phi1
43.151 * [backup-simplify]: Simplify lambda2 into lambda2
43.151 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
43.151 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in phi1
43.151 * [taylor]: Taking taylor expansion of lambda1 in phi1
43.151 * [backup-simplify]: Simplify lambda1 into lambda1
43.151 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1)
43.151 * [taylor]: Taking taylor expansion of (* (fma (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (/ 1 lambda2) (/ 1 lambda1))) in lambda2
43.151 * [taylor]: Taking taylor expansion of (fma (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in lambda2
43.151 * [taylor]: Rewrote expression to (+ (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))
43.151 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))) in lambda2
43.151 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
43.151 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
43.151 * [taylor]: Taking taylor expansion of -0.5 in lambda2
43.151 * [backup-simplify]: Simplify -0.5 into -0.5
43.151 * [taylor]: Taking taylor expansion of phi1 in lambda2
43.151 * [backup-simplify]: Simplify phi1 into phi1
43.151 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
43.151 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
43.151 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
43.151 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
43.151 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
43.151 * [taylor]: Taking taylor expansion of -0.5 in lambda2
43.151 * [backup-simplify]: Simplify -0.5 into -0.5
43.151 * [taylor]: Taking taylor expansion of phi2 in lambda2
43.152 * [backup-simplify]: Simplify phi2 into phi2
43.152 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
43.152 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
43.152 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
43.152 * [taylor]: Taking taylor expansion of (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in lambda2
43.152 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in lambda2
43.152 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
43.152 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
43.152 * [taylor]: Taking taylor expansion of -0.5 in lambda2
43.152 * [backup-simplify]: Simplify -0.5 into -0.5
43.152 * [taylor]: Taking taylor expansion of phi2 in lambda2
43.152 * [backup-simplify]: Simplify phi2 into phi2
43.152 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
43.152 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
43.152 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
43.152 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
43.152 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
43.152 * [taylor]: Taking taylor expansion of -0.5 in lambda2
43.152 * [backup-simplify]: Simplify -0.5 into -0.5
43.152 * [taylor]: Taking taylor expansion of phi1 in lambda2
43.152 * [backup-simplify]: Simplify phi1 into phi1
43.152 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
43.152 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
43.152 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
43.152 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in lambda2
43.152 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda2
43.152 * [taylor]: Taking taylor expansion of lambda2 in lambda2
43.152 * [backup-simplify]: Simplify 0 into 0
43.152 * [backup-simplify]: Simplify 1 into 1
43.152 * [backup-simplify]: Simplify (/ 1 1) into 1
43.153 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda2
43.153 * [taylor]: Taking taylor expansion of lambda1 in lambda2
43.153 * [backup-simplify]: Simplify lambda1 into lambda1
43.153 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1)
43.153 * [taylor]: Taking taylor expansion of (* (fma (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (/ 1 lambda2) (/ 1 lambda1))) in lambda1
43.153 * [taylor]: Taking taylor expansion of (fma (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in lambda1
43.153 * [taylor]: Rewrote expression to (+ (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))
43.153 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))) in lambda1
43.153 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1
43.153 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1
43.153 * [taylor]: Taking taylor expansion of -0.5 in lambda1
43.153 * [backup-simplify]: Simplify -0.5 into -0.5
43.153 * [taylor]: Taking taylor expansion of phi1 in lambda1
43.153 * [backup-simplify]: Simplify phi1 into phi1
43.153 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
43.153 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
43.153 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
43.153 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1
43.153 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1
43.153 * [taylor]: Taking taylor expansion of -0.5 in lambda1
43.153 * [backup-simplify]: Simplify -0.5 into -0.5
43.153 * [taylor]: Taking taylor expansion of phi2 in lambda1
43.153 * [backup-simplify]: Simplify phi2 into phi2
43.153 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
43.153 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
43.153 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
43.153 * [taylor]: Taking taylor expansion of (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in lambda1
43.153 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in lambda1
43.153 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1
43.153 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1
43.153 * [taylor]: Taking taylor expansion of -0.5 in lambda1
43.153 * [backup-simplify]: Simplify -0.5 into -0.5
43.153 * [taylor]: Taking taylor expansion of phi2 in lambda1
43.153 * [backup-simplify]: Simplify phi2 into phi2
43.153 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
43.153 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
43.154 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
43.154 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1
43.154 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1
43.154 * [taylor]: Taking taylor expansion of -0.5 in lambda1
43.154 * [backup-simplify]: Simplify -0.5 into -0.5
43.154 * [taylor]: Taking taylor expansion of phi1 in lambda1
43.154 * [backup-simplify]: Simplify phi1 into phi1
43.154 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
43.154 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
43.154 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
43.154 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in lambda1
43.154 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda1
43.154 * [taylor]: Taking taylor expansion of lambda2 in lambda1
43.154 * [backup-simplify]: Simplify lambda2 into lambda2
43.154 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
43.154 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1
43.154 * [taylor]: Taking taylor expansion of lambda1 in lambda1
43.154 * [backup-simplify]: Simplify 0 into 0
43.154 * [backup-simplify]: Simplify 1 into 1
43.154 * [backup-simplify]: Simplify (/ 1 1) into 1
43.154 * [taylor]: Taking taylor expansion of (* (fma (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (/ 1 lambda2) (/ 1 lambda1))) in lambda1
43.154 * [taylor]: Taking taylor expansion of (fma (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in lambda1
43.154 * [taylor]: Rewrote expression to (+ (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))
43.154 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))) in lambda1
43.154 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1
43.154 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1
43.154 * [taylor]: Taking taylor expansion of -0.5 in lambda1
43.154 * [backup-simplify]: Simplify -0.5 into -0.5
43.154 * [taylor]: Taking taylor expansion of phi1 in lambda1
43.154 * [backup-simplify]: Simplify phi1 into phi1
43.155 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
43.155 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
43.155 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
43.155 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1
43.155 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1
43.155 * [taylor]: Taking taylor expansion of -0.5 in lambda1
43.155 * [backup-simplify]: Simplify -0.5 into -0.5
43.155 * [taylor]: Taking taylor expansion of phi2 in lambda1
43.155 * [backup-simplify]: Simplify phi2 into phi2
43.155 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
43.155 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
43.155 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
43.155 * [taylor]: Taking taylor expansion of (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in lambda1
43.155 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in lambda1
43.155 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1
43.155 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1
43.155 * [taylor]: Taking taylor expansion of -0.5 in lambda1
43.155 * [backup-simplify]: Simplify -0.5 into -0.5
43.155 * [taylor]: Taking taylor expansion of phi2 in lambda1
43.155 * [backup-simplify]: Simplify phi2 into phi2
43.155 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
43.155 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
43.155 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
43.155 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1
43.155 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1
43.155 * [taylor]: Taking taylor expansion of -0.5 in lambda1
43.155 * [backup-simplify]: Simplify -0.5 into -0.5
43.155 * [taylor]: Taking taylor expansion of phi1 in lambda1
43.155 * [backup-simplify]: Simplify phi1 into phi1
43.155 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
43.155 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
43.155 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
43.155 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in lambda1
43.155 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda1
43.155 * [taylor]: Taking taylor expansion of lambda2 in lambda1
43.155 * [backup-simplify]: Simplify lambda2 into lambda2
43.155 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
43.156 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1
43.156 * [taylor]: Taking taylor expansion of lambda1 in lambda1
43.156 * [backup-simplify]: Simplify 0 into 0
43.156 * [backup-simplify]: Simplify 1 into 1
43.156 * [backup-simplify]: Simplify (/ 1 1) into 1
43.156 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
43.156 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
43.156 * [backup-simplify]: Simplify (- 0) into 0
43.156 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
43.156 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
43.156 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
43.157 * [backup-simplify]: Simplify (- 0) into 0
43.157 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
43.157 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))) into (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))
43.157 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
43.157 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
43.157 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
43.157 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
43.157 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
43.157 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
43.157 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))
43.157 * [backup-simplify]: Simplify (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) into (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))
43.158 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))
43.158 * [backup-simplify]: Simplify (- 1) into -1
43.158 * [backup-simplify]: Simplify (+ 0 -1) into -1
43.158 * [backup-simplify]: Simplify (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) -1) into (* -1 (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))
43.158 * [taylor]: Taking taylor expansion of (* -1 (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in lambda2
43.158 * [taylor]: Taking taylor expansion of -1 in lambda2
43.158 * [backup-simplify]: Simplify -1 into -1
43.158 * [taylor]: Taking taylor expansion of (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in lambda2
43.158 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in lambda2
43.158 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
43.158 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
43.158 * [taylor]: Taking taylor expansion of -0.5 in lambda2
43.158 * [backup-simplify]: Simplify -0.5 into -0.5
43.159 * [taylor]: Taking taylor expansion of phi2 in lambda2
43.159 * [backup-simplify]: Simplify phi2 into phi2
43.159 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
43.159 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
43.159 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
43.159 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
43.159 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
43.159 * [taylor]: Taking taylor expansion of -0.5 in lambda2
43.159 * [backup-simplify]: Simplify -0.5 into -0.5
43.159 * [taylor]: Taking taylor expansion of phi1 in lambda2
43.159 * [backup-simplify]: Simplify phi1 into phi1
43.159 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
43.159 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
43.159 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
43.159 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in lambda2
43.159 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
43.159 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
43.159 * [taylor]: Taking taylor expansion of -0.5 in lambda2
43.159 * [backup-simplify]: Simplify -0.5 into -0.5
43.159 * [taylor]: Taking taylor expansion of phi2 in lambda2
43.159 * [backup-simplify]: Simplify phi2 into phi2
43.159 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
43.159 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
43.159 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
43.159 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
43.159 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
43.159 * [taylor]: Taking taylor expansion of -0.5 in lambda2
43.159 * [backup-simplify]: Simplify -0.5 into -0.5
43.159 * [taylor]: Taking taylor expansion of phi1 in lambda2
43.159 * [backup-simplify]: Simplify phi1 into phi1
43.159 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
43.159 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
43.159 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
43.160 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
43.160 * [backup-simplify]: Simplify (- 0) into 0
43.160 * [backup-simplify]: Simplify (+ (/ 1 lambda2) 0) into (/ 1 lambda2)
43.160 * [backup-simplify]: Simplify (+ 0) into 0
43.161 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
43.161 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
43.161 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
43.162 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
43.162 * [backup-simplify]: Simplify (- 0) into 0
43.162 * [backup-simplify]: Simplify (+ 0 0) into 0
43.162 * [backup-simplify]: Simplify (+ 0) into 0
43.163 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
43.163 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
43.163 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
43.163 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
43.164 * [backup-simplify]: Simplify (- 0) into 0
43.164 * [backup-simplify]: Simplify (+ 0 0) into 0
43.164 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
43.164 * [backup-simplify]: Simplify (+ 0) into 0
43.165 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
43.165 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
43.165 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
43.166 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
43.166 * [backup-simplify]: Simplify (+ 0 0) into 0
43.166 * [backup-simplify]: Simplify (+ 0) into 0
43.166 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
43.166 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
43.167 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
43.167 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
43.167 * [backup-simplify]: Simplify (+ 0 0) into 0
43.168 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
43.168 * [backup-simplify]: Simplify (- 0) into 0
43.168 * [backup-simplify]: Simplify (+ 0 0) into 0
43.169 * [backup-simplify]: Simplify (+ (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) (/ 1 lambda2)) (* 0 -1)) into (- (/ (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) lambda2) (/ (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) lambda2))
43.169 * [taylor]: Taking taylor expansion of (- (/ (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) lambda2) (/ (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) lambda2)) in lambda2
43.169 * [taylor]: Taking taylor expansion of (/ (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) lambda2) in lambda2
43.169 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in lambda2
43.169 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
43.169 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
43.169 * [taylor]: Taking taylor expansion of -0.5 in lambda2
43.169 * [backup-simplify]: Simplify -0.5 into -0.5
43.169 * [taylor]: Taking taylor expansion of phi2 in lambda2
43.169 * [backup-simplify]: Simplify phi2 into phi2
43.169 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
43.169 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
43.169 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
43.169 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
43.169 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
43.169 * [taylor]: Taking taylor expansion of -0.5 in lambda2
43.169 * [backup-simplify]: Simplify -0.5 into -0.5
43.169 * [taylor]: Taking taylor expansion of phi1 in lambda2
43.169 * [backup-simplify]: Simplify phi1 into phi1
43.169 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
43.169 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
43.169 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
43.169 * [taylor]: Taking taylor expansion of lambda2 in lambda2
43.169 * [backup-simplify]: Simplify 0 into 0
43.169 * [backup-simplify]: Simplify 1 into 1
43.169 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
43.169 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
43.170 * [backup-simplify]: Simplify (- 0) into 0
43.170 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
43.170 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
43.170 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
43.170 * [backup-simplify]: Simplify (- 0) into 0
43.170 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
43.170 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))
43.170 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) 1) into (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))
43.170 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) lambda2) in lambda2
43.170 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in lambda2
43.171 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
43.171 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
43.171 * [taylor]: Taking taylor expansion of -0.5 in lambda2
43.171 * [backup-simplify]: Simplify -0.5 into -0.5
43.171 * [taylor]: Taking taylor expansion of phi2 in lambda2
43.171 * [backup-simplify]: Simplify phi2 into phi2
43.171 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
43.171 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
43.171 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
43.171 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
43.171 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
43.171 * [taylor]: Taking taylor expansion of -0.5 in lambda2
43.171 * [backup-simplify]: Simplify -0.5 into -0.5
43.171 * [taylor]: Taking taylor expansion of phi1 in lambda2
43.171 * [backup-simplify]: Simplify phi1 into phi1
43.171 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
43.171 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
43.171 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
43.171 * [taylor]: Taking taylor expansion of lambda2 in lambda2
43.171 * [backup-simplify]: Simplify 0 into 0
43.171 * [backup-simplify]: Simplify 1 into 1
43.171 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
43.171 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
43.171 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
43.171 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
43.171 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
43.171 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
43.172 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))
43.172 * [backup-simplify]: Simplify (/ (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) 1) into (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))
43.172 * [backup-simplify]: Simplify (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) into (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))
43.172 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))
43.172 * [taylor]: Taking taylor expansion of (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in phi1
43.172 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in phi1
43.172 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
43.172 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
43.172 * [taylor]: Taking taylor expansion of -0.5 in phi1
43.172 * [backup-simplify]: Simplify -0.5 into -0.5
43.172 * [taylor]: Taking taylor expansion of phi2 in phi1
43.172 * [backup-simplify]: Simplify phi2 into phi2
43.172 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
43.172 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
43.172 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
43.172 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
43.172 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
43.172 * [taylor]: Taking taylor expansion of -0.5 in phi1
43.172 * [backup-simplify]: Simplify -0.5 into -0.5
43.172 * [taylor]: Taking taylor expansion of phi1 in phi1
43.172 * [backup-simplify]: Simplify 0 into 0
43.172 * [backup-simplify]: Simplify 1 into 1
43.173 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
43.173 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
43.173 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi1
43.173 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
43.173 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
43.173 * [taylor]: Taking taylor expansion of -0.5 in phi1
43.173 * [backup-simplify]: Simplify -0.5 into -0.5
43.173 * [taylor]: Taking taylor expansion of phi2 in phi1
43.173 * [backup-simplify]: Simplify phi2 into phi2
43.173 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
43.173 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
43.173 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
43.173 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
43.173 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
43.173 * [taylor]: Taking taylor expansion of -0.5 in phi1
43.173 * [backup-simplify]: Simplify -0.5 into -0.5
43.173 * [taylor]: Taking taylor expansion of phi1 in phi1
43.173 * [backup-simplify]: Simplify 0 into 0
43.173 * [backup-simplify]: Simplify 1 into 1
43.174 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
43.174 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
43.174 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
43.174 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
43.174 * [backup-simplify]: Simplify (- 0) into 0
43.174 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
43.174 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))
43.174 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
43.174 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
43.174 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
43.175 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))
43.175 * [backup-simplify]: Simplify (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) into (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))
43.175 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))
43.175 * [taylor]: Taking taylor expansion of (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in phi2
43.175 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in phi2
43.175 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
43.175 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
43.175 * [taylor]: Taking taylor expansion of -0.5 in phi2
43.175 * [backup-simplify]: Simplify -0.5 into -0.5
43.175 * [taylor]: Taking taylor expansion of phi2 in phi2
43.175 * [backup-simplify]: Simplify 0 into 0
43.175 * [backup-simplify]: Simplify 1 into 1
43.175 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
43.175 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
43.175 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
43.175 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
43.175 * [taylor]: Taking taylor expansion of -0.5 in phi2
43.175 * [backup-simplify]: Simplify -0.5 into -0.5
43.175 * [taylor]: Taking taylor expansion of phi1 in phi2
43.176 * [backup-simplify]: Simplify phi1 into phi1
43.176 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
43.176 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
43.176 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
43.176 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi2
43.176 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
43.176 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
43.176 * [taylor]: Taking taylor expansion of -0.5 in phi2
43.176 * [backup-simplify]: Simplify -0.5 into -0.5
43.176 * [taylor]: Taking taylor expansion of phi2 in phi2
43.176 * [backup-simplify]: Simplify 0 into 0
43.176 * [backup-simplify]: Simplify 1 into 1
43.176 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
43.176 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
43.176 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
43.176 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
43.176 * [taylor]: Taking taylor expansion of -0.5 in phi2
43.176 * [backup-simplify]: Simplify -0.5 into -0.5
43.176 * [taylor]: Taking taylor expansion of phi1 in phi2
43.176 * [backup-simplify]: Simplify phi1 into phi1
43.176 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
43.176 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
43.176 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
43.176 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
43.177 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
43.177 * [backup-simplify]: Simplify (- 0) into 0
43.177 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
43.177 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))
43.177 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
43.177 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
43.177 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
43.177 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))
43.177 * [backup-simplify]: Simplify (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) into (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))
43.178 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))
43.178 * [backup-simplify]: Simplify (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) into (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))
43.178 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
43.178 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
43.178 * [backup-simplify]: Simplify (- 0) into 0
43.178 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
43.178 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
43.178 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
43.179 * [backup-simplify]: Simplify (- 0) into 0
43.179 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
43.179 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))
43.179 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
43.179 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
43.179 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
43.179 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
43.179 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
43.179 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
43.179 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))
43.179 * [backup-simplify]: Simplify (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) into (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))
43.180 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))
43.180 * [backup-simplify]: Simplify (* -1 (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (* -1 (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))
43.180 * [taylor]: Taking taylor expansion of (* -1 (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in phi1
43.180 * [taylor]: Taking taylor expansion of -1 in phi1
43.180 * [backup-simplify]: Simplify -1 into -1
43.180 * [taylor]: Taking taylor expansion of (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in phi1
43.180 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in phi1
43.180 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
43.180 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
43.180 * [taylor]: Taking taylor expansion of -0.5 in phi1
43.180 * [backup-simplify]: Simplify -0.5 into -0.5
43.180 * [taylor]: Taking taylor expansion of phi2 in phi1
43.180 * [backup-simplify]: Simplify phi2 into phi2
43.180 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
43.180 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
43.180 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
43.180 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
43.180 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
43.180 * [taylor]: Taking taylor expansion of -0.5 in phi1
43.180 * [backup-simplify]: Simplify -0.5 into -0.5
43.180 * [taylor]: Taking taylor expansion of phi1 in phi1
43.180 * [backup-simplify]: Simplify 0 into 0
43.180 * [backup-simplify]: Simplify 1 into 1
43.181 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
43.181 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
43.181 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi1
43.181 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
43.181 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
43.181 * [taylor]: Taking taylor expansion of -0.5 in phi1
43.181 * [backup-simplify]: Simplify -0.5 into -0.5
43.181 * [taylor]: Taking taylor expansion of phi2 in phi1
43.181 * [backup-simplify]: Simplify phi2 into phi2
43.181 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
43.181 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
43.181 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
43.181 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
43.181 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
43.181 * [taylor]: Taking taylor expansion of -0.5 in phi1
43.181 * [backup-simplify]: Simplify -0.5 into -0.5
43.181 * [taylor]: Taking taylor expansion of phi1 in phi1
43.181 * [backup-simplify]: Simplify 0 into 0
43.181 * [backup-simplify]: Simplify 1 into 1
43.182 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
43.182 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
43.182 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
43.182 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
43.182 * [backup-simplify]: Simplify (- 0) into 0
43.182 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
43.182 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))
43.182 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
43.182 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
43.182 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
43.182 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))
43.183 * [backup-simplify]: Simplify (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) into (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))
43.183 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))
43.183 * [backup-simplify]: Simplify (* -1 (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (* -1 (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))
43.183 * [taylor]: Taking taylor expansion of (* -1 (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in phi2
43.183 * [taylor]: Taking taylor expansion of -1 in phi2
43.183 * [backup-simplify]: Simplify -1 into -1
43.183 * [taylor]: Taking taylor expansion of (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in phi2
43.183 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in phi2
43.183 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
43.183 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
43.183 * [taylor]: Taking taylor expansion of -0.5 in phi2
43.183 * [backup-simplify]: Simplify -0.5 into -0.5
43.183 * [taylor]: Taking taylor expansion of phi2 in phi2
43.183 * [backup-simplify]: Simplify 0 into 0
43.183 * [backup-simplify]: Simplify 1 into 1
43.184 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
43.184 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
43.184 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
43.184 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
43.184 * [taylor]: Taking taylor expansion of -0.5 in phi2
43.184 * [backup-simplify]: Simplify -0.5 into -0.5
43.184 * [taylor]: Taking taylor expansion of phi1 in phi2
43.184 * [backup-simplify]: Simplify phi1 into phi1
43.184 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
43.184 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
43.184 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
43.184 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi2
43.184 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
43.184 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
43.184 * [taylor]: Taking taylor expansion of -0.5 in phi2
43.184 * [backup-simplify]: Simplify -0.5 into -0.5
43.184 * [taylor]: Taking taylor expansion of phi2 in phi2
43.184 * [backup-simplify]: Simplify 0 into 0
43.184 * [backup-simplify]: Simplify 1 into 1
43.184 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
43.184 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
43.184 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
43.185 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
43.185 * [taylor]: Taking taylor expansion of -0.5 in phi2
43.185 * [backup-simplify]: Simplify -0.5 into -0.5
43.185 * [taylor]: Taking taylor expansion of phi1 in phi2
43.185 * [backup-simplify]: Simplify phi1 into phi1
43.185 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
43.185 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
43.185 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
43.185 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
43.185 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
43.185 * [backup-simplify]: Simplify (- 0) into 0
43.185 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
43.185 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))
43.185 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
43.185 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
43.185 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
43.186 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))
43.186 * [backup-simplify]: Simplify (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) into (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))
43.186 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))
43.186 * [backup-simplify]: Simplify (* -1 (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (* -1 (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))
43.186 * [backup-simplify]: Simplify (* -1 (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (* -1 (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))
43.186 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)))) into 0
43.187 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)))) into 0
43.187 * [backup-simplify]: Simplify (- 0) into 0
43.188 * [backup-simplify]: Simplify (+ 0 0) into 0
43.188 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
43.189 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
43.189 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
43.189 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
43.190 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
43.190 * [backup-simplify]: Simplify (- 0) into 0
43.191 * [backup-simplify]: Simplify (+ 0 0) into 0
43.191 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
43.192 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
43.192 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
43.195 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
43.196 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
43.196 * [backup-simplify]: Simplify (- 0) into 0
43.197 * [backup-simplify]: Simplify (+ 0 0) into 0
43.197 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0
43.198 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
43.199 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
43.199 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
43.201 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
43.201 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
43.202 * [backup-simplify]: Simplify (+ 0 0) into 0
43.202 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
43.203 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
43.203 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
43.204 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
43.205 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
43.205 * [backup-simplify]: Simplify (+ 0 0) into 0
43.206 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
43.206 * [backup-simplify]: Simplify (- 0) into 0
43.207 * [backup-simplify]: Simplify (+ 0 0) into 0
43.208 * [backup-simplify]: Simplify (+ (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) 0) (+ (* 0 (/ 1 lambda2)) (* 0 -1))) into 0
43.208 * [taylor]: Taking taylor expansion of 0 in lambda2
43.208 * [backup-simplify]: Simplify 0 into 0
43.208 * [backup-simplify]: Simplify (+ 0) into 0
43.209 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
43.209 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
43.210 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
43.210 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
43.210 * [backup-simplify]: Simplify (- 0) into 0
43.211 * [backup-simplify]: Simplify (+ 0 0) into 0
43.211 * [backup-simplify]: Simplify (+ 0) into 0
43.212 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
43.212 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
43.213 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
43.213 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
43.214 * [backup-simplify]: Simplify (- 0) into 0
43.214 * [backup-simplify]: Simplify (+ 0 0) into 0
43.214 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
43.215 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (/ 0 1)))) into 0
43.216 * [backup-simplify]: Simplify (+ 0) into 0
43.216 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
43.216 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
43.217 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
43.217 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
43.218 * [backup-simplify]: Simplify (+ 0 0) into 0
43.218 * [backup-simplify]: Simplify (+ 0) into 0
43.219 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
43.219 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
43.220 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
43.220 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
43.221 * [backup-simplify]: Simplify (+ 0 0) into 0
43.221 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
43.222 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) (/ 0 1)))) into 0
43.222 * [backup-simplify]: Simplify (- 0) into 0
43.222 * [backup-simplify]: Simplify (+ 0 0) into 0
43.223 * [taylor]: Taking taylor expansion of 0 in phi1
43.223 * [backup-simplify]: Simplify 0 into 0
43.223 * [taylor]: Taking taylor expansion of 0 in phi2
43.223 * [backup-simplify]: Simplify 0 into 0
43.223 * [backup-simplify]: Simplify 0 into 0
43.223 * [backup-simplify]: Simplify (+ 0) into 0
43.224 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
43.224 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
43.225 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
43.225 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
43.225 * [backup-simplify]: Simplify (- 0) into 0
43.226 * [backup-simplify]: Simplify (+ 0 0) into 0
43.226 * [backup-simplify]: Simplify (+ 0) into 0
43.227 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
43.227 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
43.228 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
43.228 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
43.228 * [backup-simplify]: Simplify (- 0) into 0
43.229 * [backup-simplify]: Simplify (+ 0 0) into 0
43.229 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
43.229 * [backup-simplify]: Simplify (+ 0) into 0
43.230 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
43.230 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
43.231 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
43.231 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
43.232 * [backup-simplify]: Simplify (+ 0 0) into 0
43.232 * [backup-simplify]: Simplify (+ 0) into 0
43.233 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
43.233 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
43.234 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
43.234 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
43.234 * [backup-simplify]: Simplify (+ 0 0) into 0
43.235 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
43.235 * [backup-simplify]: Simplify (- 0) into 0
43.235 * [backup-simplify]: Simplify (+ 0 0) into 0
43.236 * [backup-simplify]: Simplify (+ (* -1 0) (* 0 (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0
43.236 * [taylor]: Taking taylor expansion of 0 in phi1
43.236 * [backup-simplify]: Simplify 0 into 0
43.236 * [taylor]: Taking taylor expansion of 0 in phi2
43.236 * [backup-simplify]: Simplify 0 into 0
43.236 * [backup-simplify]: Simplify 0 into 0
43.237 * [backup-simplify]: Simplify (+ 0) into 0
43.237 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
43.237 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
43.238 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
43.239 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
43.239 * [backup-simplify]: Simplify (- 0) into 0
43.239 * [backup-simplify]: Simplify (+ 0 0) into 0
43.240 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
43.240 * [backup-simplify]: Simplify (+ 0) into 0
43.241 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
43.241 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
43.242 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
43.242 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
43.242 * [backup-simplify]: Simplify (+ 0 0) into 0
43.243 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
43.243 * [backup-simplify]: Simplify (- 0) into 0
43.243 * [backup-simplify]: Simplify (+ 0 0) into 0
43.243 * [taylor]: Taking taylor expansion of 0 in phi2
43.244 * [backup-simplify]: Simplify 0 into 0
43.244 * [backup-simplify]: Simplify 0 into 0
43.244 * [backup-simplify]: Simplify (+ 0) into 0
43.245 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
43.245 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
43.246 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
43.246 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
43.247 * [backup-simplify]: Simplify (- 0) into 0
43.247 * [backup-simplify]: Simplify (+ 0 0) into 0
43.247 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
43.248 * [backup-simplify]: Simplify (+ 0) into 0
43.248 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
43.248 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
43.249 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
43.250 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
43.250 * [backup-simplify]: Simplify (+ 0 0) into 0
43.250 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
43.251 * [backup-simplify]: Simplify (- 0) into 0
43.251 * [backup-simplify]: Simplify (+ 0 0) into 0
43.252 * [backup-simplify]: Simplify (+ (* -1 0) (* 0 (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0
43.252 * [taylor]: Taking taylor expansion of 0 in phi2
43.252 * [backup-simplify]: Simplify 0 into 0
43.252 * [backup-simplify]: Simplify 0 into 0
43.252 * [backup-simplify]: Simplify (+ 0) into 0
43.253 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
43.253 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
43.254 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
43.254 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
43.255 * [backup-simplify]: Simplify (- 0) into 0
43.255 * [backup-simplify]: Simplify (+ 0 0) into 0
43.255 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
43.256 * [backup-simplify]: Simplify (+ 0) into 0
43.256 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
43.256 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
43.257 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
43.258 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
43.258 * [backup-simplify]: Simplify (+ 0 0) into 0
43.258 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
43.259 * [backup-simplify]: Simplify (- 0) into 0
43.259 * [backup-simplify]: Simplify (+ 0 0) into 0
43.259 * [backup-simplify]: Simplify 0 into 0
43.259 * [backup-simplify]: Simplify (+ 0) into 0
43.260 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
43.261 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
43.261 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
43.262 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
43.262 * [backup-simplify]: Simplify (- 0) into 0
43.262 * [backup-simplify]: Simplify (+ 0 0) into 0
43.263 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
43.263 * [backup-simplify]: Simplify (+ 0) into 0
43.264 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
43.264 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
43.265 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
43.265 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
43.265 * [backup-simplify]: Simplify (+ 0 0) into 0
43.266 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
43.266 * [backup-simplify]: Simplify (- 0) into 0
43.266 * [backup-simplify]: Simplify (+ 0 0) into 0
43.267 * [backup-simplify]: Simplify (+ (* -1 0) (* 0 (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0
43.267 * [backup-simplify]: Simplify 0 into 0
43.269 * [backup-simplify]: Simplify (+ (* (* -1 (- (* (cos (/ -0.5 (/ 1 (- phi2)))) (cos (/ -0.5 (/ 1 (- phi1))))) (* (sin (/ -0.5 (/ 1 (- phi2)))) (sin (/ -0.5 (/ 1 (- phi1))))))) (* 1 (* 1 (* 1 (/ 1 (/ 1 (- lambda1))))))) (* (- (* (cos (/ -0.5 (/ 1 (- phi2)))) (cos (/ -0.5 (/ 1 (- phi1))))) (* (sin (/ -0.5 (/ 1 (- phi2)))) (sin (/ -0.5 (/ 1 (- phi1)))))) (* 1 (* 1 (* (/ 1 (/ 1 (- lambda2))) 1))))) into (- (+ (* lambda1 (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2)))) (* lambda2 (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))) (+ (* lambda2 (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2)))) (* lambda1 (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))))
43.269 * * * * [progress]: [ 3 / 4 ] generating series at (2 1 1 2)
43.269 * [backup-simplify]: Simplify (fma (cos (* phi1 0.5)) (cos (* phi2 0.5)) (- (* (sin (* phi1 0.5)) (sin (* phi2 0.5))))) into (fma (cos (* 0.5 phi1)) (cos (* 0.5 phi2)) (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))))
43.269 * [approximate]: Taking taylor expansion of (fma (cos (* 0.5 phi1)) (cos (* 0.5 phi2)) (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))) in (phi1 phi2) around 0
43.269 * [taylor]: Taking taylor expansion of (fma (cos (* 0.5 phi1)) (cos (* 0.5 phi2)) (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))) in phi2
43.270 * [taylor]: Rewrote expression to (+ (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))))
43.270 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) in phi2
43.270 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi2
43.270 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2
43.270 * [taylor]: Taking taylor expansion of 0.5 in phi2
43.270 * [backup-simplify]: Simplify 0.5 into 0.5
43.270 * [taylor]: Taking taylor expansion of phi1 in phi2
43.270 * [backup-simplify]: Simplify phi1 into phi1
43.270 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
43.270 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
43.270 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
43.270 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2
43.270 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2
43.270 * [taylor]: Taking taylor expansion of 0.5 in phi2
43.270 * [backup-simplify]: Simplify 0.5 into 0.5
43.270 * [taylor]: Taking taylor expansion of phi2 in phi2
43.270 * [backup-simplify]: Simplify 0 into 0
43.270 * [backup-simplify]: Simplify 1 into 1
43.279 * [backup-simplify]: Simplify (* 0.5 0) into 0
43.281 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
43.282 * [taylor]: Taking taylor expansion of (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))) in phi2
43.282 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))) in phi2
43.282 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi2
43.282 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2
43.282 * [taylor]: Taking taylor expansion of 0.5 in phi2
43.282 * [backup-simplify]: Simplify 0.5 into 0.5
43.282 * [taylor]: Taking taylor expansion of phi1 in phi2
43.282 * [backup-simplify]: Simplify phi1 into phi1
43.282 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
43.282 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
43.282 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
43.282 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2
43.282 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2
43.282 * [taylor]: Taking taylor expansion of 0.5 in phi2
43.282 * [backup-simplify]: Simplify 0.5 into 0.5
43.282 * [taylor]: Taking taylor expansion of phi2 in phi2
43.282 * [backup-simplify]: Simplify 0 into 0
43.282 * [backup-simplify]: Simplify 1 into 1
43.283 * [backup-simplify]: Simplify (* 0.5 0) into 0
43.284 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
43.284 * [taylor]: Taking taylor expansion of (fma (cos (* 0.5 phi1)) (cos (* 0.5 phi2)) (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))) in phi1
43.285 * [taylor]: Rewrote expression to (+ (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))))
43.285 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) in phi1
43.285 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1
43.285 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
43.285 * [taylor]: Taking taylor expansion of 0.5 in phi1
43.285 * [backup-simplify]: Simplify 0.5 into 0.5
43.285 * [taylor]: Taking taylor expansion of phi1 in phi1
43.285 * [backup-simplify]: Simplify 0 into 0
43.285 * [backup-simplify]: Simplify 1 into 1
43.285 * [backup-simplify]: Simplify (* 0.5 0) into 0
43.287 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
43.287 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi1
43.287 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi1
43.287 * [taylor]: Taking taylor expansion of 0.5 in phi1
43.287 * [backup-simplify]: Simplify 0.5 into 0.5
43.287 * [taylor]: Taking taylor expansion of phi2 in phi1
43.287 * [backup-simplify]: Simplify phi2 into phi2
43.287 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
43.287 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
43.287 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
43.287 * [taylor]: Taking taylor expansion of (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))) in phi1
43.287 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))) in phi1
43.287 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1
43.287 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
43.287 * [taylor]: Taking taylor expansion of 0.5 in phi1
43.287 * [backup-simplify]: Simplify 0.5 into 0.5
43.288 * [taylor]: Taking taylor expansion of phi1 in phi1
43.288 * [backup-simplify]: Simplify 0 into 0
43.288 * [backup-simplify]: Simplify 1 into 1
43.288 * [backup-simplify]: Simplify (* 0.5 0) into 0
43.289 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
43.289 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi1
43.290 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi1
43.290 * [taylor]: Taking taylor expansion of 0.5 in phi1
43.290 * [backup-simplify]: Simplify 0.5 into 0.5
43.290 * [taylor]: Taking taylor expansion of phi2 in phi1
43.290 * [backup-simplify]: Simplify phi2 into phi2
43.290 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
43.290 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
43.290 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
43.290 * [taylor]: Taking taylor expansion of (fma (cos (* 0.5 phi1)) (cos (* 0.5 phi2)) (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))) in phi1
43.290 * [taylor]: Rewrote expression to (+ (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))))
43.290 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) in phi1
43.290 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1
43.290 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
43.290 * [taylor]: Taking taylor expansion of 0.5 in phi1
43.290 * [backup-simplify]: Simplify 0.5 into 0.5
43.290 * [taylor]: Taking taylor expansion of phi1 in phi1
43.290 * [backup-simplify]: Simplify 0 into 0
43.290 * [backup-simplify]: Simplify 1 into 1
43.291 * [backup-simplify]: Simplify (* 0.5 0) into 0
43.292 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
43.292 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi1
43.292 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi1
43.292 * [taylor]: Taking taylor expansion of 0.5 in phi1
43.292 * [backup-simplify]: Simplify 0.5 into 0.5
43.293 * [taylor]: Taking taylor expansion of phi2 in phi1
43.293 * [backup-simplify]: Simplify phi2 into phi2
43.293 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
43.293 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
43.293 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
43.293 * [taylor]: Taking taylor expansion of (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))) in phi1
43.293 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))) in phi1
43.293 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1
43.293 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
43.293 * [taylor]: Taking taylor expansion of 0.5 in phi1
43.293 * [backup-simplify]: Simplify 0.5 into 0.5
43.293 * [taylor]: Taking taylor expansion of phi1 in phi1
43.293 * [backup-simplify]: Simplify 0 into 0
43.293 * [backup-simplify]: Simplify 1 into 1
43.294 * [backup-simplify]: Simplify (* 0.5 0) into 0
43.295 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
43.295 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi1
43.295 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi1
43.295 * [taylor]: Taking taylor expansion of 0.5 in phi1
43.295 * [backup-simplify]: Simplify 0.5 into 0.5
43.295 * [taylor]: Taking taylor expansion of phi2 in phi1
43.295 * [backup-simplify]: Simplify phi2 into phi2
43.295 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
43.295 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
43.295 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
43.296 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2))
43.296 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0
43.296 * [backup-simplify]: Simplify (- 0) into 0
43.296 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2))
43.296 * [backup-simplify]: Simplify (* 1 (cos (* 0.5 phi2))) into (cos (* 0.5 phi2))
43.296 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2))
43.297 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0
43.297 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2))
43.297 * [backup-simplify]: Simplify (* 0 (sin (* 0.5 phi2))) into 0
43.297 * [backup-simplify]: Simplify (- 0) into 0
43.297 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2))
43.297 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2
43.297 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2
43.297 * [taylor]: Taking taylor expansion of 0.5 in phi2
43.298 * [backup-simplify]: Simplify 0.5 into 0.5
43.298 * [taylor]: Taking taylor expansion of phi2 in phi2
43.298 * [backup-simplify]: Simplify 0 into 0
43.298 * [backup-simplify]: Simplify 1 into 1
43.298 * [backup-simplify]: Simplify (* 0.5 0) into 0
43.299 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
43.300 * [backup-simplify]: Simplify 1 into 1
43.300 * [backup-simplify]: Simplify (+ 0) into 0
43.300 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0
43.301 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0
43.302 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
43.302 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 0)) into 0
43.303 * [backup-simplify]: Simplify (- 0) into 0
43.303 * [backup-simplify]: Simplify (+ 0 0) into 0
43.303 * [backup-simplify]: Simplify (+ 0) into 0
43.304 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (cos (* 0.5 phi2)))) into 0
43.304 * [backup-simplify]: Simplify (+ 0) into 0
43.305 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 1)) into 0
43.305 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0
43.306 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
43.306 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 0)) into 0
43.307 * [backup-simplify]: Simplify (+ 0 0) into 0
43.309 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5
43.309 * [backup-simplify]: Simplify (+ (* 0 0) (* 0.5 (sin (* 0.5 phi2)))) into (* 0.5 (sin (* 0.5 phi2)))
43.310 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi2)))) into (- (* 0.5 (sin (* 0.5 phi2))))
43.310 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi2))))) into (- (* 0.5 (sin (* 0.5 phi2))))
43.310 * [taylor]: Taking taylor expansion of (- (* 0.5 (sin (* 0.5 phi2)))) in phi2
43.310 * [taylor]: Taking taylor expansion of (* 0.5 (sin (* 0.5 phi2))) in phi2
43.310 * [taylor]: Taking taylor expansion of 0.5 in phi2
43.310 * [backup-simplify]: Simplify 0.5 into 0.5
43.310 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2
43.310 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2
43.310 * [taylor]: Taking taylor expansion of 0.5 in phi2
43.310 * [backup-simplify]: Simplify 0.5 into 0.5
43.310 * [taylor]: Taking taylor expansion of phi2 in phi2
43.310 * [backup-simplify]: Simplify 0 into 0
43.310 * [backup-simplify]: Simplify 1 into 1
43.310 * [backup-simplify]: Simplify (* 0.5 0) into 0
43.312 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
43.312 * [backup-simplify]: Simplify (* 0.5 0) into 0
43.313 * [backup-simplify]: Simplify (- 0) into 0
43.313 * [backup-simplify]: Simplify 0 into 0
43.313 * [backup-simplify]: Simplify (+ 0) into 0
43.313 * [backup-simplify]: Simplify 0 into 0
43.314 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
43.315 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
43.316 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 phi2))) into 0
43.316 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
43.317 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
43.317 * [backup-simplify]: Simplify (- 0) into 0
43.318 * [backup-simplify]: Simplify (+ 0 0) into 0
43.321 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125)
43.322 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* (- 0.125) (cos (* 0.5 phi2))))) into (- (* 0.125 (cos (* 0.5 phi2))))
43.323 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
43.324 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
43.324 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 phi2))) into 0
43.325 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
43.326 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
43.326 * [backup-simplify]: Simplify (+ 0 0) into 0
43.327 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 1) (* 0 0))) into 0
43.328 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
43.329 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 0.5 0) (* 0 (sin (* 0.5 phi2))))) into 0
43.329 * [backup-simplify]: Simplify (- 0) into 0
43.329 * [backup-simplify]: Simplify (+ (- (* 0.125 (cos (* 0.5 phi2)))) 0) into (- (* 0.125 (cos (* 0.5 phi2))))
43.329 * [taylor]: Taking taylor expansion of (- (* 0.125 (cos (* 0.5 phi2)))) in phi2
43.329 * [taylor]: Taking taylor expansion of (* 0.125 (cos (* 0.5 phi2))) in phi2
43.329 * [taylor]: Taking taylor expansion of 0.125 in phi2
43.329 * [backup-simplify]: Simplify 0.125 into 0.125
43.329 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2
43.329 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2
43.329 * [taylor]: Taking taylor expansion of 0.5 in phi2
43.330 * [backup-simplify]: Simplify 0.5 into 0.5
43.330 * [taylor]: Taking taylor expansion of phi2 in phi2
43.330 * [backup-simplify]: Simplify 0 into 0
43.330 * [backup-simplify]: Simplify 1 into 1
43.330 * [backup-simplify]: Simplify (* 0.5 0) into 0
43.331 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
43.332 * [backup-simplify]: Simplify (* 0.125 1) into 0.125
43.332 * [backup-simplify]: Simplify (- 0.125) into (- 0.125)
43.333 * [backup-simplify]: Simplify (- 0.125) into (- 0.125)
43.335 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5
43.336 * [backup-simplify]: Simplify (+ (* 0.5 0.5) (* 0 0)) into 0.25
43.337 * [backup-simplify]: Simplify (- 0.25) into (- 0.25)
43.337 * [backup-simplify]: Simplify (- 0.25) into (- 0.25)
43.338 * [backup-simplify]: Simplify (+ (* (- 0.25) (* phi2 phi1)) (+ (* (- 0.125) (pow (* 1 phi1) 2)) 1)) into (- 1 (+ (* 0.25 (* phi1 phi2)) (* 0.125 (pow phi1 2))))
43.339 * [backup-simplify]: Simplify (fma (cos (* (/ 1 phi1) 0.5)) (cos (* (/ 1 phi2) 0.5)) (- (* (sin (* (/ 1 phi1) 0.5)) (sin (* (/ 1 phi2) 0.5))))) into (fma (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2)) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
43.339 * [approximate]: Taking taylor expansion of (fma (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2)) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in (phi1 phi2) around 0
43.339 * [taylor]: Taking taylor expansion of (fma (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2)) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in phi2
43.339 * [taylor]: Rewrote expression to (+ (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
43.339 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) in phi2
43.339 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
43.339 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
43.339 * [taylor]: Taking taylor expansion of 0.5 in phi2
43.339 * [backup-simplify]: Simplify 0.5 into 0.5
43.339 * [taylor]: Taking taylor expansion of phi1 in phi2
43.339 * [backup-simplify]: Simplify phi1 into phi1
43.339 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
43.339 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
43.339 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
43.339 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
43.339 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
43.340 * [taylor]: Taking taylor expansion of 0.5 in phi2
43.340 * [backup-simplify]: Simplify 0.5 into 0.5
43.340 * [taylor]: Taking taylor expansion of phi2 in phi2
43.340 * [backup-simplify]: Simplify 0 into 0
43.340 * [backup-simplify]: Simplify 1 into 1
43.340 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
43.340 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
43.340 * [taylor]: Taking taylor expansion of (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in phi2
43.340 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in phi2
43.340 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
43.340 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
43.340 * [taylor]: Taking taylor expansion of 0.5 in phi2
43.340 * [backup-simplify]: Simplify 0.5 into 0.5
43.340 * [taylor]: Taking taylor expansion of phi2 in phi2
43.340 * [backup-simplify]: Simplify 0 into 0
43.340 * [backup-simplify]: Simplify 1 into 1
43.341 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
43.341 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
43.341 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
43.341 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
43.341 * [taylor]: Taking taylor expansion of 0.5 in phi2
43.341 * [backup-simplify]: Simplify 0.5 into 0.5
43.341 * [taylor]: Taking taylor expansion of phi1 in phi2
43.341 * [backup-simplify]: Simplify phi1 into phi1
43.341 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
43.341 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
43.342 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
43.342 * [taylor]: Taking taylor expansion of (fma (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2)) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in phi1
43.342 * [taylor]: Rewrote expression to (+ (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
43.342 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) in phi1
43.342 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
43.342 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
43.342 * [taylor]: Taking taylor expansion of 0.5 in phi1
43.342 * [backup-simplify]: Simplify 0.5 into 0.5
43.342 * [taylor]: Taking taylor expansion of phi1 in phi1
43.342 * [backup-simplify]: Simplify 0 into 0
43.342 * [backup-simplify]: Simplify 1 into 1
43.342 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
43.343 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
43.343 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
43.343 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
43.343 * [taylor]: Taking taylor expansion of 0.5 in phi1
43.343 * [backup-simplify]: Simplify 0.5 into 0.5
43.343 * [taylor]: Taking taylor expansion of phi2 in phi1
43.343 * [backup-simplify]: Simplify phi2 into phi2
43.343 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
43.343 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
43.343 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
43.343 * [taylor]: Taking taylor expansion of (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in phi1
43.343 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in phi1
43.343 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
43.343 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
43.343 * [taylor]: Taking taylor expansion of 0.5 in phi1
43.343 * [backup-simplify]: Simplify 0.5 into 0.5
43.343 * [taylor]: Taking taylor expansion of phi2 in phi1
43.343 * [backup-simplify]: Simplify phi2 into phi2
43.343 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
43.343 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
43.343 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
43.343 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
43.344 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
43.344 * [taylor]: Taking taylor expansion of 0.5 in phi1
43.344 * [backup-simplify]: Simplify 0.5 into 0.5
43.344 * [taylor]: Taking taylor expansion of phi1 in phi1
43.344 * [backup-simplify]: Simplify 0 into 0
43.344 * [backup-simplify]: Simplify 1 into 1
43.344 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
43.344 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
43.344 * [taylor]: Taking taylor expansion of (fma (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2)) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in phi1
43.344 * [taylor]: Rewrote expression to (+ (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
43.344 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) in phi1
43.345 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
43.345 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
43.345 * [taylor]: Taking taylor expansion of 0.5 in phi1
43.345 * [backup-simplify]: Simplify 0.5 into 0.5
43.345 * [taylor]: Taking taylor expansion of phi1 in phi1
43.345 * [backup-simplify]: Simplify 0 into 0
43.345 * [backup-simplify]: Simplify 1 into 1
43.345 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
43.345 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
43.345 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
43.345 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
43.345 * [taylor]: Taking taylor expansion of 0.5 in phi1
43.345 * [backup-simplify]: Simplify 0.5 into 0.5
43.345 * [taylor]: Taking taylor expansion of phi2 in phi1
43.345 * [backup-simplify]: Simplify phi2 into phi2
43.345 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
43.346 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
43.346 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
43.346 * [taylor]: Taking taylor expansion of (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in phi1
43.346 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in phi1
43.346 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
43.346 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
43.346 * [taylor]: Taking taylor expansion of 0.5 in phi1
43.346 * [backup-simplify]: Simplify 0.5 into 0.5
43.346 * [taylor]: Taking taylor expansion of phi2 in phi1
43.346 * [backup-simplify]: Simplify phi2 into phi2
43.346 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
43.346 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
43.346 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
43.346 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
43.346 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
43.346 * [taylor]: Taking taylor expansion of 0.5 in phi1
43.346 * [backup-simplify]: Simplify 0.5 into 0.5
43.346 * [taylor]: Taking taylor expansion of phi1 in phi1
43.346 * [backup-simplify]: Simplify 0 into 0
43.346 * [backup-simplify]: Simplify 1 into 1
43.347 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
43.347 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
43.347 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
43.347 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
43.348 * [backup-simplify]: Simplify (- 0) into 0
43.348 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
43.348 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
43.348 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
43.348 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
43.348 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
43.348 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
43.349 * [backup-simplify]: Simplify (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
43.349 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
43.349 * [taylor]: Taking taylor expansion of (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in phi2
43.349 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in phi2
43.349 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
43.349 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
43.349 * [taylor]: Taking taylor expansion of 0.5 in phi2
43.349 * [backup-simplify]: Simplify 0.5 into 0.5
43.349 * [taylor]: Taking taylor expansion of phi2 in phi2
43.349 * [backup-simplify]: Simplify 0 into 0
43.349 * [backup-simplify]: Simplify 1 into 1
43.350 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
43.350 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
43.350 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
43.350 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
43.350 * [taylor]: Taking taylor expansion of 0.5 in phi2
43.350 * [backup-simplify]: Simplify 0.5 into 0.5
43.350 * [taylor]: Taking taylor expansion of phi1 in phi2
43.350 * [backup-simplify]: Simplify phi1 into phi1
43.350 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
43.350 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
43.350 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
43.350 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in phi2
43.350 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
43.350 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
43.350 * [taylor]: Taking taylor expansion of 0.5 in phi2
43.350 * [backup-simplify]: Simplify 0.5 into 0.5
43.350 * [taylor]: Taking taylor expansion of phi2 in phi2
43.351 * [backup-simplify]: Simplify 0 into 0
43.351 * [backup-simplify]: Simplify 1 into 1
43.351 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
43.351 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
43.351 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
43.351 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
43.351 * [taylor]: Taking taylor expansion of 0.5 in phi2
43.351 * [backup-simplify]: Simplify 0.5 into 0.5
43.351 * [taylor]: Taking taylor expansion of phi1 in phi2
43.351 * [backup-simplify]: Simplify phi1 into phi1
43.351 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
43.351 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
43.352 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
43.352 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
43.352 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
43.352 * [backup-simplify]: Simplify (- 0) into 0
43.352 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
43.352 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
43.353 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
43.353 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
43.353 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
43.353 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
43.353 * [backup-simplify]: Simplify (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
43.354 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
43.354 * [backup-simplify]: Simplify (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
43.354 * [backup-simplify]: Simplify (+ 0) into 0
43.355 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
43.355 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
43.356 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
43.356 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
43.357 * [backup-simplify]: Simplify (- 0) into 0
43.357 * [backup-simplify]: Simplify (+ 0 0) into 0
43.357 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
43.358 * [backup-simplify]: Simplify (+ 0) into 0
43.358 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
43.358 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
43.359 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
43.359 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
43.360 * [backup-simplify]: Simplify (+ 0 0) into 0
43.360 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
43.360 * [backup-simplify]: Simplify (- 0) into 0
43.361 * [backup-simplify]: Simplify (+ 0 0) into 0
43.361 * [taylor]: Taking taylor expansion of 0 in phi2
43.361 * [backup-simplify]: Simplify 0 into 0
43.361 * [backup-simplify]: Simplify 0 into 0
43.361 * [backup-simplify]: Simplify (+ 0) into 0
43.362 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
43.362 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
43.363 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
43.363 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
43.364 * [backup-simplify]: Simplify (- 0) into 0
43.364 * [backup-simplify]: Simplify (+ 0 0) into 0
43.364 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
43.365 * [backup-simplify]: Simplify (+ 0) into 0
43.365 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
43.365 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
43.366 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
43.366 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
43.367 * [backup-simplify]: Simplify (+ 0 0) into 0
43.367 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
43.367 * [backup-simplify]: Simplify (- 0) into 0
43.368 * [backup-simplify]: Simplify (+ 0 0) into 0
43.368 * [backup-simplify]: Simplify 0 into 0
43.369 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
43.369 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
43.370 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
43.370 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
43.371 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
43.371 * [backup-simplify]: Simplify (- 0) into 0
43.372 * [backup-simplify]: Simplify (+ 0 0) into 0
43.372 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
43.373 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
43.374 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
43.374 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
43.375 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
43.375 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
43.376 * [backup-simplify]: Simplify (+ 0 0) into 0
43.376 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
43.377 * [backup-simplify]: Simplify (- 0) into 0
43.377 * [backup-simplify]: Simplify (+ 0 0) into 0
43.377 * [taylor]: Taking taylor expansion of 0 in phi2
43.377 * [backup-simplify]: Simplify 0 into 0
43.377 * [backup-simplify]: Simplify 0 into 0
43.377 * [backup-simplify]: Simplify 0 into 0
43.378 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
43.379 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
43.379 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
43.380 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
43.381 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
43.381 * [backup-simplify]: Simplify (- 0) into 0
43.382 * [backup-simplify]: Simplify (+ 0 0) into 0
43.382 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
43.383 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
43.384 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
43.384 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
43.385 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
43.386 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
43.386 * [backup-simplify]: Simplify (+ 0 0) into 0
43.387 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
43.387 * [backup-simplify]: Simplify (- 0) into 0
43.387 * [backup-simplify]: Simplify (+ 0 0) into 0
43.387 * [backup-simplify]: Simplify 0 into 0
43.388 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0
43.389 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0
43.389 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
43.391 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0
43.392 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0
43.392 * [backup-simplify]: Simplify (- 0) into 0
43.392 * [backup-simplify]: Simplify (+ 0 0) into 0
43.393 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2)))))) into 0
43.394 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0
43.395 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0
43.395 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
43.397 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0
43.397 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0
43.398 * [backup-simplify]: Simplify (+ 0 0) into 0
43.399 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1)))))) into 0
43.399 * [backup-simplify]: Simplify (- 0) into 0
43.400 * [backup-simplify]: Simplify (+ 0 0) into 0
43.400 * [taylor]: Taking taylor expansion of 0 in phi2
43.400 * [backup-simplify]: Simplify 0 into 0
43.400 * [backup-simplify]: Simplify 0 into 0
43.400 * [backup-simplify]: Simplify (- (* (cos (/ 0.5 (/ 1 phi2))) (cos (/ 0.5 (/ 1 phi1)))) (* (sin (/ 0.5 (/ 1 phi2))) (sin (/ 0.5 (/ 1 phi1))))) into (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))
43.401 * [backup-simplify]: Simplify (fma (cos (* (/ 1 (- phi1)) 0.5)) (cos (* (/ 1 (- phi2)) 0.5)) (- (* (sin (* (/ 1 (- phi1)) 0.5)) (sin (* (/ 1 (- phi2)) 0.5))))) into (fma (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))
43.401 * [approximate]: Taking taylor expansion of (fma (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in (phi1 phi2) around 0
43.401 * [taylor]: Taking taylor expansion of (fma (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in phi2
43.401 * [taylor]: Rewrote expression to (+ (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))
43.401 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))) in phi2
43.401 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
43.401 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
43.401 * [taylor]: Taking taylor expansion of -0.5 in phi2
43.401 * [backup-simplify]: Simplify -0.5 into -0.5
43.401 * [taylor]: Taking taylor expansion of phi1 in phi2
43.401 * [backup-simplify]: Simplify phi1 into phi1
43.401 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
43.401 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
43.401 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
43.401 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
43.401 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
43.402 * [taylor]: Taking taylor expansion of -0.5 in phi2
43.402 * [backup-simplify]: Simplify -0.5 into -0.5
43.402 * [taylor]: Taking taylor expansion of phi2 in phi2
43.402 * [backup-simplify]: Simplify 0 into 0
43.402 * [backup-simplify]: Simplify 1 into 1
43.402 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
43.402 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
43.402 * [taylor]: Taking taylor expansion of (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in phi2
43.402 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi2
43.402 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
43.402 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
43.402 * [taylor]: Taking taylor expansion of -0.5 in phi2
43.402 * [backup-simplify]: Simplify -0.5 into -0.5
43.402 * [taylor]: Taking taylor expansion of phi2 in phi2
43.402 * [backup-simplify]: Simplify 0 into 0
43.402 * [backup-simplify]: Simplify 1 into 1
43.403 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
43.403 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
43.403 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
43.403 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
43.403 * [taylor]: Taking taylor expansion of -0.5 in phi2
43.403 * [backup-simplify]: Simplify -0.5 into -0.5
43.403 * [taylor]: Taking taylor expansion of phi1 in phi2
43.403 * [backup-simplify]: Simplify phi1 into phi1
43.403 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
43.403 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
43.403 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
43.404 * [taylor]: Taking taylor expansion of (fma (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in phi1
43.404 * [taylor]: Rewrote expression to (+ (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))
43.404 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))) in phi1
43.404 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
43.404 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
43.404 * [taylor]: Taking taylor expansion of -0.5 in phi1
43.404 * [backup-simplify]: Simplify -0.5 into -0.5
43.404 * [taylor]: Taking taylor expansion of phi1 in phi1
43.404 * [backup-simplify]: Simplify 0 into 0
43.404 * [backup-simplify]: Simplify 1 into 1
43.404 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
43.404 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
43.404 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
43.405 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
43.405 * [taylor]: Taking taylor expansion of -0.5 in phi1
43.405 * [backup-simplify]: Simplify -0.5 into -0.5
43.405 * [taylor]: Taking taylor expansion of phi2 in phi1
43.405 * [backup-simplify]: Simplify phi2 into phi2
43.405 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
43.405 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
43.405 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
43.405 * [taylor]: Taking taylor expansion of (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in phi1
43.405 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi1
43.405 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
43.405 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
43.405 * [taylor]: Taking taylor expansion of -0.5 in phi1
43.405 * [backup-simplify]: Simplify -0.5 into -0.5
43.405 * [taylor]: Taking taylor expansion of phi2 in phi1
43.405 * [backup-simplify]: Simplify phi2 into phi2
43.405 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
43.405 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
43.405 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
43.405 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
43.405 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
43.405 * [taylor]: Taking taylor expansion of -0.5 in phi1
43.406 * [backup-simplify]: Simplify -0.5 into -0.5
43.406 * [taylor]: Taking taylor expansion of phi1 in phi1
43.406 * [backup-simplify]: Simplify 0 into 0
43.406 * [backup-simplify]: Simplify 1 into 1
43.406 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
43.406 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
43.406 * [taylor]: Taking taylor expansion of (fma (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in phi1
43.406 * [taylor]: Rewrote expression to (+ (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))
43.406 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))) in phi1
43.406 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
43.406 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
43.406 * [taylor]: Taking taylor expansion of -0.5 in phi1
43.407 * [backup-simplify]: Simplify -0.5 into -0.5
43.407 * [taylor]: Taking taylor expansion of phi1 in phi1
43.407 * [backup-simplify]: Simplify 0 into 0
43.407 * [backup-simplify]: Simplify 1 into 1
43.407 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
43.407 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
43.407 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
43.407 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
43.407 * [taylor]: Taking taylor expansion of -0.5 in phi1
43.407 * [backup-simplify]: Simplify -0.5 into -0.5
43.407 * [taylor]: Taking taylor expansion of phi2 in phi1
43.407 * [backup-simplify]: Simplify phi2 into phi2
43.407 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
43.407 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
43.408 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
43.408 * [taylor]: Taking taylor expansion of (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in phi1
43.408 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi1
43.408 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
43.408 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
43.408 * [taylor]: Taking taylor expansion of -0.5 in phi1
43.408 * [backup-simplify]: Simplify -0.5 into -0.5
43.408 * [taylor]: Taking taylor expansion of phi2 in phi1
43.408 * [backup-simplify]: Simplify phi2 into phi2
43.408 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
43.408 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
43.408 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
43.408 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
43.408 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
43.408 * [taylor]: Taking taylor expansion of -0.5 in phi1
43.408 * [backup-simplify]: Simplify -0.5 into -0.5
43.408 * [taylor]: Taking taylor expansion of phi1 in phi1
43.408 * [backup-simplify]: Simplify 0 into 0
43.408 * [backup-simplify]: Simplify 1 into 1
43.409 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
43.409 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
43.409 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
43.409 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
43.409 * [backup-simplify]: Simplify (- 0) into 0
43.410 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
43.410 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))) into (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))
43.410 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
43.410 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
43.410 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
43.410 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))
43.410 * [backup-simplify]: Simplify (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) into (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))
43.411 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))
43.411 * [taylor]: Taking taylor expansion of (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in phi2
43.411 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in phi2
43.411 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
43.411 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
43.411 * [taylor]: Taking taylor expansion of -0.5 in phi2
43.411 * [backup-simplify]: Simplify -0.5 into -0.5
43.411 * [taylor]: Taking taylor expansion of phi2 in phi2
43.411 * [backup-simplify]: Simplify 0 into 0
43.411 * [backup-simplify]: Simplify 1 into 1
43.412 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
43.412 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
43.412 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
43.412 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
43.412 * [taylor]: Taking taylor expansion of -0.5 in phi2
43.412 * [backup-simplify]: Simplify -0.5 into -0.5
43.412 * [taylor]: Taking taylor expansion of phi1 in phi2
43.412 * [backup-simplify]: Simplify phi1 into phi1
43.412 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
43.412 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
43.412 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
43.412 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi2
43.412 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
43.412 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
43.412 * [taylor]: Taking taylor expansion of -0.5 in phi2
43.412 * [backup-simplify]: Simplify -0.5 into -0.5
43.412 * [taylor]: Taking taylor expansion of phi2 in phi2
43.412 * [backup-simplify]: Simplify 0 into 0
43.412 * [backup-simplify]: Simplify 1 into 1
43.413 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
43.413 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
43.413 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
43.413 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
43.413 * [taylor]: Taking taylor expansion of -0.5 in phi2
43.413 * [backup-simplify]: Simplify -0.5 into -0.5
43.413 * [taylor]: Taking taylor expansion of phi1 in phi2
43.413 * [backup-simplify]: Simplify phi1 into phi1
43.413 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
43.413 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
43.413 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
43.413 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
43.414 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
43.414 * [backup-simplify]: Simplify (- 0) into 0
43.414 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
43.414 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))
43.414 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
43.414 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
43.415 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
43.415 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))
43.415 * [backup-simplify]: Simplify (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) into (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))
43.415 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))
43.416 * [backup-simplify]: Simplify (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) into (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))
43.416 * [backup-simplify]: Simplify (+ 0) into 0
43.417 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
43.417 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
43.417 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
43.418 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
43.418 * [backup-simplify]: Simplify (- 0) into 0
43.419 * [backup-simplify]: Simplify (+ 0 0) into 0
43.419 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
43.419 * [backup-simplify]: Simplify (+ 0) into 0
43.420 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
43.420 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
43.421 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
43.421 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
43.422 * [backup-simplify]: Simplify (+ 0 0) into 0
43.422 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
43.422 * [backup-simplify]: Simplify (- 0) into 0
43.422 * [backup-simplify]: Simplify (+ 0 0) into 0
43.423 * [taylor]: Taking taylor expansion of 0 in phi2
43.423 * [backup-simplify]: Simplify 0 into 0
43.423 * [backup-simplify]: Simplify 0 into 0
43.423 * [backup-simplify]: Simplify (+ 0) into 0
43.424 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
43.424 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
43.425 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
43.425 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
43.425 * [backup-simplify]: Simplify (- 0) into 0
43.426 * [backup-simplify]: Simplify (+ 0 0) into 0
43.426 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
43.426 * [backup-simplify]: Simplify (+ 0) into 0
43.427 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
43.427 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
43.428 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
43.428 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
43.429 * [backup-simplify]: Simplify (+ 0 0) into 0
43.429 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
43.429 * [backup-simplify]: Simplify (- 0) into 0
43.430 * [backup-simplify]: Simplify (+ 0 0) into 0
43.430 * [backup-simplify]: Simplify 0 into 0
43.431 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
43.432 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
43.432 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
43.433 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
43.433 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
43.434 * [backup-simplify]: Simplify (- 0) into 0
43.441 * [backup-simplify]: Simplify (+ 0 0) into 0
43.442 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0
43.443 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
43.444 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
43.444 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
43.445 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
43.446 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
43.446 * [backup-simplify]: Simplify (+ 0 0) into 0
43.447 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
43.447 * [backup-simplify]: Simplify (- 0) into 0
43.447 * [backup-simplify]: Simplify (+ 0 0) into 0
43.447 * [taylor]: Taking taylor expansion of 0 in phi2
43.448 * [backup-simplify]: Simplify 0 into 0
43.448 * [backup-simplify]: Simplify 0 into 0
43.448 * [backup-simplify]: Simplify 0 into 0
43.449 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
43.449 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
43.450 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
43.450 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
43.451 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
43.451 * [backup-simplify]: Simplify (- 0) into 0
43.452 * [backup-simplify]: Simplify (+ 0 0) into 0
43.452 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0
43.453 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
43.455 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
43.455 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
43.456 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
43.457 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
43.457 * [backup-simplify]: Simplify (+ 0 0) into 0
43.458 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
43.458 * [backup-simplify]: Simplify (- 0) into 0
43.459 * [backup-simplify]: Simplify (+ 0 0) into 0
43.459 * [backup-simplify]: Simplify 0 into 0
43.460 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0
43.461 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0
43.461 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
43.463 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0
43.463 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0
43.464 * [backup-simplify]: Simplify (- 0) into 0
43.464 * [backup-simplify]: Simplify (+ 0 0) into 0
43.465 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2)))))) into 0
43.466 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0
43.467 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0
43.467 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
43.469 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0
43.469 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0
43.470 * [backup-simplify]: Simplify (+ 0 0) into 0
43.471 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1)))))) into 0
43.471 * [backup-simplify]: Simplify (- 0) into 0
43.471 * [backup-simplify]: Simplify (+ 0 0) into 0
43.471 * [taylor]: Taking taylor expansion of 0 in phi2
43.471 * [backup-simplify]: Simplify 0 into 0
43.471 * [backup-simplify]: Simplify 0 into 0
43.472 * [backup-simplify]: Simplify (- (* (cos (/ -0.5 (/ 1 (- phi2)))) (cos (/ -0.5 (/ 1 (- phi1))))) (* (sin (/ -0.5 (/ 1 (- phi2)))) (sin (/ -0.5 (/ 1 (- phi1)))))) into (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))
43.472 * * * * [progress]: [ 4 / 4 ] generating series at (2)
43.473 * [backup-simplify]: Simplify (* (hypot (* (- lambda1 lambda2) (fma (cos (* phi1 0.5)) (cos (* phi2 0.5)) (- (* (sin (* phi1 0.5)) (sin (* phi2 0.5)))))) (- phi1 phi2)) R) into (* (hypot (* (- lambda1 lambda2) (fma (cos (* 0.5 phi1)) (cos (* 0.5 phi2)) (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))))) (- phi1 phi2)) R)
43.473 * [approximate]: Taking taylor expansion of (* (hypot (* (- lambda1 lambda2) (fma (cos (* 0.5 phi1)) (cos (* 0.5 phi2)) (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))))) (- phi1 phi2)) R) in (lambda1 lambda2 phi1 phi2 R) around 0
43.473 * [taylor]: Taking taylor expansion of (* (hypot (* (- lambda1 lambda2) (fma (cos (* 0.5 phi1)) (cos (* 0.5 phi2)) (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))))) (- phi1 phi2)) R) in R
43.473 * [taylor]: Taking taylor expansion of (hypot (* (- lambda1 lambda2) (fma (cos (* 0.5 phi1)) (cos (* 0.5 phi2)) (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))))) (- phi1 phi2)) in R
43.473 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- lambda1 lambda2) (fma (cos (* 0.5 phi1)) (cos (* 0.5 phi2)) (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))))) (* (- lambda1 lambda2) (fma (cos (* 0.5 phi1)) (cos (* 0.5 phi2)) (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))))) (* (- phi1 phi2) (- phi1 phi2))))
43.473 * [taylor]: Taking taylor expansion of (+ (* (* (- lambda1 lambda2) (fma (cos (* 0.5 phi1)) (cos (* 0.5 phi2)) (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))))) (* (- lambda1 lambda2) (fma (cos (* 0.5 phi1)) (cos (* 0.5 phi2)) (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))))) (* (- phi1 phi2) (- phi1 phi2))) in R
43.473 * [taylor]: Taking taylor expansion of (* (* (- lambda1 lambda2) (fma (cos (* 0.5 phi1)) (cos (* 0.5 phi2)) (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))))) (* (- lambda1 lambda2) (fma (cos (* 0.5 phi1)) (cos (* 0.5 phi2)) (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))))) in R
43.473 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (fma (cos (* 0.5 phi1)) (cos (* 0.5 phi2)) (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))))) in R
43.473 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in R
43.473 * [taylor]: Taking taylor expansion of lambda1 in R
43.473 * [backup-simplify]: Simplify lambda1 into lambda1
43.473 * [taylor]: Taking taylor expansion of lambda2 in R
43.473 * [backup-simplify]: Simplify lambda2 into lambda2
43.473 * [taylor]: Taking taylor expansion of (fma (cos (* 0.5 phi1)) (cos (* 0.5 phi2)) (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))) in R
43.473 * [taylor]: Rewrote expression to (+ (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))))
43.473 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) in R
43.473 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in R
43.473 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in R
43.473 * [taylor]: Taking taylor expansion of 0.5 in R
43.474 * [backup-simplify]: Simplify 0.5 into 0.5
43.474 * [taylor]: Taking taylor expansion of phi1 in R
43.474 * [backup-simplify]: Simplify phi1 into phi1
43.474 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
43.474 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
43.474 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
43.474 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in R
43.474 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in R
43.474 * [taylor]: Taking taylor expansion of 0.5 in R
43.474 * [backup-simplify]: Simplify 0.5 into 0.5
43.474 * [taylor]: Taking taylor expansion of phi2 in R
43.474 * [backup-simplify]: Simplify phi2 into phi2
43.474 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
43.474 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
43.474 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
43.474 * [taylor]: Taking taylor expansion of (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))) in R
43.474 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))) in R
43.474 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in R
43.474 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in R
43.475 * [taylor]: Taking taylor expansion of 0.5 in R
43.475 * [backup-simplify]: Simplify 0.5 into 0.5
43.475 * [taylor]: Taking taylor expansion of phi1 in R
43.475 * [backup-simplify]: Simplify phi1 into phi1
43.475 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
43.475 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
43.475 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
43.475 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in R
43.475 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in R
43.475 * [taylor]: Taking taylor expansion of 0.5 in R
43.475 * [backup-simplify]: Simplify 0.5 into 0.5
43.475 * [taylor]: Taking taylor expansion of phi2 in R
43.475 * [backup-simplify]: Simplify phi2 into phi2
43.475 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
43.475 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
43.475 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
43.475 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (fma (cos (* 0.5 phi1)) (cos (* 0.5 phi2)) (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))))) in R
43.475 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in R
43.475 * [taylor]: Taking taylor expansion of lambda1 in R
43.475 * [backup-simplify]: Simplify lambda1 into lambda1
43.475 * [taylor]: Taking taylor expansion of lambda2 in R
43.475 * [backup-simplify]: Simplify lambda2 into lambda2
43.476 * [taylor]: Taking taylor expansion of (fma (cos (* 0.5 phi1)) (cos (* 0.5 phi2)) (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))) in R
43.476 * [taylor]: Rewrote expression to (+ (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))))
43.476 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) in R
43.476 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in R
43.476 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in R
43.476 * [taylor]: Taking taylor expansion of 0.5 in R
43.476 * [backup-simplify]: Simplify 0.5 into 0.5
43.476 * [taylor]: Taking taylor expansion of phi1 in R
43.476 * [backup-simplify]: Simplify phi1 into phi1
43.476 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
43.476 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
43.476 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
43.476 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in R
43.476 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in R
43.476 * [taylor]: Taking taylor expansion of 0.5 in R
43.476 * [backup-simplify]: Simplify 0.5 into 0.5
43.476 * [taylor]: Taking taylor expansion of phi2 in R
43.476 * [backup-simplify]: Simplify phi2 into phi2
43.476 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
43.476 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
43.477 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
43.477 * [taylor]: Taking taylor expansion of (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))) in R
43.477 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))) in R
43.477 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in R
43.477 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in R
43.477 * [taylor]: Taking taylor expansion of 0.5 in R
43.477 * [backup-simplify]: Simplify 0.5 into 0.5
43.477 * [taylor]: Taking taylor expansion of phi1 in R
43.477 * [backup-simplify]: Simplify phi1 into phi1
43.477 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
43.477 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
43.477 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
43.477 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in R
43.477 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in R
43.477 * [taylor]: Taking taylor expansion of 0.5 in R
43.477 * [backup-simplify]: Simplify 0.5 into 0.5
43.477 * [taylor]: Taking taylor expansion of phi2 in R
43.477 * [backup-simplify]: Simplify phi2 into phi2
43.477 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
43.477 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
43.477 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
43.477 * [taylor]: Taking taylor expansion of (* (- phi1 phi2) (- phi1 phi2)) in R
43.477 * [taylor]: Taking taylor expansion of (- phi1 phi2) in R
43.478 * [taylor]: Taking taylor expansion of phi1 in R
43.478 * [backup-simplify]: Simplify phi1 into phi1
43.478 * [taylor]: Taking taylor expansion of phi2 in R
43.478 * [backup-simplify]: Simplify phi2 into phi2
43.478 * [taylor]: Taking taylor expansion of (- phi1 phi2) in R
43.478 * [taylor]: Taking taylor expansion of phi1 in R
43.478 * [backup-simplify]: Simplify phi1 into phi1
43.478 * [taylor]: Taking taylor expansion of phi2 in R
43.478 * [backup-simplify]: Simplify phi2 into phi2
43.478 * [backup-simplify]: Simplify (- lambda2) into (- lambda2)
43.478 * [backup-simplify]: Simplify (+ lambda1 (- lambda2)) into (- lambda1 lambda2)
43.478 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
43.478 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
43.479 * [backup-simplify]: Simplify (- 0) into 0
43.479 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
43.479 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2))
43.479 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0
43.479 * [backup-simplify]: Simplify (- 0) into 0
43.479 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2))
43.480 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) into (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2)))
43.480 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1))
43.480 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0
43.480 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1))
43.480 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2))
43.480 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0
43.480 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2))
43.480 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))) into (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))
43.481 * [backup-simplify]: Simplify (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))) into (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))
43.481 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))) into (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))
43.481 * [backup-simplify]: Simplify (* (- lambda1 lambda2) (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))) into (* (- lambda1 lambda2) (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))))
43.481 * [backup-simplify]: Simplify (- lambda2) into (- lambda2)
43.481 * [backup-simplify]: Simplify (+ lambda1 (- lambda2)) into (- lambda1 lambda2)
43.482 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
43.482 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
43.482 * [backup-simplify]: Simplify (- 0) into 0
43.482 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
43.482 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2))
43.482 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0
43.483 * [backup-simplify]: Simplify (- 0) into 0
43.483 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2))
43.483 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) into (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2)))
43.483 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1))
43.483 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0
43.483 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1))
43.483 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2))
43.483 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0
43.484 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2))
43.484 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))) into (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))
43.484 * [backup-simplify]: Simplify (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))) into (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))
43.484 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))) into (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))
43.485 * [backup-simplify]: Simplify (* (- lambda1 lambda2) (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))) into (* (- lambda1 lambda2) (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))))
43.485 * [backup-simplify]: Simplify (* (* (- lambda1 lambda2) (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))) (* (- lambda1 lambda2) (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))))) into (* (pow (- lambda1 lambda2) 2) (pow (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))) 2))
43.486 * [backup-simplify]: Simplify (- phi2) into (- phi2)
43.486 * [backup-simplify]: Simplify (+ phi1 (- phi2)) into (- phi1 phi2)
43.486 * [backup-simplify]: Simplify (- phi2) into (- phi2)
43.486 * [backup-simplify]: Simplify (+ phi1 (- phi2)) into (- phi1 phi2)
43.486 * [backup-simplify]: Simplify (* (- phi1 phi2) (- phi1 phi2)) into (pow (- phi1 phi2) 2)
43.487 * [backup-simplify]: Simplify (+ (* (pow (- lambda1 lambda2) 2) (pow (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))) 2)) (pow (- phi1 phi2) 2)) into (- (+ (* 2 (* (cos (* 0.5 phi2)) (* lambda2 (* (sin (* 0.5 phi1)) (* lambda1 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))))) (+ (* (pow lambda2 2) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) (+ (* (pow (sin (* 0.5 phi1)) 2) (* (pow lambda1 2) (pow (sin (* 0.5 phi2)) 2))) (+ (pow phi2 2) (+ (* 2 (* (cos (* 0.5 phi2)) (* lambda2 (* (cos (* 0.5 phi1)) (* lambda1 (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))))))) (+ (* (pow (cos (* 0.5 phi1)) 2) (* (pow lambda1 2) (pow (cos (* 0.5 phi2)) 2))) (+ (* (pow lambda2 2) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (pow phi1 2)))))))) (+ (* (cos (* 0.5 phi1)) (* (cos (* 0.5 phi2)) (* (pow lambda1 2) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))))) (+ (* 2 (* phi1 phi2)) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))) (+ (* 2 (* lambda2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda1 (pow (cos (* 0.5 phi1)) 2))))) (+ (* 2 (* lambda2 (* lambda1 (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2))))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))))) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi2)) (* (pow lambda1 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))))))))))
43.503 * [backup-simplify]: Simplify (sqrt (- (+ (* 2 (* (cos (* 0.5 phi2)) (* lambda2 (* (sin (* 0.5 phi1)) (* lambda1 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))))) (+ (* (pow lambda2 2) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) (+ (* (pow (sin (* 0.5 phi1)) 2) (* (pow lambda1 2) (pow (sin (* 0.5 phi2)) 2))) (+ (pow phi2 2) (+ (* 2 (* (cos (* 0.5 phi2)) (* lambda2 (* (cos (* 0.5 phi1)) (* lambda1 (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))))))) (+ (* (pow (cos (* 0.5 phi1)) 2) (* (pow lambda1 2) (pow (cos (* 0.5 phi2)) 2))) (+ (* (pow lambda2 2) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (pow phi1 2)))))))) (+ (* (cos (* 0.5 phi1)) (* (cos (* 0.5 phi2)) (* (pow lambda1 2) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))))) (+ (* 2 (* phi1 phi2)) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))) (+ (* 2 (* lambda2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda1 (pow (cos (* 0.5 phi1)) 2))))) (+ (* 2 (* lambda2 (* lambda1 (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2))))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))))) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi2)) (* (pow lambda1 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))))))))))) into (sqrt (- (+ (* 2 (* (cos (* 0.5 phi2)) (* lambda2 (* (sin (* 0.5 phi1)) (* lambda1 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))))) (+ (* (pow lambda2 2) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) (+ (* (pow lambda1 2) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) (+ (pow phi2 2) (+ (* 2 (* (cos (* 0.5 phi2)) (* lambda2 (* (cos (* 0.5 phi1)) (* lambda1 (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))))))) (+ (* (pow (cos (* 0.5 phi1)) 2) (* (pow lambda1 2) (pow (cos (* 0.5 phi2)) 2))) (+ (* (pow lambda2 2) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (pow phi1 2)))))))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))) (+ (* 2 (* lambda2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda1 (pow (cos (* 0.5 phi2)) 2))))) (+ (* 2 (* phi1 phi2)) (+ (* 2 (* lambda2 (* lambda1 (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2))))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))))) (+ (* (pow lambda1 2) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi2)) (* (pow lambda1 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1))))))))))))))
43.504 * [backup-simplify]: Simplify (+ 0) into 0
43.505 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0
43.505 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0
43.506 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
43.506 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 0)) into 0
43.507 * [backup-simplify]: Simplify (- 0) into 0
43.507 * [backup-simplify]: Simplify (+ 0 0) into 0
43.507 * [backup-simplify]: Simplify (+ 0) into 0
43.508 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0
43.508 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0
43.509 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
43.510 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 0)) into 0
43.510 * [backup-simplify]: Simplify (- 0) into 0
43.510 * [backup-simplify]: Simplify (+ 0 0) into 0
43.511 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 (cos (* 0.5 phi2)))) into 0
43.511 * [backup-simplify]: Simplify (+ 0) into 0
43.512 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 1)) into 0
43.512 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0
43.513 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
43.513 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 0)) into 0
43.513 * [backup-simplify]: Simplify (+ 0 0) into 0
43.514 * [backup-simplify]: Simplify (+ 0) into 0
43.514 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 1)) into 0
43.515 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0
43.516 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
43.516 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 0)) into 0
43.516 * [backup-simplify]: Simplify (+ 0 0) into 0
43.517 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 (sin (* 0.5 phi2)))) into 0
43.517 * [backup-simplify]: Simplify (- 0) into 0
43.517 * [backup-simplify]: Simplify (+ 0 0) into 0
43.518 * [backup-simplify]: Simplify (- 0) into 0
43.518 * [backup-simplify]: Simplify (+ 0 0) into 0
43.519 * [backup-simplify]: Simplify (+ (* (- lambda1 lambda2) 0) (* 0 (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))))) into 0
43.519 * [backup-simplify]: Simplify (+ 0) into 0
43.519 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0
43.520 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0
43.521 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
43.521 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 0)) into 0
43.522 * [backup-simplify]: Simplify (- 0) into 0
43.524 * [backup-simplify]: Simplify (+ 0 0) into 0
43.524 * [backup-simplify]: Simplify (+ 0) into 0
43.525 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0
43.525 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0
43.526 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
43.527 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 0)) into 0
43.527 * [backup-simplify]: Simplify (- 0) into 0
43.528 * [backup-simplify]: Simplify (+ 0 0) into 0
43.528 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 (cos (* 0.5 phi2)))) into 0
43.528 * [backup-simplify]: Simplify (+ 0) into 0
43.529 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 1)) into 0
43.529 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0
43.530 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
43.530 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 0)) into 0
43.531 * [backup-simplify]: Simplify (+ 0 0) into 0
43.531 * [backup-simplify]: Simplify (+ 0) into 0
43.532 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 1)) into 0
43.532 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0
43.533 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
43.533 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 0)) into 0
43.534 * [backup-simplify]: Simplify (+ 0 0) into 0
43.534 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 (sin (* 0.5 phi2)))) into 0
43.534 * [backup-simplify]: Simplify (- 0) into 0
43.535 * [backup-simplify]: Simplify (+ 0 0) into 0
43.535 * [backup-simplify]: Simplify (- 0) into 0
43.535 * [backup-simplify]: Simplify (+ 0 0) into 0
43.536 * [backup-simplify]: Simplify (+ (* (- lambda1 lambda2) 0) (* 0 (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))))) into 0
43.537 * [backup-simplify]: Simplify (+ (* (* (- lambda1 lambda2) (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))) 0) (* 0 (* (- lambda1 lambda2) (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))))) into 0
43.537 * [backup-simplify]: Simplify (- 0) into 0
43.537 * [backup-simplify]: Simplify (+ 0 0) into 0
43.538 * [backup-simplify]: Simplify (- 0) into 0
43.538 * [backup-simplify]: Simplify (+ 0 0) into 0
43.538 * [backup-simplify]: Simplify (+ (* (- phi1 phi2) 0) (* 0 (- phi1 phi2))) into 0
43.539 * [backup-simplify]: Simplify (+ 0 0) into 0
43.554 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (- (+ (* 2 (* (cos (* 0.5 phi2)) (* lambda2 (* (sin (* 0.5 phi1)) (* lambda1 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))))) (+ (* (pow lambda2 2) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) (+ (* (pow (sin (* 0.5 phi1)) 2) (* (pow lambda1 2) (pow (sin (* 0.5 phi2)) 2))) (+ (pow phi2 2) (+ (* 2 (* (cos (* 0.5 phi2)) (* lambda2 (* (cos (* 0.5 phi1)) (* lambda1 (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))))))) (+ (* (pow (cos (* 0.5 phi1)) 2) (* (pow lambda1 2) (pow (cos (* 0.5 phi2)) 2))) (+ (* (pow lambda2 2) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (pow phi1 2)))))))) (+ (* (cos (* 0.5 phi1)) (* (cos (* 0.5 phi2)) (* (pow lambda1 2) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))))) (+ (* 2 (* phi1 phi2)) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))) (+ (* 2 (* lambda2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda1 (pow (cos (* 0.5 phi1)) 2))))) (+ (* 2 (* lambda2 (* lambda1 (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2))))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))))) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi2)) (* (pow lambda1 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))))))))))))) into 0
43.554 * [taylor]: Taking taylor expansion of R in R
43.554 * [backup-simplify]: Simplify 0 into 0
43.554 * [backup-simplify]: Simplify 1 into 1
43.554 * [taylor]: Taking taylor expansion of (* (hypot (* (- lambda1 lambda2) (fma (cos (* 0.5 phi1)) (cos (* 0.5 phi2)) (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))))) (- phi1 phi2)) R) in phi2
43.554 * [taylor]: Taking taylor expansion of (hypot (* (- lambda1 lambda2) (fma (cos (* 0.5 phi1)) (cos (* 0.5 phi2)) (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))))) (- phi1 phi2)) in phi2
43.554 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- lambda1 lambda2) (fma (cos (* 0.5 phi1)) (cos (* 0.5 phi2)) (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))))) (* (- lambda1 lambda2) (fma (cos (* 0.5 phi1)) (cos (* 0.5 phi2)) (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))))) (* (- phi1 phi2) (- phi1 phi2))))
43.555 * [taylor]: Taking taylor expansion of (+ (* (* (- lambda1 lambda2) (fma (cos (* 0.5 phi1)) (cos (* 0.5 phi2)) (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))))) (* (- lambda1 lambda2) (fma (cos (* 0.5 phi1)) (cos (* 0.5 phi2)) (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))))) (* (- phi1 phi2) (- phi1 phi2))) in phi2
43.555 * [taylor]: Taking taylor expansion of (* (* (- lambda1 lambda2) (fma (cos (* 0.5 phi1)) (cos (* 0.5 phi2)) (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))))) (* (- lambda1 lambda2) (fma (cos (* 0.5 phi1)) (cos (* 0.5 phi2)) (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))))) in phi2
43.555 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (fma (cos (* 0.5 phi1)) (cos (* 0.5 phi2)) (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))))) in phi2
43.555 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in phi2
43.555 * [taylor]: Taking taylor expansion of lambda1 in phi2
43.555 * [backup-simplify]: Simplify lambda1 into lambda1
43.555 * [taylor]: Taking taylor expansion of lambda2 in phi2
43.555 * [backup-simplify]: Simplify lambda2 into lambda2
43.555 * [taylor]: Taking taylor expansion of (fma (cos (* 0.5 phi1)) (cos (* 0.5 phi2)) (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))) in phi2
43.555 * [taylor]: Rewrote expression to (+ (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))))
43.555 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) in phi2
43.555 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi2
43.555 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2
43.555 * [taylor]: Taking taylor expansion of 0.5 in phi2
43.555 * [backup-simplify]: Simplify 0.5 into 0.5
43.555 * [taylor]: Taking taylor expansion of phi1 in phi2
43.555 * [backup-simplify]: Simplify phi1 into phi1
43.555 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
43.555 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
43.555 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
43.555 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2
43.555 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2
43.556 * [taylor]: Taking taylor expansion of 0.5 in phi2
43.556 * [backup-simplify]: Simplify 0.5 into 0.5
43.556 * [taylor]: Taking taylor expansion of phi2 in phi2
43.556 * [backup-simplify]: Simplify 0 into 0
43.556 * [backup-simplify]: Simplify 1 into 1
43.556 * [backup-simplify]: Simplify (* 0.5 0) into 0
43.558 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
43.558 * [taylor]: Taking taylor expansion of (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))) in phi2
43.558 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))) in phi2
43.558 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi2
43.558 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2
43.558 * [taylor]: Taking taylor expansion of 0.5 in phi2
43.558 * [backup-simplify]: Simplify 0.5 into 0.5
43.558 * [taylor]: Taking taylor expansion of phi1 in phi2
43.558 * [backup-simplify]: Simplify phi1 into phi1
43.558 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
43.558 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
43.558 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
43.558 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2
43.558 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2
43.558 * [taylor]: Taking taylor expansion of 0.5 in phi2
43.558 * [backup-simplify]: Simplify 0.5 into 0.5
43.558 * [taylor]: Taking taylor expansion of phi2 in phi2
43.558 * [backup-simplify]: Simplify 0 into 0
43.558 * [backup-simplify]: Simplify 1 into 1
43.559 * [backup-simplify]: Simplify (* 0.5 0) into 0
43.560 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
43.560 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (fma (cos (* 0.5 phi1)) (cos (* 0.5 phi2)) (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))))) in phi2
43.560 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in phi2
43.560 * [taylor]: Taking taylor expansion of lambda1 in phi2
43.560 * [backup-simplify]: Simplify lambda1 into lambda1
43.560 * [taylor]: Taking taylor expansion of lambda2 in phi2
43.560 * [backup-simplify]: Simplify lambda2 into lambda2
43.560 * [taylor]: Taking taylor expansion of (fma (cos (* 0.5 phi1)) (cos (* 0.5 phi2)) (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))) in phi2
43.561 * [taylor]: Rewrote expression to (+ (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))))
43.561 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) in phi2
43.561 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi2
43.561 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2
43.561 * [taylor]: Taking taylor expansion of 0.5 in phi2
43.561 * [backup-simplify]: Simplify 0.5 into 0.5
43.561 * [taylor]: Taking taylor expansion of phi1 in phi2
43.561 * [backup-simplify]: Simplify phi1 into phi1
43.561 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
43.561 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
43.561 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
43.561 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2
43.561 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2
43.561 * [taylor]: Taking taylor expansion of 0.5 in phi2
43.561 * [backup-simplify]: Simplify 0.5 into 0.5
43.561 * [taylor]: Taking taylor expansion of phi2 in phi2
43.561 * [backup-simplify]: Simplify 0 into 0
43.561 * [backup-simplify]: Simplify 1 into 1
43.562 * [backup-simplify]: Simplify (* 0.5 0) into 0
43.563 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
43.563 * [taylor]: Taking taylor expansion of (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))) in phi2
43.563 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))) in phi2
43.563 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi2
43.563 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2
43.563 * [taylor]: Taking taylor expansion of 0.5 in phi2
43.563 * [backup-simplify]: Simplify 0.5 into 0.5
43.563 * [taylor]: Taking taylor expansion of phi1 in phi2
43.563 * [backup-simplify]: Simplify phi1 into phi1
43.564 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
43.564 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
43.564 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
43.564 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2
43.564 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2
43.564 * [taylor]: Taking taylor expansion of 0.5 in phi2
43.564 * [backup-simplify]: Simplify 0.5 into 0.5
43.564 * [taylor]: Taking taylor expansion of phi2 in phi2
43.564 * [backup-simplify]: Simplify 0 into 0
43.564 * [backup-simplify]: Simplify 1 into 1
43.564 * [backup-simplify]: Simplify (* 0.5 0) into 0
43.566 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
43.566 * [taylor]: Taking taylor expansion of (* (- phi1 phi2) (- phi1 phi2)) in phi2
43.566 * [taylor]: Taking taylor expansion of (- phi1 phi2) in phi2
43.566 * [taylor]: Taking taylor expansion of phi1 in phi2
43.566 * [backup-simplify]: Simplify phi1 into phi1
43.566 * [taylor]: Taking taylor expansion of phi2 in phi2
43.566 * [backup-simplify]: Simplify 0 into 0
43.566 * [backup-simplify]: Simplify 1 into 1
43.566 * [taylor]: Taking taylor expansion of (- phi1 phi2) in phi2
43.566 * [taylor]: Taking taylor expansion of phi1 in phi2
43.566 * [backup-simplify]: Simplify phi1 into phi1
43.566 * [taylor]: Taking taylor expansion of phi2 in phi2
43.566 * [backup-simplify]: Simplify 0 into 0
43.566 * [backup-simplify]: Simplify 1 into 1
43.566 * [backup-simplify]: Simplify (- lambda2) into (- lambda2)
43.566 * [backup-simplify]: Simplify (+ lambda1 (- lambda2)) into (- lambda1 lambda2)
43.566 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
43.566 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
43.567 * [backup-simplify]: Simplify (- 0) into 0
43.567 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
43.567 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
43.567 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1))
43.567 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0
43.567 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1))
43.567 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
43.568 * [backup-simplify]: Simplify (- 0) into 0
43.568 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
43.568 * [backup-simplify]: Simplify (* (- lambda1 lambda2) (cos (* 0.5 phi1))) into (* (- lambda1 lambda2) (cos (* 0.5 phi1)))
43.568 * [backup-simplify]: Simplify (- lambda2) into (- lambda2)
43.568 * [backup-simplify]: Simplify (+ lambda1 (- lambda2)) into (- lambda1 lambda2)
43.568 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
43.568 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
43.569 * [backup-simplify]: Simplify (- 0) into 0
43.569 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
43.569 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
43.569 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1))
43.569 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0
43.569 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1))
43.569 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
43.570 * [backup-simplify]: Simplify (- 0) into 0
43.570 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
43.570 * [backup-simplify]: Simplify (* (- lambda1 lambda2) (cos (* 0.5 phi1))) into (* (- lambda1 lambda2) (cos (* 0.5 phi1)))
43.570 * [backup-simplify]: Simplify (* (* (- lambda1 lambda2) (cos (* 0.5 phi1))) (* (- lambda1 lambda2) (cos (* 0.5 phi1)))) into (* (pow (- lambda1 lambda2) 2) (pow (cos (* 0.5 phi1)) 2))
43.571 * [backup-simplify]: Simplify (- 0) into 0
43.571 * [backup-simplify]: Simplify (+ phi1 0) into phi1
43.571 * [backup-simplify]: Simplify (- 0) into 0
43.571 * [backup-simplify]: Simplify (+ phi1 0) into phi1
43.571 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
43.572 * [backup-simplify]: Simplify (+ (* (pow (- lambda1 lambda2) 2) (pow (cos (* 0.5 phi1)) 2)) (pow phi1 2)) into (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (+ (* (pow lambda2 2) (pow (cos (* 0.5 phi1)) 2)) (pow phi1 2))) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi1)) 2)))))
43.573 * [backup-simplify]: Simplify (sqrt (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (+ (* (pow lambda2 2) (pow (cos (* 0.5 phi1)) 2)) (pow phi1 2))) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi1)) 2)))))) into (sqrt (- (+ (* (pow lambda1 2) (pow (cos (* 0.5 phi1)) 2)) (+ (* (pow lambda2 2) (pow (cos (* 0.5 phi1)) 2)) (pow phi1 2))) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi1)) 2))))))
43.574 * [backup-simplify]: Simplify (+ 0) into 0
43.574 * [backup-simplify]: Simplify (+ 0) into 0
43.575 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0
43.575 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0
43.576 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
43.576 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 0)) into 0
43.577 * [backup-simplify]: Simplify (- 0) into 0
43.577 * [backup-simplify]: Simplify (+ 0 0) into 0
43.578 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0
43.580 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5
43.580 * [backup-simplify]: Simplify (+ 0) into 0
43.581 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 1)) into 0
43.581 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0
43.582 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
43.582 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 0)) into 0
43.583 * [backup-simplify]: Simplify (+ 0 0) into 0
43.583 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1)))
43.583 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1))))
43.584 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1))))
43.584 * [backup-simplify]: Simplify (- 0) into 0
43.584 * [backup-simplify]: Simplify (+ 0 0) into 0
43.585 * [backup-simplify]: Simplify (+ (* (- lambda1 lambda2) (- (* 0.5 (sin (* 0.5 phi1))))) (* 0 (cos (* 0.5 phi1)))) into (- (* 0.5 (* lambda2 (sin (* 0.5 phi1)))) (* 0.5 (* lambda1 (sin (* 0.5 phi1)))))
43.585 * [backup-simplify]: Simplify (+ 0) into 0
43.585 * [backup-simplify]: Simplify (+ 0) into 0
43.586 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0
43.586 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0
43.587 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
43.588 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 0)) into 0
43.588 * [backup-simplify]: Simplify (- 0) into 0
43.588 * [backup-simplify]: Simplify (+ 0 0) into 0
43.589 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0
43.591 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5
43.591 * [backup-simplify]: Simplify (+ 0) into 0
43.592 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 1)) into 0
43.592 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0
43.593 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
43.594 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 0)) into 0
43.594 * [backup-simplify]: Simplify (+ 0 0) into 0
43.594 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1)))
43.595 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1))))
43.595 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1))))
43.595 * [backup-simplify]: Simplify (- 0) into 0
43.595 * [backup-simplify]: Simplify (+ 0 0) into 0
43.596 * [backup-simplify]: Simplify (+ (* (- lambda1 lambda2) (- (* 0.5 (sin (* 0.5 phi1))))) (* 0 (cos (* 0.5 phi1)))) into (- (* 0.5 (* lambda2 (sin (* 0.5 phi1)))) (* 0.5 (* lambda1 (sin (* 0.5 phi1)))))
43.597 * [backup-simplify]: Simplify (+ (* (* (- lambda1 lambda2) (cos (* 0.5 phi1))) (- (* 0.5 (* lambda2 (sin (* 0.5 phi1)))) (* 0.5 (* lambda1 (sin (* 0.5 phi1)))))) (* (- (* 0.5 (* lambda2 (sin (* 0.5 phi1)))) (* 0.5 (* lambda1 (sin (* 0.5 phi1))))) (* (- lambda1 lambda2) (cos (* 0.5 phi1))))) into (- (+ (* 0.5 (* lambda1 (* lambda2 (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1)))))) (+ (* 0.5 (* lambda2 (* (cos (* 0.5 phi1)) (* lambda1 (sin (* 0.5 phi1)))))) (* 1.0 (* lambda2 (* (sin (* 0.5 phi1)) (* lambda1 (cos (* 0.5 phi1)))))))) (+ (* 0.5 (* (pow lambda2 2) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) (+ (* 0.5 (* (pow lambda2 2) (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1))))) (* 1.0 (* (sin (* 0.5 phi1)) (* (pow lambda1 2) (cos (* 0.5 phi1))))))))
43.598 * [backup-simplify]: Simplify (- 1) into -1
43.598 * [backup-simplify]: Simplify (+ 0 -1) into -1
43.604 * [backup-simplify]: Simplify (- 1) into -1
43.605 * [backup-simplify]: Simplify (+ 0 -1) into -1
43.605 * [backup-simplify]: Simplify (+ (* phi1 -1) (* -1 phi1)) into (- (* 2 phi1))
43.609 * [backup-simplify]: Simplify (+ (- (+ (* 0.5 (* lambda1 (* lambda2 (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1)))))) (+ (* 0.5 (* lambda2 (* (cos (* 0.5 phi1)) (* lambda1 (sin (* 0.5 phi1)))))) (* 1.0 (* lambda2 (* (sin (* 0.5 phi1)) (* lambda1 (cos (* 0.5 phi1)))))))) (+ (* 0.5 (* (pow lambda2 2) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) (+ (* 0.5 (* (pow lambda2 2) (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1))))) (* 1.0 (* (sin (* 0.5 phi1)) (* (pow lambda1 2) (cos (* 0.5 phi1)))))))) (- (* 2 phi1))) into (- (+ (* 1.5 (* lambda1 (* lambda2 (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1)))))) (* 0.5 (* lambda1 (* lambda2 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))) (+ (* 1.0 (* (pow lambda2 2) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (pow lambda1 2) (sin (* 0.5 phi1))))) (* 2 phi1))))
43.612 * [backup-simplify]: Simplify (/ (- (+ (* 1.5 (* lambda1 (* lambda2 (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1)))))) (* 0.5 (* lambda1 (* lambda2 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))) (+ (* 1.0 (* (pow lambda2 2) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (pow lambda1 2) (sin (* 0.5 phi1))))) (* 2 phi1)))) (* 2 (sqrt (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (+ (* (pow lambda2 2) (pow (cos (* 0.5 phi1)) 2)) (pow phi1 2))) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi1)) 2)))))))) into (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow lambda1 2) (pow (cos (* 0.5 phi1)) 2)) (+ (* (pow lambda2 2) (pow (cos (* 0.5 phi1)) 2)) (pow phi1 2))) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi1)) 2))))))) (- (+ (* 1.5 (* lambda1 (* lambda2 (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1)))))) (* 0.5 (* lambda1 (* lambda2 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))) (+ (* 2 phi1) (+ (* 1.0 (* (pow lambda2 2) (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1))))) (* 1.0 (* (cos (* 0.5 phi1)) (* (pow lambda1 2) (sin (* 0.5 phi1))))))))))
43.612 * [taylor]: Taking taylor expansion of R in phi2
43.612 * [backup-simplify]: Simplify R into R
43.612 * [taylor]: Taking taylor expansion of (* (hypot (* (- lambda1 lambda2) (fma (cos (* 0.5 phi1)) (cos (* 0.5 phi2)) (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))))) (- phi1 phi2)) R) in phi1
43.612 * [taylor]: Taking taylor expansion of (hypot (* (- lambda1 lambda2) (fma (cos (* 0.5 phi1)) (cos (* 0.5 phi2)) (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))))) (- phi1 phi2)) in phi1
43.613 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- lambda1 lambda2) (fma (cos (* 0.5 phi1)) (cos (* 0.5 phi2)) (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))))) (* (- lambda1 lambda2) (fma (cos (* 0.5 phi1)) (cos (* 0.5 phi2)) (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))))) (* (- phi1 phi2) (- phi1 phi2))))
43.613 * [taylor]: Taking taylor expansion of (+ (* (* (- lambda1 lambda2) (fma (cos (* 0.5 phi1)) (cos (* 0.5 phi2)) (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))))) (* (- lambda1 lambda2) (fma (cos (* 0.5 phi1)) (cos (* 0.5 phi2)) (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))))) (* (- phi1 phi2) (- phi1 phi2))) in phi1
43.613 * [taylor]: Taking taylor expansion of (* (* (- lambda1 lambda2) (fma (cos (* 0.5 phi1)) (cos (* 0.5 phi2)) (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))))) (* (- lambda1 lambda2) (fma (cos (* 0.5 phi1)) (cos (* 0.5 phi2)) (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))))) in phi1
43.613 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (fma (cos (* 0.5 phi1)) (cos (* 0.5 phi2)) (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))))) in phi1
43.613 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in phi1
43.613 * [taylor]: Taking taylor expansion of lambda1 in phi1
43.613 * [backup-simplify]: Simplify lambda1 into lambda1
43.613 * [taylor]: Taking taylor expansion of lambda2 in phi1
43.613 * [backup-simplify]: Simplify lambda2 into lambda2
43.613 * [taylor]: Taking taylor expansion of (fma (cos (* 0.5 phi1)) (cos (* 0.5 phi2)) (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))) in phi1
43.613 * [taylor]: Rewrote expression to (+ (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))))
43.613 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) in phi1
43.613 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1
43.613 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
43.613 * [taylor]: Taking taylor expansion of 0.5 in phi1
43.613 * [backup-simplify]: Simplify 0.5 into 0.5
43.613 * [taylor]: Taking taylor expansion of phi1 in phi1
43.613 * [backup-simplify]: Simplify 0 into 0
43.613 * [backup-simplify]: Simplify 1 into 1
43.614 * [backup-simplify]: Simplify (* 0.5 0) into 0
43.615 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
43.615 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi1
43.615 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi1
43.615 * [taylor]: Taking taylor expansion of 0.5 in phi1
43.615 * [backup-simplify]: Simplify 0.5 into 0.5
43.616 * [taylor]: Taking taylor expansion of phi2 in phi1
43.616 * [backup-simplify]: Simplify phi2 into phi2
43.616 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
43.616 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
43.616 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
43.616 * [taylor]: Taking taylor expansion of (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))) in phi1
43.616 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))) in phi1
43.616 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1
43.616 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
43.616 * [taylor]: Taking taylor expansion of 0.5 in phi1
43.616 * [backup-simplify]: Simplify 0.5 into 0.5
43.616 * [taylor]: Taking taylor expansion of phi1 in phi1
43.616 * [backup-simplify]: Simplify 0 into 0
43.616 * [backup-simplify]: Simplify 1 into 1
43.617 * [backup-simplify]: Simplify (* 0.5 0) into 0
43.618 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
43.618 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi1
43.618 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi1
43.618 * [taylor]: Taking taylor expansion of 0.5 in phi1
43.618 * [backup-simplify]: Simplify 0.5 into 0.5
43.618 * [taylor]: Taking taylor expansion of phi2 in phi1
43.618 * [backup-simplify]: Simplify phi2 into phi2
43.618 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
43.618 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
43.618 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
43.618 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (fma (cos (* 0.5 phi1)) (cos (* 0.5 phi2)) (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))))) in phi1
43.618 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in phi1
43.618 * [taylor]: Taking taylor expansion of lambda1 in phi1
43.618 * [backup-simplify]: Simplify lambda1 into lambda1
43.618 * [taylor]: Taking taylor expansion of lambda2 in phi1
43.618 * [backup-simplify]: Simplify lambda2 into lambda2
43.618 * [taylor]: Taking taylor expansion of (fma (cos (* 0.5 phi1)) (cos (* 0.5 phi2)) (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))) in phi1
43.618 * [taylor]: Rewrote expression to (+ (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))))
43.618 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) in phi1
43.618 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1
43.618 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
43.618 * [taylor]: Taking taylor expansion of 0.5 in phi1
43.618 * [backup-simplify]: Simplify 0.5 into 0.5
43.618 * [taylor]: Taking taylor expansion of phi1 in phi1
43.618 * [backup-simplify]: Simplify 0 into 0
43.618 * [backup-simplify]: Simplify 1 into 1
43.619 * [backup-simplify]: Simplify (* 0.5 0) into 0
43.620 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
43.620 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi1
43.620 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi1
43.620 * [taylor]: Taking taylor expansion of 0.5 in phi1
43.620 * [backup-simplify]: Simplify 0.5 into 0.5
43.620 * [taylor]: Taking taylor expansion of phi2 in phi1
43.620 * [backup-simplify]: Simplify phi2 into phi2
43.620 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
43.620 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
43.620 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
43.620 * [taylor]: Taking taylor expansion of (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))) in phi1
43.620 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))) in phi1
43.620 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1
43.620 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
43.620 * [taylor]: Taking taylor expansion of 0.5 in phi1
43.620 * [backup-simplify]: Simplify 0.5 into 0.5
43.620 * [taylor]: Taking taylor expansion of phi1 in phi1
43.620 * [backup-simplify]: Simplify 0 into 0
43.620 * [backup-simplify]: Simplify 1 into 1
43.620 * [backup-simplify]: Simplify (* 0.5 0) into 0
43.621 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
43.621 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi1
43.621 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi1
43.621 * [taylor]: Taking taylor expansion of 0.5 in phi1
43.621 * [backup-simplify]: Simplify 0.5 into 0.5
43.621 * [taylor]: Taking taylor expansion of phi2 in phi1
43.621 * [backup-simplify]: Simplify phi2 into phi2
43.621 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
43.621 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
43.621 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
43.621 * [taylor]: Taking taylor expansion of (* (- phi1 phi2) (- phi1 phi2)) in phi1
43.622 * [taylor]: Taking taylor expansion of (- phi1 phi2) in phi1
43.622 * [taylor]: Taking taylor expansion of phi1 in phi1
43.622 * [backup-simplify]: Simplify 0 into 0
43.622 * [backup-simplify]: Simplify 1 into 1
43.622 * [taylor]: Taking taylor expansion of phi2 in phi1
43.622 * [backup-simplify]: Simplify phi2 into phi2
43.622 * [taylor]: Taking taylor expansion of (- phi1 phi2) in phi1
43.622 * [taylor]: Taking taylor expansion of phi1 in phi1
43.622 * [backup-simplify]: Simplify 0 into 0
43.622 * [backup-simplify]: Simplify 1 into 1
43.622 * [taylor]: Taking taylor expansion of phi2 in phi1
43.622 * [backup-simplify]: Simplify phi2 into phi2
43.622 * [backup-simplify]: Simplify (- lambda2) into (- lambda2)
43.622 * [backup-simplify]: Simplify (+ lambda1 (- lambda2)) into (- lambda1 lambda2)
43.622 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2))
43.622 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0
43.622 * [backup-simplify]: Simplify (- 0) into 0
43.622 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2))
43.622 * [backup-simplify]: Simplify (* 1 (cos (* 0.5 phi2))) into (cos (* 0.5 phi2))
43.622 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2))
43.622 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0
43.622 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2))
43.623 * [backup-simplify]: Simplify (* 0 (sin (* 0.5 phi2))) into 0
43.623 * [backup-simplify]: Simplify (- 0) into 0
43.623 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2))
43.623 * [backup-simplify]: Simplify (* (- lambda1 lambda2) (cos (* 0.5 phi2))) into (* (- lambda1 lambda2) (cos (* 0.5 phi2)))
43.623 * [backup-simplify]: Simplify (- lambda2) into (- lambda2)
43.623 * [backup-simplify]: Simplify (+ lambda1 (- lambda2)) into (- lambda1 lambda2)
43.623 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2))
43.623 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0
43.623 * [backup-simplify]: Simplify (- 0) into 0
43.623 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2))
43.624 * [backup-simplify]: Simplify (* 1 (cos (* 0.5 phi2))) into (cos (* 0.5 phi2))
43.624 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2))
43.624 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0
43.624 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2))
43.624 * [backup-simplify]: Simplify (* 0 (sin (* 0.5 phi2))) into 0
43.624 * [backup-simplify]: Simplify (- 0) into 0
43.624 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2))
43.624 * [backup-simplify]: Simplify (* (- lambda1 lambda2) (cos (* 0.5 phi2))) into (* (- lambda1 lambda2) (cos (* 0.5 phi2)))
43.624 * [backup-simplify]: Simplify (* (* (- lambda1 lambda2) (cos (* 0.5 phi2))) (* (- lambda1 lambda2) (cos (* 0.5 phi2)))) into (* (pow (- lambda1 lambda2) 2) (pow (cos (* 0.5 phi2)) 2))
43.624 * [backup-simplify]: Simplify (- phi2) into (- phi2)
43.624 * [backup-simplify]: Simplify (+ 0 (- phi2)) into (- phi2)
43.624 * [backup-simplify]: Simplify (- phi2) into (- phi2)
43.624 * [backup-simplify]: Simplify (+ 0 (- phi2)) into (- phi2)
43.625 * [backup-simplify]: Simplify (* (- phi2) (- phi2)) into (pow phi2 2)
43.625 * [backup-simplify]: Simplify (+ (* (pow (- lambda1 lambda2) 2) (pow (cos (* 0.5 phi2)) 2)) (pow phi2 2)) into (- (+ (pow phi2 2) (+ (* (pow lambda1 2) (pow (cos (* 0.5 phi2)) 2)) (* (pow lambda2 2) (pow (cos (* 0.5 phi2)) 2)))) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi2)) 2)))))
43.626 * [backup-simplify]: Simplify (sqrt (- (+ (pow phi2 2) (+ (* (pow lambda1 2) (pow (cos (* 0.5 phi2)) 2)) (* (pow lambda2 2) (pow (cos (* 0.5 phi2)) 2)))) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi2)) 2)))))) into (sqrt (- (+ (pow phi2 2) (+ (* (pow lambda1 2) (pow (cos (* 0.5 phi2)) 2)) (* (pow lambda2 2) (pow (cos (* 0.5 phi2)) 2)))) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi2)) 2))))))
43.626 * [backup-simplify]: Simplify (+ 0) into 0
43.626 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0
43.627 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0
43.627 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
43.627 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 0)) into 0
43.628 * [backup-simplify]: Simplify (- 0) into 0
43.628 * [backup-simplify]: Simplify (+ 0 0) into 0
43.628 * [backup-simplify]: Simplify (+ 0) into 0
43.628 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (cos (* 0.5 phi2)))) into 0
43.629 * [backup-simplify]: Simplify (+ 0) into 0
43.629 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 1)) into 0
43.629 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0
43.630 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
43.630 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 0)) into 0
43.630 * [backup-simplify]: Simplify (+ 0 0) into 0
43.632 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5
43.632 * [backup-simplify]: Simplify (+ (* 0 0) (* 0.5 (sin (* 0.5 phi2)))) into (* 0.5 (sin (* 0.5 phi2)))
43.632 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi2)))) into (- (* 0.5 (sin (* 0.5 phi2))))
43.632 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi2))))) into (- (* 0.5 (sin (* 0.5 phi2))))
43.632 * [backup-simplify]: Simplify (- 0) into 0
43.633 * [backup-simplify]: Simplify (+ 0 0) into 0
43.633 * [backup-simplify]: Simplify (+ (* (- lambda1 lambda2) (- (* 0.5 (sin (* 0.5 phi2))))) (* 0 (cos (* 0.5 phi2)))) into (- (* 0.5 (* lambda2 (sin (* 0.5 phi2)))) (* 0.5 (* lambda1 (sin (* 0.5 phi2)))))
43.633 * [backup-simplify]: Simplify (+ 0) into 0
43.633 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0
43.634 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0
43.634 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
43.634 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 0)) into 0
43.635 * [backup-simplify]: Simplify (- 0) into 0
43.635 * [backup-simplify]: Simplify (+ 0 0) into 0
43.635 * [backup-simplify]: Simplify (+ 0) into 0
43.635 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (cos (* 0.5 phi2)))) into 0
43.636 * [backup-simplify]: Simplify (+ 0) into 0
43.636 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 1)) into 0
43.636 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0
43.637 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
43.637 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 0)) into 0
43.637 * [backup-simplify]: Simplify (+ 0 0) into 0
43.639 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5
43.639 * [backup-simplify]: Simplify (+ (* 0 0) (* 0.5 (sin (* 0.5 phi2)))) into (* 0.5 (sin (* 0.5 phi2)))
43.639 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi2)))) into (- (* 0.5 (sin (* 0.5 phi2))))
43.639 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi2))))) into (- (* 0.5 (sin (* 0.5 phi2))))
43.639 * [backup-simplify]: Simplify (- 0) into 0
43.640 * [backup-simplify]: Simplify (+ 0 0) into 0
43.640 * [backup-simplify]: Simplify (+ (* (- lambda1 lambda2) (- (* 0.5 (sin (* 0.5 phi2))))) (* 0 (cos (* 0.5 phi2)))) into (- (* 0.5 (* lambda2 (sin (* 0.5 phi2)))) (* 0.5 (* lambda1 (sin (* 0.5 phi2)))))
43.640 * [backup-simplify]: Simplify (+ (* (* (- lambda1 lambda2) (cos (* 0.5 phi2))) (- (* 0.5 (* lambda2 (sin (* 0.5 phi2)))) (* 0.5 (* lambda1 (sin (* 0.5 phi2)))))) (* (- (* 0.5 (* lambda2 (sin (* 0.5 phi2)))) (* 0.5 (* lambda1 (sin (* 0.5 phi2))))) (* (- lambda1 lambda2) (cos (* 0.5 phi2))))) into (- (* 2.0 (* lambda2 (* lambda1 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))) (+ (* 1.0 (* (pow lambda2 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))) (* 1.0 (* (pow lambda1 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))))
43.641 * [backup-simplify]: Simplify (- 0) into 0
43.641 * [backup-simplify]: Simplify (+ 1 0) into 1
43.641 * [backup-simplify]: Simplify (- 0) into 0
43.642 * [backup-simplify]: Simplify (+ 1 0) into 1
43.642 * [backup-simplify]: Simplify (+ (* (- phi2) 1) (* 1 (- phi2))) into (- (* 2 phi2))
43.643 * [backup-simplify]: Simplify (+ (- (* 2.0 (* lambda2 (* lambda1 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))) (+ (* 1.0 (* (pow lambda2 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))) (* 1.0 (* (pow lambda1 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))))) (- (* 2 phi2))) into (- (* 2.0 (* lambda2 (* lambda1 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))) (+ (* 1.0 (* (pow lambda2 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))) (+ (* 1.0 (* (pow lambda1 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))) (* 2 phi2))))
43.644 * [backup-simplify]: Simplify (/ (- (* 2.0 (* lambda2 (* lambda1 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))) (+ (* 1.0 (* (pow lambda2 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))) (+ (* 1.0 (* (pow lambda1 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))) (* 2 phi2)))) (* 2 (sqrt (- (+ (pow phi2 2) (+ (* (pow lambda1 2) (pow (cos (* 0.5 phi2)) 2)) (* (pow lambda2 2) (pow (cos (* 0.5 phi2)) 2)))) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi2)) 2)))))))) into (* 1/2 (* (sqrt (/ 1 (- (+ (pow phi2 2) (+ (* (pow lambda1 2) (pow (cos (* 0.5 phi2)) 2)) (* (pow lambda2 2) (pow (cos (* 0.5 phi2)) 2)))) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi2)) 2))))))) (- (* 2.0 (* lambda2 (* lambda1 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))) (+ (* 1.0 (* (pow lambda2 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))) (+ (* 1.0 (* (pow lambda1 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))) (* 2 phi2))))))
43.644 * [taylor]: Taking taylor expansion of R in phi1
43.644 * [backup-simplify]: Simplify R into R
43.645 * [taylor]: Taking taylor expansion of (* (hypot (* (- lambda1 lambda2) (fma (cos (* 0.5 phi1)) (cos (* 0.5 phi2)) (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))))) (- phi1 phi2)) R) in lambda2
43.645 * [taylor]: Taking taylor expansion of (hypot (* (- lambda1 lambda2) (fma (cos (* 0.5 phi1)) (cos (* 0.5 phi2)) (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))))) (- phi1 phi2)) in lambda2
43.645 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- lambda1 lambda2) (fma (cos (* 0.5 phi1)) (cos (* 0.5 phi2)) (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))))) (* (- lambda1 lambda2) (fma (cos (* 0.5 phi1)) (cos (* 0.5 phi2)) (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))))) (* (- phi1 phi2) (- phi1 phi2))))
43.645 * [taylor]: Taking taylor expansion of (+ (* (* (- lambda1 lambda2) (fma (cos (* 0.5 phi1)) (cos (* 0.5 phi2)) (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))))) (* (- lambda1 lambda2) (fma (cos (* 0.5 phi1)) (cos (* 0.5 phi2)) (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))))) (* (- phi1 phi2) (- phi1 phi2))) in lambda2
43.645 * [taylor]: Taking taylor expansion of (* (* (- lambda1 lambda2) (fma (cos (* 0.5 phi1)) (cos (* 0.5 phi2)) (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))))) (* (- lambda1 lambda2) (fma (cos (* 0.5 phi1)) (cos (* 0.5 phi2)) (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))))) in lambda2
43.645 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (fma (cos (* 0.5 phi1)) (cos (* 0.5 phi2)) (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))))) in lambda2
43.645 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in lambda2
43.645 * [taylor]: Taking taylor expansion of lambda1 in lambda2
43.645 * [backup-simplify]: Simplify lambda1 into lambda1
43.645 * [taylor]: Taking taylor expansion of lambda2 in lambda2
43.645 * [backup-simplify]: Simplify 0 into 0
43.645 * [backup-simplify]: Simplify 1 into 1
43.645 * [taylor]: Taking taylor expansion of (fma (cos (* 0.5 phi1)) (cos (* 0.5 phi2)) (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))) in lambda2
43.645 * [taylor]: Rewrote expression to (+ (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))))
43.645 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) in lambda2
43.645 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda2
43.645 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
43.645 * [taylor]: Taking taylor expansion of 0.5 in lambda2
43.645 * [backup-simplify]: Simplify 0.5 into 0.5
43.645 * [taylor]: Taking taylor expansion of phi1 in lambda2
43.645 * [backup-simplify]: Simplify phi1 into phi1
43.645 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
43.645 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
43.645 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
43.645 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda2
43.645 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
43.645 * [taylor]: Taking taylor expansion of 0.5 in lambda2
43.645 * [backup-simplify]: Simplify 0.5 into 0.5
43.645 * [taylor]: Taking taylor expansion of phi2 in lambda2
43.645 * [backup-simplify]: Simplify phi2 into phi2
43.645 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
43.645 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
43.645 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
43.645 * [taylor]: Taking taylor expansion of (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))) in lambda2
43.645 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))) in lambda2
43.645 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda2
43.645 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
43.646 * [taylor]: Taking taylor expansion of 0.5 in lambda2
43.646 * [backup-simplify]: Simplify 0.5 into 0.5
43.646 * [taylor]: Taking taylor expansion of phi1 in lambda2
43.646 * [backup-simplify]: Simplify phi1 into phi1
43.646 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
43.646 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
43.646 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
43.646 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda2
43.646 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
43.646 * [taylor]: Taking taylor expansion of 0.5 in lambda2
43.646 * [backup-simplify]: Simplify 0.5 into 0.5
43.646 * [taylor]: Taking taylor expansion of phi2 in lambda2
43.646 * [backup-simplify]: Simplify phi2 into phi2
43.646 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
43.646 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
43.646 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
43.646 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (fma (cos (* 0.5 phi1)) (cos (* 0.5 phi2)) (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))))) in lambda2
43.646 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in lambda2
43.646 * [taylor]: Taking taylor expansion of lambda1 in lambda2
43.646 * [backup-simplify]: Simplify lambda1 into lambda1
43.646 * [taylor]: Taking taylor expansion of lambda2 in lambda2
43.646 * [backup-simplify]: Simplify 0 into 0
43.646 * [backup-simplify]: Simplify 1 into 1
43.646 * [taylor]: Taking taylor expansion of (fma (cos (* 0.5 phi1)) (cos (* 0.5 phi2)) (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))) in lambda2
43.646 * [taylor]: Rewrote expression to (+ (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))))
43.646 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) in lambda2
43.646 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda2
43.646 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
43.646 * [taylor]: Taking taylor expansion of 0.5 in lambda2
43.646 * [backup-simplify]: Simplify 0.5 into 0.5
43.646 * [taylor]: Taking taylor expansion of phi1 in lambda2
43.646 * [backup-simplify]: Simplify phi1 into phi1
43.646 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
43.646 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
43.646 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
43.646 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda2
43.646 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
43.646 * [taylor]: Taking taylor expansion of 0.5 in lambda2
43.646 * [backup-simplify]: Simplify 0.5 into 0.5
43.647 * [taylor]: Taking taylor expansion of phi2 in lambda2
43.647 * [backup-simplify]: Simplify phi2 into phi2
43.647 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
43.647 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
43.647 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
43.647 * [taylor]: Taking taylor expansion of (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))) in lambda2
43.647 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))) in lambda2
43.647 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda2
43.647 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
43.647 * [taylor]: Taking taylor expansion of 0.5 in lambda2
43.647 * [backup-simplify]: Simplify 0.5 into 0.5
43.647 * [taylor]: Taking taylor expansion of phi1 in lambda2
43.647 * [backup-simplify]: Simplify phi1 into phi1
43.647 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
43.647 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
43.647 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
43.647 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda2
43.647 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
43.647 * [taylor]: Taking taylor expansion of 0.5 in lambda2
43.647 * [backup-simplify]: Simplify 0.5 into 0.5
43.647 * [taylor]: Taking taylor expansion of phi2 in lambda2
43.647 * [backup-simplify]: Simplify phi2 into phi2
43.647 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
43.647 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
43.647 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
43.647 * [taylor]: Taking taylor expansion of (* (- phi1 phi2) (- phi1 phi2)) in lambda2
43.647 * [taylor]: Taking taylor expansion of (- phi1 phi2) in lambda2
43.647 * [taylor]: Taking taylor expansion of phi1 in lambda2
43.647 * [backup-simplify]: Simplify phi1 into phi1
43.647 * [taylor]: Taking taylor expansion of phi2 in lambda2
43.647 * [backup-simplify]: Simplify phi2 into phi2
43.647 * [taylor]: Taking taylor expansion of (- phi1 phi2) in lambda2
43.647 * [taylor]: Taking taylor expansion of phi1 in lambda2
43.647 * [backup-simplify]: Simplify phi1 into phi1
43.647 * [taylor]: Taking taylor expansion of phi2 in lambda2
43.647 * [backup-simplify]: Simplify phi2 into phi2
43.648 * [backup-simplify]: Simplify (- 0) into 0
43.648 * [backup-simplify]: Simplify (+ lambda1 0) into lambda1
43.648 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
43.648 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
43.648 * [backup-simplify]: Simplify (- 0) into 0
43.648 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
43.648 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2))
43.648 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0
43.649 * [backup-simplify]: Simplify (- 0) into 0
43.649 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2))
43.649 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) into (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2)))
43.649 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1))
43.649 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0
43.649 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1))
43.649 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2))
43.649 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0
43.649 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2))
43.649 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))) into (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))
43.649 * [backup-simplify]: Simplify (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))) into (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))
43.649 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))) into (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))
43.650 * [backup-simplify]: Simplify (* lambda1 (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))) into (* (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))) lambda1)
43.650 * [backup-simplify]: Simplify (- 0) into 0
43.650 * [backup-simplify]: Simplify (+ lambda1 0) into lambda1
43.650 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
43.650 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
43.650 * [backup-simplify]: Simplify (- 0) into 0
43.650 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
43.650 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2))
43.650 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0
43.651 * [backup-simplify]: Simplify (- 0) into 0
43.651 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2))
43.651 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) into (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2)))
43.651 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1))
43.651 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0
43.651 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1))
43.651 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2))
43.651 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0
43.651 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2))
43.651 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))) into (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))
43.651 * [backup-simplify]: Simplify (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))) into (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))
43.652 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))) into (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))
43.652 * [backup-simplify]: Simplify (* lambda1 (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))) into (* (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))) lambda1)
43.652 * [backup-simplify]: Simplify (* (* (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))) lambda1) (* (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))) lambda1)) into (* (pow (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))) 2) (pow lambda1 2))
43.652 * [backup-simplify]: Simplify (- phi2) into (- phi2)
43.652 * [backup-simplify]: Simplify (+ phi1 (- phi2)) into (- phi1 phi2)
43.652 * [backup-simplify]: Simplify (- phi2) into (- phi2)
43.652 * [backup-simplify]: Simplify (+ phi1 (- phi2)) into (- phi1 phi2)
43.652 * [backup-simplify]: Simplify (* (- phi1 phi2) (- phi1 phi2)) into (pow (- phi1 phi2) 2)
43.653 * [backup-simplify]: Simplify (+ (* (pow (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))) 2) (pow lambda1 2)) (pow (- phi1 phi2) 2)) into (- (+ (* (pow lambda1 2) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (* (pow lambda1 2) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) (+ (pow phi1 2) (pow phi2 2)))) (+ (* 2 (* phi1 phi2)) (+ (* (pow lambda1 2) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))) (* (pow lambda1 2) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))))))
43.655 * [backup-simplify]: Simplify (sqrt (- (+ (* (pow lambda1 2) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (* (pow lambda1 2) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) (+ (pow phi1 2) (pow phi2 2)))) (+ (* 2 (* phi1 phi2)) (+ (* (pow lambda1 2) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))) (* (pow lambda1 2) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))))))) into (sqrt (- (+ (* (pow lambda1 2) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) (+ (pow phi2 2) (+ (pow phi1 2) (* (pow (cos (* 0.5 phi1)) 2) (* (pow lambda1 2) (pow (cos (* 0.5 phi2)) 2)))))) (+ (* (pow lambda1 2) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))) (+ (* 2 (* phi1 phi2)) (* (pow lambda1 2) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))))))))
43.655 * [backup-simplify]: Simplify (+ 0) into 0
43.656 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0
43.656 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0
43.656 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
43.657 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 0)) into 0
43.657 * [backup-simplify]: Simplify (- 0) into 0
43.657 * [backup-simplify]: Simplify (+ 0 0) into 0
43.657 * [backup-simplify]: Simplify (+ 0) into 0
43.658 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0
43.658 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0
43.658 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
43.659 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 0)) into 0
43.659 * [backup-simplify]: Simplify (- 0) into 0
43.659 * [backup-simplify]: Simplify (+ 0 0) into 0
43.659 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 (cos (* 0.5 phi2)))) into 0
43.660 * [backup-simplify]: Simplify (+ 0) into 0
43.660 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 1)) into 0
43.661 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0
43.661 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
43.662 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 0)) into 0
43.662 * [backup-simplify]: Simplify (+ 0 0) into 0
43.662 * [backup-simplify]: Simplify (+ 0) into 0
43.663 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 1)) into 0
43.663 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0
43.664 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
43.664 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 0)) into 0
43.664 * [backup-simplify]: Simplify (+ 0 0) into 0
43.664 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 (sin (* 0.5 phi2)))) into 0
43.665 * [backup-simplify]: Simplify (- 0) into 0
43.665 * [backup-simplify]: Simplify (+ 0 0) into 0
43.665 * [backup-simplify]: Simplify (- 1) into -1
43.665 * [backup-simplify]: Simplify (+ 0 -1) into -1
43.666 * [backup-simplify]: Simplify (+ (* lambda1 0) (* -1 (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))))) into (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))) (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))))
43.666 * [backup-simplify]: Simplify (+ 0) into 0
43.666 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0
43.667 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0
43.667 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
43.667 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 0)) into 0
43.668 * [backup-simplify]: Simplify (- 0) into 0
43.668 * [backup-simplify]: Simplify (+ 0 0) into 0
43.668 * [backup-simplify]: Simplify (+ 0) into 0
43.668 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0
43.669 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0
43.669 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
43.670 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 0)) into 0
43.670 * [backup-simplify]: Simplify (- 0) into 0
43.670 * [backup-simplify]: Simplify (+ 0 0) into 0
43.670 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 (cos (* 0.5 phi2)))) into 0
43.671 * [backup-simplify]: Simplify (+ 0) into 0
43.671 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 1)) into 0
43.672 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0
43.673 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
43.673 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 0)) into 0
43.673 * [backup-simplify]: Simplify (+ 0 0) into 0
43.674 * [backup-simplify]: Simplify (+ 0) into 0
43.674 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 1)) into 0
43.675 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0
43.676 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
43.676 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 0)) into 0
43.676 * [backup-simplify]: Simplify (+ 0 0) into 0
43.677 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 (sin (* 0.5 phi2)))) into 0
43.677 * [backup-simplify]: Simplify (- 0) into 0
43.677 * [backup-simplify]: Simplify (+ 0 0) into 0
43.678 * [backup-simplify]: Simplify (- 1) into -1
43.678 * [backup-simplify]: Simplify (+ 0 -1) into -1
43.679 * [backup-simplify]: Simplify (+ (* lambda1 0) (* -1 (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))))) into (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))) (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))))
43.680 * [backup-simplify]: Simplify (+ (* (* (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))) lambda1) (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))) (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))))) (* (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))) (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2)))) (* (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))) lambda1))) into (- (+ (* lambda1 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))) (+ (* lambda1 (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))) (+ (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi2)) (* lambda1 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))) (* (cos (* 0.5 phi1)) (* (cos (* 0.5 phi2)) (* lambda1 (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1))))))))) (+ (* lambda1 (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (* lambda1 (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) (+ (* (pow (cos (* 0.5 phi1)) 2) (* lambda1 (pow (cos (* 0.5 phi2)) 2))) (* (pow (sin (* 0.5 phi1)) 2) (* lambda1 (pow (sin (* 0.5 phi2)) 2)))))))
43.681 * [backup-simplify]: Simplify (- 0) into 0
43.681 * [backup-simplify]: Simplify (+ 0 0) into 0
43.682 * [backup-simplify]: Simplify (- 0) into 0
43.682 * [backup-simplify]: Simplify (+ 0 0) into 0
43.682 * [backup-simplify]: Simplify (+ (* (- phi1 phi2) 0) (* 0 (- phi1 phi2))) into 0
43.688 * [backup-simplify]: Simplify (+ (- (+ (* lambda1 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))) (+ (* lambda1 (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))) (+ (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi2)) (* lambda1 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))) (* (cos (* 0.5 phi1)) (* (cos (* 0.5 phi2)) (* lambda1 (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1))))))))) (+ (* lambda1 (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (* lambda1 (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) (+ (* (pow (cos (* 0.5 phi1)) 2) (* lambda1 (pow (cos (* 0.5 phi2)) 2))) (* (pow (sin (* 0.5 phi1)) 2) (* lambda1 (pow (sin (* 0.5 phi2)) 2))))))) 0) into (- (+ (* lambda1 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))) (+ (* 2 (* lambda1 (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))))) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi2)) (* lambda1 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))))) (+ (* lambda1 (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (* 2 (* lambda1 (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)))) (* (pow (cos (* 0.5 phi1)) 2) (* lambda1 (pow (cos (* 0.5 phi2)) 2))))))
43.696 * [backup-simplify]: Simplify (/ (- (+ (* lambda1 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))) (+ (* 2 (* lambda1 (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))))) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi2)) (* lambda1 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))))) (+ (* lambda1 (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (* 2 (* lambda1 (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)))) (* (pow (cos (* 0.5 phi1)) 2) (* lambda1 (pow (cos (* 0.5 phi2)) 2)))))) (* 2 (sqrt (- (+ (* (pow lambda1 2) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (* (pow lambda1 2) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) (+ (pow phi1 2) (pow phi2 2)))) (+ (* 2 (* phi1 phi2)) (+ (* (pow lambda1 2) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))) (* (pow lambda1 2) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))))))))) into (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow lambda1 2) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) (+ (pow phi2 2) (+ (pow phi1 2) (* (pow (cos (* 0.5 phi1)) 2) (* (pow lambda1 2) (pow (cos (* 0.5 phi2)) 2)))))) (+ (* (pow lambda1 2) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))) (+ (* 2 (* phi1 phi2)) (* (pow lambda1 2) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))))))))) (- (+ (* 2 (* lambda1 (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))))) (* 2 (* lambda1 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))))) (+ (* 2 (* lambda1 (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)))) (* 2 (* lambda1 (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))))))))
43.696 * [taylor]: Taking taylor expansion of R in lambda2
43.696 * [backup-simplify]: Simplify R into R
43.696 * [taylor]: Taking taylor expansion of (* (hypot (* (- lambda1 lambda2) (fma (cos (* 0.5 phi1)) (cos (* 0.5 phi2)) (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))))) (- phi1 phi2)) R) in lambda1
43.696 * [taylor]: Taking taylor expansion of (hypot (* (- lambda1 lambda2) (fma (cos (* 0.5 phi1)) (cos (* 0.5 phi2)) (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))))) (- phi1 phi2)) in lambda1
43.696 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- lambda1 lambda2) (fma (cos (* 0.5 phi1)) (cos (* 0.5 phi2)) (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))))) (* (- lambda1 lambda2) (fma (cos (* 0.5 phi1)) (cos (* 0.5 phi2)) (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))))) (* (- phi1 phi2) (- phi1 phi2))))
43.696 * [taylor]: Taking taylor expansion of (+ (* (* (- lambda1 lambda2) (fma (cos (* 0.5 phi1)) (cos (* 0.5 phi2)) (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))))) (* (- lambda1 lambda2) (fma (cos (* 0.5 phi1)) (cos (* 0.5 phi2)) (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))))) (* (- phi1 phi2) (- phi1 phi2))) in lambda1
43.696 * [taylor]: Taking taylor expansion of (* (* (- lambda1 lambda2) (fma (cos (* 0.5 phi1)) (cos (* 0.5 phi2)) (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))))) (* (- lambda1 lambda2) (fma (cos (* 0.5 phi1)) (cos (* 0.5 phi2)) (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))))) in lambda1
43.696 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (fma (cos (* 0.5 phi1)) (cos (* 0.5 phi2)) (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))))) in lambda1
43.696 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in lambda1
43.696 * [taylor]: Taking taylor expansion of lambda1 in lambda1
43.696 * [backup-simplify]: Simplify 0 into 0
43.696 * [backup-simplify]: Simplify 1 into 1
43.696 * [taylor]: Taking taylor expansion of lambda2 in lambda1
43.696 * [backup-simplify]: Simplify lambda2 into lambda2
43.696 * [taylor]: Taking taylor expansion of (fma (cos (* 0.5 phi1)) (cos (* 0.5 phi2)) (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))) in lambda1
43.697 * [taylor]: Rewrote expression to (+ (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))))
43.697 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) in lambda1
43.697 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda1
43.697 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda1
43.697 * [taylor]: Taking taylor expansion of 0.5 in lambda1
43.697 * [backup-simplify]: Simplify 0.5 into 0.5
43.697 * [taylor]: Taking taylor expansion of phi1 in lambda1
43.697 * [backup-simplify]: Simplify phi1 into phi1
43.697 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
43.697 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
43.697 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
43.697 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda1
43.697 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda1
43.697 * [taylor]: Taking taylor expansion of 0.5 in lambda1
43.697 * [backup-simplify]: Simplify 0.5 into 0.5
43.697 * [taylor]: Taking taylor expansion of phi2 in lambda1
43.697 * [backup-simplify]: Simplify phi2 into phi2
43.697 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
43.697 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
43.697 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
43.697 * [taylor]: Taking taylor expansion of (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))) in lambda1
43.698 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))) in lambda1
43.698 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda1
43.698 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda1
43.698 * [taylor]: Taking taylor expansion of 0.5 in lambda1
43.698 * [backup-simplify]: Simplify 0.5 into 0.5
43.698 * [taylor]: Taking taylor expansion of phi1 in lambda1
43.698 * [backup-simplify]: Simplify phi1 into phi1
43.698 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
43.698 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
43.698 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
43.698 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda1
43.698 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda1
43.698 * [taylor]: Taking taylor expansion of 0.5 in lambda1
43.698 * [backup-simplify]: Simplify 0.5 into 0.5
43.698 * [taylor]: Taking taylor expansion of phi2 in lambda1
43.698 * [backup-simplify]: Simplify phi2 into phi2
43.698 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
43.698 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
43.698 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
43.698 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (fma (cos (* 0.5 phi1)) (cos (* 0.5 phi2)) (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))))) in lambda1
43.698 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in lambda1
43.698 * [taylor]: Taking taylor expansion of lambda1 in lambda1
43.698 * [backup-simplify]: Simplify 0 into 0
43.699 * [backup-simplify]: Simplify 1 into 1
43.699 * [taylor]: Taking taylor expansion of lambda2 in lambda1
43.699 * [backup-simplify]: Simplify lambda2 into lambda2
43.699 * [taylor]: Taking taylor expansion of (fma (cos (* 0.5 phi1)) (cos (* 0.5 phi2)) (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))) in lambda1
43.699 * [taylor]: Rewrote expression to (+ (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))))
43.699 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) in lambda1
43.699 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda1
43.699 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda1
43.699 * [taylor]: Taking taylor expansion of 0.5 in lambda1
43.699 * [backup-simplify]: Simplify 0.5 into 0.5
43.699 * [taylor]: Taking taylor expansion of phi1 in lambda1
43.699 * [backup-simplify]: Simplify phi1 into phi1
43.699 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
43.699 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
43.699 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
43.699 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda1
43.699 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda1
43.699 * [taylor]: Taking taylor expansion of 0.5 in lambda1
43.699 * [backup-simplify]: Simplify 0.5 into 0.5
43.699 * [taylor]: Taking taylor expansion of phi2 in lambda1
43.699 * [backup-simplify]: Simplify phi2 into phi2
43.699 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
43.700 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
43.700 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
43.700 * [taylor]: Taking taylor expansion of (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))) in lambda1
43.700 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))) in lambda1
43.700 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda1
43.700 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda1
43.700 * [taylor]: Taking taylor expansion of 0.5 in lambda1
43.700 * [backup-simplify]: Simplify 0.5 into 0.5
43.700 * [taylor]: Taking taylor expansion of phi1 in lambda1
43.700 * [backup-simplify]: Simplify phi1 into phi1
43.700 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
43.700 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
43.700 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
43.700 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda1
43.700 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda1
43.700 * [taylor]: Taking taylor expansion of 0.5 in lambda1
43.700 * [backup-simplify]: Simplify 0.5 into 0.5
43.700 * [taylor]: Taking taylor expansion of phi2 in lambda1
43.700 * [backup-simplify]: Simplify phi2 into phi2
43.700 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
43.700 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
43.700 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
43.701 * [taylor]: Taking taylor expansion of (* (- phi1 phi2) (- phi1 phi2)) in lambda1
43.701 * [taylor]: Taking taylor expansion of (- phi1 phi2) in lambda1
43.701 * [taylor]: Taking taylor expansion of phi1 in lambda1
43.701 * [backup-simplify]: Simplify phi1 into phi1
43.701 * [taylor]: Taking taylor expansion of phi2 in lambda1
43.701 * [backup-simplify]: Simplify phi2 into phi2
43.701 * [taylor]: Taking taylor expansion of (- phi1 phi2) in lambda1
43.701 * [taylor]: Taking taylor expansion of phi1 in lambda1
43.701 * [backup-simplify]: Simplify phi1 into phi1
43.701 * [taylor]: Taking taylor expansion of phi2 in lambda1
43.701 * [backup-simplify]: Simplify phi2 into phi2
43.701 * [backup-simplify]: Simplify (- lambda2) into (- lambda2)
43.701 * [backup-simplify]: Simplify (+ 0 (- lambda2)) into (- lambda2)
43.701 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
43.701 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
43.702 * [backup-simplify]: Simplify (- 0) into 0
43.702 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
43.702 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2))
43.702 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0
43.702 * [backup-simplify]: Simplify (- 0) into 0
43.702 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2))
43.703 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) into (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2)))
43.703 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1))
43.703 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0
43.703 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1))
43.703 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2))
43.703 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0
43.703 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2))
43.703 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))) into (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))
43.704 * [backup-simplify]: Simplify (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))) into (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))
43.704 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))) into (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))
43.704 * [backup-simplify]: Simplify (* (- lambda2) (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))) into (* -1 (* lambda2 (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))))
43.704 * [backup-simplify]: Simplify (- lambda2) into (- lambda2)
43.705 * [backup-simplify]: Simplify (+ 0 (- lambda2)) into (- lambda2)
43.705 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
43.705 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
43.705 * [backup-simplify]: Simplify (- 0) into 0
43.705 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
43.705 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2))
43.705 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0
43.706 * [backup-simplify]: Simplify (- 0) into 0
43.706 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2))
43.706 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) into (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2)))
43.706 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1))
43.706 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0
43.706 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1))
43.707 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2))
43.707 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0
43.707 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2))
43.707 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))) into (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))
43.707 * [backup-simplify]: Simplify (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))) into (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))
43.707 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))) into (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))
43.708 * [backup-simplify]: Simplify (* (- lambda2) (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))) into (* -1 (* lambda2 (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))))
43.709 * [backup-simplify]: Simplify (* (* -1 (* lambda2 (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))))) (* -1 (* lambda2 (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))))) into (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))) 2))
43.709 * [backup-simplify]: Simplify (- phi2) into (- phi2)
43.709 * [backup-simplify]: Simplify (+ phi1 (- phi2)) into (- phi1 phi2)
43.709 * [backup-simplify]: Simplify (- phi2) into (- phi2)
43.709 * [backup-simplify]: Simplify (+ phi1 (- phi2)) into (- phi1 phi2)
43.709 * [backup-simplify]: Simplify (* (- phi1 phi2) (- phi1 phi2)) into (pow (- phi1 phi2) 2)
43.710 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))) 2)) (pow (- phi1 phi2) 2)) into (- (+ (* (pow lambda2 2) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) (+ (* (pow lambda2 2) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (pow phi2 2) (pow phi1 2)))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))) (* 2 (* phi1 phi2)))))
43.714 * [backup-simplify]: Simplify (sqrt (- (+ (* (pow lambda2 2) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) (+ (* (pow lambda2 2) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (pow phi2 2) (pow phi1 2)))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))) (* 2 (* phi1 phi2)))))) into (sqrt (- (+ (* (pow lambda2 2) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) (+ (* (pow lambda2 2) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (pow phi2 2) (pow phi1 2)))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))) (* 2 (* phi1 phi2))))))
43.715 * [backup-simplify]: Simplify (+ 0) into 0
43.715 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0
43.716 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0
43.716 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
43.717 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 0)) into 0
43.717 * [backup-simplify]: Simplify (- 0) into 0
43.718 * [backup-simplify]: Simplify (+ 0 0) into 0
43.718 * [backup-simplify]: Simplify (+ 0) into 0
43.719 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0
43.719 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0
43.720 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
43.720 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 0)) into 0
43.721 * [backup-simplify]: Simplify (- 0) into 0
43.721 * [backup-simplify]: Simplify (+ 0 0) into 0
43.721 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 (cos (* 0.5 phi2)))) into 0
43.722 * [backup-simplify]: Simplify (+ 0) into 0
43.722 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 1)) into 0
43.723 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0
43.723 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
43.724 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 0)) into 0
43.724 * [backup-simplify]: Simplify (+ 0 0) into 0
43.724 * [backup-simplify]: Simplify (+ 0) into 0
43.725 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 1)) into 0
43.725 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0
43.726 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
43.727 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 0)) into 0
43.727 * [backup-simplify]: Simplify (+ 0 0) into 0
43.727 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 (sin (* 0.5 phi2)))) into 0
43.728 * [backup-simplify]: Simplify (- 0) into 0
43.728 * [backup-simplify]: Simplify (+ 0 0) into 0
43.728 * [backup-simplify]: Simplify (- 0) into 0
43.729 * [backup-simplify]: Simplify (+ 1 0) into 1
43.729 * [backup-simplify]: Simplify (+ (* (- lambda2) 0) (* 1 (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))))) into (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))
43.730 * [backup-simplify]: Simplify (+ 0) into 0
43.730 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0
43.731 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0
43.737 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
43.738 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 0)) into 0
43.738 * [backup-simplify]: Simplify (- 0) into 0
43.739 * [backup-simplify]: Simplify (+ 0 0) into 0
43.739 * [backup-simplify]: Simplify (+ 0) into 0
43.740 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0
43.740 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0
43.741 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
43.741 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 0)) into 0
43.742 * [backup-simplify]: Simplify (- 0) into 0
43.742 * [backup-simplify]: Simplify (+ 0 0) into 0
43.742 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 (cos (* 0.5 phi2)))) into 0
43.743 * [backup-simplify]: Simplify (+ 0) into 0
43.743 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 1)) into 0
43.744 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0
43.744 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
43.745 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 0)) into 0
43.745 * [backup-simplify]: Simplify (+ 0 0) into 0
43.746 * [backup-simplify]: Simplify (+ 0) into 0
43.746 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 1)) into 0
43.747 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0
43.747 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
43.748 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 0)) into 0
43.748 * [backup-simplify]: Simplify (+ 0 0) into 0
43.749 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 (sin (* 0.5 phi2)))) into 0
43.749 * [backup-simplify]: Simplify (- 0) into 0
43.749 * [backup-simplify]: Simplify (+ 0 0) into 0
43.750 * [backup-simplify]: Simplify (- 0) into 0
43.750 * [backup-simplify]: Simplify (+ 1 0) into 1
43.751 * [backup-simplify]: Simplify (+ (* (- lambda2) 0) (* 1 (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))))) into (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))
43.753 * [backup-simplify]: Simplify (+ (* (* -1 (* lambda2 (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))))) (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))) (* (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))) (* -1 (* lambda2 (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))))))) into (- (+ (* 2 (* lambda2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))))) (* 2 (* lambda2 (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))))) (+ (* 2 (* lambda2 (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)))) (* 2 (* lambda2 (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))))))
43.754 * [backup-simplify]: Simplify (- 0) into 0
43.754 * [backup-simplify]: Simplify (+ 0 0) into 0
43.755 * [backup-simplify]: Simplify (- 0) into 0
43.755 * [backup-simplify]: Simplify (+ 0 0) into 0
43.755 * [backup-simplify]: Simplify (+ (* (- phi1 phi2) 0) (* 0 (- phi1 phi2))) into 0
43.758 * [backup-simplify]: Simplify (+ (- (+ (* 2 (* lambda2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))))) (* 2 (* lambda2 (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))))) (+ (* 2 (* lambda2 (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)))) (* 2 (* lambda2 (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2)))))) 0) into (- (+ (* 2 (* lambda2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))))) (* 2 (* lambda2 (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))))) (+ (* 2 (* lambda2 (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)))) (* 2 (* lambda2 (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))))))
43.765 * [backup-simplify]: Simplify (/ (- (+ (* 2 (* lambda2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))))) (* 2 (* lambda2 (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))))) (+ (* 2 (* lambda2 (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)))) (* 2 (* lambda2 (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2)))))) (* 2 (sqrt (- (+ (* (pow lambda2 2) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) (+ (* (pow lambda2 2) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (pow phi2 2) (pow phi1 2)))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))) (* 2 (* phi1 phi2)))))))) into (* 1/2 (* (- (+ (* 2 (* lambda2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))))) (* 2 (* lambda2 (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))))) (+ (* 2 (* lambda2 (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)))) (* 2 (* lambda2 (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2)))))) (sqrt (/ 1 (- (+ (* (pow lambda2 2) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) (+ (* (pow lambda2 2) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (pow phi2 2) (pow phi1 2)))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))) (* 2 (* phi1 phi2)))))))))
43.765 * [taylor]: Taking taylor expansion of R in lambda1
43.765 * [backup-simplify]: Simplify R into R
43.765 * [taylor]: Taking taylor expansion of (* (hypot (* (- lambda1 lambda2) (fma (cos (* 0.5 phi1)) (cos (* 0.5 phi2)) (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))))) (- phi1 phi2)) R) in lambda1
43.765 * [taylor]: Taking taylor expansion of (hypot (* (- lambda1 lambda2) (fma (cos (* 0.5 phi1)) (cos (* 0.5 phi2)) (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))))) (- phi1 phi2)) in lambda1
43.765 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- lambda1 lambda2) (fma (cos (* 0.5 phi1)) (cos (* 0.5 phi2)) (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))))) (* (- lambda1 lambda2) (fma (cos (* 0.5 phi1)) (cos (* 0.5 phi2)) (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))))) (* (- phi1 phi2) (- phi1 phi2))))
43.766 * [taylor]: Taking taylor expansion of (+ (* (* (- lambda1 lambda2) (fma (cos (* 0.5 phi1)) (cos (* 0.5 phi2)) (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))))) (* (- lambda1 lambda2) (fma (cos (* 0.5 phi1)) (cos (* 0.5 phi2)) (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))))) (* (- phi1 phi2) (- phi1 phi2))) in lambda1
43.766 * [taylor]: Taking taylor expansion of (* (* (- lambda1 lambda2) (fma (cos (* 0.5 phi1)) (cos (* 0.5 phi2)) (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))))) (* (- lambda1 lambda2) (fma (cos (* 0.5 phi1)) (cos (* 0.5 phi2)) (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))))) in lambda1
43.766 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (fma (cos (* 0.5 phi1)) (cos (* 0.5 phi2)) (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))))) in lambda1
43.766 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in lambda1
43.766 * [taylor]: Taking taylor expansion of lambda1 in lambda1
43.766 * [backup-simplify]: Simplify 0 into 0
43.766 * [backup-simplify]: Simplify 1 into 1
43.766 * [taylor]: Taking taylor expansion of lambda2 in lambda1
43.766 * [backup-simplify]: Simplify lambda2 into lambda2
43.766 * [taylor]: Taking taylor expansion of (fma (cos (* 0.5 phi1)) (cos (* 0.5 phi2)) (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))) in lambda1
43.766 * [taylor]: Rewrote expression to (+ (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))))
43.766 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) in lambda1
43.766 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda1
43.766 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda1
43.766 * [taylor]: Taking taylor expansion of 0.5 in lambda1
43.766 * [backup-simplify]: Simplify 0.5 into 0.5
43.766 * [taylor]: Taking taylor expansion of phi1 in lambda1
43.766 * [backup-simplify]: Simplify phi1 into phi1
43.766 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
43.766 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
43.766 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
43.766 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda1
43.767 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda1
43.767 * [taylor]: Taking taylor expansion of 0.5 in lambda1
43.767 * [backup-simplify]: Simplify 0.5 into 0.5
43.767 * [taylor]: Taking taylor expansion of phi2 in lambda1
43.767 * [backup-simplify]: Simplify phi2 into phi2
43.767 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
43.767 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
43.767 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
43.767 * [taylor]: Taking taylor expansion of (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))) in lambda1
43.767 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))) in lambda1
43.767 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda1
43.767 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda1
43.767 * [taylor]: Taking taylor expansion of 0.5 in lambda1
43.767 * [backup-simplify]: Simplify 0.5 into 0.5
43.767 * [taylor]: Taking taylor expansion of phi1 in lambda1
43.767 * [backup-simplify]: Simplify phi1 into phi1
43.767 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
43.767 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
43.767 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
43.767 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda1
43.767 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda1
43.767 * [taylor]: Taking taylor expansion of 0.5 in lambda1
43.767 * [backup-simplify]: Simplify 0.5 into 0.5
43.767 * [taylor]: Taking taylor expansion of phi2 in lambda1
43.768 * [backup-simplify]: Simplify phi2 into phi2
43.768 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
43.768 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
43.768 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
43.768 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (fma (cos (* 0.5 phi1)) (cos (* 0.5 phi2)) (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))))) in lambda1
43.768 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in lambda1
43.768 * [taylor]: Taking taylor expansion of lambda1 in lambda1
43.768 * [backup-simplify]: Simplify 0 into 0
43.768 * [backup-simplify]: Simplify 1 into 1
43.768 * [taylor]: Taking taylor expansion of lambda2 in lambda1
43.768 * [backup-simplify]: Simplify lambda2 into lambda2
43.768 * [taylor]: Taking taylor expansion of (fma (cos (* 0.5 phi1)) (cos (* 0.5 phi2)) (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))) in lambda1
43.768 * [taylor]: Rewrote expression to (+ (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))))
43.768 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) in lambda1
43.768 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda1
43.768 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda1
43.768 * [taylor]: Taking taylor expansion of 0.5 in lambda1
43.768 * [backup-simplify]: Simplify 0.5 into 0.5
43.768 * [taylor]: Taking taylor expansion of phi1 in lambda1
43.768 * [backup-simplify]: Simplify phi1 into phi1
43.768 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
43.769 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
43.769 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
43.769 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda1
43.769 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda1
43.769 * [taylor]: Taking taylor expansion of 0.5 in lambda1
43.769 * [backup-simplify]: Simplify 0.5 into 0.5
43.769 * [taylor]: Taking taylor expansion of phi2 in lambda1
43.769 * [backup-simplify]: Simplify phi2 into phi2
43.769 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
43.769 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
43.769 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
43.769 * [taylor]: Taking taylor expansion of (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))) in lambda1
43.769 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))) in lambda1
43.769 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda1
43.769 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda1
43.769 * [taylor]: Taking taylor expansion of 0.5 in lambda1
43.769 * [backup-simplify]: Simplify 0.5 into 0.5
43.769 * [taylor]: Taking taylor expansion of phi1 in lambda1
43.769 * [backup-simplify]: Simplify phi1 into phi1
43.769 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
43.769 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
43.769 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
43.770 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda1
43.770 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda1
43.770 * [taylor]: Taking taylor expansion of 0.5 in lambda1
43.770 * [backup-simplify]: Simplify 0.5 into 0.5
43.770 * [taylor]: Taking taylor expansion of phi2 in lambda1
43.770 * [backup-simplify]: Simplify phi2 into phi2
43.770 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
43.770 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
43.770 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
43.770 * [taylor]: Taking taylor expansion of (* (- phi1 phi2) (- phi1 phi2)) in lambda1
43.770 * [taylor]: Taking taylor expansion of (- phi1 phi2) in lambda1
43.770 * [taylor]: Taking taylor expansion of phi1 in lambda1
43.770 * [backup-simplify]: Simplify phi1 into phi1
43.770 * [taylor]: Taking taylor expansion of phi2 in lambda1
43.770 * [backup-simplify]: Simplify phi2 into phi2
43.770 * [taylor]: Taking taylor expansion of (- phi1 phi2) in lambda1
43.770 * [taylor]: Taking taylor expansion of phi1 in lambda1
43.770 * [backup-simplify]: Simplify phi1 into phi1
43.770 * [taylor]: Taking taylor expansion of phi2 in lambda1
43.770 * [backup-simplify]: Simplify phi2 into phi2
43.770 * [backup-simplify]: Simplify (- lambda2) into (- lambda2)
43.770 * [backup-simplify]: Simplify (+ 0 (- lambda2)) into (- lambda2)
43.770 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
43.771 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
43.772 * [backup-simplify]: Simplify (- 0) into 0
43.772 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
43.773 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2))
43.773 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0
43.773 * [backup-simplify]: Simplify (- 0) into 0
43.773 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2))
43.773 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) into (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2)))
43.773 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1))
43.774 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0
43.774 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1))
43.774 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2))
43.774 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0
43.774 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2))
43.774 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))) into (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))
43.774 * [backup-simplify]: Simplify (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))) into (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))
43.775 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))) into (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))
43.775 * [backup-simplify]: Simplify (* (- lambda2) (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))) into (* -1 (* lambda2 (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))))
43.775 * [backup-simplify]: Simplify (- lambda2) into (- lambda2)
43.775 * [backup-simplify]: Simplify (+ 0 (- lambda2)) into (- lambda2)
43.775 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
43.775 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
43.776 * [backup-simplify]: Simplify (- 0) into 0
43.776 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
43.776 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2))
43.776 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0
43.777 * [backup-simplify]: Simplify (- 0) into 0
43.777 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2))
43.777 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) into (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2)))
43.777 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1))
43.777 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0
43.777 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1))
43.777 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2))
43.778 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0
43.778 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2))
43.778 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))) into (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))
43.778 * [backup-simplify]: Simplify (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))) into (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))
43.778 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (- (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))) into (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))
43.779 * [backup-simplify]: Simplify (* (- lambda2) (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))) into (* -1 (* lambda2 (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))))
43.780 * [backup-simplify]: Simplify (* (* -1 (* lambda2 (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))))) (* -1 (* lambda2 (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))))) into (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))) 2))
43.780 * [backup-simplify]: Simplify (- phi2) into (- phi2)
43.780 * [backup-simplify]: Simplify (+ phi1 (- phi2)) into (- phi1 phi2)
43.780 * [backup-simplify]: Simplify (- phi2) into (- phi2)
43.780 * [backup-simplify]: Simplify (+ phi1 (- phi2)) into (- phi1 phi2)
43.780 * [backup-simplify]: Simplify (* (- phi1 phi2) (- phi1 phi2)) into (pow (- phi1 phi2) 2)
43.781 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))) 2)) (pow (- phi1 phi2) 2)) into (- (+ (* (pow lambda2 2) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) (+ (* (pow lambda2 2) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (pow phi2 2) (pow phi1 2)))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))) (* 2 (* phi1 phi2)))))
43.785 * [backup-simplify]: Simplify (sqrt (- (+ (* (pow lambda2 2) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) (+ (* (pow lambda2 2) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (pow phi2 2) (pow phi1 2)))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))) (* 2 (* phi1 phi2)))))) into (sqrt (- (+ (* (pow lambda2 2) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) (+ (* (pow lambda2 2) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (pow phi2 2) (pow phi1 2)))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))) (* 2 (* phi1 phi2))))))
43.785 * [backup-simplify]: Simplify (+ 0) into 0
43.786 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0
43.786 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0
43.787 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
43.788 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 0)) into 0
43.788 * [backup-simplify]: Simplify (- 0) into 0
43.788 * [backup-simplify]: Simplify (+ 0 0) into 0
43.789 * [backup-simplify]: Simplify (+ 0) into 0
43.789 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0
43.790 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0
43.790 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
43.791 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 0)) into 0
43.791 * [backup-simplify]: Simplify (- 0) into 0
43.792 * [backup-simplify]: Simplify (+ 0 0) into 0
43.792 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 (cos (* 0.5 phi2)))) into 0
43.792 * [backup-simplify]: Simplify (+ 0) into 0
43.793 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 1)) into 0
43.793 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0
43.794 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
43.795 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 0)) into 0
43.795 * [backup-simplify]: Simplify (+ 0 0) into 0
43.795 * [backup-simplify]: Simplify (+ 0) into 0
43.796 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 1)) into 0
43.796 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0
43.797 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
43.798 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 0)) into 0
43.798 * [backup-simplify]: Simplify (+ 0 0) into 0
43.798 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 (sin (* 0.5 phi2)))) into 0
43.798 * [backup-simplify]: Simplify (- 0) into 0
43.799 * [backup-simplify]: Simplify (+ 0 0) into 0
43.799 * [backup-simplify]: Simplify (- 0) into 0
43.800 * [backup-simplify]: Simplify (+ 1 0) into 1
43.800 * [backup-simplify]: Simplify (+ (* (- lambda2) 0) (* 1 (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))))) into (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))
43.800 * [backup-simplify]: Simplify (+ 0) into 0
43.801 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0
43.801 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0
43.802 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
43.803 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 0)) into 0
43.803 * [backup-simplify]: Simplify (- 0) into 0
43.803 * [backup-simplify]: Simplify (+ 0 0) into 0
43.804 * [backup-simplify]: Simplify (+ 0) into 0
43.804 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0
43.805 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0
43.806 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
43.806 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 0)) into 0
43.806 * [backup-simplify]: Simplify (- 0) into 0
43.807 * [backup-simplify]: Simplify (+ 0 0) into 0
43.807 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 (cos (* 0.5 phi2)))) into 0
43.807 * [backup-simplify]: Simplify (+ 0) into 0
43.808 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 1)) into 0
43.808 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0
43.809 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
43.810 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 0)) into 0
43.810 * [backup-simplify]: Simplify (+ 0 0) into 0
43.810 * [backup-simplify]: Simplify (+ 0) into 0
43.811 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 1)) into 0
43.811 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0
43.812 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
43.813 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 0)) into 0
43.813 * [backup-simplify]: Simplify (+ 0 0) into 0
43.813 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 (sin (* 0.5 phi2)))) into 0
43.814 * [backup-simplify]: Simplify (- 0) into 0
43.814 * [backup-simplify]: Simplify (+ 0 0) into 0
43.815 * [backup-simplify]: Simplify (- 0) into 0
43.815 * [backup-simplify]: Simplify (+ 1 0) into 1
43.815 * [backup-simplify]: Simplify (+ (* (- lambda2) 0) (* 1 (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))))) into (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))
43.818 * [backup-simplify]: Simplify (+ (* (* -1 (* lambda2 (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))))) (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))) (* (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))) (* -1 (* lambda2 (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))))))) into (- (+ (* 2 (* lambda2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))))) (* 2 (* lambda2 (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))))) (+ (* 2 (* lambda2 (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)))) (* 2 (* lambda2 (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))))))
43.818 * [backup-simplify]: Simplify (- 0) into 0
43.819 * [backup-simplify]: Simplify (+ 0 0) into 0
43.819 * [backup-simplify]: Simplify (- 0) into 0
43.819 * [backup-simplify]: Simplify (+ 0 0) into 0
43.819 * [backup-simplify]: Simplify (+ (* (- phi1 phi2) 0) (* 0 (- phi1 phi2))) into 0
43.822 * [backup-simplify]: Simplify (+ (- (+ (* 2 (* lambda2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))))) (* 2 (* lambda2 (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))))) (+ (* 2 (* lambda2 (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)))) (* 2 (* lambda2 (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2)))))) 0) into (- (+ (* 2 (* lambda2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))))) (* 2 (* lambda2 (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))))) (+ (* 2 (* lambda2 (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)))) (* 2 (* lambda2 (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))))))
43.829 * [backup-simplify]: Simplify (/ (- (+ (* 2 (* lambda2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))))) (* 2 (* lambda2 (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))))) (+ (* 2 (* lambda2 (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)))) (* 2 (* lambda2 (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2)))))) (* 2 (sqrt (- (+ (* (pow lambda2 2) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) (+ (* (pow lambda2 2) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (pow phi2 2) (pow phi1 2)))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))) (* 2 (* phi1 phi2)))))))) into (* 1/2 (* (- (+ (* 2 (* lambda2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))))) (* 2 (* lambda2 (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))))) (+ (* 2 (* lambda2 (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)))) (* 2 (* lambda2 (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2)))))) (sqrt (/ 1 (- (+ (* (pow lambda2 2) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) (+ (* (pow lambda2 2) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (pow phi2 2) (pow phi1 2)))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))) (* 2 (* phi1 phi2)))))))))
43.829 * [taylor]: Taking taylor expansion of R in lambda1
43.829 * [backup-simplify]: Simplify R into R
43.832 * [backup-simplify]: Simplify (* (sqrt (- (+ (* (pow lambda2 2) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) (+ (* (pow lambda2 2) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (pow phi2 2) (pow phi1 2)))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))) (* 2 (* phi1 phi2)))))) R) into (* (sqrt (- (+ (* (pow lambda2 2) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) (+ (* (pow lambda2 2) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (pow phi2 2) (pow phi1 2)))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))) (* 2 (* phi1 phi2)))))) R)
43.832 * [taylor]: Taking taylor expansion of (* (sqrt (- (+ (* (pow lambda2 2) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) (+ (* (pow lambda2 2) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (pow phi2 2) (pow phi1 2)))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))) (* 2 (* phi1 phi2)))))) R) in lambda2
43.833 * [taylor]: Taking taylor expansion of (sqrt (- (+ (* (pow lambda2 2) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) (+ (* (pow lambda2 2) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (pow phi2 2) (pow phi1 2)))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))) (* 2 (* phi1 phi2)))))) in lambda2
43.833 * [taylor]: Taking taylor expansion of (- (+ (* (pow lambda2 2) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) (+ (* (pow lambda2 2) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (pow phi2 2) (pow phi1 2)))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))) (* 2 (* phi1 phi2))))) in lambda2
43.833 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) (+ (* (pow lambda2 2) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (pow phi2 2) (pow phi1 2)))) in lambda2
43.833 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) in lambda2
43.833 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
43.833 * [taylor]: Taking taylor expansion of lambda2 in lambda2
43.833 * [backup-simplify]: Simplify 0 into 0
43.833 * [backup-simplify]: Simplify 1 into 1
43.833 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) in lambda2
43.833 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in lambda2
43.833 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda2
43.833 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
43.833 * [taylor]: Taking taylor expansion of 0.5 in lambda2
43.833 * [backup-simplify]: Simplify 0.5 into 0.5
43.833 * [taylor]: Taking taylor expansion of phi1 in lambda2
43.833 * [backup-simplify]: Simplify phi1 into phi1
43.833 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
43.833 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
43.833 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
43.833 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1))
43.833 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0
43.833 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1))
43.834 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi2)) 2) in lambda2
43.834 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda2
43.834 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
43.834 * [taylor]: Taking taylor expansion of 0.5 in lambda2
43.834 * [backup-simplify]: Simplify 0.5 into 0.5
43.834 * [taylor]: Taking taylor expansion of phi2 in lambda2
43.834 * [backup-simplify]: Simplify phi2 into phi2
43.834 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
43.834 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
43.834 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
43.834 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2))
43.834 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0
43.834 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2))
43.834 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (pow phi2 2) (pow phi1 2))) in lambda2
43.834 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) in lambda2
43.834 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
43.834 * [taylor]: Taking taylor expansion of lambda2 in lambda2
43.834 * [backup-simplify]: Simplify 0 into 0
43.834 * [backup-simplify]: Simplify 1 into 1
43.834 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2)) in lambda2
43.834 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in lambda2
43.834 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda2
43.834 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
43.834 * [taylor]: Taking taylor expansion of 0.5 in lambda2
43.834 * [backup-simplify]: Simplify 0.5 into 0.5
43.834 * [taylor]: Taking taylor expansion of phi1 in lambda2
43.834 * [backup-simplify]: Simplify phi1 into phi1
43.835 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
43.835 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
43.835 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
43.835 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
43.835 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
43.835 * [backup-simplify]: Simplify (- 0) into 0
43.835 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
43.836 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in lambda2
43.836 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda2
43.836 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
43.836 * [taylor]: Taking taylor expansion of 0.5 in lambda2
43.836 * [backup-simplify]: Simplify 0.5 into 0.5
43.836 * [taylor]: Taking taylor expansion of phi2 in lambda2
43.836 * [backup-simplify]: Simplify phi2 into phi2
43.836 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
43.836 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
43.836 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
43.836 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2))
43.836 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0
43.836 * [backup-simplify]: Simplify (- 0) into 0
43.836 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2))
43.837 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (pow phi1 2)) in lambda2
43.837 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2
43.837 * [taylor]: Taking taylor expansion of phi2 in lambda2
43.837 * [backup-simplify]: Simplify phi2 into phi2
43.837 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2
43.837 * [taylor]: Taking taylor expansion of phi1 in lambda2
43.837 * [backup-simplify]: Simplify phi1 into phi1
43.837 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))) (* 2 (* phi1 phi2)))) in lambda2
43.837 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))))) in lambda2
43.837 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
43.837 * [taylor]: Taking taylor expansion of lambda2 in lambda2
43.837 * [backup-simplify]: Simplify 0 into 0
43.837 * [backup-simplify]: Simplify 1 into 1
43.837 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1))))) in lambda2
43.837 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda2
43.837 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
43.837 * [taylor]: Taking taylor expansion of 0.5 in lambda2
43.837 * [backup-simplify]: Simplify 0.5 into 0.5
43.837 * [taylor]: Taking taylor expansion of phi2 in lambda2
43.837 * [backup-simplify]: Simplify phi2 into phi2
43.837 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
43.837 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
43.837 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
43.837 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) in lambda2
43.837 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda2
43.837 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
43.837 * [taylor]: Taking taylor expansion of 0.5 in lambda2
43.837 * [backup-simplify]: Simplify 0.5 into 0.5
43.837 * [taylor]: Taking taylor expansion of phi1 in lambda2
43.837 * [backup-simplify]: Simplify phi1 into phi1
43.837 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
43.838 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
43.838 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
43.838 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1))) in lambda2
43.838 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda2
43.838 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
43.838 * [taylor]: Taking taylor expansion of 0.5 in lambda2
43.838 * [backup-simplify]: Simplify 0.5 into 0.5
43.838 * [taylor]: Taking taylor expansion of phi2 in lambda2
43.838 * [backup-simplify]: Simplify phi2 into phi2
43.838 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
43.838 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
43.838 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
43.838 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda2
43.838 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
43.838 * [taylor]: Taking taylor expansion of 0.5 in lambda2
43.838 * [backup-simplify]: Simplify 0.5 into 0.5
43.838 * [taylor]: Taking taylor expansion of phi1 in lambda2
43.838 * [backup-simplify]: Simplify phi1 into phi1
43.838 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
43.838 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
43.838 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
43.838 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))) (* 2 (* phi1 phi2))) in lambda2
43.838 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))) in lambda2
43.839 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
43.839 * [taylor]: Taking taylor expansion of lambda2 in lambda2
43.839 * [backup-simplify]: Simplify 0 into 0
43.839 * [backup-simplify]: Simplify 1 into 1
43.839 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1))))) in lambda2
43.839 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda2
43.839 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
43.839 * [taylor]: Taking taylor expansion of 0.5 in lambda2
43.839 * [backup-simplify]: Simplify 0.5 into 0.5
43.839 * [taylor]: Taking taylor expansion of phi2 in lambda2
43.839 * [backup-simplify]: Simplify phi2 into phi2
43.839 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
43.839 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
43.839 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
43.839 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))) in lambda2
43.839 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda2
43.839 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
43.839 * [taylor]: Taking taylor expansion of 0.5 in lambda2
43.839 * [backup-simplify]: Simplify 0.5 into 0.5
43.839 * [taylor]: Taking taylor expansion of phi1 in lambda2
43.839 * [backup-simplify]: Simplify phi1 into phi1
43.839 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
43.839 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
43.839 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
43.839 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1))) in lambda2
43.839 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda2
43.839 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
43.839 * [taylor]: Taking taylor expansion of 0.5 in lambda2
43.839 * [backup-simplify]: Simplify 0.5 into 0.5
43.839 * [taylor]: Taking taylor expansion of phi2 in lambda2
43.840 * [backup-simplify]: Simplify phi2 into phi2
43.840 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
43.840 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
43.840 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
43.840 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda2
43.840 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
43.840 * [taylor]: Taking taylor expansion of 0.5 in lambda2
43.840 * [backup-simplify]: Simplify 0.5 into 0.5
43.840 * [taylor]: Taking taylor expansion of phi1 in lambda2
43.840 * [backup-simplify]: Simplify phi1 into phi1
43.840 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
43.840 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
43.840 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
43.840 * [taylor]: Taking taylor expansion of (* 2 (* phi1 phi2)) in lambda2
43.840 * [taylor]: Taking taylor expansion of 2 in lambda2
43.840 * [backup-simplify]: Simplify 2 into 2
43.840 * [taylor]: Taking taylor expansion of (* phi1 phi2) in lambda2
43.840 * [taylor]: Taking taylor expansion of phi1 in lambda2
43.840 * [backup-simplify]: Simplify phi1 into phi1
43.840 * [taylor]: Taking taylor expansion of phi2 in lambda2
43.840 * [backup-simplify]: Simplify phi2 into phi2
43.840 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
43.840 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
43.841 * [backup-simplify]: Simplify (+ (pow phi2 2) (pow phi1 2)) into (+ (pow phi2 2) (pow phi1 2))
43.841 * [backup-simplify]: Simplify (+ 0 (+ (pow phi2 2) (pow phi1 2))) into (+ (pow phi2 2) (pow phi1 2))
43.841 * [backup-simplify]: Simplify (+ 0 (+ (pow phi2 2) (pow phi1 2))) into (+ (pow phi2 2) (pow phi1 2))
43.841 * [backup-simplify]: Simplify (* phi1 phi2) into (* phi1 phi2)
43.841 * [backup-simplify]: Simplify (* 2 (* phi1 phi2)) into (* 2 (* phi1 phi2))
43.841 * [backup-simplify]: Simplify (+ 0 (* 2 (* phi1 phi2))) into (* 2 (* phi1 phi2))
43.841 * [backup-simplify]: Simplify (+ 0 (* 2 (* phi1 phi2))) into (* 2 (* phi1 phi2))
43.842 * [backup-simplify]: Simplify (- (* 2 (* phi1 phi2))) into (- (* 2 (* phi1 phi2)))
43.842 * [backup-simplify]: Simplify (+ (+ (pow phi2 2) (pow phi1 2)) (- (* 2 (* phi1 phi2)))) into (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))
43.842 * [backup-simplify]: Simplify (sqrt (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))) into (sqrt (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))
43.842 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0
43.842 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0
43.843 * [backup-simplify]: Simplify (+ 0 0) into 0
43.843 * [backup-simplify]: Simplify (+ 0 0) into 0
43.844 * [backup-simplify]: Simplify (+ 0 0) into 0
43.844 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi2)) into 0
43.844 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi1 phi2))) into 0
43.844 * [backup-simplify]: Simplify (+ 0 0) into 0
43.845 * [backup-simplify]: Simplify (+ 0 0) into 0
43.845 * [backup-simplify]: Simplify (- 0) into 0
43.845 * [backup-simplify]: Simplify (+ 0 0) into 0
43.846 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))))) into 0
43.846 * [taylor]: Taking taylor expansion of R in lambda2
43.846 * [backup-simplify]: Simplify R into R
43.846 * [backup-simplify]: Simplify (* (sqrt (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))) R) into (* (sqrt (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))) R)
43.846 * [taylor]: Taking taylor expansion of (* (sqrt (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))) R) in phi1
43.846 * [taylor]: Taking taylor expansion of (sqrt (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))) in phi1
43.846 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))) in phi1
43.846 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (pow phi1 2)) in phi1
43.846 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1
43.846 * [taylor]: Taking taylor expansion of phi2 in phi1
43.846 * [backup-simplify]: Simplify phi2 into phi2
43.846 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1
43.846 * [taylor]: Taking taylor expansion of phi1 in phi1
43.846 * [backup-simplify]: Simplify 0 into 0
43.847 * [backup-simplify]: Simplify 1 into 1
43.847 * [taylor]: Taking taylor expansion of (* 2 (* phi1 phi2)) in phi1
43.847 * [taylor]: Taking taylor expansion of 2 in phi1
43.847 * [backup-simplify]: Simplify 2 into 2
43.847 * [taylor]: Taking taylor expansion of (* phi1 phi2) in phi1
43.847 * [taylor]: Taking taylor expansion of phi1 in phi1
43.847 * [backup-simplify]: Simplify 0 into 0
43.847 * [backup-simplify]: Simplify 1 into 1
43.847 * [taylor]: Taking taylor expansion of phi2 in phi1
43.847 * [backup-simplify]: Simplify phi2 into phi2
43.847 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
43.847 * [backup-simplify]: Simplify (+ (pow phi2 2) 0) into (pow phi2 2)
43.847 * [backup-simplify]: Simplify (* 0 phi2) into 0
43.847 * [backup-simplify]: Simplify (* 2 0) into 0
43.848 * [backup-simplify]: Simplify (- 0) into 0
43.848 * [backup-simplify]: Simplify (+ (pow phi2 2) 0) into (pow phi2 2)
43.848 * [backup-simplify]: Simplify (sqrt (pow phi2 2)) into phi2
43.848 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0
43.848 * [backup-simplify]: Simplify (+ 0 0) into 0
43.849 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi2)) into phi2
43.849 * [backup-simplify]: Simplify (+ (* 2 phi2) (* 0 0)) into (* 2 phi2)
43.849 * [backup-simplify]: Simplify (- (* 2 phi2)) into (- (* 2 phi2))
43.849 * [backup-simplify]: Simplify (+ 0 (- (* 2 phi2))) into (- (* 2 phi2))
43.849 * [backup-simplify]: Simplify (/ (- (* 2 phi2)) (* 2 (sqrt (pow phi2 2)))) into -1
43.849 * [taylor]: Taking taylor expansion of R in phi1
43.849 * [backup-simplify]: Simplify R into R
43.850 * [backup-simplify]: Simplify (* phi2 R) into (* R phi2)
43.850 * [taylor]: Taking taylor expansion of (* R phi2) in phi2
43.850 * [taylor]: Taking taylor expansion of R in phi2
43.850 * [backup-simplify]: Simplify R into R
43.850 * [taylor]: Taking taylor expansion of phi2 in phi2
43.850 * [backup-simplify]: Simplify 0 into 0
43.850 * [backup-simplify]: Simplify 1 into 1
43.850 * [backup-simplify]: Simplify (* R 0) into 0
43.850 * [taylor]: Taking taylor expansion of 0 in R
43.850 * [backup-simplify]: Simplify 0 into 0
43.850 * [backup-simplify]: Simplify 0 into 0
43.860 * [backup-simplify]: Simplify (+ (* (sqrt (- (+ (* (pow lambda2 2) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) (+ (* (pow lambda2 2) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (pow phi2 2) (pow phi1 2)))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))) (* 2 (* phi1 phi2)))))) 0) (* (* 1/2 (* (- (+ (* 2 (* lambda2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))))) (* 2 (* lambda2 (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))))) (+ (* 2 (* lambda2 (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)))) (* 2 (* lambda2 (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2)))))) (sqrt (/ 1 (- (+ (* (pow lambda2 2) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) (+ (* (pow lambda2 2) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (pow phi2 2) (pow phi1 2)))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))) (* 2 (* phi1 phi2))))))))) R)) into (- (+ (* (* lambda2 (* (sin (* 0.5 phi1)) (* R (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi2))))))) (sqrt (/ 1 (- (+ (* (pow lambda2 2) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) (+ (* (pow lambda2 2) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (pow phi2 2) (pow phi1 2)))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))) (* 2 (* phi1 phi2)))))))) (* (* lambda2 (* (cos (* 0.5 phi1)) (* R (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))))) (sqrt (/ 1 (- (+ (* (pow lambda2 2) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) (+ (* (pow lambda2 2) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (pow phi2 2) (pow phi1 2)))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))) (* 2 (* phi1 phi2))))))))) (+ (* (* R (* lambda2 (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2)))) (sqrt (/ 1 (- (+ (* (pow lambda2 2) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) (+ (* (pow lambda2 2) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (pow phi2 2) (pow phi1 2)))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))) (* 2 (* phi1 phi2)))))))) (* (* lambda2 (* (pow (cos (* 0.5 phi2)) 2) (* R (pow (cos (* 0.5 phi1)) 2)))) (sqrt (/ 1 (- (+ (* (pow lambda2 2) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) (+ (* (pow lambda2 2) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (pow phi2 2) (pow phi1 2)))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))) (* 2 (* phi1 phi2))))))))))
43.860 * [taylor]: Taking taylor expansion of (- (+ (* (* lambda2 (* (sin (* 0.5 phi1)) (* R (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi2))))))) (sqrt (/ 1 (- (+ (* (pow lambda2 2) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) (+ (* (pow lambda2 2) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (pow phi2 2) (pow phi1 2)))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))) (* 2 (* phi1 phi2)))))))) (* (* lambda2 (* (cos (* 0.5 phi1)) (* R (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))))) (sqrt (/ 1 (- (+ (* (pow lambda2 2) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) (+ (* (pow lambda2 2) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (pow phi2 2) (pow phi1 2)))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))) (* 2 (* phi1 phi2))))))))) (+ (* (* R (* lambda2 (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2)))) (sqrt (/ 1 (- (+ (* (pow lambda2 2) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) (+ (* (pow lambda2 2) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (pow phi2 2) (pow phi1 2)))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))) (* 2 (* phi1 phi2)))))))) (* (* lambda2 (* (pow (cos (* 0.5 phi2)) 2) (* R (pow (cos (* 0.5 phi1)) 2)))) (sqrt (/ 1 (- (+ (* (pow lambda2 2) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) (+ (* (pow lambda2 2) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (pow phi2 2) (pow phi1 2)))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))) (* 2 (* phi1 phi2)))))))))) in lambda2
43.861 * [taylor]: Taking taylor expansion of (+ (* (* lambda2 (* (sin (* 0.5 phi1)) (* R (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi2))))))) (sqrt (/ 1 (- (+ (* (pow lambda2 2) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) (+ (* (pow lambda2 2) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (pow phi2 2) (pow phi1 2)))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))) (* 2 (* phi1 phi2)))))))) (* (* lambda2 (* (cos (* 0.5 phi1)) (* R (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))))) (sqrt (/ 1 (- (+ (* (pow lambda2 2) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) (+ (* (pow lambda2 2) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (pow phi2 2) (pow phi1 2)))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))) (* 2 (* phi1 phi2))))))))) in lambda2
43.861 * [taylor]: Taking taylor expansion of (* (* lambda2 (* (sin (* 0.5 phi1)) (* R (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi2))))))) (sqrt (/ 1 (- (+ (* (pow lambda2 2) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) (+ (* (pow lambda2 2) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (pow phi2 2) (pow phi1 2)))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))) (* 2 (* phi1 phi2)))))))) in lambda2
43.861 * [taylor]: Taking taylor expansion of (* lambda2 (* (sin (* 0.5 phi1)) (* R (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi2))))))) in lambda2
43.861 * [taylor]: Taking taylor expansion of lambda2 in lambda2
43.861 * [backup-simplify]: Simplify 0 into 0
43.861 * [backup-simplify]: Simplify 1 into 1
43.861 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (* R (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi2)))))) in lambda2
43.861 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda2
43.861 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
43.861 * [taylor]: Taking taylor expansion of 0.5 in lambda2
43.861 * [backup-simplify]: Simplify 0.5 into 0.5
43.861 * [taylor]: Taking taylor expansion of phi1 in lambda2
43.861 * [backup-simplify]: Simplify phi1 into phi1
43.861 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
43.861 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
43.861 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
43.861 * [taylor]: Taking taylor expansion of (* R (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi2))))) in lambda2
43.861 * [taylor]: Taking taylor expansion of R in lambda2
43.861 * [backup-simplify]: Simplify R into R
43.861 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi2)))) in lambda2
43.861 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda2
43.862 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
43.862 * [taylor]: Taking taylor expansion of 0.5 in lambda2
43.862 * [backup-simplify]: Simplify 0.5 into 0.5
43.862 * [taylor]: Taking taylor expansion of phi2 in lambda2
43.862 * [backup-simplify]: Simplify phi2 into phi2
43.862 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
43.862 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
43.862 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
43.862 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (sin (* 0.5 phi2))) in lambda2
43.862 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda2
43.862 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
43.862 * [taylor]: Taking taylor expansion of 0.5 in lambda2
43.862 * [backup-simplify]: Simplify 0.5 into 0.5
43.862 * [taylor]: Taking taylor expansion of phi1 in lambda2
43.862 * [backup-simplify]: Simplify phi1 into phi1
43.862 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
43.862 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
43.862 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
43.862 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda2
43.862 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
43.862 * [taylor]: Taking taylor expansion of 0.5 in lambda2
43.862 * [backup-simplify]: Simplify 0.5 into 0.5
43.862 * [taylor]: Taking taylor expansion of phi2 in lambda2
43.862 * [backup-simplify]: Simplify phi2 into phi2
43.862 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
43.862 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
43.863 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
43.863 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow lambda2 2) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) (+ (* (pow lambda2 2) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (pow phi2 2) (pow phi1 2)))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))) (* 2 (* phi1 phi2))))))) in lambda2
43.863 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow lambda2 2) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) (+ (* (pow lambda2 2) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (pow phi2 2) (pow phi1 2)))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))) (* 2 (* phi1 phi2)))))) in lambda2
43.863 * [taylor]: Taking taylor expansion of (- (+ (* (pow lambda2 2) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) (+ (* (pow lambda2 2) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (pow phi2 2) (pow phi1 2)))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))) (* 2 (* phi1 phi2))))) in lambda2
43.863 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) (+ (* (pow lambda2 2) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (pow phi2 2) (pow phi1 2)))) in lambda2
43.863 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) in lambda2
43.863 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
43.863 * [taylor]: Taking taylor expansion of lambda2 in lambda2
43.863 * [backup-simplify]: Simplify 0 into 0
43.863 * [backup-simplify]: Simplify 1 into 1
43.863 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) in lambda2
43.863 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in lambda2
43.863 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda2
43.863 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
43.863 * [taylor]: Taking taylor expansion of 0.5 in lambda2
43.863 * [backup-simplify]: Simplify 0.5 into 0.5
43.863 * [taylor]: Taking taylor expansion of phi1 in lambda2
43.863 * [backup-simplify]: Simplify phi1 into phi1
43.863 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
43.864 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
43.864 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
43.864 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1))
43.864 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0
43.864 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1))
43.864 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi2)) 2) in lambda2
43.864 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda2
43.864 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
43.864 * [taylor]: Taking taylor expansion of 0.5 in lambda2
43.864 * [backup-simplify]: Simplify 0.5 into 0.5
43.864 * [taylor]: Taking taylor expansion of phi2 in lambda2
43.864 * [backup-simplify]: Simplify phi2 into phi2
43.864 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
43.864 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
43.864 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
43.864 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2))
43.864 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0
43.865 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2))
43.865 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (pow phi2 2) (pow phi1 2))) in lambda2
43.865 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) in lambda2
43.865 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
43.865 * [taylor]: Taking taylor expansion of lambda2 in lambda2
43.865 * [backup-simplify]: Simplify 0 into 0
43.865 * [backup-simplify]: Simplify 1 into 1
43.865 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2)) in lambda2
43.865 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in lambda2
43.865 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda2
43.865 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
43.865 * [taylor]: Taking taylor expansion of 0.5 in lambda2
43.865 * [backup-simplify]: Simplify 0.5 into 0.5
43.865 * [taylor]: Taking taylor expansion of phi1 in lambda2
43.865 * [backup-simplify]: Simplify phi1 into phi1
43.865 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
43.865 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
43.865 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
43.865 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
43.865 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
43.866 * [backup-simplify]: Simplify (- 0) into 0
43.866 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
43.866 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in lambda2
43.866 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda2
43.866 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
43.866 * [taylor]: Taking taylor expansion of 0.5 in lambda2
43.866 * [backup-simplify]: Simplify 0.5 into 0.5
43.866 * [taylor]: Taking taylor expansion of phi2 in lambda2
43.866 * [backup-simplify]: Simplify phi2 into phi2
43.866 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
43.866 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
43.867 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
43.867 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2))
43.867 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0
43.867 * [backup-simplify]: Simplify (- 0) into 0
43.867 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2))
43.867 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (pow phi1 2)) in lambda2
43.867 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2
43.867 * [taylor]: Taking taylor expansion of phi2 in lambda2
43.867 * [backup-simplify]: Simplify phi2 into phi2
43.867 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2
43.867 * [taylor]: Taking taylor expansion of phi1 in lambda2
43.867 * [backup-simplify]: Simplify phi1 into phi1
43.868 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))) (* 2 (* phi1 phi2)))) in lambda2
43.868 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))))) in lambda2
43.868 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
43.868 * [taylor]: Taking taylor expansion of lambda2 in lambda2
43.868 * [backup-simplify]: Simplify 0 into 0
43.868 * [backup-simplify]: Simplify 1 into 1
43.868 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1))))) in lambda2
43.868 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda2
43.868 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
43.868 * [taylor]: Taking taylor expansion of 0.5 in lambda2
43.868 * [backup-simplify]: Simplify 0.5 into 0.5
43.868 * [taylor]: Taking taylor expansion of phi2 in lambda2
43.868 * [backup-simplify]: Simplify phi2 into phi2
43.868 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
43.868 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
43.868 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
43.868 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) in lambda2
43.868 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda2
43.868 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
43.868 * [taylor]: Taking taylor expansion of 0.5 in lambda2
43.868 * [backup-simplify]: Simplify 0.5 into 0.5
43.868 * [taylor]: Taking taylor expansion of phi1 in lambda2
43.868 * [backup-simplify]: Simplify phi1 into phi1
43.868 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
43.868 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
43.868 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
43.868 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1))) in lambda2
43.868 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda2
43.869 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
43.869 * [taylor]: Taking taylor expansion of 0.5 in lambda2
43.869 * [backup-simplify]: Simplify 0.5 into 0.5
43.869 * [taylor]: Taking taylor expansion of phi2 in lambda2
43.869 * [backup-simplify]: Simplify phi2 into phi2
43.869 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
43.869 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
43.869 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
43.869 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda2
43.869 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
43.869 * [taylor]: Taking taylor expansion of 0.5 in lambda2
43.869 * [backup-simplify]: Simplify 0.5 into 0.5
43.869 * [taylor]: Taking taylor expansion of phi1 in lambda2
43.869 * [backup-simplify]: Simplify phi1 into phi1
43.869 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
43.869 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
43.869 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
43.869 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))) (* 2 (* phi1 phi2))) in lambda2
43.869 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))) in lambda2
43.869 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
43.869 * [taylor]: Taking taylor expansion of lambda2 in lambda2
43.869 * [backup-simplify]: Simplify 0 into 0
43.869 * [backup-simplify]: Simplify 1 into 1
43.869 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1))))) in lambda2
43.869 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda2
43.869 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
43.869 * [taylor]: Taking taylor expansion of 0.5 in lambda2
43.870 * [backup-simplify]: Simplify 0.5 into 0.5
43.870 * [taylor]: Taking taylor expansion of phi2 in lambda2
43.870 * [backup-simplify]: Simplify phi2 into phi2
43.870 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
43.870 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
43.870 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
43.870 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))) in lambda2
43.870 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda2
43.870 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
43.870 * [taylor]: Taking taylor expansion of 0.5 in lambda2
43.870 * [backup-simplify]: Simplify 0.5 into 0.5
43.870 * [taylor]: Taking taylor expansion of phi1 in lambda2
43.870 * [backup-simplify]: Simplify phi1 into phi1
43.870 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
43.870 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
43.870 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
43.870 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1))) in lambda2
43.870 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda2
43.870 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
43.870 * [taylor]: Taking taylor expansion of 0.5 in lambda2
43.870 * [backup-simplify]: Simplify 0.5 into 0.5
43.870 * [taylor]: Taking taylor expansion of phi2 in lambda2
43.870 * [backup-simplify]: Simplify phi2 into phi2
43.870 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
43.871 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
43.871 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
43.871 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda2
43.871 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
43.871 * [taylor]: Taking taylor expansion of 0.5 in lambda2
43.871 * [backup-simplify]: Simplify 0.5 into 0.5
43.871 * [taylor]: Taking taylor expansion of phi1 in lambda2
43.871 * [backup-simplify]: Simplify phi1 into phi1
43.871 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
43.871 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
43.871 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
43.871 * [taylor]: Taking taylor expansion of (* 2 (* phi1 phi2)) in lambda2
43.871 * [taylor]: Taking taylor expansion of 2 in lambda2
43.871 * [backup-simplify]: Simplify 2 into 2
43.871 * [taylor]: Taking taylor expansion of (* phi1 phi2) in lambda2
43.871 * [taylor]: Taking taylor expansion of phi1 in lambda2
43.871 * [backup-simplify]: Simplify phi1 into phi1
43.871 * [taylor]: Taking taylor expansion of phi2 in lambda2
43.871 * [backup-simplify]: Simplify phi2 into phi2
43.871 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
43.871 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
43.872 * [backup-simplify]: Simplify (+ (pow phi2 2) (pow phi1 2)) into (+ (pow phi2 2) (pow phi1 2))
43.872 * [backup-simplify]: Simplify (+ 0 (+ (pow phi2 2) (pow phi1 2))) into (+ (pow phi2 2) (pow phi1 2))
43.872 * [backup-simplify]: Simplify (+ 0 (+ (pow phi2 2) (pow phi1 2))) into (+ (pow phi2 2) (pow phi1 2))
43.872 * [backup-simplify]: Simplify (* phi1 phi2) into (* phi1 phi2)
43.872 * [backup-simplify]: Simplify (* 2 (* phi1 phi2)) into (* 2 (* phi1 phi2))
43.872 * [backup-simplify]: Simplify (+ 0 (* 2 (* phi1 phi2))) into (* 2 (* phi1 phi2))
43.872 * [backup-simplify]: Simplify (+ 0 (* 2 (* phi1 phi2))) into (* 2 (* phi1 phi2))
43.873 * [backup-simplify]: Simplify (- (* 2 (* phi1 phi2))) into (- (* 2 (* phi1 phi2)))
43.873 * [backup-simplify]: Simplify (+ (+ (pow phi2 2) (pow phi1 2)) (- (* 2 (* phi1 phi2)))) into (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))
43.873 * [backup-simplify]: Simplify (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))) into (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))
43.874 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) into (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))))
43.874 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0
43.874 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0
43.874 * [backup-simplify]: Simplify (+ 0 0) into 0
43.875 * [backup-simplify]: Simplify (+ 0 0) into 0
43.875 * [backup-simplify]: Simplify (+ 0 0) into 0
43.875 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi2)) into 0
43.876 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi1 phi2))) into 0
43.876 * [backup-simplify]: Simplify (+ 0 0) into 0
43.876 * [backup-simplify]: Simplify (+ 0 0) into 0
43.877 * [backup-simplify]: Simplify (- 0) into 0
43.877 * [backup-simplify]: Simplify (+ 0 0) into 0
43.878 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))) (/ 0 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))))) into 0
43.878 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))))) into 0
43.878 * [taylor]: Taking taylor expansion of (* (* lambda2 (* (cos (* 0.5 phi1)) (* R (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))))) (sqrt (/ 1 (- (+ (* (pow lambda2 2) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) (+ (* (pow lambda2 2) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (pow phi2 2) (pow phi1 2)))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))) (* 2 (* phi1 phi2)))))))) in lambda2
43.878 * [taylor]: Taking taylor expansion of (* lambda2 (* (cos (* 0.5 phi1)) (* R (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))))) in lambda2
43.878 * [taylor]: Taking taylor expansion of lambda2 in lambda2
43.879 * [backup-simplify]: Simplify 0 into 0
43.879 * [backup-simplify]: Simplify 1 into 1
43.879 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* R (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))))) in lambda2
43.879 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda2
43.879 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
43.879 * [taylor]: Taking taylor expansion of 0.5 in lambda2
43.879 * [backup-simplify]: Simplify 0.5 into 0.5
43.879 * [taylor]: Taking taylor expansion of phi1 in lambda2
43.879 * [backup-simplify]: Simplify phi1 into phi1
43.879 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
43.879 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
43.879 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
43.879 * [taylor]: Taking taylor expansion of (* R (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))) in lambda2
43.879 * [taylor]: Taking taylor expansion of R in lambda2
43.879 * [backup-simplify]: Simplify R into R
43.879 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))) in lambda2
43.879 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda2
43.879 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
43.879 * [taylor]: Taking taylor expansion of 0.5 in lambda2
43.879 * [backup-simplify]: Simplify 0.5 into 0.5
43.879 * [taylor]: Taking taylor expansion of phi2 in lambda2
43.879 * [backup-simplify]: Simplify phi2 into phi2
43.879 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
43.879 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
43.879 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
43.879 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))) in lambda2
43.880 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda2
43.880 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
43.880 * [taylor]: Taking taylor expansion of 0.5 in lambda2
43.880 * [backup-simplify]: Simplify 0.5 into 0.5
43.880 * [taylor]: Taking taylor expansion of phi1 in lambda2
43.880 * [backup-simplify]: Simplify phi1 into phi1
43.880 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
43.880 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
43.880 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
43.880 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda2
43.880 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
43.880 * [taylor]: Taking taylor expansion of 0.5 in lambda2
43.880 * [backup-simplify]: Simplify 0.5 into 0.5
43.880 * [taylor]: Taking taylor expansion of phi2 in lambda2
43.880 * [backup-simplify]: Simplify phi2 into phi2
43.880 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
43.880 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
43.880 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
43.880 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow lambda2 2) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) (+ (* (pow lambda2 2) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (pow phi2 2) (pow phi1 2)))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))) (* 2 (* phi1 phi2))))))) in lambda2
43.880 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow lambda2 2) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) (+ (* (pow lambda2 2) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (pow phi2 2) (pow phi1 2)))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))) (* 2 (* phi1 phi2)))))) in lambda2
43.880 * [taylor]: Taking taylor expansion of (- (+ (* (pow lambda2 2) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) (+ (* (pow lambda2 2) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (pow phi2 2) (pow phi1 2)))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))) (* 2 (* phi1 phi2))))) in lambda2
43.880 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) (+ (* (pow lambda2 2) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (pow phi2 2) (pow phi1 2)))) in lambda2
43.880 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) in lambda2
43.881 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
43.881 * [taylor]: Taking taylor expansion of lambda2 in lambda2
43.881 * [backup-simplify]: Simplify 0 into 0
43.881 * [backup-simplify]: Simplify 1 into 1
43.881 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) in lambda2
43.881 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in lambda2
43.881 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda2
43.881 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
43.881 * [taylor]: Taking taylor expansion of 0.5 in lambda2
43.881 * [backup-simplify]: Simplify 0.5 into 0.5
43.881 * [taylor]: Taking taylor expansion of phi1 in lambda2
43.881 * [backup-simplify]: Simplify phi1 into phi1
43.881 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
43.881 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
43.881 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
43.881 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1))
43.881 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0
43.881 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1))
43.881 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi2)) 2) in lambda2
43.882 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda2
43.882 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
43.882 * [taylor]: Taking taylor expansion of 0.5 in lambda2
43.882 * [backup-simplify]: Simplify 0.5 into 0.5
43.882 * [taylor]: Taking taylor expansion of phi2 in lambda2
43.882 * [backup-simplify]: Simplify phi2 into phi2
43.882 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
43.882 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
43.882 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
43.882 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2))
43.882 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0
43.882 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2))
43.882 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (pow phi2 2) (pow phi1 2))) in lambda2
43.882 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) in lambda2
43.882 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
43.882 * [taylor]: Taking taylor expansion of lambda2 in lambda2
43.882 * [backup-simplify]: Simplify 0 into 0
43.882 * [backup-simplify]: Simplify 1 into 1
43.882 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2)) in lambda2
43.882 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in lambda2
43.882 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda2
43.882 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
43.882 * [taylor]: Taking taylor expansion of 0.5 in lambda2
43.882 * [backup-simplify]: Simplify 0.5 into 0.5
43.882 * [taylor]: Taking taylor expansion of phi1 in lambda2
43.882 * [backup-simplify]: Simplify phi1 into phi1
43.883 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
43.883 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
43.883 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
43.883 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
43.883 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
43.883 * [backup-simplify]: Simplify (- 0) into 0
43.883 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
43.884 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in lambda2
43.884 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda2
43.884 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
43.884 * [taylor]: Taking taylor expansion of 0.5 in lambda2
43.884 * [backup-simplify]: Simplify 0.5 into 0.5
43.884 * [taylor]: Taking taylor expansion of phi2 in lambda2
43.884 * [backup-simplify]: Simplify phi2 into phi2
43.884 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
43.884 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
43.884 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
43.884 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2))
43.884 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0
43.884 * [backup-simplify]: Simplify (- 0) into 0
43.885 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2))
43.885 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (pow phi1 2)) in lambda2
43.885 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2
43.885 * [taylor]: Taking taylor expansion of phi2 in lambda2
43.885 * [backup-simplify]: Simplify phi2 into phi2
43.885 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2
43.885 * [taylor]: Taking taylor expansion of phi1 in lambda2
43.885 * [backup-simplify]: Simplify phi1 into phi1
43.885 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))) (* 2 (* phi1 phi2)))) in lambda2
43.885 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))))) in lambda2
43.885 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
43.885 * [taylor]: Taking taylor expansion of lambda2 in lambda2
43.885 * [backup-simplify]: Simplify 0 into 0
43.885 * [backup-simplify]: Simplify 1 into 1
43.885 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1))))) in lambda2
43.885 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda2
43.885 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
43.885 * [taylor]: Taking taylor expansion of 0.5 in lambda2
43.885 * [backup-simplify]: Simplify 0.5 into 0.5
43.885 * [taylor]: Taking taylor expansion of phi2 in lambda2
43.885 * [backup-simplify]: Simplify phi2 into phi2
43.885 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
43.885 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
43.885 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
43.885 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) in lambda2
43.885 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda2
43.885 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
43.885 * [taylor]: Taking taylor expansion of 0.5 in lambda2
43.885 * [backup-simplify]: Simplify 0.5 into 0.5
43.885 * [taylor]: Taking taylor expansion of phi1 in lambda2
43.886 * [backup-simplify]: Simplify phi1 into phi1
43.886 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
43.886 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
43.886 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
43.886 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1))) in lambda2
43.886 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda2
43.886 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
43.886 * [taylor]: Taking taylor expansion of 0.5 in lambda2
43.886 * [backup-simplify]: Simplify 0.5 into 0.5
43.886 * [taylor]: Taking taylor expansion of phi2 in lambda2
43.886 * [backup-simplify]: Simplify phi2 into phi2
43.886 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
43.886 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
43.886 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
43.886 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda2
43.886 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
43.886 * [taylor]: Taking taylor expansion of 0.5 in lambda2
43.886 * [backup-simplify]: Simplify 0.5 into 0.5
43.886 * [taylor]: Taking taylor expansion of phi1 in lambda2
43.886 * [backup-simplify]: Simplify phi1 into phi1
43.886 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
43.886 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
43.886 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
43.886 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))) (* 2 (* phi1 phi2))) in lambda2
43.886 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))) in lambda2
43.887 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
43.887 * [taylor]: Taking taylor expansion of lambda2 in lambda2
43.887 * [backup-simplify]: Simplify 0 into 0
43.887 * [backup-simplify]: Simplify 1 into 1
43.887 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1))))) in lambda2
43.887 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda2
43.887 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
43.887 * [taylor]: Taking taylor expansion of 0.5 in lambda2
43.887 * [backup-simplify]: Simplify 0.5 into 0.5
43.887 * [taylor]: Taking taylor expansion of phi2 in lambda2
43.887 * [backup-simplify]: Simplify phi2 into phi2
43.887 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
43.887 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
43.887 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
43.887 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))) in lambda2
43.887 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda2
43.887 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
43.887 * [taylor]: Taking taylor expansion of 0.5 in lambda2
43.887 * [backup-simplify]: Simplify 0.5 into 0.5
43.887 * [taylor]: Taking taylor expansion of phi1 in lambda2
43.887 * [backup-simplify]: Simplify phi1 into phi1
43.887 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
43.887 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
43.887 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
43.887 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1))) in lambda2
43.887 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda2
43.887 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
43.887 * [taylor]: Taking taylor expansion of 0.5 in lambda2
43.887 * [backup-simplify]: Simplify 0.5 into 0.5
43.887 * [taylor]: Taking taylor expansion of phi2 in lambda2
43.887 * [backup-simplify]: Simplify phi2 into phi2
43.888 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
43.888 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
43.888 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
43.888 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda2
43.888 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
43.888 * [taylor]: Taking taylor expansion of 0.5 in lambda2
43.888 * [backup-simplify]: Simplify 0.5 into 0.5
43.888 * [taylor]: Taking taylor expansion of phi1 in lambda2
43.888 * [backup-simplify]: Simplify phi1 into phi1
43.888 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
43.888 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
43.888 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
43.888 * [taylor]: Taking taylor expansion of (* 2 (* phi1 phi2)) in lambda2
43.888 * [taylor]: Taking taylor expansion of 2 in lambda2
43.888 * [backup-simplify]: Simplify 2 into 2
43.888 * [taylor]: Taking taylor expansion of (* phi1 phi2) in lambda2
43.888 * [taylor]: Taking taylor expansion of phi1 in lambda2
43.888 * [backup-simplify]: Simplify phi1 into phi1
43.888 * [taylor]: Taking taylor expansion of phi2 in lambda2
43.888 * [backup-simplify]: Simplify phi2 into phi2
43.888 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
43.888 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
43.889 * [backup-simplify]: Simplify (+ (pow phi2 2) (pow phi1 2)) into (+ (pow phi2 2) (pow phi1 2))
43.889 * [backup-simplify]: Simplify (+ 0 (+ (pow phi2 2) (pow phi1 2))) into (+ (pow phi2 2) (pow phi1 2))
43.889 * [backup-simplify]: Simplify (+ 0 (+ (pow phi2 2) (pow phi1 2))) into (+ (pow phi2 2) (pow phi1 2))
43.889 * [backup-simplify]: Simplify (* phi1 phi2) into (* phi1 phi2)
43.889 * [backup-simplify]: Simplify (* 2 (* phi1 phi2)) into (* 2 (* phi1 phi2))
43.889 * [backup-simplify]: Simplify (+ 0 (* 2 (* phi1 phi2))) into (* 2 (* phi1 phi2))
43.889 * [backup-simplify]: Simplify (+ 0 (* 2 (* phi1 phi2))) into (* 2 (* phi1 phi2))
43.890 * [backup-simplify]: Simplify (- (* 2 (* phi1 phi2))) into (- (* 2 (* phi1 phi2)))
43.890 * [backup-simplify]: Simplify (+ (+ (pow phi2 2) (pow phi1 2)) (- (* 2 (* phi1 phi2)))) into (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))
43.890 * [backup-simplify]: Simplify (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))) into (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))
43.891 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) into (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))))
43.891 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0
43.891 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0
43.891 * [backup-simplify]: Simplify (+ 0 0) into 0
43.892 * [backup-simplify]: Simplify (+ 0 0) into 0
43.892 * [backup-simplify]: Simplify (+ 0 0) into 0
43.892 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi2)) into 0
43.893 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi1 phi2))) into 0
43.893 * [backup-simplify]: Simplify (+ 0 0) into 0
43.893 * [backup-simplify]: Simplify (+ 0 0) into 0
43.894 * [backup-simplify]: Simplify (- 0) into 0
43.894 * [backup-simplify]: Simplify (+ 0 0) into 0
43.895 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))) (/ 0 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))))) into 0
43.895 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))))) into 0
43.895 * [taylor]: Taking taylor expansion of (+ (* (* R (* lambda2 (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2)))) (sqrt (/ 1 (- (+ (* (pow lambda2 2) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) (+ (* (pow lambda2 2) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (pow phi2 2) (pow phi1 2)))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))) (* 2 (* phi1 phi2)))))))) (* (* lambda2 (* (pow (cos (* 0.5 phi2)) 2) (* R (pow (cos (* 0.5 phi1)) 2)))) (sqrt (/ 1 (- (+ (* (pow lambda2 2) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) (+ (* (pow lambda2 2) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (pow phi2 2) (pow phi1 2)))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))) (* 2 (* phi1 phi2))))))))) in lambda2
43.895 * [taylor]: Taking taylor expansion of (* (* R (* lambda2 (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2)))) (sqrt (/ 1 (- (+ (* (pow lambda2 2) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) (+ (* (pow lambda2 2) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (pow phi2 2) (pow phi1 2)))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))) (* 2 (* phi1 phi2)))))))) in lambda2
43.895 * [taylor]: Taking taylor expansion of (* R (* lambda2 (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2)))) in lambda2
43.895 * [taylor]: Taking taylor expansion of R in lambda2
43.895 * [backup-simplify]: Simplify R into R
43.895 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2))) in lambda2
43.896 * [taylor]: Taking taylor expansion of lambda2 in lambda2
43.896 * [backup-simplify]: Simplify 0 into 0
43.896 * [backup-simplify]: Simplify 1 into 1
43.896 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2)) in lambda2
43.896 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi2)) 2) in lambda2
43.896 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda2
43.896 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
43.896 * [taylor]: Taking taylor expansion of 0.5 in lambda2
43.896 * [backup-simplify]: Simplify 0.5 into 0.5
43.896 * [taylor]: Taking taylor expansion of phi2 in lambda2
43.896 * [backup-simplify]: Simplify phi2 into phi2
43.896 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
43.896 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
43.896 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
43.896 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2))
43.896 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0
43.896 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2))
43.896 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in lambda2
43.896 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda2
43.896 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
43.896 * [taylor]: Taking taylor expansion of 0.5 in lambda2
43.896 * [backup-simplify]: Simplify 0.5 into 0.5
43.896 * [taylor]: Taking taylor expansion of phi1 in lambda2
43.896 * [backup-simplify]: Simplify phi1 into phi1
43.896 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
43.897 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
43.897 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
43.897 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1))
43.897 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0
43.897 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1))
43.897 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow lambda2 2) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) (+ (* (pow lambda2 2) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (pow phi2 2) (pow phi1 2)))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))) (* 2 (* phi1 phi2))))))) in lambda2
43.897 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow lambda2 2) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) (+ (* (pow lambda2 2) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (pow phi2 2) (pow phi1 2)))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))) (* 2 (* phi1 phi2)))))) in lambda2
43.897 * [taylor]: Taking taylor expansion of (- (+ (* (pow lambda2 2) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) (+ (* (pow lambda2 2) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (pow phi2 2) (pow phi1 2)))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))) (* 2 (* phi1 phi2))))) in lambda2
43.897 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) (+ (* (pow lambda2 2) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (pow phi2 2) (pow phi1 2)))) in lambda2
43.897 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) in lambda2
43.897 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
43.897 * [taylor]: Taking taylor expansion of lambda2 in lambda2
43.897 * [backup-simplify]: Simplify 0 into 0
43.897 * [backup-simplify]: Simplify 1 into 1
43.897 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) in lambda2
43.897 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in lambda2
43.897 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda2
43.897 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
43.897 * [taylor]: Taking taylor expansion of 0.5 in lambda2
43.897 * [backup-simplify]: Simplify 0.5 into 0.5
43.897 * [taylor]: Taking taylor expansion of phi1 in lambda2
43.897 * [backup-simplify]: Simplify phi1 into phi1
43.897 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
43.898 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
43.898 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
43.898 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1))
43.898 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0
43.898 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1))
43.898 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi2)) 2) in lambda2
43.898 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda2
43.898 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
43.898 * [taylor]: Taking taylor expansion of 0.5 in lambda2
43.898 * [backup-simplify]: Simplify 0.5 into 0.5
43.898 * [taylor]: Taking taylor expansion of phi2 in lambda2
43.898 * [backup-simplify]: Simplify phi2 into phi2
43.898 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
43.898 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
43.898 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
43.898 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2))
43.898 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0
43.898 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2))
43.899 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (pow phi2 2) (pow phi1 2))) in lambda2
43.899 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) in lambda2
43.899 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
43.899 * [taylor]: Taking taylor expansion of lambda2 in lambda2
43.899 * [backup-simplify]: Simplify 0 into 0
43.899 * [backup-simplify]: Simplify 1 into 1
43.899 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2)) in lambda2
43.899 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in lambda2
43.899 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda2
43.899 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
43.899 * [taylor]: Taking taylor expansion of 0.5 in lambda2
43.899 * [backup-simplify]: Simplify 0.5 into 0.5
43.899 * [taylor]: Taking taylor expansion of phi1 in lambda2
43.899 * [backup-simplify]: Simplify phi1 into phi1
43.899 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
43.899 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
43.899 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
43.899 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
43.899 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
43.900 * [backup-simplify]: Simplify (- 0) into 0
43.900 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
43.900 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in lambda2
43.900 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda2
43.900 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
43.900 * [taylor]: Taking taylor expansion of 0.5 in lambda2
43.900 * [backup-simplify]: Simplify 0.5 into 0.5
43.900 * [taylor]: Taking taylor expansion of phi2 in lambda2
43.900 * [backup-simplify]: Simplify phi2 into phi2
43.900 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
43.900 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
43.900 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
43.900 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2))
43.900 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0
43.901 * [backup-simplify]: Simplify (- 0) into 0
43.901 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2))
43.901 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (pow phi1 2)) in lambda2
43.901 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2
43.901 * [taylor]: Taking taylor expansion of phi2 in lambda2
43.901 * [backup-simplify]: Simplify phi2 into phi2
43.901 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2
43.901 * [taylor]: Taking taylor expansion of phi1 in lambda2
43.901 * [backup-simplify]: Simplify phi1 into phi1
43.901 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))) (* 2 (* phi1 phi2)))) in lambda2
43.901 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))))) in lambda2
43.901 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
43.901 * [taylor]: Taking taylor expansion of lambda2 in lambda2
43.901 * [backup-simplify]: Simplify 0 into 0
43.901 * [backup-simplify]: Simplify 1 into 1
43.901 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1))))) in lambda2
43.901 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda2
43.901 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
43.901 * [taylor]: Taking taylor expansion of 0.5 in lambda2
43.901 * [backup-simplify]: Simplify 0.5 into 0.5
43.901 * [taylor]: Taking taylor expansion of phi2 in lambda2
43.901 * [backup-simplify]: Simplify phi2 into phi2
43.901 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
43.901 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
43.902 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
43.902 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) in lambda2
43.902 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda2
43.902 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
43.902 * [taylor]: Taking taylor expansion of 0.5 in lambda2
43.902 * [backup-simplify]: Simplify 0.5 into 0.5
43.902 * [taylor]: Taking taylor expansion of phi1 in lambda2
43.902 * [backup-simplify]: Simplify phi1 into phi1
43.902 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
43.902 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
43.902 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
43.902 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1))) in lambda2
43.902 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda2
43.902 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
43.902 * [taylor]: Taking taylor expansion of 0.5 in lambda2
43.902 * [backup-simplify]: Simplify 0.5 into 0.5
43.902 * [taylor]: Taking taylor expansion of phi2 in lambda2
43.902 * [backup-simplify]: Simplify phi2 into phi2
43.902 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
43.902 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
43.902 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
43.902 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda2
43.902 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
43.902 * [taylor]: Taking taylor expansion of 0.5 in lambda2
43.902 * [backup-simplify]: Simplify 0.5 into 0.5
43.902 * [taylor]: Taking taylor expansion of phi1 in lambda2
43.902 * [backup-simplify]: Simplify phi1 into phi1
43.902 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
43.903 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
43.903 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
43.903 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))) (* 2 (* phi1 phi2))) in lambda2
43.903 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))) in lambda2
43.903 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
43.903 * [taylor]: Taking taylor expansion of lambda2 in lambda2
43.903 * [backup-simplify]: Simplify 0 into 0
43.903 * [backup-simplify]: Simplify 1 into 1
43.903 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1))))) in lambda2
43.903 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda2
43.903 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
43.903 * [taylor]: Taking taylor expansion of 0.5 in lambda2
43.903 * [backup-simplify]: Simplify 0.5 into 0.5
43.903 * [taylor]: Taking taylor expansion of phi2 in lambda2
43.903 * [backup-simplify]: Simplify phi2 into phi2
43.903 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
43.903 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
43.903 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
43.903 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))) in lambda2
43.903 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda2
43.903 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
43.903 * [taylor]: Taking taylor expansion of 0.5 in lambda2
43.903 * [backup-simplify]: Simplify 0.5 into 0.5
43.903 * [taylor]: Taking taylor expansion of phi1 in lambda2
43.903 * [backup-simplify]: Simplify phi1 into phi1
43.903 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
43.903 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
43.903 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
43.904 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1))) in lambda2
43.904 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda2
43.904 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
43.904 * [taylor]: Taking taylor expansion of 0.5 in lambda2
43.904 * [backup-simplify]: Simplify 0.5 into 0.5
43.904 * [taylor]: Taking taylor expansion of phi2 in lambda2
43.904 * [backup-simplify]: Simplify phi2 into phi2
43.904 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
43.904 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
43.904 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
43.904 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda2
43.904 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
43.904 * [taylor]: Taking taylor expansion of 0.5 in lambda2
43.904 * [backup-simplify]: Simplify 0.5 into 0.5
43.904 * [taylor]: Taking taylor expansion of phi1 in lambda2
43.904 * [backup-simplify]: Simplify phi1 into phi1
43.904 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
43.904 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
43.904 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
43.904 * [taylor]: Taking taylor expansion of (* 2 (* phi1 phi2)) in lambda2
43.904 * [taylor]: Taking taylor expansion of 2 in lambda2
43.904 * [backup-simplify]: Simplify 2 into 2
43.904 * [taylor]: Taking taylor expansion of (* phi1 phi2) in lambda2
43.904 * [taylor]: Taking taylor expansion of phi1 in lambda2
43.904 * [backup-simplify]: Simplify phi1 into phi1
43.904 * [taylor]: Taking taylor expansion of phi2 in lambda2
43.904 * [backup-simplify]: Simplify phi2 into phi2
43.904 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
43.905 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
43.905 * [backup-simplify]: Simplify (+ (pow phi2 2) (pow phi1 2)) into (+ (pow phi2 2) (pow phi1 2))
43.905 * [backup-simplify]: Simplify (+ 0 (+ (pow phi2 2) (pow phi1 2))) into (+ (pow phi2 2) (pow phi1 2))
43.905 * [backup-simplify]: Simplify (+ 0 (+ (pow phi2 2) (pow phi1 2))) into (+ (pow phi2 2) (pow phi1 2))
43.905 * [backup-simplify]: Simplify (* phi1 phi2) into (* phi1 phi2)
43.905 * [backup-simplify]: Simplify (* 2 (* phi1 phi2)) into (* 2 (* phi1 phi2))
43.906 * [backup-simplify]: Simplify (+ 0 (* 2 (* phi1 phi2))) into (* 2 (* phi1 phi2))
43.906 * [backup-simplify]: Simplify (+ 0 (* 2 (* phi1 phi2))) into (* 2 (* phi1 phi2))
43.906 * [backup-simplify]: Simplify (- (* 2 (* phi1 phi2))) into (- (* 2 (* phi1 phi2)))
43.906 * [backup-simplify]: Simplify (+ (+ (pow phi2 2) (pow phi1 2)) (- (* 2 (* phi1 phi2)))) into (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))
43.906 * [backup-simplify]: Simplify (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))) into (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))
43.907 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) into (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))))
43.907 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0
43.907 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0
43.915 * [backup-simplify]: Simplify (+ 0 0) into 0
43.916 * [backup-simplify]: Simplify (+ 0 0) into 0
43.916 * [backup-simplify]: Simplify (+ 0 0) into 0
43.917 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi2)) into 0
43.917 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi1 phi2))) into 0
43.918 * [backup-simplify]: Simplify (+ 0 0) into 0
43.919 * [backup-simplify]: Simplify (+ 0 0) into 0
43.919 * [backup-simplify]: Simplify (- 0) into 0
43.920 * [backup-simplify]: Simplify (+ 0 0) into 0
43.921 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))) (/ 0 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))))) into 0
43.921 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))))) into 0
43.921 * [taylor]: Taking taylor expansion of (* (* lambda2 (* (pow (cos (* 0.5 phi2)) 2) (* R (pow (cos (* 0.5 phi1)) 2)))) (sqrt (/ 1 (- (+ (* (pow lambda2 2) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) (+ (* (pow lambda2 2) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (pow phi2 2) (pow phi1 2)))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))) (* 2 (* phi1 phi2)))))))) in lambda2
43.921 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (cos (* 0.5 phi2)) 2) (* R (pow (cos (* 0.5 phi1)) 2)))) in lambda2
43.921 * [taylor]: Taking taylor expansion of lambda2 in lambda2
43.921 * [backup-simplify]: Simplify 0 into 0
43.921 * [backup-simplify]: Simplify 1 into 1
43.922 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi2)) 2) (* R (pow (cos (* 0.5 phi1)) 2))) in lambda2
43.922 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in lambda2
43.922 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda2
43.922 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
43.922 * [taylor]: Taking taylor expansion of 0.5 in lambda2
43.922 * [backup-simplify]: Simplify 0.5 into 0.5
43.922 * [taylor]: Taking taylor expansion of phi2 in lambda2
43.922 * [backup-simplify]: Simplify phi2 into phi2
43.922 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
43.922 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
43.922 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
43.922 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2))
43.922 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0
43.923 * [backup-simplify]: Simplify (- 0) into 0
43.923 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2))
43.923 * [taylor]: Taking taylor expansion of (* R (pow (cos (* 0.5 phi1)) 2)) in lambda2
43.923 * [taylor]: Taking taylor expansion of R in lambda2
43.923 * [backup-simplify]: Simplify R into R
43.923 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in lambda2
43.923 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda2
43.923 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
43.923 * [taylor]: Taking taylor expansion of 0.5 in lambda2
43.923 * [backup-simplify]: Simplify 0.5 into 0.5
43.923 * [taylor]: Taking taylor expansion of phi1 in lambda2
43.923 * [backup-simplify]: Simplify phi1 into phi1
43.923 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
43.923 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
43.923 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
43.923 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
43.923 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
43.924 * [backup-simplify]: Simplify (- 0) into 0
43.924 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
43.924 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow lambda2 2) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) (+ (* (pow lambda2 2) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (pow phi2 2) (pow phi1 2)))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))) (* 2 (* phi1 phi2))))))) in lambda2
43.924 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow lambda2 2) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) (+ (* (pow lambda2 2) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (pow phi2 2) (pow phi1 2)))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))) (* 2 (* phi1 phi2)))))) in lambda2
43.924 * [taylor]: Taking taylor expansion of (- (+ (* (pow lambda2 2) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) (+ (* (pow lambda2 2) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (pow phi2 2) (pow phi1 2)))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))) (* 2 (* phi1 phi2))))) in lambda2
43.924 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) (+ (* (pow lambda2 2) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (pow phi2 2) (pow phi1 2)))) in lambda2
43.924 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) in lambda2
43.924 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
43.924 * [taylor]: Taking taylor expansion of lambda2 in lambda2
43.924 * [backup-simplify]: Simplify 0 into 0
43.924 * [backup-simplify]: Simplify 1 into 1
43.924 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) in lambda2
43.924 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in lambda2
43.924 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda2
43.925 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
43.925 * [taylor]: Taking taylor expansion of 0.5 in lambda2
43.925 * [backup-simplify]: Simplify 0.5 into 0.5
43.925 * [taylor]: Taking taylor expansion of phi1 in lambda2
43.925 * [backup-simplify]: Simplify phi1 into phi1
43.925 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
43.925 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
43.925 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
43.925 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1))
43.925 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0
43.925 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1))
43.925 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi2)) 2) in lambda2
43.925 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda2
43.925 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
43.925 * [taylor]: Taking taylor expansion of 0.5 in lambda2
43.925 * [backup-simplify]: Simplify 0.5 into 0.5
43.925 * [taylor]: Taking taylor expansion of phi2 in lambda2
43.925 * [backup-simplify]: Simplify phi2 into phi2
43.925 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
43.926 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
43.926 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
43.926 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2))
43.926 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0
43.926 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2))
43.926 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (pow phi2 2) (pow phi1 2))) in lambda2
43.926 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) in lambda2
43.926 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
43.926 * [taylor]: Taking taylor expansion of lambda2 in lambda2
43.926 * [backup-simplify]: Simplify 0 into 0
43.926 * [backup-simplify]: Simplify 1 into 1
43.926 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2)) in lambda2
43.926 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in lambda2
43.926 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda2
43.926 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
43.926 * [taylor]: Taking taylor expansion of 0.5 in lambda2
43.926 * [backup-simplify]: Simplify 0.5 into 0.5
43.926 * [taylor]: Taking taylor expansion of phi1 in lambda2
43.926 * [backup-simplify]: Simplify phi1 into phi1
43.926 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
43.926 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
43.927 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
43.927 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
43.927 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
43.927 * [backup-simplify]: Simplify (- 0) into 0
43.927 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
43.927 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in lambda2
43.927 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda2
43.928 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
43.928 * [taylor]: Taking taylor expansion of 0.5 in lambda2
43.928 * [backup-simplify]: Simplify 0.5 into 0.5
43.928 * [taylor]: Taking taylor expansion of phi2 in lambda2
43.928 * [backup-simplify]: Simplify phi2 into phi2
43.928 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
43.928 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
43.928 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
43.928 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2))
43.928 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0
43.929 * [backup-simplify]: Simplify (- 0) into 0
43.929 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2))
43.929 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (pow phi1 2)) in lambda2
43.929 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2
43.929 * [taylor]: Taking taylor expansion of phi2 in lambda2
43.929 * [backup-simplify]: Simplify phi2 into phi2
43.929 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2
43.929 * [taylor]: Taking taylor expansion of phi1 in lambda2
43.929 * [backup-simplify]: Simplify phi1 into phi1
43.929 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))))) (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))) (* 2 (* phi1 phi2)))) in lambda2
43.929 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))))) in lambda2
43.929 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
43.929 * [taylor]: Taking taylor expansion of lambda2 in lambda2
43.929 * [backup-simplify]: Simplify 0 into 0
43.929 * [backup-simplify]: Simplify 1 into 1
43.929 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1))))) in lambda2
43.929 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda2
43.929 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
43.929 * [taylor]: Taking taylor expansion of 0.5 in lambda2
43.929 * [backup-simplify]: Simplify 0.5 into 0.5
43.929 * [taylor]: Taking taylor expansion of phi2 in lambda2
43.929 * [backup-simplify]: Simplify phi2 into phi2
43.929 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
43.929 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
43.929 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
43.930 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) in lambda2
43.930 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda2
43.930 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
43.930 * [taylor]: Taking taylor expansion of 0.5 in lambda2
43.930 * [backup-simplify]: Simplify 0.5 into 0.5
43.930 * [taylor]: Taking taylor expansion of phi1 in lambda2
43.930 * [backup-simplify]: Simplify phi1 into phi1
43.930 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
43.930 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
43.930 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
43.930 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1))) in lambda2
43.930 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda2
43.930 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
43.930 * [taylor]: Taking taylor expansion of 0.5 in lambda2
43.930 * [backup-simplify]: Simplify 0.5 into 0.5
43.930 * [taylor]: Taking taylor expansion of phi2 in lambda2
43.930 * [backup-simplify]: Simplify phi2 into phi2
43.930 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
43.930 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
43.930 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
43.930 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda2
43.930 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
43.930 * [taylor]: Taking taylor expansion of 0.5 in lambda2
43.931 * [backup-simplify]: Simplify 0.5 into 0.5
43.931 * [taylor]: Taking taylor expansion of phi1 in lambda2
43.931 * [backup-simplify]: Simplify phi1 into phi1
43.931 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
43.931 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
43.931 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
43.931 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))) (* 2 (* phi1 phi2))) in lambda2
43.931 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))))) in lambda2
43.931 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
43.931 * [taylor]: Taking taylor expansion of lambda2 in lambda2
43.931 * [backup-simplify]: Simplify 0 into 0
43.931 * [backup-simplify]: Simplify 1 into 1
43.931 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1))))) in lambda2
43.931 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda2
43.931 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
43.931 * [taylor]: Taking taylor expansion of 0.5 in lambda2
43.931 * [backup-simplify]: Simplify 0.5 into 0.5
43.931 * [taylor]: Taking taylor expansion of phi2 in lambda2
43.931 * [backup-simplify]: Simplify phi2 into phi2
43.931 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
43.931 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
43.931 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
43.931 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1)))) in lambda2
43.932 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda2
43.932 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
43.932 * [taylor]: Taking taylor expansion of 0.5 in lambda2
43.932 * [backup-simplify]: Simplify 0.5 into 0.5
43.932 * [taylor]: Taking taylor expansion of phi1 in lambda2
43.932 * [backup-simplify]: Simplify phi1 into phi1
43.932 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
43.932 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
43.932 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
43.932 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1))) in lambda2
43.932 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda2
43.932 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
43.932 * [taylor]: Taking taylor expansion of 0.5 in lambda2
43.932 * [backup-simplify]: Simplify 0.5 into 0.5
43.932 * [taylor]: Taking taylor expansion of phi2 in lambda2
43.932 * [backup-simplify]: Simplify phi2 into phi2
43.932 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
43.932 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
43.932 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
43.932 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda2
43.932 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
43.932 * [taylor]: Taking taylor expansion of 0.5 in lambda2
43.932 * [backup-simplify]: Simplify 0.5 into 0.5
43.932 * [taylor]: Taking taylor expansion of phi1 in lambda2
43.933 * [backup-simplify]: Simplify phi1 into phi1
43.933 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
43.933 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
43.933 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
43.933 * [taylor]: Taking taylor expansion of (* 2 (* phi1 phi2)) in lambda2
43.933 * [taylor]: Taking taylor expansion of 2 in lambda2
43.933 * [backup-simplify]: Simplify 2 into 2
43.933 * [taylor]: Taking taylor expansion of (* phi1 phi2) in lambda2
43.933 * [taylor]: Taking taylor expansion of phi1 in lambda2
43.933 * [backup-simplify]: Simplify phi1 into phi1
43.933 * [taylor]: Taking taylor expansion of phi2 in lambda2
43.933 * [backup-simplify]: Simplify phi2 into phi2
43.933 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
43.933 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
43.933 * [backup-simplify]: Simplify (+ (pow phi2 2) (pow phi1 2)) into (+ (pow phi2 2) (pow phi1 2))
43.934 * [backup-simplify]: Simplify (+ 0 (+ (pow phi2 2) (pow phi1 2))) into (+ (pow phi2 2) (pow phi1 2))
43.934 * [backup-simplify]: Simplify (+ 0 (+ (pow phi2 2) (pow phi1 2))) into (+ (pow phi2 2) (pow phi1 2))
43.934 * [backup-simplify]: Simplify (* phi1 phi2) into (* phi1 phi2)
43.934 * [backup-simplify]: Simplify (* 2 (* phi1 phi2)) into (* 2 (* phi1 phi2))
43.934 * [backup-simplify]: Simplify (+ 0 (* 2 (* phi1 phi2))) into (* 2 (* phi1 phi2))
43.934 * [backup-simplify]: Simplify (+ 0 (* 2 (* phi1 phi2))) into (* 2 (* phi1 phi2))
43.935 * [backup-simplify]: Simplify (- (* 2 (* phi1 phi2))) into (- (* 2 (* phi1 phi2)))
43.935 * [backup-simplify]: Simplify (+ (+ (pow phi2 2) (pow phi1 2)) (- (* 2 (* phi1 phi2)))) into (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))
43.935 * [backup-simplify]: Simplify (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))) into (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))
43.936 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) into (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))))
43.936 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0
43.936 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0
43.937 * [backup-simplify]: Simplify (+ 0 0) into 0
43.937 * [backup-simplify]: Simplify (+ 0 0) into 0
43.937 * [backup-simplify]: Simplify (+ 0 0) into 0
43.938 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi2)) into 0
43.938 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi1 phi2))) into 0
43.938 * [backup-simplify]: Simplify (+ 0 0) into 0
43.939 * [backup-simplify]: Simplify (+ 0 0) into 0
43.939 * [backup-simplify]: Simplify (- 0) into 0
43.940 * [backup-simplify]: Simplify (+ 0 0) into 0
43.941 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))) (/ 0 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))))) into 0
43.941 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))))) into 0
43.941 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1))
43.941 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0
43.941 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1))
43.942 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2))
43.942 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0
43.942 * [backup-simplify]: Simplify (- 0) into 0
43.942 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2))
43.942 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
43.943 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
43.943 * [backup-simplify]: Simplify (- 0) into 0
43.943 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
43.943 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2))
43.943 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0
43.943 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2))
43.944 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (sin (* 0.5 phi2))) into (* (cos (* 0.5 phi1)) (sin (* 0.5 phi2)))
43.944 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi2)))) into (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))
43.944 * [backup-simplify]: Simplify (* R (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))) into (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* R (cos (* 0.5 phi2)))))
43.944 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* R (cos (* 0.5 phi2)))))) into (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* R (cos (* 0.5 phi2))))))
43.945 * [backup-simplify]: Simplify (* 0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* R (cos (* 0.5 phi2))))))) into 0
43.945 * [backup-simplify]: Simplify (* 0 (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))))) into 0
43.946 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
43.946 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
43.946 * [backup-simplify]: Simplify (- 0) into 0
43.946 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
43.946 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2))
43.947 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0
43.947 * [backup-simplify]: Simplify (- 0) into 0
43.947 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2))
43.947 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1))
43.947 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0
43.947 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1))
43.947 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2))
43.948 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0
43.948 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2))
43.948 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))) into (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))
43.948 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))) into (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))
43.948 * [backup-simplify]: Simplify (* R (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))) into (* (sin (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* R (cos (* 0.5 phi2)))))
43.949 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* R (cos (* 0.5 phi2)))))) into (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* R (cos (* 0.5 phi2))))))
43.949 * [backup-simplify]: Simplify (* 0 (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* R (cos (* 0.5 phi2))))))) into 0
43.950 * [backup-simplify]: Simplify (* 0 (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))))) into 0
43.950 * [backup-simplify]: Simplify (+ 0 0) into 0
43.950 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) (sin (* 0.5 phi2))) into (pow (sin (* 0.5 phi2)) 2)
43.951 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) (sin (* 0.5 phi1))) into (pow (sin (* 0.5 phi1)) 2)
43.951 * [backup-simplify]: Simplify (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2)) into (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))
43.951 * [backup-simplify]: Simplify (* 0 (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) into 0
43.951 * [backup-simplify]: Simplify (* R 0) into 0
43.952 * [backup-simplify]: Simplify (* 0 (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))))) into 0
43.952 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2)
43.952 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2)
43.953 * [backup-simplify]: Simplify (* R (pow (cos (* 0.5 phi1)) 2)) into (* (pow (cos (* 0.5 phi1)) 2) R)
43.953 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) R)) into (* (pow (cos (* 0.5 phi1)) 2) (* R (pow (cos (* 0.5 phi2)) 2)))
43.953 * [backup-simplify]: Simplify (* 0 (* (pow (cos (* 0.5 phi1)) 2) (* R (pow (cos (* 0.5 phi2)) 2)))) into 0
43.954 * [backup-simplify]: Simplify (* 0 (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))))) into 0
43.954 * [backup-simplify]: Simplify (+ 0 0) into 0
43.955 * [backup-simplify]: Simplify (- 0) into 0
43.955 * [backup-simplify]: Simplify (+ 0 0) into 0
43.955 * [taylor]: Taking taylor expansion of 0 in phi1
43.955 * [backup-simplify]: Simplify 0 into 0
43.955 * [taylor]: Taking taylor expansion of 0 in phi2
43.955 * [backup-simplify]: Simplify 0 into 0
43.955 * [taylor]: Taking taylor expansion of 0 in R
43.955 * [backup-simplify]: Simplify 0 into 0
43.955 * [backup-simplify]: Simplify 0 into 0
43.956 * [backup-simplify]: Simplify (+ (* (sqrt (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))) 0) (* 0 R)) into 0
43.956 * [taylor]: Taking taylor expansion of 0 in phi1
43.956 * [backup-simplify]: Simplify 0 into 0
43.956 * [taylor]: Taking taylor expansion of 0 in phi2
43.956 * [backup-simplify]: Simplify 0 into 0
43.956 * [taylor]: Taking taylor expansion of 0 in R
43.956 * [backup-simplify]: Simplify 0 into 0
43.956 * [backup-simplify]: Simplify 0 into 0
43.956 * [backup-simplify]: Simplify (+ (* phi2 0) (* -1 R)) into (- R)
43.956 * [taylor]: Taking taylor expansion of (- R) in phi2
43.956 * [taylor]: Taking taylor expansion of R in phi2
43.956 * [backup-simplify]: Simplify R into R
43.956 * [backup-simplify]: Simplify (- R) into (- R)
43.957 * [taylor]: Taking taylor expansion of (- R) in R
43.957 * [taylor]: Taking taylor expansion of R in R
43.957 * [backup-simplify]: Simplify 0 into 0
43.957 * [backup-simplify]: Simplify 1 into 1
43.957 * [backup-simplify]: Simplify (- 0) into 0
43.957 * [backup-simplify]: Simplify 0 into 0
43.958 * [backup-simplify]: Simplify (+ (* R 1) (* 0 0)) into R
43.958 * [taylor]: Taking taylor expansion of R in R
43.958 * [backup-simplify]: Simplify 0 into 0
43.958 * [backup-simplify]: Simplify 1 into 1
43.958 * [backup-simplify]: Simplify 0 into 0
43.958 * [backup-simplify]: Simplify 0 into 0
43.958 * [backup-simplify]: Simplify 0 into 0
43.959 * [backup-simplify]: Simplify (* (hypot (* (- (/ 1 lambda1) (/ 1 lambda2)) (fma (cos (* (/ 1 phi1) 0.5)) (cos (* (/ 1 phi2) 0.5)) (- (* (sin (* (/ 1 phi1) 0.5)) (sin (* (/ 1 phi2) 0.5)))))) (- (/ 1 phi1) (/ 1 phi2))) (/ 1 R)) into (/ (hypot (* (fma (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2)) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (/ 1 lambda1) (/ 1 lambda2))) (- (/ 1 phi1) (/ 1 phi2))) R)
43.959 * [approximate]: Taking taylor expansion of (/ (hypot (* (fma (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2)) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (/ 1 lambda1) (/ 1 lambda2))) (- (/ 1 phi1) (/ 1 phi2))) R) in (lambda1 lambda2 phi1 phi2 R) around 0
43.959 * [taylor]: Taking taylor expansion of (/ (hypot (* (fma (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2)) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (/ 1 lambda1) (/ 1 lambda2))) (- (/ 1 phi1) (/ 1 phi2))) R) in R
43.959 * [taylor]: Taking taylor expansion of (hypot (* (fma (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2)) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (/ 1 lambda1) (/ 1 lambda2))) (- (/ 1 phi1) (/ 1 phi2))) in R
43.959 * [taylor]: Rewrote expression to (sqrt (+ (* (* (fma (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2)) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (/ 1 lambda1) (/ 1 lambda2))) (* (fma (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2)) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (/ 1 lambda1) (/ 1 lambda2)))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2)))))
43.959 * [taylor]: Taking taylor expansion of (+ (* (* (fma (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2)) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (/ 1 lambda1) (/ 1 lambda2))) (* (fma (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2)) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (/ 1 lambda1) (/ 1 lambda2)))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2)))) in R
43.959 * [taylor]: Taking taylor expansion of (* (* (fma (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2)) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (/ 1 lambda1) (/ 1 lambda2))) (* (fma (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2)) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (/ 1 lambda1) (/ 1 lambda2)))) in R
43.959 * [taylor]: Taking taylor expansion of (* (fma (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2)) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (/ 1 lambda1) (/ 1 lambda2))) in R
43.959 * [taylor]: Taking taylor expansion of (fma (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2)) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in R
43.959 * [taylor]: Rewrote expression to (+ (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
43.959 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) in R
43.959 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in R
43.959 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
43.959 * [taylor]: Taking taylor expansion of 0.5 in R
43.960 * [backup-simplify]: Simplify 0.5 into 0.5
43.960 * [taylor]: Taking taylor expansion of phi1 in R
43.960 * [backup-simplify]: Simplify phi1 into phi1
43.960 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
43.960 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
43.960 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
43.960 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in R
43.960 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
43.960 * [taylor]: Taking taylor expansion of 0.5 in R
43.960 * [backup-simplify]: Simplify 0.5 into 0.5
43.960 * [taylor]: Taking taylor expansion of phi2 in R
43.960 * [backup-simplify]: Simplify phi2 into phi2
43.960 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
43.960 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
43.960 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
43.960 * [taylor]: Taking taylor expansion of (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in R
43.960 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in R
43.960 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in R
43.960 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
43.960 * [taylor]: Taking taylor expansion of 0.5 in R
43.960 * [backup-simplify]: Simplify 0.5 into 0.5
43.961 * [taylor]: Taking taylor expansion of phi2 in R
43.961 * [backup-simplify]: Simplify phi2 into phi2
43.961 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
43.961 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
43.961 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
43.961 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in R
43.961 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
43.961 * [taylor]: Taking taylor expansion of 0.5 in R
43.961 * [backup-simplify]: Simplify 0.5 into 0.5
43.961 * [taylor]: Taking taylor expansion of phi1 in R
43.961 * [backup-simplify]: Simplify phi1 into phi1
43.961 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
43.961 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
43.961 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
43.961 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in R
43.961 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in R
43.961 * [taylor]: Taking taylor expansion of lambda1 in R
43.961 * [backup-simplify]: Simplify lambda1 into lambda1
43.961 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1)
43.961 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in R
43.962 * [taylor]: Taking taylor expansion of lambda2 in R
43.962 * [backup-simplify]: Simplify lambda2 into lambda2
43.962 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
43.962 * [taylor]: Taking taylor expansion of (* (fma (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2)) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (/ 1 lambda1) (/ 1 lambda2))) in R
43.962 * [taylor]: Taking taylor expansion of (fma (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2)) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in R
43.962 * [taylor]: Rewrote expression to (+ (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
43.962 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) in R
43.962 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in R
43.962 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
43.962 * [taylor]: Taking taylor expansion of 0.5 in R
43.962 * [backup-simplify]: Simplify 0.5 into 0.5
43.962 * [taylor]: Taking taylor expansion of phi1 in R
43.962 * [backup-simplify]: Simplify phi1 into phi1
43.962 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
43.962 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
43.962 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
43.962 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in R
43.962 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
43.962 * [taylor]: Taking taylor expansion of 0.5 in R
43.962 * [backup-simplify]: Simplify 0.5 into 0.5
43.962 * [taylor]: Taking taylor expansion of phi2 in R
43.963 * [backup-simplify]: Simplify phi2 into phi2
43.963 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
43.963 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
43.963 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
43.963 * [taylor]: Taking taylor expansion of (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in R
43.963 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in R
43.963 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in R
43.963 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
43.963 * [taylor]: Taking taylor expansion of 0.5 in R
43.963 * [backup-simplify]: Simplify 0.5 into 0.5
43.963 * [taylor]: Taking taylor expansion of phi2 in R
43.963 * [backup-simplify]: Simplify phi2 into phi2
43.963 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
43.963 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
43.963 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
43.963 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in R
43.963 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
43.963 * [taylor]: Taking taylor expansion of 0.5 in R
43.963 * [backup-simplify]: Simplify 0.5 into 0.5
43.963 * [taylor]: Taking taylor expansion of phi1 in R
43.963 * [backup-simplify]: Simplify phi1 into phi1
43.964 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
43.964 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
43.964 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
43.964 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in R
43.964 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in R
43.964 * [taylor]: Taking taylor expansion of lambda1 in R
43.964 * [backup-simplify]: Simplify lambda1 into lambda1
43.964 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1)
43.964 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in R
43.964 * [taylor]: Taking taylor expansion of lambda2 in R
43.964 * [backup-simplify]: Simplify lambda2 into lambda2
43.964 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
43.964 * [taylor]: Taking taylor expansion of (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2))) in R
43.964 * [taylor]: Taking taylor expansion of (- (/ 1 phi1) (/ 1 phi2)) in R
43.964 * [taylor]: Taking taylor expansion of (/ 1 phi1) in R
43.964 * [taylor]: Taking taylor expansion of phi1 in R
43.964 * [backup-simplify]: Simplify phi1 into phi1
43.964 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
43.964 * [taylor]: Taking taylor expansion of (/ 1 phi2) in R
43.964 * [taylor]: Taking taylor expansion of phi2 in R
43.964 * [backup-simplify]: Simplify phi2 into phi2
43.964 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
43.964 * [taylor]: Taking taylor expansion of (- (/ 1 phi1) (/ 1 phi2)) in R
43.964 * [taylor]: Taking taylor expansion of (/ 1 phi1) in R
43.965 * [taylor]: Taking taylor expansion of phi1 in R
43.965 * [backup-simplify]: Simplify phi1 into phi1
43.965 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
43.965 * [taylor]: Taking taylor expansion of (/ 1 phi2) in R
43.965 * [taylor]: Taking taylor expansion of phi2 in R
43.965 * [backup-simplify]: Simplify phi2 into phi2
43.965 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
43.965 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
43.965 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
43.966 * [backup-simplify]: Simplify (- 0) into 0
43.966 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
43.966 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
43.966 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
43.966 * [backup-simplify]: Simplify (- 0) into 0
43.966 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
43.967 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
43.967 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
43.967 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
43.967 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
43.967 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
43.967 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
43.967 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
43.967 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
43.968 * [backup-simplify]: Simplify (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
43.968 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
43.968 * [backup-simplify]: Simplify (- (/ 1 lambda2)) into (- (/ 1 lambda2))
43.968 * [backup-simplify]: Simplify (+ (/ 1 lambda1) (- (/ 1 lambda2))) into (- (/ 1 lambda1) (/ 1 lambda2))
43.969 * [backup-simplify]: Simplify (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) (- (/ 1 lambda1) (/ 1 lambda2))) into (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) (- (/ 1 lambda1) (/ 1 lambda2)))
43.969 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
43.969 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
43.970 * [backup-simplify]: Simplify (- 0) into 0
43.970 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
43.970 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
43.970 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
43.970 * [backup-simplify]: Simplify (- 0) into 0
43.970 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
43.971 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
43.971 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
43.971 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
43.971 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
43.971 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
43.971 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
43.971 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
43.971 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
43.972 * [backup-simplify]: Simplify (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
43.972 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
43.972 * [backup-simplify]: Simplify (- (/ 1 lambda2)) into (- (/ 1 lambda2))
43.972 * [backup-simplify]: Simplify (+ (/ 1 lambda1) (- (/ 1 lambda2))) into (- (/ 1 lambda1) (/ 1 lambda2))
43.973 * [backup-simplify]: Simplify (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) (- (/ 1 lambda1) (/ 1 lambda2))) into (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) (- (/ 1 lambda1) (/ 1 lambda2)))
43.974 * [backup-simplify]: Simplify (* (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) (- (/ 1 lambda1) (/ 1 lambda2))) (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) (- (/ 1 lambda1) (/ 1 lambda2)))) into (* (pow (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) 2) (pow (- (/ 1 lambda1) (/ 1 lambda2)) 2))
43.974 * [backup-simplify]: Simplify (- (/ 1 phi2)) into (- (/ 1 phi2))
43.974 * [backup-simplify]: Simplify (+ (/ 1 phi1) (- (/ 1 phi2))) into (- (/ 1 phi1) (/ 1 phi2))
43.974 * [backup-simplify]: Simplify (- (/ 1 phi2)) into (- (/ 1 phi2))
43.975 * [backup-simplify]: Simplify (+ (/ 1 phi1) (- (/ 1 phi2))) into (- (/ 1 phi1) (/ 1 phi2))
43.975 * [backup-simplify]: Simplify (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2))) into (pow (- (/ 1 phi1) (/ 1 phi2)) 2)
43.977 * [backup-simplify]: Simplify (+ (* (pow (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) 2) (pow (- (/ 1 lambda1) (/ 1 lambda2)) 2)) (pow (- (/ 1 phi1) (/ 1 phi2)) 2)) into (- (+ (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (pow lambda2 2)) (+ (* 2 (/ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* lambda2 lambda1))) (+ (* 2 (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* lambda2 lambda1))) (+ (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (pow lambda1 2))))))))) (+ (* 2 (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (* lambda1 lambda2))) (+ (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ 1 (* phi1 phi2))) (+ (/ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* lambda1 lambda2))) (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (pow lambda2 2)))))))))
43.991 * [backup-simplify]: Simplify (sqrt (- (+ (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (pow lambda2 2)) (+ (* 2 (/ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* lambda2 lambda1))) (+ (* 2 (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* lambda2 lambda1))) (+ (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (pow lambda1 2))))))))) (+ (* 2 (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (* lambda1 lambda2))) (+ (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ 1 (* phi1 phi2))) (+ (/ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* lambda1 lambda2))) (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (pow lambda2 2)))))))))) into (sqrt (- (+ (* 2 (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* lambda2 lambda1))) (+ (* 2 (/ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* lambda2 lambda1))) (+ (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (pow lambda1 2))))))))) (+ (* 2 (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (* lambda1 lambda2))) (+ (* 2 (/ 1 (* phi1 phi2))) (+ (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (pow lambda2 2)) (+ (* 2 (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* lambda1 lambda2))) (+ (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (pow lambda1 2)) (+ (/ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (pow lambda2 2)) (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (pow lambda1 2))))))))))
43.992 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda1) (/ 0 lambda1)))) into 0
43.992 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)))) into 0
43.992 * [backup-simplify]: Simplify (- 0) into 0
43.993 * [backup-simplify]: Simplify (+ 0 0) into 0
43.993 * [backup-simplify]: Simplify (+ 0) into 0
43.994 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
43.994 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
43.995 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
43.995 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
43.996 * [backup-simplify]: Simplify (- 0) into 0
43.996 * [backup-simplify]: Simplify (+ 0 0) into 0
43.996 * [backup-simplify]: Simplify (+ 0) into 0
43.997 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
43.997 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
43.998 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
43.998 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
43.999 * [backup-simplify]: Simplify (- 0) into 0
43.999 * [backup-simplify]: Simplify (+ 0 0) into 0
43.999 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
44.000 * [backup-simplify]: Simplify (+ 0) into 0
44.000 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
44.000 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
44.001 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
44.002 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
44.002 * [backup-simplify]: Simplify (+ 0 0) into 0
44.002 * [backup-simplify]: Simplify (+ 0) into 0
44.003 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
44.003 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
44.004 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
44.004 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
44.005 * [backup-simplify]: Simplify (+ 0 0) into 0
44.005 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
44.005 * [backup-simplify]: Simplify (- 0) into 0
44.006 * [backup-simplify]: Simplify (+ 0 0) into 0
44.006 * [backup-simplify]: Simplify (+ (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) 0) (* 0 (- (/ 1 lambda1) (/ 1 lambda2)))) into 0
44.007 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda1) (/ 0 lambda1)))) into 0
44.007 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)))) into 0
44.007 * [backup-simplify]: Simplify (- 0) into 0
44.007 * [backup-simplify]: Simplify (+ 0 0) into 0
44.008 * [backup-simplify]: Simplify (+ 0) into 0
44.008 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
44.009 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
44.009 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
44.010 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
44.010 * [backup-simplify]: Simplify (- 0) into 0
44.011 * [backup-simplify]: Simplify (+ 0 0) into 0
44.011 * [backup-simplify]: Simplify (+ 0) into 0
44.011 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
44.012 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
44.012 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
44.013 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
44.013 * [backup-simplify]: Simplify (- 0) into 0
44.014 * [backup-simplify]: Simplify (+ 0 0) into 0
44.014 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
44.014 * [backup-simplify]: Simplify (+ 0) into 0
44.015 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
44.015 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
44.016 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
44.016 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
44.017 * [backup-simplify]: Simplify (+ 0 0) into 0
44.017 * [backup-simplify]: Simplify (+ 0) into 0
44.018 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
44.018 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
44.018 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
44.019 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
44.019 * [backup-simplify]: Simplify (+ 0 0) into 0
44.020 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
44.020 * [backup-simplify]: Simplify (- 0) into 0
44.020 * [backup-simplify]: Simplify (+ 0 0) into 0
44.021 * [backup-simplify]: Simplify (+ (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) 0) (* 0 (- (/ 1 lambda1) (/ 1 lambda2)))) into 0
44.022 * [backup-simplify]: Simplify (+ (* (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) (- (/ 1 lambda1) (/ 1 lambda2))) 0) (* 0 (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) (- (/ 1 lambda1) (/ 1 lambda2))))) into 0
44.022 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
44.022 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
44.023 * [backup-simplify]: Simplify (- 0) into 0
44.023 * [backup-simplify]: Simplify (+ 0 0) into 0
44.023 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
44.023 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
44.024 * [backup-simplify]: Simplify (- 0) into 0
44.024 * [backup-simplify]: Simplify (+ 0 0) into 0
44.025 * [backup-simplify]: Simplify (+ (* (- (/ 1 phi1) (/ 1 phi2)) 0) (* 0 (- (/ 1 phi1) (/ 1 phi2)))) into 0
44.025 * [backup-simplify]: Simplify (+ 0 0) into 0
44.038 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (- (+ (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (pow lambda2 2)) (+ (* 2 (/ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* lambda2 lambda1))) (+ (* 2 (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* lambda2 lambda1))) (+ (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (pow lambda1 2))))))))) (+ (* 2 (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (* lambda1 lambda2))) (+ (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ 1 (* phi1 phi2))) (+ (/ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* lambda1 lambda2))) (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (pow lambda2 2)))))))))))) into 0
44.038 * [taylor]: Taking taylor expansion of R in R
44.038 * [backup-simplify]: Simplify 0 into 0
44.038 * [backup-simplify]: Simplify 1 into 1
44.045 * [backup-simplify]: Simplify (/ (sqrt (- (+ (* 2 (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* lambda2 lambda1))) (+ (* 2 (/ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* lambda2 lambda1))) (+ (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (pow lambda1 2))))))))) (+ (* 2 (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (* lambda1 lambda2))) (+ (* 2 (/ 1 (* phi1 phi2))) (+ (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (pow lambda2 2)) (+ (* 2 (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* lambda1 lambda2))) (+ (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (pow lambda1 2)) (+ (/ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (pow lambda2 2)) (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (pow lambda1 2)))))))))) 1) into (sqrt (- (+ (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (pow lambda2 2)) (+ (* 2 (/ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* lambda2 lambda1))) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (pow lambda1 2)) (+ (* 2 (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* lambda2 lambda1))) (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (pow lambda1 2))))))))) (+ (* 2 (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (* lambda1 lambda2))) (+ (/ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ 1 (* phi1 phi2))) (+ (/ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (pow lambda1 2)) (* 2 (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* lambda1 lambda2)))))))))))
44.046 * [taylor]: Taking taylor expansion of (/ (hypot (* (fma (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2)) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (/ 1 lambda1) (/ 1 lambda2))) (- (/ 1 phi1) (/ 1 phi2))) R) in phi2
44.046 * [taylor]: Taking taylor expansion of (hypot (* (fma (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2)) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (/ 1 lambda1) (/ 1 lambda2))) (- (/ 1 phi1) (/ 1 phi2))) in phi2
44.046 * [taylor]: Rewrote expression to (sqrt (+ (* (* (fma (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2)) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (/ 1 lambda1) (/ 1 lambda2))) (* (fma (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2)) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (/ 1 lambda1) (/ 1 lambda2)))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2)))))
44.046 * [taylor]: Taking taylor expansion of (+ (* (* (fma (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2)) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (/ 1 lambda1) (/ 1 lambda2))) (* (fma (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2)) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (/ 1 lambda1) (/ 1 lambda2)))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2)))) in phi2
44.046 * [taylor]: Taking taylor expansion of (* (* (fma (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2)) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (/ 1 lambda1) (/ 1 lambda2))) (* (fma (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2)) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (/ 1 lambda1) (/ 1 lambda2)))) in phi2
44.046 * [taylor]: Taking taylor expansion of (* (fma (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2)) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (/ 1 lambda1) (/ 1 lambda2))) in phi2
44.046 * [taylor]: Taking taylor expansion of (fma (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2)) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in phi2
44.046 * [taylor]: Rewrote expression to (+ (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
44.046 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) in phi2
44.046 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
44.046 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
44.046 * [taylor]: Taking taylor expansion of 0.5 in phi2
44.046 * [backup-simplify]: Simplify 0.5 into 0.5
44.046 * [taylor]: Taking taylor expansion of phi1 in phi2
44.046 * [backup-simplify]: Simplify phi1 into phi1
44.046 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
44.046 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
44.046 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
44.046 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
44.046 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
44.046 * [taylor]: Taking taylor expansion of 0.5 in phi2
44.046 * [backup-simplify]: Simplify 0.5 into 0.5
44.046 * [taylor]: Taking taylor expansion of phi2 in phi2
44.046 * [backup-simplify]: Simplify 0 into 0
44.046 * [backup-simplify]: Simplify 1 into 1
44.047 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
44.047 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
44.047 * [taylor]: Taking taylor expansion of (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in phi2
44.047 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in phi2
44.047 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
44.047 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
44.047 * [taylor]: Taking taylor expansion of 0.5 in phi2
44.047 * [backup-simplify]: Simplify 0.5 into 0.5
44.047 * [taylor]: Taking taylor expansion of phi2 in phi2
44.047 * [backup-simplify]: Simplify 0 into 0
44.047 * [backup-simplify]: Simplify 1 into 1
44.047 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
44.047 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
44.047 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
44.047 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
44.047 * [taylor]: Taking taylor expansion of 0.5 in phi2
44.048 * [backup-simplify]: Simplify 0.5 into 0.5
44.048 * [taylor]: Taking taylor expansion of phi1 in phi2
44.048 * [backup-simplify]: Simplify phi1 into phi1
44.048 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
44.048 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
44.048 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
44.048 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in phi2
44.048 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in phi2
44.048 * [taylor]: Taking taylor expansion of lambda1 in phi2
44.048 * [backup-simplify]: Simplify lambda1 into lambda1
44.048 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1)
44.048 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in phi2
44.048 * [taylor]: Taking taylor expansion of lambda2 in phi2
44.048 * [backup-simplify]: Simplify lambda2 into lambda2
44.048 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
44.048 * [taylor]: Taking taylor expansion of (* (fma (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2)) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (/ 1 lambda1) (/ 1 lambda2))) in phi2
44.048 * [taylor]: Taking taylor expansion of (fma (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2)) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in phi2
44.048 * [taylor]: Rewrote expression to (+ (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
44.048 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) in phi2
44.048 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
44.048 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
44.048 * [taylor]: Taking taylor expansion of 0.5 in phi2
44.048 * [backup-simplify]: Simplify 0.5 into 0.5
44.048 * [taylor]: Taking taylor expansion of phi1 in phi2
44.048 * [backup-simplify]: Simplify phi1 into phi1
44.048 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
44.048 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
44.048 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
44.048 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
44.048 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
44.048 * [taylor]: Taking taylor expansion of 0.5 in phi2
44.048 * [backup-simplify]: Simplify 0.5 into 0.5
44.048 * [taylor]: Taking taylor expansion of phi2 in phi2
44.048 * [backup-simplify]: Simplify 0 into 0
44.048 * [backup-simplify]: Simplify 1 into 1
44.049 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
44.049 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
44.049 * [taylor]: Taking taylor expansion of (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in phi2
44.049 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in phi2
44.049 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
44.049 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
44.049 * [taylor]: Taking taylor expansion of 0.5 in phi2
44.049 * [backup-simplify]: Simplify 0.5 into 0.5
44.049 * [taylor]: Taking taylor expansion of phi2 in phi2
44.049 * [backup-simplify]: Simplify 0 into 0
44.049 * [backup-simplify]: Simplify 1 into 1
44.049 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
44.049 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
44.049 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
44.049 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
44.049 * [taylor]: Taking taylor expansion of 0.5 in phi2
44.049 * [backup-simplify]: Simplify 0.5 into 0.5
44.049 * [taylor]: Taking taylor expansion of phi1 in phi2
44.049 * [backup-simplify]: Simplify phi1 into phi1
44.050 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
44.050 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
44.050 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
44.050 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in phi2
44.050 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in phi2
44.050 * [taylor]: Taking taylor expansion of lambda1 in phi2
44.050 * [backup-simplify]: Simplify lambda1 into lambda1
44.050 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1)
44.050 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in phi2
44.050 * [taylor]: Taking taylor expansion of lambda2 in phi2
44.050 * [backup-simplify]: Simplify lambda2 into lambda2
44.050 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
44.050 * [taylor]: Taking taylor expansion of (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2))) in phi2
44.050 * [taylor]: Taking taylor expansion of (- (/ 1 phi1) (/ 1 phi2)) in phi2
44.050 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
44.050 * [taylor]: Taking taylor expansion of phi1 in phi2
44.050 * [backup-simplify]: Simplify phi1 into phi1
44.050 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
44.050 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
44.050 * [taylor]: Taking taylor expansion of phi2 in phi2
44.050 * [backup-simplify]: Simplify 0 into 0
44.050 * [backup-simplify]: Simplify 1 into 1
44.050 * [backup-simplify]: Simplify (/ 1 1) into 1
44.050 * [taylor]: Taking taylor expansion of (- (/ 1 phi1) (/ 1 phi2)) in phi2
44.050 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
44.050 * [taylor]: Taking taylor expansion of phi1 in phi2
44.050 * [backup-simplify]: Simplify phi1 into phi1
44.050 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
44.050 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
44.050 * [taylor]: Taking taylor expansion of phi2 in phi2
44.050 * [backup-simplify]: Simplify 0 into 0
44.050 * [backup-simplify]: Simplify 1 into 1
44.051 * [backup-simplify]: Simplify (/ 1 1) into 1
44.051 * [backup-simplify]: Simplify (- 1) into -1
44.051 * [backup-simplify]: Simplify (+ 0 -1) into -1
44.051 * [backup-simplify]: Simplify (- 1) into -1
44.052 * [backup-simplify]: Simplify (+ 0 -1) into -1
44.052 * [backup-simplify]: Simplify (* -1 -1) into 1
44.052 * [backup-simplify]: Simplify (+ 0 1) into 1
44.052 * [backup-simplify]: Simplify (sqrt 1) into 1
44.053 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
44.053 * [backup-simplify]: Simplify (- 0) into 0
44.053 * [backup-simplify]: Simplify (+ (/ 1 phi1) 0) into (/ 1 phi1)
44.054 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
44.054 * [backup-simplify]: Simplify (- 0) into 0
44.054 * [backup-simplify]: Simplify (+ (/ 1 phi1) 0) into (/ 1 phi1)
44.054 * [backup-simplify]: Simplify (+ (* -1 (/ 1 phi1)) (* (/ 1 phi1) -1)) into (- (* 2 (/ 1 phi1)))
44.054 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi1)))) into (- (* 2 (/ 1 phi1)))
44.054 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi1))) (* 2 (sqrt 1))) into (/ -1 phi1)
44.055 * [taylor]: Taking taylor expansion of R in phi2
44.055 * [backup-simplify]: Simplify R into R
44.055 * [backup-simplify]: Simplify (/ 1 R) into (/ 1 R)
44.055 * [taylor]: Taking taylor expansion of (/ (hypot (* (fma (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2)) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (/ 1 lambda1) (/ 1 lambda2))) (- (/ 1 phi1) (/ 1 phi2))) R) in phi1
44.055 * [taylor]: Taking taylor expansion of (hypot (* (fma (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2)) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (/ 1 lambda1) (/ 1 lambda2))) (- (/ 1 phi1) (/ 1 phi2))) in phi1
44.055 * [taylor]: Rewrote expression to (sqrt (+ (* (* (fma (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2)) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (/ 1 lambda1) (/ 1 lambda2))) (* (fma (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2)) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (/ 1 lambda1) (/ 1 lambda2)))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2)))))
44.055 * [taylor]: Taking taylor expansion of (+ (* (* (fma (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2)) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (/ 1 lambda1) (/ 1 lambda2))) (* (fma (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2)) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (/ 1 lambda1) (/ 1 lambda2)))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2)))) in phi1
44.055 * [taylor]: Taking taylor expansion of (* (* (fma (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2)) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (/ 1 lambda1) (/ 1 lambda2))) (* (fma (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2)) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (/ 1 lambda1) (/ 1 lambda2)))) in phi1
44.055 * [taylor]: Taking taylor expansion of (* (fma (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2)) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (/ 1 lambda1) (/ 1 lambda2))) in phi1
44.055 * [taylor]: Taking taylor expansion of (fma (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2)) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in phi1
44.055 * [taylor]: Rewrote expression to (+ (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
44.055 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) in phi1
44.055 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
44.055 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
44.055 * [taylor]: Taking taylor expansion of 0.5 in phi1
44.055 * [backup-simplify]: Simplify 0.5 into 0.5
44.055 * [taylor]: Taking taylor expansion of phi1 in phi1
44.055 * [backup-simplify]: Simplify 0 into 0
44.055 * [backup-simplify]: Simplify 1 into 1
44.055 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
44.055 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
44.056 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
44.056 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
44.056 * [taylor]: Taking taylor expansion of 0.5 in phi1
44.056 * [backup-simplify]: Simplify 0.5 into 0.5
44.056 * [taylor]: Taking taylor expansion of phi2 in phi1
44.056 * [backup-simplify]: Simplify phi2 into phi2
44.056 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
44.056 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
44.056 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
44.056 * [taylor]: Taking taylor expansion of (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in phi1
44.056 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in phi1
44.056 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
44.056 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
44.056 * [taylor]: Taking taylor expansion of 0.5 in phi1
44.056 * [backup-simplify]: Simplify 0.5 into 0.5
44.056 * [taylor]: Taking taylor expansion of phi2 in phi1
44.056 * [backup-simplify]: Simplify phi2 into phi2
44.056 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
44.056 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
44.056 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
44.056 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
44.056 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
44.056 * [taylor]: Taking taylor expansion of 0.5 in phi1
44.056 * [backup-simplify]: Simplify 0.5 into 0.5
44.056 * [taylor]: Taking taylor expansion of phi1 in phi1
44.056 * [backup-simplify]: Simplify 0 into 0
44.056 * [backup-simplify]: Simplify 1 into 1
44.056 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
44.056 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
44.057 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in phi1
44.057 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in phi1
44.057 * [taylor]: Taking taylor expansion of lambda1 in phi1
44.057 * [backup-simplify]: Simplify lambda1 into lambda1
44.057 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1)
44.057 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in phi1
44.057 * [taylor]: Taking taylor expansion of lambda2 in phi1
44.057 * [backup-simplify]: Simplify lambda2 into lambda2
44.057 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
44.057 * [taylor]: Taking taylor expansion of (* (fma (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2)) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (/ 1 lambda1) (/ 1 lambda2))) in phi1
44.057 * [taylor]: Taking taylor expansion of (fma (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2)) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in phi1
44.057 * [taylor]: Rewrote expression to (+ (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
44.057 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) in phi1
44.057 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
44.057 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
44.057 * [taylor]: Taking taylor expansion of 0.5 in phi1
44.057 * [backup-simplify]: Simplify 0.5 into 0.5
44.057 * [taylor]: Taking taylor expansion of phi1 in phi1
44.057 * [backup-simplify]: Simplify 0 into 0
44.057 * [backup-simplify]: Simplify 1 into 1
44.057 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
44.057 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
44.057 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
44.057 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
44.057 * [taylor]: Taking taylor expansion of 0.5 in phi1
44.057 * [backup-simplify]: Simplify 0.5 into 0.5
44.057 * [taylor]: Taking taylor expansion of phi2 in phi1
44.057 * [backup-simplify]: Simplify phi2 into phi2
44.057 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
44.058 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
44.058 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
44.058 * [taylor]: Taking taylor expansion of (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in phi1
44.058 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in phi1
44.058 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
44.058 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
44.058 * [taylor]: Taking taylor expansion of 0.5 in phi1
44.058 * [backup-simplify]: Simplify 0.5 into 0.5
44.058 * [taylor]: Taking taylor expansion of phi2 in phi1
44.058 * [backup-simplify]: Simplify phi2 into phi2
44.058 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
44.058 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
44.058 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
44.058 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
44.058 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
44.058 * [taylor]: Taking taylor expansion of 0.5 in phi1
44.058 * [backup-simplify]: Simplify 0.5 into 0.5
44.058 * [taylor]: Taking taylor expansion of phi1 in phi1
44.058 * [backup-simplify]: Simplify 0 into 0
44.058 * [backup-simplify]: Simplify 1 into 1
44.058 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
44.058 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
44.058 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in phi1
44.058 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in phi1
44.058 * [taylor]: Taking taylor expansion of lambda1 in phi1
44.058 * [backup-simplify]: Simplify lambda1 into lambda1
44.058 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1)
44.058 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in phi1
44.059 * [taylor]: Taking taylor expansion of lambda2 in phi1
44.059 * [backup-simplify]: Simplify lambda2 into lambda2
44.059 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
44.059 * [taylor]: Taking taylor expansion of (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2))) in phi1
44.059 * [taylor]: Taking taylor expansion of (- (/ 1 phi1) (/ 1 phi2)) in phi1
44.059 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
44.059 * [taylor]: Taking taylor expansion of phi1 in phi1
44.059 * [backup-simplify]: Simplify 0 into 0
44.059 * [backup-simplify]: Simplify 1 into 1
44.059 * [backup-simplify]: Simplify (/ 1 1) into 1
44.059 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
44.059 * [taylor]: Taking taylor expansion of phi2 in phi1
44.059 * [backup-simplify]: Simplify phi2 into phi2
44.059 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
44.059 * [taylor]: Taking taylor expansion of (- (/ 1 phi1) (/ 1 phi2)) in phi1
44.059 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
44.059 * [taylor]: Taking taylor expansion of phi1 in phi1
44.059 * [backup-simplify]: Simplify 0 into 0
44.059 * [backup-simplify]: Simplify 1 into 1
44.059 * [backup-simplify]: Simplify (/ 1 1) into 1
44.059 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
44.059 * [taylor]: Taking taylor expansion of phi2 in phi1
44.059 * [backup-simplify]: Simplify phi2 into phi2
44.059 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
44.060 * [backup-simplify]: Simplify (+ 1 0) into 1
44.060 * [backup-simplify]: Simplify (+ 1 0) into 1
44.060 * [backup-simplify]: Simplify (* 1 1) into 1
44.060 * [backup-simplify]: Simplify (+ 0 1) into 1
44.061 * [backup-simplify]: Simplify (sqrt 1) into 1
44.061 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
44.061 * [backup-simplify]: Simplify (- (/ 1 phi2)) into (- (/ 1 phi2))
44.061 * [backup-simplify]: Simplify (+ 0 (- (/ 1 phi2))) into (- (/ 1 phi2))
44.062 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
44.062 * [backup-simplify]: Simplify (- (/ 1 phi2)) into (- (/ 1 phi2))
44.062 * [backup-simplify]: Simplify (+ 0 (- (/ 1 phi2))) into (- (/ 1 phi2))
44.062 * [backup-simplify]: Simplify (+ (* 1 (- (/ 1 phi2))) (* (- (/ 1 phi2)) 1)) into (- (* 2 (/ 1 phi2)))
44.062 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2)))
44.062 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi2))) (* 2 (sqrt 1))) into (/ -1 phi2)
44.062 * [taylor]: Taking taylor expansion of R in phi1
44.062 * [backup-simplify]: Simplify R into R
44.063 * [backup-simplify]: Simplify (/ 1 R) into (/ 1 R)
44.063 * [taylor]: Taking taylor expansion of (/ (hypot (* (fma (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2)) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (/ 1 lambda1) (/ 1 lambda2))) (- (/ 1 phi1) (/ 1 phi2))) R) in lambda2
44.063 * [taylor]: Taking taylor expansion of (hypot (* (fma (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2)) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (/ 1 lambda1) (/ 1 lambda2))) (- (/ 1 phi1) (/ 1 phi2))) in lambda2
44.063 * [taylor]: Rewrote expression to (sqrt (+ (* (* (fma (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2)) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (/ 1 lambda1) (/ 1 lambda2))) (* (fma (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2)) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (/ 1 lambda1) (/ 1 lambda2)))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2)))))
44.063 * [taylor]: Taking taylor expansion of (+ (* (* (fma (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2)) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (/ 1 lambda1) (/ 1 lambda2))) (* (fma (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2)) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (/ 1 lambda1) (/ 1 lambda2)))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2)))) in lambda2
44.063 * [taylor]: Taking taylor expansion of (* (* (fma (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2)) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (/ 1 lambda1) (/ 1 lambda2))) (* (fma (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2)) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (/ 1 lambda1) (/ 1 lambda2)))) in lambda2
44.063 * [taylor]: Taking taylor expansion of (* (fma (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2)) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (/ 1 lambda1) (/ 1 lambda2))) in lambda2
44.063 * [taylor]: Taking taylor expansion of (fma (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2)) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
44.063 * [taylor]: Rewrote expression to (+ (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
44.063 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) in lambda2
44.063 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
44.063 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
44.063 * [taylor]: Taking taylor expansion of 0.5 in lambda2
44.063 * [backup-simplify]: Simplify 0.5 into 0.5
44.063 * [taylor]: Taking taylor expansion of phi1 in lambda2
44.063 * [backup-simplify]: Simplify phi1 into phi1
44.063 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
44.063 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
44.063 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
44.063 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
44.063 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
44.063 * [taylor]: Taking taylor expansion of 0.5 in lambda2
44.063 * [backup-simplify]: Simplify 0.5 into 0.5
44.063 * [taylor]: Taking taylor expansion of phi2 in lambda2
44.063 * [backup-simplify]: Simplify phi2 into phi2
44.063 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
44.063 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
44.063 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
44.063 * [taylor]: Taking taylor expansion of (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
44.063 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
44.063 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
44.064 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
44.064 * [taylor]: Taking taylor expansion of 0.5 in lambda2
44.064 * [backup-simplify]: Simplify 0.5 into 0.5
44.064 * [taylor]: Taking taylor expansion of phi2 in lambda2
44.064 * [backup-simplify]: Simplify phi2 into phi2
44.064 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
44.064 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
44.064 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
44.064 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
44.064 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
44.064 * [taylor]: Taking taylor expansion of 0.5 in lambda2
44.064 * [backup-simplify]: Simplify 0.5 into 0.5
44.064 * [taylor]: Taking taylor expansion of phi1 in lambda2
44.064 * [backup-simplify]: Simplify phi1 into phi1
44.064 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
44.064 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
44.064 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
44.064 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in lambda2
44.064 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda2
44.064 * [taylor]: Taking taylor expansion of lambda1 in lambda2
44.064 * [backup-simplify]: Simplify lambda1 into lambda1
44.064 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1)
44.064 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda2
44.064 * [taylor]: Taking taylor expansion of lambda2 in lambda2
44.064 * [backup-simplify]: Simplify 0 into 0
44.064 * [backup-simplify]: Simplify 1 into 1
44.064 * [backup-simplify]: Simplify (/ 1 1) into 1
44.064 * [taylor]: Taking taylor expansion of (* (fma (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2)) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (/ 1 lambda1) (/ 1 lambda2))) in lambda2
44.064 * [taylor]: Taking taylor expansion of (fma (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2)) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
44.065 * [taylor]: Rewrote expression to (+ (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
44.065 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) in lambda2
44.065 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
44.065 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
44.065 * [taylor]: Taking taylor expansion of 0.5 in lambda2
44.065 * [backup-simplify]: Simplify 0.5 into 0.5
44.065 * [taylor]: Taking taylor expansion of phi1 in lambda2
44.065 * [backup-simplify]: Simplify phi1 into phi1
44.065 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
44.065 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
44.065 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
44.065 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
44.065 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
44.065 * [taylor]: Taking taylor expansion of 0.5 in lambda2
44.065 * [backup-simplify]: Simplify 0.5 into 0.5
44.065 * [taylor]: Taking taylor expansion of phi2 in lambda2
44.065 * [backup-simplify]: Simplify phi2 into phi2
44.065 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
44.065 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
44.065 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
44.065 * [taylor]: Taking taylor expansion of (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
44.065 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
44.065 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
44.065 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
44.065 * [taylor]: Taking taylor expansion of 0.5 in lambda2
44.065 * [backup-simplify]: Simplify 0.5 into 0.5
44.065 * [taylor]: Taking taylor expansion of phi2 in lambda2
44.065 * [backup-simplify]: Simplify phi2 into phi2
44.065 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
44.065 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
44.065 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
44.065 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
44.065 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
44.065 * [taylor]: Taking taylor expansion of 0.5 in lambda2
44.065 * [backup-simplify]: Simplify 0.5 into 0.5
44.066 * [taylor]: Taking taylor expansion of phi1 in lambda2
44.066 * [backup-simplify]: Simplify phi1 into phi1
44.066 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
44.066 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
44.066 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
44.066 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in lambda2
44.066 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda2
44.066 * [taylor]: Taking taylor expansion of lambda1 in lambda2
44.066 * [backup-simplify]: Simplify lambda1 into lambda1
44.066 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1)
44.066 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda2
44.066 * [taylor]: Taking taylor expansion of lambda2 in lambda2
44.066 * [backup-simplify]: Simplify 0 into 0
44.066 * [backup-simplify]: Simplify 1 into 1
44.066 * [backup-simplify]: Simplify (/ 1 1) into 1
44.066 * [taylor]: Taking taylor expansion of (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2))) in lambda2
44.066 * [taylor]: Taking taylor expansion of (- (/ 1 phi1) (/ 1 phi2)) in lambda2
44.066 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
44.066 * [taylor]: Taking taylor expansion of phi1 in lambda2
44.066 * [backup-simplify]: Simplify phi1 into phi1
44.066 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
44.066 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
44.066 * [taylor]: Taking taylor expansion of phi2 in lambda2
44.066 * [backup-simplify]: Simplify phi2 into phi2
44.066 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
44.066 * [taylor]: Taking taylor expansion of (- (/ 1 phi1) (/ 1 phi2)) in lambda2
44.066 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
44.066 * [taylor]: Taking taylor expansion of phi1 in lambda2
44.066 * [backup-simplify]: Simplify phi1 into phi1
44.066 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
44.066 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
44.066 * [taylor]: Taking taylor expansion of phi2 in lambda2
44.066 * [backup-simplify]: Simplify phi2 into phi2
44.066 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
44.067 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
44.067 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
44.067 * [backup-simplify]: Simplify (- 0) into 0
44.067 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
44.067 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
44.067 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
44.067 * [backup-simplify]: Simplify (- 0) into 0
44.067 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
44.068 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
44.068 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
44.068 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
44.068 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
44.068 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
44.068 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
44.068 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
44.068 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
44.068 * [backup-simplify]: Simplify (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
44.068 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
44.074 * [backup-simplify]: Simplify (- 1) into -1
44.075 * [backup-simplify]: Simplify (+ 0 -1) into -1
44.076 * [backup-simplify]: Simplify (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) -1) into (* -1 (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
44.076 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
44.076 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
44.076 * [backup-simplify]: Simplify (- 0) into 0
44.076 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
44.077 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
44.077 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
44.077 * [backup-simplify]: Simplify (- 0) into 0
44.077 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
44.077 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
44.077 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
44.077 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
44.078 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
44.078 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
44.078 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
44.078 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
44.078 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
44.078 * [backup-simplify]: Simplify (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
44.078 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
44.079 * [backup-simplify]: Simplify (- 1) into -1
44.079 * [backup-simplify]: Simplify (+ 0 -1) into -1
44.080 * [backup-simplify]: Simplify (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) -1) into (* -1 (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
44.080 * [backup-simplify]: Simplify (* (* -1 (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* -1 (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into (pow (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) 2)
44.081 * [backup-simplify]: Simplify (+ (pow (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) 2) 0) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
44.082 * [backup-simplify]: Simplify (sqrt (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (sqrt (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
44.084 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
44.084 * [backup-simplify]: Simplify (- 0) into 0
44.084 * [backup-simplify]: Simplify (+ (/ 1 lambda1) 0) into (/ 1 lambda1)
44.084 * [backup-simplify]: Simplify (+ 0) into 0
44.085 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
44.085 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
44.086 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
44.086 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
44.087 * [backup-simplify]: Simplify (- 0) into 0
44.087 * [backup-simplify]: Simplify (+ 0 0) into 0
44.087 * [backup-simplify]: Simplify (+ 0) into 0
44.088 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
44.088 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
44.089 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
44.089 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
44.089 * [backup-simplify]: Simplify (- 0) into 0
44.090 * [backup-simplify]: Simplify (+ 0 0) into 0
44.090 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
44.090 * [backup-simplify]: Simplify (+ 0) into 0
44.090 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
44.090 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
44.091 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
44.091 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
44.091 * [backup-simplify]: Simplify (+ 0 0) into 0
44.092 * [backup-simplify]: Simplify (+ 0) into 0
44.092 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
44.092 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
44.092 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
44.093 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
44.093 * [backup-simplify]: Simplify (+ 0 0) into 0
44.093 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
44.093 * [backup-simplify]: Simplify (- 0) into 0
44.094 * [backup-simplify]: Simplify (+ 0 0) into 0
44.094 * [backup-simplify]: Simplify (+ (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) (/ 1 lambda1)) (* 0 -1)) into (- (/ (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) lambda1) (/ (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) lambda1))
44.095 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
44.095 * [backup-simplify]: Simplify (- 0) into 0
44.095 * [backup-simplify]: Simplify (+ (/ 1 lambda1) 0) into (/ 1 lambda1)
44.095 * [backup-simplify]: Simplify (+ 0) into 0
44.095 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
44.096 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
44.096 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
44.096 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
44.097 * [backup-simplify]: Simplify (- 0) into 0
44.097 * [backup-simplify]: Simplify (+ 0 0) into 0
44.097 * [backup-simplify]: Simplify (+ 0) into 0
44.097 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
44.097 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
44.098 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
44.098 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
44.098 * [backup-simplify]: Simplify (- 0) into 0
44.099 * [backup-simplify]: Simplify (+ 0 0) into 0
44.099 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
44.099 * [backup-simplify]: Simplify (+ 0) into 0
44.099 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
44.099 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
44.100 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
44.100 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
44.100 * [backup-simplify]: Simplify (+ 0 0) into 0
44.101 * [backup-simplify]: Simplify (+ 0) into 0
44.101 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
44.101 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
44.102 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
44.102 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
44.102 * [backup-simplify]: Simplify (+ 0 0) into 0
44.102 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
44.102 * [backup-simplify]: Simplify (- 0) into 0
44.103 * [backup-simplify]: Simplify (+ 0 0) into 0
44.103 * [backup-simplify]: Simplify (+ (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) (/ 1 lambda1)) (* 0 -1)) into (- (/ (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) lambda1) (/ (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) lambda1))
44.104 * [backup-simplify]: Simplify (+ (* (* -1 (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (/ (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) lambda1) (/ (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) lambda1))) (* (- (/ (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) lambda1) (/ (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) lambda1)) (* -1 (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into (- (+ (* 2 (/ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) lambda1)) (* 2 (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) lambda1))) (+ (* 2 (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) lambda1)) (* 2 (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) lambda1))))
44.106 * [backup-simplify]: Simplify (+ (- (+ (* 2 (/ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) lambda1)) (* 2 (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) lambda1))) (+ (* 2 (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) lambda1)) (* 2 (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) lambda1)))) 0) into (- (+ (* 2 (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) lambda1)) (* 2 (/ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) lambda1))) (+ (* 2 (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) lambda1)) (* 2 (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) lambda1))))
44.108 * [backup-simplify]: Simplify (/ (- (+ (* 2 (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) lambda1)) (* 2 (/ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) lambda1))) (+ (* 2 (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) lambda1)) (* 2 (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) lambda1)))) (* 2 (sqrt (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (- (+ (* 2 (/ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) lambda1)) (* 2 (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) lambda1))) (+ (* 2 (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) lambda1)) (* 2 (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) lambda1))))))
44.109 * [taylor]: Taking taylor expansion of R in lambda2
44.109 * [backup-simplify]: Simplify R into R
44.110 * [backup-simplify]: Simplify (/ (sqrt (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) R) into (* (sqrt (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 1 R))
44.110 * [taylor]: Taking taylor expansion of (/ (hypot (* (fma (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2)) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (/ 1 lambda1) (/ 1 lambda2))) (- (/ 1 phi1) (/ 1 phi2))) R) in lambda1
44.110 * [taylor]: Taking taylor expansion of (hypot (* (fma (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2)) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (/ 1 lambda1) (/ 1 lambda2))) (- (/ 1 phi1) (/ 1 phi2))) in lambda1
44.110 * [taylor]: Rewrote expression to (sqrt (+ (* (* (fma (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2)) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (/ 1 lambda1) (/ 1 lambda2))) (* (fma (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2)) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (/ 1 lambda1) (/ 1 lambda2)))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2)))))
44.110 * [taylor]: Taking taylor expansion of (+ (* (* (fma (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2)) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (/ 1 lambda1) (/ 1 lambda2))) (* (fma (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2)) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (/ 1 lambda1) (/ 1 lambda2)))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2)))) in lambda1
44.110 * [taylor]: Taking taylor expansion of (* (* (fma (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2)) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (/ 1 lambda1) (/ 1 lambda2))) (* (fma (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2)) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (/ 1 lambda1) (/ 1 lambda2)))) in lambda1
44.110 * [taylor]: Taking taylor expansion of (* (fma (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2)) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (/ 1 lambda1) (/ 1 lambda2))) in lambda1
44.110 * [taylor]: Taking taylor expansion of (fma (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2)) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda1
44.110 * [taylor]: Rewrote expression to (+ (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
44.110 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) in lambda1
44.110 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda1
44.110 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1
44.110 * [taylor]: Taking taylor expansion of 0.5 in lambda1
44.110 * [backup-simplify]: Simplify 0.5 into 0.5
44.110 * [taylor]: Taking taylor expansion of phi1 in lambda1
44.110 * [backup-simplify]: Simplify phi1 into phi1
44.110 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
44.110 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
44.110 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
44.110 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda1
44.110 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1
44.110 * [taylor]: Taking taylor expansion of 0.5 in lambda1
44.110 * [backup-simplify]: Simplify 0.5 into 0.5
44.110 * [taylor]: Taking taylor expansion of phi2 in lambda1
44.110 * [backup-simplify]: Simplify phi2 into phi2
44.110 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
44.110 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
44.110 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
44.110 * [taylor]: Taking taylor expansion of (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda1
44.111 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda1
44.111 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda1
44.111 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1
44.111 * [taylor]: Taking taylor expansion of 0.5 in lambda1
44.111 * [backup-simplify]: Simplify 0.5 into 0.5
44.111 * [taylor]: Taking taylor expansion of phi2 in lambda1
44.111 * [backup-simplify]: Simplify phi2 into phi2
44.111 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
44.111 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
44.111 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
44.111 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda1
44.111 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1
44.111 * [taylor]: Taking taylor expansion of 0.5 in lambda1
44.111 * [backup-simplify]: Simplify 0.5 into 0.5
44.111 * [taylor]: Taking taylor expansion of phi1 in lambda1
44.111 * [backup-simplify]: Simplify phi1 into phi1
44.111 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
44.111 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
44.111 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
44.111 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in lambda1
44.111 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1
44.111 * [taylor]: Taking taylor expansion of lambda1 in lambda1
44.111 * [backup-simplify]: Simplify 0 into 0
44.111 * [backup-simplify]: Simplify 1 into 1
44.111 * [backup-simplify]: Simplify (/ 1 1) into 1
44.112 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda1
44.112 * [taylor]: Taking taylor expansion of lambda2 in lambda1
44.112 * [backup-simplify]: Simplify lambda2 into lambda2
44.112 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
44.112 * [taylor]: Taking taylor expansion of (* (fma (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2)) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (/ 1 lambda1) (/ 1 lambda2))) in lambda1
44.112 * [taylor]: Taking taylor expansion of (fma (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2)) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda1
44.112 * [taylor]: Rewrote expression to (+ (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
44.112 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) in lambda1
44.112 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda1
44.112 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1
44.112 * [taylor]: Taking taylor expansion of 0.5 in lambda1
44.112 * [backup-simplify]: Simplify 0.5 into 0.5
44.112 * [taylor]: Taking taylor expansion of phi1 in lambda1
44.112 * [backup-simplify]: Simplify phi1 into phi1
44.112 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
44.112 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
44.112 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
44.112 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda1
44.112 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1
44.112 * [taylor]: Taking taylor expansion of 0.5 in lambda1
44.112 * [backup-simplify]: Simplify 0.5 into 0.5
44.112 * [taylor]: Taking taylor expansion of phi2 in lambda1
44.112 * [backup-simplify]: Simplify phi2 into phi2
44.112 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
44.112 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
44.112 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
44.112 * [taylor]: Taking taylor expansion of (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda1
44.112 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda1
44.112 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda1
44.112 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1
44.112 * [taylor]: Taking taylor expansion of 0.5 in lambda1
44.112 * [backup-simplify]: Simplify 0.5 into 0.5
44.112 * [taylor]: Taking taylor expansion of phi2 in lambda1
44.112 * [backup-simplify]: Simplify phi2 into phi2
44.112 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
44.112 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
44.113 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
44.113 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda1
44.113 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1
44.113 * [taylor]: Taking taylor expansion of 0.5 in lambda1
44.113 * [backup-simplify]: Simplify 0.5 into 0.5
44.113 * [taylor]: Taking taylor expansion of phi1 in lambda1
44.113 * [backup-simplify]: Simplify phi1 into phi1
44.113 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
44.113 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
44.113 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
44.113 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in lambda1
44.113 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1
44.113 * [taylor]: Taking taylor expansion of lambda1 in lambda1
44.113 * [backup-simplify]: Simplify 0 into 0
44.113 * [backup-simplify]: Simplify 1 into 1
44.113 * [backup-simplify]: Simplify (/ 1 1) into 1
44.113 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda1
44.113 * [taylor]: Taking taylor expansion of lambda2 in lambda1
44.113 * [backup-simplify]: Simplify lambda2 into lambda2
44.113 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
44.113 * [taylor]: Taking taylor expansion of (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2))) in lambda1
44.113 * [taylor]: Taking taylor expansion of (- (/ 1 phi1) (/ 1 phi2)) in lambda1
44.113 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
44.113 * [taylor]: Taking taylor expansion of phi1 in lambda1
44.113 * [backup-simplify]: Simplify phi1 into phi1
44.113 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
44.113 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
44.113 * [taylor]: Taking taylor expansion of phi2 in lambda1
44.113 * [backup-simplify]: Simplify phi2 into phi2
44.113 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
44.114 * [taylor]: Taking taylor expansion of (- (/ 1 phi1) (/ 1 phi2)) in lambda1
44.114 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
44.114 * [taylor]: Taking taylor expansion of phi1 in lambda1
44.114 * [backup-simplify]: Simplify phi1 into phi1
44.114 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
44.114 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
44.114 * [taylor]: Taking taylor expansion of phi2 in lambda1
44.114 * [backup-simplify]: Simplify phi2 into phi2
44.114 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
44.114 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
44.114 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
44.114 * [backup-simplify]: Simplify (- 0) into 0
44.114 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
44.114 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
44.114 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
44.115 * [backup-simplify]: Simplify (- 0) into 0
44.115 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
44.115 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
44.115 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
44.115 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
44.115 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
44.115 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
44.115 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
44.115 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
44.115 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
44.115 * [backup-simplify]: Simplify (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
44.115 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
44.116 * [backup-simplify]: Simplify (+ 1 0) into 1
44.116 * [backup-simplify]: Simplify (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) 1) into (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
44.116 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
44.116 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
44.116 * [backup-simplify]: Simplify (- 0) into 0
44.116 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
44.117 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
44.117 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
44.117 * [backup-simplify]: Simplify (- 0) into 0
44.117 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
44.117 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
44.117 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
44.117 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
44.117 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
44.117 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
44.117 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
44.117 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
44.118 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
44.118 * [backup-simplify]: Simplify (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
44.118 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
44.119 * [backup-simplify]: Simplify (+ 1 0) into 1
44.119 * [backup-simplify]: Simplify (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) 1) into (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
44.120 * [backup-simplify]: Simplify (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (pow (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) 2)
44.121 * [backup-simplify]: Simplify (+ (pow (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) 2) 0) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
44.123 * [backup-simplify]: Simplify (sqrt (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (sqrt (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
44.124 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
44.124 * [backup-simplify]: Simplify (- (/ 1 lambda2)) into (- (/ 1 lambda2))
44.124 * [backup-simplify]: Simplify (+ 0 (- (/ 1 lambda2))) into (- (/ 1 lambda2))
44.125 * [backup-simplify]: Simplify (+ 0) into 0
44.126 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
44.126 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
44.127 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
44.127 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
44.128 * [backup-simplify]: Simplify (- 0) into 0
44.128 * [backup-simplify]: Simplify (+ 0 0) into 0
44.129 * [backup-simplify]: Simplify (+ 0) into 0
44.130 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
44.130 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
44.131 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
44.131 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
44.132 * [backup-simplify]: Simplify (- 0) into 0
44.132 * [backup-simplify]: Simplify (+ 0 0) into 0
44.132 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
44.133 * [backup-simplify]: Simplify (+ 0) into 0
44.134 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
44.134 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
44.135 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
44.135 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
44.136 * [backup-simplify]: Simplify (+ 0 0) into 0
44.136 * [backup-simplify]: Simplify (+ 0) into 0
44.137 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
44.137 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
44.138 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
44.138 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
44.139 * [backup-simplify]: Simplify (+ 0 0) into 0
44.139 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
44.139 * [backup-simplify]: Simplify (- 0) into 0
44.140 * [backup-simplify]: Simplify (+ 0 0) into 0
44.141 * [backup-simplify]: Simplify (+ (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) (- (/ 1 lambda2))) (* 0 1)) into (- (/ (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) lambda2) (/ (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) lambda2))
44.142 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
44.142 * [backup-simplify]: Simplify (- (/ 1 lambda2)) into (- (/ 1 lambda2))
44.142 * [backup-simplify]: Simplify (+ 0 (- (/ 1 lambda2))) into (- (/ 1 lambda2))
44.143 * [backup-simplify]: Simplify (+ 0) into 0
44.143 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
44.143 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
44.144 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
44.145 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
44.145 * [backup-simplify]: Simplify (- 0) into 0
44.146 * [backup-simplify]: Simplify (+ 0 0) into 0
44.146 * [backup-simplify]: Simplify (+ 0) into 0
44.147 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
44.147 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
44.148 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
44.148 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
44.149 * [backup-simplify]: Simplify (- 0) into 0
44.149 * [backup-simplify]: Simplify (+ 0 0) into 0
44.150 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
44.150 * [backup-simplify]: Simplify (+ 0) into 0
44.151 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
44.151 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
44.152 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
44.153 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
44.153 * [backup-simplify]: Simplify (+ 0 0) into 0
44.154 * [backup-simplify]: Simplify (+ 0) into 0
44.155 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
44.155 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
44.156 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
44.156 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
44.157 * [backup-simplify]: Simplify (+ 0 0) into 0
44.157 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
44.157 * [backup-simplify]: Simplify (- 0) into 0
44.158 * [backup-simplify]: Simplify (+ 0 0) into 0
44.159 * [backup-simplify]: Simplify (+ (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) (- (/ 1 lambda2))) (* 0 1)) into (- (/ (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) lambda2) (/ (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) lambda2))
44.161 * [backup-simplify]: Simplify (+ (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) (- (/ (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) lambda2) (/ (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) lambda2))) (* (- (/ (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) lambda2) (/ (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) lambda2)) (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into (- (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (cos (/ 0.5 phi2))))) lambda2)) (* 2 (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (sin (/ 0.5 phi2))))) lambda2))) (+ (* 2 (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) lambda2)) (* 2 (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) lambda2))))
44.164 * [backup-simplify]: Simplify (+ (- (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (cos (/ 0.5 phi2))))) lambda2)) (* 2 (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (sin (/ 0.5 phi2))))) lambda2))) (+ (* 2 (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) lambda2)) (* 2 (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) lambda2)))) 0) into (- (+ (* 2 (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) lambda2)) (* 2 (/ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) lambda2))) (+ (* 2 (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) lambda2)) (* 2 (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) lambda2))))
44.169 * [backup-simplify]: Simplify (/ (- (+ (* 2 (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) lambda2)) (* 2 (/ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) lambda2))) (+ (* 2 (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) lambda2)) (* 2 (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) lambda2)))) (* 2 (sqrt (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (- (+ (* 2 (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) lambda2)) (* 2 (/ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) lambda2))) (+ (* 2 (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) lambda2)) (* 2 (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) lambda2))))))
44.169 * [taylor]: Taking taylor expansion of R in lambda1
44.169 * [backup-simplify]: Simplify R into R
44.171 * [backup-simplify]: Simplify (/ (sqrt (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) R) into (* (sqrt (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 1 R))
44.172 * [taylor]: Taking taylor expansion of (/ (hypot (* (fma (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2)) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (/ 1 lambda1) (/ 1 lambda2))) (- (/ 1 phi1) (/ 1 phi2))) R) in lambda1
44.172 * [taylor]: Taking taylor expansion of (hypot (* (fma (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2)) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (/ 1 lambda1) (/ 1 lambda2))) (- (/ 1 phi1) (/ 1 phi2))) in lambda1
44.172 * [taylor]: Rewrote expression to (sqrt (+ (* (* (fma (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2)) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (/ 1 lambda1) (/ 1 lambda2))) (* (fma (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2)) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (/ 1 lambda1) (/ 1 lambda2)))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2)))))
44.172 * [taylor]: Taking taylor expansion of (+ (* (* (fma (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2)) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (/ 1 lambda1) (/ 1 lambda2))) (* (fma (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2)) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (/ 1 lambda1) (/ 1 lambda2)))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2)))) in lambda1
44.172 * [taylor]: Taking taylor expansion of (* (* (fma (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2)) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (/ 1 lambda1) (/ 1 lambda2))) (* (fma (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2)) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (/ 1 lambda1) (/ 1 lambda2)))) in lambda1
44.172 * [taylor]: Taking taylor expansion of (* (fma (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2)) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (/ 1 lambda1) (/ 1 lambda2))) in lambda1
44.172 * [taylor]: Taking taylor expansion of (fma (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2)) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda1
44.172 * [taylor]: Rewrote expression to (+ (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
44.172 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) in lambda1
44.172 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda1
44.172 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1
44.172 * [taylor]: Taking taylor expansion of 0.5 in lambda1
44.172 * [backup-simplify]: Simplify 0.5 into 0.5
44.172 * [taylor]: Taking taylor expansion of phi1 in lambda1
44.172 * [backup-simplify]: Simplify phi1 into phi1
44.172 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
44.173 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
44.173 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
44.173 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda1
44.173 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1
44.173 * [taylor]: Taking taylor expansion of 0.5 in lambda1
44.173 * [backup-simplify]: Simplify 0.5 into 0.5
44.173 * [taylor]: Taking taylor expansion of phi2 in lambda1
44.173 * [backup-simplify]: Simplify phi2 into phi2
44.173 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
44.173 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
44.173 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
44.173 * [taylor]: Taking taylor expansion of (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda1
44.173 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda1
44.173 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda1
44.173 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1
44.173 * [taylor]: Taking taylor expansion of 0.5 in lambda1
44.173 * [backup-simplify]: Simplify 0.5 into 0.5
44.173 * [taylor]: Taking taylor expansion of phi2 in lambda1
44.173 * [backup-simplify]: Simplify phi2 into phi2
44.173 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
44.174 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
44.174 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
44.174 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda1
44.174 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1
44.174 * [taylor]: Taking taylor expansion of 0.5 in lambda1
44.174 * [backup-simplify]: Simplify 0.5 into 0.5
44.174 * [taylor]: Taking taylor expansion of phi1 in lambda1
44.174 * [backup-simplify]: Simplify phi1 into phi1
44.174 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
44.174 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
44.174 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
44.174 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in lambda1
44.174 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1
44.174 * [taylor]: Taking taylor expansion of lambda1 in lambda1
44.174 * [backup-simplify]: Simplify 0 into 0
44.174 * [backup-simplify]: Simplify 1 into 1
44.175 * [backup-simplify]: Simplify (/ 1 1) into 1
44.175 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda1
44.175 * [taylor]: Taking taylor expansion of lambda2 in lambda1
44.175 * [backup-simplify]: Simplify lambda2 into lambda2
44.175 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
44.175 * [taylor]: Taking taylor expansion of (* (fma (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2)) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (/ 1 lambda1) (/ 1 lambda2))) in lambda1
44.175 * [taylor]: Taking taylor expansion of (fma (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2)) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda1
44.176 * [taylor]: Rewrote expression to (+ (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
44.176 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) in lambda1
44.176 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda1
44.176 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1
44.176 * [taylor]: Taking taylor expansion of 0.5 in lambda1
44.176 * [backup-simplify]: Simplify 0.5 into 0.5
44.176 * [taylor]: Taking taylor expansion of phi1 in lambda1
44.176 * [backup-simplify]: Simplify phi1 into phi1
44.176 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
44.176 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
44.176 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
44.176 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda1
44.176 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1
44.176 * [taylor]: Taking taylor expansion of 0.5 in lambda1
44.176 * [backup-simplify]: Simplify 0.5 into 0.5
44.176 * [taylor]: Taking taylor expansion of phi2 in lambda1
44.176 * [backup-simplify]: Simplify phi2 into phi2
44.176 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
44.176 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
44.177 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
44.177 * [taylor]: Taking taylor expansion of (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda1
44.177 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda1
44.177 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda1
44.177 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1
44.177 * [taylor]: Taking taylor expansion of 0.5 in lambda1
44.177 * [backup-simplify]: Simplify 0.5 into 0.5
44.177 * [taylor]: Taking taylor expansion of phi2 in lambda1
44.177 * [backup-simplify]: Simplify phi2 into phi2
44.177 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
44.177 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
44.177 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
44.177 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda1
44.177 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1
44.177 * [taylor]: Taking taylor expansion of 0.5 in lambda1
44.177 * [backup-simplify]: Simplify 0.5 into 0.5
44.177 * [taylor]: Taking taylor expansion of phi1 in lambda1
44.177 * [backup-simplify]: Simplify phi1 into phi1
44.177 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
44.177 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
44.178 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
44.178 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in lambda1
44.178 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1
44.178 * [taylor]: Taking taylor expansion of lambda1 in lambda1
44.178 * [backup-simplify]: Simplify 0 into 0
44.178 * [backup-simplify]: Simplify 1 into 1
44.178 * [backup-simplify]: Simplify (/ 1 1) into 1
44.178 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda1
44.178 * [taylor]: Taking taylor expansion of lambda2 in lambda1
44.178 * [backup-simplify]: Simplify lambda2 into lambda2
44.178 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
44.178 * [taylor]: Taking taylor expansion of (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2))) in lambda1
44.178 * [taylor]: Taking taylor expansion of (- (/ 1 phi1) (/ 1 phi2)) in lambda1
44.178 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
44.179 * [taylor]: Taking taylor expansion of phi1 in lambda1
44.179 * [backup-simplify]: Simplify phi1 into phi1
44.179 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
44.179 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
44.179 * [taylor]: Taking taylor expansion of phi2 in lambda1
44.179 * [backup-simplify]: Simplify phi2 into phi2
44.179 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
44.179 * [taylor]: Taking taylor expansion of (- (/ 1 phi1) (/ 1 phi2)) in lambda1
44.179 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
44.179 * [taylor]: Taking taylor expansion of phi1 in lambda1
44.179 * [backup-simplify]: Simplify phi1 into phi1
44.179 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
44.179 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
44.179 * [taylor]: Taking taylor expansion of phi2 in lambda1
44.179 * [backup-simplify]: Simplify phi2 into phi2
44.179 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
44.179 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
44.179 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
44.180 * [backup-simplify]: Simplify (- 0) into 0
44.180 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
44.180 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
44.180 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
44.181 * [backup-simplify]: Simplify (- 0) into 0
44.181 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
44.181 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
44.181 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
44.181 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
44.181 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
44.181 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
44.181 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
44.182 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
44.182 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
44.182 * [backup-simplify]: Simplify (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
44.182 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
44.183 * [backup-simplify]: Simplify (+ 1 0) into 1
44.183 * [backup-simplify]: Simplify (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) 1) into (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
44.183 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
44.183 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
44.184 * [backup-simplify]: Simplify (- 0) into 0
44.184 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
44.184 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
44.184 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
44.185 * [backup-simplify]: Simplify (- 0) into 0
44.185 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
44.185 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
44.186 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
44.186 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
44.186 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
44.186 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
44.186 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
44.186 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
44.186 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
44.187 * [backup-simplify]: Simplify (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
44.187 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (- (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
44.188 * [backup-simplify]: Simplify (+ 1 0) into 1
44.188 * [backup-simplify]: Simplify (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) 1) into (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
44.189 * [backup-simplify]: Simplify (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (pow (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) 2)
44.190 * [backup-simplify]: Simplify (+ (pow (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) 2) 0) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
44.193 * [backup-simplify]: Simplify (sqrt (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (sqrt (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
44.194 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
44.194 * [backup-simplify]: Simplify (- (/ 1 lambda2)) into (- (/ 1 lambda2))
44.194 * [backup-simplify]: Simplify (+ 0 (- (/ 1 lambda2))) into (- (/ 1 lambda2))
44.194 * [backup-simplify]: Simplify (+ 0) into 0
44.195 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
44.195 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
44.195 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
44.196 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
44.196 * [backup-simplify]: Simplify (- 0) into 0
44.196 * [backup-simplify]: Simplify (+ 0 0) into 0
44.197 * [backup-simplify]: Simplify (+ 0) into 0
44.197 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
44.197 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
44.198 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
44.198 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
44.198 * [backup-simplify]: Simplify (- 0) into 0
44.199 * [backup-simplify]: Simplify (+ 0 0) into 0
44.199 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
44.199 * [backup-simplify]: Simplify (+ 0) into 0
44.199 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
44.199 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
44.200 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
44.200 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
44.201 * [backup-simplify]: Simplify (+ 0 0) into 0
44.201 * [backup-simplify]: Simplify (+ 0) into 0
44.201 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
44.201 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
44.202 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
44.202 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
44.202 * [backup-simplify]: Simplify (+ 0 0) into 0
44.202 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
44.203 * [backup-simplify]: Simplify (- 0) into 0
44.203 * [backup-simplify]: Simplify (+ 0 0) into 0
44.203 * [backup-simplify]: Simplify (+ (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) (- (/ 1 lambda2))) (* 0 1)) into (- (/ (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) lambda2) (/ (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) lambda2))
44.204 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
44.204 * [backup-simplify]: Simplify (- (/ 1 lambda2)) into (- (/ 1 lambda2))
44.204 * [backup-simplify]: Simplify (+ 0 (- (/ 1 lambda2))) into (- (/ 1 lambda2))
44.204 * [backup-simplify]: Simplify (+ 0) into 0
44.205 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
44.205 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
44.205 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
44.205 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
44.206 * [backup-simplify]: Simplify (- 0) into 0
44.206 * [backup-simplify]: Simplify (+ 0 0) into 0
44.206 * [backup-simplify]: Simplify (+ 0) into 0
44.206 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
44.206 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
44.207 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
44.207 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
44.207 * [backup-simplify]: Simplify (- 0) into 0
44.208 * [backup-simplify]: Simplify (+ 0 0) into 0
44.208 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
44.208 * [backup-simplify]: Simplify (+ 0) into 0
44.208 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
44.208 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
44.209 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
44.209 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
44.209 * [backup-simplify]: Simplify (+ 0 0) into 0
44.210 * [backup-simplify]: Simplify (+ 0) into 0
44.210 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
44.210 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
44.210 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
44.211 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
44.211 * [backup-simplify]: Simplify (+ 0 0) into 0
44.211 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
44.211 * [backup-simplify]: Simplify (- 0) into 0
44.212 * [backup-simplify]: Simplify (+ 0 0) into 0
44.212 * [backup-simplify]: Simplify (+ (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) (- (/ 1 lambda2))) (* 0 1)) into (- (/ (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) lambda2) (/ (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) lambda2))
44.213 * [backup-simplify]: Simplify (+ (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) (- (/ (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) lambda2) (/ (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) lambda2))) (* (- (/ (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) lambda2) (/ (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) lambda2)) (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into (- (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (cos (/ 0.5 phi2))))) lambda2)) (* 2 (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (sin (/ 0.5 phi2))))) lambda2))) (+ (* 2 (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) lambda2)) (* 2 (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) lambda2))))
44.215 * [backup-simplify]: Simplify (+ (- (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (cos (/ 0.5 phi2))))) lambda2)) (* 2 (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (sin (/ 0.5 phi2))))) lambda2))) (+ (* 2 (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) lambda2)) (* 2 (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) lambda2)))) 0) into (- (+ (* 2 (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) lambda2)) (* 2 (/ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) lambda2))) (+ (* 2 (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) lambda2)) (* 2 (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) lambda2))))
44.217 * [backup-simplify]: Simplify (/ (- (+ (* 2 (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) lambda2)) (* 2 (/ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) lambda2))) (+ (* 2 (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) lambda2)) (* 2 (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) lambda2)))) (* 2 (sqrt (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (- (+ (* 2 (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) lambda2)) (* 2 (/ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) lambda2))) (+ (* 2 (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) lambda2)) (* 2 (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) lambda2))))))
44.218 * [taylor]: Taking taylor expansion of R in lambda1
44.218 * [backup-simplify]: Simplify R into R
44.219 * [backup-simplify]: Simplify (/ (sqrt (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) R) into (* (sqrt (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 1 R))
44.219 * [taylor]: Taking taylor expansion of (* (sqrt (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 1 R)) in lambda2
44.219 * [taylor]: Taking taylor expansion of (sqrt (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in lambda2
44.219 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
44.219 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
44.219 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
44.219 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
44.219 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
44.219 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
44.219 * [taylor]: Taking taylor expansion of 0.5 in lambda2
44.219 * [backup-simplify]: Simplify 0.5 into 0.5
44.219 * [taylor]: Taking taylor expansion of phi2 in lambda2
44.219 * [backup-simplify]: Simplify phi2 into phi2
44.219 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
44.219 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
44.219 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
44.219 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
44.219 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
44.219 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
44.219 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
44.219 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
44.219 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
44.219 * [taylor]: Taking taylor expansion of 0.5 in lambda2
44.219 * [backup-simplify]: Simplify 0.5 into 0.5
44.219 * [taylor]: Taking taylor expansion of phi1 in lambda2
44.219 * [backup-simplify]: Simplify phi1 into phi1
44.219 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
44.219 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
44.224 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
44.224 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
44.224 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
44.224 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
44.224 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
44.224 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
44.224 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
44.224 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
44.224 * [taylor]: Taking taylor expansion of 0.5 in lambda2
44.224 * [backup-simplify]: Simplify 0.5 into 0.5
44.224 * [taylor]: Taking taylor expansion of phi2 in lambda2
44.225 * [backup-simplify]: Simplify phi2 into phi2
44.225 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
44.225 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
44.225 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
44.225 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
44.225 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
44.225 * [backup-simplify]: Simplify (- 0) into 0
44.225 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
44.225 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
44.225 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
44.225 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
44.225 * [taylor]: Taking taylor expansion of 0.5 in lambda2
44.225 * [backup-simplify]: Simplify 0.5 into 0.5
44.225 * [taylor]: Taking taylor expansion of phi1 in lambda2
44.225 * [backup-simplify]: Simplify phi1 into phi1
44.226 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
44.226 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
44.226 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
44.226 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
44.226 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
44.226 * [backup-simplify]: Simplify (- 0) into 0
44.226 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
44.226 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
44.226 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
44.226 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
44.226 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
44.226 * [taylor]: Taking taylor expansion of 0.5 in lambda2
44.226 * [backup-simplify]: Simplify 0.5 into 0.5
44.226 * [taylor]: Taking taylor expansion of phi2 in lambda2
44.226 * [backup-simplify]: Simplify phi2 into phi2
44.226 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
44.226 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
44.226 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
44.226 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
44.226 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
44.226 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
44.226 * [taylor]: Taking taylor expansion of 0.5 in lambda2
44.226 * [backup-simplify]: Simplify 0.5 into 0.5
44.227 * [taylor]: Taking taylor expansion of phi1 in lambda2
44.227 * [backup-simplify]: Simplify phi1 into phi1
44.227 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
44.227 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
44.227 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
44.227 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
44.227 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
44.227 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
44.227 * [taylor]: Taking taylor expansion of 0.5 in lambda2
44.227 * [backup-simplify]: Simplify 0.5 into 0.5
44.227 * [taylor]: Taking taylor expansion of phi2 in lambda2
44.227 * [backup-simplify]: Simplify phi2 into phi2
44.227 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
44.227 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
44.227 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
44.227 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
44.227 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
44.227 * [taylor]: Taking taylor expansion of 0.5 in lambda2
44.227 * [backup-simplify]: Simplify 0.5 into 0.5
44.227 * [taylor]: Taking taylor expansion of phi1 in lambda2
44.227 * [backup-simplify]: Simplify phi1 into phi1
44.227 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
44.227 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
44.227 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
44.227 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
44.227 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
44.227 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
44.227 * [taylor]: Taking taylor expansion of 0.5 in lambda2
44.227 * [backup-simplify]: Simplify 0.5 into 0.5
44.227 * [taylor]: Taking taylor expansion of phi2 in lambda2
44.227 * [backup-simplify]: Simplify phi2 into phi2
44.227 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
44.227 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
44.227 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
44.227 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
44.227 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
44.227 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
44.227 * [taylor]: Taking taylor expansion of 0.5 in lambda2
44.228 * [backup-simplify]: Simplify 0.5 into 0.5
44.228 * [taylor]: Taking taylor expansion of phi1 in lambda2
44.228 * [backup-simplify]: Simplify phi1 into phi1
44.228 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
44.228 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
44.228 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
44.228 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
44.228 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
44.228 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
44.228 * [taylor]: Taking taylor expansion of 0.5 in lambda2
44.228 * [backup-simplify]: Simplify 0.5 into 0.5
44.228 * [taylor]: Taking taylor expansion of phi2 in lambda2
44.228 * [backup-simplify]: Simplify phi2 into phi2
44.228 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
44.228 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
44.228 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
44.228 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
44.228 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
44.228 * [taylor]: Taking taylor expansion of 0.5 in lambda2
44.228 * [backup-simplify]: Simplify 0.5 into 0.5
44.228 * [taylor]: Taking taylor expansion of phi1 in lambda2
44.228 * [backup-simplify]: Simplify phi1 into phi1
44.228 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
44.228 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
44.228 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
44.228 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
44.228 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
44.229 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
44.229 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
44.229 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
44.229 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
44.229 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
44.230 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
44.230 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
44.230 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
44.230 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
44.230 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
44.230 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
44.230 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
44.230 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
44.231 * [backup-simplify]: Simplify (- 0) into 0
44.231 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
44.231 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
44.231 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
44.232 * [backup-simplify]: Simplify (- 0) into 0
44.232 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
44.232 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
44.232 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
44.233 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
44.233 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
44.233 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
44.233 * [backup-simplify]: Simplify (- 0) into 0
44.233 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
44.233 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
44.234 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
44.234 * [backup-simplify]: Simplify (- 0) into 0
44.234 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
44.234 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
44.234 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
44.234 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
44.235 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
44.235 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
44.235 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
44.235 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
44.235 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
44.235 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
44.236 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))
44.237 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
44.239 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
44.241 * [backup-simplify]: Simplify (sqrt (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (sqrt (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
44.242 * [backup-simplify]: Simplify (+ 0) into 0
44.242 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
44.242 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
44.243 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
44.244 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
44.244 * [backup-simplify]: Simplify (+ 0 0) into 0
44.244 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
44.245 * [backup-simplify]: Simplify (+ 0) into 0
44.245 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
44.245 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
44.246 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
44.247 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
44.247 * [backup-simplify]: Simplify (+ 0 0) into 0
44.247 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
44.248 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
44.248 * [backup-simplify]: Simplify (+ 0) into 0
44.249 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
44.249 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
44.250 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
44.250 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
44.251 * [backup-simplify]: Simplify (- 0) into 0
44.251 * [backup-simplify]: Simplify (+ 0 0) into 0
44.251 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
44.252 * [backup-simplify]: Simplify (+ 0) into 0
44.252 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
44.252 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
44.253 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
44.254 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
44.254 * [backup-simplify]: Simplify (- 0) into 0
44.254 * [backup-simplify]: Simplify (+ 0 0) into 0
44.255 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
44.255 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
44.255 * [backup-simplify]: Simplify (+ 0 0) into 0
44.256 * [backup-simplify]: Simplify (+ 0) into 0
44.256 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
44.256 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
44.257 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
44.258 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
44.258 * [backup-simplify]: Simplify (- 0) into 0
44.258 * [backup-simplify]: Simplify (+ 0 0) into 0
44.259 * [backup-simplify]: Simplify (+ 0) into 0
44.259 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
44.259 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
44.260 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
44.261 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
44.261 * [backup-simplify]: Simplify (- 0) into 0
44.261 * [backup-simplify]: Simplify (+ 0 0) into 0
44.262 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
44.262 * [backup-simplify]: Simplify (+ 0) into 0
44.263 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
44.263 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
44.264 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
44.264 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
44.264 * [backup-simplify]: Simplify (+ 0 0) into 0
44.265 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
44.265 * [backup-simplify]: Simplify (+ 0) into 0
44.266 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
44.266 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
44.267 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
44.267 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
44.267 * [backup-simplify]: Simplify (+ 0 0) into 0
44.268 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
44.268 * [backup-simplify]: Simplify (+ 0) into 0
44.269 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
44.269 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
44.270 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
44.270 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
44.270 * [backup-simplify]: Simplify (+ 0 0) into 0
44.271 * [backup-simplify]: Simplify (+ 0) into 0
44.271 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
44.272 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
44.272 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
44.273 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
44.273 * [backup-simplify]: Simplify (+ 0 0) into 0
44.273 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
44.274 * [backup-simplify]: Simplify (+ 0) into 0
44.274 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
44.274 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
44.275 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
44.276 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
44.276 * [backup-simplify]: Simplify (- 0) into 0
44.276 * [backup-simplify]: Simplify (+ 0 0) into 0
44.277 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
44.277 * [backup-simplify]: Simplify (+ 0) into 0
44.278 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
44.278 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
44.279 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
44.279 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
44.279 * [backup-simplify]: Simplify (- 0) into 0
44.280 * [backup-simplify]: Simplify (+ 0 0) into 0
44.280 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
44.281 * [backup-simplify]: Simplify (+ 0 0) into 0
44.281 * [backup-simplify]: Simplify (- 0) into 0
44.282 * [backup-simplify]: Simplify (+ 0 0) into 0
44.283 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into 0
44.283 * [taylor]: Taking taylor expansion of (/ 1 R) in lambda2
44.283 * [taylor]: Taking taylor expansion of R in lambda2
44.283 * [backup-simplify]: Simplify R into R
44.283 * [backup-simplify]: Simplify (/ 1 R) into (/ 1 R)
44.287 * [backup-simplify]: Simplify (- (/ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (- (+ (* 2 (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) lambda2)) (* 2 (/ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) lambda2))) (+ (* 2 (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) lambda2)) (* 2 (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) lambda2)))))) R) (+ (* (* (sqrt (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 1 R)) (/ 0 R)))) into (- (+ (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* R lambda2)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* R lambda2)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* R lambda2)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (* R lambda2)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))
44.287 * [taylor]: Taking taylor expansion of (- (+ (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* R lambda2)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* R lambda2)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* R lambda2)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (* R lambda2)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) in lambda2
44.287 * [taylor]: Taking taylor expansion of (+ (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* R lambda2)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* R lambda2)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) in lambda2
44.287 * [taylor]: Taking taylor expansion of (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* R lambda2)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) in lambda2
44.287 * [taylor]: Taking taylor expansion of (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* R lambda2)) in lambda2
44.287 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
44.287 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
44.287 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
44.288 * [taylor]: Taking taylor expansion of 0.5 in lambda2
44.288 * [backup-simplify]: Simplify 0.5 into 0.5
44.288 * [taylor]: Taking taylor expansion of phi2 in lambda2
44.288 * [backup-simplify]: Simplify phi2 into phi2
44.288 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
44.288 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
44.288 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
44.288 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
44.288 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
44.288 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
44.288 * [taylor]: Taking taylor expansion of 0.5 in lambda2
44.288 * [backup-simplify]: Simplify 0.5 into 0.5
44.288 * [taylor]: Taking taylor expansion of phi1 in lambda2
44.288 * [backup-simplify]: Simplify phi1 into phi1
44.288 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
44.288 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
44.288 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
44.288 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
44.288 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
44.288 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
44.288 * [taylor]: Taking taylor expansion of 0.5 in lambda2
44.288 * [backup-simplify]: Simplify 0.5 into 0.5
44.288 * [taylor]: Taking taylor expansion of phi2 in lambda2
44.288 * [backup-simplify]: Simplify phi2 into phi2
44.288 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
44.288 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
44.288 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
44.288 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
44.288 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
44.288 * [taylor]: Taking taylor expansion of 0.5 in lambda2
44.288 * [backup-simplify]: Simplify 0.5 into 0.5
44.288 * [taylor]: Taking taylor expansion of phi1 in lambda2
44.288 * [backup-simplify]: Simplify phi1 into phi1
44.288 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
44.288 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
44.288 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
44.289 * [taylor]: Taking taylor expansion of (* R lambda2) in lambda2
44.289 * [taylor]: Taking taylor expansion of R in lambda2
44.289 * [backup-simplify]: Simplify R into R
44.289 * [taylor]: Taking taylor expansion of lambda2 in lambda2
44.289 * [backup-simplify]: Simplify 0 into 0
44.289 * [backup-simplify]: Simplify 1 into 1
44.289 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
44.289 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
44.289 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
44.289 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
44.289 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
44.289 * [backup-simplify]: Simplify (- 0) into 0
44.289 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
44.289 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
44.289 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
44.290 * [backup-simplify]: Simplify (- 0) into 0
44.290 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
44.290 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
44.290 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
44.290 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
44.290 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
44.290 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
44.290 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
44.290 * [backup-simplify]: Simplify (* R 0) into 0
44.291 * [backup-simplify]: Simplify (+ (* R 1) (* 0 0)) into R
44.291 * [backup-simplify]: Simplify (/ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) R) into (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R)
44.291 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in lambda2
44.291 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in lambda2
44.291 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
44.291 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
44.291 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
44.291 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
44.291 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
44.291 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
44.291 * [taylor]: Taking taylor expansion of 0.5 in lambda2
44.291 * [backup-simplify]: Simplify 0.5 into 0.5
44.291 * [taylor]: Taking taylor expansion of phi2 in lambda2
44.291 * [backup-simplify]: Simplify phi2 into phi2
44.291 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
44.291 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
44.291 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
44.291 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
44.292 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
44.292 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
44.292 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
44.292 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
44.292 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
44.292 * [taylor]: Taking taylor expansion of 0.5 in lambda2
44.292 * [backup-simplify]: Simplify 0.5 into 0.5
44.292 * [taylor]: Taking taylor expansion of phi1 in lambda2
44.292 * [backup-simplify]: Simplify phi1 into phi1
44.292 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
44.292 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
44.292 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
44.292 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
44.292 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
44.292 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
44.292 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
44.292 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
44.292 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
44.292 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
44.292 * [taylor]: Taking taylor expansion of 0.5 in lambda2
44.292 * [backup-simplify]: Simplify 0.5 into 0.5
44.292 * [taylor]: Taking taylor expansion of phi2 in lambda2
44.292 * [backup-simplify]: Simplify phi2 into phi2
44.292 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
44.292 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
44.292 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
44.292 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
44.292 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
44.293 * [backup-simplify]: Simplify (- 0) into 0
44.293 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
44.293 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
44.293 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
44.293 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
44.293 * [taylor]: Taking taylor expansion of 0.5 in lambda2
44.293 * [backup-simplify]: Simplify 0.5 into 0.5
44.293 * [taylor]: Taking taylor expansion of phi1 in lambda2
44.293 * [backup-simplify]: Simplify phi1 into phi1
44.293 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
44.293 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
44.293 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
44.293 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
44.293 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
44.293 * [backup-simplify]: Simplify (- 0) into 0
44.294 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
44.294 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
44.294 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
44.294 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
44.294 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
44.294 * [taylor]: Taking taylor expansion of 0.5 in lambda2
44.294 * [backup-simplify]: Simplify 0.5 into 0.5
44.294 * [taylor]: Taking taylor expansion of phi2 in lambda2
44.294 * [backup-simplify]: Simplify phi2 into phi2
44.294 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
44.294 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
44.294 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
44.294 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
44.294 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
44.294 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
44.294 * [taylor]: Taking taylor expansion of 0.5 in lambda2
44.294 * [backup-simplify]: Simplify 0.5 into 0.5
44.294 * [taylor]: Taking taylor expansion of phi1 in lambda2
44.294 * [backup-simplify]: Simplify phi1 into phi1
44.294 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
44.294 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
44.294 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
44.294 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
44.294 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
44.294 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
44.294 * [taylor]: Taking taylor expansion of 0.5 in lambda2
44.294 * [backup-simplify]: Simplify 0.5 into 0.5
44.294 * [taylor]: Taking taylor expansion of phi2 in lambda2
44.294 * [backup-simplify]: Simplify phi2 into phi2
44.294 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
44.294 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
44.294 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
44.294 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
44.294 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
44.294 * [taylor]: Taking taylor expansion of 0.5 in lambda2
44.294 * [backup-simplify]: Simplify 0.5 into 0.5
44.294 * [taylor]: Taking taylor expansion of phi1 in lambda2
44.294 * [backup-simplify]: Simplify phi1 into phi1
44.294 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
44.295 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
44.295 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
44.295 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
44.295 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
44.295 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
44.295 * [taylor]: Taking taylor expansion of 0.5 in lambda2
44.295 * [backup-simplify]: Simplify 0.5 into 0.5
44.295 * [taylor]: Taking taylor expansion of phi2 in lambda2
44.295 * [backup-simplify]: Simplify phi2 into phi2
44.295 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
44.295 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
44.295 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
44.295 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
44.295 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
44.295 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
44.295 * [taylor]: Taking taylor expansion of 0.5 in lambda2
44.295 * [backup-simplify]: Simplify 0.5 into 0.5
44.295 * [taylor]: Taking taylor expansion of phi1 in lambda2
44.295 * [backup-simplify]: Simplify phi1 into phi1
44.295 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
44.295 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
44.295 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
44.295 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
44.295 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
44.295 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
44.295 * [taylor]: Taking taylor expansion of 0.5 in lambda2
44.295 * [backup-simplify]: Simplify 0.5 into 0.5
44.295 * [taylor]: Taking taylor expansion of phi2 in lambda2
44.295 * [backup-simplify]: Simplify phi2 into phi2
44.295 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
44.295 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
44.295 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
44.295 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
44.295 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
44.295 * [taylor]: Taking taylor expansion of 0.5 in lambda2
44.295 * [backup-simplify]: Simplify 0.5 into 0.5
44.295 * [taylor]: Taking taylor expansion of phi1 in lambda2
44.295 * [backup-simplify]: Simplify phi1 into phi1
44.296 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
44.296 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
44.296 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
44.296 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
44.296 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
44.296 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
44.296 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
44.296 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
44.296 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
44.297 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
44.297 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
44.297 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
44.297 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
44.297 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
44.297 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
44.297 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
44.297 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
44.297 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
44.298 * [backup-simplify]: Simplify (- 0) into 0
44.298 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
44.298 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
44.298 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
44.298 * [backup-simplify]: Simplify (- 0) into 0
44.298 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
44.298 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
44.299 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
44.299 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
44.299 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
44.299 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
44.299 * [backup-simplify]: Simplify (- 0) into 0
44.299 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
44.299 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
44.299 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
44.300 * [backup-simplify]: Simplify (- 0) into 0
44.300 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
44.300 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
44.300 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
44.300 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
44.300 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
44.300 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
44.300 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
44.300 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
44.300 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
44.300 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
44.301 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))
44.301 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
44.302 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
44.303 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
44.304 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
44.305 * [backup-simplify]: Simplify (+ 0) into 0
44.305 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
44.305 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
44.306 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
44.306 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
44.307 * [backup-simplify]: Simplify (+ 0 0) into 0
44.307 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
44.307 * [backup-simplify]: Simplify (+ 0) into 0
44.308 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
44.308 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
44.309 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
44.310 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
44.310 * [backup-simplify]: Simplify (+ 0 0) into 0
44.310 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
44.311 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
44.311 * [backup-simplify]: Simplify (+ 0) into 0
44.312 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
44.312 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
44.313 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
44.313 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
44.313 * [backup-simplify]: Simplify (- 0) into 0
44.314 * [backup-simplify]: Simplify (+ 0 0) into 0
44.314 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
44.314 * [backup-simplify]: Simplify (+ 0) into 0
44.315 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
44.315 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
44.316 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
44.317 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
44.317 * [backup-simplify]: Simplify (- 0) into 0
44.317 * [backup-simplify]: Simplify (+ 0 0) into 0
44.318 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
44.318 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
44.318 * [backup-simplify]: Simplify (+ 0 0) into 0
44.319 * [backup-simplify]: Simplify (+ 0) into 0
44.319 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
44.320 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
44.320 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
44.321 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
44.321 * [backup-simplify]: Simplify (- 0) into 0
44.322 * [backup-simplify]: Simplify (+ 0 0) into 0
44.322 * [backup-simplify]: Simplify (+ 0) into 0
44.323 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
44.323 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
44.324 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
44.324 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
44.324 * [backup-simplify]: Simplify (- 0) into 0
44.325 * [backup-simplify]: Simplify (+ 0 0) into 0
44.325 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
44.326 * [backup-simplify]: Simplify (+ 0) into 0
44.326 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
44.326 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
44.327 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
44.328 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
44.328 * [backup-simplify]: Simplify (+ 0 0) into 0
44.328 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
44.329 * [backup-simplify]: Simplify (+ 0) into 0
44.329 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
44.329 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
44.330 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
44.331 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
44.331 * [backup-simplify]: Simplify (+ 0 0) into 0
44.331 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
44.332 * [backup-simplify]: Simplify (+ 0) into 0
44.332 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
44.333 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
44.333 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
44.334 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
44.334 * [backup-simplify]: Simplify (+ 0 0) into 0
44.335 * [backup-simplify]: Simplify (+ 0) into 0
44.335 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
44.335 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
44.336 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
44.337 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
44.337 * [backup-simplify]: Simplify (+ 0 0) into 0
44.337 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
44.338 * [backup-simplify]: Simplify (+ 0) into 0
44.338 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
44.338 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
44.339 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
44.340 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
44.340 * [backup-simplify]: Simplify (- 0) into 0
44.340 * [backup-simplify]: Simplify (+ 0 0) into 0
44.341 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
44.341 * [backup-simplify]: Simplify (+ 0) into 0
44.342 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
44.342 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
44.343 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
44.343 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
44.344 * [backup-simplify]: Simplify (- 0) into 0
44.344 * [backup-simplify]: Simplify (+ 0 0) into 0
44.344 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
44.345 * [backup-simplify]: Simplify (+ 0 0) into 0
44.345 * [backup-simplify]: Simplify (- 0) into 0
44.345 * [backup-simplify]: Simplify (+ 0 0) into 0
44.349 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
44.351 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
44.351 * [taylor]: Taking taylor expansion of (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* R lambda2)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) in lambda2
44.351 * [taylor]: Taking taylor expansion of (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* R lambda2)) in lambda2
44.351 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
44.351 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
44.351 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
44.351 * [taylor]: Taking taylor expansion of 0.5 in lambda2
44.351 * [backup-simplify]: Simplify 0.5 into 0.5
44.351 * [taylor]: Taking taylor expansion of phi2 in lambda2
44.351 * [backup-simplify]: Simplify phi2 into phi2
44.351 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
44.351 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
44.351 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
44.351 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
44.351 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
44.351 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
44.351 * [taylor]: Taking taylor expansion of 0.5 in lambda2
44.351 * [backup-simplify]: Simplify 0.5 into 0.5
44.351 * [taylor]: Taking taylor expansion of phi1 in lambda2
44.351 * [backup-simplify]: Simplify phi1 into phi1
44.351 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
44.351 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
44.351 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
44.351 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
44.351 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
44.351 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
44.351 * [taylor]: Taking taylor expansion of 0.5 in lambda2
44.351 * [backup-simplify]: Simplify 0.5 into 0.5
44.351 * [taylor]: Taking taylor expansion of phi2 in lambda2
44.351 * [backup-simplify]: Simplify phi2 into phi2
44.351 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
44.351 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
44.351 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
44.352 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
44.352 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
44.352 * [taylor]: Taking taylor expansion of 0.5 in lambda2
44.352 * [backup-simplify]: Simplify 0.5 into 0.5
44.352 * [taylor]: Taking taylor expansion of phi1 in lambda2
44.352 * [backup-simplify]: Simplify phi1 into phi1
44.352 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
44.352 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
44.352 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
44.352 * [taylor]: Taking taylor expansion of (* R lambda2) in lambda2
44.352 * [taylor]: Taking taylor expansion of R in lambda2
44.352 * [backup-simplify]: Simplify R into R
44.352 * [taylor]: Taking taylor expansion of lambda2 in lambda2
44.352 * [backup-simplify]: Simplify 0 into 0
44.352 * [backup-simplify]: Simplify 1 into 1
44.352 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
44.352 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
44.352 * [backup-simplify]: Simplify (- 0) into 0
44.352 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
44.352 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
44.353 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
44.353 * [backup-simplify]: Simplify (- 0) into 0
44.353 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
44.353 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
44.353 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
44.353 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
44.353 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
44.353 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
44.353 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
44.353 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
44.353 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
44.354 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
44.354 * [backup-simplify]: Simplify (* R 0) into 0
44.354 * [backup-simplify]: Simplify (+ (* R 1) (* 0 0)) into R
44.354 * [backup-simplify]: Simplify (/ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) R) into (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R)
44.354 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in lambda2
44.354 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in lambda2
44.354 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
44.354 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
44.354 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
44.354 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
44.354 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
44.354 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
44.354 * [taylor]: Taking taylor expansion of 0.5 in lambda2
44.354 * [backup-simplify]: Simplify 0.5 into 0.5
44.355 * [taylor]: Taking taylor expansion of phi2 in lambda2
44.355 * [backup-simplify]: Simplify phi2 into phi2
44.355 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
44.355 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
44.355 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
44.355 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
44.355 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
44.355 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
44.355 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
44.355 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
44.355 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
44.355 * [taylor]: Taking taylor expansion of 0.5 in lambda2
44.355 * [backup-simplify]: Simplify 0.5 into 0.5
44.355 * [taylor]: Taking taylor expansion of phi1 in lambda2
44.355 * [backup-simplify]: Simplify phi1 into phi1
44.355 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
44.355 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
44.355 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
44.355 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
44.355 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
44.355 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
44.355 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
44.355 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
44.355 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
44.355 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
44.355 * [taylor]: Taking taylor expansion of 0.5 in lambda2
44.355 * [backup-simplify]: Simplify 0.5 into 0.5
44.355 * [taylor]: Taking taylor expansion of phi2 in lambda2
44.355 * [backup-simplify]: Simplify phi2 into phi2
44.355 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
44.356 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
44.356 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
44.356 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
44.356 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
44.356 * [backup-simplify]: Simplify (- 0) into 0
44.356 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
44.356 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
44.356 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
44.356 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
44.356 * [taylor]: Taking taylor expansion of 0.5 in lambda2
44.356 * [backup-simplify]: Simplify 0.5 into 0.5
44.356 * [taylor]: Taking taylor expansion of phi1 in lambda2
44.356 * [backup-simplify]: Simplify phi1 into phi1
44.356 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
44.356 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
44.356 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
44.356 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
44.356 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
44.357 * [backup-simplify]: Simplify (- 0) into 0
44.357 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
44.357 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
44.357 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
44.357 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
44.357 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
44.357 * [taylor]: Taking taylor expansion of 0.5 in lambda2
44.357 * [backup-simplify]: Simplify 0.5 into 0.5
44.357 * [taylor]: Taking taylor expansion of phi2 in lambda2
44.357 * [backup-simplify]: Simplify phi2 into phi2
44.357 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
44.357 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
44.357 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
44.357 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
44.357 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
44.357 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
44.357 * [taylor]: Taking taylor expansion of 0.5 in lambda2
44.357 * [backup-simplify]: Simplify 0.5 into 0.5
44.357 * [taylor]: Taking taylor expansion of phi1 in lambda2
44.357 * [backup-simplify]: Simplify phi1 into phi1
44.357 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
44.357 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
44.357 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
44.357 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
44.357 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
44.357 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
44.357 * [taylor]: Taking taylor expansion of 0.5 in lambda2
44.357 * [backup-simplify]: Simplify 0.5 into 0.5
44.357 * [taylor]: Taking taylor expansion of phi2 in lambda2
44.357 * [backup-simplify]: Simplify phi2 into phi2
44.357 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
44.358 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
44.358 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
44.358 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
44.358 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
44.358 * [taylor]: Taking taylor expansion of 0.5 in lambda2
44.358 * [backup-simplify]: Simplify 0.5 into 0.5
44.358 * [taylor]: Taking taylor expansion of phi1 in lambda2
44.358 * [backup-simplify]: Simplify phi1 into phi1
44.358 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
44.358 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
44.358 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
44.358 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
44.358 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
44.358 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
44.358 * [taylor]: Taking taylor expansion of 0.5 in lambda2
44.358 * [backup-simplify]: Simplify 0.5 into 0.5
44.358 * [taylor]: Taking taylor expansion of phi2 in lambda2
44.358 * [backup-simplify]: Simplify phi2 into phi2
44.358 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
44.358 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
44.358 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
44.358 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
44.358 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
44.358 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
44.358 * [taylor]: Taking taylor expansion of 0.5 in lambda2
44.358 * [backup-simplify]: Simplify 0.5 into 0.5
44.358 * [taylor]: Taking taylor expansion of phi1 in lambda2
44.358 * [backup-simplify]: Simplify phi1 into phi1
44.358 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
44.358 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
44.358 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
44.358 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
44.358 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
44.358 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
44.358 * [taylor]: Taking taylor expansion of 0.5 in lambda2
44.358 * [backup-simplify]: Simplify 0.5 into 0.5
44.358 * [taylor]: Taking taylor expansion of phi2 in lambda2
44.358 * [backup-simplify]: Simplify phi2 into phi2
44.359 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
44.359 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
44.359 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
44.359 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
44.359 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
44.359 * [taylor]: Taking taylor expansion of 0.5 in lambda2
44.359 * [backup-simplify]: Simplify 0.5 into 0.5
44.359 * [taylor]: Taking taylor expansion of phi1 in lambda2
44.359 * [backup-simplify]: Simplify phi1 into phi1
44.359 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
44.359 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
44.359 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
44.359 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
44.359 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
44.359 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
44.359 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
44.359 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
44.360 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
44.360 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
44.360 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
44.360 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
44.360 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
44.360 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
44.360 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
44.360 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
44.361 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
44.361 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
44.361 * [backup-simplify]: Simplify (- 0) into 0
44.361 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
44.361 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
44.361 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
44.361 * [backup-simplify]: Simplify (- 0) into 0
44.362 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
44.362 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
44.362 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
44.362 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
44.362 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
44.362 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
44.362 * [backup-simplify]: Simplify (- 0) into 0
44.362 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
44.362 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
44.363 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
44.363 * [backup-simplify]: Simplify (- 0) into 0
44.363 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
44.363 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
44.363 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
44.363 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
44.363 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
44.363 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
44.363 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
44.363 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
44.363 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
44.364 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
44.364 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))
44.364 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
44.365 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
44.367 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
44.368 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
44.373 * [backup-simplify]: Simplify (+ 0) into 0
44.374 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
44.374 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
44.374 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
44.375 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
44.375 * [backup-simplify]: Simplify (+ 0 0) into 0
44.375 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
44.376 * [backup-simplify]: Simplify (+ 0) into 0
44.376 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
44.376 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
44.376 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
44.377 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
44.377 * [backup-simplify]: Simplify (+ 0 0) into 0
44.377 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
44.377 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
44.378 * [backup-simplify]: Simplify (+ 0) into 0
44.378 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
44.378 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
44.379 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
44.379 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
44.379 * [backup-simplify]: Simplify (- 0) into 0
44.379 * [backup-simplify]: Simplify (+ 0 0) into 0
44.380 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
44.380 * [backup-simplify]: Simplify (+ 0) into 0
44.380 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
44.380 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
44.381 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
44.381 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
44.381 * [backup-simplify]: Simplify (- 0) into 0
44.382 * [backup-simplify]: Simplify (+ 0 0) into 0
44.382 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
44.382 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
44.383 * [backup-simplify]: Simplify (+ 0 0) into 0
44.383 * [backup-simplify]: Simplify (+ 0) into 0
44.384 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
44.384 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
44.385 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
44.385 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
44.386 * [backup-simplify]: Simplify (- 0) into 0
44.386 * [backup-simplify]: Simplify (+ 0 0) into 0
44.386 * [backup-simplify]: Simplify (+ 0) into 0
44.387 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
44.387 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
44.388 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
44.388 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
44.389 * [backup-simplify]: Simplify (- 0) into 0
44.389 * [backup-simplify]: Simplify (+ 0 0) into 0
44.389 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
44.390 * [backup-simplify]: Simplify (+ 0) into 0
44.390 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
44.390 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
44.391 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
44.392 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
44.392 * [backup-simplify]: Simplify (+ 0 0) into 0
44.392 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
44.393 * [backup-simplify]: Simplify (+ 0) into 0
44.393 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
44.394 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
44.395 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
44.395 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
44.396 * [backup-simplify]: Simplify (+ 0 0) into 0
44.396 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
44.397 * [backup-simplify]: Simplify (+ 0) into 0
44.397 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
44.397 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
44.398 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
44.398 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
44.399 * [backup-simplify]: Simplify (+ 0 0) into 0
44.399 * [backup-simplify]: Simplify (+ 0) into 0
44.399 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
44.399 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
44.400 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
44.400 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
44.401 * [backup-simplify]: Simplify (+ 0 0) into 0
44.401 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
44.401 * [backup-simplify]: Simplify (+ 0) into 0
44.401 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
44.402 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
44.402 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
44.403 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
44.403 * [backup-simplify]: Simplify (- 0) into 0
44.403 * [backup-simplify]: Simplify (+ 0 0) into 0
44.403 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
44.404 * [backup-simplify]: Simplify (+ 0) into 0
44.404 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
44.404 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
44.405 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
44.405 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
44.405 * [backup-simplify]: Simplify (- 0) into 0
44.405 * [backup-simplify]: Simplify (+ 0 0) into 0
44.406 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
44.406 * [backup-simplify]: Simplify (+ 0 0) into 0
44.406 * [backup-simplify]: Simplify (- 0) into 0
44.406 * [backup-simplify]: Simplify (+ 0 0) into 0
44.409 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
44.410 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
44.410 * [taylor]: Taking taylor expansion of (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* R lambda2)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (* R lambda2)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) in lambda2
44.410 * [taylor]: Taking taylor expansion of (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* R lambda2)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) in lambda2
44.410 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* R lambda2)) in lambda2
44.410 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
44.410 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
44.410 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
44.410 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
44.410 * [taylor]: Taking taylor expansion of 0.5 in lambda2
44.410 * [backup-simplify]: Simplify 0.5 into 0.5
44.410 * [taylor]: Taking taylor expansion of phi2 in lambda2
44.410 * [backup-simplify]: Simplify phi2 into phi2
44.410 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
44.410 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
44.410 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
44.410 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
44.410 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
44.410 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
44.410 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
44.410 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
44.411 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
44.411 * [taylor]: Taking taylor expansion of 0.5 in lambda2
44.411 * [backup-simplify]: Simplify 0.5 into 0.5
44.411 * [taylor]: Taking taylor expansion of phi1 in lambda2
44.411 * [backup-simplify]: Simplify phi1 into phi1
44.411 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
44.411 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
44.411 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
44.411 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
44.411 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
44.411 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
44.411 * [taylor]: Taking taylor expansion of (* R lambda2) in lambda2
44.411 * [taylor]: Taking taylor expansion of R in lambda2
44.411 * [backup-simplify]: Simplify R into R
44.411 * [taylor]: Taking taylor expansion of lambda2 in lambda2
44.411 * [backup-simplify]: Simplify 0 into 0
44.411 * [backup-simplify]: Simplify 1 into 1
44.411 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
44.411 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
44.411 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
44.411 * [backup-simplify]: Simplify (* R 0) into 0
44.412 * [backup-simplify]: Simplify (+ (* R 1) (* 0 0)) into R
44.412 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) R) into (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) R)
44.412 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in lambda2
44.412 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in lambda2
44.412 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
44.412 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
44.412 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
44.412 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
44.412 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
44.412 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
44.413 * [taylor]: Taking taylor expansion of 0.5 in lambda2
44.413 * [backup-simplify]: Simplify 0.5 into 0.5
44.413 * [taylor]: Taking taylor expansion of phi2 in lambda2
44.413 * [backup-simplify]: Simplify phi2 into phi2
44.413 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
44.413 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
44.413 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
44.413 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
44.413 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
44.413 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
44.413 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
44.413 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
44.413 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
44.413 * [taylor]: Taking taylor expansion of 0.5 in lambda2
44.413 * [backup-simplify]: Simplify 0.5 into 0.5
44.413 * [taylor]: Taking taylor expansion of phi1 in lambda2
44.413 * [backup-simplify]: Simplify phi1 into phi1
44.413 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
44.413 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
44.413 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
44.413 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
44.413 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
44.413 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
44.413 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
44.413 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
44.413 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
44.413 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
44.413 * [taylor]: Taking taylor expansion of 0.5 in lambda2
44.413 * [backup-simplify]: Simplify 0.5 into 0.5
44.413 * [taylor]: Taking taylor expansion of phi2 in lambda2
44.414 * [backup-simplify]: Simplify phi2 into phi2
44.414 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
44.414 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
44.414 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
44.414 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
44.414 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
44.414 * [backup-simplify]: Simplify (- 0) into 0
44.414 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
44.414 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
44.414 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
44.414 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
44.414 * [taylor]: Taking taylor expansion of 0.5 in lambda2
44.414 * [backup-simplify]: Simplify 0.5 into 0.5
44.414 * [taylor]: Taking taylor expansion of phi1 in lambda2
44.414 * [backup-simplify]: Simplify phi1 into phi1
44.414 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
44.415 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
44.415 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
44.415 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
44.415 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
44.415 * [backup-simplify]: Simplify (- 0) into 0
44.415 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
44.415 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
44.415 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
44.415 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
44.415 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
44.415 * [taylor]: Taking taylor expansion of 0.5 in lambda2
44.415 * [backup-simplify]: Simplify 0.5 into 0.5
44.415 * [taylor]: Taking taylor expansion of phi2 in lambda2
44.415 * [backup-simplify]: Simplify phi2 into phi2
44.415 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
44.415 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
44.415 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
44.415 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
44.415 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
44.415 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
44.416 * [taylor]: Taking taylor expansion of 0.5 in lambda2
44.416 * [backup-simplify]: Simplify 0.5 into 0.5
44.416 * [taylor]: Taking taylor expansion of phi1 in lambda2
44.416 * [backup-simplify]: Simplify phi1 into phi1
44.416 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
44.416 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
44.416 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
44.416 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
44.416 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
44.416 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
44.416 * [taylor]: Taking taylor expansion of 0.5 in lambda2
44.416 * [backup-simplify]: Simplify 0.5 into 0.5
44.416 * [taylor]: Taking taylor expansion of phi2 in lambda2
44.416 * [backup-simplify]: Simplify phi2 into phi2
44.416 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
44.416 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
44.416 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
44.416 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
44.416 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
44.416 * [taylor]: Taking taylor expansion of 0.5 in lambda2
44.416 * [backup-simplify]: Simplify 0.5 into 0.5
44.416 * [taylor]: Taking taylor expansion of phi1 in lambda2
44.416 * [backup-simplify]: Simplify phi1 into phi1
44.416 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
44.416 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
44.416 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
44.416 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
44.416 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
44.416 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
44.416 * [taylor]: Taking taylor expansion of 0.5 in lambda2
44.416 * [backup-simplify]: Simplify 0.5 into 0.5
44.416 * [taylor]: Taking taylor expansion of phi2 in lambda2
44.416 * [backup-simplify]: Simplify phi2 into phi2
44.416 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
44.417 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
44.417 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
44.417 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
44.417 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
44.417 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
44.417 * [taylor]: Taking taylor expansion of 0.5 in lambda2
44.417 * [backup-simplify]: Simplify 0.5 into 0.5
44.417 * [taylor]: Taking taylor expansion of phi1 in lambda2
44.417 * [backup-simplify]: Simplify phi1 into phi1
44.417 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
44.417 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
44.417 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
44.417 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
44.417 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
44.417 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
44.417 * [taylor]: Taking taylor expansion of 0.5 in lambda2
44.417 * [backup-simplify]: Simplify 0.5 into 0.5
44.417 * [taylor]: Taking taylor expansion of phi2 in lambda2
44.417 * [backup-simplify]: Simplify phi2 into phi2
44.417 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
44.417 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
44.417 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
44.417 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
44.417 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
44.417 * [taylor]: Taking taylor expansion of 0.5 in lambda2
44.417 * [backup-simplify]: Simplify 0.5 into 0.5
44.417 * [taylor]: Taking taylor expansion of phi1 in lambda2
44.417 * [backup-simplify]: Simplify phi1 into phi1
44.417 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
44.418 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
44.418 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
44.418 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
44.418 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
44.418 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
44.418 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
44.418 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
44.418 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
44.419 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
44.419 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
44.419 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
44.419 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
44.419 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
44.419 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
44.419 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
44.419 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
44.419 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
44.420 * [backup-simplify]: Simplify (- 0) into 0
44.420 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
44.420 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
44.420 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
44.420 * [backup-simplify]: Simplify (- 0) into 0
44.421 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
44.421 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
44.421 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
44.421 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
44.421 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
44.421 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
44.421 * [backup-simplify]: Simplify (- 0) into 0
44.422 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
44.422 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
44.422 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
44.422 * [backup-simplify]: Simplify (- 0) into 0
44.422 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
44.422 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
44.422 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
44.422 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
44.422 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
44.422 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
44.422 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
44.423 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
44.423 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
44.423 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
44.423 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))
44.424 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
44.426 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
44.427 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
44.428 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
44.429 * [backup-simplify]: Simplify (+ 0) into 0
44.429 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
44.429 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
44.430 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
44.430 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
44.430 * [backup-simplify]: Simplify (+ 0 0) into 0
44.431 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
44.431 * [backup-simplify]: Simplify (+ 0) into 0
44.431 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
44.431 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
44.432 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
44.432 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
44.433 * [backup-simplify]: Simplify (+ 0 0) into 0
44.433 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
44.433 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
44.433 * [backup-simplify]: Simplify (+ 0) into 0
44.434 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
44.434 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
44.434 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
44.434 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
44.435 * [backup-simplify]: Simplify (- 0) into 0
44.435 * [backup-simplify]: Simplify (+ 0 0) into 0
44.435 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
44.435 * [backup-simplify]: Simplify (+ 0) into 0
44.436 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
44.436 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
44.436 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
44.436 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
44.437 * [backup-simplify]: Simplify (- 0) into 0
44.437 * [backup-simplify]: Simplify (+ 0 0) into 0
44.437 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
44.437 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
44.438 * [backup-simplify]: Simplify (+ 0 0) into 0
44.438 * [backup-simplify]: Simplify (+ 0) into 0
44.439 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
44.439 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
44.440 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
44.440 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
44.441 * [backup-simplify]: Simplify (- 0) into 0
44.441 * [backup-simplify]: Simplify (+ 0 0) into 0
44.441 * [backup-simplify]: Simplify (+ 0) into 0
44.442 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
44.442 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
44.443 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
44.443 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
44.444 * [backup-simplify]: Simplify (- 0) into 0
44.444 * [backup-simplify]: Simplify (+ 0 0) into 0
44.444 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
44.445 * [backup-simplify]: Simplify (+ 0) into 0
44.445 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
44.446 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
44.447 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
44.448 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
44.448 * [backup-simplify]: Simplify (+ 0 0) into 0
44.449 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
44.449 * [backup-simplify]: Simplify (+ 0) into 0
44.450 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
44.450 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
44.451 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
44.451 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
44.452 * [backup-simplify]: Simplify (+ 0 0) into 0
44.452 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
44.453 * [backup-simplify]: Simplify (+ 0) into 0
44.453 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
44.453 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
44.454 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
44.455 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
44.455 * [backup-simplify]: Simplify (+ 0 0) into 0
44.456 * [backup-simplify]: Simplify (+ 0) into 0
44.456 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
44.456 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
44.457 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
44.458 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
44.458 * [backup-simplify]: Simplify (+ 0 0) into 0
44.458 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
44.459 * [backup-simplify]: Simplify (+ 0) into 0
44.459 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
44.460 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
44.460 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
44.461 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
44.461 * [backup-simplify]: Simplify (- 0) into 0
44.462 * [backup-simplify]: Simplify (+ 0 0) into 0
44.462 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
44.462 * [backup-simplify]: Simplify (+ 0) into 0
44.463 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
44.463 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
44.464 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
44.464 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
44.465 * [backup-simplify]: Simplify (- 0) into 0
44.465 * [backup-simplify]: Simplify (+ 0 0) into 0
44.465 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
44.466 * [backup-simplify]: Simplify (+ 0 0) into 0
44.466 * [backup-simplify]: Simplify (- 0) into 0
44.467 * [backup-simplify]: Simplify (+ 0 0) into 0
44.471 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
44.473 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
44.473 * [taylor]: Taking taylor expansion of (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (* R lambda2)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) in lambda2
44.473 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (* R lambda2)) in lambda2
44.473 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
44.473 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
44.473 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
44.473 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
44.473 * [taylor]: Taking taylor expansion of 0.5 in lambda2
44.473 * [backup-simplify]: Simplify 0.5 into 0.5
44.473 * [taylor]: Taking taylor expansion of phi2 in lambda2
44.473 * [backup-simplify]: Simplify phi2 into phi2
44.474 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
44.474 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
44.474 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
44.474 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
44.474 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
44.475 * [backup-simplify]: Simplify (- 0) into 0
44.475 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
44.475 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
44.475 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
44.475 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
44.475 * [taylor]: Taking taylor expansion of 0.5 in lambda2
44.475 * [backup-simplify]: Simplify 0.5 into 0.5
44.475 * [taylor]: Taking taylor expansion of phi1 in lambda2
44.475 * [backup-simplify]: Simplify phi1 into phi1
44.475 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
44.475 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
44.475 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
44.475 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
44.475 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
44.476 * [backup-simplify]: Simplify (- 0) into 0
44.476 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
44.476 * [taylor]: Taking taylor expansion of (* R lambda2) in lambda2
44.476 * [taylor]: Taking taylor expansion of R in lambda2
44.476 * [backup-simplify]: Simplify R into R
44.476 * [taylor]: Taking taylor expansion of lambda2 in lambda2
44.476 * [backup-simplify]: Simplify 0 into 0
44.476 * [backup-simplify]: Simplify 1 into 1
44.476 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
44.476 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
44.477 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
44.477 * [backup-simplify]: Simplify (* R 0) into 0
44.477 * [backup-simplify]: Simplify (+ (* R 1) (* 0 0)) into R
44.478 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) R) into (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) R)
44.478 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in lambda2
44.478 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in lambda2
44.478 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
44.478 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
44.478 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
44.478 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
44.478 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
44.478 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
44.478 * [taylor]: Taking taylor expansion of 0.5 in lambda2
44.478 * [backup-simplify]: Simplify 0.5 into 0.5
44.478 * [taylor]: Taking taylor expansion of phi2 in lambda2
44.478 * [backup-simplify]: Simplify phi2 into phi2
44.478 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
44.478 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
44.478 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
44.479 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
44.479 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
44.479 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
44.479 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
44.479 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
44.479 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
44.479 * [taylor]: Taking taylor expansion of 0.5 in lambda2
44.479 * [backup-simplify]: Simplify 0.5 into 0.5
44.479 * [taylor]: Taking taylor expansion of phi1 in lambda2
44.479 * [backup-simplify]: Simplify phi1 into phi1
44.479 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
44.479 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
44.479 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
44.479 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
44.479 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
44.479 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
44.480 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
44.480 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
44.480 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
44.480 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
44.480 * [taylor]: Taking taylor expansion of 0.5 in lambda2
44.480 * [backup-simplify]: Simplify 0.5 into 0.5
44.480 * [taylor]: Taking taylor expansion of phi2 in lambda2
44.480 * [backup-simplify]: Simplify phi2 into phi2
44.480 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
44.480 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
44.480 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
44.480 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
44.480 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
44.481 * [backup-simplify]: Simplify (- 0) into 0
44.481 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
44.481 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
44.481 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
44.481 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
44.481 * [taylor]: Taking taylor expansion of 0.5 in lambda2
44.481 * [backup-simplify]: Simplify 0.5 into 0.5
44.481 * [taylor]: Taking taylor expansion of phi1 in lambda2
44.481 * [backup-simplify]: Simplify phi1 into phi1
44.481 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
44.481 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
44.481 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
44.481 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
44.481 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
44.482 * [backup-simplify]: Simplify (- 0) into 0
44.482 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
44.482 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
44.482 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
44.482 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
44.482 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
44.482 * [taylor]: Taking taylor expansion of 0.5 in lambda2
44.482 * [backup-simplify]: Simplify 0.5 into 0.5
44.482 * [taylor]: Taking taylor expansion of phi2 in lambda2
44.482 * [backup-simplify]: Simplify phi2 into phi2
44.482 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
44.482 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
44.482 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
44.482 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
44.482 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
44.482 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
44.482 * [taylor]: Taking taylor expansion of 0.5 in lambda2
44.482 * [backup-simplify]: Simplify 0.5 into 0.5
44.482 * [taylor]: Taking taylor expansion of phi1 in lambda2
44.482 * [backup-simplify]: Simplify phi1 into phi1
44.482 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
44.482 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
44.482 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
44.482 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
44.482 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
44.482 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
44.482 * [taylor]: Taking taylor expansion of 0.5 in lambda2
44.482 * [backup-simplify]: Simplify 0.5 into 0.5
44.482 * [taylor]: Taking taylor expansion of phi2 in lambda2
44.482 * [backup-simplify]: Simplify phi2 into phi2
44.482 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
44.482 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
44.483 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
44.483 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
44.483 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
44.483 * [taylor]: Taking taylor expansion of 0.5 in lambda2
44.483 * [backup-simplify]: Simplify 0.5 into 0.5
44.483 * [taylor]: Taking taylor expansion of phi1 in lambda2
44.483 * [backup-simplify]: Simplify phi1 into phi1
44.483 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
44.483 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
44.483 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
44.483 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
44.483 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
44.483 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
44.483 * [taylor]: Taking taylor expansion of 0.5 in lambda2
44.483 * [backup-simplify]: Simplify 0.5 into 0.5
44.483 * [taylor]: Taking taylor expansion of phi2 in lambda2
44.483 * [backup-simplify]: Simplify phi2 into phi2
44.483 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
44.483 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
44.483 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
44.483 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
44.483 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
44.483 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
44.483 * [taylor]: Taking taylor expansion of 0.5 in lambda2
44.483 * [backup-simplify]: Simplify 0.5 into 0.5
44.483 * [taylor]: Taking taylor expansion of phi1 in lambda2
44.483 * [backup-simplify]: Simplify phi1 into phi1
44.483 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
44.483 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
44.483 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
44.483 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
44.483 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
44.483 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
44.483 * [taylor]: Taking taylor expansion of 0.5 in lambda2
44.483 * [backup-simplify]: Simplify 0.5 into 0.5
44.483 * [taylor]: Taking taylor expansion of phi2 in lambda2
44.483 * [backup-simplify]: Simplify phi2 into phi2
44.483 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
44.483 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
44.484 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
44.484 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
44.484 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
44.484 * [taylor]: Taking taylor expansion of 0.5 in lambda2
44.484 * [backup-simplify]: Simplify 0.5 into 0.5
44.484 * [taylor]: Taking taylor expansion of phi1 in lambda2
44.484 * [backup-simplify]: Simplify phi1 into phi1
44.484 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
44.484 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
44.484 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
44.484 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
44.484 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
44.484 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
44.484 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
44.484 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
44.485 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
44.485 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
44.485 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
44.485 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
44.485 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
44.485 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
44.485 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
44.485 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
44.485 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
44.486 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
44.486 * [backup-simplify]: Simplify (- 0) into 0
44.486 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
44.486 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
44.486 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
44.486 * [backup-simplify]: Simplify (- 0) into 0
44.486 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
44.486 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
44.487 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
44.487 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
44.487 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
44.487 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
44.487 * [backup-simplify]: Simplify (- 0) into 0
44.487 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
44.487 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
44.487 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
44.488 * [backup-simplify]: Simplify (- 0) into 0
44.488 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
44.488 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
44.488 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
44.488 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
44.488 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
44.488 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
44.488 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
44.488 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
44.488 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
44.488 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
44.489 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))
44.489 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
44.490 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
44.491 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
44.492 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
44.493 * [backup-simplify]: Simplify (+ 0) into 0
44.493 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
44.493 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
44.494 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
44.494 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
44.494 * [backup-simplify]: Simplify (+ 0 0) into 0
44.494 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
44.494 * [backup-simplify]: Simplify (+ 0) into 0
44.495 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
44.495 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
44.495 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
44.496 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
44.496 * [backup-simplify]: Simplify (+ 0 0) into 0
44.496 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
44.496 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
44.496 * [backup-simplify]: Simplify (+ 0) into 0
44.497 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
44.497 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
44.497 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
44.498 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
44.498 * [backup-simplify]: Simplify (- 0) into 0
44.498 * [backup-simplify]: Simplify (+ 0 0) into 0
44.498 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
44.498 * [backup-simplify]: Simplify (+ 0) into 0
44.499 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
44.499 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
44.499 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
44.500 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
44.500 * [backup-simplify]: Simplify (- 0) into 0
44.500 * [backup-simplify]: Simplify (+ 0 0) into 0
44.500 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
44.500 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
44.501 * [backup-simplify]: Simplify (+ 0 0) into 0
44.501 * [backup-simplify]: Simplify (+ 0) into 0
44.501 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
44.501 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
44.502 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
44.502 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
44.502 * [backup-simplify]: Simplify (- 0) into 0
44.503 * [backup-simplify]: Simplify (+ 0 0) into 0
44.503 * [backup-simplify]: Simplify (+ 0) into 0
44.503 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
44.503 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
44.504 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
44.504 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
44.504 * [backup-simplify]: Simplify (- 0) into 0
44.504 * [backup-simplify]: Simplify (+ 0 0) into 0
44.505 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
44.510 * [backup-simplify]: Simplify (+ 0) into 0
44.510 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
44.510 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
44.511 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
44.511 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
44.511 * [backup-simplify]: Simplify (+ 0 0) into 0
44.511 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
44.512 * [backup-simplify]: Simplify (+ 0) into 0
44.512 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
44.512 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
44.513 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
44.513 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
44.513 * [backup-simplify]: Simplify (+ 0 0) into 0
44.513 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
44.514 * [backup-simplify]: Simplify (+ 0) into 0
44.514 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
44.514 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
44.515 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
44.516 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
44.516 * [backup-simplify]: Simplify (+ 0 0) into 0
44.517 * [backup-simplify]: Simplify (+ 0) into 0
44.517 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
44.518 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
44.518 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
44.518 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
44.519 * [backup-simplify]: Simplify (+ 0 0) into 0
44.519 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
44.519 * [backup-simplify]: Simplify (+ 0) into 0
44.519 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
44.519 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
44.520 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
44.520 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
44.520 * [backup-simplify]: Simplify (- 0) into 0
44.521 * [backup-simplify]: Simplify (+ 0 0) into 0
44.521 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
44.521 * [backup-simplify]: Simplify (+ 0) into 0
44.521 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
44.521 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
44.522 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
44.522 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
44.522 * [backup-simplify]: Simplify (- 0) into 0
44.523 * [backup-simplify]: Simplify (+ 0 0) into 0
44.523 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
44.523 * [backup-simplify]: Simplify (+ 0 0) into 0
44.523 * [backup-simplify]: Simplify (- 0) into 0
44.524 * [backup-simplify]: Simplify (+ 0 0) into 0
44.526 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
44.527 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
44.528 * [backup-simplify]: Simplify (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))
44.529 * [backup-simplify]: Simplify (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))
44.532 * [backup-simplify]: Simplify (+ (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into (+ (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))
44.533 * [backup-simplify]: Simplify (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))
44.534 * [backup-simplify]: Simplify (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))
44.537 * [backup-simplify]: Simplify (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))
44.540 * [backup-simplify]: Simplify (- (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into (- (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))
44.546 * [backup-simplify]: Simplify (+ (+ (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (- (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))) into (- (+ (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))
44.546 * [taylor]: Taking taylor expansion of (- (+ (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) in phi1
44.546 * [taylor]: Taking taylor expansion of (+ (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) in phi1
44.546 * [taylor]: Taking taylor expansion of (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) in phi1
44.546 * [taylor]: Taking taylor expansion of (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) in phi1
44.546 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in phi1
44.546 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
44.546 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
44.546 * [taylor]: Taking taylor expansion of 0.5 in phi1
44.546 * [backup-simplify]: Simplify 0.5 into 0.5
44.546 * [taylor]: Taking taylor expansion of phi2 in phi1
44.546 * [backup-simplify]: Simplify phi2 into phi2
44.546 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
44.546 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
44.546 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
44.546 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in phi1
44.546 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
44.546 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
44.546 * [taylor]: Taking taylor expansion of 0.5 in phi1
44.546 * [backup-simplify]: Simplify 0.5 into 0.5
44.546 * [taylor]: Taking taylor expansion of phi1 in phi1
44.547 * [backup-simplify]: Simplify 0 into 0
44.547 * [backup-simplify]: Simplify 1 into 1
44.547 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
44.547 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
44.547 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in phi1
44.547 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
44.547 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
44.547 * [taylor]: Taking taylor expansion of 0.5 in phi1
44.547 * [backup-simplify]: Simplify 0.5 into 0.5
44.547 * [taylor]: Taking taylor expansion of phi2 in phi1
44.547 * [backup-simplify]: Simplify phi2 into phi2
44.547 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
44.547 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
44.547 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
44.547 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
44.547 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
44.547 * [taylor]: Taking taylor expansion of 0.5 in phi1
44.547 * [backup-simplify]: Simplify 0.5 into 0.5
44.547 * [taylor]: Taking taylor expansion of phi1 in phi1
44.547 * [backup-simplify]: Simplify 0 into 0
44.547 * [backup-simplify]: Simplify 1 into 1
44.548 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
44.548 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
44.548 * [taylor]: Taking taylor expansion of R in phi1
44.548 * [backup-simplify]: Simplify R into R
44.548 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
44.548 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
44.548 * [backup-simplify]: Simplify (- 0) into 0
44.548 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
44.548 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
44.548 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
44.549 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
44.549 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
44.549 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
44.549 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
44.549 * [backup-simplify]: Simplify (/ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) R) into (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R)
44.549 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in phi1
44.549 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in phi1
44.549 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in phi1
44.549 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in phi1
44.549 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in phi1
44.549 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1
44.549 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
44.549 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
44.549 * [taylor]: Taking taylor expansion of 0.5 in phi1
44.549 * [backup-simplify]: Simplify 0.5 into 0.5
44.549 * [taylor]: Taking taylor expansion of phi2 in phi1
44.549 * [backup-simplify]: Simplify phi2 into phi2
44.549 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
44.550 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
44.550 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
44.550 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
44.550 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
44.550 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
44.550 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1
44.550 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
44.550 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
44.550 * [taylor]: Taking taylor expansion of 0.5 in phi1
44.550 * [backup-simplify]: Simplify 0.5 into 0.5
44.550 * [taylor]: Taking taylor expansion of phi1 in phi1
44.550 * [backup-simplify]: Simplify 0 into 0
44.550 * [backup-simplify]: Simplify 1 into 1
44.551 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
44.551 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
44.551 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in phi1
44.551 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1
44.551 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
44.551 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
44.551 * [taylor]: Taking taylor expansion of 0.5 in phi1
44.551 * [backup-simplify]: Simplify 0.5 into 0.5
44.551 * [taylor]: Taking taylor expansion of phi2 in phi1
44.551 * [backup-simplify]: Simplify phi2 into phi2
44.551 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
44.551 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
44.551 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
44.551 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
44.552 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
44.552 * [backup-simplify]: Simplify (- 0) into 0
44.552 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
44.552 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1
44.552 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
44.552 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
44.552 * [taylor]: Taking taylor expansion of 0.5 in phi1
44.552 * [backup-simplify]: Simplify 0.5 into 0.5
44.552 * [taylor]: Taking taylor expansion of phi1 in phi1
44.552 * [backup-simplify]: Simplify 0 into 0
44.552 * [backup-simplify]: Simplify 1 into 1
44.553 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
44.553 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
44.553 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in phi1
44.553 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in phi1
44.553 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
44.553 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
44.553 * [taylor]: Taking taylor expansion of 0.5 in phi1
44.553 * [backup-simplify]: Simplify 0.5 into 0.5
44.553 * [taylor]: Taking taylor expansion of phi2 in phi1
44.553 * [backup-simplify]: Simplify phi2 into phi2
44.553 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
44.553 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
44.553 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
44.553 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in phi1
44.553 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
44.554 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
44.554 * [taylor]: Taking taylor expansion of 0.5 in phi1
44.554 * [backup-simplify]: Simplify 0.5 into 0.5
44.554 * [taylor]: Taking taylor expansion of phi1 in phi1
44.554 * [backup-simplify]: Simplify 0 into 0
44.554 * [backup-simplify]: Simplify 1 into 1
44.554 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
44.554 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
44.554 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in phi1
44.554 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
44.554 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
44.554 * [taylor]: Taking taylor expansion of 0.5 in phi1
44.554 * [backup-simplify]: Simplify 0.5 into 0.5
44.554 * [taylor]: Taking taylor expansion of phi2 in phi1
44.554 * [backup-simplify]: Simplify phi2 into phi2
44.554 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
44.555 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
44.555 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
44.555 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
44.555 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
44.555 * [taylor]: Taking taylor expansion of 0.5 in phi1
44.555 * [backup-simplify]: Simplify 0.5 into 0.5
44.555 * [taylor]: Taking taylor expansion of phi1 in phi1
44.555 * [backup-simplify]: Simplify 0 into 0
44.555 * [backup-simplify]: Simplify 1 into 1
44.555 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
44.555 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
44.555 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in phi1
44.556 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
44.556 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
44.556 * [taylor]: Taking taylor expansion of 0.5 in phi1
44.556 * [backup-simplify]: Simplify 0.5 into 0.5
44.556 * [taylor]: Taking taylor expansion of phi2 in phi1
44.556 * [backup-simplify]: Simplify phi2 into phi2
44.556 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
44.556 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
44.556 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
44.556 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in phi1
44.556 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
44.556 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
44.556 * [taylor]: Taking taylor expansion of 0.5 in phi1
44.556 * [backup-simplify]: Simplify 0.5 into 0.5
44.556 * [taylor]: Taking taylor expansion of phi1 in phi1
44.556 * [backup-simplify]: Simplify 0 into 0
44.556 * [backup-simplify]: Simplify 1 into 1
44.557 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
44.557 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
44.557 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in phi1
44.557 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
44.557 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
44.557 * [taylor]: Taking taylor expansion of 0.5 in phi1
44.557 * [backup-simplify]: Simplify 0.5 into 0.5
44.557 * [taylor]: Taking taylor expansion of phi2 in phi1
44.557 * [backup-simplify]: Simplify phi2 into phi2
44.557 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
44.557 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
44.557 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
44.557 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
44.557 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
44.557 * [taylor]: Taking taylor expansion of 0.5 in phi1
44.557 * [backup-simplify]: Simplify 0.5 into 0.5
44.557 * [taylor]: Taking taylor expansion of phi1 in phi1
44.557 * [backup-simplify]: Simplify 0 into 0
44.557 * [backup-simplify]: Simplify 1 into 1
44.558 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
44.558 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
44.558 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
44.558 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
44.559 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
44.559 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
44.559 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
44.559 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
44.560 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
44.560 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
44.560 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
44.561 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
44.561 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
44.561 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
44.561 * [backup-simplify]: Simplify (- 0) into 0
44.561 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
44.562 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
44.562 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
44.562 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
44.562 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
44.562 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
44.563 * [backup-simplify]: Simplify (- 0) into 0
44.563 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
44.563 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
44.563 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
44.563 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
44.563 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
44.564 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
44.564 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
44.565 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))
44.566 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
44.568 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
44.570 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
44.572 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
44.572 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
44.573 * [backup-simplify]: Simplify (+ 0) into 0
44.573 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
44.573 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
44.574 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
44.575 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
44.575 * [backup-simplify]: Simplify (+ 0 0) into 0
44.575 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
44.576 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
44.576 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
44.576 * [backup-simplify]: Simplify (+ 0) into 0
44.577 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
44.577 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
44.578 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
44.578 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
44.579 * [backup-simplify]: Simplify (- 0) into 0
44.579 * [backup-simplify]: Simplify (+ 0 0) into 0
44.579 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
44.580 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
44.580 * [backup-simplify]: Simplify (+ 0 0) into 0
44.580 * [backup-simplify]: Simplify (+ 0) into 0
44.581 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
44.581 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
44.582 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
44.582 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
44.583 * [backup-simplify]: Simplify (- 0) into 0
44.583 * [backup-simplify]: Simplify (+ 0 0) into 0
44.583 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
44.584 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
44.584 * [backup-simplify]: Simplify (+ 0) into 0
44.585 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
44.585 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
44.585 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
44.586 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
44.586 * [backup-simplify]: Simplify (+ 0 0) into 0
44.587 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
44.587 * [backup-simplify]: Simplify (+ 0) into 0
44.588 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
44.588 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
44.589 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
44.589 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
44.589 * [backup-simplify]: Simplify (+ 0 0) into 0
44.590 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
44.590 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
44.590 * [backup-simplify]: Simplify (+ 0) into 0
44.591 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
44.591 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
44.592 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
44.592 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
44.593 * [backup-simplify]: Simplify (- 0) into 0
44.593 * [backup-simplify]: Simplify (+ 0 0) into 0
44.593 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
44.594 * [backup-simplify]: Simplify (+ 0 0) into 0
44.594 * [backup-simplify]: Simplify (- 0) into 0
44.594 * [backup-simplify]: Simplify (+ 0 0) into 0
44.598 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
44.601 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
44.601 * [taylor]: Taking taylor expansion of (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) in phi1
44.601 * [taylor]: Taking taylor expansion of (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) in phi1
44.601 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in phi1
44.601 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
44.601 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
44.601 * [taylor]: Taking taylor expansion of 0.5 in phi1
44.601 * [backup-simplify]: Simplify 0.5 into 0.5
44.601 * [taylor]: Taking taylor expansion of phi2 in phi1
44.601 * [backup-simplify]: Simplify phi2 into phi2
44.601 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
44.601 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
44.601 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
44.601 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in phi1
44.601 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
44.601 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
44.601 * [taylor]: Taking taylor expansion of 0.5 in phi1
44.601 * [backup-simplify]: Simplify 0.5 into 0.5
44.601 * [taylor]: Taking taylor expansion of phi1 in phi1
44.601 * [backup-simplify]: Simplify 0 into 0
44.601 * [backup-simplify]: Simplify 1 into 1
44.602 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
44.602 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
44.602 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in phi1
44.602 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
44.602 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
44.602 * [taylor]: Taking taylor expansion of 0.5 in phi1
44.602 * [backup-simplify]: Simplify 0.5 into 0.5
44.602 * [taylor]: Taking taylor expansion of phi2 in phi1
44.602 * [backup-simplify]: Simplify phi2 into phi2
44.602 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
44.603 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
44.603 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
44.603 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
44.603 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
44.603 * [taylor]: Taking taylor expansion of 0.5 in phi1
44.603 * [backup-simplify]: Simplify 0.5 into 0.5
44.603 * [taylor]: Taking taylor expansion of phi1 in phi1
44.603 * [backup-simplify]: Simplify 0 into 0
44.603 * [backup-simplify]: Simplify 1 into 1
44.603 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
44.603 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
44.603 * [taylor]: Taking taylor expansion of R in phi1
44.603 * [backup-simplify]: Simplify R into R
44.604 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
44.604 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
44.604 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
44.604 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
44.604 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
44.604 * [backup-simplify]: Simplify (- 0) into 0
44.605 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
44.605 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
44.605 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
44.605 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
44.606 * [backup-simplify]: Simplify (/ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) R) into (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R)
44.606 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in phi1
44.606 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in phi1
44.606 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in phi1
44.606 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in phi1
44.606 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in phi1
44.606 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1
44.606 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
44.606 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
44.606 * [taylor]: Taking taylor expansion of 0.5 in phi1
44.606 * [backup-simplify]: Simplify 0.5 into 0.5
44.606 * [taylor]: Taking taylor expansion of phi2 in phi1
44.606 * [backup-simplify]: Simplify phi2 into phi2
44.606 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
44.606 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
44.606 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
44.606 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
44.607 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
44.607 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
44.607 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1
44.607 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
44.607 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
44.607 * [taylor]: Taking taylor expansion of 0.5 in phi1
44.607 * [backup-simplify]: Simplify 0.5 into 0.5
44.607 * [taylor]: Taking taylor expansion of phi1 in phi1
44.607 * [backup-simplify]: Simplify 0 into 0
44.607 * [backup-simplify]: Simplify 1 into 1
44.608 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
44.608 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
44.608 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in phi1
44.608 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1
44.608 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
44.608 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
44.608 * [taylor]: Taking taylor expansion of 0.5 in phi1
44.608 * [backup-simplify]: Simplify 0.5 into 0.5
44.608 * [taylor]: Taking taylor expansion of phi2 in phi1
44.608 * [backup-simplify]: Simplify phi2 into phi2
44.608 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
44.608 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
44.608 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
44.608 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
44.609 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
44.609 * [backup-simplify]: Simplify (- 0) into 0
44.609 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
44.609 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1
44.609 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
44.609 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
44.609 * [taylor]: Taking taylor expansion of 0.5 in phi1
44.609 * [backup-simplify]: Simplify 0.5 into 0.5
44.609 * [taylor]: Taking taylor expansion of phi1 in phi1
44.609 * [backup-simplify]: Simplify 0 into 0
44.609 * [backup-simplify]: Simplify 1 into 1
44.610 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
44.610 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
44.610 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in phi1
44.610 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in phi1
44.610 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
44.610 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
44.610 * [taylor]: Taking taylor expansion of 0.5 in phi1
44.610 * [backup-simplify]: Simplify 0.5 into 0.5
44.610 * [taylor]: Taking taylor expansion of phi2 in phi1
44.610 * [backup-simplify]: Simplify phi2 into phi2
44.610 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
44.611 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
44.611 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
44.611 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in phi1
44.611 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
44.611 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
44.611 * [taylor]: Taking taylor expansion of 0.5 in phi1
44.611 * [backup-simplify]: Simplify 0.5 into 0.5
44.611 * [taylor]: Taking taylor expansion of phi1 in phi1
44.611 * [backup-simplify]: Simplify 0 into 0
44.611 * [backup-simplify]: Simplify 1 into 1
44.612 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
44.612 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
44.612 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in phi1
44.612 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
44.612 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
44.612 * [taylor]: Taking taylor expansion of 0.5 in phi1
44.612 * [backup-simplify]: Simplify 0.5 into 0.5
44.612 * [taylor]: Taking taylor expansion of phi2 in phi1
44.612 * [backup-simplify]: Simplify phi2 into phi2
44.612 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
44.612 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
44.612 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
44.612 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
44.612 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
44.612 * [taylor]: Taking taylor expansion of 0.5 in phi1
44.612 * [backup-simplify]: Simplify 0.5 into 0.5
44.612 * [taylor]: Taking taylor expansion of phi1 in phi1
44.612 * [backup-simplify]: Simplify 0 into 0
44.612 * [backup-simplify]: Simplify 1 into 1
44.613 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
44.613 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
44.613 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in phi1
44.613 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
44.613 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
44.613 * [taylor]: Taking taylor expansion of 0.5 in phi1
44.613 * [backup-simplify]: Simplify 0.5 into 0.5
44.613 * [taylor]: Taking taylor expansion of phi2 in phi1
44.613 * [backup-simplify]: Simplify phi2 into phi2
44.613 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
44.613 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
44.613 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
44.614 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in phi1
44.614 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
44.614 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
44.614 * [taylor]: Taking taylor expansion of 0.5 in phi1
44.614 * [backup-simplify]: Simplify 0.5 into 0.5
44.614 * [taylor]: Taking taylor expansion of phi1 in phi1
44.614 * [backup-simplify]: Simplify 0 into 0
44.614 * [backup-simplify]: Simplify 1 into 1
44.614 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
44.614 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
44.614 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in phi1
44.614 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
44.614 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
44.614 * [taylor]: Taking taylor expansion of 0.5 in phi1
44.615 * [backup-simplify]: Simplify 0.5 into 0.5
44.615 * [taylor]: Taking taylor expansion of phi2 in phi1
44.615 * [backup-simplify]: Simplify phi2 into phi2
44.615 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
44.615 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
44.615 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
44.615 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
44.615 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
44.615 * [taylor]: Taking taylor expansion of 0.5 in phi1
44.615 * [backup-simplify]: Simplify 0.5 into 0.5
44.615 * [taylor]: Taking taylor expansion of phi1 in phi1
44.615 * [backup-simplify]: Simplify 0 into 0
44.615 * [backup-simplify]: Simplify 1 into 1
44.616 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
44.616 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
44.616 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
44.616 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
44.616 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
44.617 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
44.617 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
44.617 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
44.618 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
44.618 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
44.618 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
44.618 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
44.618 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
44.618 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
44.619 * [backup-simplify]: Simplify (- 0) into 0
44.619 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
44.619 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
44.620 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
44.620 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
44.620 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
44.620 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
44.621 * [backup-simplify]: Simplify (- 0) into 0
44.621 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
44.621 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
44.621 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
44.621 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
44.621 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
44.621 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
44.622 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
44.622 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))
44.623 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
44.625 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
44.626 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
44.628 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
44.629 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
44.629 * [backup-simplify]: Simplify (+ 0) into 0
44.630 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
44.630 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
44.631 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
44.631 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
44.631 * [backup-simplify]: Simplify (+ 0 0) into 0
44.632 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
44.632 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
44.632 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
44.633 * [backup-simplify]: Simplify (+ 0) into 0
44.633 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
44.633 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
44.634 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
44.635 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
44.635 * [backup-simplify]: Simplify (- 0) into 0
44.635 * [backup-simplify]: Simplify (+ 0 0) into 0
44.635 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
44.636 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
44.636 * [backup-simplify]: Simplify (+ 0 0) into 0
44.637 * [backup-simplify]: Simplify (+ 0) into 0
44.637 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
44.638 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
44.639 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
44.639 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
44.640 * [backup-simplify]: Simplify (- 0) into 0
44.640 * [backup-simplify]: Simplify (+ 0 0) into 0
44.640 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
44.641 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
44.641 * [backup-simplify]: Simplify (+ 0) into 0
44.641 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
44.642 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
44.642 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
44.643 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
44.643 * [backup-simplify]: Simplify (+ 0 0) into 0
44.644 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
44.644 * [backup-simplify]: Simplify (+ 0) into 0
44.645 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
44.645 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
44.646 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
44.646 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
44.646 * [backup-simplify]: Simplify (+ 0 0) into 0
44.647 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
44.647 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
44.647 * [backup-simplify]: Simplify (+ 0) into 0
44.648 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
44.648 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
44.649 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
44.654 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
44.654 * [backup-simplify]: Simplify (- 0) into 0
44.655 * [backup-simplify]: Simplify (+ 0 0) into 0
44.655 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
44.655 * [backup-simplify]: Simplify (+ 0 0) into 0
44.655 * [backup-simplify]: Simplify (- 0) into 0
44.656 * [backup-simplify]: Simplify (+ 0 0) into 0
44.658 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
44.659 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
44.659 * [taylor]: Taking taylor expansion of (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) in phi1
44.659 * [taylor]: Taking taylor expansion of (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) in phi1
44.659 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) R) in phi1
44.659 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in phi1
44.659 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1
44.659 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
44.659 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
44.659 * [taylor]: Taking taylor expansion of 0.5 in phi1
44.659 * [backup-simplify]: Simplify 0.5 into 0.5
44.659 * [taylor]: Taking taylor expansion of phi2 in phi1
44.659 * [backup-simplify]: Simplify phi2 into phi2
44.660 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
44.660 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
44.660 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
44.660 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
44.660 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
44.660 * [backup-simplify]: Simplify (- 0) into 0
44.660 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
44.660 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1
44.660 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
44.660 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
44.660 * [taylor]: Taking taylor expansion of 0.5 in phi1
44.660 * [backup-simplify]: Simplify 0.5 into 0.5
44.660 * [taylor]: Taking taylor expansion of phi1 in phi1
44.660 * [backup-simplify]: Simplify 0 into 0
44.660 * [backup-simplify]: Simplify 1 into 1
44.661 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
44.661 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
44.661 * [taylor]: Taking taylor expansion of R in phi1
44.661 * [backup-simplify]: Simplify R into R
44.661 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
44.661 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
44.661 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
44.662 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) R) into (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) R)
44.662 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in phi1
44.662 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in phi1
44.662 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in phi1
44.662 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in phi1
44.662 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in phi1
44.662 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1
44.662 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
44.662 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
44.662 * [taylor]: Taking taylor expansion of 0.5 in phi1
44.662 * [backup-simplify]: Simplify 0.5 into 0.5
44.662 * [taylor]: Taking taylor expansion of phi2 in phi1
44.662 * [backup-simplify]: Simplify phi2 into phi2
44.662 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
44.662 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
44.662 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
44.662 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
44.662 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
44.662 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
44.662 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1
44.662 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
44.662 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
44.662 * [taylor]: Taking taylor expansion of 0.5 in phi1
44.662 * [backup-simplify]: Simplify 0.5 into 0.5
44.662 * [taylor]: Taking taylor expansion of phi1 in phi1
44.662 * [backup-simplify]: Simplify 0 into 0
44.662 * [backup-simplify]: Simplify 1 into 1
44.663 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
44.663 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
44.663 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in phi1
44.663 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1
44.663 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
44.663 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
44.663 * [taylor]: Taking taylor expansion of 0.5 in phi1
44.663 * [backup-simplify]: Simplify 0.5 into 0.5
44.663 * [taylor]: Taking taylor expansion of phi2 in phi1
44.663 * [backup-simplify]: Simplify phi2 into phi2
44.663 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
44.663 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
44.663 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
44.663 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
44.663 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
44.664 * [backup-simplify]: Simplify (- 0) into 0
44.664 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
44.664 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1
44.664 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
44.664 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
44.664 * [taylor]: Taking taylor expansion of 0.5 in phi1
44.664 * [backup-simplify]: Simplify 0.5 into 0.5
44.664 * [taylor]: Taking taylor expansion of phi1 in phi1
44.664 * [backup-simplify]: Simplify 0 into 0
44.664 * [backup-simplify]: Simplify 1 into 1
44.664 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
44.664 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
44.664 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in phi1
44.664 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in phi1
44.664 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
44.664 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
44.664 * [taylor]: Taking taylor expansion of 0.5 in phi1
44.664 * [backup-simplify]: Simplify 0.5 into 0.5
44.664 * [taylor]: Taking taylor expansion of phi2 in phi1
44.664 * [backup-simplify]: Simplify phi2 into phi2
44.664 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
44.665 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
44.665 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
44.665 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in phi1
44.665 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
44.665 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
44.665 * [taylor]: Taking taylor expansion of 0.5 in phi1
44.665 * [backup-simplify]: Simplify 0.5 into 0.5
44.665 * [taylor]: Taking taylor expansion of phi1 in phi1
44.665 * [backup-simplify]: Simplify 0 into 0
44.665 * [backup-simplify]: Simplify 1 into 1
44.665 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
44.665 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
44.665 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in phi1
44.665 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
44.665 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
44.665 * [taylor]: Taking taylor expansion of 0.5 in phi1
44.665 * [backup-simplify]: Simplify 0.5 into 0.5
44.665 * [taylor]: Taking taylor expansion of phi2 in phi1
44.665 * [backup-simplify]: Simplify phi2 into phi2
44.665 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
44.665 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
44.665 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
44.665 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
44.665 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
44.666 * [taylor]: Taking taylor expansion of 0.5 in phi1
44.666 * [backup-simplify]: Simplify 0.5 into 0.5
44.666 * [taylor]: Taking taylor expansion of phi1 in phi1
44.666 * [backup-simplify]: Simplify 0 into 0
44.666 * [backup-simplify]: Simplify 1 into 1
44.666 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
44.666 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
44.666 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in phi1
44.666 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
44.666 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
44.666 * [taylor]: Taking taylor expansion of 0.5 in phi1
44.666 * [backup-simplify]: Simplify 0.5 into 0.5
44.666 * [taylor]: Taking taylor expansion of phi2 in phi1
44.666 * [backup-simplify]: Simplify phi2 into phi2
44.666 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
44.666 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
44.666 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
44.666 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in phi1
44.666 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
44.666 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
44.666 * [taylor]: Taking taylor expansion of 0.5 in phi1
44.666 * [backup-simplify]: Simplify 0.5 into 0.5
44.666 * [taylor]: Taking taylor expansion of phi1 in phi1
44.666 * [backup-simplify]: Simplify 0 into 0
44.666 * [backup-simplify]: Simplify 1 into 1
44.667 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
44.667 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
44.667 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in phi1
44.667 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
44.667 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
44.667 * [taylor]: Taking taylor expansion of 0.5 in phi1
44.667 * [backup-simplify]: Simplify 0.5 into 0.5
44.667 * [taylor]: Taking taylor expansion of phi2 in phi1
44.667 * [backup-simplify]: Simplify phi2 into phi2
44.667 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
44.667 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
44.667 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
44.667 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
44.667 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
44.667 * [taylor]: Taking taylor expansion of 0.5 in phi1
44.667 * [backup-simplify]: Simplify 0.5 into 0.5
44.667 * [taylor]: Taking taylor expansion of phi1 in phi1
44.667 * [backup-simplify]: Simplify 0 into 0
44.667 * [backup-simplify]: Simplify 1 into 1
44.668 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
44.668 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
44.668 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
44.668 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
44.668 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
44.668 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
44.668 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
44.669 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
44.669 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
44.669 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
44.669 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
44.669 * [backup-simplify]: Simplify (- 0) into 0
44.669 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
44.670 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
44.670 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
44.670 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
44.670 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
44.670 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
44.670 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
44.670 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
44.670 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
44.670 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
44.670 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
44.670 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
44.671 * [backup-simplify]: Simplify (- 0) into 0
44.671 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
44.671 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
44.671 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
44.671 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
44.671 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))
44.672 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
44.673 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
44.674 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
44.675 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
44.675 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
44.676 * [backup-simplify]: Simplify (+ 0) into 0
44.676 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
44.676 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
44.677 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
44.677 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
44.677 * [backup-simplify]: Simplify (+ 0 0) into 0
44.677 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
44.678 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
44.678 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
44.679 * [backup-simplify]: Simplify (+ 0) into 0
44.679 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
44.680 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
44.680 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
44.681 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
44.681 * [backup-simplify]: Simplify (- 0) into 0
44.682 * [backup-simplify]: Simplify (+ 0 0) into 0
44.682 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
44.682 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
44.683 * [backup-simplify]: Simplify (+ 0 0) into 0
44.683 * [backup-simplify]: Simplify (+ 0) into 0
44.684 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
44.684 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
44.685 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
44.685 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
44.686 * [backup-simplify]: Simplify (+ 0 0) into 0
44.686 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
44.686 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
44.687 * [backup-simplify]: Simplify (+ 0) into 0
44.687 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
44.687 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
44.689 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
44.690 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
44.690 * [backup-simplify]: Simplify (- 0) into 0
44.691 * [backup-simplify]: Simplify (+ 0 0) into 0
44.691 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
44.692 * [backup-simplify]: Simplify (+ 0) into 0
44.692 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
44.692 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
44.693 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
44.694 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
44.694 * [backup-simplify]: Simplify (- 0) into 0
44.695 * [backup-simplify]: Simplify (+ 0 0) into 0
44.695 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
44.695 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
44.696 * [backup-simplify]: Simplify (+ 0) into 0
44.696 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
44.696 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
44.697 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
44.698 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
44.698 * [backup-simplify]: Simplify (+ 0 0) into 0
44.699 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
44.699 * [backup-simplify]: Simplify (+ 0 0) into 0
44.699 * [backup-simplify]: Simplify (- 0) into 0
44.700 * [backup-simplify]: Simplify (+ 0 0) into 0
44.704 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
44.706 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
44.706 * [taylor]: Taking taylor expansion of (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) in phi1
44.706 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) R) in phi1
44.706 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in phi1
44.706 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1
44.706 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
44.706 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
44.706 * [taylor]: Taking taylor expansion of 0.5 in phi1
44.706 * [backup-simplify]: Simplify 0.5 into 0.5
44.706 * [taylor]: Taking taylor expansion of phi2 in phi1
44.706 * [backup-simplify]: Simplify phi2 into phi2
44.706 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
44.706 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
44.706 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
44.706 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
44.707 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
44.707 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
44.707 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1
44.707 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
44.707 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
44.707 * [taylor]: Taking taylor expansion of 0.5 in phi1
44.707 * [backup-simplify]: Simplify 0.5 into 0.5
44.707 * [taylor]: Taking taylor expansion of phi1 in phi1
44.707 * [backup-simplify]: Simplify 0 into 0
44.707 * [backup-simplify]: Simplify 1 into 1
44.708 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
44.708 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
44.708 * [taylor]: Taking taylor expansion of R in phi1
44.708 * [backup-simplify]: Simplify R into R
44.708 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
44.708 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
44.709 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
44.709 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) R) into (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) R)
44.709 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in phi1
44.709 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in phi1
44.709 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in phi1
44.710 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in phi1
44.710 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in phi1
44.710 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1
44.710 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
44.710 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
44.710 * [taylor]: Taking taylor expansion of 0.5 in phi1
44.710 * [backup-simplify]: Simplify 0.5 into 0.5
44.710 * [taylor]: Taking taylor expansion of phi2 in phi1
44.710 * [backup-simplify]: Simplify phi2 into phi2
44.710 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
44.710 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
44.710 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
44.710 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
44.710 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
44.710 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
44.710 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1
44.710 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
44.711 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
44.711 * [taylor]: Taking taylor expansion of 0.5 in phi1
44.711 * [backup-simplify]: Simplify 0.5 into 0.5
44.711 * [taylor]: Taking taylor expansion of phi1 in phi1
44.711 * [backup-simplify]: Simplify 0 into 0
44.711 * [backup-simplify]: Simplify 1 into 1
44.711 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
44.711 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
44.711 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in phi1
44.711 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1
44.711 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
44.712 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
44.712 * [taylor]: Taking taylor expansion of 0.5 in phi1
44.712 * [backup-simplify]: Simplify 0.5 into 0.5
44.712 * [taylor]: Taking taylor expansion of phi2 in phi1
44.712 * [backup-simplify]: Simplify phi2 into phi2
44.712 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
44.712 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
44.712 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
44.712 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
44.712 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
44.713 * [backup-simplify]: Simplify (- 0) into 0
44.713 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
44.713 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1
44.713 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
44.713 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
44.713 * [taylor]: Taking taylor expansion of 0.5 in phi1
44.713 * [backup-simplify]: Simplify 0.5 into 0.5
44.713 * [taylor]: Taking taylor expansion of phi1 in phi1
44.713 * [backup-simplify]: Simplify 0 into 0
44.713 * [backup-simplify]: Simplify 1 into 1
44.713 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
44.714 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
44.714 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in phi1
44.714 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in phi1
44.714 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
44.714 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
44.714 * [taylor]: Taking taylor expansion of 0.5 in phi1
44.714 * [backup-simplify]: Simplify 0.5 into 0.5
44.714 * [taylor]: Taking taylor expansion of phi2 in phi1
44.714 * [backup-simplify]: Simplify phi2 into phi2
44.714 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
44.714 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
44.714 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
44.714 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in phi1
44.714 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
44.714 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
44.714 * [taylor]: Taking taylor expansion of 0.5 in phi1
44.714 * [backup-simplify]: Simplify 0.5 into 0.5
44.714 * [taylor]: Taking taylor expansion of phi1 in phi1
44.714 * [backup-simplify]: Simplify 0 into 0
44.714 * [backup-simplify]: Simplify 1 into 1
44.715 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
44.715 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
44.715 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in phi1
44.715 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
44.715 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
44.715 * [taylor]: Taking taylor expansion of 0.5 in phi1
44.715 * [backup-simplify]: Simplify 0.5 into 0.5
44.715 * [taylor]: Taking taylor expansion of phi2 in phi1
44.715 * [backup-simplify]: Simplify phi2 into phi2
44.715 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
44.715 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
44.715 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
44.715 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
44.715 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
44.715 * [taylor]: Taking taylor expansion of 0.5 in phi1
44.715 * [backup-simplify]: Simplify 0.5 into 0.5
44.715 * [taylor]: Taking taylor expansion of phi1 in phi1
44.716 * [backup-simplify]: Simplify 0 into 0
44.716 * [backup-simplify]: Simplify 1 into 1
44.716 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
44.716 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
44.716 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in phi1
44.716 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
44.716 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
44.716 * [taylor]: Taking taylor expansion of 0.5 in phi1
44.716 * [backup-simplify]: Simplify 0.5 into 0.5
44.716 * [taylor]: Taking taylor expansion of phi2 in phi1
44.716 * [backup-simplify]: Simplify phi2 into phi2
44.716 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
44.716 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
44.717 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
44.717 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in phi1
44.717 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
44.717 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
44.717 * [taylor]: Taking taylor expansion of 0.5 in phi1
44.717 * [backup-simplify]: Simplify 0.5 into 0.5
44.717 * [taylor]: Taking taylor expansion of phi1 in phi1
44.717 * [backup-simplify]: Simplify 0 into 0
44.717 * [backup-simplify]: Simplify 1 into 1
44.717 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
44.717 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
44.717 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in phi1
44.717 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
44.718 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
44.718 * [taylor]: Taking taylor expansion of 0.5 in phi1
44.718 * [backup-simplify]: Simplify 0.5 into 0.5
44.718 * [taylor]: Taking taylor expansion of phi2 in phi1
44.718 * [backup-simplify]: Simplify phi2 into phi2
44.718 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
44.718 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
44.718 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
44.718 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
44.718 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
44.718 * [taylor]: Taking taylor expansion of 0.5 in phi1
44.718 * [backup-simplify]: Simplify 0.5 into 0.5
44.718 * [taylor]: Taking taylor expansion of phi1 in phi1
44.718 * [backup-simplify]: Simplify 0 into 0
44.718 * [backup-simplify]: Simplify 1 into 1
44.719 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
44.719 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
44.719 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
44.719 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
44.719 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
44.720 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
44.720 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
44.720 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
44.721 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
44.721 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
44.721 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
44.722 * [backup-simplify]: Simplify (- 0) into 0
44.722 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
44.722 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
44.722 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
44.722 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
44.722 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
44.722 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
44.723 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
44.723 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
44.723 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
44.723 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
44.723 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
44.723 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
44.724 * [backup-simplify]: Simplify (- 0) into 0
44.724 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
44.724 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
44.724 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
44.725 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
44.725 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))
44.726 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
44.728 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
44.730 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
44.732 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
44.732 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
44.732 * [backup-simplify]: Simplify (+ 0) into 0
44.733 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
44.733 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
44.734 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
44.734 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
44.735 * [backup-simplify]: Simplify (+ 0 0) into 0
44.735 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
44.735 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
44.736 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
44.736 * [backup-simplify]: Simplify (+ 0) into 0
44.736 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
44.737 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
44.737 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
44.738 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
44.738 * [backup-simplify]: Simplify (- 0) into 0
44.739 * [backup-simplify]: Simplify (+ 0 0) into 0
44.739 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
44.739 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
44.740 * [backup-simplify]: Simplify (+ 0 0) into 0
44.740 * [backup-simplify]: Simplify (+ 0) into 0
44.741 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
44.741 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
44.741 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
44.742 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
44.742 * [backup-simplify]: Simplify (+ 0 0) into 0
44.742 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
44.743 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
44.743 * [backup-simplify]: Simplify (+ 0) into 0
44.743 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
44.744 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
44.744 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
44.745 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
44.745 * [backup-simplify]: Simplify (- 0) into 0
44.745 * [backup-simplify]: Simplify (+ 0 0) into 0
44.746 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
44.746 * [backup-simplify]: Simplify (+ 0) into 0
44.747 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
44.747 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
44.747 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
44.748 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
44.748 * [backup-simplify]: Simplify (- 0) into 0
44.748 * [backup-simplify]: Simplify (+ 0 0) into 0
44.749 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
44.749 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
44.749 * [backup-simplify]: Simplify (+ 0) into 0
44.750 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
44.750 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
44.751 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
44.751 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
44.751 * [backup-simplify]: Simplify (+ 0 0) into 0
44.752 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
44.752 * [backup-simplify]: Simplify (+ 0 0) into 0
44.752 * [backup-simplify]: Simplify (- 0) into 0
44.753 * [backup-simplify]: Simplify (+ 0 0) into 0
44.756 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
44.758 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
44.760 * [backup-simplify]: Simplify (* (sqrt (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 1 R)) into (* (sqrt (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 1 R))
44.760 * [taylor]: Taking taylor expansion of (* (sqrt (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 1 R)) in phi1
44.760 * [taylor]: Taking taylor expansion of (sqrt (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in phi1
44.760 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in phi1
44.760 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in phi1
44.760 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in phi1
44.760 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1
44.760 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
44.760 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
44.760 * [taylor]: Taking taylor expansion of 0.5 in phi1
44.760 * [backup-simplify]: Simplify 0.5 into 0.5
44.760 * [taylor]: Taking taylor expansion of phi2 in phi1
44.760 * [backup-simplify]: Simplify phi2 into phi2
44.761 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
44.761 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
44.761 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
44.761 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
44.761 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
44.761 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
44.761 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1
44.761 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
44.761 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
44.761 * [taylor]: Taking taylor expansion of 0.5 in phi1
44.761 * [backup-simplify]: Simplify 0.5 into 0.5
44.761 * [taylor]: Taking taylor expansion of phi1 in phi1
44.761 * [backup-simplify]: Simplify 0 into 0
44.761 * [backup-simplify]: Simplify 1 into 1
44.762 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
44.762 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
44.762 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in phi1
44.762 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1
44.762 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
44.762 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
44.762 * [taylor]: Taking taylor expansion of 0.5 in phi1
44.762 * [backup-simplify]: Simplify 0.5 into 0.5
44.762 * [taylor]: Taking taylor expansion of phi2 in phi1
44.762 * [backup-simplify]: Simplify phi2 into phi2
44.762 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
44.762 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
44.763 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
44.763 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
44.763 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
44.763 * [backup-simplify]: Simplify (- 0) into 0
44.763 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
44.763 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1
44.763 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
44.763 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
44.763 * [taylor]: Taking taylor expansion of 0.5 in phi1
44.763 * [backup-simplify]: Simplify 0.5 into 0.5
44.763 * [taylor]: Taking taylor expansion of phi1 in phi1
44.763 * [backup-simplify]: Simplify 0 into 0
44.764 * [backup-simplify]: Simplify 1 into 1
44.764 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
44.764 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
44.764 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in phi1
44.764 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in phi1
44.764 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
44.764 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
44.764 * [taylor]: Taking taylor expansion of 0.5 in phi1
44.764 * [backup-simplify]: Simplify 0.5 into 0.5
44.764 * [taylor]: Taking taylor expansion of phi2 in phi1
44.764 * [backup-simplify]: Simplify phi2 into phi2
44.764 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
44.764 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
44.765 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
44.765 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in phi1
44.765 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
44.765 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
44.765 * [taylor]: Taking taylor expansion of 0.5 in phi1
44.765 * [backup-simplify]: Simplify 0.5 into 0.5
44.765 * [taylor]: Taking taylor expansion of phi1 in phi1
44.765 * [backup-simplify]: Simplify 0 into 0
44.765 * [backup-simplify]: Simplify 1 into 1
44.765 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
44.765 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
44.765 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in phi1
44.765 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
44.765 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
44.765 * [taylor]: Taking taylor expansion of 0.5 in phi1
44.765 * [backup-simplify]: Simplify 0.5 into 0.5
44.766 * [taylor]: Taking taylor expansion of phi2 in phi1
44.766 * [backup-simplify]: Simplify phi2 into phi2
44.766 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
44.766 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
44.766 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
44.766 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
44.766 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
44.766 * [taylor]: Taking taylor expansion of 0.5 in phi1
44.766 * [backup-simplify]: Simplify 0.5 into 0.5
44.766 * [taylor]: Taking taylor expansion of phi1 in phi1
44.766 * [backup-simplify]: Simplify 0 into 0
44.766 * [backup-simplify]: Simplify 1 into 1
44.766 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
44.767 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
44.767 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in phi1
44.767 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
44.767 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
44.767 * [taylor]: Taking taylor expansion of 0.5 in phi1
44.767 * [backup-simplify]: Simplify 0.5 into 0.5
44.767 * [taylor]: Taking taylor expansion of phi2 in phi1
44.767 * [backup-simplify]: Simplify phi2 into phi2
44.767 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
44.767 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
44.767 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
44.767 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in phi1
44.767 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
44.767 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
44.767 * [taylor]: Taking taylor expansion of 0.5 in phi1
44.768 * [backup-simplify]: Simplify 0.5 into 0.5
44.768 * [taylor]: Taking taylor expansion of phi1 in phi1
44.768 * [backup-simplify]: Simplify 0 into 0
44.768 * [backup-simplify]: Simplify 1 into 1
44.768 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
44.768 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
44.768 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in phi1
44.768 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
44.768 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
44.769 * [taylor]: Taking taylor expansion of 0.5 in phi1
44.769 * [backup-simplify]: Simplify 0.5 into 0.5
44.769 * [taylor]: Taking taylor expansion of phi2 in phi1
44.769 * [backup-simplify]: Simplify phi2 into phi2
44.769 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
44.769 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
44.769 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
44.769 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
44.769 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
44.769 * [taylor]: Taking taylor expansion of 0.5 in phi1
44.769 * [backup-simplify]: Simplify 0.5 into 0.5
44.769 * [taylor]: Taking taylor expansion of phi1 in phi1
44.769 * [backup-simplify]: Simplify 0 into 0
44.769 * [backup-simplify]: Simplify 1 into 1
44.770 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
44.770 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
44.770 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
44.770 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
44.771 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
44.771 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
44.771 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
44.771 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
44.772 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
44.772 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
44.772 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
44.773 * [backup-simplify]: Simplify (- 0) into 0
44.773 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
44.773 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
44.773 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
44.774 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
44.774 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
44.774 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
44.774 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
44.774 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
44.775 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
44.775 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
44.775 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
44.775 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
44.775 * [backup-simplify]: Simplify (- 0) into 0
44.775 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
44.776 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
44.776 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
44.776 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
44.777 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))
44.778 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
44.780 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
44.781 * [backup-simplify]: Simplify (sqrt (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (sqrt (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
44.782 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
44.782 * [backup-simplify]: Simplify (+ 0) into 0
44.783 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
44.783 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
44.784 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
44.784 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
44.785 * [backup-simplify]: Simplify (+ 0 0) into 0
44.785 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
44.785 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
44.785 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
44.786 * [backup-simplify]: Simplify (+ 0) into 0
44.786 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
44.786 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
44.787 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
44.788 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
44.788 * [backup-simplify]: Simplify (- 0) into 0
44.788 * [backup-simplify]: Simplify (+ 0 0) into 0
44.789 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
44.789 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
44.790 * [backup-simplify]: Simplify (+ 0 0) into 0
44.790 * [backup-simplify]: Simplify (+ 0) into 0
44.790 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
44.791 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
44.791 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
44.792 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
44.792 * [backup-simplify]: Simplify (+ 0 0) into 0
44.792 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
44.793 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
44.793 * [backup-simplify]: Simplify (+ 0) into 0
44.793 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
44.794 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
44.794 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
44.795 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
44.795 * [backup-simplify]: Simplify (- 0) into 0
44.795 * [backup-simplify]: Simplify (+ 0 0) into 0
44.796 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
44.796 * [backup-simplify]: Simplify (+ 0) into 0
44.797 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
44.797 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
44.798 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
44.798 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
44.799 * [backup-simplify]: Simplify (- 0) into 0
44.799 * [backup-simplify]: Simplify (+ 0 0) into 0
44.799 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
44.799 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
44.800 * [backup-simplify]: Simplify (+ 0) into 0
44.800 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
44.800 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
44.801 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
44.802 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
44.802 * [backup-simplify]: Simplify (+ 0 0) into 0
44.802 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
44.803 * [backup-simplify]: Simplify (+ 0 0) into 0
44.803 * [backup-simplify]: Simplify (- 0) into 0
44.803 * [backup-simplify]: Simplify (+ 0 0) into 0
44.805 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into 0
44.805 * [taylor]: Taking taylor expansion of (/ 1 R) in phi1
44.805 * [taylor]: Taking taylor expansion of R in phi1
44.806 * [backup-simplify]: Simplify R into R
44.806 * [backup-simplify]: Simplify (/ 1 R) into (/ 1 R)
44.807 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)))) into 0
44.807 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)))) into 0
44.807 * [backup-simplify]: Simplify (- 0) into 0
44.808 * [backup-simplify]: Simplify (+ 0 0) into 0
44.809 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
44.809 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
44.810 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
44.810 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
44.811 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
44.811 * [backup-simplify]: Simplify (- 0) into 0
44.812 * [backup-simplify]: Simplify (+ 0 0) into 0
44.819 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
44.820 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
44.820 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
44.821 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
44.822 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
44.822 * [backup-simplify]: Simplify (- 0) into 0
44.823 * [backup-simplify]: Simplify (+ 0 0) into 0
44.823 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
44.824 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
44.825 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
44.825 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
44.826 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
44.827 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
44.827 * [backup-simplify]: Simplify (+ 0 0) into 0
44.828 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
44.829 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
44.829 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
44.830 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
44.830 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
44.831 * [backup-simplify]: Simplify (+ 0 0) into 0
44.831 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
44.832 * [backup-simplify]: Simplify (- 0) into 0
44.833 * [backup-simplify]: Simplify (+ 0 0) into 0
44.834 * [backup-simplify]: Simplify (+ (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) 0) (+ (* 0 (- (/ 1 lambda2))) (* 0 1))) into 0
44.834 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)))) into 0
44.834 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)))) into 0
44.835 * [backup-simplify]: Simplify (- 0) into 0
44.835 * [backup-simplify]: Simplify (+ 0 0) into 0
44.835 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
44.836 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
44.836 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
44.837 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
44.837 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
44.837 * [backup-simplify]: Simplify (- 0) into 0
44.837 * [backup-simplify]: Simplify (+ 0 0) into 0
44.838 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
44.838 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
44.839 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
44.839 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
44.840 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
44.840 * [backup-simplify]: Simplify (- 0) into 0
44.840 * [backup-simplify]: Simplify (+ 0 0) into 0
44.841 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
44.841 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
44.842 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
44.842 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
44.842 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
44.843 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
44.843 * [backup-simplify]: Simplify (+ 0 0) into 0
44.843 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
44.844 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
44.844 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
44.844 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
44.845 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
44.845 * [backup-simplify]: Simplify (+ 0 0) into 0
44.845 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
44.846 * [backup-simplify]: Simplify (- 0) into 0
44.846 * [backup-simplify]: Simplify (+ 0 0) into 0
44.846 * [backup-simplify]: Simplify (+ (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) 0) (+ (* 0 (- (/ 1 lambda2))) (* 0 1))) into 0
44.848 * [backup-simplify]: Simplify (+ (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) 0) (+ (* (- (/ (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) lambda2) (/ (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) lambda2)) (- (/ (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) lambda2) (/ (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) lambda2))) (* 0 (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into (- (+ (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (pow lambda2 2))) (+ (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (pow lambda2 2)) (/ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (pow lambda2 2))))
44.848 * [backup-simplify]: Simplify (- (/ 1 phi2)) into (- (/ 1 phi2))
44.848 * [backup-simplify]: Simplify (+ (/ 1 phi1) (- (/ 1 phi2))) into (- (/ 1 phi1) (/ 1 phi2))
44.848 * [backup-simplify]: Simplify (- (/ 1 phi2)) into (- (/ 1 phi2))
44.848 * [backup-simplify]: Simplify (+ (/ 1 phi1) (- (/ 1 phi2))) into (- (/ 1 phi1) (/ 1 phi2))
44.848 * [backup-simplify]: Simplify (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2))) into (pow (- (/ 1 phi1) (/ 1 phi2)) 2)
44.850 * [backup-simplify]: Simplify (+ (- (+ (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (pow lambda2 2))) (+ (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (pow lambda2 2)) (/ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (pow lambda2 2)))) (pow (- (/ 1 phi1) (/ 1 phi2)) 2)) into (- (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (pow lambda2 2)) (/ 1 (pow phi1 2))))) (+ (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (pow lambda2 2)) (* 2 (/ 1 (* phi1 phi2))))))
44.861 * [backup-simplify]: Simplify (/ (- (- (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (pow lambda2 2)) (/ 1 (pow phi1 2))))) (+ (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (pow lambda2 2)) (* 2 (/ 1 (* phi1 phi2)))))) (pow (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (- (+ (* 2 (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) lambda2)) (* 2 (/ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) lambda2))) (+ (* 2 (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) lambda2)) (* 2 (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) lambda2)))))) 2) (+)) (* 2 (sqrt (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (- (+ (/ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (pow (cos (/ 0.5 phi2)) 3) (pow (cos (/ 0.5 phi1)) 3)))) (* (pow lambda2 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (+ (* 2 (/ (* (sin (/ 0.5 phi1)) (* (pow (cos (/ 0.5 phi2)) 3) (* (pow (cos (/ 0.5 phi1)) 3) (sin (/ 0.5 phi2))))) (* (pow lambda2 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (+ (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (pow lambda2 2)) (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 3) (* (pow (sin (/ 0.5 phi1)) 3) (cos (/ 0.5 phi2))))) (* (pow lambda2 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ 0.5 phi2)) 3) (* (pow (cos (/ 0.5 phi1)) 3) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (pow lambda2 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (+ (/ 1 (pow phi2 2)) (+ (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)))) (* (pow lambda2 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (+ (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ 0.5 phi2)) 3) (* (pow (sin (/ 0.5 phi1)) 3) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (pow lambda2 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))))))))) (+ (/ (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)) (* (pow lambda2 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (+ (* 2 (/ 1 (* phi1 phi2))) (+ (* 2 (/ (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) (* (pow lambda2 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (+ (/ (* (pow (cos (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi1)) 4)) (* (pow lambda2 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (+ (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)))) (* (pow lambda2 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (+ (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)))) (* (pow lambda2 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (* 2 (/ (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))) (* (pow lambda2 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))))))))))))
44.916 * [backup-simplify]: Simplify (- (/ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (- (+ (/ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (pow (cos (/ 0.5 phi2)) 3) (pow (cos (/ 0.5 phi1)) 3)))) (* (pow lambda2 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (+ (* 2 (/ (* (sin (/ 0.5 phi1)) (* (pow (cos (/ 0.5 phi2)) 3) (* (pow (cos (/ 0.5 phi1)) 3) (sin (/ 0.5 phi2))))) (* (pow lambda2 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (+ (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (pow lambda2 2)) (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 3) (* (pow (sin (/ 0.5 phi1)) 3) (cos (/ 0.5 phi2))))) (* (pow lambda2 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ 0.5 phi2)) 3) (* (pow (cos (/ 0.5 phi1)) 3) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (pow lambda2 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (+ (/ 1 (pow phi2 2)) (+ (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)))) (* (pow lambda2 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (+ (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ 0.5 phi2)) 3) (* (pow (sin (/ 0.5 phi1)) 3) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (pow lambda2 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))))))))) (+ (/ (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)) (* (pow lambda2 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (+ (* 2 (/ 1 (* phi1 phi2))) (+ (* 2 (/ (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) (* (pow lambda2 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (+ (/ (* (pow (cos (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi1)) 4)) (* (pow lambda2 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (+ (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)))) (* (pow lambda2 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (+ (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)))) (* (pow lambda2 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (* 2 (/ (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))) (* (pow lambda2 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))))))))))) R) (+ (* (* (sqrt (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 1 R)) (/ 0 R)) (* (- (+ (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* R lambda2)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* R lambda2)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* R lambda2)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (* R lambda2)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) (/ 0 R)))) into (- (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* R (pow lambda2 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 1 (* R (pow phi2 2))))) (+ (* 3/2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 2 (* (/ (* (sin (/ 0.5 phi2)) (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (cos (/ 0.5 phi2)) 3) (sin (/ 0.5 phi1))))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ 1 (* R (pow phi1 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 3) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 3)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (* R (pow lambda2 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* R (pow lambda2 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* R (pow lambda2 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi1)) 4)) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 3 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (* (/ 1 (* R (* phi1 phi2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))))))
44.917 * [taylor]: Taking taylor expansion of (- (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* R (pow lambda2 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 1 (* R (pow phi2 2))))) (+ (* 3/2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 2 (* (/ (* (sin (/ 0.5 phi2)) (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (cos (/ 0.5 phi2)) 3) (sin (/ 0.5 phi1))))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ 1 (* R (pow phi1 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 3) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 3)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (* R (pow lambda2 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* R (pow lambda2 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* R (pow lambda2 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi1)) 4)) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 3 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (* (/ 1 (* R (* phi1 phi2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))))))) in lambda2
44.917 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* R (pow lambda2 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 1 (* R (pow phi2 2))))) (+ (* 3/2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 2 (* (/ (* (sin (/ 0.5 phi2)) (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (cos (/ 0.5 phi2)) 3) (sin (/ 0.5 phi1))))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ 1 (* R (pow phi1 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 3) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 3)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (* R (pow lambda2 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))))))) in lambda2
44.917 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* R (pow lambda2 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) in lambda2
44.917 * [taylor]: Taking taylor expansion of 1/2 in lambda2
44.918 * [backup-simplify]: Simplify 1/2 into 1/2
44.918 * [taylor]: Taking taylor expansion of (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* R (pow lambda2 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) in lambda2
44.918 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* R (pow lambda2 2))) in lambda2
44.918 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
44.918 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
44.918 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
44.918 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
44.918 * [taylor]: Taking taylor expansion of 0.5 in lambda2
44.918 * [backup-simplify]: Simplify 0.5 into 0.5
44.918 * [taylor]: Taking taylor expansion of phi2 in lambda2
44.918 * [backup-simplify]: Simplify phi2 into phi2
44.918 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
44.918 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
44.918 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
44.918 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
44.918 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
44.918 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
44.918 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
44.918 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
44.918 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
44.918 * [taylor]: Taking taylor expansion of 0.5 in lambda2
44.918 * [backup-simplify]: Simplify 0.5 into 0.5
44.918 * [taylor]: Taking taylor expansion of phi1 in lambda2
44.918 * [backup-simplify]: Simplify phi1 into phi1
44.918 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
44.918 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
44.918 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
44.918 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
44.918 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
44.919 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
44.919 * [taylor]: Taking taylor expansion of (* R (pow lambda2 2)) in lambda2
44.919 * [taylor]: Taking taylor expansion of R in lambda2
44.919 * [backup-simplify]: Simplify R into R
44.919 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
44.919 * [taylor]: Taking taylor expansion of lambda2 in lambda2
44.919 * [backup-simplify]: Simplify 0 into 0
44.919 * [backup-simplify]: Simplify 1 into 1
44.919 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
44.919 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
44.919 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
44.919 * [backup-simplify]: Simplify (* 1 1) into 1
44.920 * [backup-simplify]: Simplify (* R 1) into R
44.920 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) R) into (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) R)
44.920 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in lambda2
44.920 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in lambda2
44.920 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
44.920 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
44.920 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
44.920 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
44.920 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
44.920 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
44.920 * [taylor]: Taking taylor expansion of 0.5 in lambda2
44.920 * [backup-simplify]: Simplify 0.5 into 0.5
44.920 * [taylor]: Taking taylor expansion of phi2 in lambda2
44.920 * [backup-simplify]: Simplify phi2 into phi2
44.920 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
44.920 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
44.920 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
44.920 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
44.920 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
44.920 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
44.920 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
44.920 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
44.920 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
44.920 * [taylor]: Taking taylor expansion of 0.5 in lambda2
44.920 * [backup-simplify]: Simplify 0.5 into 0.5
44.920 * [taylor]: Taking taylor expansion of phi1 in lambda2
44.920 * [backup-simplify]: Simplify phi1 into phi1
44.921 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
44.921 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
44.921 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
44.921 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
44.921 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
44.921 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
44.921 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
44.921 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
44.921 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
44.921 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
44.921 * [taylor]: Taking taylor expansion of 0.5 in lambda2
44.921 * [backup-simplify]: Simplify 0.5 into 0.5
44.921 * [taylor]: Taking taylor expansion of phi2 in lambda2
44.921 * [backup-simplify]: Simplify phi2 into phi2
44.921 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
44.921 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
44.921 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
44.921 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
44.921 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
44.922 * [backup-simplify]: Simplify (- 0) into 0
44.922 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
44.922 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
44.922 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
44.922 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
44.922 * [taylor]: Taking taylor expansion of 0.5 in lambda2
44.922 * [backup-simplify]: Simplify 0.5 into 0.5
44.922 * [taylor]: Taking taylor expansion of phi1 in lambda2
44.922 * [backup-simplify]: Simplify phi1 into phi1
44.922 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
44.922 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
44.922 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
44.922 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
44.922 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
44.922 * [backup-simplify]: Simplify (- 0) into 0
44.922 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
44.922 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
44.922 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
44.922 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
44.922 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
44.922 * [taylor]: Taking taylor expansion of 0.5 in lambda2
44.922 * [backup-simplify]: Simplify 0.5 into 0.5
44.922 * [taylor]: Taking taylor expansion of phi2 in lambda2
44.923 * [backup-simplify]: Simplify phi2 into phi2
44.923 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
44.923 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
44.923 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
44.923 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
44.923 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
44.923 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
44.923 * [taylor]: Taking taylor expansion of 0.5 in lambda2
44.923 * [backup-simplify]: Simplify 0.5 into 0.5
44.923 * [taylor]: Taking taylor expansion of phi1 in lambda2
44.923 * [backup-simplify]: Simplify phi1 into phi1
44.923 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
44.923 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
44.923 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
44.923 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
44.923 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
44.923 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
44.923 * [taylor]: Taking taylor expansion of 0.5 in lambda2
44.923 * [backup-simplify]: Simplify 0.5 into 0.5
44.923 * [taylor]: Taking taylor expansion of phi2 in lambda2
44.923 * [backup-simplify]: Simplify phi2 into phi2
44.923 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
44.923 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
44.923 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
44.923 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
44.923 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
44.923 * [taylor]: Taking taylor expansion of 0.5 in lambda2
44.923 * [backup-simplify]: Simplify 0.5 into 0.5
44.923 * [taylor]: Taking taylor expansion of phi1 in lambda2
44.923 * [backup-simplify]: Simplify phi1 into phi1
44.923 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
44.923 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
44.923 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
44.923 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
44.923 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
44.923 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
44.923 * [taylor]: Taking taylor expansion of 0.5 in lambda2
44.924 * [backup-simplify]: Simplify 0.5 into 0.5
44.924 * [taylor]: Taking taylor expansion of phi2 in lambda2
44.924 * [backup-simplify]: Simplify phi2 into phi2
44.924 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
44.924 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
44.924 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
44.924 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
44.924 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
44.924 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
44.924 * [taylor]: Taking taylor expansion of 0.5 in lambda2
44.924 * [backup-simplify]: Simplify 0.5 into 0.5
44.924 * [taylor]: Taking taylor expansion of phi1 in lambda2
44.924 * [backup-simplify]: Simplify phi1 into phi1
44.924 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
44.924 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
44.924 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
44.924 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
44.924 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
44.924 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
44.924 * [taylor]: Taking taylor expansion of 0.5 in lambda2
44.924 * [backup-simplify]: Simplify 0.5 into 0.5
44.924 * [taylor]: Taking taylor expansion of phi2 in lambda2
44.924 * [backup-simplify]: Simplify phi2 into phi2
44.924 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
44.924 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
44.924 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
44.924 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
44.924 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
44.924 * [taylor]: Taking taylor expansion of 0.5 in lambda2
44.924 * [backup-simplify]: Simplify 0.5 into 0.5
44.924 * [taylor]: Taking taylor expansion of phi1 in lambda2
44.924 * [backup-simplify]: Simplify phi1 into phi1
44.924 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
44.924 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
44.924 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
44.925 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
44.925 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
44.925 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
44.925 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
44.925 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
44.925 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
44.926 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
44.926 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
44.926 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
44.926 * [backup-simplify]: Simplify (- 0) into 0
44.926 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
44.926 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
44.927 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
44.927 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
44.927 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
44.927 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
44.927 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
44.927 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
44.927 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
44.927 * [backup-simplify]: Simplify (- 0) into 0
44.927 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
44.928 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
44.928 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
44.928 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
44.928 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
44.928 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
44.928 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
44.928 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
44.928 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
44.928 * [backup-simplify]: Simplify (- 0) into 0
44.929 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
44.929 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
44.929 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
44.929 * [backup-simplify]: Simplify (- 0) into 0
44.929 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
44.929 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
44.929 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
44.929 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
44.929 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
44.929 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
44.930 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
44.930 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))
44.930 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
44.931 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
44.932 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
44.937 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
44.938 * [backup-simplify]: Simplify (+ 0) into 0
44.938 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
44.939 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
44.939 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
44.939 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
44.940 * [backup-simplify]: Simplify (+ 0 0) into 0
44.940 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
44.940 * [backup-simplify]: Simplify (+ 0) into 0
44.940 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
44.941 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
44.941 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
44.941 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
44.942 * [backup-simplify]: Simplify (+ 0 0) into 0
44.942 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
44.942 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
44.942 * [backup-simplify]: Simplify (+ 0) into 0
44.943 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
44.943 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
44.943 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
44.943 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
44.944 * [backup-simplify]: Simplify (- 0) into 0
44.944 * [backup-simplify]: Simplify (+ 0 0) into 0
44.944 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
44.944 * [backup-simplify]: Simplify (+ 0) into 0
44.945 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
44.945 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
44.945 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
44.946 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
44.946 * [backup-simplify]: Simplify (- 0) into 0
44.946 * [backup-simplify]: Simplify (+ 0 0) into 0
44.947 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
44.947 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
44.947 * [backup-simplify]: Simplify (+ 0 0) into 0
44.948 * [backup-simplify]: Simplify (+ 0) into 0
44.948 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
44.949 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
44.949 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
44.950 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
44.951 * [backup-simplify]: Simplify (- 0) into 0
44.951 * [backup-simplify]: Simplify (+ 0 0) into 0
44.952 * [backup-simplify]: Simplify (+ 0) into 0
44.952 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
44.952 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
44.953 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
44.954 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
44.954 * [backup-simplify]: Simplify (+ 0 0) into 0
44.954 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
44.955 * [backup-simplify]: Simplify (+ 0) into 0
44.955 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
44.956 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
44.956 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
44.957 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
44.957 * [backup-simplify]: Simplify (+ 0 0) into 0
44.958 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
44.958 * [backup-simplify]: Simplify (+ 0) into 0
44.959 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
44.959 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
44.960 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
44.960 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
44.961 * [backup-simplify]: Simplify (- 0) into 0
44.961 * [backup-simplify]: Simplify (+ 0 0) into 0
44.961 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
44.962 * [backup-simplify]: Simplify (+ 0) into 0
44.962 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
44.963 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
44.963 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
44.964 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
44.964 * [backup-simplify]: Simplify (+ 0 0) into 0
44.965 * [backup-simplify]: Simplify (+ 0) into 0
44.965 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
44.965 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
44.966 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
44.967 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
44.967 * [backup-simplify]: Simplify (- 0) into 0
44.967 * [backup-simplify]: Simplify (+ 0 0) into 0
44.968 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
44.968 * [backup-simplify]: Simplify (+ 0) into 0
44.969 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
44.969 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
44.970 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
44.970 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
44.970 * [backup-simplify]: Simplify (- 0) into 0
44.971 * [backup-simplify]: Simplify (+ 0 0) into 0
44.971 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
44.972 * [backup-simplify]: Simplify (+ 0) into 0
44.972 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
44.972 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
44.973 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
44.974 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
44.974 * [backup-simplify]: Simplify (+ 0 0) into 0
44.974 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
44.975 * [backup-simplify]: Simplify (+ 0 0) into 0
44.975 * [backup-simplify]: Simplify (- 0) into 0
44.976 * [backup-simplify]: Simplify (+ 0 0) into 0
44.979 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
44.980 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
44.980 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 1 (* R (pow phi2 2))))) (+ (* 3/2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 2 (* (/ (* (sin (/ 0.5 phi2)) (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (cos (/ 0.5 phi2)) 3) (sin (/ 0.5 phi1))))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ 1 (* R (pow phi1 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 3) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 3)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (* R (pow lambda2 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))))))) in lambda2
44.981 * [taylor]: Taking taylor expansion of (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 1 (* R (pow phi2 2))))) in lambda2
44.981 * [taylor]: Taking taylor expansion of 1/2 in lambda2
44.981 * [backup-simplify]: Simplify 1/2 into 1/2
44.981 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 1 (* R (pow phi2 2)))) in lambda2
44.981 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in lambda2
44.981 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in lambda2
44.981 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
44.981 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
44.981 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
44.981 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
44.981 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
44.981 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
44.981 * [taylor]: Taking taylor expansion of 0.5 in lambda2
44.981 * [backup-simplify]: Simplify 0.5 into 0.5
44.981 * [taylor]: Taking taylor expansion of phi2 in lambda2
44.981 * [backup-simplify]: Simplify phi2 into phi2
44.981 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
44.981 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
44.981 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
44.981 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
44.981 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
44.981 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
44.981 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
44.981 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
44.981 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
44.982 * [taylor]: Taking taylor expansion of 0.5 in lambda2
44.982 * [backup-simplify]: Simplify 0.5 into 0.5
44.982 * [taylor]: Taking taylor expansion of phi1 in lambda2
44.982 * [backup-simplify]: Simplify phi1 into phi1
44.982 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
44.982 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
44.982 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
44.982 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
44.982 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
44.982 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
44.982 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
44.982 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
44.982 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
44.982 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
44.982 * [taylor]: Taking taylor expansion of 0.5 in lambda2
44.982 * [backup-simplify]: Simplify 0.5 into 0.5
44.982 * [taylor]: Taking taylor expansion of phi2 in lambda2
44.982 * [backup-simplify]: Simplify phi2 into phi2
44.982 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
44.982 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
44.982 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
44.982 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
44.982 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
44.983 * [backup-simplify]: Simplify (- 0) into 0
44.983 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
44.983 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
44.983 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
44.983 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
44.983 * [taylor]: Taking taylor expansion of 0.5 in lambda2
44.983 * [backup-simplify]: Simplify 0.5 into 0.5
44.983 * [taylor]: Taking taylor expansion of phi1 in lambda2
44.983 * [backup-simplify]: Simplify phi1 into phi1
44.983 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
44.983 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
44.983 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
44.983 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
44.983 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
44.984 * [backup-simplify]: Simplify (- 0) into 0
44.984 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
44.984 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
44.984 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
44.984 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
44.984 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
44.984 * [taylor]: Taking taylor expansion of 0.5 in lambda2
44.984 * [backup-simplify]: Simplify 0.5 into 0.5
44.984 * [taylor]: Taking taylor expansion of phi2 in lambda2
44.984 * [backup-simplify]: Simplify phi2 into phi2
44.984 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
44.984 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
44.984 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
44.984 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
44.984 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
44.984 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
44.984 * [taylor]: Taking taylor expansion of 0.5 in lambda2
44.984 * [backup-simplify]: Simplify 0.5 into 0.5
44.984 * [taylor]: Taking taylor expansion of phi1 in lambda2
44.984 * [backup-simplify]: Simplify phi1 into phi1
44.984 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
44.984 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
44.984 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
44.984 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
44.984 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
44.984 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
44.984 * [taylor]: Taking taylor expansion of 0.5 in lambda2
44.985 * [backup-simplify]: Simplify 0.5 into 0.5
44.985 * [taylor]: Taking taylor expansion of phi2 in lambda2
44.985 * [backup-simplify]: Simplify phi2 into phi2
44.985 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
44.985 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
44.985 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
44.985 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
44.985 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
44.985 * [taylor]: Taking taylor expansion of 0.5 in lambda2
44.985 * [backup-simplify]: Simplify 0.5 into 0.5
44.985 * [taylor]: Taking taylor expansion of phi1 in lambda2
44.985 * [backup-simplify]: Simplify phi1 into phi1
44.985 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
44.985 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
44.985 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
44.985 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
44.985 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
44.985 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
44.985 * [taylor]: Taking taylor expansion of 0.5 in lambda2
44.985 * [backup-simplify]: Simplify 0.5 into 0.5
44.985 * [taylor]: Taking taylor expansion of phi2 in lambda2
44.985 * [backup-simplify]: Simplify phi2 into phi2
44.985 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
44.985 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
44.985 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
44.985 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
44.985 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
44.985 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
44.985 * [taylor]: Taking taylor expansion of 0.5 in lambda2
44.985 * [backup-simplify]: Simplify 0.5 into 0.5
44.985 * [taylor]: Taking taylor expansion of phi1 in lambda2
44.985 * [backup-simplify]: Simplify phi1 into phi1
44.985 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
44.985 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
44.985 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
44.985 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
44.986 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
44.986 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
44.986 * [taylor]: Taking taylor expansion of 0.5 in lambda2
44.986 * [backup-simplify]: Simplify 0.5 into 0.5
44.986 * [taylor]: Taking taylor expansion of phi2 in lambda2
44.986 * [backup-simplify]: Simplify phi2 into phi2
44.986 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
44.986 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
44.986 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
44.986 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
44.986 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
44.986 * [taylor]: Taking taylor expansion of 0.5 in lambda2
44.986 * [backup-simplify]: Simplify 0.5 into 0.5
44.986 * [taylor]: Taking taylor expansion of phi1 in lambda2
44.986 * [backup-simplify]: Simplify phi1 into phi1
44.986 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
44.986 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
44.986 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
44.986 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
44.986 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
44.986 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
44.987 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
44.987 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
44.987 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
44.987 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
44.987 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
44.987 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
44.988 * [backup-simplify]: Simplify (- 0) into 0
44.988 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
44.988 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
44.988 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
44.988 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
44.988 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
44.988 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
44.988 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
44.988 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
44.988 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
44.989 * [backup-simplify]: Simplify (- 0) into 0
44.989 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
44.989 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
44.989 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
44.989 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
44.989 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
44.989 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
44.989 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
44.989 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
44.989 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
44.990 * [backup-simplify]: Simplify (- 0) into 0
44.990 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
44.990 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
44.990 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
44.990 * [backup-simplify]: Simplify (- 0) into 0
44.990 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
44.990 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
44.990 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
44.990 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
44.990 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
44.991 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
44.991 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
44.991 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))
44.992 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
44.993 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
44.994 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
44.995 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
44.995 * [backup-simplify]: Simplify (+ 0) into 0
44.995 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
44.996 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
44.996 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
44.996 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
44.997 * [backup-simplify]: Simplify (+ 0 0) into 0
44.997 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
44.997 * [backup-simplify]: Simplify (+ 0) into 0
44.997 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
44.998 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
44.998 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
44.998 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
44.999 * [backup-simplify]: Simplify (+ 0 0) into 0
44.999 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
44.999 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
44.999 * [backup-simplify]: Simplify (+ 0) into 0
45.000 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
45.000 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
45.000 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.000 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
45.001 * [backup-simplify]: Simplify (- 0) into 0
45.001 * [backup-simplify]: Simplify (+ 0 0) into 0
45.001 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
45.001 * [backup-simplify]: Simplify (+ 0) into 0
45.002 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
45.002 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
45.002 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.002 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
45.003 * [backup-simplify]: Simplify (- 0) into 0
45.003 * [backup-simplify]: Simplify (+ 0 0) into 0
45.003 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
45.003 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
45.004 * [backup-simplify]: Simplify (+ 0 0) into 0
45.004 * [backup-simplify]: Simplify (+ 0) into 0
45.004 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
45.004 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
45.005 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.005 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
45.005 * [backup-simplify]: Simplify (- 0) into 0
45.005 * [backup-simplify]: Simplify (+ 0 0) into 0
45.006 * [backup-simplify]: Simplify (+ 0) into 0
45.006 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
45.006 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
45.007 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.007 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
45.007 * [backup-simplify]: Simplify (+ 0 0) into 0
45.007 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
45.007 * [backup-simplify]: Simplify (+ 0) into 0
45.008 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
45.008 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
45.008 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.009 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
45.009 * [backup-simplify]: Simplify (+ 0 0) into 0
45.009 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
45.009 * [backup-simplify]: Simplify (+ 0) into 0
45.010 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
45.010 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
45.010 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.011 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
45.011 * [backup-simplify]: Simplify (- 0) into 0
45.011 * [backup-simplify]: Simplify (+ 0 0) into 0
45.011 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
45.012 * [backup-simplify]: Simplify (+ 0) into 0
45.012 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
45.012 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
45.012 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.013 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
45.013 * [backup-simplify]: Simplify (+ 0 0) into 0
45.013 * [backup-simplify]: Simplify (+ 0) into 0
45.014 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
45.014 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
45.014 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.014 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
45.015 * [backup-simplify]: Simplify (- 0) into 0
45.015 * [backup-simplify]: Simplify (+ 0 0) into 0
45.015 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
45.015 * [backup-simplify]: Simplify (+ 0) into 0
45.016 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
45.016 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
45.016 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.017 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
45.017 * [backup-simplify]: Simplify (- 0) into 0
45.017 * [backup-simplify]: Simplify (+ 0 0) into 0
45.017 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
45.018 * [backup-simplify]: Simplify (+ 0) into 0
45.018 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
45.018 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
45.019 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.019 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
45.019 * [backup-simplify]: Simplify (+ 0 0) into 0
45.019 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
45.020 * [backup-simplify]: Simplify (+ 0 0) into 0
45.020 * [backup-simplify]: Simplify (- 0) into 0
45.020 * [backup-simplify]: Simplify (+ 0 0) into 0
45.022 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
45.023 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
45.023 * [taylor]: Taking taylor expansion of (/ 1 (* R (pow phi2 2))) in lambda2
45.023 * [taylor]: Taking taylor expansion of (* R (pow phi2 2)) in lambda2
45.023 * [taylor]: Taking taylor expansion of R in lambda2
45.023 * [backup-simplify]: Simplify R into R
45.023 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2
45.023 * [taylor]: Taking taylor expansion of phi2 in lambda2
45.023 * [backup-simplify]: Simplify phi2 into phi2
45.024 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
45.024 * [backup-simplify]: Simplify (* R (pow phi2 2)) into (* R (pow phi2 2))
45.024 * [backup-simplify]: Simplify (/ 1 (* R (pow phi2 2))) into (/ 1 (* R (pow phi2 2)))
45.024 * [taylor]: Taking taylor expansion of (+ (* 3/2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 2 (* (/ (* (sin (/ 0.5 phi2)) (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (cos (/ 0.5 phi2)) 3) (sin (/ 0.5 phi1))))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ 1 (* R (pow phi1 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 3) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 3)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (* R (pow lambda2 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))))) in lambda2
45.024 * [taylor]: Taking taylor expansion of (* 3/2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) in lambda2
45.024 * [taylor]: Taking taylor expansion of 3/2 in lambda2
45.024 * [backup-simplify]: Simplify 3/2 into 3/2
45.024 * [taylor]: Taking taylor expansion of (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3)))) in lambda2
45.024 * [taylor]: Taking taylor expansion of (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)))) (* R (pow lambda2 2))) in lambda2
45.024 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)))) in lambda2
45.024 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
45.024 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
45.024 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.024 * [backup-simplify]: Simplify 0.5 into 0.5
45.024 * [taylor]: Taking taylor expansion of phi2 in lambda2
45.024 * [backup-simplify]: Simplify phi2 into phi2
45.024 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
45.024 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
45.024 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
45.024 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3))) in lambda2
45.024 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
45.024 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
45.024 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.024 * [backup-simplify]: Simplify 0.5 into 0.5
45.024 * [taylor]: Taking taylor expansion of phi1 in lambda2
45.024 * [backup-simplify]: Simplify phi1 into phi1
45.024 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
45.025 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
45.025 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
45.025 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)) in lambda2
45.025 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 3) in lambda2
45.025 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
45.025 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
45.025 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.025 * [backup-simplify]: Simplify 0.5 into 0.5
45.025 * [taylor]: Taking taylor expansion of phi2 in lambda2
45.025 * [backup-simplify]: Simplify phi2 into phi2
45.025 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
45.025 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
45.025 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
45.025 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
45.025 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
45.025 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
45.025 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 3) in lambda2
45.025 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
45.025 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
45.025 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.025 * [backup-simplify]: Simplify 0.5 into 0.5
45.025 * [taylor]: Taking taylor expansion of phi1 in lambda2
45.025 * [backup-simplify]: Simplify phi1 into phi1
45.025 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
45.025 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
45.025 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
45.025 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
45.025 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
45.026 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
45.026 * [taylor]: Taking taylor expansion of (* R (pow lambda2 2)) in lambda2
45.026 * [taylor]: Taking taylor expansion of R in lambda2
45.026 * [backup-simplify]: Simplify R into R
45.026 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
45.026 * [taylor]: Taking taylor expansion of lambda2 in lambda2
45.026 * [backup-simplify]: Simplify 0 into 0
45.026 * [backup-simplify]: Simplify 1 into 1
45.026 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
45.026 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
45.026 * [backup-simplify]: Simplify (- 0) into 0
45.026 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
45.026 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
45.026 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
45.027 * [backup-simplify]: Simplify (- 0) into 0
45.027 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
45.027 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
45.027 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (pow (sin (/ 0.5 phi2)) 2)) into (pow (sin (/ 0.5 phi2)) 3)
45.027 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
45.027 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (pow (sin (/ 0.5 phi1)) 2)) into (pow (sin (/ 0.5 phi1)) 3)
45.028 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)) into (* (pow (sin (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3))
45.028 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3))) into (* (pow (sin (/ 0.5 phi1)) 3) (* (pow (sin (/ 0.5 phi2)) 3) (cos (/ 0.5 phi1))))
45.028 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (pow (sin (/ 0.5 phi1)) 3) (* (pow (sin (/ 0.5 phi2)) 3) (cos (/ 0.5 phi1))))) into (* (pow (sin (/ 0.5 phi2)) 3) (* (pow (sin (/ 0.5 phi1)) 3) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
45.029 * [backup-simplify]: Simplify (* 1 1) into 1
45.029 * [backup-simplify]: Simplify (* R 1) into R
45.029 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi2)) 3) (* (pow (sin (/ 0.5 phi1)) 3) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) R) into (/ (* (pow (sin (/ 0.5 phi2)) 3) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 3)))) R)
45.029 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))) in lambda2
45.029 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3)) in lambda2
45.029 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3) in lambda2
45.029 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
45.029 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
45.029 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
45.029 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
45.029 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
45.029 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
45.029 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.029 * [backup-simplify]: Simplify 0.5 into 0.5
45.029 * [taylor]: Taking taylor expansion of phi2 in lambda2
45.029 * [backup-simplify]: Simplify phi2 into phi2
45.029 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
45.029 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
45.030 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
45.030 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
45.030 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
45.030 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
45.030 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
45.030 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
45.030 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
45.030 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.030 * [backup-simplify]: Simplify 0.5 into 0.5
45.030 * [taylor]: Taking taylor expansion of phi1 in lambda2
45.030 * [backup-simplify]: Simplify phi1 into phi1
45.030 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
45.030 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
45.030 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
45.030 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
45.030 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
45.030 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
45.030 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
45.030 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
45.030 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
45.030 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
45.030 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.030 * [backup-simplify]: Simplify 0.5 into 0.5
45.030 * [taylor]: Taking taylor expansion of phi2 in lambda2
45.030 * [backup-simplify]: Simplify phi2 into phi2
45.030 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
45.030 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
45.031 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
45.031 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
45.031 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
45.031 * [backup-simplify]: Simplify (- 0) into 0
45.031 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
45.031 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
45.031 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
45.031 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
45.031 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.031 * [backup-simplify]: Simplify 0.5 into 0.5
45.031 * [taylor]: Taking taylor expansion of phi1 in lambda2
45.032 * [backup-simplify]: Simplify phi1 into phi1
45.032 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
45.032 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
45.032 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
45.032 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
45.032 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
45.032 * [backup-simplify]: Simplify (- 0) into 0
45.032 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
45.032 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
45.032 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
45.032 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
45.032 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
45.032 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.032 * [backup-simplify]: Simplify 0.5 into 0.5
45.032 * [taylor]: Taking taylor expansion of phi2 in lambda2
45.032 * [backup-simplify]: Simplify phi2 into phi2
45.032 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
45.032 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
45.033 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
45.033 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
45.033 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
45.033 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
45.033 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.033 * [backup-simplify]: Simplify 0.5 into 0.5
45.033 * [taylor]: Taking taylor expansion of phi1 in lambda2
45.033 * [backup-simplify]: Simplify phi1 into phi1
45.033 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
45.033 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
45.033 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
45.033 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
45.033 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
45.033 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
45.033 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.033 * [backup-simplify]: Simplify 0.5 into 0.5
45.033 * [taylor]: Taking taylor expansion of phi2 in lambda2
45.033 * [backup-simplify]: Simplify phi2 into phi2
45.033 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
45.033 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
45.033 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
45.033 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
45.033 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
45.033 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.033 * [backup-simplify]: Simplify 0.5 into 0.5
45.033 * [taylor]: Taking taylor expansion of phi1 in lambda2
45.033 * [backup-simplify]: Simplify phi1 into phi1
45.033 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
45.033 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
45.033 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
45.033 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
45.033 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
45.033 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
45.033 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.033 * [backup-simplify]: Simplify 0.5 into 0.5
45.033 * [taylor]: Taking taylor expansion of phi2 in lambda2
45.033 * [backup-simplify]: Simplify phi2 into phi2
45.034 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
45.034 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
45.034 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
45.034 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
45.034 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
45.034 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
45.034 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.034 * [backup-simplify]: Simplify 0.5 into 0.5
45.034 * [taylor]: Taking taylor expansion of phi1 in lambda2
45.034 * [backup-simplify]: Simplify phi1 into phi1
45.034 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
45.034 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
45.034 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
45.034 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
45.034 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
45.034 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
45.034 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.034 * [backup-simplify]: Simplify 0.5 into 0.5
45.034 * [taylor]: Taking taylor expansion of phi2 in lambda2
45.034 * [backup-simplify]: Simplify phi2 into phi2
45.034 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
45.034 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
45.034 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
45.034 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
45.034 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
45.034 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.034 * [backup-simplify]: Simplify 0.5 into 0.5
45.034 * [taylor]: Taking taylor expansion of phi1 in lambda2
45.034 * [backup-simplify]: Simplify phi1 into phi1
45.034 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
45.034 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
45.034 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
45.035 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
45.035 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
45.035 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
45.035 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
45.035 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
45.035 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
45.036 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
45.036 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
45.036 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
45.036 * [backup-simplify]: Simplify (- 0) into 0
45.036 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
45.036 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
45.036 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
45.037 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
45.037 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
45.037 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
45.037 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
45.037 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
45.037 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
45.037 * [backup-simplify]: Simplify (- 0) into 0
45.037 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
45.037 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
45.037 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
45.038 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
45.038 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
45.038 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
45.038 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
45.038 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
45.038 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
45.038 * [backup-simplify]: Simplify (- 0) into 0
45.038 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
45.038 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
45.038 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
45.039 * [backup-simplify]: Simplify (- 0) into 0
45.039 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
45.039 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
45.039 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
45.039 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
45.039 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
45.039 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
45.039 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
45.040 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))
45.040 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
45.041 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
45.043 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)
45.045 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)) into (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2))
45.047 * [backup-simplify]: Simplify (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2))) into (/ 1 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
45.050 * [backup-simplify]: Simplify (sqrt (/ 1 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
45.050 * [backup-simplify]: Simplify (+ 0) into 0
45.051 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
45.051 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
45.051 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.052 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
45.052 * [backup-simplify]: Simplify (+ 0 0) into 0
45.052 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
45.052 * [backup-simplify]: Simplify (+ 0) into 0
45.053 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
45.053 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
45.053 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.054 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
45.054 * [backup-simplify]: Simplify (+ 0 0) into 0
45.054 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
45.054 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
45.060 * [backup-simplify]: Simplify (+ 0) into 0
45.061 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
45.061 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
45.061 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.062 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
45.062 * [backup-simplify]: Simplify (- 0) into 0
45.062 * [backup-simplify]: Simplify (+ 0 0) into 0
45.063 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
45.063 * [backup-simplify]: Simplify (+ 0) into 0
45.063 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
45.063 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
45.064 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.064 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
45.065 * [backup-simplify]: Simplify (- 0) into 0
45.065 * [backup-simplify]: Simplify (+ 0 0) into 0
45.065 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
45.065 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
45.066 * [backup-simplify]: Simplify (+ 0 0) into 0
45.066 * [backup-simplify]: Simplify (+ 0) into 0
45.066 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
45.066 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
45.067 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.067 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
45.068 * [backup-simplify]: Simplify (- 0) into 0
45.068 * [backup-simplify]: Simplify (+ 0 0) into 0
45.068 * [backup-simplify]: Simplify (+ 0) into 0
45.068 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
45.069 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
45.069 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.069 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
45.070 * [backup-simplify]: Simplify (+ 0 0) into 0
45.070 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
45.072 * [backup-simplify]: Simplify (+ 0) into 0
45.072 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
45.072 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
45.073 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.073 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
45.073 * [backup-simplify]: Simplify (+ 0 0) into 0
45.073 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
45.074 * [backup-simplify]: Simplify (+ 0) into 0
45.074 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
45.074 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
45.075 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.075 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
45.075 * [backup-simplify]: Simplify (- 0) into 0
45.076 * [backup-simplify]: Simplify (+ 0 0) into 0
45.076 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
45.076 * [backup-simplify]: Simplify (+ 0) into 0
45.076 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
45.077 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
45.077 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.077 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
45.078 * [backup-simplify]: Simplify (+ 0 0) into 0
45.078 * [backup-simplify]: Simplify (+ 0) into 0
45.078 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
45.079 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
45.079 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.079 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
45.080 * [backup-simplify]: Simplify (- 0) into 0
45.080 * [backup-simplify]: Simplify (+ 0 0) into 0
45.080 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
45.080 * [backup-simplify]: Simplify (+ 0) into 0
45.081 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
45.081 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
45.081 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.082 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
45.082 * [backup-simplify]: Simplify (- 0) into 0
45.082 * [backup-simplify]: Simplify (+ 0 0) into 0
45.082 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
45.083 * [backup-simplify]: Simplify (+ 0) into 0
45.083 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
45.083 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
45.083 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.084 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
45.084 * [backup-simplify]: Simplify (+ 0 0) into 0
45.084 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
45.084 * [backup-simplify]: Simplify (+ 0 0) into 0
45.085 * [backup-simplify]: Simplify (- 0) into 0
45.085 * [backup-simplify]: Simplify (+ 0 0) into 0
45.089 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into 0
45.093 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2))) into 0
45.101 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)))))) into 0
45.106 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
45.106 * [taylor]: Taking taylor expansion of (+ (* 2 (* (/ (* (sin (/ 0.5 phi2)) (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (cos (/ 0.5 phi2)) 3) (sin (/ 0.5 phi1))))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ 1 (* R (pow phi1 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 3) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 3)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (* R (pow lambda2 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))))) in lambda2
45.106 * [taylor]: Taking taylor expansion of (* 2 (* (/ (* (sin (/ 0.5 phi2)) (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (cos (/ 0.5 phi2)) 3) (sin (/ 0.5 phi1))))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) in lambda2
45.106 * [taylor]: Taking taylor expansion of 2 in lambda2
45.106 * [backup-simplify]: Simplify 2 into 2
45.106 * [taylor]: Taking taylor expansion of (* (/ (* (sin (/ 0.5 phi2)) (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (cos (/ 0.5 phi2)) 3) (sin (/ 0.5 phi1))))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3)))) in lambda2
45.106 * [taylor]: Taking taylor expansion of (/ (* (sin (/ 0.5 phi2)) (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (cos (/ 0.5 phi2)) 3) (sin (/ 0.5 phi1))))) (* R (pow lambda2 2))) in lambda2
45.106 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (cos (/ 0.5 phi2)) 3) (sin (/ 0.5 phi1))))) in lambda2
45.106 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
45.106 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
45.106 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.106 * [backup-simplify]: Simplify 0.5 into 0.5
45.106 * [taylor]: Taking taylor expansion of phi2 in lambda2
45.106 * [backup-simplify]: Simplify phi2 into phi2
45.106 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
45.106 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
45.106 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
45.106 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (cos (/ 0.5 phi2)) 3) (sin (/ 0.5 phi1)))) in lambda2
45.106 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 3) in lambda2
45.106 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
45.106 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
45.106 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.106 * [backup-simplify]: Simplify 0.5 into 0.5
45.106 * [taylor]: Taking taylor expansion of phi1 in lambda2
45.106 * [backup-simplify]: Simplify phi1 into phi1
45.106 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
45.107 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
45.107 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
45.107 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
45.107 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
45.107 * [backup-simplify]: Simplify (- 0) into 0
45.107 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
45.107 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 3) (sin (/ 0.5 phi1))) in lambda2
45.107 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 3) in lambda2
45.107 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
45.107 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
45.107 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.107 * [backup-simplify]: Simplify 0.5 into 0.5
45.107 * [taylor]: Taking taylor expansion of phi2 in lambda2
45.107 * [backup-simplify]: Simplify phi2 into phi2
45.107 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
45.107 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
45.108 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
45.108 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
45.108 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
45.108 * [backup-simplify]: Simplify (- 0) into 0
45.108 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
45.108 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
45.108 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
45.108 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.108 * [backup-simplify]: Simplify 0.5 into 0.5
45.108 * [taylor]: Taking taylor expansion of phi1 in lambda2
45.108 * [backup-simplify]: Simplify phi1 into phi1
45.108 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
45.108 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
45.108 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
45.108 * [taylor]: Taking taylor expansion of (* R (pow lambda2 2)) in lambda2
45.108 * [taylor]: Taking taylor expansion of R in lambda2
45.108 * [backup-simplify]: Simplify R into R
45.108 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
45.108 * [taylor]: Taking taylor expansion of lambda2 in lambda2
45.108 * [backup-simplify]: Simplify 0 into 0
45.108 * [backup-simplify]: Simplify 1 into 1
45.108 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
45.109 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
45.109 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
45.109 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
45.109 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (pow (cos (/ 0.5 phi1)) 2)) into (pow (cos (/ 0.5 phi1)) 3)
45.109 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
45.109 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (pow (cos (/ 0.5 phi2)) 2)) into (pow (cos (/ 0.5 phi2)) 3)
45.109 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
45.109 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
45.109 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
45.109 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 3) (sin (/ 0.5 phi1))) into (* (pow (cos (/ 0.5 phi2)) 3) (sin (/ 0.5 phi1)))
45.110 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (cos (/ 0.5 phi2)) 3) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (pow (cos (/ 0.5 phi2)) 3) (pow (cos (/ 0.5 phi1)) 3)))
45.110 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (pow (cos (/ 0.5 phi2)) 3) (pow (cos (/ 0.5 phi1)) 3)))) into (* (pow (cos (/ 0.5 phi2)) 3) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (pow (cos (/ 0.5 phi1)) 3))))
45.110 * [backup-simplify]: Simplify (* 1 1) into 1
45.111 * [backup-simplify]: Simplify (* R 1) into R
45.111 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi2)) 3) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (pow (cos (/ 0.5 phi1)) 3)))) R) into (/ (* (pow (cos (/ 0.5 phi2)) 3) (* (pow (cos (/ 0.5 phi1)) 3) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R)
45.111 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))) in lambda2
45.111 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3)) in lambda2
45.111 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3) in lambda2
45.111 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
45.111 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
45.111 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
45.111 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
45.111 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
45.111 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
45.111 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.111 * [backup-simplify]: Simplify 0.5 into 0.5
45.111 * [taylor]: Taking taylor expansion of phi2 in lambda2
45.111 * [backup-simplify]: Simplify phi2 into phi2
45.111 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
45.111 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
45.111 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
45.112 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
45.112 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
45.112 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
45.112 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
45.112 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
45.112 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
45.112 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.112 * [backup-simplify]: Simplify 0.5 into 0.5
45.112 * [taylor]: Taking taylor expansion of phi1 in lambda2
45.112 * [backup-simplify]: Simplify phi1 into phi1
45.112 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
45.112 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
45.112 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
45.112 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
45.112 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
45.112 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
45.112 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
45.112 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
45.112 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
45.112 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
45.112 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.112 * [backup-simplify]: Simplify 0.5 into 0.5
45.112 * [taylor]: Taking taylor expansion of phi2 in lambda2
45.112 * [backup-simplify]: Simplify phi2 into phi2
45.112 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
45.112 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
45.112 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
45.113 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
45.113 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
45.113 * [backup-simplify]: Simplify (- 0) into 0
45.113 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
45.113 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
45.113 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
45.113 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
45.113 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.113 * [backup-simplify]: Simplify 0.5 into 0.5
45.113 * [taylor]: Taking taylor expansion of phi1 in lambda2
45.113 * [backup-simplify]: Simplify phi1 into phi1
45.113 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
45.113 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
45.113 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
45.113 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
45.113 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
45.114 * [backup-simplify]: Simplify (- 0) into 0
45.114 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
45.114 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
45.114 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
45.114 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
45.114 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
45.114 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.114 * [backup-simplify]: Simplify 0.5 into 0.5
45.114 * [taylor]: Taking taylor expansion of phi2 in lambda2
45.114 * [backup-simplify]: Simplify phi2 into phi2
45.114 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
45.114 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
45.114 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
45.114 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
45.114 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
45.114 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
45.114 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.114 * [backup-simplify]: Simplify 0.5 into 0.5
45.114 * [taylor]: Taking taylor expansion of phi1 in lambda2
45.114 * [backup-simplify]: Simplify phi1 into phi1
45.114 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
45.114 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
45.114 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
45.114 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
45.114 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
45.114 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
45.114 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.114 * [backup-simplify]: Simplify 0.5 into 0.5
45.115 * [taylor]: Taking taylor expansion of phi2 in lambda2
45.115 * [backup-simplify]: Simplify phi2 into phi2
45.115 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
45.115 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
45.115 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
45.115 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
45.115 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
45.115 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.115 * [backup-simplify]: Simplify 0.5 into 0.5
45.115 * [taylor]: Taking taylor expansion of phi1 in lambda2
45.115 * [backup-simplify]: Simplify phi1 into phi1
45.115 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
45.115 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
45.115 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
45.115 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
45.115 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
45.115 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
45.115 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.115 * [backup-simplify]: Simplify 0.5 into 0.5
45.115 * [taylor]: Taking taylor expansion of phi2 in lambda2
45.115 * [backup-simplify]: Simplify phi2 into phi2
45.115 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
45.115 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
45.115 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
45.115 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
45.115 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
45.115 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
45.115 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.115 * [backup-simplify]: Simplify 0.5 into 0.5
45.115 * [taylor]: Taking taylor expansion of phi1 in lambda2
45.115 * [backup-simplify]: Simplify phi1 into phi1
45.115 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
45.115 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
45.115 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
45.115 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
45.115 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
45.115 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
45.116 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.116 * [backup-simplify]: Simplify 0.5 into 0.5
45.116 * [taylor]: Taking taylor expansion of phi2 in lambda2
45.116 * [backup-simplify]: Simplify phi2 into phi2
45.116 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
45.116 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
45.116 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
45.116 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
45.116 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
45.116 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.116 * [backup-simplify]: Simplify 0.5 into 0.5
45.116 * [taylor]: Taking taylor expansion of phi1 in lambda2
45.116 * [backup-simplify]: Simplify phi1 into phi1
45.116 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
45.116 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
45.116 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
45.116 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
45.116 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
45.116 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
45.116 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
45.117 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
45.117 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
45.117 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
45.117 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
45.117 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
45.118 * [backup-simplify]: Simplify (- 0) into 0
45.118 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
45.118 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
45.118 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
45.118 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
45.118 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
45.118 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
45.118 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
45.118 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
45.118 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
45.119 * [backup-simplify]: Simplify (- 0) into 0
45.119 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
45.119 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
45.119 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
45.119 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
45.119 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
45.119 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
45.119 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
45.119 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
45.119 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
45.120 * [backup-simplify]: Simplify (- 0) into 0
45.120 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
45.120 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
45.120 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
45.120 * [backup-simplify]: Simplify (- 0) into 0
45.120 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
45.120 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
45.120 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
45.121 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
45.121 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
45.121 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
45.121 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
45.121 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))
45.122 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
45.123 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
45.125 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)
45.127 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)) into (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2))
45.129 * [backup-simplify]: Simplify (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2))) into (/ 1 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
45.133 * [backup-simplify]: Simplify (sqrt (/ 1 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
45.133 * [backup-simplify]: Simplify (+ 0) into 0
45.134 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
45.134 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
45.135 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.136 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
45.136 * [backup-simplify]: Simplify (+ 0 0) into 0
45.136 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
45.137 * [backup-simplify]: Simplify (+ 0) into 0
45.137 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
45.137 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
45.138 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.139 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
45.139 * [backup-simplify]: Simplify (+ 0 0) into 0
45.139 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
45.140 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
45.140 * [backup-simplify]: Simplify (+ 0) into 0
45.141 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
45.141 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
45.142 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.142 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
45.143 * [backup-simplify]: Simplify (- 0) into 0
45.143 * [backup-simplify]: Simplify (+ 0 0) into 0
45.143 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
45.144 * [backup-simplify]: Simplify (+ 0) into 0
45.144 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
45.145 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
45.145 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.146 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
45.146 * [backup-simplify]: Simplify (- 0) into 0
45.147 * [backup-simplify]: Simplify (+ 0 0) into 0
45.147 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
45.148 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
45.148 * [backup-simplify]: Simplify (+ 0 0) into 0
45.149 * [backup-simplify]: Simplify (+ 0) into 0
45.149 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
45.149 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
45.150 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.151 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
45.151 * [backup-simplify]: Simplify (- 0) into 0
45.151 * [backup-simplify]: Simplify (+ 0 0) into 0
45.152 * [backup-simplify]: Simplify (+ 0) into 0
45.152 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
45.153 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
45.153 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.154 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
45.154 * [backup-simplify]: Simplify (+ 0 0) into 0
45.154 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
45.155 * [backup-simplify]: Simplify (+ 0) into 0
45.155 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
45.156 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
45.156 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.157 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
45.157 * [backup-simplify]: Simplify (+ 0 0) into 0
45.158 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
45.158 * [backup-simplify]: Simplify (+ 0) into 0
45.159 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
45.159 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
45.160 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.160 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
45.161 * [backup-simplify]: Simplify (- 0) into 0
45.161 * [backup-simplify]: Simplify (+ 0 0) into 0
45.162 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
45.162 * [backup-simplify]: Simplify (+ 0) into 0
45.163 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
45.163 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
45.164 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.164 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
45.165 * [backup-simplify]: Simplify (+ 0 0) into 0
45.165 * [backup-simplify]: Simplify (+ 0) into 0
45.166 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
45.166 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
45.167 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.167 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
45.167 * [backup-simplify]: Simplify (- 0) into 0
45.168 * [backup-simplify]: Simplify (+ 0 0) into 0
45.168 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
45.168 * [backup-simplify]: Simplify (+ 0) into 0
45.169 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
45.169 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
45.170 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.171 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
45.171 * [backup-simplify]: Simplify (- 0) into 0
45.171 * [backup-simplify]: Simplify (+ 0 0) into 0
45.172 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
45.172 * [backup-simplify]: Simplify (+ 0) into 0
45.173 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
45.173 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
45.174 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.174 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
45.174 * [backup-simplify]: Simplify (+ 0 0) into 0
45.175 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
45.175 * [backup-simplify]: Simplify (+ 0 0) into 0
45.176 * [backup-simplify]: Simplify (- 0) into 0
45.176 * [backup-simplify]: Simplify (+ 0 0) into 0
45.180 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into 0
45.184 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2))) into 0
45.195 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)))))) into 0
45.201 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
45.201 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (/ 1 (* R (pow phi1 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 3) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 3)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (* R (pow lambda2 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))) in lambda2
45.201 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ 1 (* R (pow phi1 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) in lambda2
45.201 * [taylor]: Taking taylor expansion of 1/2 in lambda2
45.201 * [backup-simplify]: Simplify 1/2 into 1/2
45.201 * [taylor]: Taking taylor expansion of (* (/ 1 (* R (pow phi1 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) in lambda2
45.201 * [taylor]: Taking taylor expansion of (/ 1 (* R (pow phi1 2))) in lambda2
45.201 * [taylor]: Taking taylor expansion of (* R (pow phi1 2)) in lambda2
45.201 * [taylor]: Taking taylor expansion of R in lambda2
45.201 * [backup-simplify]: Simplify R into R
45.201 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2
45.202 * [taylor]: Taking taylor expansion of phi1 in lambda2
45.202 * [backup-simplify]: Simplify phi1 into phi1
45.202 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
45.202 * [backup-simplify]: Simplify (* R (pow phi1 2)) into (* (pow phi1 2) R)
45.202 * [backup-simplify]: Simplify (/ 1 (* (pow phi1 2) R)) into (/ 1 (* (pow phi1 2) R))
45.202 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in lambda2
45.202 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in lambda2
45.202 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
45.202 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
45.202 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
45.202 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
45.202 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
45.202 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
45.202 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.202 * [backup-simplify]: Simplify 0.5 into 0.5
45.202 * [taylor]: Taking taylor expansion of phi2 in lambda2
45.202 * [backup-simplify]: Simplify phi2 into phi2
45.203 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
45.203 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
45.203 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
45.203 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
45.203 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
45.203 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
45.203 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
45.203 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
45.203 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
45.203 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.203 * [backup-simplify]: Simplify 0.5 into 0.5
45.203 * [taylor]: Taking taylor expansion of phi1 in lambda2
45.203 * [backup-simplify]: Simplify phi1 into phi1
45.203 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
45.203 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
45.204 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
45.204 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
45.204 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
45.204 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
45.204 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
45.204 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
45.204 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
45.204 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
45.204 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.204 * [backup-simplify]: Simplify 0.5 into 0.5
45.204 * [taylor]: Taking taylor expansion of phi2 in lambda2
45.204 * [backup-simplify]: Simplify phi2 into phi2
45.204 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
45.204 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
45.204 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
45.204 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
45.205 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
45.205 * [backup-simplify]: Simplify (- 0) into 0
45.205 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
45.205 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
45.206 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
45.206 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
45.206 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.206 * [backup-simplify]: Simplify 0.5 into 0.5
45.206 * [taylor]: Taking taylor expansion of phi1 in lambda2
45.206 * [backup-simplify]: Simplify phi1 into phi1
45.206 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
45.206 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
45.206 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
45.206 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
45.206 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
45.217 * [backup-simplify]: Simplify (- 0) into 0
45.217 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
45.217 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
45.217 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
45.217 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
45.217 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
45.217 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.217 * [backup-simplify]: Simplify 0.5 into 0.5
45.217 * [taylor]: Taking taylor expansion of phi2 in lambda2
45.217 * [backup-simplify]: Simplify phi2 into phi2
45.218 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
45.218 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
45.218 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
45.218 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
45.218 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
45.218 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
45.218 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.218 * [backup-simplify]: Simplify 0.5 into 0.5
45.218 * [taylor]: Taking taylor expansion of phi1 in lambda2
45.218 * [backup-simplify]: Simplify phi1 into phi1
45.218 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
45.218 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
45.218 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
45.218 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
45.218 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
45.218 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
45.218 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.218 * [backup-simplify]: Simplify 0.5 into 0.5
45.219 * [taylor]: Taking taylor expansion of phi2 in lambda2
45.219 * [backup-simplify]: Simplify phi2 into phi2
45.219 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
45.219 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
45.219 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
45.219 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
45.219 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
45.219 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.219 * [backup-simplify]: Simplify 0.5 into 0.5
45.219 * [taylor]: Taking taylor expansion of phi1 in lambda2
45.219 * [backup-simplify]: Simplify phi1 into phi1
45.219 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
45.219 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
45.219 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
45.219 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
45.219 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
45.219 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
45.219 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.219 * [backup-simplify]: Simplify 0.5 into 0.5
45.219 * [taylor]: Taking taylor expansion of phi2 in lambda2
45.219 * [backup-simplify]: Simplify phi2 into phi2
45.220 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
45.220 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
45.220 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
45.220 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
45.220 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
45.220 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
45.220 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.220 * [backup-simplify]: Simplify 0.5 into 0.5
45.220 * [taylor]: Taking taylor expansion of phi1 in lambda2
45.220 * [backup-simplify]: Simplify phi1 into phi1
45.220 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
45.220 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
45.220 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
45.220 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
45.220 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
45.220 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
45.220 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.220 * [backup-simplify]: Simplify 0.5 into 0.5
45.220 * [taylor]: Taking taylor expansion of phi2 in lambda2
45.220 * [backup-simplify]: Simplify phi2 into phi2
45.220 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
45.221 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
45.221 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
45.221 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
45.221 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
45.221 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.221 * [backup-simplify]: Simplify 0.5 into 0.5
45.221 * [taylor]: Taking taylor expansion of phi1 in lambda2
45.221 * [backup-simplify]: Simplify phi1 into phi1
45.221 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
45.221 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
45.221 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
45.221 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
45.222 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
45.222 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
45.222 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
45.222 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
45.223 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
45.224 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
45.224 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
45.224 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
45.225 * [backup-simplify]: Simplify (- 0) into 0
45.225 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
45.225 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
45.225 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
45.225 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
45.225 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
45.225 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
45.225 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
45.226 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
45.226 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
45.226 * [backup-simplify]: Simplify (- 0) into 0
45.226 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
45.227 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
45.227 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
45.227 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
45.227 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
45.227 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
45.228 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
45.228 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
45.228 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
45.228 * [backup-simplify]: Simplify (- 0) into 0
45.228 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
45.229 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
45.229 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
45.229 * [backup-simplify]: Simplify (- 0) into 0
45.229 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
45.229 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
45.229 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
45.230 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
45.230 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
45.230 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
45.230 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
45.231 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))
45.232 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
45.234 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
45.236 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
45.238 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
45.239 * [backup-simplify]: Simplify (+ 0) into 0
45.240 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
45.240 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
45.241 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.241 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
45.242 * [backup-simplify]: Simplify (+ 0 0) into 0
45.242 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
45.243 * [backup-simplify]: Simplify (+ 0) into 0
45.243 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
45.243 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
45.244 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.245 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
45.245 * [backup-simplify]: Simplify (+ 0 0) into 0
45.245 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
45.246 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
45.246 * [backup-simplify]: Simplify (+ 0) into 0
45.247 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
45.247 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
45.248 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.249 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
45.249 * [backup-simplify]: Simplify (- 0) into 0
45.249 * [backup-simplify]: Simplify (+ 0 0) into 0
45.250 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
45.250 * [backup-simplify]: Simplify (+ 0) into 0
45.252 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
45.252 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
45.253 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.254 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
45.254 * [backup-simplify]: Simplify (- 0) into 0
45.254 * [backup-simplify]: Simplify (+ 0 0) into 0
45.255 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
45.255 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
45.256 * [backup-simplify]: Simplify (+ 0 0) into 0
45.256 * [backup-simplify]: Simplify (+ 0) into 0
45.257 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
45.257 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
45.258 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.258 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
45.259 * [backup-simplify]: Simplify (- 0) into 0
45.259 * [backup-simplify]: Simplify (+ 0 0) into 0
45.260 * [backup-simplify]: Simplify (+ 0) into 0
45.260 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
45.261 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
45.261 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.262 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
45.262 * [backup-simplify]: Simplify (+ 0 0) into 0
45.262 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
45.263 * [backup-simplify]: Simplify (+ 0) into 0
45.264 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
45.264 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
45.265 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.265 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
45.266 * [backup-simplify]: Simplify (+ 0 0) into 0
45.266 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
45.266 * [backup-simplify]: Simplify (+ 0) into 0
45.267 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
45.267 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
45.268 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.268 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
45.269 * [backup-simplify]: Simplify (- 0) into 0
45.269 * [backup-simplify]: Simplify (+ 0 0) into 0
45.269 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
45.270 * [backup-simplify]: Simplify (+ 0) into 0
45.270 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
45.271 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
45.271 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.272 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
45.273 * [backup-simplify]: Simplify (+ 0 0) into 0
45.273 * [backup-simplify]: Simplify (+ 0) into 0
45.274 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
45.274 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
45.275 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.275 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
45.275 * [backup-simplify]: Simplify (- 0) into 0
45.276 * [backup-simplify]: Simplify (+ 0 0) into 0
45.276 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
45.276 * [backup-simplify]: Simplify (+ 0) into 0
45.277 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
45.277 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
45.278 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.278 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
45.279 * [backup-simplify]: Simplify (- 0) into 0
45.279 * [backup-simplify]: Simplify (+ 0 0) into 0
45.280 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
45.280 * [backup-simplify]: Simplify (+ 0) into 0
45.280 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
45.281 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
45.282 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.282 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
45.282 * [backup-simplify]: Simplify (+ 0 0) into 0
45.283 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
45.283 * [backup-simplify]: Simplify (+ 0 0) into 0
45.284 * [backup-simplify]: Simplify (- 0) into 0
45.284 * [backup-simplify]: Simplify (+ 0 0) into 0
45.288 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
45.291 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
45.291 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 3) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 3)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (* R (pow lambda2 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) in lambda2
45.291 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 3) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 3)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) in lambda2
45.291 * [taylor]: Taking taylor expansion of 1/2 in lambda2
45.291 * [backup-simplify]: Simplify 1/2 into 1/2
45.291 * [taylor]: Taking taylor expansion of (* (/ (* (pow (sin (/ 0.5 phi2)) 3) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 3)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3)))) in lambda2
45.291 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi2)) 3) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 3)))) (* R (pow lambda2 2))) in lambda2
45.291 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 3) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 3)))) in lambda2
45.291 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 3) in lambda2
45.291 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
45.291 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
45.291 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.291 * [backup-simplify]: Simplify 0.5 into 0.5
45.291 * [taylor]: Taking taylor expansion of phi2 in lambda2
45.291 * [backup-simplify]: Simplify phi2 into phi2
45.291 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
45.291 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
45.291 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
45.292 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
45.292 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
45.292 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
45.292 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 3))) in lambda2
45.292 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
45.292 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
45.292 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.292 * [backup-simplify]: Simplify 0.5 into 0.5
45.292 * [taylor]: Taking taylor expansion of phi1 in lambda2
45.292 * [backup-simplify]: Simplify phi1 into phi1
45.292 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
45.292 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
45.292 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
45.292 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 3)) in lambda2
45.292 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
45.292 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
45.292 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.293 * [backup-simplify]: Simplify 0.5 into 0.5
45.293 * [taylor]: Taking taylor expansion of phi2 in lambda2
45.293 * [backup-simplify]: Simplify phi2 into phi2
45.293 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
45.293 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
45.293 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
45.293 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 3) in lambda2
45.293 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
45.293 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
45.293 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.293 * [backup-simplify]: Simplify 0.5 into 0.5
45.293 * [taylor]: Taking taylor expansion of phi1 in lambda2
45.293 * [backup-simplify]: Simplify phi1 into phi1
45.293 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
45.293 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
45.293 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
45.293 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
45.294 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
45.294 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
45.294 * [taylor]: Taking taylor expansion of (* R (pow lambda2 2)) in lambda2
45.294 * [taylor]: Taking taylor expansion of R in lambda2
45.294 * [backup-simplify]: Simplify R into R
45.294 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
45.294 * [taylor]: Taking taylor expansion of lambda2 in lambda2
45.294 * [backup-simplify]: Simplify 0 into 0
45.294 * [backup-simplify]: Simplify 1 into 1
45.294 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
45.294 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (pow (sin (/ 0.5 phi2)) 2)) into (pow (sin (/ 0.5 phi2)) 3)
45.294 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
45.295 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
45.295 * [backup-simplify]: Simplify (- 0) into 0
45.295 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
45.295 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
45.296 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
45.296 * [backup-simplify]: Simplify (- 0) into 0
45.296 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
45.296 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
45.297 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (pow (sin (/ 0.5 phi1)) 2)) into (pow (sin (/ 0.5 phi1)) 3)
45.297 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 3)) into (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 3))
45.297 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 3))) into (* (pow (sin (/ 0.5 phi1)) 3) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
45.298 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 3) (* (pow (sin (/ 0.5 phi1)) 3) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (pow (sin (/ 0.5 phi1)) 3) (* (pow (sin (/ 0.5 phi2)) 3) (cos (/ 0.5 phi1)))))
45.298 * [backup-simplify]: Simplify (* 1 1) into 1
45.298 * [backup-simplify]: Simplify (* R 1) into R
45.299 * [backup-simplify]: Simplify (/ (* (cos (/ 0.5 phi2)) (* (pow (sin (/ 0.5 phi1)) 3) (* (pow (sin (/ 0.5 phi2)) 3) (cos (/ 0.5 phi1))))) R) into (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)))) R)
45.299 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))) in lambda2
45.299 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3)) in lambda2
45.299 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3) in lambda2
45.299 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
45.299 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
45.299 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
45.299 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
45.299 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
45.299 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
45.299 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.299 * [backup-simplify]: Simplify 0.5 into 0.5
45.300 * [taylor]: Taking taylor expansion of phi2 in lambda2
45.300 * [backup-simplify]: Simplify phi2 into phi2
45.300 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
45.300 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
45.300 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
45.300 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
45.300 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
45.300 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
45.300 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
45.300 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
45.300 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
45.300 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.300 * [backup-simplify]: Simplify 0.5 into 0.5
45.300 * [taylor]: Taking taylor expansion of phi1 in lambda2
45.300 * [backup-simplify]: Simplify phi1 into phi1
45.300 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
45.301 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
45.301 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
45.301 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
45.301 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
45.301 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
45.301 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
45.301 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
45.301 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
45.301 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
45.301 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.301 * [backup-simplify]: Simplify 0.5 into 0.5
45.301 * [taylor]: Taking taylor expansion of phi2 in lambda2
45.301 * [backup-simplify]: Simplify phi2 into phi2
45.301 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
45.301 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
45.301 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
45.302 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
45.302 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
45.302 * [backup-simplify]: Simplify (- 0) into 0
45.302 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
45.302 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
45.302 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
45.303 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
45.303 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.303 * [backup-simplify]: Simplify 0.5 into 0.5
45.303 * [taylor]: Taking taylor expansion of phi1 in lambda2
45.303 * [backup-simplify]: Simplify phi1 into phi1
45.303 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
45.303 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
45.303 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
45.303 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
45.303 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
45.304 * [backup-simplify]: Simplify (- 0) into 0
45.304 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
45.304 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
45.304 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
45.304 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
45.304 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
45.304 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.304 * [backup-simplify]: Simplify 0.5 into 0.5
45.304 * [taylor]: Taking taylor expansion of phi2 in lambda2
45.304 * [backup-simplify]: Simplify phi2 into phi2
45.304 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
45.304 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
45.304 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
45.304 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
45.304 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
45.304 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
45.304 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.304 * [backup-simplify]: Simplify 0.5 into 0.5
45.304 * [taylor]: Taking taylor expansion of phi1 in lambda2
45.304 * [backup-simplify]: Simplify phi1 into phi1
45.305 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
45.305 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
45.305 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
45.305 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
45.305 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
45.305 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
45.305 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.305 * [backup-simplify]: Simplify 0.5 into 0.5
45.305 * [taylor]: Taking taylor expansion of phi2 in lambda2
45.305 * [backup-simplify]: Simplify phi2 into phi2
45.305 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
45.305 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
45.305 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
45.305 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
45.305 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
45.305 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.305 * [backup-simplify]: Simplify 0.5 into 0.5
45.305 * [taylor]: Taking taylor expansion of phi1 in lambda2
45.305 * [backup-simplify]: Simplify phi1 into phi1
45.305 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
45.306 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
45.306 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
45.306 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
45.306 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
45.306 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
45.306 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.306 * [backup-simplify]: Simplify 0.5 into 0.5
45.306 * [taylor]: Taking taylor expansion of phi2 in lambda2
45.306 * [backup-simplify]: Simplify phi2 into phi2
45.306 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
45.306 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
45.306 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
45.306 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
45.306 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
45.306 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
45.306 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.306 * [backup-simplify]: Simplify 0.5 into 0.5
45.306 * [taylor]: Taking taylor expansion of phi1 in lambda2
45.306 * [backup-simplify]: Simplify phi1 into phi1
45.306 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
45.306 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
45.307 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
45.307 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
45.307 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
45.307 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
45.307 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.307 * [backup-simplify]: Simplify 0.5 into 0.5
45.307 * [taylor]: Taking taylor expansion of phi2 in lambda2
45.307 * [backup-simplify]: Simplify phi2 into phi2
45.307 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
45.307 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
45.307 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
45.307 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
45.307 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
45.307 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.307 * [backup-simplify]: Simplify 0.5 into 0.5
45.307 * [taylor]: Taking taylor expansion of phi1 in lambda2
45.307 * [backup-simplify]: Simplify phi1 into phi1
45.307 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
45.307 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
45.307 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
45.308 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
45.308 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
45.308 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
45.308 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
45.309 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
45.309 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
45.310 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
45.310 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
45.310 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
45.311 * [backup-simplify]: Simplify (- 0) into 0
45.311 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
45.311 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
45.311 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
45.311 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
45.311 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
45.311 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
45.311 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
45.312 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
45.312 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
45.312 * [backup-simplify]: Simplify (- 0) into 0
45.312 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
45.312 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
45.313 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
45.313 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
45.313 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
45.313 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
45.313 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
45.313 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
45.314 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
45.314 * [backup-simplify]: Simplify (- 0) into 0
45.314 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
45.314 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
45.314 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
45.315 * [backup-simplify]: Simplify (- 0) into 0
45.315 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
45.315 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
45.315 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
45.315 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
45.315 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
45.316 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
45.316 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
45.317 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))
45.318 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
45.320 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
45.324 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)
45.328 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)) into (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2))
45.332 * [backup-simplify]: Simplify (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2))) into (/ 1 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
45.336 * [backup-simplify]: Simplify (sqrt (/ 1 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
45.337 * [backup-simplify]: Simplify (+ 0) into 0
45.337 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
45.338 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
45.338 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.339 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
45.339 * [backup-simplify]: Simplify (+ 0 0) into 0
45.339 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
45.340 * [backup-simplify]: Simplify (+ 0) into 0
45.340 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
45.340 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
45.341 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.342 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
45.342 * [backup-simplify]: Simplify (+ 0 0) into 0
45.342 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
45.343 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
45.343 * [backup-simplify]: Simplify (+ 0) into 0
45.344 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
45.344 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
45.345 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.345 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
45.346 * [backup-simplify]: Simplify (- 0) into 0
45.346 * [backup-simplify]: Simplify (+ 0 0) into 0
45.346 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
45.347 * [backup-simplify]: Simplify (+ 0) into 0
45.347 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
45.347 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
45.348 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.349 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
45.349 * [backup-simplify]: Simplify (- 0) into 0
45.350 * [backup-simplify]: Simplify (+ 0 0) into 0
45.350 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
45.350 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
45.351 * [backup-simplify]: Simplify (+ 0 0) into 0
45.351 * [backup-simplify]: Simplify (+ 0) into 0
45.352 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
45.352 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
45.353 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.353 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
45.354 * [backup-simplify]: Simplify (- 0) into 0
45.354 * [backup-simplify]: Simplify (+ 0 0) into 0
45.354 * [backup-simplify]: Simplify (+ 0) into 0
45.355 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
45.355 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
45.356 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.356 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
45.357 * [backup-simplify]: Simplify (+ 0 0) into 0
45.357 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
45.357 * [backup-simplify]: Simplify (+ 0) into 0
45.358 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
45.358 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
45.359 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.359 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
45.360 * [backup-simplify]: Simplify (+ 0 0) into 0
45.360 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
45.360 * [backup-simplify]: Simplify (+ 0) into 0
45.361 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
45.361 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
45.362 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.362 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
45.363 * [backup-simplify]: Simplify (- 0) into 0
45.363 * [backup-simplify]: Simplify (+ 0 0) into 0
45.363 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
45.364 * [backup-simplify]: Simplify (+ 0) into 0
45.364 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
45.365 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
45.365 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.366 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
45.366 * [backup-simplify]: Simplify (+ 0 0) into 0
45.367 * [backup-simplify]: Simplify (+ 0) into 0
45.367 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
45.367 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
45.368 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.369 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
45.369 * [backup-simplify]: Simplify (- 0) into 0
45.369 * [backup-simplify]: Simplify (+ 0 0) into 0
45.370 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
45.370 * [backup-simplify]: Simplify (+ 0) into 0
45.371 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
45.371 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
45.372 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.372 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
45.373 * [backup-simplify]: Simplify (- 0) into 0
45.373 * [backup-simplify]: Simplify (+ 0 0) into 0
45.373 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
45.374 * [backup-simplify]: Simplify (+ 0) into 0
45.374 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
45.375 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
45.375 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.376 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
45.376 * [backup-simplify]: Simplify (+ 0 0) into 0
45.377 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
45.377 * [backup-simplify]: Simplify (+ 0 0) into 0
45.378 * [backup-simplify]: Simplify (- 0) into 0
45.378 * [backup-simplify]: Simplify (+ 0 0) into 0
45.382 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into 0
45.387 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2))) into 0
45.396 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)))))) into 0
45.400 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
45.401 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (* R (pow lambda2 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) in lambda2
45.401 * [taylor]: Taking taylor expansion of 1/2 in lambda2
45.401 * [backup-simplify]: Simplify 1/2 into 1/2
45.401 * [taylor]: Taking taylor expansion of (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (* R (pow lambda2 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) in lambda2
45.401 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (* R (pow lambda2 2))) in lambda2
45.401 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
45.401 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
45.401 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
45.401 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
45.401 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.401 * [backup-simplify]: Simplify 0.5 into 0.5
45.401 * [taylor]: Taking taylor expansion of phi2 in lambda2
45.401 * [backup-simplify]: Simplify phi2 into phi2
45.401 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
45.401 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
45.401 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
45.402 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
45.402 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
45.411 * [backup-simplify]: Simplify (- 0) into 0
45.411 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
45.411 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
45.411 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
45.411 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
45.411 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.411 * [backup-simplify]: Simplify 0.5 into 0.5
45.411 * [taylor]: Taking taylor expansion of phi1 in lambda2
45.411 * [backup-simplify]: Simplify phi1 into phi1
45.411 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
45.411 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
45.411 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
45.412 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
45.412 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
45.412 * [backup-simplify]: Simplify (- 0) into 0
45.413 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
45.413 * [taylor]: Taking taylor expansion of (* R (pow lambda2 2)) in lambda2
45.413 * [taylor]: Taking taylor expansion of R in lambda2
45.413 * [backup-simplify]: Simplify R into R
45.413 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
45.413 * [taylor]: Taking taylor expansion of lambda2 in lambda2
45.413 * [backup-simplify]: Simplify 0 into 0
45.413 * [backup-simplify]: Simplify 1 into 1
45.413 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
45.413 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
45.413 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
45.414 * [backup-simplify]: Simplify (* 1 1) into 1
45.414 * [backup-simplify]: Simplify (* R 1) into R
45.414 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) R) into (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) R)
45.414 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in lambda2
45.415 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in lambda2
45.415 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
45.415 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
45.415 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
45.415 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
45.415 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
45.415 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
45.415 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.415 * [backup-simplify]: Simplify 0.5 into 0.5
45.415 * [taylor]: Taking taylor expansion of phi2 in lambda2
45.415 * [backup-simplify]: Simplify phi2 into phi2
45.415 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
45.415 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
45.415 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
45.415 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
45.415 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
45.415 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
45.416 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
45.416 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
45.416 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
45.416 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.416 * [backup-simplify]: Simplify 0.5 into 0.5
45.416 * [taylor]: Taking taylor expansion of phi1 in lambda2
45.416 * [backup-simplify]: Simplify phi1 into phi1
45.416 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
45.416 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
45.416 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
45.416 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
45.416 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
45.416 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
45.416 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
45.416 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
45.416 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
45.416 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
45.416 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.417 * [backup-simplify]: Simplify 0.5 into 0.5
45.417 * [taylor]: Taking taylor expansion of phi2 in lambda2
45.417 * [backup-simplify]: Simplify phi2 into phi2
45.417 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
45.417 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
45.417 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
45.417 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
45.417 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
45.418 * [backup-simplify]: Simplify (- 0) into 0
45.418 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
45.418 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
45.418 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
45.418 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
45.418 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.418 * [backup-simplify]: Simplify 0.5 into 0.5
45.418 * [taylor]: Taking taylor expansion of phi1 in lambda2
45.418 * [backup-simplify]: Simplify phi1 into phi1
45.418 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
45.418 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
45.418 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
45.418 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
45.418 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
45.419 * [backup-simplify]: Simplify (- 0) into 0
45.419 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
45.419 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
45.419 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
45.419 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
45.419 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
45.419 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.419 * [backup-simplify]: Simplify 0.5 into 0.5
45.419 * [taylor]: Taking taylor expansion of phi2 in lambda2
45.419 * [backup-simplify]: Simplify phi2 into phi2
45.419 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
45.419 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
45.419 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
45.419 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
45.420 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
45.420 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
45.420 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.420 * [backup-simplify]: Simplify 0.5 into 0.5
45.420 * [taylor]: Taking taylor expansion of phi1 in lambda2
45.420 * [backup-simplify]: Simplify phi1 into phi1
45.420 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
45.420 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
45.420 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
45.420 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
45.420 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
45.420 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
45.420 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.420 * [backup-simplify]: Simplify 0.5 into 0.5
45.420 * [taylor]: Taking taylor expansion of phi2 in lambda2
45.420 * [backup-simplify]: Simplify phi2 into phi2
45.420 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
45.420 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
45.420 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
45.420 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
45.420 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
45.420 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.421 * [backup-simplify]: Simplify 0.5 into 0.5
45.421 * [taylor]: Taking taylor expansion of phi1 in lambda2
45.421 * [backup-simplify]: Simplify phi1 into phi1
45.421 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
45.421 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
45.421 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
45.421 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
45.421 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
45.421 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
45.421 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.421 * [backup-simplify]: Simplify 0.5 into 0.5
45.421 * [taylor]: Taking taylor expansion of phi2 in lambda2
45.421 * [backup-simplify]: Simplify phi2 into phi2
45.421 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
45.421 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
45.421 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
45.421 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
45.421 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
45.421 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
45.421 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.421 * [backup-simplify]: Simplify 0.5 into 0.5
45.421 * [taylor]: Taking taylor expansion of phi1 in lambda2
45.421 * [backup-simplify]: Simplify phi1 into phi1
45.422 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
45.422 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
45.422 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
45.422 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
45.422 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
45.422 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
45.422 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.422 * [backup-simplify]: Simplify 0.5 into 0.5
45.422 * [taylor]: Taking taylor expansion of phi2 in lambda2
45.422 * [backup-simplify]: Simplify phi2 into phi2
45.422 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
45.422 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
45.422 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
45.422 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
45.422 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
45.422 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.422 * [backup-simplify]: Simplify 0.5 into 0.5
45.422 * [taylor]: Taking taylor expansion of phi1 in lambda2
45.422 * [backup-simplify]: Simplify phi1 into phi1
45.422 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
45.422 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
45.422 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
45.423 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
45.423 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
45.423 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
45.423 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
45.423 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
45.424 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
45.424 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
45.425 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
45.425 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
45.425 * [backup-simplify]: Simplify (- 0) into 0
45.425 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
45.425 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
45.426 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
45.426 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
45.426 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
45.426 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
45.426 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
45.426 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
45.426 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
45.427 * [backup-simplify]: Simplify (- 0) into 0
45.427 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
45.427 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
45.427 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
45.427 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
45.427 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
45.428 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
45.428 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
45.428 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
45.428 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
45.428 * [backup-simplify]: Simplify (- 0) into 0
45.428 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
45.428 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
45.429 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
45.429 * [backup-simplify]: Simplify (- 0) into 0
45.429 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
45.429 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
45.429 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
45.429 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
45.430 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
45.430 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
45.430 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
45.431 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))
45.432 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
45.435 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
45.437 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
45.439 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
45.440 * [backup-simplify]: Simplify (+ 0) into 0
45.440 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
45.441 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
45.441 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.442 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
45.442 * [backup-simplify]: Simplify (+ 0 0) into 0
45.443 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
45.443 * [backup-simplify]: Simplify (+ 0) into 0
45.443 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
45.444 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
45.444 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.445 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
45.445 * [backup-simplify]: Simplify (+ 0 0) into 0
45.445 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
45.446 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
45.446 * [backup-simplify]: Simplify (+ 0) into 0
45.446 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
45.446 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
45.447 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.447 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
45.447 * [backup-simplify]: Simplify (- 0) into 0
45.448 * [backup-simplify]: Simplify (+ 0 0) into 0
45.448 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
45.448 * [backup-simplify]: Simplify (+ 0) into 0
45.448 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
45.448 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
45.449 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.449 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
45.449 * [backup-simplify]: Simplify (- 0) into 0
45.450 * [backup-simplify]: Simplify (+ 0 0) into 0
45.450 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
45.450 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
45.450 * [backup-simplify]: Simplify (+ 0 0) into 0
45.450 * [backup-simplify]: Simplify (+ 0) into 0
45.451 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
45.451 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
45.451 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.452 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
45.452 * [backup-simplify]: Simplify (- 0) into 0
45.452 * [backup-simplify]: Simplify (+ 0 0) into 0
45.452 * [backup-simplify]: Simplify (+ 0) into 0
45.453 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
45.453 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
45.453 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.454 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
45.454 * [backup-simplify]: Simplify (+ 0 0) into 0
45.454 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
45.454 * [backup-simplify]: Simplify (+ 0) into 0
45.454 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
45.455 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
45.455 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.455 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
45.456 * [backup-simplify]: Simplify (+ 0 0) into 0
45.456 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
45.456 * [backup-simplify]: Simplify (+ 0) into 0
45.456 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
45.456 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
45.457 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.457 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
45.457 * [backup-simplify]: Simplify (- 0) into 0
45.458 * [backup-simplify]: Simplify (+ 0 0) into 0
45.458 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
45.458 * [backup-simplify]: Simplify (+ 0) into 0
45.458 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
45.458 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
45.459 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.459 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
45.459 * [backup-simplify]: Simplify (+ 0 0) into 0
45.460 * [backup-simplify]: Simplify (+ 0) into 0
45.460 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
45.460 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
45.461 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.461 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
45.461 * [backup-simplify]: Simplify (- 0) into 0
45.461 * [backup-simplify]: Simplify (+ 0 0) into 0
45.462 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
45.462 * [backup-simplify]: Simplify (+ 0) into 0
45.462 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
45.462 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
45.463 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.463 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
45.463 * [backup-simplify]: Simplify (- 0) into 0
45.463 * [backup-simplify]: Simplify (+ 0 0) into 0
45.464 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
45.464 * [backup-simplify]: Simplify (+ 0) into 0
45.464 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
45.464 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
45.465 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.465 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
45.465 * [backup-simplify]: Simplify (+ 0 0) into 0
45.466 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
45.466 * [backup-simplify]: Simplify (+ 0 0) into 0
45.466 * [backup-simplify]: Simplify (- 0) into 0
45.466 * [backup-simplify]: Simplify (+ 0 0) into 0
45.468 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
45.469 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
45.469 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* R (pow lambda2 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* R (pow lambda2 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi1)) 4)) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 3 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (* (/ 1 (* R (* phi1 phi2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))))) in lambda2
45.470 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) in lambda2
45.470 * [taylor]: Taking taylor expansion of 1/2 in lambda2
45.470 * [backup-simplify]: Simplify 1/2 into 1/2
45.470 * [taylor]: Taking taylor expansion of (* (/ (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3)))) in lambda2
45.470 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)) (* R (pow lambda2 2))) in lambda2
45.470 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)) in lambda2
45.470 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 4) in lambda2
45.470 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
45.470 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
45.470 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.470 * [backup-simplify]: Simplify 0.5 into 0.5
45.470 * [taylor]: Taking taylor expansion of phi2 in lambda2
45.470 * [backup-simplify]: Simplify phi2 into phi2
45.470 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
45.470 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
45.470 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
45.470 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
45.470 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
45.470 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
45.470 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 4) in lambda2
45.470 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
45.470 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
45.470 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.470 * [backup-simplify]: Simplify 0.5 into 0.5
45.470 * [taylor]: Taking taylor expansion of phi1 in lambda2
45.470 * [backup-simplify]: Simplify phi1 into phi1
45.470 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
45.470 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
45.470 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
45.470 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
45.471 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
45.471 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
45.471 * [taylor]: Taking taylor expansion of (* R (pow lambda2 2)) in lambda2
45.471 * [taylor]: Taking taylor expansion of R in lambda2
45.471 * [backup-simplify]: Simplify R into R
45.471 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
45.471 * [taylor]: Taking taylor expansion of lambda2 in lambda2
45.471 * [backup-simplify]: Simplify 0 into 0
45.471 * [backup-simplify]: Simplify 1 into 1
45.471 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
45.471 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (pow (sin (/ 0.5 phi2)) 4)
45.471 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
45.471 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (pow (sin (/ 0.5 phi1)) 4)
45.471 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)) into (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4))
45.472 * [backup-simplify]: Simplify (* 1 1) into 1
45.472 * [backup-simplify]: Simplify (* R 1) into R
45.472 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)) R) into (/ (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)) R)
45.472 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))) in lambda2
45.472 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3)) in lambda2
45.472 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3) in lambda2
45.472 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
45.472 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
45.472 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
45.472 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
45.472 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
45.472 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
45.472 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.472 * [backup-simplify]: Simplify 0.5 into 0.5
45.472 * [taylor]: Taking taylor expansion of phi2 in lambda2
45.473 * [backup-simplify]: Simplify phi2 into phi2
45.473 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
45.473 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
45.473 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
45.473 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
45.473 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
45.473 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
45.473 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
45.473 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
45.473 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
45.473 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.473 * [backup-simplify]: Simplify 0.5 into 0.5
45.473 * [taylor]: Taking taylor expansion of phi1 in lambda2
45.473 * [backup-simplify]: Simplify phi1 into phi1
45.473 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
45.473 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
45.473 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
45.473 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
45.473 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
45.473 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
45.473 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
45.473 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
45.473 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
45.473 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
45.473 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.473 * [backup-simplify]: Simplify 0.5 into 0.5
45.473 * [taylor]: Taking taylor expansion of phi2 in lambda2
45.473 * [backup-simplify]: Simplify phi2 into phi2
45.473 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
45.474 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
45.474 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
45.474 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
45.474 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
45.474 * [backup-simplify]: Simplify (- 0) into 0
45.474 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
45.474 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
45.474 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
45.474 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
45.474 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.474 * [backup-simplify]: Simplify 0.5 into 0.5
45.474 * [taylor]: Taking taylor expansion of phi1 in lambda2
45.474 * [backup-simplify]: Simplify phi1 into phi1
45.474 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
45.474 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
45.474 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
45.474 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
45.475 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
45.475 * [backup-simplify]: Simplify (- 0) into 0
45.475 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
45.475 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
45.475 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
45.475 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
45.475 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
45.475 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.475 * [backup-simplify]: Simplify 0.5 into 0.5
45.475 * [taylor]: Taking taylor expansion of phi2 in lambda2
45.475 * [backup-simplify]: Simplify phi2 into phi2
45.475 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
45.475 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
45.475 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
45.475 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
45.475 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
45.475 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
45.475 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.475 * [backup-simplify]: Simplify 0.5 into 0.5
45.475 * [taylor]: Taking taylor expansion of phi1 in lambda2
45.475 * [backup-simplify]: Simplify phi1 into phi1
45.475 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
45.475 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
45.475 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
45.475 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
45.475 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
45.475 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
45.475 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.475 * [backup-simplify]: Simplify 0.5 into 0.5
45.476 * [taylor]: Taking taylor expansion of phi2 in lambda2
45.476 * [backup-simplify]: Simplify phi2 into phi2
45.476 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
45.476 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
45.476 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
45.476 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
45.476 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
45.476 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.476 * [backup-simplify]: Simplify 0.5 into 0.5
45.476 * [taylor]: Taking taylor expansion of phi1 in lambda2
45.476 * [backup-simplify]: Simplify phi1 into phi1
45.476 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
45.476 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
45.476 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
45.476 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
45.476 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
45.476 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
45.476 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.476 * [backup-simplify]: Simplify 0.5 into 0.5
45.476 * [taylor]: Taking taylor expansion of phi2 in lambda2
45.476 * [backup-simplify]: Simplify phi2 into phi2
45.476 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
45.476 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
45.476 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
45.476 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
45.476 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
45.476 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
45.476 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.476 * [backup-simplify]: Simplify 0.5 into 0.5
45.476 * [taylor]: Taking taylor expansion of phi1 in lambda2
45.476 * [backup-simplify]: Simplify phi1 into phi1
45.476 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
45.476 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
45.476 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
45.476 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
45.476 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
45.476 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
45.476 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.477 * [backup-simplify]: Simplify 0.5 into 0.5
45.477 * [taylor]: Taking taylor expansion of phi2 in lambda2
45.477 * [backup-simplify]: Simplify phi2 into phi2
45.477 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
45.477 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
45.477 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
45.477 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
45.477 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
45.477 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.477 * [backup-simplify]: Simplify 0.5 into 0.5
45.477 * [taylor]: Taking taylor expansion of phi1 in lambda2
45.477 * [backup-simplify]: Simplify phi1 into phi1
45.477 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
45.477 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
45.477 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
45.477 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
45.477 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
45.477 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
45.477 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
45.478 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
45.478 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
45.478 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
45.478 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
45.478 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
45.479 * [backup-simplify]: Simplify (- 0) into 0
45.479 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
45.479 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
45.479 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
45.479 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
45.479 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
45.479 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
45.479 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
45.479 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
45.479 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
45.480 * [backup-simplify]: Simplify (- 0) into 0
45.480 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
45.480 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
45.480 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
45.480 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
45.480 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
45.480 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
45.480 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
45.480 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
45.480 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
45.481 * [backup-simplify]: Simplify (- 0) into 0
45.481 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
45.481 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
45.481 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
45.481 * [backup-simplify]: Simplify (- 0) into 0
45.481 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
45.481 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
45.481 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
45.481 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
45.481 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
45.482 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
45.482 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
45.482 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))
45.483 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
45.484 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
45.485 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)
45.487 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)) into (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2))
45.490 * [backup-simplify]: Simplify (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2))) into (/ 1 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
45.492 * [backup-simplify]: Simplify (sqrt (/ 1 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
45.492 * [backup-simplify]: Simplify (+ 0) into 0
45.493 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
45.493 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
45.493 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.494 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
45.494 * [backup-simplify]: Simplify (+ 0 0) into 0
45.494 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
45.495 * [backup-simplify]: Simplify (+ 0) into 0
45.495 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
45.495 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
45.496 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.497 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
45.497 * [backup-simplify]: Simplify (+ 0 0) into 0
45.497 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
45.498 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
45.498 * [backup-simplify]: Simplify (+ 0) into 0
45.499 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
45.499 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
45.500 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.500 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
45.500 * [backup-simplify]: Simplify (- 0) into 0
45.501 * [backup-simplify]: Simplify (+ 0 0) into 0
45.501 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
45.501 * [backup-simplify]: Simplify (+ 0) into 0
45.502 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
45.502 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
45.503 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.503 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
45.504 * [backup-simplify]: Simplify (- 0) into 0
45.504 * [backup-simplify]: Simplify (+ 0 0) into 0
45.504 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
45.505 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
45.505 * [backup-simplify]: Simplify (+ 0 0) into 0
45.506 * [backup-simplify]: Simplify (+ 0) into 0
45.506 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
45.506 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
45.507 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.507 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
45.508 * [backup-simplify]: Simplify (- 0) into 0
45.508 * [backup-simplify]: Simplify (+ 0 0) into 0
45.509 * [backup-simplify]: Simplify (+ 0) into 0
45.509 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
45.509 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
45.510 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.511 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
45.511 * [backup-simplify]: Simplify (+ 0 0) into 0
45.511 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
45.512 * [backup-simplify]: Simplify (+ 0) into 0
45.512 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
45.512 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
45.513 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.514 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
45.514 * [backup-simplify]: Simplify (+ 0 0) into 0
45.514 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
45.515 * [backup-simplify]: Simplify (+ 0) into 0
45.515 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
45.516 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
45.516 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.517 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
45.517 * [backup-simplify]: Simplify (- 0) into 0
45.518 * [backup-simplify]: Simplify (+ 0 0) into 0
45.518 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
45.518 * [backup-simplify]: Simplify (+ 0) into 0
45.519 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
45.519 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
45.520 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.521 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
45.521 * [backup-simplify]: Simplify (+ 0 0) into 0
45.521 * [backup-simplify]: Simplify (+ 0) into 0
45.522 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
45.522 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
45.523 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.524 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
45.524 * [backup-simplify]: Simplify (- 0) into 0
45.524 * [backup-simplify]: Simplify (+ 0 0) into 0
45.525 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
45.525 * [backup-simplify]: Simplify (+ 0) into 0
45.526 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
45.526 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
45.527 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.527 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
45.528 * [backup-simplify]: Simplify (- 0) into 0
45.528 * [backup-simplify]: Simplify (+ 0 0) into 0
45.528 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
45.529 * [backup-simplify]: Simplify (+ 0) into 0
45.529 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
45.529 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
45.530 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.531 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
45.531 * [backup-simplify]: Simplify (+ 0 0) into 0
45.532 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
45.532 * [backup-simplify]: Simplify (+ 0 0) into 0
45.532 * [backup-simplify]: Simplify (- 0) into 0
45.533 * [backup-simplify]: Simplify (+ 0 0) into 0
45.537 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into 0
45.541 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2))) into 0
45.551 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)))))) into 0
45.556 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
45.556 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* R (pow lambda2 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* R (pow lambda2 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi1)) 4)) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 3 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (* (/ 1 (* R (* phi1 phi2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))))) in lambda2
45.556 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* R (pow lambda2 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) in lambda2
45.556 * [taylor]: Taking taylor expansion of 1/2 in lambda2
45.556 * [backup-simplify]: Simplify 1/2 into 1/2
45.557 * [taylor]: Taking taylor expansion of (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* R (pow lambda2 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) in lambda2
45.557 * [taylor]: Taking taylor expansion of (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* R (pow lambda2 2))) in lambda2
45.557 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
45.557 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
45.557 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
45.557 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.557 * [backup-simplify]: Simplify 0.5 into 0.5
45.557 * [taylor]: Taking taylor expansion of phi2 in lambda2
45.557 * [backup-simplify]: Simplify phi2 into phi2
45.557 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
45.557 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
45.557 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
45.557 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
45.557 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
45.557 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
45.557 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.557 * [backup-simplify]: Simplify 0.5 into 0.5
45.557 * [taylor]: Taking taylor expansion of phi1 in lambda2
45.557 * [backup-simplify]: Simplify phi1 into phi1
45.557 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
45.557 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
45.557 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
45.557 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
45.558 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
45.558 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
45.558 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.558 * [backup-simplify]: Simplify 0.5 into 0.5
45.558 * [taylor]: Taking taylor expansion of phi2 in lambda2
45.558 * [backup-simplify]: Simplify phi2 into phi2
45.558 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
45.558 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
45.558 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
45.558 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
45.558 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
45.558 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.558 * [backup-simplify]: Simplify 0.5 into 0.5
45.558 * [taylor]: Taking taylor expansion of phi1 in lambda2
45.558 * [backup-simplify]: Simplify phi1 into phi1
45.558 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
45.558 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
45.558 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
45.558 * [taylor]: Taking taylor expansion of (* R (pow lambda2 2)) in lambda2
45.558 * [taylor]: Taking taylor expansion of R in lambda2
45.558 * [backup-simplify]: Simplify R into R
45.558 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
45.558 * [taylor]: Taking taylor expansion of lambda2 in lambda2
45.558 * [backup-simplify]: Simplify 0 into 0
45.558 * [backup-simplify]: Simplify 1 into 1
45.558 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
45.558 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
45.558 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
45.558 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
45.558 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
45.563 * [backup-simplify]: Simplify (- 0) into 0
45.563 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
45.563 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
45.563 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
45.564 * [backup-simplify]: Simplify (- 0) into 0
45.564 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
45.564 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
45.564 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
45.564 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
45.564 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
45.564 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
45.565 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
45.565 * [backup-simplify]: Simplify (* 1 1) into 1
45.565 * [backup-simplify]: Simplify (* R 1) into R
45.565 * [backup-simplify]: Simplify (/ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) R) into (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R)
45.565 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in lambda2
45.565 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in lambda2
45.565 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
45.565 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
45.565 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
45.565 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
45.565 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
45.565 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
45.565 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.565 * [backup-simplify]: Simplify 0.5 into 0.5
45.565 * [taylor]: Taking taylor expansion of phi2 in lambda2
45.565 * [backup-simplify]: Simplify phi2 into phi2
45.565 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
45.565 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
45.566 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
45.566 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
45.566 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
45.566 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
45.566 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
45.566 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
45.566 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
45.566 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.566 * [backup-simplify]: Simplify 0.5 into 0.5
45.566 * [taylor]: Taking taylor expansion of phi1 in lambda2
45.566 * [backup-simplify]: Simplify phi1 into phi1
45.566 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
45.566 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
45.566 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
45.566 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
45.566 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
45.566 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
45.566 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
45.566 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
45.566 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
45.566 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
45.566 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.566 * [backup-simplify]: Simplify 0.5 into 0.5
45.566 * [taylor]: Taking taylor expansion of phi2 in lambda2
45.566 * [backup-simplify]: Simplify phi2 into phi2
45.566 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
45.566 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
45.566 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
45.567 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
45.567 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
45.567 * [backup-simplify]: Simplify (- 0) into 0
45.567 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
45.567 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
45.567 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
45.567 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
45.567 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.567 * [backup-simplify]: Simplify 0.5 into 0.5
45.567 * [taylor]: Taking taylor expansion of phi1 in lambda2
45.567 * [backup-simplify]: Simplify phi1 into phi1
45.567 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
45.567 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
45.567 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
45.567 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
45.567 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
45.568 * [backup-simplify]: Simplify (- 0) into 0
45.568 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
45.568 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
45.568 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
45.568 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
45.568 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
45.568 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.568 * [backup-simplify]: Simplify 0.5 into 0.5
45.568 * [taylor]: Taking taylor expansion of phi2 in lambda2
45.568 * [backup-simplify]: Simplify phi2 into phi2
45.568 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
45.568 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
45.568 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
45.568 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
45.568 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
45.568 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
45.568 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.568 * [backup-simplify]: Simplify 0.5 into 0.5
45.568 * [taylor]: Taking taylor expansion of phi1 in lambda2
45.568 * [backup-simplify]: Simplify phi1 into phi1
45.568 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
45.568 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
45.568 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
45.568 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
45.568 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
45.568 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
45.568 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.568 * [backup-simplify]: Simplify 0.5 into 0.5
45.568 * [taylor]: Taking taylor expansion of phi2 in lambda2
45.568 * [backup-simplify]: Simplify phi2 into phi2
45.568 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
45.569 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
45.569 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
45.569 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
45.569 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
45.569 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.569 * [backup-simplify]: Simplify 0.5 into 0.5
45.569 * [taylor]: Taking taylor expansion of phi1 in lambda2
45.569 * [backup-simplify]: Simplify phi1 into phi1
45.569 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
45.569 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
45.569 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
45.569 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
45.569 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
45.569 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
45.569 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.569 * [backup-simplify]: Simplify 0.5 into 0.5
45.569 * [taylor]: Taking taylor expansion of phi2 in lambda2
45.569 * [backup-simplify]: Simplify phi2 into phi2
45.569 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
45.569 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
45.569 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
45.569 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
45.569 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
45.569 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
45.569 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.569 * [backup-simplify]: Simplify 0.5 into 0.5
45.569 * [taylor]: Taking taylor expansion of phi1 in lambda2
45.569 * [backup-simplify]: Simplify phi1 into phi1
45.569 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
45.569 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
45.569 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
45.569 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
45.569 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
45.569 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
45.569 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.569 * [backup-simplify]: Simplify 0.5 into 0.5
45.569 * [taylor]: Taking taylor expansion of phi2 in lambda2
45.569 * [backup-simplify]: Simplify phi2 into phi2
45.569 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
45.570 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
45.570 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
45.570 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
45.570 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
45.570 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.570 * [backup-simplify]: Simplify 0.5 into 0.5
45.570 * [taylor]: Taking taylor expansion of phi1 in lambda2
45.570 * [backup-simplify]: Simplify phi1 into phi1
45.570 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
45.570 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
45.570 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
45.570 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
45.570 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
45.570 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
45.570 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
45.570 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
45.571 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
45.571 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
45.571 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
45.571 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
45.572 * [backup-simplify]: Simplify (- 0) into 0
45.572 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
45.572 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
45.572 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
45.572 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
45.572 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
45.572 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
45.572 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
45.572 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
45.572 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
45.572 * [backup-simplify]: Simplify (- 0) into 0
45.573 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
45.573 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
45.573 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
45.573 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
45.573 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
45.573 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
45.573 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
45.573 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
45.573 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
45.574 * [backup-simplify]: Simplify (- 0) into 0
45.574 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
45.574 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
45.574 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
45.574 * [backup-simplify]: Simplify (- 0) into 0
45.574 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
45.574 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
45.574 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
45.574 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
45.574 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
45.574 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
45.575 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
45.575 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))
45.575 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
45.576 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
45.577 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
45.578 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
45.579 * [backup-simplify]: Simplify (+ 0) into 0
45.579 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
45.579 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
45.580 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.580 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
45.580 * [backup-simplify]: Simplify (+ 0 0) into 0
45.580 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
45.581 * [backup-simplify]: Simplify (+ 0) into 0
45.581 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
45.581 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
45.582 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.582 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
45.582 * [backup-simplify]: Simplify (+ 0 0) into 0
45.582 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
45.582 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
45.583 * [backup-simplify]: Simplify (+ 0) into 0
45.583 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
45.583 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
45.584 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.584 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
45.584 * [backup-simplify]: Simplify (- 0) into 0
45.584 * [backup-simplify]: Simplify (+ 0 0) into 0
45.584 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
45.585 * [backup-simplify]: Simplify (+ 0) into 0
45.585 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
45.585 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
45.586 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.586 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
45.586 * [backup-simplify]: Simplify (- 0) into 0
45.586 * [backup-simplify]: Simplify (+ 0 0) into 0
45.586 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
45.587 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
45.587 * [backup-simplify]: Simplify (+ 0 0) into 0
45.587 * [backup-simplify]: Simplify (+ 0) into 0
45.588 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
45.588 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
45.588 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.588 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
45.589 * [backup-simplify]: Simplify (- 0) into 0
45.589 * [backup-simplify]: Simplify (+ 0 0) into 0
45.589 * [backup-simplify]: Simplify (+ 0) into 0
45.589 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
45.590 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
45.590 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.590 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
45.591 * [backup-simplify]: Simplify (+ 0 0) into 0
45.591 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
45.591 * [backup-simplify]: Simplify (+ 0) into 0
45.591 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
45.591 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
45.592 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.592 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
45.592 * [backup-simplify]: Simplify (+ 0 0) into 0
45.592 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
45.593 * [backup-simplify]: Simplify (+ 0) into 0
45.593 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
45.593 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
45.594 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.594 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
45.594 * [backup-simplify]: Simplify (- 0) into 0
45.595 * [backup-simplify]: Simplify (+ 0 0) into 0
45.595 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
45.595 * [backup-simplify]: Simplify (+ 0) into 0
45.596 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
45.596 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
45.597 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.597 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
45.597 * [backup-simplify]: Simplify (+ 0 0) into 0
45.598 * [backup-simplify]: Simplify (+ 0) into 0
45.598 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
45.598 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
45.599 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.599 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
45.599 * [backup-simplify]: Simplify (- 0) into 0
45.600 * [backup-simplify]: Simplify (+ 0 0) into 0
45.600 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
45.600 * [backup-simplify]: Simplify (+ 0) into 0
45.600 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
45.600 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
45.601 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.601 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
45.601 * [backup-simplify]: Simplify (- 0) into 0
45.602 * [backup-simplify]: Simplify (+ 0 0) into 0
45.602 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
45.602 * [backup-simplify]: Simplify (+ 0) into 0
45.602 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
45.603 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
45.603 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.603 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
45.604 * [backup-simplify]: Simplify (+ 0 0) into 0
45.604 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
45.604 * [backup-simplify]: Simplify (+ 0 0) into 0
45.604 * [backup-simplify]: Simplify (- 0) into 0
45.605 * [backup-simplify]: Simplify (+ 0 0) into 0
45.607 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
45.608 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
45.608 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* R (pow lambda2 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi1)) 4)) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 3 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (* (/ 1 (* R (* phi1 phi2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))) in lambda2
45.608 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* R (pow lambda2 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) in lambda2
45.608 * [taylor]: Taking taylor expansion of 1/2 in lambda2
45.608 * [backup-simplify]: Simplify 1/2 into 1/2
45.608 * [taylor]: Taking taylor expansion of (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* R (pow lambda2 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) in lambda2
45.608 * [taylor]: Taking taylor expansion of (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* R (pow lambda2 2))) in lambda2
45.608 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
45.608 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
45.608 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
45.608 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.608 * [backup-simplify]: Simplify 0.5 into 0.5
45.608 * [taylor]: Taking taylor expansion of phi2 in lambda2
45.608 * [backup-simplify]: Simplify phi2 into phi2
45.608 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
45.608 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
45.608 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
45.608 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
45.608 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
45.608 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
45.608 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.608 * [backup-simplify]: Simplify 0.5 into 0.5
45.608 * [taylor]: Taking taylor expansion of phi1 in lambda2
45.608 * [backup-simplify]: Simplify phi1 into phi1
45.608 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
45.608 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
45.608 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
45.608 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
45.608 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
45.608 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
45.609 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.609 * [backup-simplify]: Simplify 0.5 into 0.5
45.609 * [taylor]: Taking taylor expansion of phi2 in lambda2
45.609 * [backup-simplify]: Simplify phi2 into phi2
45.609 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
45.609 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
45.609 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
45.609 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
45.609 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
45.609 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.609 * [backup-simplify]: Simplify 0.5 into 0.5
45.609 * [taylor]: Taking taylor expansion of phi1 in lambda2
45.609 * [backup-simplify]: Simplify phi1 into phi1
45.609 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
45.609 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
45.609 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
45.609 * [taylor]: Taking taylor expansion of (* R (pow lambda2 2)) in lambda2
45.609 * [taylor]: Taking taylor expansion of R in lambda2
45.609 * [backup-simplify]: Simplify R into R
45.609 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
45.609 * [taylor]: Taking taylor expansion of lambda2 in lambda2
45.609 * [backup-simplify]: Simplify 0 into 0
45.609 * [backup-simplify]: Simplify 1 into 1
45.609 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
45.609 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
45.610 * [backup-simplify]: Simplify (- 0) into 0
45.610 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
45.610 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
45.610 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
45.610 * [backup-simplify]: Simplify (- 0) into 0
45.610 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
45.610 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
45.610 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
45.610 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
45.610 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
45.610 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
45.610 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
45.610 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
45.611 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
45.611 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
45.611 * [backup-simplify]: Simplify (* 1 1) into 1
45.611 * [backup-simplify]: Simplify (* R 1) into R
45.611 * [backup-simplify]: Simplify (/ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) R) into (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R)
45.611 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in lambda2
45.611 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in lambda2
45.611 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
45.611 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
45.611 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
45.611 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
45.611 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
45.611 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
45.611 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.612 * [backup-simplify]: Simplify 0.5 into 0.5
45.612 * [taylor]: Taking taylor expansion of phi2 in lambda2
45.612 * [backup-simplify]: Simplify phi2 into phi2
45.612 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
45.612 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
45.612 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
45.612 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
45.612 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
45.612 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
45.612 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
45.612 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
45.612 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
45.612 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.612 * [backup-simplify]: Simplify 0.5 into 0.5
45.612 * [taylor]: Taking taylor expansion of phi1 in lambda2
45.612 * [backup-simplify]: Simplify phi1 into phi1
45.612 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
45.612 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
45.612 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
45.612 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
45.612 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
45.612 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
45.612 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
45.612 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
45.612 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
45.612 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
45.612 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.612 * [backup-simplify]: Simplify 0.5 into 0.5
45.612 * [taylor]: Taking taylor expansion of phi2 in lambda2
45.613 * [backup-simplify]: Simplify phi2 into phi2
45.613 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
45.613 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
45.613 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
45.613 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
45.613 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
45.613 * [backup-simplify]: Simplify (- 0) into 0
45.613 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
45.613 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
45.613 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
45.613 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
45.613 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.613 * [backup-simplify]: Simplify 0.5 into 0.5
45.613 * [taylor]: Taking taylor expansion of phi1 in lambda2
45.613 * [backup-simplify]: Simplify phi1 into phi1
45.613 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
45.613 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
45.613 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
45.613 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
45.614 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
45.614 * [backup-simplify]: Simplify (- 0) into 0
45.614 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
45.614 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
45.614 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
45.614 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
45.614 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
45.614 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.614 * [backup-simplify]: Simplify 0.5 into 0.5
45.614 * [taylor]: Taking taylor expansion of phi2 in lambda2
45.614 * [backup-simplify]: Simplify phi2 into phi2
45.614 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
45.614 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
45.614 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
45.614 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
45.614 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
45.614 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
45.614 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.614 * [backup-simplify]: Simplify 0.5 into 0.5
45.614 * [taylor]: Taking taylor expansion of phi1 in lambda2
45.614 * [backup-simplify]: Simplify phi1 into phi1
45.614 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
45.614 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
45.614 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
45.614 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
45.614 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
45.614 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
45.614 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.615 * [backup-simplify]: Simplify 0.5 into 0.5
45.615 * [taylor]: Taking taylor expansion of phi2 in lambda2
45.615 * [backup-simplify]: Simplify phi2 into phi2
45.615 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
45.615 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
45.615 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
45.615 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
45.615 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
45.615 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.615 * [backup-simplify]: Simplify 0.5 into 0.5
45.615 * [taylor]: Taking taylor expansion of phi1 in lambda2
45.615 * [backup-simplify]: Simplify phi1 into phi1
45.615 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
45.615 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
45.615 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
45.615 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
45.615 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
45.615 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
45.615 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.615 * [backup-simplify]: Simplify 0.5 into 0.5
45.615 * [taylor]: Taking taylor expansion of phi2 in lambda2
45.615 * [backup-simplify]: Simplify phi2 into phi2
45.615 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
45.615 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
45.615 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
45.615 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
45.615 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
45.615 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
45.615 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.615 * [backup-simplify]: Simplify 0.5 into 0.5
45.615 * [taylor]: Taking taylor expansion of phi1 in lambda2
45.615 * [backup-simplify]: Simplify phi1 into phi1
45.615 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
45.615 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
45.615 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
45.615 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
45.615 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
45.616 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
45.616 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.616 * [backup-simplify]: Simplify 0.5 into 0.5
45.616 * [taylor]: Taking taylor expansion of phi2 in lambda2
45.616 * [backup-simplify]: Simplify phi2 into phi2
45.616 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
45.616 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
45.616 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
45.616 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
45.616 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
45.616 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.616 * [backup-simplify]: Simplify 0.5 into 0.5
45.616 * [taylor]: Taking taylor expansion of phi1 in lambda2
45.616 * [backup-simplify]: Simplify phi1 into phi1
45.616 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
45.616 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
45.616 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
45.616 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
45.616 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
45.616 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
45.616 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
45.617 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
45.617 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
45.617 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
45.617 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
45.617 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
45.618 * [backup-simplify]: Simplify (- 0) into 0
45.618 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
45.618 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
45.618 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
45.618 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
45.618 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
45.618 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
45.618 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
45.618 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
45.618 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
45.618 * [backup-simplify]: Simplify (- 0) into 0
45.619 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
45.619 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
45.619 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
45.619 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
45.619 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
45.619 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
45.619 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
45.619 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
45.619 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
45.620 * [backup-simplify]: Simplify (- 0) into 0
45.620 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
45.620 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
45.620 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
45.620 * [backup-simplify]: Simplify (- 0) into 0
45.620 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
45.620 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
45.620 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
45.620 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
45.620 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
45.620 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
45.621 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
45.621 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))
45.621 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
45.622 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
45.623 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
45.624 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
45.625 * [backup-simplify]: Simplify (+ 0) into 0
45.625 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
45.625 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
45.626 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.626 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
45.626 * [backup-simplify]: Simplify (+ 0 0) into 0
45.626 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
45.627 * [backup-simplify]: Simplify (+ 0) into 0
45.627 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
45.627 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
45.627 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.628 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
45.628 * [backup-simplify]: Simplify (+ 0 0) into 0
45.628 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
45.628 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
45.629 * [backup-simplify]: Simplify (+ 0) into 0
45.629 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
45.629 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
45.630 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.630 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
45.630 * [backup-simplify]: Simplify (- 0) into 0
45.630 * [backup-simplify]: Simplify (+ 0 0) into 0
45.630 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
45.631 * [backup-simplify]: Simplify (+ 0) into 0
45.631 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
45.631 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
45.632 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.632 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
45.632 * [backup-simplify]: Simplify (- 0) into 0
45.632 * [backup-simplify]: Simplify (+ 0 0) into 0
45.633 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
45.633 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
45.633 * [backup-simplify]: Simplify (+ 0 0) into 0
45.633 * [backup-simplify]: Simplify (+ 0) into 0
45.634 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
45.634 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
45.634 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.634 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
45.635 * [backup-simplify]: Simplify (- 0) into 0
45.635 * [backup-simplify]: Simplify (+ 0 0) into 0
45.635 * [backup-simplify]: Simplify (+ 0) into 0
45.635 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
45.636 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
45.636 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.636 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
45.637 * [backup-simplify]: Simplify (+ 0 0) into 0
45.637 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
45.637 * [backup-simplify]: Simplify (+ 0) into 0
45.637 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
45.637 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
45.638 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.639 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
45.639 * [backup-simplify]: Simplify (+ 0 0) into 0
45.639 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
45.640 * [backup-simplify]: Simplify (+ 0) into 0
45.640 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
45.640 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
45.641 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.642 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
45.642 * [backup-simplify]: Simplify (- 0) into 0
45.642 * [backup-simplify]: Simplify (+ 0 0) into 0
45.643 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
45.643 * [backup-simplify]: Simplify (+ 0) into 0
45.644 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
45.644 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
45.645 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.645 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
45.646 * [backup-simplify]: Simplify (+ 0 0) into 0
45.646 * [backup-simplify]: Simplify (+ 0) into 0
45.646 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
45.646 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
45.647 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.647 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
45.647 * [backup-simplify]: Simplify (- 0) into 0
45.647 * [backup-simplify]: Simplify (+ 0 0) into 0
45.648 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
45.648 * [backup-simplify]: Simplify (+ 0) into 0
45.648 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
45.648 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
45.649 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.649 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
45.649 * [backup-simplify]: Simplify (- 0) into 0
45.649 * [backup-simplify]: Simplify (+ 0 0) into 0
45.650 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
45.650 * [backup-simplify]: Simplify (+ 0) into 0
45.650 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
45.650 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
45.651 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.651 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
45.651 * [backup-simplify]: Simplify (+ 0 0) into 0
45.651 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
45.652 * [backup-simplify]: Simplify (+ 0 0) into 0
45.652 * [backup-simplify]: Simplify (- 0) into 0
45.652 * [backup-simplify]: Simplify (+ 0 0) into 0
45.654 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
45.656 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
45.656 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi1)) 4)) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 3 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (* (/ 1 (* R (* phi1 phi2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) in lambda2
45.656 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi1)) 4)) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) in lambda2
45.656 * [taylor]: Taking taylor expansion of 1/2 in lambda2
45.656 * [backup-simplify]: Simplify 1/2 into 1/2
45.656 * [taylor]: Taking taylor expansion of (* (/ (* (pow (cos (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi1)) 4)) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3)))) in lambda2
45.656 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi1)) 4)) (* R (pow lambda2 2))) in lambda2
45.656 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi1)) 4)) in lambda2
45.656 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 4) in lambda2
45.656 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
45.656 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
45.656 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.656 * [backup-simplify]: Simplify 0.5 into 0.5
45.656 * [taylor]: Taking taylor expansion of phi2 in lambda2
45.656 * [backup-simplify]: Simplify phi2 into phi2
45.656 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
45.656 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
45.656 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
45.656 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
45.656 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
45.657 * [backup-simplify]: Simplify (- 0) into 0
45.657 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
45.657 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 4) in lambda2
45.657 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
45.657 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
45.657 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.657 * [backup-simplify]: Simplify 0.5 into 0.5
45.657 * [taylor]: Taking taylor expansion of phi1 in lambda2
45.657 * [backup-simplify]: Simplify phi1 into phi1
45.657 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
45.657 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
45.657 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
45.657 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
45.657 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
45.657 * [backup-simplify]: Simplify (- 0) into 0
45.657 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
45.657 * [taylor]: Taking taylor expansion of (* R (pow lambda2 2)) in lambda2
45.657 * [taylor]: Taking taylor expansion of R in lambda2
45.657 * [backup-simplify]: Simplify R into R
45.657 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
45.657 * [taylor]: Taking taylor expansion of lambda2 in lambda2
45.657 * [backup-simplify]: Simplify 0 into 0
45.658 * [backup-simplify]: Simplify 1 into 1
45.658 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
45.658 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (pow (cos (/ 0.5 phi2)) 4)
45.658 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
45.658 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (pow (cos (/ 0.5 phi1)) 4)
45.658 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi1)) 4)) into (* (pow (cos (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi1)) 4))
45.659 * [backup-simplify]: Simplify (* 1 1) into 1
45.659 * [backup-simplify]: Simplify (* R 1) into R
45.659 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi1)) 4)) R) into (/ (* (pow (cos (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi1)) 4)) R)
45.659 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))) in lambda2
45.659 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3)) in lambda2
45.659 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3) in lambda2
45.659 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
45.659 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
45.659 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
45.659 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
45.659 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
45.659 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
45.659 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.659 * [backup-simplify]: Simplify 0.5 into 0.5
45.659 * [taylor]: Taking taylor expansion of phi2 in lambda2
45.659 * [backup-simplify]: Simplify phi2 into phi2
45.659 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
45.659 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
45.659 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
45.659 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
45.659 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
45.659 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
45.659 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
45.659 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
45.659 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
45.659 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.660 * [backup-simplify]: Simplify 0.5 into 0.5
45.660 * [taylor]: Taking taylor expansion of phi1 in lambda2
45.660 * [backup-simplify]: Simplify phi1 into phi1
45.660 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
45.660 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
45.660 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
45.660 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
45.660 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
45.660 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
45.660 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
45.660 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
45.660 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
45.660 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
45.660 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.660 * [backup-simplify]: Simplify 0.5 into 0.5
45.660 * [taylor]: Taking taylor expansion of phi2 in lambda2
45.660 * [backup-simplify]: Simplify phi2 into phi2
45.660 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
45.660 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
45.660 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
45.660 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
45.660 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
45.661 * [backup-simplify]: Simplify (- 0) into 0
45.661 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
45.661 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
45.661 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
45.661 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
45.661 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.661 * [backup-simplify]: Simplify 0.5 into 0.5
45.661 * [taylor]: Taking taylor expansion of phi1 in lambda2
45.661 * [backup-simplify]: Simplify phi1 into phi1
45.661 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
45.661 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
45.661 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
45.661 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
45.661 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
45.661 * [backup-simplify]: Simplify (- 0) into 0
45.661 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
45.661 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
45.661 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
45.661 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
45.661 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
45.661 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.661 * [backup-simplify]: Simplify 0.5 into 0.5
45.661 * [taylor]: Taking taylor expansion of phi2 in lambda2
45.661 * [backup-simplify]: Simplify phi2 into phi2
45.661 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
45.662 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
45.662 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
45.662 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
45.662 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
45.662 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
45.662 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.662 * [backup-simplify]: Simplify 0.5 into 0.5
45.662 * [taylor]: Taking taylor expansion of phi1 in lambda2
45.662 * [backup-simplify]: Simplify phi1 into phi1
45.662 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
45.662 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
45.662 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
45.662 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
45.662 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
45.662 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
45.662 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.662 * [backup-simplify]: Simplify 0.5 into 0.5
45.662 * [taylor]: Taking taylor expansion of phi2 in lambda2
45.662 * [backup-simplify]: Simplify phi2 into phi2
45.662 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
45.662 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
45.662 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
45.662 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
45.662 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
45.662 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.662 * [backup-simplify]: Simplify 0.5 into 0.5
45.662 * [taylor]: Taking taylor expansion of phi1 in lambda2
45.662 * [backup-simplify]: Simplify phi1 into phi1
45.662 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
45.662 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
45.662 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
45.662 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
45.662 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
45.662 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
45.662 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.662 * [backup-simplify]: Simplify 0.5 into 0.5
45.662 * [taylor]: Taking taylor expansion of phi2 in lambda2
45.662 * [backup-simplify]: Simplify phi2 into phi2
45.663 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
45.663 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
45.663 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
45.663 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
45.663 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
45.663 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
45.663 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.663 * [backup-simplify]: Simplify 0.5 into 0.5
45.663 * [taylor]: Taking taylor expansion of phi1 in lambda2
45.663 * [backup-simplify]: Simplify phi1 into phi1
45.663 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
45.663 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
45.663 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
45.663 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
45.663 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
45.663 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
45.663 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.663 * [backup-simplify]: Simplify 0.5 into 0.5
45.663 * [taylor]: Taking taylor expansion of phi2 in lambda2
45.663 * [backup-simplify]: Simplify phi2 into phi2
45.663 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
45.663 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
45.663 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
45.663 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
45.663 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
45.663 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.663 * [backup-simplify]: Simplify 0.5 into 0.5
45.663 * [taylor]: Taking taylor expansion of phi1 in lambda2
45.663 * [backup-simplify]: Simplify phi1 into phi1
45.663 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
45.663 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
45.663 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
45.663 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
45.664 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
45.664 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
45.664 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
45.664 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
45.664 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
45.665 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
45.665 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
45.665 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
45.665 * [backup-simplify]: Simplify (- 0) into 0
45.665 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
45.665 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
45.665 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
45.665 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
45.665 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
45.665 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
45.665 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
45.666 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
45.666 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
45.666 * [backup-simplify]: Simplify (- 0) into 0
45.666 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
45.666 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
45.666 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
45.666 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
45.666 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
45.666 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
45.666 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
45.667 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
45.667 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
45.667 * [backup-simplify]: Simplify (- 0) into 0
45.667 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
45.667 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
45.667 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
45.667 * [backup-simplify]: Simplify (- 0) into 0
45.667 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
45.667 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
45.668 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
45.668 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
45.668 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
45.668 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
45.668 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
45.668 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))
45.669 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
45.670 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
45.672 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)
45.674 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)) into (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2))
45.682 * [backup-simplify]: Simplify (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2))) into (/ 1 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
45.686 * [backup-simplify]: Simplify (sqrt (/ 1 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
45.687 * [backup-simplify]: Simplify (+ 0) into 0
45.688 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
45.688 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
45.689 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.689 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
45.690 * [backup-simplify]: Simplify (+ 0 0) into 0
45.690 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
45.690 * [backup-simplify]: Simplify (+ 0) into 0
45.691 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
45.691 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
45.692 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.692 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
45.693 * [backup-simplify]: Simplify (+ 0 0) into 0
45.693 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
45.693 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
45.694 * [backup-simplify]: Simplify (+ 0) into 0
45.694 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
45.695 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
45.695 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.696 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
45.696 * [backup-simplify]: Simplify (- 0) into 0
45.697 * [backup-simplify]: Simplify (+ 0 0) into 0
45.697 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
45.697 * [backup-simplify]: Simplify (+ 0) into 0
45.698 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
45.698 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
45.699 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.699 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
45.699 * [backup-simplify]: Simplify (- 0) into 0
45.700 * [backup-simplify]: Simplify (+ 0 0) into 0
45.700 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
45.700 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
45.701 * [backup-simplify]: Simplify (+ 0 0) into 0
45.701 * [backup-simplify]: Simplify (+ 0) into 0
45.702 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
45.702 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
45.703 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.703 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
45.704 * [backup-simplify]: Simplify (- 0) into 0
45.704 * [backup-simplify]: Simplify (+ 0 0) into 0
45.705 * [backup-simplify]: Simplify (+ 0) into 0
45.705 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
45.705 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
45.706 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.707 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
45.707 * [backup-simplify]: Simplify (+ 0 0) into 0
45.707 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
45.709 * [backup-simplify]: Simplify (+ 0) into 0
45.710 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
45.710 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
45.711 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.711 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
45.712 * [backup-simplify]: Simplify (+ 0 0) into 0
45.712 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
45.713 * [backup-simplify]: Simplify (+ 0) into 0
45.713 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
45.713 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
45.714 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.715 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
45.715 * [backup-simplify]: Simplify (- 0) into 0
45.716 * [backup-simplify]: Simplify (+ 0 0) into 0
45.716 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
45.716 * [backup-simplify]: Simplify (+ 0) into 0
45.717 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
45.717 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
45.718 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.718 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
45.719 * [backup-simplify]: Simplify (+ 0 0) into 0
45.719 * [backup-simplify]: Simplify (+ 0) into 0
45.720 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
45.720 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
45.721 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.721 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
45.721 * [backup-simplify]: Simplify (- 0) into 0
45.722 * [backup-simplify]: Simplify (+ 0 0) into 0
45.722 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
45.722 * [backup-simplify]: Simplify (+ 0) into 0
45.723 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
45.723 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
45.724 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.724 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
45.725 * [backup-simplify]: Simplify (- 0) into 0
45.725 * [backup-simplify]: Simplify (+ 0 0) into 0
45.725 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
45.726 * [backup-simplify]: Simplify (+ 0) into 0
45.726 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
45.726 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
45.727 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.727 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
45.728 * [backup-simplify]: Simplify (+ 0 0) into 0
45.728 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
45.729 * [backup-simplify]: Simplify (+ 0 0) into 0
45.729 * [backup-simplify]: Simplify (- 0) into 0
45.729 * [backup-simplify]: Simplify (+ 0 0) into 0
45.733 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into 0
45.737 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2))) into 0
45.746 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)))))) into 0
45.750 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
45.750 * [taylor]: Taking taylor expansion of (+ (* 3 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (* (/ 1 (* R (* phi1 phi2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) in lambda2
45.751 * [taylor]: Taking taylor expansion of (* 3 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) in lambda2
45.751 * [taylor]: Taking taylor expansion of 3 in lambda2
45.751 * [backup-simplify]: Simplify 3 into 3
45.751 * [taylor]: Taking taylor expansion of (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3)))) in lambda2
45.751 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) (* R (pow lambda2 2))) in lambda2
45.751 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) in lambda2
45.751 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
45.751 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
45.751 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
45.751 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.751 * [backup-simplify]: Simplify 0.5 into 0.5
45.751 * [taylor]: Taking taylor expansion of phi2 in lambda2
45.751 * [backup-simplify]: Simplify phi2 into phi2
45.751 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
45.751 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
45.751 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
45.751 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
45.752 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
45.752 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
45.752 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))) in lambda2
45.752 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
45.752 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
45.752 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
45.752 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.752 * [backup-simplify]: Simplify 0.5 into 0.5
45.752 * [taylor]: Taking taylor expansion of phi1 in lambda2
45.752 * [backup-simplify]: Simplify phi1 into phi1
45.752 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
45.752 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
45.752 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
45.752 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
45.752 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
45.753 * [backup-simplify]: Simplify (- 0) into 0
45.753 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
45.753 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
45.753 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
45.753 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
45.753 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
45.753 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.753 * [backup-simplify]: Simplify 0.5 into 0.5
45.753 * [taylor]: Taking taylor expansion of phi2 in lambda2
45.753 * [backup-simplify]: Simplify phi2 into phi2
45.753 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
45.753 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
45.753 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
45.754 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
45.754 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
45.754 * [backup-simplify]: Simplify (- 0) into 0
45.754 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
45.754 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
45.754 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
45.754 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
45.754 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.754 * [backup-simplify]: Simplify 0.5 into 0.5
45.754 * [taylor]: Taking taylor expansion of phi1 in lambda2
45.754 * [backup-simplify]: Simplify phi1 into phi1
45.754 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
45.755 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
45.755 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
45.755 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
45.755 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
45.755 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
45.755 * [taylor]: Taking taylor expansion of (* R (pow lambda2 2)) in lambda2
45.755 * [taylor]: Taking taylor expansion of R in lambda2
45.755 * [backup-simplify]: Simplify R into R
45.755 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
45.755 * [taylor]: Taking taylor expansion of lambda2 in lambda2
45.755 * [backup-simplify]: Simplify 0 into 0
45.755 * [backup-simplify]: Simplify 1 into 1
45.755 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
45.755 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
45.756 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
45.756 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
45.756 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
45.757 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))) into (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
45.757 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))) into (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))))
45.758 * [backup-simplify]: Simplify (* 1 1) into 1
45.758 * [backup-simplify]: Simplify (* R 1) into R
45.759 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))) R) into (/ (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) R)
45.759 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))) in lambda2
45.759 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3)) in lambda2
45.759 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3) in lambda2
45.759 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
45.759 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
45.759 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
45.759 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
45.759 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
45.759 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
45.759 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.759 * [backup-simplify]: Simplify 0.5 into 0.5
45.759 * [taylor]: Taking taylor expansion of phi2 in lambda2
45.759 * [backup-simplify]: Simplify phi2 into phi2
45.759 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
45.759 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
45.760 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
45.760 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
45.760 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
45.760 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
45.760 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
45.760 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
45.760 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
45.760 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.760 * [backup-simplify]: Simplify 0.5 into 0.5
45.760 * [taylor]: Taking taylor expansion of phi1 in lambda2
45.760 * [backup-simplify]: Simplify phi1 into phi1
45.760 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
45.760 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
45.760 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
45.760 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
45.761 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
45.761 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
45.761 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
45.761 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
45.761 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
45.761 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
45.761 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.761 * [backup-simplify]: Simplify 0.5 into 0.5
45.761 * [taylor]: Taking taylor expansion of phi2 in lambda2
45.761 * [backup-simplify]: Simplify phi2 into phi2
45.761 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
45.761 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
45.761 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
45.761 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
45.761 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
45.762 * [backup-simplify]: Simplify (- 0) into 0
45.762 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
45.762 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
45.762 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
45.762 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
45.762 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.762 * [backup-simplify]: Simplify 0.5 into 0.5
45.762 * [taylor]: Taking taylor expansion of phi1 in lambda2
45.762 * [backup-simplify]: Simplify phi1 into phi1
45.762 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
45.762 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
45.762 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
45.763 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
45.763 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
45.763 * [backup-simplify]: Simplify (- 0) into 0
45.763 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
45.763 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
45.763 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
45.763 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
45.763 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
45.763 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.763 * [backup-simplify]: Simplify 0.5 into 0.5
45.763 * [taylor]: Taking taylor expansion of phi2 in lambda2
45.763 * [backup-simplify]: Simplify phi2 into phi2
45.763 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
45.764 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
45.764 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
45.764 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
45.764 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
45.764 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
45.764 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.764 * [backup-simplify]: Simplify 0.5 into 0.5
45.764 * [taylor]: Taking taylor expansion of phi1 in lambda2
45.764 * [backup-simplify]: Simplify phi1 into phi1
45.764 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
45.764 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
45.764 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
45.764 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
45.764 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
45.764 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
45.764 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.765 * [backup-simplify]: Simplify 0.5 into 0.5
45.765 * [taylor]: Taking taylor expansion of phi2 in lambda2
45.765 * [backup-simplify]: Simplify phi2 into phi2
45.765 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
45.765 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
45.765 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
45.765 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
45.765 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
45.765 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.765 * [backup-simplify]: Simplify 0.5 into 0.5
45.765 * [taylor]: Taking taylor expansion of phi1 in lambda2
45.765 * [backup-simplify]: Simplify phi1 into phi1
45.765 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
45.765 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
45.765 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
45.765 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
45.765 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
45.765 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
45.765 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.765 * [backup-simplify]: Simplify 0.5 into 0.5
45.765 * [taylor]: Taking taylor expansion of phi2 in lambda2
45.765 * [backup-simplify]: Simplify phi2 into phi2
45.765 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
45.766 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
45.766 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
45.766 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
45.766 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
45.766 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
45.766 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.766 * [backup-simplify]: Simplify 0.5 into 0.5
45.766 * [taylor]: Taking taylor expansion of phi1 in lambda2
45.766 * [backup-simplify]: Simplify phi1 into phi1
45.766 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
45.766 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
45.766 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
45.766 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
45.766 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
45.766 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
45.766 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.766 * [backup-simplify]: Simplify 0.5 into 0.5
45.766 * [taylor]: Taking taylor expansion of phi2 in lambda2
45.766 * [backup-simplify]: Simplify phi2 into phi2
45.766 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
45.766 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
45.767 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
45.767 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
45.767 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
45.767 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.767 * [backup-simplify]: Simplify 0.5 into 0.5
45.767 * [taylor]: Taking taylor expansion of phi1 in lambda2
45.767 * [backup-simplify]: Simplify phi1 into phi1
45.767 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
45.767 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
45.767 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
45.767 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
45.767 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
45.768 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
45.768 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
45.768 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
45.768 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
45.769 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
45.769 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
45.769 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
45.770 * [backup-simplify]: Simplify (- 0) into 0
45.770 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
45.770 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
45.770 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
45.770 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
45.770 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
45.771 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
45.771 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
45.771 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
45.771 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
45.771 * [backup-simplify]: Simplify (- 0) into 0
45.771 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
45.772 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
45.772 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
45.772 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
45.772 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
45.772 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
45.772 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
45.773 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
45.773 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
45.773 * [backup-simplify]: Simplify (- 0) into 0
45.773 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
45.773 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
45.773 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
45.774 * [backup-simplify]: Simplify (- 0) into 0
45.774 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
45.774 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
45.774 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
45.774 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
45.774 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
45.775 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
45.775 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
45.776 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))
45.777 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
45.779 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
45.782 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)
45.786 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)) into (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2))
45.790 * [backup-simplify]: Simplify (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2))) into (/ 1 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
45.794 * [backup-simplify]: Simplify (sqrt (/ 1 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
45.795 * [backup-simplify]: Simplify (+ 0) into 0
45.796 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
45.796 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
45.797 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.797 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
45.798 * [backup-simplify]: Simplify (+ 0 0) into 0
45.798 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
45.798 * [backup-simplify]: Simplify (+ 0) into 0
45.799 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
45.799 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
45.800 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.800 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
45.800 * [backup-simplify]: Simplify (+ 0 0) into 0
45.801 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
45.801 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
45.801 * [backup-simplify]: Simplify (+ 0) into 0
45.802 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
45.802 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
45.803 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.803 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
45.804 * [backup-simplify]: Simplify (- 0) into 0
45.804 * [backup-simplify]: Simplify (+ 0 0) into 0
45.804 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
45.805 * [backup-simplify]: Simplify (+ 0) into 0
45.806 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
45.806 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
45.806 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.807 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
45.807 * [backup-simplify]: Simplify (- 0) into 0
45.808 * [backup-simplify]: Simplify (+ 0 0) into 0
45.808 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
45.808 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
45.809 * [backup-simplify]: Simplify (+ 0 0) into 0
45.809 * [backup-simplify]: Simplify (+ 0) into 0
45.810 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
45.810 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
45.811 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.811 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
45.811 * [backup-simplify]: Simplify (- 0) into 0
45.812 * [backup-simplify]: Simplify (+ 0 0) into 0
45.812 * [backup-simplify]: Simplify (+ 0) into 0
45.813 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
45.813 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
45.814 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.814 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
45.815 * [backup-simplify]: Simplify (+ 0 0) into 0
45.815 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
45.815 * [backup-simplify]: Simplify (+ 0) into 0
45.816 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
45.816 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
45.817 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.817 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
45.818 * [backup-simplify]: Simplify (+ 0 0) into 0
45.818 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
45.818 * [backup-simplify]: Simplify (+ 0) into 0
45.819 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
45.819 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
45.820 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.820 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
45.821 * [backup-simplify]: Simplify (- 0) into 0
45.821 * [backup-simplify]: Simplify (+ 0 0) into 0
45.821 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
45.822 * [backup-simplify]: Simplify (+ 0) into 0
45.822 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
45.823 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
45.823 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.824 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
45.824 * [backup-simplify]: Simplify (+ 0 0) into 0
45.825 * [backup-simplify]: Simplify (+ 0) into 0
45.825 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
45.825 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
45.826 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.827 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
45.827 * [backup-simplify]: Simplify (- 0) into 0
45.828 * [backup-simplify]: Simplify (+ 0 0) into 0
45.828 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
45.829 * [backup-simplify]: Simplify (+ 0) into 0
45.830 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
45.830 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
45.831 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.831 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
45.832 * [backup-simplify]: Simplify (- 0) into 0
45.832 * [backup-simplify]: Simplify (+ 0 0) into 0
45.832 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
45.833 * [backup-simplify]: Simplify (+ 0) into 0
45.833 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
45.834 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
45.835 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.835 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
45.836 * [backup-simplify]: Simplify (+ 0 0) into 0
45.836 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
45.836 * [backup-simplify]: Simplify (+ 0 0) into 0
45.837 * [backup-simplify]: Simplify (- 0) into 0
45.837 * [backup-simplify]: Simplify (+ 0 0) into 0
45.841 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into 0
45.845 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2))) into 0
45.853 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)))))) into 0
45.858 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
45.858 * [taylor]: Taking taylor expansion of (* (/ 1 (* R (* phi1 phi2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) in lambda2
45.858 * [taylor]: Taking taylor expansion of (/ 1 (* R (* phi1 phi2))) in lambda2
45.858 * [taylor]: Taking taylor expansion of (* R (* phi1 phi2)) in lambda2
45.858 * [taylor]: Taking taylor expansion of R in lambda2
45.858 * [backup-simplify]: Simplify R into R
45.858 * [taylor]: Taking taylor expansion of (* phi1 phi2) in lambda2
45.858 * [taylor]: Taking taylor expansion of phi1 in lambda2
45.858 * [backup-simplify]: Simplify phi1 into phi1
45.858 * [taylor]: Taking taylor expansion of phi2 in lambda2
45.858 * [backup-simplify]: Simplify phi2 into phi2
45.858 * [backup-simplify]: Simplify (* phi1 phi2) into (* phi1 phi2)
45.858 * [backup-simplify]: Simplify (* R (* phi1 phi2)) into (* phi1 (* R phi2))
45.858 * [backup-simplify]: Simplify (/ 1 (* phi1 (* R phi2))) into (/ 1 (* phi1 (* R phi2)))
45.858 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in lambda2
45.858 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in lambda2
45.858 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
45.858 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
45.858 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
45.858 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
45.858 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
45.858 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
45.858 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.858 * [backup-simplify]: Simplify 0.5 into 0.5
45.858 * [taylor]: Taking taylor expansion of phi2 in lambda2
45.858 * [backup-simplify]: Simplify phi2 into phi2
45.858 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
45.858 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
45.858 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
45.859 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
45.859 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
45.859 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
45.859 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
45.859 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
45.859 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
45.859 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.859 * [backup-simplify]: Simplify 0.5 into 0.5
45.859 * [taylor]: Taking taylor expansion of phi1 in lambda2
45.859 * [backup-simplify]: Simplify phi1 into phi1
45.859 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
45.859 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
45.859 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
45.859 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
45.859 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
45.859 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
45.859 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
45.859 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
45.859 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
45.859 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
45.859 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.863 * [backup-simplify]: Simplify 0.5 into 0.5
45.864 * [taylor]: Taking taylor expansion of phi2 in lambda2
45.864 * [backup-simplify]: Simplify phi2 into phi2
45.864 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
45.864 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
45.864 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
45.864 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
45.864 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
45.864 * [backup-simplify]: Simplify (- 0) into 0
45.864 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
45.864 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
45.864 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
45.864 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
45.864 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.865 * [backup-simplify]: Simplify 0.5 into 0.5
45.865 * [taylor]: Taking taylor expansion of phi1 in lambda2
45.865 * [backup-simplify]: Simplify phi1 into phi1
45.865 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
45.865 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
45.865 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
45.865 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
45.865 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
45.865 * [backup-simplify]: Simplify (- 0) into 0
45.865 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
45.865 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
45.865 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
45.865 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
45.865 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
45.866 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.866 * [backup-simplify]: Simplify 0.5 into 0.5
45.866 * [taylor]: Taking taylor expansion of phi2 in lambda2
45.866 * [backup-simplify]: Simplify phi2 into phi2
45.866 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
45.866 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
45.866 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
45.866 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
45.866 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
45.866 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
45.866 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.866 * [backup-simplify]: Simplify 0.5 into 0.5
45.866 * [taylor]: Taking taylor expansion of phi1 in lambda2
45.866 * [backup-simplify]: Simplify phi1 into phi1
45.866 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
45.866 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
45.866 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
45.866 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
45.866 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
45.866 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
45.866 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.866 * [backup-simplify]: Simplify 0.5 into 0.5
45.866 * [taylor]: Taking taylor expansion of phi2 in lambda2
45.866 * [backup-simplify]: Simplify phi2 into phi2
45.866 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
45.866 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
45.866 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
45.866 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
45.866 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
45.866 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.866 * [backup-simplify]: Simplify 0.5 into 0.5
45.866 * [taylor]: Taking taylor expansion of phi1 in lambda2
45.866 * [backup-simplify]: Simplify phi1 into phi1
45.866 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
45.866 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
45.866 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
45.866 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
45.867 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
45.867 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
45.867 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.867 * [backup-simplify]: Simplify 0.5 into 0.5
45.867 * [taylor]: Taking taylor expansion of phi2 in lambda2
45.867 * [backup-simplify]: Simplify phi2 into phi2
45.867 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
45.867 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
45.867 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
45.867 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
45.867 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
45.867 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
45.867 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.867 * [backup-simplify]: Simplify 0.5 into 0.5
45.867 * [taylor]: Taking taylor expansion of phi1 in lambda2
45.867 * [backup-simplify]: Simplify phi1 into phi1
45.867 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
45.867 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
45.867 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
45.867 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
45.867 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
45.867 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
45.867 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.867 * [backup-simplify]: Simplify 0.5 into 0.5
45.867 * [taylor]: Taking taylor expansion of phi2 in lambda2
45.867 * [backup-simplify]: Simplify phi2 into phi2
45.867 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
45.867 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
45.867 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
45.867 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
45.867 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
45.867 * [taylor]: Taking taylor expansion of 0.5 in lambda2
45.867 * [backup-simplify]: Simplify 0.5 into 0.5
45.867 * [taylor]: Taking taylor expansion of phi1 in lambda2
45.867 * [backup-simplify]: Simplify phi1 into phi1
45.867 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
45.867 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
45.867 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
45.868 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
45.868 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
45.868 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
45.868 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
45.868 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
45.868 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
45.869 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
45.869 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
45.869 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
45.869 * [backup-simplify]: Simplify (- 0) into 0
45.869 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
45.869 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
45.869 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
45.869 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
45.870 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
45.870 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
45.870 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
45.870 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
45.870 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
45.870 * [backup-simplify]: Simplify (- 0) into 0
45.870 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
45.870 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
45.870 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
45.870 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
45.871 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
45.871 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
45.871 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
45.871 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
45.871 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
45.871 * [backup-simplify]: Simplify (- 0) into 0
45.871 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
45.871 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
45.871 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
45.872 * [backup-simplify]: Simplify (- 0) into 0
45.872 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
45.872 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
45.872 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
45.872 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
45.872 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
45.872 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
45.872 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
45.873 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))
45.873 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
45.874 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
45.875 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
45.876 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
45.876 * [backup-simplify]: Simplify (+ 0) into 0
45.877 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
45.877 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
45.877 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.878 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
45.878 * [backup-simplify]: Simplify (+ 0 0) into 0
45.878 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
45.878 * [backup-simplify]: Simplify (+ 0) into 0
45.879 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
45.879 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
45.879 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.880 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
45.880 * [backup-simplify]: Simplify (+ 0 0) into 0
45.880 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
45.880 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
45.880 * [backup-simplify]: Simplify (+ 0) into 0
45.881 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
45.881 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
45.881 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.882 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
45.882 * [backup-simplify]: Simplify (- 0) into 0
45.882 * [backup-simplify]: Simplify (+ 0 0) into 0
45.882 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
45.882 * [backup-simplify]: Simplify (+ 0) into 0
45.883 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
45.883 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
45.883 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.884 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
45.884 * [backup-simplify]: Simplify (- 0) into 0
45.884 * [backup-simplify]: Simplify (+ 0 0) into 0
45.884 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
45.884 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
45.885 * [backup-simplify]: Simplify (+ 0 0) into 0
45.885 * [backup-simplify]: Simplify (+ 0) into 0
45.885 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
45.885 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
45.886 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.887 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
45.887 * [backup-simplify]: Simplify (- 0) into 0
45.887 * [backup-simplify]: Simplify (+ 0 0) into 0
45.888 * [backup-simplify]: Simplify (+ 0) into 0
45.888 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
45.888 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
45.889 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.890 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
45.890 * [backup-simplify]: Simplify (+ 0 0) into 0
45.890 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
45.891 * [backup-simplify]: Simplify (+ 0) into 0
45.891 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
45.891 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
45.892 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.892 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
45.893 * [backup-simplify]: Simplify (+ 0 0) into 0
45.893 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
45.894 * [backup-simplify]: Simplify (+ 0) into 0
45.894 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
45.894 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
45.895 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.895 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
45.896 * [backup-simplify]: Simplify (- 0) into 0
45.896 * [backup-simplify]: Simplify (+ 0 0) into 0
45.897 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
45.897 * [backup-simplify]: Simplify (+ 0) into 0
45.897 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
45.898 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
45.898 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.899 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
45.899 * [backup-simplify]: Simplify (+ 0 0) into 0
45.900 * [backup-simplify]: Simplify (+ 0) into 0
45.900 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
45.900 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
45.901 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.901 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
45.902 * [backup-simplify]: Simplify (- 0) into 0
45.902 * [backup-simplify]: Simplify (+ 0 0) into 0
45.902 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
45.902 * [backup-simplify]: Simplify (+ 0) into 0
45.903 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
45.903 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
45.903 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.904 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
45.904 * [backup-simplify]: Simplify (- 0) into 0
45.904 * [backup-simplify]: Simplify (+ 0 0) into 0
45.904 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
45.904 * [backup-simplify]: Simplify (+ 0) into 0
45.905 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
45.905 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
45.905 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.906 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
45.906 * [backup-simplify]: Simplify (+ 0 0) into 0
45.906 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
45.906 * [backup-simplify]: Simplify (+ 0 0) into 0
45.906 * [backup-simplify]: Simplify (- 0) into 0
45.907 * [backup-simplify]: Simplify (+ 0 0) into 0
45.909 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
45.910 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
45.911 * [backup-simplify]: Simplify (+ 0) into 0
45.911 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
45.911 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
45.912 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.912 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
45.912 * [backup-simplify]: Simplify (+ 0 0) into 0
45.912 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
45.912 * [backup-simplify]: Simplify (+ 0) into 0
45.913 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
45.913 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
45.913 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.914 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
45.914 * [backup-simplify]: Simplify (+ 0 0) into 0
45.914 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
45.914 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
45.915 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
45.915 * [backup-simplify]: Simplify (+ (* R 0) (* 0 1)) into 0
45.915 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) R) (/ 0 R)))) into 0
45.917 * [backup-simplify]: Simplify (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) R) 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
45.918 * [backup-simplify]: Simplify (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))
45.920 * [backup-simplify]: Simplify (+ (* 1/2 0) (* 0 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
45.920 * [backup-simplify]: Simplify (+ 0) into 0
45.920 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
45.920 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
45.921 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.921 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
45.921 * [backup-simplify]: Simplify (+ 0 0) into 0
45.922 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
45.922 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
45.922 * [backup-simplify]: Simplify (+ 0) into 0
45.922 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
45.922 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
45.923 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.923 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
45.923 * [backup-simplify]: Simplify (+ 0 0) into 0
45.924 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
45.924 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0
45.924 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 3) 0) (* 0 (pow (sin (/ 0.5 phi1)) 3))) into 0
45.924 * [backup-simplify]: Simplify (+ 0) into 0
45.925 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
45.925 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
45.925 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.926 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
45.926 * [backup-simplify]: Simplify (- 0) into 0
45.926 * [backup-simplify]: Simplify (+ 0 0) into 0
45.926 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (pow (sin (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)))) into 0
45.927 * [backup-simplify]: Simplify (+ 0) into 0
45.927 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
45.927 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
45.927 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.928 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
45.928 * [backup-simplify]: Simplify (- 0) into 0
45.928 * [backup-simplify]: Simplify (+ 0 0) into 0
45.929 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (pow (sin (/ 0.5 phi1)) 3) (* (pow (sin (/ 0.5 phi2)) 3) (cos (/ 0.5 phi1)))))) into 0
45.929 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
45.929 * [backup-simplify]: Simplify (+ (* R 0) (* 0 1)) into 0
45.930 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 3) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 3)))) R) (/ 0 R)))) into 0
45.932 * [backup-simplify]: Simplify (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 3) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 3)))) R) 0) (* 0 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
45.935 * [backup-simplify]: Simplify (* (/ (* (pow (sin (/ 0.5 phi2)) 3) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 3)))) R) (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))
45.939 * [backup-simplify]: Simplify (+ (* 3/2 0) (* 0 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
45.939 * [backup-simplify]: Simplify (+ 0) into 0
45.940 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
45.940 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
45.941 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.942 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
45.942 * [backup-simplify]: Simplify (+ 0 0) into 0
45.943 * [backup-simplify]: Simplify (+ 0) into 0
45.943 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
45.943 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
45.944 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.945 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
45.945 * [backup-simplify]: Simplify (- 0) into 0
45.946 * [backup-simplify]: Simplify (+ 0 0) into 0
45.946 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
45.946 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0
45.946 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 3) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
45.947 * [backup-simplify]: Simplify (+ 0) into 0
45.948 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
45.948 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
45.949 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.949 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
45.950 * [backup-simplify]: Simplify (- 0) into 0
45.950 * [backup-simplify]: Simplify (+ 0 0) into 0
45.950 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
45.951 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
45.951 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 3) 0) (* 0 (* (pow (cos (/ 0.5 phi2)) 3) (sin (/ 0.5 phi1))))) into 0
45.951 * [backup-simplify]: Simplify (+ 0) into 0
45.952 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
45.952 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
45.953 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.953 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
45.954 * [backup-simplify]: Simplify (+ 0 0) into 0
45.955 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (pow (cos (/ 0.5 phi2)) 3) (pow (cos (/ 0.5 phi1)) 3))))) into 0
45.955 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
45.956 * [backup-simplify]: Simplify (+ (* R 0) (* 0 1)) into 0
45.957 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 3) (* (pow (cos (/ 0.5 phi1)) 3) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (/ 0 R)))) into 0
45.961 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 3) (* (pow (cos (/ 0.5 phi1)) 3) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) 0) (* 0 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
45.966 * [backup-simplify]: Simplify (* (/ (* (pow (cos (/ 0.5 phi2)) 3) (* (pow (cos (/ 0.5 phi1)) 3) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into (* (/ (* (sin (/ 0.5 phi2)) (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (cos (/ 0.5 phi2)) 3) (sin (/ 0.5 phi1))))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))
45.972 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (/ (* (sin (/ 0.5 phi2)) (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (cos (/ 0.5 phi2)) 3) (sin (/ 0.5 phi1))))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
45.973 * [backup-simplify]: Simplify (+ 0) into 0
45.974 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
45.974 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
45.975 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.975 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
45.976 * [backup-simplify]: Simplify (+ 0 0) into 0
45.976 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
45.976 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
45.977 * [backup-simplify]: Simplify (+ 0) into 0
45.977 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
45.977 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
45.978 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.979 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
45.979 * [backup-simplify]: Simplify (- 0) into 0
45.980 * [backup-simplify]: Simplify (+ 0 0) into 0
45.980 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (pow (sin (/ 0.5 phi1)) 3))) into 0
45.982 * [backup-simplify]: Simplify (+ 0) into 0
45.982 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
45.982 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
45.983 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.984 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
45.984 * [backup-simplify]: Simplify (- 0) into 0
45.985 * [backup-simplify]: Simplify (+ 0 0) into 0
45.985 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 3)))) into 0
45.986 * [backup-simplify]: Simplify (+ 0) into 0
45.986 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
45.987 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
45.987 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
45.988 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
45.988 * [backup-simplify]: Simplify (+ 0 0) into 0
45.989 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
45.989 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0
45.990 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 3) 0) (* 0 (* (pow (sin (/ 0.5 phi1)) 3) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
45.990 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
45.991 * [backup-simplify]: Simplify (+ (* R 0) (* 0 1)) into 0
45.992 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)))) R) (/ 0 R)))) into 0
45.996 * [backup-simplify]: Simplify (+ (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)))) R) 0) (* 0 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
46.001 * [backup-simplify]: Simplify (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)))) R) (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into (* (/ (* (pow (sin (/ 0.5 phi2)) 3) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 3)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))
46.013 * [backup-simplify]: Simplify (+ (* 1/2 0) (* 0 (* (/ (* (pow (sin (/ 0.5 phi2)) 3) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 3)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
46.014 * [backup-simplify]: Simplify (+ 0) into 0
46.014 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
46.015 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
46.015 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
46.016 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
46.017 * [backup-simplify]: Simplify (- 0) into 0
46.017 * [backup-simplify]: Simplify (+ 0 0) into 0
46.017 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
46.018 * [backup-simplify]: Simplify (+ 0) into 0
46.018 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
46.018 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
46.019 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
46.019 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
46.020 * [backup-simplify]: Simplify (- 0) into 0
46.020 * [backup-simplify]: Simplify (+ 0 0) into 0
46.020 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
46.021 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
46.022 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
46.022 * [backup-simplify]: Simplify (+ (* R 0) (* 0 1)) into 0
46.023 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) R) (/ 0 R)))) into 0
46.025 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) R) 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
46.027 * [backup-simplify]: Simplify (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))
46.030 * [backup-simplify]: Simplify (+ (* 1/2 0) (* 0 (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
46.031 * [backup-simplify]: Simplify (+ 0 0) into 0
46.031 * [backup-simplify]: Simplify (+ 0 0) into 0
46.032 * [backup-simplify]: Simplify (+ 0 0) into 0
46.032 * [backup-simplify]: Simplify (+ 0 0) into 0
46.032 * [backup-simplify]: Simplify (+ 0 0) into 0
46.033 * [backup-simplify]: Simplify (+ 0 0) into 0
46.033 * [backup-simplify]: Simplify (+ 0) into 0
46.034 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
46.034 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
46.035 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
46.035 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
46.036 * [backup-simplify]: Simplify (+ 0 0) into 0
46.036 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
46.036 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
46.037 * [backup-simplify]: Simplify (+ 0) into 0
46.038 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
46.038 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
46.038 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
46.039 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
46.039 * [backup-simplify]: Simplify (+ 0 0) into 0
46.040 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
46.040 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0
46.040 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 4) 0) (* 0 (pow (sin (/ 0.5 phi1)) 4))) into 0
46.041 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
46.042 * [backup-simplify]: Simplify (+ (* R 0) (* 0 1)) into 0
46.042 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)) R) (/ 0 R)))) into 0
46.047 * [backup-simplify]: Simplify (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)) R) 0) (* 0 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
46.052 * [backup-simplify]: Simplify (* (/ (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)) R) (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into (* (/ (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))
46.057 * [backup-simplify]: Simplify (+ (* 1/2 0) (* 0 (* (/ (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
46.058 * [backup-simplify]: Simplify (+ 0) into 0
46.058 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
46.058 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
46.059 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
46.060 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
46.060 * [backup-simplify]: Simplify (+ 0 0) into 0
46.060 * [backup-simplify]: Simplify (+ 0) into 0
46.061 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
46.061 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
46.062 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
46.062 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
46.063 * [backup-simplify]: Simplify (- 0) into 0
46.063 * [backup-simplify]: Simplify (+ 0 0) into 0
46.063 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
46.064 * [backup-simplify]: Simplify (+ 0) into 0
46.064 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
46.064 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
46.065 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
46.066 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
46.066 * [backup-simplify]: Simplify (- 0) into 0
46.066 * [backup-simplify]: Simplify (+ 0 0) into 0
46.067 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
46.067 * [backup-simplify]: Simplify (+ 0) into 0
46.068 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
46.068 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
46.069 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
46.069 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
46.069 * [backup-simplify]: Simplify (+ 0 0) into 0
46.070 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
46.071 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
46.072 * [backup-simplify]: Simplify (+ (* R 0) (* 0 1)) into 0
46.073 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (/ 0 R)))) into 0
46.074 * [backup-simplify]: Simplify (+ (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
46.076 * [backup-simplify]: Simplify (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))
46.078 * [backup-simplify]: Simplify (+ (* 1/2 0) (* 0 (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
46.078 * [backup-simplify]: Simplify (+ 0) into 0
46.079 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
46.079 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
46.079 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
46.080 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
46.080 * [backup-simplify]: Simplify (+ 0 0) into 0
46.080 * [backup-simplify]: Simplify (+ 0) into 0
46.080 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
46.081 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
46.081 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
46.081 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
46.082 * [backup-simplify]: Simplify (+ 0 0) into 0
46.082 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
46.082 * [backup-simplify]: Simplify (+ 0) into 0
46.082 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
46.082 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
46.083 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
46.083 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
46.083 * [backup-simplify]: Simplify (- 0) into 0
46.084 * [backup-simplify]: Simplify (+ 0 0) into 0
46.084 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
46.084 * [backup-simplify]: Simplify (+ 0) into 0
46.084 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
46.084 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
46.085 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
46.085 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
46.085 * [backup-simplify]: Simplify (- 0) into 0
46.086 * [backup-simplify]: Simplify (+ 0 0) into 0
46.086 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
46.086 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
46.087 * [backup-simplify]: Simplify (+ (* R 0) (* 0 1)) into 0
46.087 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (/ 0 R)))) into 0
46.088 * [backup-simplify]: Simplify (+ (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
46.090 * [backup-simplify]: Simplify (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))
46.091 * [backup-simplify]: Simplify (+ (* 1/2 0) (* 0 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
46.092 * [backup-simplify]: Simplify (+ 0) into 0
46.092 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
46.092 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
46.093 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
46.093 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
46.093 * [backup-simplify]: Simplify (- 0) into 0
46.093 * [backup-simplify]: Simplify (+ 0 0) into 0
46.093 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
46.094 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
46.094 * [backup-simplify]: Simplify (+ 0) into 0
46.094 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
46.094 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
46.095 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
46.095 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
46.095 * [backup-simplify]: Simplify (- 0) into 0
46.096 * [backup-simplify]: Simplify (+ 0 0) into 0
46.096 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
46.096 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0
46.096 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 4) 0) (* 0 (pow (cos (/ 0.5 phi1)) 4))) into 0
46.097 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
46.097 * [backup-simplify]: Simplify (+ (* R 0) (* 0 1)) into 0
46.097 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi1)) 4)) R) (/ 0 R)))) into 0
46.099 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi1)) 4)) R) 0) (* 0 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
46.102 * [backup-simplify]: Simplify (* (/ (* (pow (cos (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi1)) 4)) R) (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into (* (/ (* (pow (cos (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi1)) 4)) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))
46.104 * [backup-simplify]: Simplify (+ (* 1/2 0) (* 0 (* (/ (* (pow (cos (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi1)) 4)) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
46.105 * [backup-simplify]: Simplify (+ 0) into 0
46.105 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
46.105 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
46.106 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
46.106 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
46.106 * [backup-simplify]: Simplify (+ 0 0) into 0
46.106 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
46.107 * [backup-simplify]: Simplify (+ 0) into 0
46.107 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
46.107 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
46.107 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
46.108 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
46.108 * [backup-simplify]: Simplify (- 0) into 0
46.108 * [backup-simplify]: Simplify (+ 0 0) into 0
46.108 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
46.109 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
46.109 * [backup-simplify]: Simplify (+ 0) into 0
46.109 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
46.109 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
46.110 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
46.110 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
46.110 * [backup-simplify]: Simplify (- 0) into 0
46.111 * [backup-simplify]: Simplify (+ 0 0) into 0
46.111 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
46.111 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) into 0
46.111 * [backup-simplify]: Simplify (+ 0) into 0
46.112 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
46.112 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
46.112 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
46.112 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
46.113 * [backup-simplify]: Simplify (+ 0 0) into 0
46.113 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
46.113 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))))) into 0
46.114 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
46.114 * [backup-simplify]: Simplify (+ (* R 0) (* 0 1)) into 0
46.114 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) R) (/ 0 R)))) into 0
46.117 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) R) 0) (* 0 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
46.119 * [backup-simplify]: Simplify (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) R) (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))
46.123 * [backup-simplify]: Simplify (+ (* 3 0) (* 0 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
46.123 * [backup-simplify]: Simplify (+ 0 0) into 0
46.123 * [backup-simplify]: Simplify (+ 0 0) into 0
46.123 * [backup-simplify]: Simplify (+ 0 0) into 0
46.124 * [backup-simplify]: Simplify (+ 0 0) into 0
46.124 * [backup-simplify]: Simplify (+ 0 0) into 0
46.124 * [backup-simplify]: Simplify (- 0) into 0
46.124 * [backup-simplify]: Simplify (+ 0 0) into 0
46.124 * [taylor]: Taking taylor expansion of 0 in phi1
46.124 * [backup-simplify]: Simplify 0 into 0
46.125 * [backup-simplify]: Simplify (+ 0) into 0
46.125 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
46.125 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
46.126 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
46.126 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
46.126 * [backup-simplify]: Simplify (+ 0 0) into 0
46.127 * [backup-simplify]: Simplify (+ 0) into 0
46.127 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
46.127 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
46.128 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
46.128 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
46.128 * [backup-simplify]: Simplify (- 0) into 0
46.128 * [backup-simplify]: Simplify (+ 0 0) into 0
46.128 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
46.129 * [backup-simplify]: Simplify (+ 0) into 0
46.129 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
46.129 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
46.134 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
46.134 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
46.135 * [backup-simplify]: Simplify (- 0) into 0
46.135 * [backup-simplify]: Simplify (+ 0 0) into 0
46.135 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
46.135 * [backup-simplify]: Simplify (+ 0) into 0
46.136 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
46.136 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
46.136 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
46.136 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
46.137 * [backup-simplify]: Simplify (+ 0 0) into 0
46.137 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
46.137 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 1) (* 0 0))) into 0
46.138 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (/ 0 R)))) into 0
46.139 * [backup-simplify]: Simplify (+ (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
46.139 * [backup-simplify]: Simplify (+ 0) into 0
46.140 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
46.140 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
46.140 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
46.140 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
46.141 * [backup-simplify]: Simplify (+ 0 0) into 0
46.141 * [backup-simplify]: Simplify (+ 0) into 0
46.141 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
46.141 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
46.142 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
46.142 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
46.142 * [backup-simplify]: Simplify (+ 0 0) into 0
46.142 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
46.143 * [backup-simplify]: Simplify (+ 0) into 0
46.143 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
46.143 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
46.143 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
46.144 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
46.144 * [backup-simplify]: Simplify (- 0) into 0
46.144 * [backup-simplify]: Simplify (+ 0 0) into 0
46.144 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
46.145 * [backup-simplify]: Simplify (+ 0) into 0
46.145 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
46.145 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
46.146 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
46.146 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
46.146 * [backup-simplify]: Simplify (- 0) into 0
46.146 * [backup-simplify]: Simplify (+ 0 0) into 0
46.146 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
46.147 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 1) (* 0 0))) into 0
46.147 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (/ 0 R)))) into 0
46.148 * [backup-simplify]: Simplify (+ (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
46.149 * [backup-simplify]: Simplify (+ 0 0) into 0
46.149 * [backup-simplify]: Simplify (+ 0) into 0
46.149 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
46.149 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
46.150 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
46.150 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
46.150 * [backup-simplify]: Simplify (+ 0 0) into 0
46.151 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
46.151 * [backup-simplify]: Simplify (+ 0) into 0
46.151 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
46.151 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
46.152 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
46.152 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
46.152 * [backup-simplify]: Simplify (+ 0 0) into 0
46.152 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
46.153 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
46.153 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 1) (* 0 0))) into 0
46.153 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) R) (/ 0 R)))) into 0
46.154 * [backup-simplify]: Simplify (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) R) 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
46.155 * [backup-simplify]: Simplify (+ 0) into 0
46.155 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
46.155 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
46.156 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
46.156 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
46.156 * [backup-simplify]: Simplify (- 0) into 0
46.156 * [backup-simplify]: Simplify (+ 0 0) into 0
46.157 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
46.157 * [backup-simplify]: Simplify (+ 0) into 0
46.157 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
46.157 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
46.158 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
46.158 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
46.158 * [backup-simplify]: Simplify (- 0) into 0
46.158 * [backup-simplify]: Simplify (+ 0 0) into 0
46.159 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
46.159 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
46.159 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 1) (* 0 0))) into 0
46.160 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) R) (/ 0 R)))) into 0
46.161 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) R) 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
46.161 * [backup-simplify]: Simplify (+ 0 0) into 0
46.161 * [backup-simplify]: Simplify (- 0) into 0
46.162 * [backup-simplify]: Simplify (+ 0 0) into 0
46.162 * [taylor]: Taking taylor expansion of 0 in phi1
46.162 * [backup-simplify]: Simplify 0 into 0
46.162 * [backup-simplify]: Simplify (- (+ (* (/ 1 R) (/ 0 R)))) into 0
46.163 * [backup-simplify]: Simplify (+ (* (sqrt (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) 0) (* 0 (/ 1 R))) into 0
46.163 * [taylor]: Taking taylor expansion of 0 in phi1
46.163 * [backup-simplify]: Simplify 0 into 0
46.164 * [backup-simplify]: Simplify (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))
46.166 * [backup-simplify]: Simplify (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))
46.168 * [backup-simplify]: Simplify (+ (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into (+ (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))
46.170 * [backup-simplify]: Simplify (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))
46.171 * [backup-simplify]: Simplify (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))
46.174 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))
46.176 * [backup-simplify]: Simplify (- (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into (- (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))
46.183 * [backup-simplify]: Simplify (+ (+ (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (- (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))) into (- (+ (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))
46.183 * [taylor]: Taking taylor expansion of (- (+ (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) in phi2
46.183 * [taylor]: Taking taylor expansion of (+ (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) in phi2
46.183 * [taylor]: Taking taylor expansion of (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) in phi2
46.183 * [taylor]: Taking taylor expansion of (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) in phi2
46.183 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in phi2
46.183 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
46.183 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
46.183 * [taylor]: Taking taylor expansion of 0.5 in phi2
46.183 * [backup-simplify]: Simplify 0.5 into 0.5
46.183 * [taylor]: Taking taylor expansion of phi2 in phi2
46.183 * [backup-simplify]: Simplify 0 into 0
46.183 * [backup-simplify]: Simplify 1 into 1
46.184 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
46.184 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
46.184 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in phi2
46.184 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
46.184 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
46.184 * [taylor]: Taking taylor expansion of 0.5 in phi2
46.184 * [backup-simplify]: Simplify 0.5 into 0.5
46.184 * [taylor]: Taking taylor expansion of phi1 in phi2
46.184 * [backup-simplify]: Simplify phi1 into phi1
46.184 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
46.184 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
46.184 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
46.184 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in phi2
46.184 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
46.184 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
46.184 * [taylor]: Taking taylor expansion of 0.5 in phi2
46.184 * [backup-simplify]: Simplify 0.5 into 0.5
46.184 * [taylor]: Taking taylor expansion of phi2 in phi2
46.184 * [backup-simplify]: Simplify 0 into 0
46.184 * [backup-simplify]: Simplify 1 into 1
46.184 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
46.184 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
46.184 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
46.184 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
46.184 * [taylor]: Taking taylor expansion of 0.5 in phi2
46.184 * [backup-simplify]: Simplify 0.5 into 0.5
46.184 * [taylor]: Taking taylor expansion of phi1 in phi2
46.184 * [backup-simplify]: Simplify phi1 into phi1
46.185 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
46.185 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
46.185 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
46.185 * [taylor]: Taking taylor expansion of R in phi2
46.185 * [backup-simplify]: Simplify R into R
46.185 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
46.185 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
46.185 * [backup-simplify]: Simplify (- 0) into 0
46.185 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
46.185 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
46.185 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
46.185 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
46.185 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
46.186 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
46.186 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
46.186 * [backup-simplify]: Simplify (/ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) R) into (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R)
46.186 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in phi2
46.186 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in phi2
46.186 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in phi2
46.186 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in phi2
46.186 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in phi2
46.186 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi2
46.186 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
46.186 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
46.186 * [taylor]: Taking taylor expansion of 0.5 in phi2
46.186 * [backup-simplify]: Simplify 0.5 into 0.5
46.186 * [taylor]: Taking taylor expansion of phi2 in phi2
46.186 * [backup-simplify]: Simplify 0 into 0
46.186 * [backup-simplify]: Simplify 1 into 1
46.186 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
46.187 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
46.187 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi2
46.187 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
46.187 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
46.187 * [taylor]: Taking taylor expansion of 0.5 in phi2
46.187 * [backup-simplify]: Simplify 0.5 into 0.5
46.187 * [taylor]: Taking taylor expansion of phi1 in phi2
46.187 * [backup-simplify]: Simplify phi1 into phi1
46.187 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
46.187 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
46.187 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
46.187 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
46.187 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
46.187 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
46.187 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in phi2
46.187 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi2
46.187 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
46.187 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
46.187 * [taylor]: Taking taylor expansion of 0.5 in phi2
46.187 * [backup-simplify]: Simplify 0.5 into 0.5
46.187 * [taylor]: Taking taylor expansion of phi2 in phi2
46.187 * [backup-simplify]: Simplify 0 into 0
46.187 * [backup-simplify]: Simplify 1 into 1
46.187 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
46.188 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
46.188 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi2
46.188 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
46.188 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
46.188 * [taylor]: Taking taylor expansion of 0.5 in phi2
46.188 * [backup-simplify]: Simplify 0.5 into 0.5
46.188 * [taylor]: Taking taylor expansion of phi1 in phi2
46.188 * [backup-simplify]: Simplify phi1 into phi1
46.188 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
46.188 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
46.188 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
46.188 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
46.188 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
46.188 * [backup-simplify]: Simplify (- 0) into 0
46.188 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
46.188 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in phi2
46.188 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in phi2
46.188 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
46.188 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
46.188 * [taylor]: Taking taylor expansion of 0.5 in phi2
46.188 * [backup-simplify]: Simplify 0.5 into 0.5
46.188 * [taylor]: Taking taylor expansion of phi2 in phi2
46.188 * [backup-simplify]: Simplify 0 into 0
46.188 * [backup-simplify]: Simplify 1 into 1
46.189 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
46.189 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
46.189 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in phi2
46.189 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
46.189 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
46.189 * [taylor]: Taking taylor expansion of 0.5 in phi2
46.189 * [backup-simplify]: Simplify 0.5 into 0.5
46.189 * [taylor]: Taking taylor expansion of phi1 in phi2
46.189 * [backup-simplify]: Simplify phi1 into phi1
46.189 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
46.189 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
46.189 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
46.189 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in phi2
46.189 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
46.189 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
46.189 * [taylor]: Taking taylor expansion of 0.5 in phi2
46.189 * [backup-simplify]: Simplify 0.5 into 0.5
46.189 * [taylor]: Taking taylor expansion of phi2 in phi2
46.189 * [backup-simplify]: Simplify 0 into 0
46.189 * [backup-simplify]: Simplify 1 into 1
46.189 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
46.190 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
46.190 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
46.190 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
46.190 * [taylor]: Taking taylor expansion of 0.5 in phi2
46.190 * [backup-simplify]: Simplify 0.5 into 0.5
46.190 * [taylor]: Taking taylor expansion of phi1 in phi2
46.190 * [backup-simplify]: Simplify phi1 into phi1
46.190 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
46.190 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
46.190 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
46.190 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in phi2
46.190 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
46.190 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
46.190 * [taylor]: Taking taylor expansion of 0.5 in phi2
46.190 * [backup-simplify]: Simplify 0.5 into 0.5
46.190 * [taylor]: Taking taylor expansion of phi2 in phi2
46.190 * [backup-simplify]: Simplify 0 into 0
46.190 * [backup-simplify]: Simplify 1 into 1
46.190 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
46.190 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
46.190 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in phi2
46.190 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
46.190 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
46.190 * [taylor]: Taking taylor expansion of 0.5 in phi2
46.190 * [backup-simplify]: Simplify 0.5 into 0.5
46.190 * [taylor]: Taking taylor expansion of phi1 in phi2
46.190 * [backup-simplify]: Simplify phi1 into phi1
46.190 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
46.190 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
46.191 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
46.191 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in phi2
46.191 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
46.191 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
46.191 * [taylor]: Taking taylor expansion of 0.5 in phi2
46.191 * [backup-simplify]: Simplify 0.5 into 0.5
46.191 * [taylor]: Taking taylor expansion of phi2 in phi2
46.191 * [backup-simplify]: Simplify 0 into 0
46.191 * [backup-simplify]: Simplify 1 into 1
46.191 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
46.191 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
46.191 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
46.191 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
46.191 * [taylor]: Taking taylor expansion of 0.5 in phi2
46.191 * [backup-simplify]: Simplify 0.5 into 0.5
46.191 * [taylor]: Taking taylor expansion of phi1 in phi2
46.191 * [backup-simplify]: Simplify phi1 into phi1
46.191 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
46.191 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
46.191 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
46.191 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
46.191 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
46.192 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
46.192 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
46.192 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
46.192 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
46.192 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
46.193 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
46.193 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
46.193 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
46.193 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
46.193 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
46.193 * [backup-simplify]: Simplify (- 0) into 0
46.193 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
46.193 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
46.193 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
46.194 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
46.194 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
46.194 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
46.194 * [backup-simplify]: Simplify (- 0) into 0
46.194 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
46.194 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
46.194 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
46.194 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
46.194 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
46.195 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
46.195 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
46.195 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))
46.196 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
46.197 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
46.198 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
46.199 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
46.199 * [backup-simplify]: Simplify (+ 0) into 0
46.199 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
46.199 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
46.200 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
46.200 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
46.200 * [backup-simplify]: Simplify (+ 0 0) into 0
46.201 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
46.201 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
46.201 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
46.201 * [backup-simplify]: Simplify (+ 0) into 0
46.202 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
46.202 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
46.202 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
46.202 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
46.203 * [backup-simplify]: Simplify (- 0) into 0
46.203 * [backup-simplify]: Simplify (+ 0 0) into 0
46.203 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
46.203 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
46.203 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
46.203 * [backup-simplify]: Simplify (+ 0 0) into 0
46.204 * [backup-simplify]: Simplify (+ 0) into 0
46.204 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
46.204 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
46.205 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
46.205 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
46.205 * [backup-simplify]: Simplify (- 0) into 0
46.205 * [backup-simplify]: Simplify (+ 0 0) into 0
46.205 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
46.206 * [backup-simplify]: Simplify (+ 0) into 0
46.206 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
46.206 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
46.207 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
46.207 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
46.207 * [backup-simplify]: Simplify (+ 0 0) into 0
46.207 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
46.207 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
46.208 * [backup-simplify]: Simplify (+ 0) into 0
46.208 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
46.208 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
46.209 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
46.209 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
46.209 * [backup-simplify]: Simplify (+ 0 0) into 0
46.209 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
46.210 * [backup-simplify]: Simplify (+ 0) into 0
46.210 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
46.210 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
46.211 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
46.211 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
46.212 * [backup-simplify]: Simplify (- 0) into 0
46.212 * [backup-simplify]: Simplify (+ 0 0) into 0
46.212 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
46.213 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
46.213 * [backup-simplify]: Simplify (+ 0 0) into 0
46.214 * [backup-simplify]: Simplify (- 0) into 0
46.214 * [backup-simplify]: Simplify (+ 0 0) into 0
46.218 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
46.220 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
46.220 * [taylor]: Taking taylor expansion of (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) in phi2
46.220 * [taylor]: Taking taylor expansion of (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) in phi2
46.220 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in phi2
46.220 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
46.220 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
46.220 * [taylor]: Taking taylor expansion of 0.5 in phi2
46.220 * [backup-simplify]: Simplify 0.5 into 0.5
46.220 * [taylor]: Taking taylor expansion of phi2 in phi2
46.220 * [backup-simplify]: Simplify 0 into 0
46.220 * [backup-simplify]: Simplify 1 into 1
46.221 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
46.221 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
46.221 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in phi2
46.221 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
46.221 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
46.221 * [taylor]: Taking taylor expansion of 0.5 in phi2
46.221 * [backup-simplify]: Simplify 0.5 into 0.5
46.221 * [taylor]: Taking taylor expansion of phi1 in phi2
46.221 * [backup-simplify]: Simplify phi1 into phi1
46.221 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
46.222 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
46.222 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
46.222 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in phi2
46.222 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
46.222 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
46.222 * [taylor]: Taking taylor expansion of 0.5 in phi2
46.222 * [backup-simplify]: Simplify 0.5 into 0.5
46.222 * [taylor]: Taking taylor expansion of phi2 in phi2
46.222 * [backup-simplify]: Simplify 0 into 0
46.222 * [backup-simplify]: Simplify 1 into 1
46.222 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
46.222 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
46.222 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
46.222 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
46.223 * [taylor]: Taking taylor expansion of 0.5 in phi2
46.223 * [backup-simplify]: Simplify 0.5 into 0.5
46.223 * [taylor]: Taking taylor expansion of phi1 in phi2
46.223 * [backup-simplify]: Simplify phi1 into phi1
46.223 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
46.223 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
46.223 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
46.223 * [taylor]: Taking taylor expansion of R in phi2
46.223 * [backup-simplify]: Simplify R into R
46.223 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
46.223 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
46.223 * [backup-simplify]: Simplify (- 0) into 0
46.224 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
46.224 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
46.224 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
46.224 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
46.224 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
46.224 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
46.225 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
46.225 * [backup-simplify]: Simplify (/ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) R) into (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R)
46.225 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in phi2
46.225 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in phi2
46.225 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in phi2
46.225 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in phi2
46.225 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in phi2
46.225 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi2
46.225 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
46.225 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
46.225 * [taylor]: Taking taylor expansion of 0.5 in phi2
46.225 * [backup-simplify]: Simplify 0.5 into 0.5
46.226 * [taylor]: Taking taylor expansion of phi2 in phi2
46.226 * [backup-simplify]: Simplify 0 into 0
46.226 * [backup-simplify]: Simplify 1 into 1
46.226 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
46.226 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
46.226 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi2
46.226 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
46.226 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
46.226 * [taylor]: Taking taylor expansion of 0.5 in phi2
46.226 * [backup-simplify]: Simplify 0.5 into 0.5
46.226 * [taylor]: Taking taylor expansion of phi1 in phi2
46.226 * [backup-simplify]: Simplify phi1 into phi1
46.226 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
46.226 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
46.227 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
46.227 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
46.227 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
46.227 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
46.227 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in phi2
46.227 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi2
46.227 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
46.227 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
46.227 * [taylor]: Taking taylor expansion of 0.5 in phi2
46.227 * [backup-simplify]: Simplify 0.5 into 0.5
46.227 * [taylor]: Taking taylor expansion of phi2 in phi2
46.227 * [backup-simplify]: Simplify 0 into 0
46.227 * [backup-simplify]: Simplify 1 into 1
46.228 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
46.228 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
46.228 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi2
46.228 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
46.228 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
46.228 * [taylor]: Taking taylor expansion of 0.5 in phi2
46.228 * [backup-simplify]: Simplify 0.5 into 0.5
46.228 * [taylor]: Taking taylor expansion of phi1 in phi2
46.228 * [backup-simplify]: Simplify phi1 into phi1
46.228 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
46.228 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
46.229 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
46.229 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
46.229 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
46.229 * [backup-simplify]: Simplify (- 0) into 0
46.229 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
46.229 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in phi2
46.229 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in phi2
46.229 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
46.229 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
46.229 * [taylor]: Taking taylor expansion of 0.5 in phi2
46.229 * [backup-simplify]: Simplify 0.5 into 0.5
46.230 * [taylor]: Taking taylor expansion of phi2 in phi2
46.230 * [backup-simplify]: Simplify 0 into 0
46.230 * [backup-simplify]: Simplify 1 into 1
46.230 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
46.230 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
46.230 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in phi2
46.230 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
46.230 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
46.230 * [taylor]: Taking taylor expansion of 0.5 in phi2
46.230 * [backup-simplify]: Simplify 0.5 into 0.5
46.230 * [taylor]: Taking taylor expansion of phi1 in phi2
46.230 * [backup-simplify]: Simplify phi1 into phi1
46.230 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
46.230 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
46.231 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
46.231 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in phi2
46.231 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
46.231 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
46.231 * [taylor]: Taking taylor expansion of 0.5 in phi2
46.231 * [backup-simplify]: Simplify 0.5 into 0.5
46.231 * [taylor]: Taking taylor expansion of phi2 in phi2
46.231 * [backup-simplify]: Simplify 0 into 0
46.231 * [backup-simplify]: Simplify 1 into 1
46.231 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
46.231 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
46.231 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
46.231 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
46.231 * [taylor]: Taking taylor expansion of 0.5 in phi2
46.232 * [backup-simplify]: Simplify 0.5 into 0.5
46.232 * [taylor]: Taking taylor expansion of phi1 in phi2
46.232 * [backup-simplify]: Simplify phi1 into phi1
46.232 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
46.232 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
46.232 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
46.232 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in phi2
46.232 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
46.232 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
46.232 * [taylor]: Taking taylor expansion of 0.5 in phi2
46.232 * [backup-simplify]: Simplify 0.5 into 0.5
46.232 * [taylor]: Taking taylor expansion of phi2 in phi2
46.232 * [backup-simplify]: Simplify 0 into 0
46.232 * [backup-simplify]: Simplify 1 into 1
46.233 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
46.233 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
46.233 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in phi2
46.233 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
46.233 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
46.233 * [taylor]: Taking taylor expansion of 0.5 in phi2
46.233 * [backup-simplify]: Simplify 0.5 into 0.5
46.233 * [taylor]: Taking taylor expansion of phi1 in phi2
46.233 * [backup-simplify]: Simplify phi1 into phi1
46.233 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
46.233 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
46.233 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
46.233 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in phi2
46.233 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
46.233 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
46.233 * [taylor]: Taking taylor expansion of 0.5 in phi2
46.233 * [backup-simplify]: Simplify 0.5 into 0.5
46.233 * [taylor]: Taking taylor expansion of phi2 in phi2
46.233 * [backup-simplify]: Simplify 0 into 0
46.233 * [backup-simplify]: Simplify 1 into 1
46.234 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
46.234 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
46.234 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
46.234 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
46.234 * [taylor]: Taking taylor expansion of 0.5 in phi2
46.234 * [backup-simplify]: Simplify 0.5 into 0.5
46.234 * [taylor]: Taking taylor expansion of phi1 in phi2
46.234 * [backup-simplify]: Simplify phi1 into phi1
46.234 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
46.234 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
46.234 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
46.235 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
46.235 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
46.235 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
46.235 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
46.236 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
46.236 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
46.237 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
46.237 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
46.237 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
46.237 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
46.237 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
46.238 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
46.238 * [backup-simplify]: Simplify (- 0) into 0
46.238 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
46.238 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
46.239 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
46.239 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
46.239 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
46.239 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
46.239 * [backup-simplify]: Simplify (- 0) into 0
46.240 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
46.240 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
46.240 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
46.240 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
46.240 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
46.240 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
46.241 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
46.241 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))
46.242 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
46.243 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
46.244 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
46.245 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
46.245 * [backup-simplify]: Simplify (+ 0) into 0
46.246 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
46.246 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
46.246 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
46.251 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
46.251 * [backup-simplify]: Simplify (+ 0 0) into 0
46.251 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
46.251 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
46.252 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
46.252 * [backup-simplify]: Simplify (+ 0) into 0
46.252 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
46.252 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
46.253 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
46.253 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
46.253 * [backup-simplify]: Simplify (- 0) into 0
46.254 * [backup-simplify]: Simplify (+ 0 0) into 0
46.254 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
46.254 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
46.254 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
46.254 * [backup-simplify]: Simplify (+ 0 0) into 0
46.255 * [backup-simplify]: Simplify (+ 0) into 0
46.255 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
46.255 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
46.255 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
46.256 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
46.256 * [backup-simplify]: Simplify (- 0) into 0
46.256 * [backup-simplify]: Simplify (+ 0 0) into 0
46.256 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
46.257 * [backup-simplify]: Simplify (+ 0) into 0
46.257 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
46.257 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
46.258 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
46.258 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
46.258 * [backup-simplify]: Simplify (+ 0 0) into 0
46.258 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
46.258 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
46.259 * [backup-simplify]: Simplify (+ 0) into 0
46.259 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
46.259 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
46.260 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
46.260 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
46.260 * [backup-simplify]: Simplify (+ 0 0) into 0
46.260 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
46.260 * [backup-simplify]: Simplify (+ 0) into 0
46.261 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
46.261 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
46.261 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
46.262 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
46.262 * [backup-simplify]: Simplify (- 0) into 0
46.262 * [backup-simplify]: Simplify (+ 0 0) into 0
46.262 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
46.262 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
46.263 * [backup-simplify]: Simplify (+ 0 0) into 0
46.263 * [backup-simplify]: Simplify (- 0) into 0
46.263 * [backup-simplify]: Simplify (+ 0 0) into 0
46.265 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
46.266 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
46.267 * [taylor]: Taking taylor expansion of (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) in phi2
46.267 * [taylor]: Taking taylor expansion of (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) in phi2
46.267 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) R) in phi2
46.267 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in phi2
46.267 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi2
46.267 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
46.267 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
46.267 * [taylor]: Taking taylor expansion of 0.5 in phi2
46.267 * [backup-simplify]: Simplify 0.5 into 0.5
46.267 * [taylor]: Taking taylor expansion of phi2 in phi2
46.267 * [backup-simplify]: Simplify 0 into 0
46.267 * [backup-simplify]: Simplify 1 into 1
46.267 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
46.267 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
46.267 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi2
46.267 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
46.267 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
46.267 * [taylor]: Taking taylor expansion of 0.5 in phi2
46.267 * [backup-simplify]: Simplify 0.5 into 0.5
46.267 * [taylor]: Taking taylor expansion of phi1 in phi2
46.268 * [backup-simplify]: Simplify phi1 into phi1
46.268 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
46.268 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
46.268 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
46.268 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
46.268 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
46.268 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
46.268 * [taylor]: Taking taylor expansion of R in phi2
46.268 * [backup-simplify]: Simplify R into R
46.268 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
46.268 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
46.268 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
46.269 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) R) into (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) R)
46.269 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in phi2
46.269 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in phi2
46.269 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in phi2
46.269 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in phi2
46.269 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in phi2
46.269 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi2
46.269 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
46.269 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
46.269 * [taylor]: Taking taylor expansion of 0.5 in phi2
46.269 * [backup-simplify]: Simplify 0.5 into 0.5
46.269 * [taylor]: Taking taylor expansion of phi2 in phi2
46.269 * [backup-simplify]: Simplify 0 into 0
46.269 * [backup-simplify]: Simplify 1 into 1
46.269 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
46.270 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
46.270 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi2
46.270 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
46.270 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
46.270 * [taylor]: Taking taylor expansion of 0.5 in phi2
46.270 * [backup-simplify]: Simplify 0.5 into 0.5
46.270 * [taylor]: Taking taylor expansion of phi1 in phi2
46.270 * [backup-simplify]: Simplify phi1 into phi1
46.270 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
46.270 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
46.270 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
46.270 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
46.270 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
46.270 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
46.270 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in phi2
46.270 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi2
46.270 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
46.270 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
46.270 * [taylor]: Taking taylor expansion of 0.5 in phi2
46.270 * [backup-simplify]: Simplify 0.5 into 0.5
46.270 * [taylor]: Taking taylor expansion of phi2 in phi2
46.270 * [backup-simplify]: Simplify 0 into 0
46.270 * [backup-simplify]: Simplify 1 into 1
46.270 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
46.271 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
46.271 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi2
46.271 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
46.271 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
46.271 * [taylor]: Taking taylor expansion of 0.5 in phi2
46.271 * [backup-simplify]: Simplify 0.5 into 0.5
46.271 * [taylor]: Taking taylor expansion of phi1 in phi2
46.271 * [backup-simplify]: Simplify phi1 into phi1
46.271 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
46.271 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
46.271 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
46.271 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
46.271 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
46.271 * [backup-simplify]: Simplify (- 0) into 0
46.271 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
46.271 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in phi2
46.271 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in phi2
46.271 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
46.271 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
46.271 * [taylor]: Taking taylor expansion of 0.5 in phi2
46.271 * [backup-simplify]: Simplify 0.5 into 0.5
46.271 * [taylor]: Taking taylor expansion of phi2 in phi2
46.271 * [backup-simplify]: Simplify 0 into 0
46.271 * [backup-simplify]: Simplify 1 into 1
46.272 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
46.272 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
46.272 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in phi2
46.272 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
46.272 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
46.272 * [taylor]: Taking taylor expansion of 0.5 in phi2
46.272 * [backup-simplify]: Simplify 0.5 into 0.5
46.272 * [taylor]: Taking taylor expansion of phi1 in phi2
46.272 * [backup-simplify]: Simplify phi1 into phi1
46.272 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
46.272 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
46.272 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
46.272 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in phi2
46.272 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
46.272 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
46.272 * [taylor]: Taking taylor expansion of 0.5 in phi2
46.272 * [backup-simplify]: Simplify 0.5 into 0.5
46.272 * [taylor]: Taking taylor expansion of phi2 in phi2
46.272 * [backup-simplify]: Simplify 0 into 0
46.272 * [backup-simplify]: Simplify 1 into 1
46.272 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
46.273 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
46.273 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
46.273 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
46.273 * [taylor]: Taking taylor expansion of 0.5 in phi2
46.273 * [backup-simplify]: Simplify 0.5 into 0.5
46.273 * [taylor]: Taking taylor expansion of phi1 in phi2
46.273 * [backup-simplify]: Simplify phi1 into phi1
46.273 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
46.273 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
46.273 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
46.273 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in phi2
46.273 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
46.273 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
46.273 * [taylor]: Taking taylor expansion of 0.5 in phi2
46.273 * [backup-simplify]: Simplify 0.5 into 0.5
46.273 * [taylor]: Taking taylor expansion of phi2 in phi2
46.273 * [backup-simplify]: Simplify 0 into 0
46.273 * [backup-simplify]: Simplify 1 into 1
46.273 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
46.273 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
46.273 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in phi2
46.273 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
46.273 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
46.273 * [taylor]: Taking taylor expansion of 0.5 in phi2
46.273 * [backup-simplify]: Simplify 0.5 into 0.5
46.273 * [taylor]: Taking taylor expansion of phi1 in phi2
46.273 * [backup-simplify]: Simplify phi1 into phi1
46.273 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
46.273 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
46.274 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
46.274 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in phi2
46.274 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
46.274 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
46.274 * [taylor]: Taking taylor expansion of 0.5 in phi2
46.274 * [backup-simplify]: Simplify 0.5 into 0.5
46.274 * [taylor]: Taking taylor expansion of phi2 in phi2
46.274 * [backup-simplify]: Simplify 0 into 0
46.274 * [backup-simplify]: Simplify 1 into 1
46.274 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
46.274 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
46.274 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
46.274 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
46.274 * [taylor]: Taking taylor expansion of 0.5 in phi2
46.274 * [backup-simplify]: Simplify 0.5 into 0.5
46.274 * [taylor]: Taking taylor expansion of phi1 in phi2
46.274 * [backup-simplify]: Simplify phi1 into phi1
46.274 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
46.274 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
46.274 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
46.274 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
46.274 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
46.275 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
46.275 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
46.275 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
46.275 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
46.276 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
46.276 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
46.276 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
46.276 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
46.276 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
46.276 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
46.276 * [backup-simplify]: Simplify (- 0) into 0
46.276 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
46.276 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
46.276 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
46.277 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
46.277 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
46.277 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
46.277 * [backup-simplify]: Simplify (- 0) into 0
46.277 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
46.277 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
46.277 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
46.278 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
46.278 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
46.278 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
46.278 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
46.278 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))
46.279 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
46.280 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
46.281 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
46.282 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
46.283 * [backup-simplify]: Simplify (+ 0) into 0
46.283 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
46.284 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
46.284 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
46.285 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
46.285 * [backup-simplify]: Simplify (+ 0 0) into 0
46.286 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
46.286 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
46.286 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
46.287 * [backup-simplify]: Simplify (+ 0) into 0
46.287 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
46.287 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
46.288 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
46.289 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
46.289 * [backup-simplify]: Simplify (- 0) into 0
46.289 * [backup-simplify]: Simplify (+ 0 0) into 0
46.290 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
46.290 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
46.290 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
46.290 * [backup-simplify]: Simplify (+ 0 0) into 0
46.291 * [backup-simplify]: Simplify (+ 0) into 0
46.291 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
46.292 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
46.292 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
46.293 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
46.293 * [backup-simplify]: Simplify (- 0) into 0
46.294 * [backup-simplify]: Simplify (+ 0 0) into 0
46.294 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
46.294 * [backup-simplify]: Simplify (+ 0) into 0
46.295 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
46.295 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
46.296 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
46.296 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
46.297 * [backup-simplify]: Simplify (+ 0 0) into 0
46.297 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
46.297 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
46.298 * [backup-simplify]: Simplify (+ 0) into 0
46.299 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
46.299 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
46.300 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
46.300 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
46.303 * [backup-simplify]: Simplify (+ 0 0) into 0
46.303 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
46.303 * [backup-simplify]: Simplify (+ 0) into 0
46.304 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
46.304 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
46.305 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
46.305 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
46.306 * [backup-simplify]: Simplify (- 0) into 0
46.306 * [backup-simplify]: Simplify (+ 0 0) into 0
46.307 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
46.307 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
46.307 * [backup-simplify]: Simplify (+ 0 0) into 0
46.308 * [backup-simplify]: Simplify (- 0) into 0
46.308 * [backup-simplify]: Simplify (+ 0 0) into 0
46.313 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
46.315 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
46.315 * [taylor]: Taking taylor expansion of (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) in phi2
46.315 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) R) in phi2
46.315 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in phi2
46.315 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi2
46.315 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
46.315 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
46.315 * [taylor]: Taking taylor expansion of 0.5 in phi2
46.315 * [backup-simplify]: Simplify 0.5 into 0.5
46.315 * [taylor]: Taking taylor expansion of phi2 in phi2
46.315 * [backup-simplify]: Simplify 0 into 0
46.315 * [backup-simplify]: Simplify 1 into 1
46.316 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
46.316 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
46.316 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi2
46.316 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
46.316 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
46.316 * [taylor]: Taking taylor expansion of 0.5 in phi2
46.316 * [backup-simplify]: Simplify 0.5 into 0.5
46.316 * [taylor]: Taking taylor expansion of phi1 in phi2
46.316 * [backup-simplify]: Simplify phi1 into phi1
46.316 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
46.316 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
46.316 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
46.316 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
46.317 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
46.317 * [backup-simplify]: Simplify (- 0) into 0
46.317 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
46.317 * [taylor]: Taking taylor expansion of R in phi2
46.317 * [backup-simplify]: Simplify R into R
46.317 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
46.318 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
46.318 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
46.318 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) R) into (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) R)
46.318 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in phi2
46.318 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in phi2
46.318 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in phi2
46.319 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in phi2
46.319 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in phi2
46.319 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi2
46.319 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
46.319 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
46.319 * [taylor]: Taking taylor expansion of 0.5 in phi2
46.319 * [backup-simplify]: Simplify 0.5 into 0.5
46.319 * [taylor]: Taking taylor expansion of phi2 in phi2
46.319 * [backup-simplify]: Simplify 0 into 0
46.319 * [backup-simplify]: Simplify 1 into 1
46.319 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
46.319 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
46.319 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi2
46.320 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
46.320 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
46.320 * [taylor]: Taking taylor expansion of 0.5 in phi2
46.320 * [backup-simplify]: Simplify 0.5 into 0.5
46.320 * [taylor]: Taking taylor expansion of phi1 in phi2
46.320 * [backup-simplify]: Simplify phi1 into phi1
46.320 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
46.320 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
46.320 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
46.320 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
46.320 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
46.320 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
46.320 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in phi2
46.320 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi2
46.320 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
46.320 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
46.320 * [taylor]: Taking taylor expansion of 0.5 in phi2
46.320 * [backup-simplify]: Simplify 0.5 into 0.5
46.321 * [taylor]: Taking taylor expansion of phi2 in phi2
46.321 * [backup-simplify]: Simplify 0 into 0
46.321 * [backup-simplify]: Simplify 1 into 1
46.321 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
46.321 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
46.321 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi2
46.321 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
46.321 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
46.321 * [taylor]: Taking taylor expansion of 0.5 in phi2
46.321 * [backup-simplify]: Simplify 0.5 into 0.5
46.321 * [taylor]: Taking taylor expansion of phi1 in phi2
46.321 * [backup-simplify]: Simplify phi1 into phi1
46.322 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
46.322 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
46.322 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
46.322 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
46.322 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
46.322 * [backup-simplify]: Simplify (- 0) into 0
46.323 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
46.323 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in phi2
46.323 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in phi2
46.323 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
46.323 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
46.323 * [taylor]: Taking taylor expansion of 0.5 in phi2
46.323 * [backup-simplify]: Simplify 0.5 into 0.5
46.323 * [taylor]: Taking taylor expansion of phi2 in phi2
46.323 * [backup-simplify]: Simplify 0 into 0
46.323 * [backup-simplify]: Simplify 1 into 1
46.323 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
46.323 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
46.323 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in phi2
46.323 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
46.323 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
46.324 * [taylor]: Taking taylor expansion of 0.5 in phi2
46.324 * [backup-simplify]: Simplify 0.5 into 0.5
46.324 * [taylor]: Taking taylor expansion of phi1 in phi2
46.324 * [backup-simplify]: Simplify phi1 into phi1
46.324 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
46.324 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
46.324 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
46.324 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in phi2
46.324 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
46.324 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
46.324 * [taylor]: Taking taylor expansion of 0.5 in phi2
46.324 * [backup-simplify]: Simplify 0.5 into 0.5
46.324 * [taylor]: Taking taylor expansion of phi2 in phi2
46.324 * [backup-simplify]: Simplify 0 into 0
46.324 * [backup-simplify]: Simplify 1 into 1
46.325 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
46.325 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
46.325 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
46.325 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
46.325 * [taylor]: Taking taylor expansion of 0.5 in phi2
46.325 * [backup-simplify]: Simplify 0.5 into 0.5
46.325 * [taylor]: Taking taylor expansion of phi1 in phi2
46.325 * [backup-simplify]: Simplify phi1 into phi1
46.325 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
46.325 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
46.325 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
46.325 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in phi2
46.325 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
46.325 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
46.325 * [taylor]: Taking taylor expansion of 0.5 in phi2
46.325 * [backup-simplify]: Simplify 0.5 into 0.5
46.325 * [taylor]: Taking taylor expansion of phi2 in phi2
46.325 * [backup-simplify]: Simplify 0 into 0
46.325 * [backup-simplify]: Simplify 1 into 1
46.326 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
46.326 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
46.326 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in phi2
46.326 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
46.326 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
46.326 * [taylor]: Taking taylor expansion of 0.5 in phi2
46.326 * [backup-simplify]: Simplify 0.5 into 0.5
46.326 * [taylor]: Taking taylor expansion of phi1 in phi2
46.326 * [backup-simplify]: Simplify phi1 into phi1
46.326 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
46.326 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
46.326 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
46.326 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in phi2
46.326 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
46.326 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
46.326 * [taylor]: Taking taylor expansion of 0.5 in phi2
46.326 * [backup-simplify]: Simplify 0.5 into 0.5
46.327 * [taylor]: Taking taylor expansion of phi2 in phi2
46.327 * [backup-simplify]: Simplify 0 into 0
46.327 * [backup-simplify]: Simplify 1 into 1
46.327 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
46.327 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
46.327 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
46.327 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
46.327 * [taylor]: Taking taylor expansion of 0.5 in phi2
46.327 * [backup-simplify]: Simplify 0.5 into 0.5
46.327 * [taylor]: Taking taylor expansion of phi1 in phi2
46.327 * [backup-simplify]: Simplify phi1 into phi1
46.327 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
46.327 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
46.327 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
46.328 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
46.328 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
46.328 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
46.329 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
46.329 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
46.329 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
46.330 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
46.330 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
46.330 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
46.330 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
46.330 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
46.331 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
46.331 * [backup-simplify]: Simplify (- 0) into 0
46.331 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
46.331 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
46.332 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
46.332 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
46.332 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
46.332 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
46.333 * [backup-simplify]: Simplify (- 0) into 0
46.333 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
46.333 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
46.333 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
46.333 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
46.333 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
46.334 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
46.334 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
46.335 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))
46.336 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
46.338 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
46.340 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
46.343 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
46.343 * [backup-simplify]: Simplify (+ 0) into 0
46.344 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
46.344 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
46.345 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
46.346 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
46.346 * [backup-simplify]: Simplify (+ 0 0) into 0
46.346 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
46.346 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
46.347 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
46.347 * [backup-simplify]: Simplify (+ 0) into 0
46.348 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
46.348 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
46.349 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
46.349 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
46.350 * [backup-simplify]: Simplify (- 0) into 0
46.350 * [backup-simplify]: Simplify (+ 0 0) into 0
46.350 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
46.350 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
46.351 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
46.351 * [backup-simplify]: Simplify (+ 0 0) into 0
46.351 * [backup-simplify]: Simplify (+ 0) into 0
46.352 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
46.352 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
46.353 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
46.353 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
46.354 * [backup-simplify]: Simplify (- 0) into 0
46.354 * [backup-simplify]: Simplify (+ 0 0) into 0
46.354 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
46.354 * [backup-simplify]: Simplify (+ 0) into 0
46.355 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
46.355 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
46.356 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
46.356 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
46.357 * [backup-simplify]: Simplify (+ 0 0) into 0
46.357 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
46.357 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
46.358 * [backup-simplify]: Simplify (+ 0) into 0
46.358 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
46.358 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
46.359 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
46.360 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
46.360 * [backup-simplify]: Simplify (+ 0 0) into 0
46.360 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
46.361 * [backup-simplify]: Simplify (+ 0) into 0
46.361 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
46.361 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
46.362 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
46.363 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
46.363 * [backup-simplify]: Simplify (- 0) into 0
46.363 * [backup-simplify]: Simplify (+ 0 0) into 0
46.364 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
46.364 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
46.364 * [backup-simplify]: Simplify (+ 0 0) into 0
46.365 * [backup-simplify]: Simplify (- 0) into 0
46.365 * [backup-simplify]: Simplify (+ 0 0) into 0
46.369 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
46.371 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
46.374 * [backup-simplify]: Simplify (* (sqrt (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 1 R)) into (* (sqrt (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 1 R))
46.374 * [taylor]: Taking taylor expansion of (* (sqrt (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 1 R)) in phi2
46.374 * [taylor]: Taking taylor expansion of (sqrt (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in phi2
46.374 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in phi2
46.374 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in phi2
46.374 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in phi2
46.374 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi2
46.374 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
46.374 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
46.374 * [taylor]: Taking taylor expansion of 0.5 in phi2
46.374 * [backup-simplify]: Simplify 0.5 into 0.5
46.374 * [taylor]: Taking taylor expansion of phi2 in phi2
46.374 * [backup-simplify]: Simplify 0 into 0
46.374 * [backup-simplify]: Simplify 1 into 1
46.375 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
46.375 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
46.375 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi2
46.375 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
46.375 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
46.375 * [taylor]: Taking taylor expansion of 0.5 in phi2
46.375 * [backup-simplify]: Simplify 0.5 into 0.5
46.375 * [taylor]: Taking taylor expansion of phi1 in phi2
46.375 * [backup-simplify]: Simplify phi1 into phi1
46.375 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
46.375 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
46.375 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
46.376 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
46.376 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
46.376 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
46.376 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in phi2
46.376 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi2
46.376 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
46.376 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
46.376 * [taylor]: Taking taylor expansion of 0.5 in phi2
46.376 * [backup-simplify]: Simplify 0.5 into 0.5
46.376 * [taylor]: Taking taylor expansion of phi2 in phi2
46.376 * [backup-simplify]: Simplify 0 into 0
46.376 * [backup-simplify]: Simplify 1 into 1
46.377 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
46.377 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
46.377 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi2
46.377 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
46.377 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
46.377 * [taylor]: Taking taylor expansion of 0.5 in phi2
46.377 * [backup-simplify]: Simplify 0.5 into 0.5
46.377 * [taylor]: Taking taylor expansion of phi1 in phi2
46.377 * [backup-simplify]: Simplify phi1 into phi1
46.377 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
46.377 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
46.377 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
46.377 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
46.377 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
46.378 * [backup-simplify]: Simplify (- 0) into 0
46.378 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
46.378 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in phi2
46.378 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in phi2
46.378 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
46.378 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
46.378 * [taylor]: Taking taylor expansion of 0.5 in phi2
46.378 * [backup-simplify]: Simplify 0.5 into 0.5
46.378 * [taylor]: Taking taylor expansion of phi2 in phi2
46.378 * [backup-simplify]: Simplify 0 into 0
46.378 * [backup-simplify]: Simplify 1 into 1
46.379 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
46.379 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
46.379 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in phi2
46.379 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
46.379 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
46.379 * [taylor]: Taking taylor expansion of 0.5 in phi2
46.379 * [backup-simplify]: Simplify 0.5 into 0.5
46.379 * [taylor]: Taking taylor expansion of phi1 in phi2
46.379 * [backup-simplify]: Simplify phi1 into phi1
46.379 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
46.379 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
46.379 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
46.379 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in phi2
46.379 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
46.379 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
46.379 * [taylor]: Taking taylor expansion of 0.5 in phi2
46.380 * [backup-simplify]: Simplify 0.5 into 0.5
46.380 * [taylor]: Taking taylor expansion of phi2 in phi2
46.380 * [backup-simplify]: Simplify 0 into 0
46.380 * [backup-simplify]: Simplify 1 into 1
46.380 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
46.380 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
46.380 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
46.380 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
46.380 * [taylor]: Taking taylor expansion of 0.5 in phi2
46.380 * [backup-simplify]: Simplify 0.5 into 0.5
46.380 * [taylor]: Taking taylor expansion of phi1 in phi2
46.380 * [backup-simplify]: Simplify phi1 into phi1
46.380 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
46.381 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
46.381 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
46.381 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in phi2
46.381 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
46.381 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
46.381 * [taylor]: Taking taylor expansion of 0.5 in phi2
46.381 * [backup-simplify]: Simplify 0.5 into 0.5
46.381 * [taylor]: Taking taylor expansion of phi2 in phi2
46.381 * [backup-simplify]: Simplify 0 into 0
46.381 * [backup-simplify]: Simplify 1 into 1
46.381 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
46.381 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
46.381 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in phi2
46.381 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
46.382 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
46.382 * [taylor]: Taking taylor expansion of 0.5 in phi2
46.382 * [backup-simplify]: Simplify 0.5 into 0.5
46.382 * [taylor]: Taking taylor expansion of phi1 in phi2
46.382 * [backup-simplify]: Simplify phi1 into phi1
46.382 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
46.382 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
46.382 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
46.382 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in phi2
46.382 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
46.382 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
46.382 * [taylor]: Taking taylor expansion of 0.5 in phi2
46.382 * [backup-simplify]: Simplify 0.5 into 0.5
46.382 * [taylor]: Taking taylor expansion of phi2 in phi2
46.382 * [backup-simplify]: Simplify 0 into 0
46.382 * [backup-simplify]: Simplify 1 into 1
46.383 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
46.383 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
46.383 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
46.383 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
46.383 * [taylor]: Taking taylor expansion of 0.5 in phi2
46.383 * [backup-simplify]: Simplify 0.5 into 0.5
46.383 * [taylor]: Taking taylor expansion of phi1 in phi2
46.383 * [backup-simplify]: Simplify phi1 into phi1
46.383 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
46.383 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
46.383 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
46.383 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
46.383 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
46.384 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
46.384 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
46.384 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
46.385 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
46.385 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
46.385 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
46.386 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
46.386 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
46.386 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
46.386 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
46.386 * [backup-simplify]: Simplify (- 0) into 0
46.386 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
46.387 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
46.387 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
46.387 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
46.387 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
46.387 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
46.388 * [backup-simplify]: Simplify (- 0) into 0
46.388 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
46.388 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
46.388 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
46.388 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
46.388 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
46.389 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
46.389 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
46.390 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))
46.391 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
46.393 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
46.394 * [backup-simplify]: Simplify (sqrt (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (sqrt (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
46.394 * [backup-simplify]: Simplify (+ 0) into 0
46.395 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
46.395 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
46.395 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
46.395 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
46.396 * [backup-simplify]: Simplify (+ 0 0) into 0
46.396 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
46.396 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
46.396 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
46.396 * [backup-simplify]: Simplify (+ 0) into 0
46.397 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
46.397 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
46.397 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
46.398 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
46.398 * [backup-simplify]: Simplify (- 0) into 0
46.398 * [backup-simplify]: Simplify (+ 0 0) into 0
46.398 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
46.398 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
46.398 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
46.399 * [backup-simplify]: Simplify (+ 0 0) into 0
46.399 * [backup-simplify]: Simplify (+ 0) into 0
46.399 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
46.399 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
46.400 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
46.400 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
46.400 * [backup-simplify]: Simplify (- 0) into 0
46.401 * [backup-simplify]: Simplify (+ 0 0) into 0
46.401 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
46.401 * [backup-simplify]: Simplify (+ 0) into 0
46.401 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
46.401 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
46.402 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
46.402 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
46.407 * [backup-simplify]: Simplify (+ 0 0) into 0
46.407 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
46.407 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
46.408 * [backup-simplify]: Simplify (+ 0) into 0
46.408 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
46.408 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
46.409 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
46.409 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
46.409 * [backup-simplify]: Simplify (+ 0 0) into 0
46.409 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
46.410 * [backup-simplify]: Simplify (+ 0) into 0
46.410 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
46.410 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
46.410 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
46.411 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
46.411 * [backup-simplify]: Simplify (- 0) into 0
46.411 * [backup-simplify]: Simplify (+ 0 0) into 0
46.411 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
46.412 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
46.412 * [backup-simplify]: Simplify (+ 0 0) into 0
46.412 * [backup-simplify]: Simplify (- 0) into 0
46.412 * [backup-simplify]: Simplify (+ 0 0) into 0
46.413 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into 0
46.413 * [taylor]: Taking taylor expansion of (/ 1 R) in phi2
46.413 * [taylor]: Taking taylor expansion of R in phi2
46.413 * [backup-simplify]: Simplify R into R
46.413 * [backup-simplify]: Simplify (/ 1 R) into (/ 1 R)
46.414 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)) (* 0 (/ 0 1)))) into 0
46.414 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)) (* 0 (/ 0 lambda2)))) into 0
46.414 * [backup-simplify]: Simplify (- 0) into 0
46.415 * [backup-simplify]: Simplify (+ 0 0) into 0
46.415 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0
46.416 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0
46.416 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
46.417 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0
46.417 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0
46.417 * [backup-simplify]: Simplify (- 0) into 0
46.418 * [backup-simplify]: Simplify (+ 0 0) into 0
46.418 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0
46.419 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0
46.419 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
46.420 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0
46.420 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0
46.420 * [backup-simplify]: Simplify (- 0) into 0
46.420 * [backup-simplify]: Simplify (+ 0 0) into 0
46.421 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2)))))) into 0
46.422 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0
46.422 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0
46.423 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
46.424 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0
46.425 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0
46.425 * [backup-simplify]: Simplify (+ 0 0) into 0
46.426 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0
46.427 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0
46.427 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
46.429 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0
46.430 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0
46.430 * [backup-simplify]: Simplify (+ 0 0) into 0
46.431 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1)))))) into 0
46.431 * [backup-simplify]: Simplify (- 0) into 0
46.432 * [backup-simplify]: Simplify (+ 0 0) into 0
46.433 * [backup-simplify]: Simplify (+ (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) 0) (+ (* 0 0) (+ (* 0 (- (/ 1 lambda2))) (* 0 1)))) into 0
46.434 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)) (* 0 (/ 0 1)))) into 0
46.434 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)) (* 0 (/ 0 lambda2)))) into 0
46.435 * [backup-simplify]: Simplify (- 0) into 0
46.435 * [backup-simplify]: Simplify (+ 0 0) into 0
46.436 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0
46.437 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0
46.437 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
46.438 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0
46.439 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0
46.440 * [backup-simplify]: Simplify (- 0) into 0
46.440 * [backup-simplify]: Simplify (+ 0 0) into 0
46.441 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0
46.442 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0
46.442 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
46.443 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0
46.444 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0
46.444 * [backup-simplify]: Simplify (- 0) into 0
46.445 * [backup-simplify]: Simplify (+ 0 0) into 0
46.446 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2)))))) into 0
46.447 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0
46.447 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0
46.448 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
46.449 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0
46.450 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0
46.450 * [backup-simplify]: Simplify (+ 0 0) into 0
46.451 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0
46.452 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0
46.452 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
46.454 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0
46.455 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0
46.455 * [backup-simplify]: Simplify (+ 0 0) into 0
46.456 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1)))))) into 0
46.456 * [backup-simplify]: Simplify (- 0) into 0
46.456 * [backup-simplify]: Simplify (+ 0 0) into 0
46.457 * [backup-simplify]: Simplify (+ (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) 0) (+ (* 0 0) (+ (* 0 (- (/ 1 lambda2))) (* 0 1)))) into 0
46.459 * [backup-simplify]: Simplify (+ (* (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) 0) (+ (* (- (/ (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) lambda2) (/ (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) lambda2)) 0) (+ (* 0 (- (/ (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) lambda2) (/ (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) lambda2))) (* 0 (- (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into 0
46.459 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
46.460 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
46.460 * [backup-simplify]: Simplify (- 0) into 0
46.460 * [backup-simplify]: Simplify (+ 0 0) into 0
46.461 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
46.461 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
46.461 * [backup-simplify]: Simplify (- 0) into 0
46.461 * [backup-simplify]: Simplify (+ 0 0) into 0
46.462 * [backup-simplify]: Simplify (+ (* (- (/ 1 phi1) (/ 1 phi2)) 0) (* 0 (- (/ 1 phi1) (/ 1 phi2)))) into 0
46.462 * [backup-simplify]: Simplify (+ 0 0) into 0
46.587 * [backup-simplify]: Simplify (/ (- 0 (+ (* 2 (* (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (- (+ (* 2 (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) lambda2)) (* 2 (/ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) lambda2))) (+ (* 2 (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) lambda2)) (* 2 (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) lambda2)))))) (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (- (+ (/ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (pow (cos (/ 0.5 phi2)) 3) (pow (cos (/ 0.5 phi1)) 3)))) (* (pow lambda2 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (+ (* 2 (/ (* (sin (/ 0.5 phi1)) (* (pow (cos (/ 0.5 phi2)) 3) (* (pow (cos (/ 0.5 phi1)) 3) (sin (/ 0.5 phi2))))) (* (pow lambda2 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (+ (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (pow lambda2 2)) (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 3) (* (pow (sin (/ 0.5 phi1)) 3) (cos (/ 0.5 phi2))))) (* (pow lambda2 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ 0.5 phi2)) 3) (* (pow (cos (/ 0.5 phi1)) 3) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (pow lambda2 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (+ (/ 1 (pow phi2 2)) (+ (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)))) (* (pow lambda2 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (+ (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ 0.5 phi2)) 3) (* (pow (sin (/ 0.5 phi1)) 3) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (pow lambda2 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))))))))) (+ (/ (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)) (* (pow lambda2 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (+ (* 2 (/ 1 (* phi1 phi2))) (+ (* 2 (/ (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) (* (pow lambda2 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (+ (/ (* (pow (cos (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi1)) 4)) (* (pow lambda2 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (+ (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)))) (* (pow lambda2 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (+ (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)))) (* (pow lambda2 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (* 2 (/ (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))) (* (pow lambda2 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))))))))))))))) (* 2 (sqrt (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into (* 1/2 (* (- (+ (* 3 (* (/ (* (pow (sin (/ 0.5 phi2)) 5) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 5)))) (pow lambda2 3)) (sqrt (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3)))))) (+ (* 2 (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* phi1 (* lambda2 phi2))) (sqrt (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) (+ (* 3 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) (pow lambda2 3)) (sqrt (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow phi1 2) lambda2)) (sqrt (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 3 (* (/ (* (pow (cos (/ 0.5 phi2)) 3) (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (sin (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)))) (pow lambda2 3)) (sqrt (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3)))))) (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (* lambda2 (pow phi2 2))) (sqrt (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 3 (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) (pow lambda2 3)) (sqrt (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* lambda2 (pow phi2 2))) (sqrt (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 2 (* (/ (* (pow (cos (/ 0.5 phi2)) 5) (* (pow (cos (/ 0.5 phi1)) 5) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (pow lambda2 3)) (sqrt (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3)))))) (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)) (pow 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phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 9 (* (/ (* (pow (sin (/ 0.5 phi2)) 4) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 4)))) (pow lambda2 3)) (sqrt (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3)))))) (+ (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* lambda2 (pow phi2 2))) (sqrt (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 6 (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)))) (pow lambda2 3)) (sqrt (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3)))))) (+ (* 2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* lambda2 (* phi1 phi2))) (sqrt (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) (+ (* 2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 (* phi1 phi2))) (sqrt (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) (+ (* 4 (* (/ (* (pow (sin (/ 0.5 phi2)) 3) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 3)))) (pow lambda2 3)) (sqrt (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (pow phi1 2) lambda2)) (sqrt (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))))))))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) R) (+ (* (* (sqrt (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 1 R)) (/ 0 R)) (* (- (+ (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* R lambda2)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* R lambda2)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* R lambda2)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (* R lambda2)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) (/ 0 R)) (* (- (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* R (pow lambda2 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 1 (* R (pow phi2 2))))) (+ (* 3/2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 2 (* (/ (* (sin (/ 0.5 phi2)) (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (cos (/ 0.5 phi2)) 3) (sin (/ 0.5 phi1))))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ 1 (* R (pow phi1 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 3) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 3)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (* R (pow lambda2 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* R (pow lambda2 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* R (pow lambda2 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi1)) 4)) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 3 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (* (/ 1 (* R (* phi1 phi2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))))))) (/ 0 R)))) into (- (+ (* 3/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 3) (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (sin (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 3/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 5) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 5)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 3/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (* lambda2 (* phi1 phi2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (+ (* 17/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 3) (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (cos (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (* lambda2 (* phi1 phi2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* lambda2 (* R (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow phi2 2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 5) (* (pow (cos (/ 0.5 phi1)) 5) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3)))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* lambda2 (* (pow phi1 2) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi1)) 4)) (* R (* (pow lambda2 3) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)) (* R (* (pow lambda2 3) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 2 (* (/ (* (sin (/ 0.5 phi2)) (* (pow (cos (/ 0.5 phi1)) 5) (* (pow (cos (/ 0.5 phi2)) 5) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 (* (pow phi1 2) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 (* R (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow phi2 2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 3/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (* 3/2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 5) (pow (sin (/ 0.5 phi1)) 5)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3)))))))))))))))))))) (+ (* 2 (* (/ (* (pow (cos (/ 0.5 phi2)) 3) (* (pow (cos (/ 0.5 phi1)) 3) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* lambda2 (* phi1 (* R (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) phi2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (+ (* 1/2 (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (* lambda2 (pow phi2 2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 6) (pow (cos (/ 0.5 phi1)) 6)) (* R (* (pow lambda2 3) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 2 (* (/ (* (pow (sin (/ 0.5 phi2)) 3) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 3)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* (pow phi1 2) (* lambda2 R)))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (+ (* 3 (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 6) (pow (sin (/ 0.5 phi1)) 6)) (* R (* (pow lambda2 3) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 15/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 4) (* (pow (cos (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 2)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 9/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 4) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 4)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 (* phi1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R phi2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* 1/2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (* lambda2 (pow phi2 2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))))))))))))))
46.861 * [taylor]: Taking taylor expansion of (- (+ (* 3/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 3) (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (sin (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 3/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 5) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 5)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 3/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (* lambda2 (* phi1 phi2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (+ (* 17/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 3) (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (cos (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (* lambda2 (* phi1 phi2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* lambda2 (* R (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow phi2 2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 5) (* (pow (cos (/ 0.5 phi1)) 5) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3)))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* lambda2 (* (pow phi1 2) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi1)) 4)) (* R (* (pow lambda2 3) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)) (* R (* (pow lambda2 3) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 2 (* (/ (* (sin (/ 0.5 phi2)) (* (pow (cos (/ 0.5 phi1)) 5) (* (pow (cos (/ 0.5 phi2)) 5) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 (* (pow phi1 2) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 (* R (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow phi2 2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 3/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (* 3/2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 5) (pow (sin (/ 0.5 phi1)) 5)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3)))))))))))))))))))) (+ (* 2 (* (/ (* (pow (cos (/ 0.5 phi2)) 3) (* (pow (cos (/ 0.5 phi1)) 3) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* lambda2 (* phi1 (* R (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) phi2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (+ (* 1/2 (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (* lambda2 (pow phi2 2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 6) (pow (cos (/ 0.5 phi1)) 6)) (* R (* (pow lambda2 3) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 2 (* (/ (* (pow (sin (/ 0.5 phi2)) 3) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 3)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* (pow phi1 2) (* lambda2 R)))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (+ (* 3 (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 6) (pow (sin (/ 0.5 phi1)) 6)) (* R (* (pow lambda2 3) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 15/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 4) (* (pow (cos (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 2)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 9/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 4) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 4)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 (* phi1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R phi2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* 1/2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (* lambda2 (pow phi2 2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))))))))))))) in lambda2
46.863 * [taylor]: Taking taylor expansion of (+ (* 3/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 3) (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (sin (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 3/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 5) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 5)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 3/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (* lambda2 (* phi1 phi2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (+ (* 17/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 3) (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (cos (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (* lambda2 (* phi1 phi2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* lambda2 (* R (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow phi2 2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 5) (* (pow (cos (/ 0.5 phi1)) 5) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3)))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* lambda2 (* (pow phi1 2) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi1)) 4)) (* R (* (pow lambda2 3) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)) (* R (* (pow lambda2 3) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 2 (* (/ (* (sin (/ 0.5 phi2)) (* (pow (cos (/ 0.5 phi1)) 5) (* (pow (cos (/ 0.5 phi2)) 5) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 (* (pow phi1 2) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 (* R (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow phi2 2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 3/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (* 3/2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 5) (pow (sin (/ 0.5 phi1)) 5)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3)))))))))))))))))))) in lambda2
46.863 * [taylor]: Taking taylor expansion of (* 3/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 3) (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (sin (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) in lambda2
46.864 * [taylor]: Taking taylor expansion of 3/2 in lambda2
46.864 * [backup-simplify]: Simplify 3/2 into 3/2
46.864 * [taylor]: Taking taylor expansion of (* (/ (* (pow (cos (/ 0.5 phi2)) 3) (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (sin (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3)))) in lambda2
46.864 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi2)) 3) (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (sin (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) in lambda2
46.864 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 3) (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (sin (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)))) in lambda2
46.864 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 3) in lambda2
46.864 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
46.864 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
46.864 * [taylor]: Taking taylor expansion of 0.5 in lambda2
46.864 * [backup-simplify]: Simplify 0.5 into 0.5
46.864 * [taylor]: Taking taylor expansion of phi2 in lambda2
46.864 * [backup-simplify]: Simplify phi2 into phi2
46.864 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
46.864 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
46.864 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
46.864 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
46.864 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
46.865 * [backup-simplify]: Simplify (- 0) into 0
46.866 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
46.866 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (sin (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3))) in lambda2
46.866 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 3) in lambda2
46.866 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
46.866 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
46.866 * [taylor]: Taking taylor expansion of 0.5 in lambda2
46.866 * [backup-simplify]: Simplify 0.5 into 0.5
46.866 * [taylor]: Taking taylor expansion of phi1 in lambda2
46.866 * [backup-simplify]: Simplify phi1 into phi1
46.866 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
46.866 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
46.866 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
46.866 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
46.866 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
46.867 * [backup-simplify]: Simplify (- 0) into 0
46.867 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
46.867 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)) in lambda2
46.867 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 3) in lambda2
46.867 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
46.867 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
46.867 * [taylor]: Taking taylor expansion of 0.5 in lambda2
46.867 * [backup-simplify]: Simplify 0.5 into 0.5
46.867 * [taylor]: Taking taylor expansion of phi2 in lambda2
46.867 * [backup-simplify]: Simplify phi2 into phi2
46.867 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
46.867 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
46.867 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
46.867 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
46.867 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
46.867 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
46.867 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 3) in lambda2
46.867 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
46.867 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
46.867 * [taylor]: Taking taylor expansion of 0.5 in lambda2
46.867 * [backup-simplify]: Simplify 0.5 into 0.5
46.867 * [taylor]: Taking taylor expansion of phi1 in lambda2
46.867 * [backup-simplify]: Simplify phi1 into phi1
46.867 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
46.867 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
46.867 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
46.867 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
46.867 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
46.868 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
46.868 * [taylor]: Taking taylor expansion of (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3))) in lambda2
46.868 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
46.868 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
46.868 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
46.868 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
46.868 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
46.868 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
46.868 * [taylor]: Taking taylor expansion of 0.5 in lambda2
46.868 * [backup-simplify]: Simplify 0.5 into 0.5
46.868 * [taylor]: Taking taylor expansion of phi2 in lambda2
46.868 * [backup-simplify]: Simplify phi2 into phi2
46.868 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
46.868 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
46.868 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
46.868 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
46.868 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
46.868 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
46.868 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
46.868 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
46.868 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
46.868 * [taylor]: Taking taylor expansion of 0.5 in lambda2
46.868 * [backup-simplify]: Simplify 0.5 into 0.5
46.868 * [taylor]: Taking taylor expansion of phi1 in lambda2
46.868 * [backup-simplify]: Simplify phi1 into phi1
46.868 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
46.868 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
46.868 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
46.868 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
46.869 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
46.869 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
46.869 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
46.869 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
46.869 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
46.869 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
46.869 * [taylor]: Taking taylor expansion of 0.5 in lambda2
46.869 * [backup-simplify]: Simplify 0.5 into 0.5
46.869 * [taylor]: Taking taylor expansion of phi2 in lambda2
46.869 * [backup-simplify]: Simplify phi2 into phi2
46.869 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
46.869 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
46.869 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
46.869 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
46.869 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
46.871 * [backup-simplify]: Simplify (- 0) into 0
46.871 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
46.871 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
46.871 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
46.871 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
46.871 * [taylor]: Taking taylor expansion of 0.5 in lambda2
46.871 * [backup-simplify]: Simplify 0.5 into 0.5
46.871 * [taylor]: Taking taylor expansion of phi1 in lambda2
46.871 * [backup-simplify]: Simplify phi1 into phi1
46.871 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
46.871 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
46.871 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
46.871 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
46.872 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
46.872 * [backup-simplify]: Simplify (- 0) into 0
46.872 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
46.872 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
46.872 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
46.872 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
46.872 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
46.872 * [taylor]: Taking taylor expansion of 0.5 in lambda2
46.872 * [backup-simplify]: Simplify 0.5 into 0.5
46.872 * [taylor]: Taking taylor expansion of phi2 in lambda2
46.872 * [backup-simplify]: Simplify phi2 into phi2
46.872 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
46.872 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
46.872 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
46.872 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
46.872 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
46.872 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
46.872 * [taylor]: Taking taylor expansion of 0.5 in lambda2
46.872 * [backup-simplify]: Simplify 0.5 into 0.5
46.872 * [taylor]: Taking taylor expansion of phi1 in lambda2
46.872 * [backup-simplify]: Simplify phi1 into phi1
46.873 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
46.873 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
46.873 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
46.873 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
46.873 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
46.873 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
46.873 * [taylor]: Taking taylor expansion of 0.5 in lambda2
46.873 * [backup-simplify]: Simplify 0.5 into 0.5
46.873 * [taylor]: Taking taylor expansion of phi2 in lambda2
46.873 * [backup-simplify]: Simplify phi2 into phi2
46.873 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
46.873 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
46.873 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
46.873 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
46.873 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
46.873 * [taylor]: Taking taylor expansion of 0.5 in lambda2
46.873 * [backup-simplify]: Simplify 0.5 into 0.5
46.873 * [taylor]: Taking taylor expansion of phi1 in lambda2
46.873 * [backup-simplify]: Simplify phi1 into phi1
46.873 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
46.873 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
46.873 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
46.873 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
46.873 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
46.873 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
46.873 * [taylor]: Taking taylor expansion of 0.5 in lambda2
46.873 * [backup-simplify]: Simplify 0.5 into 0.5
46.873 * [taylor]: Taking taylor expansion of phi2 in lambda2
46.873 * [backup-simplify]: Simplify phi2 into phi2
46.873 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
46.873 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
46.873 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
46.874 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
46.874 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
46.874 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
46.874 * [taylor]: Taking taylor expansion of 0.5 in lambda2
46.874 * [backup-simplify]: Simplify 0.5 into 0.5
46.874 * [taylor]: Taking taylor expansion of phi1 in lambda2
46.874 * [backup-simplify]: Simplify phi1 into phi1
46.874 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
46.874 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
46.874 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
46.874 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
46.874 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
46.874 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
46.874 * [taylor]: Taking taylor expansion of 0.5 in lambda2
46.874 * [backup-simplify]: Simplify 0.5 into 0.5
46.874 * [taylor]: Taking taylor expansion of phi2 in lambda2
46.874 * [backup-simplify]: Simplify phi2 into phi2
46.874 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
46.874 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
46.874 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
46.874 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
46.874 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
46.874 * [taylor]: Taking taylor expansion of 0.5 in lambda2
46.874 * [backup-simplify]: Simplify 0.5 into 0.5
46.874 * [taylor]: Taking taylor expansion of phi1 in lambda2
46.874 * [backup-simplify]: Simplify phi1 into phi1
46.874 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
46.874 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
46.874 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
46.874 * [taylor]: Taking taylor expansion of (* R (pow lambda2 3)) in lambda2
46.874 * [taylor]: Taking taylor expansion of R in lambda2
46.874 * [backup-simplify]: Simplify R into R
46.874 * [taylor]: Taking taylor expansion of (pow lambda2 3) in lambda2
46.874 * [taylor]: Taking taylor expansion of lambda2 in lambda2
46.874 * [backup-simplify]: Simplify 0 into 0
46.874 * [backup-simplify]: Simplify 1 into 1
46.875 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
46.875 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (pow (cos (/ 0.5 phi2)) 2)) into (pow (cos (/ 0.5 phi2)) 3)
46.875 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
46.875 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (pow (cos (/ 0.5 phi1)) 2)) into (pow (cos (/ 0.5 phi1)) 3)
46.875 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
46.875 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (pow (sin (/ 0.5 phi2)) 2)) into (pow (sin (/ 0.5 phi2)) 3)
46.875 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
46.876 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (pow (sin (/ 0.5 phi1)) 2)) into (pow (sin (/ 0.5 phi1)) 3)
46.876 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)) into (* (pow (sin (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3))
46.876 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (sin (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3))) into (* (pow (sin (/ 0.5 phi1)) 3) (* (pow (sin (/ 0.5 phi2)) 3) (pow (cos (/ 0.5 phi1)) 3)))
46.877 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 3) (* (pow (sin (/ 0.5 phi1)) 3) (* (pow (sin (/ 0.5 phi2)) 3) (pow (cos (/ 0.5 phi1)) 3)))) into (* (pow (sin (/ 0.5 phi2)) 3) (* (pow (sin (/ 0.5 phi1)) 3) (* (pow (cos (/ 0.5 phi2)) 3) (pow (cos (/ 0.5 phi1)) 3))))
46.877 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
46.877 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
46.877 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
46.877 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
46.877 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
46.877 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
46.878 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
46.878 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
46.878 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
46.879 * [backup-simplify]: Simplify (- 0) into 0
46.879 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
46.879 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
46.879 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
46.879 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
46.879 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
46.879 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
46.879 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
46.879 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
46.879 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
46.879 * [backup-simplify]: Simplify (- 0) into 0
46.880 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
46.880 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
46.880 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
46.880 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
46.880 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
46.880 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
46.880 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
46.880 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
46.880 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
46.881 * [backup-simplify]: Simplify (- 0) into 0
46.881 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
46.881 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
46.881 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
46.881 * [backup-simplify]: Simplify (- 0) into 0
46.881 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
46.881 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
46.881 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
46.881 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
46.882 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
46.882 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
46.882 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
46.882 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))
46.883 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
46.884 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
46.884 * [backup-simplify]: Simplify (* 1 1) into 1
46.884 * [backup-simplify]: Simplify (* 1 1) into 1
46.884 * [backup-simplify]: Simplify (* R 1) into R
46.885 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R) into (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)
46.887 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi2)) 3) (* (pow (sin (/ 0.5 phi1)) 3) (* (pow (cos (/ 0.5 phi2)) 3) (pow (cos (/ 0.5 phi1)) 3)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) into (/ (* (pow (sin (/ 0.5 phi2)) 3) (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (cos (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
46.887 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))) in lambda2
46.887 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3)) in lambda2
46.887 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3) in lambda2
46.887 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
46.887 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
46.887 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
46.887 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
46.887 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
46.887 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
46.887 * [taylor]: Taking taylor expansion of 0.5 in lambda2
46.887 * [backup-simplify]: Simplify 0.5 into 0.5
46.887 * [taylor]: Taking taylor expansion of phi2 in lambda2
46.887 * [backup-simplify]: Simplify phi2 into phi2
46.887 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
46.887 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
46.887 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
46.887 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
46.887 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
46.888 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
46.888 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
46.888 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
46.888 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
46.888 * [taylor]: Taking taylor expansion of 0.5 in lambda2
46.888 * [backup-simplify]: Simplify 0.5 into 0.5
46.888 * [taylor]: Taking taylor expansion of phi1 in lambda2
46.888 * [backup-simplify]: Simplify phi1 into phi1
46.888 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
46.888 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
46.888 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
46.888 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
46.888 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
46.888 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
46.888 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
46.888 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
46.888 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
46.888 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
46.888 * [taylor]: Taking taylor expansion of 0.5 in lambda2
46.888 * [backup-simplify]: Simplify 0.5 into 0.5
46.888 * [taylor]: Taking taylor expansion of phi2 in lambda2
46.888 * [backup-simplify]: Simplify phi2 into phi2
46.888 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
46.888 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
46.888 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
46.888 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
46.888 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
46.889 * [backup-simplify]: Simplify (- 0) into 0
46.889 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
46.889 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
46.889 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
46.889 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
46.889 * [taylor]: Taking taylor expansion of 0.5 in lambda2
46.889 * [backup-simplify]: Simplify 0.5 into 0.5
46.889 * [taylor]: Taking taylor expansion of phi1 in lambda2
46.889 * [backup-simplify]: Simplify phi1 into phi1
46.889 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
46.889 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
46.889 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
46.889 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
46.889 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
46.890 * [backup-simplify]: Simplify (- 0) into 0
46.890 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
46.890 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
46.890 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
46.890 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
46.890 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
46.890 * [taylor]: Taking taylor expansion of 0.5 in lambda2
46.890 * [backup-simplify]: Simplify 0.5 into 0.5
46.890 * [taylor]: Taking taylor expansion of phi2 in lambda2
46.890 * [backup-simplify]: Simplify phi2 into phi2
46.890 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
46.890 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
46.890 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
46.890 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
46.890 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
46.890 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
46.890 * [taylor]: Taking taylor expansion of 0.5 in lambda2
46.890 * [backup-simplify]: Simplify 0.5 into 0.5
46.890 * [taylor]: Taking taylor expansion of phi1 in lambda2
46.890 * [backup-simplify]: Simplify phi1 into phi1
46.890 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
46.890 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
46.890 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
46.890 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
46.890 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
46.890 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
46.890 * [taylor]: Taking taylor expansion of 0.5 in lambda2
46.890 * [backup-simplify]: Simplify 0.5 into 0.5
46.890 * [taylor]: Taking taylor expansion of phi2 in lambda2
46.890 * [backup-simplify]: Simplify phi2 into phi2
46.890 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
46.891 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
46.891 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
46.891 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
46.891 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
46.891 * [taylor]: Taking taylor expansion of 0.5 in lambda2
46.891 * [backup-simplify]: Simplify 0.5 into 0.5
46.891 * [taylor]: Taking taylor expansion of phi1 in lambda2
46.891 * [backup-simplify]: Simplify phi1 into phi1
46.891 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
46.891 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
46.891 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
46.891 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
46.891 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
46.891 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
46.891 * [taylor]: Taking taylor expansion of 0.5 in lambda2
46.891 * [backup-simplify]: Simplify 0.5 into 0.5
46.891 * [taylor]: Taking taylor expansion of phi2 in lambda2
46.891 * [backup-simplify]: Simplify phi2 into phi2
46.891 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
46.891 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
46.891 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
46.891 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
46.891 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
46.891 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
46.891 * [taylor]: Taking taylor expansion of 0.5 in lambda2
46.891 * [backup-simplify]: Simplify 0.5 into 0.5
46.891 * [taylor]: Taking taylor expansion of phi1 in lambda2
46.891 * [backup-simplify]: Simplify phi1 into phi1
46.891 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
46.891 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
46.891 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
46.891 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
46.891 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
46.891 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
46.891 * [taylor]: Taking taylor expansion of 0.5 in lambda2
46.891 * [backup-simplify]: Simplify 0.5 into 0.5
46.891 * [taylor]: Taking taylor expansion of phi2 in lambda2
46.892 * [backup-simplify]: Simplify phi2 into phi2
46.892 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
46.892 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
46.892 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
46.892 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
46.892 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
46.892 * [taylor]: Taking taylor expansion of 0.5 in lambda2
46.892 * [backup-simplify]: Simplify 0.5 into 0.5
46.892 * [taylor]: Taking taylor expansion of phi1 in lambda2
46.892 * [backup-simplify]: Simplify phi1 into phi1
46.892 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
46.892 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
46.892 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
46.892 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
46.892 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
46.892 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
46.892 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
46.893 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
46.893 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
46.893 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
46.893 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
46.893 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
46.893 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
46.894 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
46.894 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
46.894 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
46.894 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
46.894 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
46.895 * [backup-simplify]: Simplify (- 0) into 0
46.895 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
46.895 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
46.895 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
46.895 * [backup-simplify]: Simplify (- 0) into 0
46.896 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
46.896 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
46.896 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
46.896 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
46.896 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
46.897 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
46.897 * [backup-simplify]: Simplify (- 0) into 0
46.897 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
46.897 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
46.897 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
46.898 * [backup-simplify]: Simplify (- 0) into 0
46.898 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
46.898 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
46.898 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
46.898 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
46.898 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
46.899 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
46.899 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
46.899 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
46.899 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
46.900 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
46.900 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))
46.901 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
46.903 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
46.907 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)
46.912 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)) into (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
46.918 * [backup-simplify]: Simplify (/ 1 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)))
46.923 * [backup-simplify]: Simplify (sqrt (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)))) into (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))
46.924 * [backup-simplify]: Simplify (+ 0) into 0
46.924 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
46.924 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
46.925 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
46.926 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
46.926 * [backup-simplify]: Simplify (+ 0 0) into 0
46.926 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
46.927 * [backup-simplify]: Simplify (+ 0) into 0
46.927 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
46.927 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
46.928 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
46.929 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
46.929 * [backup-simplify]: Simplify (+ 0 0) into 0
46.929 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
46.930 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
46.930 * [backup-simplify]: Simplify (+ 0) into 0
46.930 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
46.931 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
46.931 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
46.932 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
46.932 * [backup-simplify]: Simplify (- 0) into 0
46.933 * [backup-simplify]: Simplify (+ 0 0) into 0
46.933 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
46.933 * [backup-simplify]: Simplify (+ 0) into 0
46.934 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
46.934 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
46.935 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
46.935 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
46.935 * [backup-simplify]: Simplify (- 0) into 0
46.936 * [backup-simplify]: Simplify (+ 0 0) into 0
46.936 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
46.936 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
46.942 * [backup-simplify]: Simplify (+ 0 0) into 0
46.942 * [backup-simplify]: Simplify (+ 0) into 0
46.943 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
46.943 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
46.944 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
46.944 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
46.945 * [backup-simplify]: Simplify (- 0) into 0
46.945 * [backup-simplify]: Simplify (+ 0 0) into 0
46.946 * [backup-simplify]: Simplify (+ 0) into 0
46.946 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
46.946 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
46.947 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
46.948 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
46.948 * [backup-simplify]: Simplify (- 0) into 0
46.948 * [backup-simplify]: Simplify (+ 0 0) into 0
46.949 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
46.949 * [backup-simplify]: Simplify (+ 0) into 0
46.949 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
46.950 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
46.950 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
46.950 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
46.951 * [backup-simplify]: Simplify (+ 0 0) into 0
46.951 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
46.951 * [backup-simplify]: Simplify (+ 0) into 0
46.951 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
46.951 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
46.952 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
46.952 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
46.952 * [backup-simplify]: Simplify (+ 0 0) into 0
46.953 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
46.954 * [backup-simplify]: Simplify (+ 0) into 0
46.954 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
46.954 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
46.955 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
46.955 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
46.955 * [backup-simplify]: Simplify (+ 0 0) into 0
46.955 * [backup-simplify]: Simplify (+ 0) into 0
46.956 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
46.956 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
46.956 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
46.957 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
46.957 * [backup-simplify]: Simplify (+ 0 0) into 0
46.957 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
46.957 * [backup-simplify]: Simplify (+ 0) into 0
46.958 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
46.958 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
46.958 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
46.958 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
46.959 * [backup-simplify]: Simplify (- 0) into 0
46.959 * [backup-simplify]: Simplify (+ 0 0) into 0
46.959 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
46.959 * [backup-simplify]: Simplify (+ 0) into 0
46.960 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
46.960 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
46.960 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
46.961 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
46.961 * [backup-simplify]: Simplify (- 0) into 0
46.961 * [backup-simplify]: Simplify (+ 0 0) into 0
46.961 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
46.962 * [backup-simplify]: Simplify (+ 0 0) into 0
46.962 * [backup-simplify]: Simplify (- 0) into 0
46.962 * [backup-simplify]: Simplify (+ 0 0) into 0
46.964 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into 0
46.966 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2))) into 0
46.970 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2))) (/ 0 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
46.973 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)))))) into 0
46.973 * [taylor]: Taking taylor expansion of (+ (* 3/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 5) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 5)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 3/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (* lambda2 (* phi1 phi2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (+ (* 17/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 3) (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (cos (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (* lambda2 (* phi1 phi2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* lambda2 (* R (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow phi2 2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 5) (* (pow (cos (/ 0.5 phi1)) 5) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3)))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* lambda2 (* (pow phi1 2) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi1)) 4)) (* R (* (pow lambda2 3) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)) (* R (* (pow lambda2 3) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 2 (* (/ (* (sin (/ 0.5 phi2)) (* (pow (cos (/ 0.5 phi1)) 5) (* (pow (cos (/ 0.5 phi2)) 5) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 (* (pow phi1 2) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 (* R (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow phi2 2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 3/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (* 3/2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 5) (pow (sin (/ 0.5 phi1)) 5)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))))))))))))))))) in lambda2
46.973 * [taylor]: Taking taylor expansion of (* 3/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 5) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 5)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) in lambda2
46.973 * [taylor]: Taking taylor expansion of 3/2 in lambda2
46.973 * [backup-simplify]: Simplify 3/2 into 3/2
46.973 * [taylor]: Taking taylor expansion of (* (/ (* (pow (sin (/ 0.5 phi2)) 5) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 5)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3)))) in lambda2
46.973 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi2)) 5) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 5)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) in lambda2
46.974 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 5) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 5)))) in lambda2
46.974 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 5) in lambda2
46.974 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
46.974 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
46.974 * [taylor]: Taking taylor expansion of 0.5 in lambda2
46.974 * [backup-simplify]: Simplify 0.5 into 0.5
46.974 * [taylor]: Taking taylor expansion of phi2 in lambda2
46.974 * [backup-simplify]: Simplify phi2 into phi2
46.974 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
46.974 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
46.974 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
46.974 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
46.974 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
46.974 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
46.974 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 5))) in lambda2
46.974 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
46.974 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
46.974 * [taylor]: Taking taylor expansion of 0.5 in lambda2
46.974 * [backup-simplify]: Simplify 0.5 into 0.5
46.974 * [taylor]: Taking taylor expansion of phi1 in lambda2
46.974 * [backup-simplify]: Simplify phi1 into phi1
46.974 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
46.974 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
46.974 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
46.974 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 5)) in lambda2
46.974 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
46.974 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
46.974 * [taylor]: Taking taylor expansion of 0.5 in lambda2
46.974 * [backup-simplify]: Simplify 0.5 into 0.5
46.974 * [taylor]: Taking taylor expansion of phi2 in lambda2
46.974 * [backup-simplify]: Simplify phi2 into phi2
46.974 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
46.975 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
46.975 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
46.975 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 5) in lambda2
46.975 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
46.975 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
46.975 * [taylor]: Taking taylor expansion of 0.5 in lambda2
46.975 * [backup-simplify]: Simplify 0.5 into 0.5
46.975 * [taylor]: Taking taylor expansion of phi1 in lambda2
46.975 * [backup-simplify]: Simplify phi1 into phi1
46.975 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
46.975 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
46.975 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
46.975 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
46.975 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
46.975 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
46.975 * [taylor]: Taking taylor expansion of (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3))) in lambda2
46.975 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
46.975 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
46.975 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
46.975 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
46.975 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
46.975 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
46.975 * [taylor]: Taking taylor expansion of 0.5 in lambda2
46.975 * [backup-simplify]: Simplify 0.5 into 0.5
46.975 * [taylor]: Taking taylor expansion of phi2 in lambda2
46.975 * [backup-simplify]: Simplify phi2 into phi2
46.975 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
46.975 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
46.975 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
46.975 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
46.976 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
46.976 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
46.976 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
46.976 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
46.976 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
46.976 * [taylor]: Taking taylor expansion of 0.5 in lambda2
46.976 * [backup-simplify]: Simplify 0.5 into 0.5
46.976 * [taylor]: Taking taylor expansion of phi1 in lambda2
46.976 * [backup-simplify]: Simplify phi1 into phi1
46.976 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
46.976 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
46.976 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
46.976 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
46.976 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
46.976 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
46.976 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
46.976 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
46.976 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
46.976 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
46.976 * [taylor]: Taking taylor expansion of 0.5 in lambda2
46.976 * [backup-simplify]: Simplify 0.5 into 0.5
46.976 * [taylor]: Taking taylor expansion of phi2 in lambda2
46.976 * [backup-simplify]: Simplify phi2 into phi2
46.976 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
46.976 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
46.976 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
46.976 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
46.976 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
46.977 * [backup-simplify]: Simplify (- 0) into 0
46.977 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
46.977 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
46.977 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
46.977 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
46.977 * [taylor]: Taking taylor expansion of 0.5 in lambda2
46.977 * [backup-simplify]: Simplify 0.5 into 0.5
46.977 * [taylor]: Taking taylor expansion of phi1 in lambda2
46.977 * [backup-simplify]: Simplify phi1 into phi1
46.977 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
46.977 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
46.977 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
46.977 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
46.977 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
46.978 * [backup-simplify]: Simplify (- 0) into 0
46.978 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
46.978 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
46.978 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
46.978 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
46.978 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
46.978 * [taylor]: Taking taylor expansion of 0.5 in lambda2
46.978 * [backup-simplify]: Simplify 0.5 into 0.5
46.978 * [taylor]: Taking taylor expansion of phi2 in lambda2
46.978 * [backup-simplify]: Simplify phi2 into phi2
46.978 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
46.978 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
46.978 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
46.978 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
46.978 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
46.978 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
46.978 * [taylor]: Taking taylor expansion of 0.5 in lambda2
46.978 * [backup-simplify]: Simplify 0.5 into 0.5
46.978 * [taylor]: Taking taylor expansion of phi1 in lambda2
46.978 * [backup-simplify]: Simplify phi1 into phi1
46.978 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
46.978 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
46.978 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
46.978 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
46.978 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
46.978 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
46.978 * [taylor]: Taking taylor expansion of 0.5 in lambda2
46.978 * [backup-simplify]: Simplify 0.5 into 0.5
46.978 * [taylor]: Taking taylor expansion of phi2 in lambda2
46.978 * [backup-simplify]: Simplify phi2 into phi2
46.978 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
46.978 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
46.978 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
46.978 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
46.978 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
46.978 * [taylor]: Taking taylor expansion of 0.5 in lambda2
46.979 * [backup-simplify]: Simplify 0.5 into 0.5
46.979 * [taylor]: Taking taylor expansion of phi1 in lambda2
46.979 * [backup-simplify]: Simplify phi1 into phi1
46.979 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
46.979 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
46.979 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
46.979 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
46.979 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
46.979 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
46.979 * [taylor]: Taking taylor expansion of 0.5 in lambda2
46.979 * [backup-simplify]: Simplify 0.5 into 0.5
46.979 * [taylor]: Taking taylor expansion of phi2 in lambda2
46.979 * [backup-simplify]: Simplify phi2 into phi2
46.979 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
46.979 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
46.979 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
46.979 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
46.979 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
46.979 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
46.979 * [taylor]: Taking taylor expansion of 0.5 in lambda2
46.979 * [backup-simplify]: Simplify 0.5 into 0.5
46.979 * [taylor]: Taking taylor expansion of phi1 in lambda2
46.979 * [backup-simplify]: Simplify phi1 into phi1
46.979 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
46.979 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
46.979 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
46.979 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
46.979 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
46.979 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
46.979 * [taylor]: Taking taylor expansion of 0.5 in lambda2
46.979 * [backup-simplify]: Simplify 0.5 into 0.5
46.979 * [taylor]: Taking taylor expansion of phi2 in lambda2
46.979 * [backup-simplify]: Simplify phi2 into phi2
46.979 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
46.979 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
46.979 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
46.979 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
46.980 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
46.980 * [taylor]: Taking taylor expansion of 0.5 in lambda2
46.980 * [backup-simplify]: Simplify 0.5 into 0.5
46.980 * [taylor]: Taking taylor expansion of phi1 in lambda2
46.980 * [backup-simplify]: Simplify phi1 into phi1
46.980 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
46.980 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
46.980 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
46.980 * [taylor]: Taking taylor expansion of (* R (pow lambda2 3)) in lambda2
46.980 * [taylor]: Taking taylor expansion of R in lambda2
46.980 * [backup-simplify]: Simplify R into R
46.980 * [taylor]: Taking taylor expansion of (pow lambda2 3) in lambda2
46.980 * [taylor]: Taking taylor expansion of lambda2 in lambda2
46.980 * [backup-simplify]: Simplify 0 into 0
46.980 * [backup-simplify]: Simplify 1 into 1
46.980 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
46.980 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (pow (sin (/ 0.5 phi2)) 4)
46.980 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (pow (sin (/ 0.5 phi2)) 4)) into (pow (sin (/ 0.5 phi2)) 5)
46.980 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
46.980 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
46.981 * [backup-simplify]: Simplify (- 0) into 0
46.981 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
46.981 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
46.981 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
46.981 * [backup-simplify]: Simplify (- 0) into 0
46.981 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
46.981 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
46.982 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (pow (sin (/ 0.5 phi1)) 4)
46.982 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (pow (sin (/ 0.5 phi1)) 4)) into (pow (sin (/ 0.5 phi1)) 5)
46.982 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 5)) into (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 5))
46.982 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 5))) into (* (pow (sin (/ 0.5 phi1)) 5) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
46.982 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 5) (* (pow (sin (/ 0.5 phi1)) 5) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (pow (sin (/ 0.5 phi1)) 5) (* (pow (sin (/ 0.5 phi2)) 5) (cos (/ 0.5 phi1)))))
46.982 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
46.983 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
46.983 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
46.983 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
46.983 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
46.983 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
46.984 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
46.984 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
46.984 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
46.984 * [backup-simplify]: Simplify (- 0) into 0
46.984 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
46.984 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
46.984 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
46.984 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
46.984 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
46.984 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
46.984 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
46.985 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
46.985 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
46.985 * [backup-simplify]: Simplify (- 0) into 0
46.985 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
46.985 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
46.985 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
46.985 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
46.985 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
46.985 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
46.986 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
46.986 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
46.986 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
46.986 * [backup-simplify]: Simplify (- 0) into 0
46.986 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
46.986 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
46.986 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
46.986 * [backup-simplify]: Simplify (- 0) into 0
46.986 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
46.987 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
46.987 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
46.987 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
46.987 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
46.987 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
46.987 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
46.988 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))
46.988 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
46.989 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
46.989 * [backup-simplify]: Simplify (* 1 1) into 1
46.990 * [backup-simplify]: Simplify (* 1 1) into 1
46.990 * [backup-simplify]: Simplify (* R 1) into R
46.991 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R) into (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)
46.992 * [backup-simplify]: Simplify (/ (* (cos (/ 0.5 phi2)) (* (pow (sin (/ 0.5 phi1)) 5) (* (pow (sin (/ 0.5 phi2)) 5) (cos (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) into (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 5) (pow (sin (/ 0.5 phi1)) 5)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
46.992 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))) in lambda2
46.992 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3)) in lambda2
46.992 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3) in lambda2
46.992 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
46.992 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
46.992 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
46.992 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
46.992 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
46.992 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
46.992 * [taylor]: Taking taylor expansion of 0.5 in lambda2
46.992 * [backup-simplify]: Simplify 0.5 into 0.5
46.992 * [taylor]: Taking taylor expansion of phi2 in lambda2
46.992 * [backup-simplify]: Simplify phi2 into phi2
46.992 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
46.992 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
46.993 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
46.993 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
46.993 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
46.993 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
46.993 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
46.993 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
46.993 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
46.993 * [taylor]: Taking taylor expansion of 0.5 in lambda2
46.993 * [backup-simplify]: Simplify 0.5 into 0.5
46.993 * [taylor]: Taking taylor expansion of phi1 in lambda2
46.993 * [backup-simplify]: Simplify phi1 into phi1
46.993 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
46.993 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
46.993 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
46.993 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
46.993 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
46.993 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
46.993 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
46.993 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
46.993 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
46.993 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
46.993 * [taylor]: Taking taylor expansion of 0.5 in lambda2
46.993 * [backup-simplify]: Simplify 0.5 into 0.5
46.993 * [taylor]: Taking taylor expansion of phi2 in lambda2
46.993 * [backup-simplify]: Simplify phi2 into phi2
46.993 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
46.993 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
46.993 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
46.993 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
46.994 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
46.994 * [backup-simplify]: Simplify (- 0) into 0
46.994 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
46.994 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
46.994 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
46.994 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
46.994 * [taylor]: Taking taylor expansion of 0.5 in lambda2
46.994 * [backup-simplify]: Simplify 0.5 into 0.5
46.994 * [taylor]: Taking taylor expansion of phi1 in lambda2
46.994 * [backup-simplify]: Simplify phi1 into phi1
46.994 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
46.994 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
46.994 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
46.994 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
46.994 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
46.995 * [backup-simplify]: Simplify (- 0) into 0
46.995 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
46.995 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
46.995 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
46.995 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
46.995 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
46.995 * [taylor]: Taking taylor expansion of 0.5 in lambda2
46.995 * [backup-simplify]: Simplify 0.5 into 0.5
46.995 * [taylor]: Taking taylor expansion of phi2 in lambda2
46.995 * [backup-simplify]: Simplify phi2 into phi2
46.995 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
46.995 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
46.995 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
46.995 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
46.995 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
46.995 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
46.995 * [taylor]: Taking taylor expansion of 0.5 in lambda2
46.995 * [backup-simplify]: Simplify 0.5 into 0.5
46.995 * [taylor]: Taking taylor expansion of phi1 in lambda2
46.995 * [backup-simplify]: Simplify phi1 into phi1
46.995 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
46.995 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
46.995 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
46.995 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
46.995 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
46.995 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
46.995 * [taylor]: Taking taylor expansion of 0.5 in lambda2
46.995 * [backup-simplify]: Simplify 0.5 into 0.5
46.995 * [taylor]: Taking taylor expansion of phi2 in lambda2
46.995 * [backup-simplify]: Simplify phi2 into phi2
46.995 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
46.995 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
46.996 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
46.996 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
46.996 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
46.996 * [taylor]: Taking taylor expansion of 0.5 in lambda2
46.996 * [backup-simplify]: Simplify 0.5 into 0.5
46.996 * [taylor]: Taking taylor expansion of phi1 in lambda2
46.996 * [backup-simplify]: Simplify phi1 into phi1
46.996 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
46.996 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
46.996 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
46.996 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
46.996 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
46.996 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
46.996 * [taylor]: Taking taylor expansion of 0.5 in lambda2
46.996 * [backup-simplify]: Simplify 0.5 into 0.5
46.996 * [taylor]: Taking taylor expansion of phi2 in lambda2
46.996 * [backup-simplify]: Simplify phi2 into phi2
46.996 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
46.996 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
46.996 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
46.996 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
46.996 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
46.996 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
46.996 * [taylor]: Taking taylor expansion of 0.5 in lambda2
46.996 * [backup-simplify]: Simplify 0.5 into 0.5
46.996 * [taylor]: Taking taylor expansion of phi1 in lambda2
46.996 * [backup-simplify]: Simplify phi1 into phi1
46.996 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
46.996 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
46.996 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
46.996 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
46.996 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
46.996 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
46.996 * [taylor]: Taking taylor expansion of 0.5 in lambda2
46.996 * [backup-simplify]: Simplify 0.5 into 0.5
46.996 * [taylor]: Taking taylor expansion of phi2 in lambda2
46.996 * [backup-simplify]: Simplify phi2 into phi2
46.996 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
46.997 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
46.997 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
46.997 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
46.997 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
46.997 * [taylor]: Taking taylor expansion of 0.5 in lambda2
46.997 * [backup-simplify]: Simplify 0.5 into 0.5
46.997 * [taylor]: Taking taylor expansion of phi1 in lambda2
46.997 * [backup-simplify]: Simplify phi1 into phi1
46.997 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
46.997 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
46.997 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
46.997 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
46.997 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
46.997 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
46.997 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
46.997 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
46.998 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
46.999 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
46.999 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
46.999 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
46.999 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
46.999 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
46.999 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
46.999 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
46.999 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
47.000 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
47.000 * [backup-simplify]: Simplify (- 0) into 0
47.000 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
47.000 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
47.000 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
47.001 * [backup-simplify]: Simplify (- 0) into 0
47.001 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
47.001 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
47.001 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
47.002 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
47.002 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
47.002 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
47.002 * [backup-simplify]: Simplify (- 0) into 0
47.002 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
47.002 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
47.003 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
47.003 * [backup-simplify]: Simplify (- 0) into 0
47.003 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
47.003 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
47.003 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
47.003 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
47.003 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
47.004 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
47.004 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
47.004 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
47.004 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
47.004 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
47.005 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))
47.006 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
47.008 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
47.012 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)
47.015 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)) into (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
47.019 * [backup-simplify]: Simplify (/ 1 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)))
47.024 * [backup-simplify]: Simplify (sqrt (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)))) into (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))
47.025 * [backup-simplify]: Simplify (+ 0) into 0
47.025 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
47.026 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
47.026 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.027 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
47.027 * [backup-simplify]: Simplify (+ 0 0) into 0
47.027 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
47.028 * [backup-simplify]: Simplify (+ 0) into 0
47.028 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
47.028 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
47.029 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.030 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
47.030 * [backup-simplify]: Simplify (+ 0 0) into 0
47.030 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
47.031 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
47.031 * [backup-simplify]: Simplify (+ 0) into 0
47.032 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
47.032 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
47.033 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.033 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
47.033 * [backup-simplify]: Simplify (- 0) into 0
47.034 * [backup-simplify]: Simplify (+ 0 0) into 0
47.034 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
47.034 * [backup-simplify]: Simplify (+ 0) into 0
47.035 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
47.035 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
47.036 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.036 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
47.037 * [backup-simplify]: Simplify (- 0) into 0
47.037 * [backup-simplify]: Simplify (+ 0 0) into 0
47.037 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
47.038 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
47.038 * [backup-simplify]: Simplify (+ 0 0) into 0
47.039 * [backup-simplify]: Simplify (+ 0) into 0
47.039 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
47.039 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
47.040 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.040 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
47.041 * [backup-simplify]: Simplify (- 0) into 0
47.041 * [backup-simplify]: Simplify (+ 0 0) into 0
47.041 * [backup-simplify]: Simplify (+ 0) into 0
47.042 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
47.042 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
47.043 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.043 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
47.044 * [backup-simplify]: Simplify (- 0) into 0
47.044 * [backup-simplify]: Simplify (+ 0 0) into 0
47.044 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
47.045 * [backup-simplify]: Simplify (+ 0) into 0
47.045 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
47.045 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
47.046 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.047 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
47.047 * [backup-simplify]: Simplify (+ 0 0) into 0
47.047 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
47.048 * [backup-simplify]: Simplify (+ 0) into 0
47.049 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
47.049 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
47.050 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.051 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
47.051 * [backup-simplify]: Simplify (+ 0 0) into 0
47.051 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
47.052 * [backup-simplify]: Simplify (+ 0) into 0
47.052 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
47.053 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
47.053 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.054 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
47.054 * [backup-simplify]: Simplify (+ 0 0) into 0
47.055 * [backup-simplify]: Simplify (+ 0) into 0
47.055 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
47.055 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
47.056 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.057 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
47.057 * [backup-simplify]: Simplify (+ 0 0) into 0
47.057 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
47.058 * [backup-simplify]: Simplify (+ 0) into 0
47.058 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
47.058 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
47.059 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.060 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
47.060 * [backup-simplify]: Simplify (- 0) into 0
47.060 * [backup-simplify]: Simplify (+ 0 0) into 0
47.061 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
47.061 * [backup-simplify]: Simplify (+ 0) into 0
47.062 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
47.062 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
47.063 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.063 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
47.063 * [backup-simplify]: Simplify (- 0) into 0
47.064 * [backup-simplify]: Simplify (+ 0 0) into 0
47.064 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
47.065 * [backup-simplify]: Simplify (+ 0 0) into 0
47.065 * [backup-simplify]: Simplify (- 0) into 0
47.065 * [backup-simplify]: Simplify (+ 0 0) into 0
47.069 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into 0
47.073 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2))) into 0
47.082 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2))) (/ 0 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
47.086 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)))))) into 0
47.087 * [taylor]: Taking taylor expansion of (+ (* 3/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (* lambda2 (* phi1 phi2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (+ (* 17/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 3) (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (cos (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (* lambda2 (* phi1 phi2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* lambda2 (* R (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow phi2 2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 5) (* (pow (cos (/ 0.5 phi1)) 5) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3)))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* lambda2 (* (pow phi1 2) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi1)) 4)) (* R (* (pow lambda2 3) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)) (* R (* (pow lambda2 3) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 2 (* (/ (* (sin (/ 0.5 phi2)) (* (pow (cos (/ 0.5 phi1)) 5) (* (pow (cos (/ 0.5 phi2)) 5) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 (* (pow phi1 2) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 (* R (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow phi2 2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 3/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (* 3/2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 5) (pow (sin (/ 0.5 phi1)) 5)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3)))))))))))))))))) in lambda2
47.093 * [taylor]: Taking taylor expansion of (* 3/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) in lambda2
47.093 * [taylor]: Taking taylor expansion of 3/2 in lambda2
47.093 * [backup-simplify]: Simplify 3/2 into 3/2
47.093 * [taylor]: Taking taylor expansion of (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) in lambda2
47.093 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) in lambda2
47.093 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) in lambda2
47.093 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
47.094 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
47.094 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
47.094 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.094 * [backup-simplify]: Simplify 0.5 into 0.5
47.094 * [taylor]: Taking taylor expansion of phi2 in lambda2
47.094 * [backup-simplify]: Simplify phi2 into phi2
47.094 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
47.094 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
47.094 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
47.094 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
47.094 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
47.095 * [backup-simplify]: Simplify (- 0) into 0
47.095 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
47.095 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))) in lambda2
47.095 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
47.095 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
47.095 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
47.095 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.095 * [backup-simplify]: Simplify 0.5 into 0.5
47.095 * [taylor]: Taking taylor expansion of phi1 in lambda2
47.095 * [backup-simplify]: Simplify phi1 into phi1
47.095 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
47.095 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
47.095 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
47.095 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
47.096 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
47.096 * [backup-simplify]: Simplify (- 0) into 0
47.096 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
47.096 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
47.096 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
47.096 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
47.096 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
47.096 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.096 * [backup-simplify]: Simplify 0.5 into 0.5
47.096 * [taylor]: Taking taylor expansion of phi2 in lambda2
47.096 * [backup-simplify]: Simplify phi2 into phi2
47.096 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
47.096 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
47.097 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
47.097 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
47.097 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
47.097 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
47.097 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
47.097 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
47.097 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
47.097 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.097 * [backup-simplify]: Simplify 0.5 into 0.5
47.097 * [taylor]: Taking taylor expansion of phi1 in lambda2
47.097 * [backup-simplify]: Simplify phi1 into phi1
47.097 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
47.097 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
47.097 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
47.097 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
47.098 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
47.098 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
47.098 * [taylor]: Taking taylor expansion of (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3))) in lambda2
47.098 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
47.098 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
47.098 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
47.098 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
47.098 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
47.098 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
47.098 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.098 * [backup-simplify]: Simplify 0.5 into 0.5
47.098 * [taylor]: Taking taylor expansion of phi2 in lambda2
47.098 * [backup-simplify]: Simplify phi2 into phi2
47.098 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
47.098 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
47.098 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
47.098 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
47.098 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
47.099 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
47.099 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
47.099 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
47.099 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
47.099 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.099 * [backup-simplify]: Simplify 0.5 into 0.5
47.099 * [taylor]: Taking taylor expansion of phi1 in lambda2
47.099 * [backup-simplify]: Simplify phi1 into phi1
47.099 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
47.099 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
47.099 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
47.099 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
47.099 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
47.099 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
47.099 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
47.099 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
47.099 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
47.099 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
47.099 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.100 * [backup-simplify]: Simplify 0.5 into 0.5
47.100 * [taylor]: Taking taylor expansion of phi2 in lambda2
47.100 * [backup-simplify]: Simplify phi2 into phi2
47.100 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
47.100 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
47.100 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
47.100 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
47.100 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
47.101 * [backup-simplify]: Simplify (- 0) into 0
47.101 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
47.101 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
47.101 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
47.101 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
47.101 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.101 * [backup-simplify]: Simplify 0.5 into 0.5
47.101 * [taylor]: Taking taylor expansion of phi1 in lambda2
47.101 * [backup-simplify]: Simplify phi1 into phi1
47.101 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
47.101 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
47.101 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
47.101 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
47.101 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
47.102 * [backup-simplify]: Simplify (- 0) into 0
47.102 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
47.102 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
47.102 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
47.102 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
47.102 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
47.102 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.102 * [backup-simplify]: Simplify 0.5 into 0.5
47.102 * [taylor]: Taking taylor expansion of phi2 in lambda2
47.102 * [backup-simplify]: Simplify phi2 into phi2
47.102 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
47.102 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
47.102 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
47.102 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
47.102 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
47.102 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
47.102 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.103 * [backup-simplify]: Simplify 0.5 into 0.5
47.103 * [taylor]: Taking taylor expansion of phi1 in lambda2
47.103 * [backup-simplify]: Simplify phi1 into phi1
47.103 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
47.103 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
47.103 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
47.103 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
47.103 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
47.103 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
47.103 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.103 * [backup-simplify]: Simplify 0.5 into 0.5
47.103 * [taylor]: Taking taylor expansion of phi2 in lambda2
47.103 * [backup-simplify]: Simplify phi2 into phi2
47.103 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
47.103 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
47.103 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
47.103 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
47.103 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
47.103 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.103 * [backup-simplify]: Simplify 0.5 into 0.5
47.103 * [taylor]: Taking taylor expansion of phi1 in lambda2
47.103 * [backup-simplify]: Simplify phi1 into phi1
47.104 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
47.104 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
47.104 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
47.104 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
47.104 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
47.104 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
47.104 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.104 * [backup-simplify]: Simplify 0.5 into 0.5
47.104 * [taylor]: Taking taylor expansion of phi2 in lambda2
47.104 * [backup-simplify]: Simplify phi2 into phi2
47.104 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
47.104 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
47.104 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
47.104 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
47.104 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
47.104 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
47.104 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.104 * [backup-simplify]: Simplify 0.5 into 0.5
47.104 * [taylor]: Taking taylor expansion of phi1 in lambda2
47.104 * [backup-simplify]: Simplify phi1 into phi1
47.104 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
47.105 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
47.105 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
47.105 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
47.105 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
47.105 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
47.105 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.105 * [backup-simplify]: Simplify 0.5 into 0.5
47.105 * [taylor]: Taking taylor expansion of phi2 in lambda2
47.105 * [backup-simplify]: Simplify phi2 into phi2
47.105 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
47.105 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
47.105 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
47.105 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
47.105 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
47.105 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.105 * [backup-simplify]: Simplify 0.5 into 0.5
47.105 * [taylor]: Taking taylor expansion of phi1 in lambda2
47.105 * [backup-simplify]: Simplify phi1 into phi1
47.105 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
47.105 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
47.105 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
47.105 * [taylor]: Taking taylor expansion of (* R (pow lambda2 3)) in lambda2
47.106 * [taylor]: Taking taylor expansion of R in lambda2
47.106 * [backup-simplify]: Simplify R into R
47.106 * [taylor]: Taking taylor expansion of (pow lambda2 3) in lambda2
47.106 * [taylor]: Taking taylor expansion of lambda2 in lambda2
47.106 * [backup-simplify]: Simplify 0 into 0
47.106 * [backup-simplify]: Simplify 1 into 1
47.106 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
47.106 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
47.106 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
47.106 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
47.107 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
47.107 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))) into (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
47.108 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))) into (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))))
47.108 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
47.108 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
47.108 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
47.109 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
47.109 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
47.109 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
47.110 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
47.110 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
47.110 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
47.111 * [backup-simplify]: Simplify (- 0) into 0
47.111 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
47.111 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
47.111 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
47.111 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
47.111 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
47.111 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
47.111 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
47.111 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
47.112 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
47.112 * [backup-simplify]: Simplify (- 0) into 0
47.112 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
47.112 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
47.112 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
47.113 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
47.113 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
47.113 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
47.113 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
47.113 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
47.113 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
47.114 * [backup-simplify]: Simplify (- 0) into 0
47.114 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
47.114 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
47.114 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
47.114 * [backup-simplify]: Simplify (- 0) into 0
47.114 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
47.115 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
47.115 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
47.115 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
47.115 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
47.115 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
47.115 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
47.116 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))
47.117 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
47.119 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
47.120 * [backup-simplify]: Simplify (* 1 1) into 1
47.120 * [backup-simplify]: Simplify (* 1 1) into 1
47.120 * [backup-simplify]: Simplify (* R 1) into R
47.122 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R) into (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)
47.125 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) into (/ (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
47.125 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in lambda2
47.125 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in lambda2
47.125 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
47.125 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
47.125 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
47.125 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
47.125 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
47.125 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
47.126 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.126 * [backup-simplify]: Simplify 0.5 into 0.5
47.126 * [taylor]: Taking taylor expansion of phi2 in lambda2
47.126 * [backup-simplify]: Simplify phi2 into phi2
47.126 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
47.126 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
47.126 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
47.126 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
47.126 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
47.126 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
47.126 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
47.126 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
47.126 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
47.126 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.126 * [backup-simplify]: Simplify 0.5 into 0.5
47.126 * [taylor]: Taking taylor expansion of phi1 in lambda2
47.126 * [backup-simplify]: Simplify phi1 into phi1
47.126 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
47.127 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
47.127 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
47.127 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
47.127 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
47.127 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
47.127 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
47.127 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
47.127 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
47.127 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
47.127 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.127 * [backup-simplify]: Simplify 0.5 into 0.5
47.127 * [taylor]: Taking taylor expansion of phi2 in lambda2
47.127 * [backup-simplify]: Simplify phi2 into phi2
47.127 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
47.127 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
47.127 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
47.127 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
47.128 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
47.128 * [backup-simplify]: Simplify (- 0) into 0
47.128 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
47.128 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
47.128 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
47.128 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
47.128 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.128 * [backup-simplify]: Simplify 0.5 into 0.5
47.128 * [taylor]: Taking taylor expansion of phi1 in lambda2
47.128 * [backup-simplify]: Simplify phi1 into phi1
47.129 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
47.129 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
47.129 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
47.129 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
47.129 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
47.129 * [backup-simplify]: Simplify (- 0) into 0
47.130 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
47.130 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
47.130 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
47.130 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
47.130 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
47.130 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.130 * [backup-simplify]: Simplify 0.5 into 0.5
47.130 * [taylor]: Taking taylor expansion of phi2 in lambda2
47.130 * [backup-simplify]: Simplify phi2 into phi2
47.130 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
47.130 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
47.130 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
47.130 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
47.130 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
47.130 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
47.130 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.130 * [backup-simplify]: Simplify 0.5 into 0.5
47.130 * [taylor]: Taking taylor expansion of phi1 in lambda2
47.130 * [backup-simplify]: Simplify phi1 into phi1
47.130 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
47.130 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
47.130 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
47.130 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
47.130 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
47.130 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
47.130 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.131 * [backup-simplify]: Simplify 0.5 into 0.5
47.131 * [taylor]: Taking taylor expansion of phi2 in lambda2
47.131 * [backup-simplify]: Simplify phi2 into phi2
47.131 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
47.131 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
47.131 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
47.131 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
47.131 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
47.131 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.131 * [backup-simplify]: Simplify 0.5 into 0.5
47.131 * [taylor]: Taking taylor expansion of phi1 in lambda2
47.131 * [backup-simplify]: Simplify phi1 into phi1
47.131 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
47.131 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
47.131 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
47.131 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
47.131 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
47.131 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
47.131 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.131 * [backup-simplify]: Simplify 0.5 into 0.5
47.131 * [taylor]: Taking taylor expansion of phi2 in lambda2
47.131 * [backup-simplify]: Simplify phi2 into phi2
47.131 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
47.131 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
47.132 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
47.132 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
47.132 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
47.132 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
47.132 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.132 * [backup-simplify]: Simplify 0.5 into 0.5
47.132 * [taylor]: Taking taylor expansion of phi1 in lambda2
47.132 * [backup-simplify]: Simplify phi1 into phi1
47.132 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
47.132 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
47.132 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
47.132 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
47.132 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
47.132 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
47.132 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.132 * [backup-simplify]: Simplify 0.5 into 0.5
47.132 * [taylor]: Taking taylor expansion of phi2 in lambda2
47.132 * [backup-simplify]: Simplify phi2 into phi2
47.132 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
47.132 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
47.132 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
47.132 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
47.132 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
47.132 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.132 * [backup-simplify]: Simplify 0.5 into 0.5
47.132 * [taylor]: Taking taylor expansion of phi1 in lambda2
47.132 * [backup-simplify]: Simplify phi1 into phi1
47.133 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
47.133 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
47.133 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
47.133 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
47.133 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
47.133 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
47.134 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
47.134 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
47.134 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
47.135 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
47.135 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
47.135 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
47.135 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
47.135 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
47.135 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
47.135 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
47.135 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
47.136 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
47.137 * [backup-simplify]: Simplify (- 0) into 0
47.137 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
47.137 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
47.137 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
47.137 * [backup-simplify]: Simplify (- 0) into 0
47.138 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
47.138 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
47.138 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
47.138 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
47.138 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
47.139 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
47.139 * [backup-simplify]: Simplify (- 0) into 0
47.139 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
47.139 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
47.139 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
47.140 * [backup-simplify]: Simplify (- 0) into 0
47.140 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
47.140 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
47.140 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
47.140 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
47.140 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
47.140 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
47.140 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
47.141 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
47.141 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
47.141 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
47.142 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))
47.143 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
47.145 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
47.147 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
47.149 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
47.150 * [backup-simplify]: Simplify (+ 0) into 0
47.150 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
47.151 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
47.151 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.152 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
47.152 * [backup-simplify]: Simplify (+ 0 0) into 0
47.152 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
47.153 * [backup-simplify]: Simplify (+ 0) into 0
47.153 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
47.153 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
47.154 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.155 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
47.155 * [backup-simplify]: Simplify (+ 0 0) into 0
47.155 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
47.156 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
47.156 * [backup-simplify]: Simplify (+ 0) into 0
47.157 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
47.157 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
47.158 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.158 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
47.158 * [backup-simplify]: Simplify (- 0) into 0
47.159 * [backup-simplify]: Simplify (+ 0 0) into 0
47.159 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
47.159 * [backup-simplify]: Simplify (+ 0) into 0
47.160 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
47.160 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
47.161 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.161 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
47.162 * [backup-simplify]: Simplify (- 0) into 0
47.162 * [backup-simplify]: Simplify (+ 0 0) into 0
47.162 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
47.162 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
47.163 * [backup-simplify]: Simplify (+ 0 0) into 0
47.163 * [backup-simplify]: Simplify (+ 0) into 0
47.164 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
47.164 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
47.165 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.165 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
47.166 * [backup-simplify]: Simplify (- 0) into 0
47.166 * [backup-simplify]: Simplify (+ 0 0) into 0
47.166 * [backup-simplify]: Simplify (+ 0) into 0
47.167 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
47.167 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
47.168 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.168 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
47.168 * [backup-simplify]: Simplify (- 0) into 0
47.169 * [backup-simplify]: Simplify (+ 0 0) into 0
47.169 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
47.169 * [backup-simplify]: Simplify (+ 0) into 0
47.170 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
47.170 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
47.170 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.171 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
47.171 * [backup-simplify]: Simplify (+ 0 0) into 0
47.171 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
47.171 * [backup-simplify]: Simplify (+ 0) into 0
47.172 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
47.172 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
47.172 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.173 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
47.173 * [backup-simplify]: Simplify (+ 0 0) into 0
47.173 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
47.173 * [backup-simplify]: Simplify (+ 0) into 0
47.174 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
47.174 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
47.174 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.175 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
47.175 * [backup-simplify]: Simplify (+ 0 0) into 0
47.175 * [backup-simplify]: Simplify (+ 0) into 0
47.175 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
47.175 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
47.176 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.176 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
47.176 * [backup-simplify]: Simplify (+ 0 0) into 0
47.177 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
47.177 * [backup-simplify]: Simplify (+ 0) into 0
47.177 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
47.177 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
47.178 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.178 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
47.178 * [backup-simplify]: Simplify (- 0) into 0
47.178 * [backup-simplify]: Simplify (+ 0 0) into 0
47.179 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
47.179 * [backup-simplify]: Simplify (+ 0) into 0
47.179 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
47.179 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
47.180 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.180 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
47.180 * [backup-simplify]: Simplify (- 0) into 0
47.181 * [backup-simplify]: Simplify (+ 0 0) into 0
47.181 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
47.181 * [backup-simplify]: Simplify (+ 0 0) into 0
47.181 * [backup-simplify]: Simplify (- 0) into 0
47.181 * [backup-simplify]: Simplify (+ 0 0) into 0
47.183 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
47.185 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
47.185 * [taylor]: Taking taylor expansion of (+ (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (* lambda2 (* phi1 phi2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (+ (* 17/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 3) (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (cos (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (* lambda2 (* phi1 phi2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* lambda2 (* R (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow phi2 2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 5) (* (pow (cos (/ 0.5 phi1)) 5) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3)))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* lambda2 (* (pow phi1 2) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi1)) 4)) (* R (* (pow lambda2 3) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)) (* R (* (pow lambda2 3) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 2 (* (/ (* (sin (/ 0.5 phi2)) (* (pow (cos (/ 0.5 phi1)) 5) (* (pow (cos (/ 0.5 phi2)) 5) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 (* (pow phi1 2) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 (* R (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow phi2 2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 3/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (* 3/2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 5) (pow (sin (/ 0.5 phi1)) 5)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))))))))))))))) in lambda2
47.185 * [taylor]: Taking taylor expansion of (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (* lambda2 (* phi1 phi2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) in lambda2
47.185 * [taylor]: Taking taylor expansion of (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (* lambda2 (* phi1 phi2))))) in lambda2
47.185 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
47.185 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
47.185 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
47.185 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.185 * [backup-simplify]: Simplify 0.5 into 0.5
47.185 * [taylor]: Taking taylor expansion of phi2 in lambda2
47.185 * [backup-simplify]: Simplify phi2 into phi2
47.185 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
47.185 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
47.185 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
47.185 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
47.185 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
47.185 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
47.185 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.186 * [backup-simplify]: Simplify 0.5 into 0.5
47.186 * [taylor]: Taking taylor expansion of phi1 in lambda2
47.186 * [backup-simplify]: Simplify phi1 into phi1
47.186 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
47.186 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
47.186 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
47.186 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
47.186 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
47.186 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
47.186 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.186 * [backup-simplify]: Simplify 0.5 into 0.5
47.186 * [taylor]: Taking taylor expansion of phi2 in lambda2
47.186 * [backup-simplify]: Simplify phi2 into phi2
47.186 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
47.186 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
47.186 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
47.186 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
47.186 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
47.186 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.186 * [backup-simplify]: Simplify 0.5 into 0.5
47.186 * [taylor]: Taking taylor expansion of phi1 in lambda2
47.186 * [backup-simplify]: Simplify phi1 into phi1
47.186 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
47.186 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
47.186 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
47.186 * [taylor]: Taking taylor expansion of (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (* lambda2 (* phi1 phi2)))) in lambda2
47.186 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
47.186 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
47.186 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
47.186 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
47.186 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
47.186 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
47.186 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.186 * [backup-simplify]: Simplify 0.5 into 0.5
47.186 * [taylor]: Taking taylor expansion of phi2 in lambda2
47.186 * [backup-simplify]: Simplify phi2 into phi2
47.186 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
47.186 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
47.187 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
47.187 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
47.187 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
47.187 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
47.187 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
47.187 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
47.187 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
47.187 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.187 * [backup-simplify]: Simplify 0.5 into 0.5
47.187 * [taylor]: Taking taylor expansion of phi1 in lambda2
47.187 * [backup-simplify]: Simplify phi1 into phi1
47.187 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
47.187 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
47.187 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
47.187 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
47.187 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
47.187 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
47.187 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
47.187 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
47.187 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
47.187 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
47.187 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.187 * [backup-simplify]: Simplify 0.5 into 0.5
47.187 * [taylor]: Taking taylor expansion of phi2 in lambda2
47.187 * [backup-simplify]: Simplify phi2 into phi2
47.187 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
47.187 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
47.187 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
47.188 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
47.188 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
47.188 * [backup-simplify]: Simplify (- 0) into 0
47.188 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
47.188 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
47.188 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
47.188 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
47.188 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.188 * [backup-simplify]: Simplify 0.5 into 0.5
47.188 * [taylor]: Taking taylor expansion of phi1 in lambda2
47.188 * [backup-simplify]: Simplify phi1 into phi1
47.188 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
47.188 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
47.188 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
47.188 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
47.188 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
47.189 * [backup-simplify]: Simplify (- 0) into 0
47.189 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
47.189 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
47.189 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
47.189 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
47.189 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
47.189 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.189 * [backup-simplify]: Simplify 0.5 into 0.5
47.189 * [taylor]: Taking taylor expansion of phi2 in lambda2
47.189 * [backup-simplify]: Simplify phi2 into phi2
47.189 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
47.189 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
47.189 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
47.189 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
47.189 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
47.189 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
47.189 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.189 * [backup-simplify]: Simplify 0.5 into 0.5
47.189 * [taylor]: Taking taylor expansion of phi1 in lambda2
47.189 * [backup-simplify]: Simplify phi1 into phi1
47.189 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
47.189 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
47.189 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
47.189 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
47.189 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
47.189 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
47.189 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.189 * [backup-simplify]: Simplify 0.5 into 0.5
47.189 * [taylor]: Taking taylor expansion of phi2 in lambda2
47.189 * [backup-simplify]: Simplify phi2 into phi2
47.190 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
47.190 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
47.190 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
47.190 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
47.190 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
47.190 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.190 * [backup-simplify]: Simplify 0.5 into 0.5
47.190 * [taylor]: Taking taylor expansion of phi1 in lambda2
47.190 * [backup-simplify]: Simplify phi1 into phi1
47.190 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
47.190 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
47.190 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
47.190 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
47.190 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
47.190 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
47.190 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.190 * [backup-simplify]: Simplify 0.5 into 0.5
47.190 * [taylor]: Taking taylor expansion of phi2 in lambda2
47.190 * [backup-simplify]: Simplify phi2 into phi2
47.190 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
47.190 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
47.190 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
47.190 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
47.190 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
47.190 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
47.190 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.190 * [backup-simplify]: Simplify 0.5 into 0.5
47.190 * [taylor]: Taking taylor expansion of phi1 in lambda2
47.190 * [backup-simplify]: Simplify phi1 into phi1
47.190 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
47.190 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
47.190 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
47.190 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
47.190 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
47.190 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
47.190 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.190 * [backup-simplify]: Simplify 0.5 into 0.5
47.191 * [taylor]: Taking taylor expansion of phi2 in lambda2
47.191 * [backup-simplify]: Simplify phi2 into phi2
47.191 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
47.191 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
47.191 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
47.191 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
47.191 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
47.191 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.191 * [backup-simplify]: Simplify 0.5 into 0.5
47.191 * [taylor]: Taking taylor expansion of phi1 in lambda2
47.191 * [backup-simplify]: Simplify phi1 into phi1
47.191 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
47.191 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
47.191 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
47.191 * [taylor]: Taking taylor expansion of (* R (* lambda2 (* phi1 phi2))) in lambda2
47.191 * [taylor]: Taking taylor expansion of R in lambda2
47.191 * [backup-simplify]: Simplify R into R
47.191 * [taylor]: Taking taylor expansion of (* lambda2 (* phi1 phi2)) in lambda2
47.191 * [taylor]: Taking taylor expansion of lambda2 in lambda2
47.191 * [backup-simplify]: Simplify 0 into 0
47.191 * [backup-simplify]: Simplify 1 into 1
47.191 * [taylor]: Taking taylor expansion of (* phi1 phi2) in lambda2
47.191 * [taylor]: Taking taylor expansion of phi1 in lambda2
47.191 * [backup-simplify]: Simplify phi1 into phi1
47.191 * [taylor]: Taking taylor expansion of phi2 in lambda2
47.191 * [backup-simplify]: Simplify phi2 into phi2
47.191 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
47.191 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
47.192 * [backup-simplify]: Simplify (- 0) into 0
47.192 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
47.192 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
47.192 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
47.192 * [backup-simplify]: Simplify (- 0) into 0
47.192 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
47.192 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
47.192 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
47.192 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
47.192 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
47.192 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
47.192 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
47.193 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
47.193 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
47.193 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
47.193 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
47.193 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
47.193 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
47.193 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
47.194 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
47.194 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
47.195 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
47.195 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
47.195 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
47.196 * [backup-simplify]: Simplify (- 0) into 0
47.196 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
47.196 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
47.196 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
47.196 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
47.196 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
47.196 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
47.196 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
47.197 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
47.197 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
47.197 * [backup-simplify]: Simplify (- 0) into 0
47.197 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
47.198 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
47.198 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
47.199 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
47.199 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
47.199 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
47.199 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
47.199 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
47.199 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
47.200 * [backup-simplify]: Simplify (- 0) into 0
47.200 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
47.200 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
47.200 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
47.201 * [backup-simplify]: Simplify (- 0) into 0
47.201 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
47.201 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
47.201 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
47.201 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
47.202 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
47.202 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
47.202 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
47.203 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))
47.204 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
47.206 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
47.206 * [backup-simplify]: Simplify (* phi1 phi2) into (* phi1 phi2)
47.206 * [backup-simplify]: Simplify (* 0 (* phi1 phi2)) into 0
47.207 * [backup-simplify]: Simplify (* R 0) into 0
47.208 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) into 0
47.209 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi2)) into 0
47.209 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* phi1 phi2))) into (* phi1 phi2)
47.210 * [backup-simplify]: Simplify (+ (* R (* phi1 phi2)) (* 0 0)) into (* R (* phi1 phi2))
47.210 * [backup-simplify]: Simplify (+ 0) into 0
47.211 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
47.211 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
47.212 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.212 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
47.213 * [backup-simplify]: Simplify (+ 0 0) into 0
47.213 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
47.213 * [backup-simplify]: Simplify (+ 0) into 0
47.214 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
47.214 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
47.215 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.215 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
47.216 * [backup-simplify]: Simplify (+ 0 0) into 0
47.216 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
47.216 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
47.217 * [backup-simplify]: Simplify (+ 0) into 0
47.217 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
47.217 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
47.218 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.218 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
47.218 * [backup-simplify]: Simplify (- 0) into 0
47.219 * [backup-simplify]: Simplify (+ 0 0) into 0
47.219 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
47.219 * [backup-simplify]: Simplify (+ 0) into 0
47.219 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
47.219 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
47.220 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.220 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
47.220 * [backup-simplify]: Simplify (- 0) into 0
47.221 * [backup-simplify]: Simplify (+ 0 0) into 0
47.221 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
47.221 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
47.221 * [backup-simplify]: Simplify (+ 0 0) into 0
47.221 * [backup-simplify]: Simplify (+ 0) into 0
47.222 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
47.222 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
47.222 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.223 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
47.223 * [backup-simplify]: Simplify (- 0) into 0
47.223 * [backup-simplify]: Simplify (+ 0 0) into 0
47.223 * [backup-simplify]: Simplify (+ 0) into 0
47.224 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
47.224 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
47.224 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.225 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
47.225 * [backup-simplify]: Simplify (+ 0 0) into 0
47.225 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
47.225 * [backup-simplify]: Simplify (+ 0) into 0
47.226 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
47.226 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
47.226 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.226 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
47.227 * [backup-simplify]: Simplify (+ 0 0) into 0
47.227 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
47.227 * [backup-simplify]: Simplify (+ 0) into 0
47.227 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
47.228 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
47.228 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.228 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
47.229 * [backup-simplify]: Simplify (- 0) into 0
47.229 * [backup-simplify]: Simplify (+ 0 0) into 0
47.229 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
47.229 * [backup-simplify]: Simplify (+ 0) into 0
47.230 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
47.230 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
47.230 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.230 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
47.231 * [backup-simplify]: Simplify (+ 0 0) into 0
47.231 * [backup-simplify]: Simplify (+ 0) into 0
47.231 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
47.231 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
47.232 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.232 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
47.232 * [backup-simplify]: Simplify (- 0) into 0
47.233 * [backup-simplify]: Simplify (+ 0 0) into 0
47.233 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
47.233 * [backup-simplify]: Simplify (+ 0) into 0
47.233 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
47.233 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
47.234 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.234 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
47.234 * [backup-simplify]: Simplify (- 0) into 0
47.235 * [backup-simplify]: Simplify (+ 0 0) into 0
47.235 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
47.235 * [backup-simplify]: Simplify (+ 0) into 0
47.235 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
47.235 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
47.236 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.236 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
47.236 * [backup-simplify]: Simplify (+ 0 0) into 0
47.237 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
47.237 * [backup-simplify]: Simplify (+ 0 0) into 0
47.237 * [backup-simplify]: Simplify (- 0) into 0
47.237 * [backup-simplify]: Simplify (+ 0 0) into 0
47.239 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (* phi1 phi2))) (* 0 0)) into (- (+ (* phi1 (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (* phi1 (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))))))
47.241 * [backup-simplify]: Simplify (/ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (- (+ (* phi1 (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (* phi1 (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))))))) into (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* phi1 phi2)))) (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* phi1 phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))))
47.241 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in lambda2
47.241 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in lambda2
47.241 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
47.241 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
47.241 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
47.241 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
47.241 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
47.241 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
47.241 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.241 * [backup-simplify]: Simplify 0.5 into 0.5
47.241 * [taylor]: Taking taylor expansion of phi2 in lambda2
47.241 * [backup-simplify]: Simplify phi2 into phi2
47.241 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
47.241 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
47.241 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
47.241 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
47.241 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
47.241 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
47.241 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
47.241 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
47.241 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
47.241 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.241 * [backup-simplify]: Simplify 0.5 into 0.5
47.241 * [taylor]: Taking taylor expansion of phi1 in lambda2
47.241 * [backup-simplify]: Simplify phi1 into phi1
47.241 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
47.242 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
47.242 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
47.242 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
47.242 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
47.242 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
47.242 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
47.242 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
47.242 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
47.242 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
47.242 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.242 * [backup-simplify]: Simplify 0.5 into 0.5
47.242 * [taylor]: Taking taylor expansion of phi2 in lambda2
47.242 * [backup-simplify]: Simplify phi2 into phi2
47.242 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
47.242 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
47.242 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
47.242 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
47.242 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
47.247 * [backup-simplify]: Simplify (- 0) into 0
47.247 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
47.247 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
47.247 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
47.247 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
47.247 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.247 * [backup-simplify]: Simplify 0.5 into 0.5
47.248 * [taylor]: Taking taylor expansion of phi1 in lambda2
47.248 * [backup-simplify]: Simplify phi1 into phi1
47.248 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
47.248 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
47.248 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
47.248 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
47.248 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
47.248 * [backup-simplify]: Simplify (- 0) into 0
47.248 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
47.248 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
47.248 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
47.248 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
47.248 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
47.248 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.248 * [backup-simplify]: Simplify 0.5 into 0.5
47.248 * [taylor]: Taking taylor expansion of phi2 in lambda2
47.248 * [backup-simplify]: Simplify phi2 into phi2
47.249 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
47.249 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
47.249 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
47.249 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
47.249 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
47.249 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
47.249 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.249 * [backup-simplify]: Simplify 0.5 into 0.5
47.249 * [taylor]: Taking taylor expansion of phi1 in lambda2
47.249 * [backup-simplify]: Simplify phi1 into phi1
47.249 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
47.249 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
47.249 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
47.249 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
47.249 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
47.249 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
47.249 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.249 * [backup-simplify]: Simplify 0.5 into 0.5
47.249 * [taylor]: Taking taylor expansion of phi2 in lambda2
47.249 * [backup-simplify]: Simplify phi2 into phi2
47.249 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
47.249 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
47.249 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
47.249 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
47.249 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
47.249 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.249 * [backup-simplify]: Simplify 0.5 into 0.5
47.249 * [taylor]: Taking taylor expansion of phi1 in lambda2
47.249 * [backup-simplify]: Simplify phi1 into phi1
47.249 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
47.249 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
47.249 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
47.249 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
47.249 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
47.249 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
47.249 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.250 * [backup-simplify]: Simplify 0.5 into 0.5
47.250 * [taylor]: Taking taylor expansion of phi2 in lambda2
47.250 * [backup-simplify]: Simplify phi2 into phi2
47.250 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
47.250 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
47.250 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
47.250 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
47.250 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
47.250 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
47.250 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.250 * [backup-simplify]: Simplify 0.5 into 0.5
47.250 * [taylor]: Taking taylor expansion of phi1 in lambda2
47.250 * [backup-simplify]: Simplify phi1 into phi1
47.250 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
47.250 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
47.250 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
47.250 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
47.250 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
47.250 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
47.250 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.250 * [backup-simplify]: Simplify 0.5 into 0.5
47.250 * [taylor]: Taking taylor expansion of phi2 in lambda2
47.250 * [backup-simplify]: Simplify phi2 into phi2
47.250 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
47.250 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
47.250 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
47.250 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
47.250 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
47.250 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.250 * [backup-simplify]: Simplify 0.5 into 0.5
47.250 * [taylor]: Taking taylor expansion of phi1 in lambda2
47.250 * [backup-simplify]: Simplify phi1 into phi1
47.250 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
47.250 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
47.250 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
47.251 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
47.251 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
47.251 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
47.251 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
47.251 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
47.251 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
47.252 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
47.252 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
47.252 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
47.252 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
47.252 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
47.252 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
47.252 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
47.252 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
47.252 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
47.253 * [backup-simplify]: Simplify (- 0) into 0
47.253 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
47.253 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
47.253 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
47.253 * [backup-simplify]: Simplify (- 0) into 0
47.253 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
47.253 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
47.253 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
47.253 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
47.254 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
47.254 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
47.254 * [backup-simplify]: Simplify (- 0) into 0
47.254 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
47.254 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
47.254 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
47.254 * [backup-simplify]: Simplify (- 0) into 0
47.254 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
47.254 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
47.254 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
47.255 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
47.255 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
47.255 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
47.255 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
47.255 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
47.255 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
47.255 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
47.255 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))
47.256 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
47.257 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
47.258 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
47.259 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
47.259 * [backup-simplify]: Simplify (+ 0) into 0
47.260 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
47.260 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
47.260 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.261 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
47.261 * [backup-simplify]: Simplify (+ 0 0) into 0
47.261 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
47.261 * [backup-simplify]: Simplify (+ 0) into 0
47.261 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
47.262 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
47.262 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.262 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
47.263 * [backup-simplify]: Simplify (+ 0 0) into 0
47.263 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
47.263 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
47.263 * [backup-simplify]: Simplify (+ 0) into 0
47.264 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
47.264 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
47.264 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.265 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
47.265 * [backup-simplify]: Simplify (- 0) into 0
47.266 * [backup-simplify]: Simplify (+ 0 0) into 0
47.266 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
47.266 * [backup-simplify]: Simplify (+ 0) into 0
47.266 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
47.266 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
47.267 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.267 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
47.267 * [backup-simplify]: Simplify (- 0) into 0
47.268 * [backup-simplify]: Simplify (+ 0 0) into 0
47.268 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
47.268 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
47.268 * [backup-simplify]: Simplify (+ 0 0) into 0
47.269 * [backup-simplify]: Simplify (+ 0) into 0
47.269 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
47.269 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
47.269 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.270 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
47.270 * [backup-simplify]: Simplify (- 0) into 0
47.270 * [backup-simplify]: Simplify (+ 0 0) into 0
47.270 * [backup-simplify]: Simplify (+ 0) into 0
47.271 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
47.271 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
47.271 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.272 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
47.272 * [backup-simplify]: Simplify (- 0) into 0
47.272 * [backup-simplify]: Simplify (+ 0 0) into 0
47.272 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
47.272 * [backup-simplify]: Simplify (+ 0) into 0
47.273 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
47.273 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
47.274 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.274 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
47.274 * [backup-simplify]: Simplify (+ 0 0) into 0
47.274 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
47.275 * [backup-simplify]: Simplify (+ 0) into 0
47.275 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
47.275 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
47.275 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.276 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
47.276 * [backup-simplify]: Simplify (+ 0 0) into 0
47.276 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
47.276 * [backup-simplify]: Simplify (+ 0) into 0
47.277 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
47.277 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
47.277 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.278 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
47.278 * [backup-simplify]: Simplify (+ 0 0) into 0
47.278 * [backup-simplify]: Simplify (+ 0) into 0
47.278 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
47.279 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
47.279 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.279 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
47.280 * [backup-simplify]: Simplify (+ 0 0) into 0
47.280 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
47.280 * [backup-simplify]: Simplify (+ 0) into 0
47.280 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
47.280 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
47.281 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.281 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
47.281 * [backup-simplify]: Simplify (- 0) into 0
47.282 * [backup-simplify]: Simplify (+ 0 0) into 0
47.282 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
47.282 * [backup-simplify]: Simplify (+ 0) into 0
47.282 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
47.282 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
47.283 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.283 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
47.283 * [backup-simplify]: Simplify (- 0) into 0
47.284 * [backup-simplify]: Simplify (+ 0 0) into 0
47.284 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
47.284 * [backup-simplify]: Simplify (+ 0 0) into 0
47.284 * [backup-simplify]: Simplify (- 0) into 0
47.285 * [backup-simplify]: Simplify (+ 0 0) into 0
47.287 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
47.288 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
47.288 * [taylor]: Taking taylor expansion of (+ (* 17/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 3) (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (cos (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (* lambda2 (* phi1 phi2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* lambda2 (* R (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow phi2 2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 5) (* (pow (cos (/ 0.5 phi1)) 5) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3)))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* lambda2 (* (pow phi1 2) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi1)) 4)) (* R (* (pow lambda2 3) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)) (* R (* (pow lambda2 3) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 2 (* (/ (* (sin (/ 0.5 phi2)) (* (pow (cos (/ 0.5 phi1)) 5) (* (pow (cos (/ 0.5 phi2)) 5) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 (* (pow phi1 2) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 (* R (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow phi2 2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 3/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (* 3/2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 5) (pow (sin (/ 0.5 phi1)) 5)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3)))))))))))))))) in lambda2
47.288 * [taylor]: Taking taylor expansion of (* 17/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 3) (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (cos (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) in lambda2
47.288 * [taylor]: Taking taylor expansion of 17/2 in lambda2
47.288 * [backup-simplify]: Simplify 17/2 into 17/2
47.288 * [taylor]: Taking taylor expansion of (* (/ (* (pow (sin (/ 0.5 phi2)) 3) (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (cos (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3)))) in lambda2
47.288 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi2)) 3) (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (cos (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) in lambda2
47.288 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 3) (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (cos (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)))) in lambda2
47.288 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 3) in lambda2
47.288 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
47.288 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
47.288 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.288 * [backup-simplify]: Simplify 0.5 into 0.5
47.288 * [taylor]: Taking taylor expansion of phi2 in lambda2
47.288 * [backup-simplify]: Simplify phi2 into phi2
47.288 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
47.289 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
47.289 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
47.289 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
47.289 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
47.289 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
47.289 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (cos (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3))) in lambda2
47.289 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 3) in lambda2
47.289 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
47.289 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
47.289 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.289 * [backup-simplify]: Simplify 0.5 into 0.5
47.289 * [taylor]: Taking taylor expansion of phi1 in lambda2
47.289 * [backup-simplify]: Simplify phi1 into phi1
47.289 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
47.289 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
47.289 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
47.289 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
47.289 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
47.290 * [backup-simplify]: Simplify (- 0) into 0
47.290 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
47.290 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)) in lambda2
47.290 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 3) in lambda2
47.290 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
47.290 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
47.290 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.290 * [backup-simplify]: Simplify 0.5 into 0.5
47.290 * [taylor]: Taking taylor expansion of phi2 in lambda2
47.290 * [backup-simplify]: Simplify phi2 into phi2
47.290 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
47.290 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
47.290 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
47.290 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
47.290 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
47.290 * [backup-simplify]: Simplify (- 0) into 0
47.290 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
47.290 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 3) in lambda2
47.290 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
47.290 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
47.290 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.290 * [backup-simplify]: Simplify 0.5 into 0.5
47.290 * [taylor]: Taking taylor expansion of phi1 in lambda2
47.291 * [backup-simplify]: Simplify phi1 into phi1
47.291 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
47.291 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
47.291 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
47.291 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
47.291 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
47.291 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
47.291 * [taylor]: Taking taylor expansion of (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3))) in lambda2
47.291 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
47.291 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
47.291 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
47.291 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
47.291 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
47.291 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
47.291 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.291 * [backup-simplify]: Simplify 0.5 into 0.5
47.291 * [taylor]: Taking taylor expansion of phi2 in lambda2
47.291 * [backup-simplify]: Simplify phi2 into phi2
47.291 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
47.291 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
47.291 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
47.291 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
47.291 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
47.291 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
47.291 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
47.291 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
47.291 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
47.291 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.291 * [backup-simplify]: Simplify 0.5 into 0.5
47.291 * [taylor]: Taking taylor expansion of phi1 in lambda2
47.292 * [backup-simplify]: Simplify phi1 into phi1
47.292 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
47.292 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
47.292 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
47.292 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
47.292 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
47.292 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
47.292 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
47.292 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
47.292 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
47.292 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
47.292 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.292 * [backup-simplify]: Simplify 0.5 into 0.5
47.292 * [taylor]: Taking taylor expansion of phi2 in lambda2
47.292 * [backup-simplify]: Simplify phi2 into phi2
47.292 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
47.292 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
47.292 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
47.292 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
47.292 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
47.293 * [backup-simplify]: Simplify (- 0) into 0
47.293 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
47.293 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
47.293 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
47.293 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
47.293 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.293 * [backup-simplify]: Simplify 0.5 into 0.5
47.293 * [taylor]: Taking taylor expansion of phi1 in lambda2
47.293 * [backup-simplify]: Simplify phi1 into phi1
47.293 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
47.293 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
47.293 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
47.293 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
47.293 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
47.293 * [backup-simplify]: Simplify (- 0) into 0
47.293 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
47.293 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
47.293 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
47.293 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
47.293 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
47.294 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.294 * [backup-simplify]: Simplify 0.5 into 0.5
47.294 * [taylor]: Taking taylor expansion of phi2 in lambda2
47.294 * [backup-simplify]: Simplify phi2 into phi2
47.294 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
47.294 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
47.294 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
47.294 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
47.294 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
47.294 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
47.294 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.294 * [backup-simplify]: Simplify 0.5 into 0.5
47.294 * [taylor]: Taking taylor expansion of phi1 in lambda2
47.294 * [backup-simplify]: Simplify phi1 into phi1
47.294 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
47.294 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
47.294 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
47.294 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
47.294 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
47.294 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
47.294 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.295 * [backup-simplify]: Simplify 0.5 into 0.5
47.295 * [taylor]: Taking taylor expansion of phi2 in lambda2
47.295 * [backup-simplify]: Simplify phi2 into phi2
47.295 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
47.295 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
47.295 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
47.295 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
47.295 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
47.295 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.295 * [backup-simplify]: Simplify 0.5 into 0.5
47.295 * [taylor]: Taking taylor expansion of phi1 in lambda2
47.295 * [backup-simplify]: Simplify phi1 into phi1
47.295 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
47.295 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
47.295 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
47.295 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
47.295 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
47.295 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
47.295 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.295 * [backup-simplify]: Simplify 0.5 into 0.5
47.295 * [taylor]: Taking taylor expansion of phi2 in lambda2
47.296 * [backup-simplify]: Simplify phi2 into phi2
47.296 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
47.296 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
47.296 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
47.296 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
47.296 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
47.296 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
47.296 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.296 * [backup-simplify]: Simplify 0.5 into 0.5
47.296 * [taylor]: Taking taylor expansion of phi1 in lambda2
47.296 * [backup-simplify]: Simplify phi1 into phi1
47.296 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
47.296 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
47.296 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
47.296 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
47.296 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
47.296 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
47.296 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.296 * [backup-simplify]: Simplify 0.5 into 0.5
47.296 * [taylor]: Taking taylor expansion of phi2 in lambda2
47.296 * [backup-simplify]: Simplify phi2 into phi2
47.297 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
47.297 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
47.297 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
47.297 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
47.297 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
47.297 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.297 * [backup-simplify]: Simplify 0.5 into 0.5
47.297 * [taylor]: Taking taylor expansion of phi1 in lambda2
47.297 * [backup-simplify]: Simplify phi1 into phi1
47.297 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
47.297 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
47.297 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
47.297 * [taylor]: Taking taylor expansion of (* R (pow lambda2 3)) in lambda2
47.297 * [taylor]: Taking taylor expansion of R in lambda2
47.297 * [backup-simplify]: Simplify R into R
47.297 * [taylor]: Taking taylor expansion of (pow lambda2 3) in lambda2
47.297 * [taylor]: Taking taylor expansion of lambda2 in lambda2
47.297 * [backup-simplify]: Simplify 0 into 0
47.297 * [backup-simplify]: Simplify 1 into 1
47.298 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
47.298 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (pow (sin (/ 0.5 phi2)) 2)) into (pow (sin (/ 0.5 phi2)) 3)
47.298 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
47.298 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (pow (cos (/ 0.5 phi1)) 2)) into (pow (cos (/ 0.5 phi1)) 3)
47.299 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
47.299 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (pow (cos (/ 0.5 phi2)) 2)) into (pow (cos (/ 0.5 phi2)) 3)
47.299 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
47.299 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (pow (sin (/ 0.5 phi1)) 2)) into (pow (sin (/ 0.5 phi1)) 3)
47.300 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)) into (* (pow (cos (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3))
47.300 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (cos (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3))) into (* (pow (sin (/ 0.5 phi1)) 3) (* (pow (cos (/ 0.5 phi2)) 3) (pow (cos (/ 0.5 phi1)) 3)))
47.301 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 3) (* (pow (sin (/ 0.5 phi1)) 3) (* (pow (cos (/ 0.5 phi2)) 3) (pow (cos (/ 0.5 phi1)) 3)))) into (* (pow (cos (/ 0.5 phi2)) 3) (* (pow (sin (/ 0.5 phi1)) 3) (* (pow (sin (/ 0.5 phi2)) 3) (pow (cos (/ 0.5 phi1)) 3))))
47.301 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
47.301 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
47.302 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
47.302 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
47.302 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
47.302 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
47.303 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
47.303 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
47.303 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
47.304 * [backup-simplify]: Simplify (- 0) into 0
47.304 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
47.304 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
47.304 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
47.304 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
47.304 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
47.305 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
47.305 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
47.305 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
47.305 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
47.305 * [backup-simplify]: Simplify (- 0) into 0
47.305 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
47.306 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
47.306 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
47.306 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
47.306 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
47.306 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
47.307 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
47.307 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
47.307 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
47.307 * [backup-simplify]: Simplify (- 0) into 0
47.307 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
47.307 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
47.308 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
47.308 * [backup-simplify]: Simplify (- 0) into 0
47.308 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
47.308 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
47.308 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
47.308 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
47.309 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
47.309 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
47.309 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
47.310 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))
47.311 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
47.313 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
47.313 * [backup-simplify]: Simplify (* 1 1) into 1
47.314 * [backup-simplify]: Simplify (* 1 1) into 1
47.314 * [backup-simplify]: Simplify (* R 1) into R
47.316 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R) into (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)
47.319 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi2)) 3) (* (pow (sin (/ 0.5 phi1)) 3) (* (pow (sin (/ 0.5 phi2)) 3) (pow (cos (/ 0.5 phi1)) 3)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) into (/ (* (pow (cos (/ 0.5 phi2)) 3) (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (sin (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
47.319 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))) in lambda2
47.319 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3)) in lambda2
47.319 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3) in lambda2
47.319 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
47.319 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
47.319 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
47.319 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
47.319 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
47.319 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
47.319 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.319 * [backup-simplify]: Simplify 0.5 into 0.5
47.319 * [taylor]: Taking taylor expansion of phi2 in lambda2
47.319 * [backup-simplify]: Simplify phi2 into phi2
47.319 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
47.319 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
47.320 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
47.320 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
47.320 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
47.320 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
47.320 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
47.320 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
47.320 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
47.320 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.320 * [backup-simplify]: Simplify 0.5 into 0.5
47.320 * [taylor]: Taking taylor expansion of phi1 in lambda2
47.320 * [backup-simplify]: Simplify phi1 into phi1
47.320 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
47.320 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
47.320 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
47.320 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
47.321 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
47.321 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
47.321 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
47.321 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
47.321 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
47.321 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
47.321 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.321 * [backup-simplify]: Simplify 0.5 into 0.5
47.321 * [taylor]: Taking taylor expansion of phi2 in lambda2
47.321 * [backup-simplify]: Simplify phi2 into phi2
47.321 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
47.321 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
47.321 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
47.321 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
47.321 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
47.322 * [backup-simplify]: Simplify (- 0) into 0
47.322 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
47.322 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
47.322 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
47.322 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
47.322 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.322 * [backup-simplify]: Simplify 0.5 into 0.5
47.322 * [taylor]: Taking taylor expansion of phi1 in lambda2
47.322 * [backup-simplify]: Simplify phi1 into phi1
47.322 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
47.322 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
47.322 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
47.322 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
47.322 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
47.322 * [backup-simplify]: Simplify (- 0) into 0
47.323 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
47.323 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
47.323 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
47.323 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
47.323 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
47.323 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.323 * [backup-simplify]: Simplify 0.5 into 0.5
47.323 * [taylor]: Taking taylor expansion of phi2 in lambda2
47.323 * [backup-simplify]: Simplify phi2 into phi2
47.323 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
47.323 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
47.323 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
47.323 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
47.323 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
47.323 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
47.323 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.323 * [backup-simplify]: Simplify 0.5 into 0.5
47.323 * [taylor]: Taking taylor expansion of phi1 in lambda2
47.323 * [backup-simplify]: Simplify phi1 into phi1
47.323 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
47.323 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
47.323 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
47.323 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
47.323 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
47.323 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
47.323 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.323 * [backup-simplify]: Simplify 0.5 into 0.5
47.323 * [taylor]: Taking taylor expansion of phi2 in lambda2
47.323 * [backup-simplify]: Simplify phi2 into phi2
47.323 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
47.324 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
47.324 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
47.324 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
47.324 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
47.324 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.324 * [backup-simplify]: Simplify 0.5 into 0.5
47.324 * [taylor]: Taking taylor expansion of phi1 in lambda2
47.324 * [backup-simplify]: Simplify phi1 into phi1
47.324 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
47.324 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
47.324 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
47.324 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
47.324 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
47.324 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
47.324 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.324 * [backup-simplify]: Simplify 0.5 into 0.5
47.324 * [taylor]: Taking taylor expansion of phi2 in lambda2
47.324 * [backup-simplify]: Simplify phi2 into phi2
47.324 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
47.324 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
47.324 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
47.324 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
47.324 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
47.324 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
47.324 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.324 * [backup-simplify]: Simplify 0.5 into 0.5
47.324 * [taylor]: Taking taylor expansion of phi1 in lambda2
47.324 * [backup-simplify]: Simplify phi1 into phi1
47.324 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
47.324 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
47.324 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
47.324 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
47.324 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
47.324 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
47.324 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.324 * [backup-simplify]: Simplify 0.5 into 0.5
47.324 * [taylor]: Taking taylor expansion of phi2 in lambda2
47.324 * [backup-simplify]: Simplify phi2 into phi2
47.324 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
47.325 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
47.325 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
47.325 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
47.325 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
47.325 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.325 * [backup-simplify]: Simplify 0.5 into 0.5
47.325 * [taylor]: Taking taylor expansion of phi1 in lambda2
47.325 * [backup-simplify]: Simplify phi1 into phi1
47.325 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
47.325 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
47.325 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
47.325 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
47.325 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
47.325 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
47.325 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
47.325 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
47.326 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
47.326 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
47.326 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
47.326 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
47.326 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
47.326 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
47.326 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
47.326 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
47.327 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
47.327 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
47.327 * [backup-simplify]: Simplify (- 0) into 0
47.327 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
47.327 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
47.327 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
47.327 * [backup-simplify]: Simplify (- 0) into 0
47.327 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
47.328 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
47.328 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
47.328 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
47.328 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
47.328 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
47.328 * [backup-simplify]: Simplify (- 0) into 0
47.328 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
47.328 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
47.328 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
47.329 * [backup-simplify]: Simplify (- 0) into 0
47.329 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
47.329 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
47.329 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
47.329 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
47.329 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
47.329 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
47.329 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
47.329 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
47.329 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
47.330 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
47.330 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))
47.331 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
47.332 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
47.333 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)
47.335 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)) into (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
47.337 * [backup-simplify]: Simplify (/ 1 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)))
47.340 * [backup-simplify]: Simplify (sqrt (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)))) into (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))
47.340 * [backup-simplify]: Simplify (+ 0) into 0
47.340 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
47.340 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
47.341 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.341 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
47.341 * [backup-simplify]: Simplify (+ 0 0) into 0
47.342 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
47.342 * [backup-simplify]: Simplify (+ 0) into 0
47.342 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
47.342 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
47.343 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.343 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
47.343 * [backup-simplify]: Simplify (+ 0 0) into 0
47.343 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
47.344 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
47.344 * [backup-simplify]: Simplify (+ 0) into 0
47.344 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
47.344 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
47.345 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.345 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
47.345 * [backup-simplify]: Simplify (- 0) into 0
47.346 * [backup-simplify]: Simplify (+ 0 0) into 0
47.346 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
47.346 * [backup-simplify]: Simplify (+ 0) into 0
47.346 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
47.346 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
47.347 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.347 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
47.347 * [backup-simplify]: Simplify (- 0) into 0
47.348 * [backup-simplify]: Simplify (+ 0 0) into 0
47.348 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
47.348 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
47.348 * [backup-simplify]: Simplify (+ 0 0) into 0
47.348 * [backup-simplify]: Simplify (+ 0) into 0
47.349 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
47.349 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
47.349 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.350 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
47.350 * [backup-simplify]: Simplify (- 0) into 0
47.351 * [backup-simplify]: Simplify (+ 0 0) into 0
47.351 * [backup-simplify]: Simplify (+ 0) into 0
47.351 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
47.352 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
47.352 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.353 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
47.353 * [backup-simplify]: Simplify (- 0) into 0
47.354 * [backup-simplify]: Simplify (+ 0 0) into 0
47.354 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
47.354 * [backup-simplify]: Simplify (+ 0) into 0
47.355 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
47.355 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
47.356 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.356 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
47.357 * [backup-simplify]: Simplify (+ 0 0) into 0
47.357 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
47.357 * [backup-simplify]: Simplify (+ 0) into 0
47.358 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
47.358 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
47.359 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.359 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
47.360 * [backup-simplify]: Simplify (+ 0 0) into 0
47.360 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
47.360 * [backup-simplify]: Simplify (+ 0) into 0
47.361 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
47.361 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
47.362 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.363 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
47.363 * [backup-simplify]: Simplify (+ 0 0) into 0
47.363 * [backup-simplify]: Simplify (+ 0) into 0
47.364 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
47.364 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
47.365 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.365 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
47.366 * [backup-simplify]: Simplify (+ 0 0) into 0
47.366 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
47.366 * [backup-simplify]: Simplify (+ 0) into 0
47.367 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
47.367 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
47.368 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.368 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
47.369 * [backup-simplify]: Simplify (- 0) into 0
47.369 * [backup-simplify]: Simplify (+ 0 0) into 0
47.369 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
47.370 * [backup-simplify]: Simplify (+ 0) into 0
47.377 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
47.377 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
47.378 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.378 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
47.379 * [backup-simplify]: Simplify (- 0) into 0
47.379 * [backup-simplify]: Simplify (+ 0 0) into 0
47.379 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
47.380 * [backup-simplify]: Simplify (+ 0 0) into 0
47.380 * [backup-simplify]: Simplify (- 0) into 0
47.381 * [backup-simplify]: Simplify (+ 0 0) into 0
47.384 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into 0
47.388 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2))) into 0
47.397 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2))) (/ 0 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
47.401 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)))))) into 0
47.401 * [taylor]: Taking taylor expansion of (+ (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (* lambda2 (* phi1 phi2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* lambda2 (* R (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow phi2 2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 5) (* (pow (cos (/ 0.5 phi1)) 5) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3)))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* lambda2 (* (pow phi1 2) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi1)) 4)) (* R (* (pow lambda2 3) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)) (* R (* (pow lambda2 3) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 2 (* (/ (* (sin (/ 0.5 phi2)) (* (pow (cos (/ 0.5 phi1)) 5) (* (pow (cos (/ 0.5 phi2)) 5) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 (* (pow phi1 2) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 (* R (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow phi2 2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 3/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (* 3/2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 5) (pow (sin (/ 0.5 phi1)) 5)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))))))))))))) in lambda2
47.402 * [taylor]: Taking taylor expansion of (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (* lambda2 (* phi1 phi2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) in lambda2
47.402 * [taylor]: Taking taylor expansion of (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (* lambda2 (* phi1 phi2))))) in lambda2
47.402 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
47.402 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
47.402 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
47.402 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.402 * [backup-simplify]: Simplify 0.5 into 0.5
47.402 * [taylor]: Taking taylor expansion of phi2 in lambda2
47.402 * [backup-simplify]: Simplify phi2 into phi2
47.402 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
47.402 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
47.403 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
47.403 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
47.403 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
47.403 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
47.403 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.403 * [backup-simplify]: Simplify 0.5 into 0.5
47.403 * [taylor]: Taking taylor expansion of phi1 in lambda2
47.403 * [backup-simplify]: Simplify phi1 into phi1
47.403 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
47.403 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
47.403 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
47.403 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
47.403 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
47.403 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
47.403 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.403 * [backup-simplify]: Simplify 0.5 into 0.5
47.403 * [taylor]: Taking taylor expansion of phi2 in lambda2
47.403 * [backup-simplify]: Simplify phi2 into phi2
47.403 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
47.403 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
47.403 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
47.403 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
47.404 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
47.404 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.404 * [backup-simplify]: Simplify 0.5 into 0.5
47.404 * [taylor]: Taking taylor expansion of phi1 in lambda2
47.404 * [backup-simplify]: Simplify phi1 into phi1
47.404 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
47.404 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
47.404 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
47.404 * [taylor]: Taking taylor expansion of (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (* lambda2 (* phi1 phi2)))) in lambda2
47.404 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
47.404 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
47.404 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
47.404 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
47.404 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
47.404 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
47.404 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.404 * [backup-simplify]: Simplify 0.5 into 0.5
47.404 * [taylor]: Taking taylor expansion of phi2 in lambda2
47.404 * [backup-simplify]: Simplify phi2 into phi2
47.404 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
47.404 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
47.405 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
47.405 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
47.405 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
47.405 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
47.405 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
47.405 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
47.405 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
47.405 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.405 * [backup-simplify]: Simplify 0.5 into 0.5
47.405 * [taylor]: Taking taylor expansion of phi1 in lambda2
47.405 * [backup-simplify]: Simplify phi1 into phi1
47.405 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
47.405 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
47.405 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
47.405 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
47.406 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
47.406 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
47.406 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
47.406 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
47.406 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
47.406 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
47.406 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.406 * [backup-simplify]: Simplify 0.5 into 0.5
47.406 * [taylor]: Taking taylor expansion of phi2 in lambda2
47.406 * [backup-simplify]: Simplify phi2 into phi2
47.406 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
47.406 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
47.406 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
47.406 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
47.406 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
47.407 * [backup-simplify]: Simplify (- 0) into 0
47.407 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
47.407 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
47.407 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
47.407 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
47.407 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.407 * [backup-simplify]: Simplify 0.5 into 0.5
47.407 * [taylor]: Taking taylor expansion of phi1 in lambda2
47.407 * [backup-simplify]: Simplify phi1 into phi1
47.407 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
47.408 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
47.408 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
47.408 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
47.408 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
47.408 * [backup-simplify]: Simplify (- 0) into 0
47.409 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
47.409 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
47.409 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
47.409 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
47.409 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
47.409 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.409 * [backup-simplify]: Simplify 0.5 into 0.5
47.409 * [taylor]: Taking taylor expansion of phi2 in lambda2
47.409 * [backup-simplify]: Simplify phi2 into phi2
47.409 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
47.409 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
47.409 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
47.409 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
47.409 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
47.409 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
47.409 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.409 * [backup-simplify]: Simplify 0.5 into 0.5
47.409 * [taylor]: Taking taylor expansion of phi1 in lambda2
47.409 * [backup-simplify]: Simplify phi1 into phi1
47.409 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
47.410 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
47.410 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
47.410 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
47.410 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
47.410 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
47.410 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.410 * [backup-simplify]: Simplify 0.5 into 0.5
47.410 * [taylor]: Taking taylor expansion of phi2 in lambda2
47.410 * [backup-simplify]: Simplify phi2 into phi2
47.410 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
47.410 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
47.410 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
47.410 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
47.410 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
47.410 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.410 * [backup-simplify]: Simplify 0.5 into 0.5
47.410 * [taylor]: Taking taylor expansion of phi1 in lambda2
47.410 * [backup-simplify]: Simplify phi1 into phi1
47.410 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
47.411 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
47.411 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
47.411 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
47.411 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
47.411 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
47.411 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.411 * [backup-simplify]: Simplify 0.5 into 0.5
47.411 * [taylor]: Taking taylor expansion of phi2 in lambda2
47.411 * [backup-simplify]: Simplify phi2 into phi2
47.411 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
47.411 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
47.411 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
47.411 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
47.411 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
47.411 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
47.411 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.411 * [backup-simplify]: Simplify 0.5 into 0.5
47.411 * [taylor]: Taking taylor expansion of phi1 in lambda2
47.411 * [backup-simplify]: Simplify phi1 into phi1
47.411 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
47.412 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
47.412 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
47.412 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
47.412 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
47.412 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
47.412 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.412 * [backup-simplify]: Simplify 0.5 into 0.5
47.412 * [taylor]: Taking taylor expansion of phi2 in lambda2
47.412 * [backup-simplify]: Simplify phi2 into phi2
47.412 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
47.412 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
47.412 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
47.412 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
47.412 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
47.412 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.412 * [backup-simplify]: Simplify 0.5 into 0.5
47.412 * [taylor]: Taking taylor expansion of phi1 in lambda2
47.412 * [backup-simplify]: Simplify phi1 into phi1
47.412 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
47.412 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
47.413 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
47.413 * [taylor]: Taking taylor expansion of (* R (* lambda2 (* phi1 phi2))) in lambda2
47.413 * [taylor]: Taking taylor expansion of R in lambda2
47.413 * [backup-simplify]: Simplify R into R
47.413 * [taylor]: Taking taylor expansion of (* lambda2 (* phi1 phi2)) in lambda2
47.413 * [taylor]: Taking taylor expansion of lambda2 in lambda2
47.413 * [backup-simplify]: Simplify 0 into 0
47.413 * [backup-simplify]: Simplify 1 into 1
47.413 * [taylor]: Taking taylor expansion of (* phi1 phi2) in lambda2
47.413 * [taylor]: Taking taylor expansion of phi1 in lambda2
47.413 * [backup-simplify]: Simplify phi1 into phi1
47.413 * [taylor]: Taking taylor expansion of phi2 in lambda2
47.413 * [backup-simplify]: Simplify phi2 into phi2
47.413 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
47.413 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
47.413 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
47.413 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
47.414 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
47.414 * [backup-simplify]: Simplify (- 0) into 0
47.414 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
47.415 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
47.415 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
47.415 * [backup-simplify]: Simplify (- 0) into 0
47.416 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
47.416 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
47.416 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
47.416 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
47.416 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
47.416 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
47.417 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
47.417 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
47.417 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
47.417 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
47.418 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
47.418 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
47.418 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
47.419 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
47.419 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
47.419 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
47.420 * [backup-simplify]: Simplify (- 0) into 0
47.420 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
47.420 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
47.420 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
47.420 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
47.420 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
47.421 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
47.421 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
47.421 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
47.421 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
47.421 * [backup-simplify]: Simplify (- 0) into 0
47.422 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
47.422 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
47.422 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
47.422 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
47.422 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
47.423 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
47.423 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
47.423 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
47.423 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
47.423 * [backup-simplify]: Simplify (- 0) into 0
47.424 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
47.424 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
47.424 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
47.424 * [backup-simplify]: Simplify (- 0) into 0
47.424 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
47.425 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
47.425 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
47.425 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
47.425 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
47.425 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
47.426 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
47.426 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))
47.427 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
47.429 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
47.430 * [backup-simplify]: Simplify (* phi1 phi2) into (* phi1 phi2)
47.430 * [backup-simplify]: Simplify (* 0 (* phi1 phi2)) into 0
47.430 * [backup-simplify]: Simplify (* R 0) into 0
47.432 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) into 0
47.432 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi2)) into 0
47.433 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* phi1 phi2))) into (* phi1 phi2)
47.433 * [backup-simplify]: Simplify (+ (* R (* phi1 phi2)) (* 0 0)) into (* R (* phi1 phi2))
47.434 * [backup-simplify]: Simplify (+ 0) into 0
47.435 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
47.435 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
47.436 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.436 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
47.437 * [backup-simplify]: Simplify (+ 0 0) into 0
47.437 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
47.437 * [backup-simplify]: Simplify (+ 0) into 0
47.439 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
47.439 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
47.440 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.441 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
47.441 * [backup-simplify]: Simplify (+ 0 0) into 0
47.442 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
47.442 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
47.443 * [backup-simplify]: Simplify (+ 0) into 0
47.443 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
47.443 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
47.444 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.445 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
47.445 * [backup-simplify]: Simplify (- 0) into 0
47.446 * [backup-simplify]: Simplify (+ 0 0) into 0
47.446 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
47.446 * [backup-simplify]: Simplify (+ 0) into 0
47.447 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
47.447 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
47.449 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.450 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
47.450 * [backup-simplify]: Simplify (- 0) into 0
47.451 * [backup-simplify]: Simplify (+ 0 0) into 0
47.451 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
47.452 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
47.452 * [backup-simplify]: Simplify (+ 0 0) into 0
47.453 * [backup-simplify]: Simplify (+ 0) into 0
47.453 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
47.453 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
47.454 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.455 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
47.455 * [backup-simplify]: Simplify (- 0) into 0
47.456 * [backup-simplify]: Simplify (+ 0 0) into 0
47.456 * [backup-simplify]: Simplify (+ 0) into 0
47.457 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
47.457 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
47.458 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.458 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
47.458 * [backup-simplify]: Simplify (+ 0 0) into 0
47.459 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
47.459 * [backup-simplify]: Simplify (+ 0) into 0
47.459 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
47.460 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
47.460 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.461 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
47.461 * [backup-simplify]: Simplify (+ 0 0) into 0
47.462 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
47.462 * [backup-simplify]: Simplify (+ 0) into 0
47.462 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
47.463 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
47.463 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.464 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
47.464 * [backup-simplify]: Simplify (- 0) into 0
47.465 * [backup-simplify]: Simplify (+ 0 0) into 0
47.465 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
47.465 * [backup-simplify]: Simplify (+ 0) into 0
47.466 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
47.466 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
47.467 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.467 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
47.468 * [backup-simplify]: Simplify (+ 0 0) into 0
47.468 * [backup-simplify]: Simplify (+ 0) into 0
47.469 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
47.469 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
47.470 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.470 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
47.470 * [backup-simplify]: Simplify (- 0) into 0
47.471 * [backup-simplify]: Simplify (+ 0 0) into 0
47.471 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
47.471 * [backup-simplify]: Simplify (+ 0) into 0
47.472 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
47.472 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
47.473 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.473 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
47.474 * [backup-simplify]: Simplify (- 0) into 0
47.474 * [backup-simplify]: Simplify (+ 0 0) into 0
47.474 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
47.475 * [backup-simplify]: Simplify (+ 0) into 0
47.475 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
47.475 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
47.476 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.477 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
47.477 * [backup-simplify]: Simplify (+ 0 0) into 0
47.477 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
47.478 * [backup-simplify]: Simplify (+ 0 0) into 0
47.478 * [backup-simplify]: Simplify (- 0) into 0
47.478 * [backup-simplify]: Simplify (+ 0 0) into 0
47.481 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (* phi1 phi2))) (* 0 0)) into (- (+ (* phi1 (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (* phi1 (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))))))
47.485 * [backup-simplify]: Simplify (/ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (- (+ (* phi1 (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (* phi1 (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))))))) into (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* phi1 phi2)))) (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* phi1 phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))))
47.485 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in lambda2
47.485 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in lambda2
47.485 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
47.485 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
47.485 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
47.485 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
47.485 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
47.485 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
47.485 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.485 * [backup-simplify]: Simplify 0.5 into 0.5
47.485 * [taylor]: Taking taylor expansion of phi2 in lambda2
47.485 * [backup-simplify]: Simplify phi2 into phi2
47.485 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
47.486 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
47.486 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
47.486 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
47.486 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
47.486 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
47.486 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
47.486 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
47.486 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
47.486 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.486 * [backup-simplify]: Simplify 0.5 into 0.5
47.486 * [taylor]: Taking taylor expansion of phi1 in lambda2
47.486 * [backup-simplify]: Simplify phi1 into phi1
47.486 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
47.486 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
47.486 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
47.487 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
47.487 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
47.487 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
47.487 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
47.487 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
47.487 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
47.487 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
47.487 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.487 * [backup-simplify]: Simplify 0.5 into 0.5
47.487 * [taylor]: Taking taylor expansion of phi2 in lambda2
47.487 * [backup-simplify]: Simplify phi2 into phi2
47.487 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
47.487 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
47.487 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
47.487 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
47.487 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
47.488 * [backup-simplify]: Simplify (- 0) into 0
47.488 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
47.488 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
47.488 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
47.488 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
47.488 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.488 * [backup-simplify]: Simplify 0.5 into 0.5
47.488 * [taylor]: Taking taylor expansion of phi1 in lambda2
47.488 * [backup-simplify]: Simplify phi1 into phi1
47.488 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
47.488 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
47.489 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
47.489 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
47.489 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
47.489 * [backup-simplify]: Simplify (- 0) into 0
47.489 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
47.489 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
47.489 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
47.489 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
47.489 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
47.489 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.490 * [backup-simplify]: Simplify 0.5 into 0.5
47.490 * [taylor]: Taking taylor expansion of phi2 in lambda2
47.490 * [backup-simplify]: Simplify phi2 into phi2
47.490 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
47.490 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
47.490 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
47.490 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
47.490 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
47.490 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
47.490 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.490 * [backup-simplify]: Simplify 0.5 into 0.5
47.490 * [taylor]: Taking taylor expansion of phi1 in lambda2
47.490 * [backup-simplify]: Simplify phi1 into phi1
47.490 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
47.490 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
47.490 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
47.490 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
47.490 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
47.490 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
47.490 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.490 * [backup-simplify]: Simplify 0.5 into 0.5
47.490 * [taylor]: Taking taylor expansion of phi2 in lambda2
47.490 * [backup-simplify]: Simplify phi2 into phi2
47.491 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
47.491 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
47.491 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
47.491 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
47.491 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
47.491 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.491 * [backup-simplify]: Simplify 0.5 into 0.5
47.491 * [taylor]: Taking taylor expansion of phi1 in lambda2
47.491 * [backup-simplify]: Simplify phi1 into phi1
47.491 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
47.491 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
47.491 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
47.491 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
47.491 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
47.491 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
47.492 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.492 * [backup-simplify]: Simplify 0.5 into 0.5
47.492 * [taylor]: Taking taylor expansion of phi2 in lambda2
47.492 * [backup-simplify]: Simplify phi2 into phi2
47.492 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
47.492 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
47.492 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
47.492 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
47.492 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
47.492 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
47.492 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.492 * [backup-simplify]: Simplify 0.5 into 0.5
47.492 * [taylor]: Taking taylor expansion of phi1 in lambda2
47.492 * [backup-simplify]: Simplify phi1 into phi1
47.492 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
47.492 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
47.492 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
47.492 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
47.492 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
47.492 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
47.493 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.493 * [backup-simplify]: Simplify 0.5 into 0.5
47.493 * [taylor]: Taking taylor expansion of phi2 in lambda2
47.493 * [backup-simplify]: Simplify phi2 into phi2
47.493 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
47.493 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
47.493 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
47.493 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
47.493 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
47.493 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.493 * [backup-simplify]: Simplify 0.5 into 0.5
47.493 * [taylor]: Taking taylor expansion of phi1 in lambda2
47.493 * [backup-simplify]: Simplify phi1 into phi1
47.493 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
47.493 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
47.493 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
47.493 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
47.494 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
47.494 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
47.494 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
47.495 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
47.495 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
47.496 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
47.496 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
47.496 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
47.496 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
47.496 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
47.496 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
47.496 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
47.497 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
47.497 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
47.497 * [backup-simplify]: Simplify (- 0) into 0
47.497 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
47.497 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
47.498 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
47.498 * [backup-simplify]: Simplify (- 0) into 0
47.498 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
47.498 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
47.498 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
47.499 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
47.499 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
47.499 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
47.499 * [backup-simplify]: Simplify (- 0) into 0
47.500 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
47.500 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
47.500 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
47.500 * [backup-simplify]: Simplify (- 0) into 0
47.500 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
47.500 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
47.500 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
47.501 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
47.501 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
47.501 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
47.501 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
47.501 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
47.501 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
47.502 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
47.502 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))
47.503 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
47.505 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
47.507 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
47.509 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
47.510 * [backup-simplify]: Simplify (+ 0) into 0
47.510 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
47.511 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
47.511 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.512 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
47.512 * [backup-simplify]: Simplify (+ 0 0) into 0
47.512 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
47.513 * [backup-simplify]: Simplify (+ 0) into 0
47.513 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
47.514 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
47.514 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.515 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
47.515 * [backup-simplify]: Simplify (+ 0 0) into 0
47.515 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
47.516 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
47.516 * [backup-simplify]: Simplify (+ 0) into 0
47.517 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
47.517 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
47.518 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.518 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
47.518 * [backup-simplify]: Simplify (- 0) into 0
47.519 * [backup-simplify]: Simplify (+ 0 0) into 0
47.519 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
47.519 * [backup-simplify]: Simplify (+ 0) into 0
47.520 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
47.520 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
47.521 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.521 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
47.522 * [backup-simplify]: Simplify (- 0) into 0
47.522 * [backup-simplify]: Simplify (+ 0 0) into 0
47.522 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
47.523 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
47.523 * [backup-simplify]: Simplify (+ 0 0) into 0
47.523 * [backup-simplify]: Simplify (+ 0) into 0
47.524 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
47.524 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
47.525 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.525 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
47.526 * [backup-simplify]: Simplify (- 0) into 0
47.526 * [backup-simplify]: Simplify (+ 0 0) into 0
47.526 * [backup-simplify]: Simplify (+ 0) into 0
47.527 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
47.527 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
47.528 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.528 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
47.529 * [backup-simplify]: Simplify (- 0) into 0
47.529 * [backup-simplify]: Simplify (+ 0 0) into 0
47.529 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
47.530 * [backup-simplify]: Simplify (+ 0) into 0
47.530 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
47.530 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
47.531 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.532 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
47.532 * [backup-simplify]: Simplify (+ 0 0) into 0
47.532 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
47.533 * [backup-simplify]: Simplify (+ 0) into 0
47.533 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
47.533 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
47.534 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.535 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
47.535 * [backup-simplify]: Simplify (+ 0 0) into 0
47.535 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
47.536 * [backup-simplify]: Simplify (+ 0) into 0
47.536 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
47.536 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
47.537 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.538 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
47.538 * [backup-simplify]: Simplify (+ 0 0) into 0
47.538 * [backup-simplify]: Simplify (+ 0) into 0
47.539 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
47.539 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
47.540 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.540 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
47.541 * [backup-simplify]: Simplify (+ 0 0) into 0
47.541 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
47.541 * [backup-simplify]: Simplify (+ 0) into 0
47.542 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
47.542 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
47.543 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.543 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
47.544 * [backup-simplify]: Simplify (- 0) into 0
47.544 * [backup-simplify]: Simplify (+ 0 0) into 0
47.544 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
47.545 * [backup-simplify]: Simplify (+ 0) into 0
47.545 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
47.546 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
47.546 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.547 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
47.547 * [backup-simplify]: Simplify (- 0) into 0
47.548 * [backup-simplify]: Simplify (+ 0 0) into 0
47.548 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
47.549 * [backup-simplify]: Simplify (+ 0 0) into 0
47.549 * [backup-simplify]: Simplify (- 0) into 0
47.549 * [backup-simplify]: Simplify (+ 0 0) into 0
47.553 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
47.555 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
47.555 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* lambda2 (* R (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow phi2 2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 5) (* (pow (cos (/ 0.5 phi1)) 5) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3)))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* lambda2 (* (pow phi1 2) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi1)) 4)) (* R (* (pow lambda2 3) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)) (* R (* (pow lambda2 3) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 2 (* (/ (* (sin (/ 0.5 phi2)) (* (pow (cos (/ 0.5 phi1)) 5) (* (pow (cos (/ 0.5 phi2)) 5) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 (* (pow phi1 2) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 (* R (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow phi2 2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 3/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (* 3/2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 5) (pow (sin (/ 0.5 phi1)) 5)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3)))))))))))))) in lambda2
47.562 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* lambda2 (* R (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow phi2 2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) in lambda2
47.562 * [taylor]: Taking taylor expansion of 1/2 in lambda2
47.562 * [backup-simplify]: Simplify 1/2 into 1/2
47.562 * [taylor]: Taking taylor expansion of (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* lambda2 (* R (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow phi2 2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) in lambda2
47.562 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* lambda2 (* R (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow phi2 2))))) in lambda2
47.562 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
47.562 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
47.562 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
47.562 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
47.562 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.562 * [backup-simplify]: Simplify 0.5 into 0.5
47.562 * [taylor]: Taking taylor expansion of phi2 in lambda2
47.563 * [backup-simplify]: Simplify phi2 into phi2
47.563 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
47.563 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
47.563 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
47.563 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
47.563 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
47.563 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
47.563 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
47.563 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
47.563 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
47.563 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.563 * [backup-simplify]: Simplify 0.5 into 0.5
47.563 * [taylor]: Taking taylor expansion of phi1 in lambda2
47.563 * [backup-simplify]: Simplify phi1 into phi1
47.563 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
47.564 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
47.564 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
47.564 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
47.564 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
47.564 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
47.564 * [taylor]: Taking taylor expansion of (* lambda2 (* R (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow phi2 2)))) in lambda2
47.564 * [taylor]: Taking taylor expansion of lambda2 in lambda2
47.564 * [backup-simplify]: Simplify 0 into 0
47.564 * [backup-simplify]: Simplify 1 into 1
47.564 * [taylor]: Taking taylor expansion of (* R (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow phi2 2))) in lambda2
47.564 * [taylor]: Taking taylor expansion of R in lambda2
47.564 * [backup-simplify]: Simplify R into R
47.564 * [taylor]: Taking taylor expansion of (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow phi2 2)) in lambda2
47.564 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
47.564 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
47.564 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
47.564 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
47.564 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
47.565 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
47.565 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.565 * [backup-simplify]: Simplify 0.5 into 0.5
47.565 * [taylor]: Taking taylor expansion of phi2 in lambda2
47.565 * [backup-simplify]: Simplify phi2 into phi2
47.565 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
47.565 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
47.565 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
47.565 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
47.565 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
47.565 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
47.565 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
47.565 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
47.565 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
47.565 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.565 * [backup-simplify]: Simplify 0.5 into 0.5
47.565 * [taylor]: Taking taylor expansion of phi1 in lambda2
47.565 * [backup-simplify]: Simplify phi1 into phi1
47.565 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
47.566 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
47.566 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
47.566 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
47.566 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
47.566 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
47.566 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
47.566 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
47.566 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
47.566 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
47.566 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.566 * [backup-simplify]: Simplify 0.5 into 0.5
47.566 * [taylor]: Taking taylor expansion of phi2 in lambda2
47.566 * [backup-simplify]: Simplify phi2 into phi2
47.566 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
47.566 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
47.566 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
47.567 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
47.567 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
47.567 * [backup-simplify]: Simplify (- 0) into 0
47.568 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
47.568 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
47.568 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
47.568 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
47.568 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.568 * [backup-simplify]: Simplify 0.5 into 0.5
47.568 * [taylor]: Taking taylor expansion of phi1 in lambda2
47.568 * [backup-simplify]: Simplify phi1 into phi1
47.568 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
47.568 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
47.568 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
47.568 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
47.568 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
47.569 * [backup-simplify]: Simplify (- 0) into 0
47.569 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
47.569 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
47.569 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
47.569 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
47.569 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
47.569 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.569 * [backup-simplify]: Simplify 0.5 into 0.5
47.569 * [taylor]: Taking taylor expansion of phi2 in lambda2
47.569 * [backup-simplify]: Simplify phi2 into phi2
47.569 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
47.569 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
47.569 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
47.569 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
47.569 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
47.569 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
47.569 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.569 * [backup-simplify]: Simplify 0.5 into 0.5
47.569 * [taylor]: Taking taylor expansion of phi1 in lambda2
47.569 * [backup-simplify]: Simplify phi1 into phi1
47.569 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
47.570 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
47.570 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
47.570 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
47.570 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
47.570 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
47.570 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.570 * [backup-simplify]: Simplify 0.5 into 0.5
47.570 * [taylor]: Taking taylor expansion of phi2 in lambda2
47.570 * [backup-simplify]: Simplify phi2 into phi2
47.570 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
47.570 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
47.570 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
47.570 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
47.570 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
47.570 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.570 * [backup-simplify]: Simplify 0.5 into 0.5
47.570 * [taylor]: Taking taylor expansion of phi1 in lambda2
47.570 * [backup-simplify]: Simplify phi1 into phi1
47.570 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
47.570 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
47.571 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
47.571 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
47.571 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
47.571 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
47.571 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.571 * [backup-simplify]: Simplify 0.5 into 0.5
47.571 * [taylor]: Taking taylor expansion of phi2 in lambda2
47.571 * [backup-simplify]: Simplify phi2 into phi2
47.571 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
47.571 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
47.571 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
47.571 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
47.571 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
47.571 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
47.571 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.571 * [backup-simplify]: Simplify 0.5 into 0.5
47.571 * [taylor]: Taking taylor expansion of phi1 in lambda2
47.571 * [backup-simplify]: Simplify phi1 into phi1
47.571 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
47.571 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
47.571 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
47.571 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
47.571 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
47.571 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
47.572 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.572 * [backup-simplify]: Simplify 0.5 into 0.5
47.572 * [taylor]: Taking taylor expansion of phi2 in lambda2
47.572 * [backup-simplify]: Simplify phi2 into phi2
47.572 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
47.572 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
47.572 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
47.572 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
47.572 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
47.572 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.572 * [backup-simplify]: Simplify 0.5 into 0.5
47.572 * [taylor]: Taking taylor expansion of phi1 in lambda2
47.572 * [backup-simplify]: Simplify phi1 into phi1
47.572 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
47.572 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
47.572 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
47.572 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2
47.572 * [taylor]: Taking taylor expansion of phi2 in lambda2
47.572 * [backup-simplify]: Simplify phi2 into phi2
47.573 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
47.573 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
47.573 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
47.573 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
47.573 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
47.574 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
47.574 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
47.574 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
47.574 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
47.575 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
47.575 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
47.575 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
47.576 * [backup-simplify]: Simplify (- 0) into 0
47.576 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
47.576 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
47.576 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
47.576 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
47.577 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
47.577 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
47.577 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
47.577 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
47.577 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
47.577 * [backup-simplify]: Simplify (- 0) into 0
47.577 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
47.578 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
47.578 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
47.578 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
47.578 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
47.578 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
47.578 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
47.578 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
47.578 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
47.578 * [backup-simplify]: Simplify (- 0) into 0
47.578 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
47.579 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
47.579 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
47.579 * [backup-simplify]: Simplify (- 0) into 0
47.579 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
47.579 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
47.579 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
47.579 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
47.579 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
47.579 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
47.579 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
47.580 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))
47.580 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
47.581 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
47.581 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
47.582 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow phi2 2)) into (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow phi2 2))
47.583 * [backup-simplify]: Simplify (* R (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow phi2 2))) into (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow phi2 2)))
47.584 * [backup-simplify]: Simplify (* 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow phi2 2)))) into 0
47.584 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0
47.585 * [backup-simplify]: Simplify (+ 0) into 0
47.585 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
47.585 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
47.586 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.586 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
47.586 * [backup-simplify]: Simplify (+ 0 0) into 0
47.586 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
47.587 * [backup-simplify]: Simplify (+ 0) into 0
47.587 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
47.587 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
47.588 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.588 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
47.588 * [backup-simplify]: Simplify (+ 0 0) into 0
47.588 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
47.588 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
47.589 * [backup-simplify]: Simplify (+ 0) into 0
47.589 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
47.589 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
47.590 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.590 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
47.591 * [backup-simplify]: Simplify (- 0) into 0
47.591 * [backup-simplify]: Simplify (+ 0 0) into 0
47.591 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
47.591 * [backup-simplify]: Simplify (+ 0) into 0
47.592 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
47.592 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
47.592 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.593 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
47.593 * [backup-simplify]: Simplify (- 0) into 0
47.593 * [backup-simplify]: Simplify (+ 0 0) into 0
47.593 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
47.594 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
47.594 * [backup-simplify]: Simplify (+ 0 0) into 0
47.594 * [backup-simplify]: Simplify (+ 0) into 0
47.595 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
47.595 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
47.595 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.596 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
47.596 * [backup-simplify]: Simplify (- 0) into 0
47.596 * [backup-simplify]: Simplify (+ 0 0) into 0
47.596 * [backup-simplify]: Simplify (+ 0) into 0
47.597 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
47.597 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
47.597 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.598 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
47.598 * [backup-simplify]: Simplify (+ 0 0) into 0
47.598 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
47.598 * [backup-simplify]: Simplify (+ 0) into 0
47.599 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
47.599 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
47.599 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.599 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
47.600 * [backup-simplify]: Simplify (+ 0 0) into 0
47.600 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
47.600 * [backup-simplify]: Simplify (+ 0) into 0
47.600 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
47.601 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
47.601 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.601 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
47.602 * [backup-simplify]: Simplify (- 0) into 0
47.602 * [backup-simplify]: Simplify (+ 0 0) into 0
47.602 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
47.602 * [backup-simplify]: Simplify (+ 0) into 0
47.603 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
47.603 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
47.603 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.603 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
47.604 * [backup-simplify]: Simplify (+ 0 0) into 0
47.604 * [backup-simplify]: Simplify (+ 0) into 0
47.604 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
47.604 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
47.605 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.605 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
47.605 * [backup-simplify]: Simplify (- 0) into 0
47.606 * [backup-simplify]: Simplify (+ 0 0) into 0
47.606 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
47.606 * [backup-simplify]: Simplify (+ 0) into 0
47.606 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
47.607 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
47.607 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.607 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
47.608 * [backup-simplify]: Simplify (- 0) into 0
47.608 * [backup-simplify]: Simplify (+ 0 0) into 0
47.608 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
47.608 * [backup-simplify]: Simplify (+ 0) into 0
47.609 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
47.609 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
47.609 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.610 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
47.610 * [backup-simplify]: Simplify (+ 0 0) into 0
47.610 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
47.610 * [backup-simplify]: Simplify (+ 0 0) into 0
47.611 * [backup-simplify]: Simplify (- 0) into 0
47.611 * [backup-simplify]: Simplify (+ 0 0) into 0
47.612 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (* 0 (pow phi2 2))) into 0
47.613 * [backup-simplify]: Simplify (+ (* R 0) (* 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow phi2 2)))) into 0
47.616 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow phi2 2))))) into (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))
47.620 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) into (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2)))))))))
47.620 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in lambda2
47.620 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in lambda2
47.620 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
47.620 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
47.620 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
47.620 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
47.620 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
47.620 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
47.620 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.620 * [backup-simplify]: Simplify 0.5 into 0.5
47.621 * [taylor]: Taking taylor expansion of phi2 in lambda2
47.621 * [backup-simplify]: Simplify phi2 into phi2
47.621 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
47.621 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
47.621 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
47.621 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
47.621 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
47.621 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
47.621 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
47.621 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
47.621 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
47.621 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.621 * [backup-simplify]: Simplify 0.5 into 0.5
47.621 * [taylor]: Taking taylor expansion of phi1 in lambda2
47.621 * [backup-simplify]: Simplify phi1 into phi1
47.621 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
47.622 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
47.622 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
47.622 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
47.622 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
47.622 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
47.622 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
47.622 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
47.622 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
47.622 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
47.622 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.622 * [backup-simplify]: Simplify 0.5 into 0.5
47.622 * [taylor]: Taking taylor expansion of phi2 in lambda2
47.622 * [backup-simplify]: Simplify phi2 into phi2
47.622 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
47.622 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
47.622 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
47.623 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
47.623 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
47.623 * [backup-simplify]: Simplify (- 0) into 0
47.623 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
47.623 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
47.623 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
47.623 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
47.624 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.624 * [backup-simplify]: Simplify 0.5 into 0.5
47.624 * [taylor]: Taking taylor expansion of phi1 in lambda2
47.624 * [backup-simplify]: Simplify phi1 into phi1
47.624 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
47.624 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
47.624 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
47.624 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
47.624 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
47.624 * [backup-simplify]: Simplify (- 0) into 0
47.625 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
47.625 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
47.625 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
47.625 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
47.625 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
47.625 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.625 * [backup-simplify]: Simplify 0.5 into 0.5
47.625 * [taylor]: Taking taylor expansion of phi2 in lambda2
47.625 * [backup-simplify]: Simplify phi2 into phi2
47.625 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
47.625 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
47.625 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
47.625 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
47.625 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
47.625 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
47.625 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.625 * [backup-simplify]: Simplify 0.5 into 0.5
47.625 * [taylor]: Taking taylor expansion of phi1 in lambda2
47.625 * [backup-simplify]: Simplify phi1 into phi1
47.625 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
47.626 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
47.626 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
47.626 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
47.626 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
47.626 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
47.626 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.626 * [backup-simplify]: Simplify 0.5 into 0.5
47.626 * [taylor]: Taking taylor expansion of phi2 in lambda2
47.626 * [backup-simplify]: Simplify phi2 into phi2
47.626 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
47.626 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
47.626 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
47.626 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
47.626 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
47.626 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.626 * [backup-simplify]: Simplify 0.5 into 0.5
47.626 * [taylor]: Taking taylor expansion of phi1 in lambda2
47.626 * [backup-simplify]: Simplify phi1 into phi1
47.626 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
47.626 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
47.627 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
47.627 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
47.627 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
47.627 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
47.627 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.627 * [backup-simplify]: Simplify 0.5 into 0.5
47.627 * [taylor]: Taking taylor expansion of phi2 in lambda2
47.627 * [backup-simplify]: Simplify phi2 into phi2
47.627 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
47.627 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
47.627 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
47.627 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
47.627 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
47.627 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
47.627 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.627 * [backup-simplify]: Simplify 0.5 into 0.5
47.627 * [taylor]: Taking taylor expansion of phi1 in lambda2
47.627 * [backup-simplify]: Simplify phi1 into phi1
47.627 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
47.627 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
47.627 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
47.627 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
47.627 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
47.627 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
47.628 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.628 * [backup-simplify]: Simplify 0.5 into 0.5
47.628 * [taylor]: Taking taylor expansion of phi2 in lambda2
47.628 * [backup-simplify]: Simplify phi2 into phi2
47.628 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
47.628 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
47.628 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
47.628 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
47.628 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
47.628 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.628 * [backup-simplify]: Simplify 0.5 into 0.5
47.628 * [taylor]: Taking taylor expansion of phi1 in lambda2
47.628 * [backup-simplify]: Simplify phi1 into phi1
47.628 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
47.628 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
47.628 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
47.628 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
47.629 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
47.629 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
47.629 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
47.629 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
47.630 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
47.630 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
47.630 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
47.631 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
47.631 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
47.631 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
47.631 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
47.631 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
47.631 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
47.631 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
47.632 * [backup-simplify]: Simplify (- 0) into 0
47.632 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
47.632 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
47.632 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
47.632 * [backup-simplify]: Simplify (- 0) into 0
47.633 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
47.633 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
47.633 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
47.633 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
47.633 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
47.633 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
47.634 * [backup-simplify]: Simplify (- 0) into 0
47.634 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
47.634 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
47.634 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
47.635 * [backup-simplify]: Simplify (- 0) into 0
47.635 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
47.635 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
47.635 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
47.635 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
47.635 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
47.635 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
47.635 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
47.635 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
47.636 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
47.636 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
47.637 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))
47.638 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
47.640 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
47.642 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
47.644 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
47.644 * [backup-simplify]: Simplify (+ 0) into 0
47.645 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
47.645 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
47.646 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.647 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
47.648 * [backup-simplify]: Simplify (+ 0 0) into 0
47.648 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
47.649 * [backup-simplify]: Simplify (+ 0) into 0
47.649 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
47.650 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
47.650 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.651 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
47.651 * [backup-simplify]: Simplify (+ 0 0) into 0
47.652 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
47.652 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
47.652 * [backup-simplify]: Simplify (+ 0) into 0
47.653 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
47.653 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
47.654 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.655 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
47.655 * [backup-simplify]: Simplify (- 0) into 0
47.656 * [backup-simplify]: Simplify (+ 0 0) into 0
47.656 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
47.656 * [backup-simplify]: Simplify (+ 0) into 0
47.657 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
47.657 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
47.660 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.660 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
47.661 * [backup-simplify]: Simplify (- 0) into 0
47.661 * [backup-simplify]: Simplify (+ 0 0) into 0
47.661 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
47.662 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
47.662 * [backup-simplify]: Simplify (+ 0 0) into 0
47.662 * [backup-simplify]: Simplify (+ 0) into 0
47.663 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
47.663 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
47.664 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.664 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
47.665 * [backup-simplify]: Simplify (- 0) into 0
47.665 * [backup-simplify]: Simplify (+ 0 0) into 0
47.665 * [backup-simplify]: Simplify (+ 0) into 0
47.666 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
47.666 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
47.667 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.667 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
47.668 * [backup-simplify]: Simplify (- 0) into 0
47.668 * [backup-simplify]: Simplify (+ 0 0) into 0
47.668 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
47.669 * [backup-simplify]: Simplify (+ 0) into 0
47.669 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
47.670 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
47.670 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.671 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
47.671 * [backup-simplify]: Simplify (+ 0 0) into 0
47.671 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
47.672 * [backup-simplify]: Simplify (+ 0) into 0
47.672 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
47.673 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
47.673 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.674 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
47.674 * [backup-simplify]: Simplify (+ 0 0) into 0
47.675 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
47.675 * [backup-simplify]: Simplify (+ 0) into 0
47.676 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
47.676 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
47.677 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.677 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
47.678 * [backup-simplify]: Simplify (+ 0 0) into 0
47.678 * [backup-simplify]: Simplify (+ 0) into 0
47.678 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
47.678 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
47.679 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.679 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
47.679 * [backup-simplify]: Simplify (+ 0 0) into 0
47.679 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
47.680 * [backup-simplify]: Simplify (+ 0) into 0
47.680 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
47.680 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
47.681 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.681 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
47.681 * [backup-simplify]: Simplify (- 0) into 0
47.681 * [backup-simplify]: Simplify (+ 0 0) into 0
47.682 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
47.682 * [backup-simplify]: Simplify (+ 0) into 0
47.682 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
47.682 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
47.683 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.683 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
47.683 * [backup-simplify]: Simplify (- 0) into 0
47.683 * [backup-simplify]: Simplify (+ 0 0) into 0
47.684 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
47.684 * [backup-simplify]: Simplify (+ 0 0) into 0
47.684 * [backup-simplify]: Simplify (- 0) into 0
47.684 * [backup-simplify]: Simplify (+ 0 0) into 0
47.686 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
47.687 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
47.687 * [taylor]: Taking taylor expansion of (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 5) (* (pow (cos (/ 0.5 phi1)) 5) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3)))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* lambda2 (* (pow phi1 2) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi1)) 4)) (* R (* (pow lambda2 3) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)) (* R (* (pow lambda2 3) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 2 (* (/ (* (sin (/ 0.5 phi2)) (* (pow (cos (/ 0.5 phi1)) 5) (* (pow (cos (/ 0.5 phi2)) 5) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 (* (pow phi1 2) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 (* R (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow phi2 2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 3/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (* 3/2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 5) (pow (sin (/ 0.5 phi1)) 5)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))))))))))) in lambda2
47.688 * [taylor]: Taking taylor expansion of (* (/ (* (pow (cos (/ 0.5 phi2)) 5) (* (pow (cos (/ 0.5 phi1)) 5) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3)))) in lambda2
47.688 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi2)) 5) (* (pow (cos (/ 0.5 phi1)) 5) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) in lambda2
47.688 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 5) (* (pow (cos (/ 0.5 phi1)) 5) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
47.688 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 5) in lambda2
47.688 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
47.688 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
47.688 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.688 * [backup-simplify]: Simplify 0.5 into 0.5
47.688 * [taylor]: Taking taylor expansion of phi2 in lambda2
47.688 * [backup-simplify]: Simplify phi2 into phi2
47.688 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
47.688 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
47.688 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
47.688 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
47.688 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
47.689 * [backup-simplify]: Simplify (- 0) into 0
47.689 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
47.689 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 5) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
47.689 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 5) in lambda2
47.689 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
47.689 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
47.689 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.689 * [backup-simplify]: Simplify 0.5 into 0.5
47.689 * [taylor]: Taking taylor expansion of phi1 in lambda2
47.689 * [backup-simplify]: Simplify phi1 into phi1
47.689 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
47.689 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
47.689 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
47.689 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
47.689 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
47.689 * [backup-simplify]: Simplify (- 0) into 0
47.689 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
47.689 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
47.689 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
47.689 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
47.689 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.689 * [backup-simplify]: Simplify 0.5 into 0.5
47.690 * [taylor]: Taking taylor expansion of phi2 in lambda2
47.690 * [backup-simplify]: Simplify phi2 into phi2
47.690 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
47.690 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
47.690 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
47.690 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
47.690 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
47.690 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.690 * [backup-simplify]: Simplify 0.5 into 0.5
47.690 * [taylor]: Taking taylor expansion of phi1 in lambda2
47.690 * [backup-simplify]: Simplify phi1 into phi1
47.690 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
47.690 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
47.690 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
47.690 * [taylor]: Taking taylor expansion of (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3))) in lambda2
47.690 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
47.690 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
47.690 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
47.690 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
47.690 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
47.690 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
47.690 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.690 * [backup-simplify]: Simplify 0.5 into 0.5
47.690 * [taylor]: Taking taylor expansion of phi2 in lambda2
47.690 * [backup-simplify]: Simplify phi2 into phi2
47.690 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
47.690 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
47.690 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
47.690 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
47.690 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
47.690 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
47.690 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
47.691 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
47.691 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
47.691 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.691 * [backup-simplify]: Simplify 0.5 into 0.5
47.691 * [taylor]: Taking taylor expansion of phi1 in lambda2
47.691 * [backup-simplify]: Simplify phi1 into phi1
47.691 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
47.691 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
47.691 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
47.691 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
47.691 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
47.691 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
47.691 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
47.691 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
47.691 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
47.691 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
47.691 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.691 * [backup-simplify]: Simplify 0.5 into 0.5
47.691 * [taylor]: Taking taylor expansion of phi2 in lambda2
47.691 * [backup-simplify]: Simplify phi2 into phi2
47.691 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
47.691 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
47.691 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
47.691 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
47.691 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
47.692 * [backup-simplify]: Simplify (- 0) into 0
47.692 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
47.692 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
47.692 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
47.692 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
47.692 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.692 * [backup-simplify]: Simplify 0.5 into 0.5
47.692 * [taylor]: Taking taylor expansion of phi1 in lambda2
47.692 * [backup-simplify]: Simplify phi1 into phi1
47.692 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
47.692 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
47.692 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
47.692 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
47.692 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
47.692 * [backup-simplify]: Simplify (- 0) into 0
47.692 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
47.692 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
47.692 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
47.692 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
47.692 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
47.692 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.692 * [backup-simplify]: Simplify 0.5 into 0.5
47.692 * [taylor]: Taking taylor expansion of phi2 in lambda2
47.693 * [backup-simplify]: Simplify phi2 into phi2
47.693 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
47.693 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
47.693 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
47.693 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
47.693 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
47.693 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
47.693 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.693 * [backup-simplify]: Simplify 0.5 into 0.5
47.693 * [taylor]: Taking taylor expansion of phi1 in lambda2
47.693 * [backup-simplify]: Simplify phi1 into phi1
47.693 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
47.693 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
47.693 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
47.693 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
47.693 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
47.693 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
47.693 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.693 * [backup-simplify]: Simplify 0.5 into 0.5
47.693 * [taylor]: Taking taylor expansion of phi2 in lambda2
47.693 * [backup-simplify]: Simplify phi2 into phi2
47.693 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
47.693 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
47.693 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
47.693 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
47.693 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
47.693 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.693 * [backup-simplify]: Simplify 0.5 into 0.5
47.693 * [taylor]: Taking taylor expansion of phi1 in lambda2
47.693 * [backup-simplify]: Simplify phi1 into phi1
47.693 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
47.693 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
47.693 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
47.693 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
47.693 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
47.693 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
47.693 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.693 * [backup-simplify]: Simplify 0.5 into 0.5
47.694 * [taylor]: Taking taylor expansion of phi2 in lambda2
47.694 * [backup-simplify]: Simplify phi2 into phi2
47.694 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
47.694 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
47.694 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
47.694 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
47.694 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
47.694 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
47.694 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.694 * [backup-simplify]: Simplify 0.5 into 0.5
47.694 * [taylor]: Taking taylor expansion of phi1 in lambda2
47.694 * [backup-simplify]: Simplify phi1 into phi1
47.694 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
47.694 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
47.694 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
47.694 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
47.694 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
47.694 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
47.694 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.694 * [backup-simplify]: Simplify 0.5 into 0.5
47.694 * [taylor]: Taking taylor expansion of phi2 in lambda2
47.694 * [backup-simplify]: Simplify phi2 into phi2
47.694 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
47.694 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
47.694 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
47.694 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
47.694 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
47.694 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.694 * [backup-simplify]: Simplify 0.5 into 0.5
47.694 * [taylor]: Taking taylor expansion of phi1 in lambda2
47.694 * [backup-simplify]: Simplify phi1 into phi1
47.694 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
47.694 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
47.694 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
47.694 * [taylor]: Taking taylor expansion of (* R (pow lambda2 3)) in lambda2
47.694 * [taylor]: Taking taylor expansion of R in lambda2
47.694 * [backup-simplify]: Simplify R into R
47.694 * [taylor]: Taking taylor expansion of (pow lambda2 3) in lambda2
47.694 * [taylor]: Taking taylor expansion of lambda2 in lambda2
47.695 * [backup-simplify]: Simplify 0 into 0
47.695 * [backup-simplify]: Simplify 1 into 1
47.695 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
47.695 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (pow (cos (/ 0.5 phi2)) 4)
47.695 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (pow (cos (/ 0.5 phi2)) 4)) into (pow (cos (/ 0.5 phi2)) 5)
47.695 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
47.695 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (pow (cos (/ 0.5 phi1)) 4)
47.695 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (pow (cos (/ 0.5 phi1)) 4)) into (pow (cos (/ 0.5 phi1)) 5)
47.695 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
47.696 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
47.696 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
47.696 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
47.696 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
47.696 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
47.696 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
47.696 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 5) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (pow (cos (/ 0.5 phi1)) 5)))
47.696 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 5) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (pow (cos (/ 0.5 phi1)) 5)))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (pow (cos (/ 0.5 phi2)) 5) (pow (cos (/ 0.5 phi1)) 5))))
47.696 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
47.697 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
47.697 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
47.697 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
47.697 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
47.697 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
47.697 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
47.698 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
47.698 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
47.698 * [backup-simplify]: Simplify (- 0) into 0
47.698 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
47.698 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
47.698 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
47.698 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
47.698 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
47.698 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
47.698 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
47.699 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
47.699 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
47.699 * [backup-simplify]: Simplify (- 0) into 0
47.699 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
47.699 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
47.699 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
47.699 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
47.699 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
47.699 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
47.699 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
47.700 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
47.700 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
47.700 * [backup-simplify]: Simplify (- 0) into 0
47.700 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
47.700 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
47.700 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
47.700 * [backup-simplify]: Simplify (- 0) into 0
47.700 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
47.700 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
47.700 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
47.701 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
47.701 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
47.701 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
47.701 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
47.701 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))
47.702 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
47.703 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
47.708 * [backup-simplify]: Simplify (* 1 1) into 1
47.709 * [backup-simplify]: Simplify (* 1 1) into 1
47.709 * [backup-simplify]: Simplify (* R 1) into R
47.710 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R) into (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)
47.711 * [backup-simplify]: Simplify (/ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (pow (cos (/ 0.5 phi2)) 5) (pow (cos (/ 0.5 phi1)) 5)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) into (/ (* (sin (/ 0.5 phi2)) (* (pow (cos (/ 0.5 phi1)) 5) (* (pow (cos (/ 0.5 phi2)) 5) (sin (/ 0.5 phi1))))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
47.711 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))) in lambda2
47.711 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3)) in lambda2
47.712 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3) in lambda2
47.712 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
47.712 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
47.712 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
47.712 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
47.712 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
47.712 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
47.712 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.712 * [backup-simplify]: Simplify 0.5 into 0.5
47.712 * [taylor]: Taking taylor expansion of phi2 in lambda2
47.712 * [backup-simplify]: Simplify phi2 into phi2
47.712 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
47.712 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
47.712 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
47.712 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
47.712 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
47.712 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
47.712 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
47.712 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
47.712 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
47.712 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.712 * [backup-simplify]: Simplify 0.5 into 0.5
47.712 * [taylor]: Taking taylor expansion of phi1 in lambda2
47.712 * [backup-simplify]: Simplify phi1 into phi1
47.712 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
47.712 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
47.712 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
47.712 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
47.712 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
47.713 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
47.713 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
47.713 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
47.713 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
47.713 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
47.713 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.713 * [backup-simplify]: Simplify 0.5 into 0.5
47.713 * [taylor]: Taking taylor expansion of phi2 in lambda2
47.713 * [backup-simplify]: Simplify phi2 into phi2
47.713 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
47.713 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
47.713 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
47.713 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
47.713 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
47.713 * [backup-simplify]: Simplify (- 0) into 0
47.713 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
47.713 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
47.713 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
47.713 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
47.713 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.713 * [backup-simplify]: Simplify 0.5 into 0.5
47.713 * [taylor]: Taking taylor expansion of phi1 in lambda2
47.714 * [backup-simplify]: Simplify phi1 into phi1
47.714 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
47.714 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
47.714 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
47.714 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
47.714 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
47.714 * [backup-simplify]: Simplify (- 0) into 0
47.714 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
47.714 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
47.714 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
47.714 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
47.714 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
47.714 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.714 * [backup-simplify]: Simplify 0.5 into 0.5
47.714 * [taylor]: Taking taylor expansion of phi2 in lambda2
47.714 * [backup-simplify]: Simplify phi2 into phi2
47.714 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
47.714 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
47.714 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
47.714 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
47.714 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
47.714 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
47.714 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.714 * [backup-simplify]: Simplify 0.5 into 0.5
47.715 * [taylor]: Taking taylor expansion of phi1 in lambda2
47.715 * [backup-simplify]: Simplify phi1 into phi1
47.715 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
47.715 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
47.715 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
47.715 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
47.715 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
47.715 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
47.715 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.715 * [backup-simplify]: Simplify 0.5 into 0.5
47.715 * [taylor]: Taking taylor expansion of phi2 in lambda2
47.715 * [backup-simplify]: Simplify phi2 into phi2
47.715 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
47.715 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
47.715 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
47.715 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
47.715 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
47.715 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.715 * [backup-simplify]: Simplify 0.5 into 0.5
47.715 * [taylor]: Taking taylor expansion of phi1 in lambda2
47.715 * [backup-simplify]: Simplify phi1 into phi1
47.715 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
47.715 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
47.715 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
47.715 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
47.715 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
47.715 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
47.715 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.715 * [backup-simplify]: Simplify 0.5 into 0.5
47.715 * [taylor]: Taking taylor expansion of phi2 in lambda2
47.715 * [backup-simplify]: Simplify phi2 into phi2
47.715 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
47.715 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
47.715 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
47.715 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
47.715 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
47.715 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
47.716 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.716 * [backup-simplify]: Simplify 0.5 into 0.5
47.716 * [taylor]: Taking taylor expansion of phi1 in lambda2
47.716 * [backup-simplify]: Simplify phi1 into phi1
47.716 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
47.716 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
47.716 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
47.716 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
47.716 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
47.716 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
47.716 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.716 * [backup-simplify]: Simplify 0.5 into 0.5
47.716 * [taylor]: Taking taylor expansion of phi2 in lambda2
47.716 * [backup-simplify]: Simplify phi2 into phi2
47.716 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
47.716 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
47.716 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
47.716 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
47.716 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
47.716 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.716 * [backup-simplify]: Simplify 0.5 into 0.5
47.716 * [taylor]: Taking taylor expansion of phi1 in lambda2
47.716 * [backup-simplify]: Simplify phi1 into phi1
47.716 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
47.716 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
47.716 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
47.716 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
47.716 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
47.717 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
47.717 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
47.717 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
47.717 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
47.717 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
47.718 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
47.718 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
47.718 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
47.718 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
47.718 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
47.718 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
47.718 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
47.718 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
47.719 * [backup-simplify]: Simplify (- 0) into 0
47.719 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
47.719 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
47.719 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
47.720 * [backup-simplify]: Simplify (- 0) into 0
47.720 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
47.720 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
47.720 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
47.721 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
47.721 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
47.721 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
47.721 * [backup-simplify]: Simplify (- 0) into 0
47.721 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
47.721 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
47.721 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
47.722 * [backup-simplify]: Simplify (- 0) into 0
47.722 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
47.722 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
47.722 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
47.722 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
47.722 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
47.723 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
47.723 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
47.723 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
47.723 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
47.723 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
47.724 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))
47.725 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
47.727 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
47.731 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)
47.735 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)) into (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
47.739 * [backup-simplify]: Simplify (/ 1 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)))
47.743 * [backup-simplify]: Simplify (sqrt (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)))) into (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))
47.743 * [backup-simplify]: Simplify (+ 0) into 0
47.744 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
47.744 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
47.745 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.746 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
47.746 * [backup-simplify]: Simplify (+ 0 0) into 0
47.746 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
47.747 * [backup-simplify]: Simplify (+ 0) into 0
47.747 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
47.747 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
47.748 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.749 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
47.749 * [backup-simplify]: Simplify (+ 0 0) into 0
47.749 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
47.750 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
47.750 * [backup-simplify]: Simplify (+ 0) into 0
47.751 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
47.751 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
47.751 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.752 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
47.752 * [backup-simplify]: Simplify (- 0) into 0
47.753 * [backup-simplify]: Simplify (+ 0 0) into 0
47.753 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
47.753 * [backup-simplify]: Simplify (+ 0) into 0
47.754 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
47.754 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
47.755 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.755 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
47.756 * [backup-simplify]: Simplify (- 0) into 0
47.756 * [backup-simplify]: Simplify (+ 0 0) into 0
47.756 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
47.757 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
47.757 * [backup-simplify]: Simplify (+ 0 0) into 0
47.757 * [backup-simplify]: Simplify (+ 0) into 0
47.758 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
47.758 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
47.759 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.759 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
47.760 * [backup-simplify]: Simplify (- 0) into 0
47.760 * [backup-simplify]: Simplify (+ 0 0) into 0
47.761 * [backup-simplify]: Simplify (+ 0) into 0
47.761 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
47.761 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
47.762 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.763 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
47.763 * [backup-simplify]: Simplify (- 0) into 0
47.763 * [backup-simplify]: Simplify (+ 0 0) into 0
47.763 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
47.764 * [backup-simplify]: Simplify (+ 0) into 0
47.764 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
47.765 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
47.765 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.766 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
47.767 * [backup-simplify]: Simplify (+ 0 0) into 0
47.767 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
47.767 * [backup-simplify]: Simplify (+ 0) into 0
47.768 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
47.768 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
47.769 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.769 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
47.770 * [backup-simplify]: Simplify (+ 0 0) into 0
47.770 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
47.771 * [backup-simplify]: Simplify (+ 0) into 0
47.771 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
47.771 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
47.772 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.773 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
47.773 * [backup-simplify]: Simplify (+ 0 0) into 0
47.773 * [backup-simplify]: Simplify (+ 0) into 0
47.774 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
47.774 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
47.775 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.775 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
47.776 * [backup-simplify]: Simplify (+ 0 0) into 0
47.776 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
47.776 * [backup-simplify]: Simplify (+ 0) into 0
47.777 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
47.777 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
47.778 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.779 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
47.779 * [backup-simplify]: Simplify (- 0) into 0
47.779 * [backup-simplify]: Simplify (+ 0 0) into 0
47.780 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
47.780 * [backup-simplify]: Simplify (+ 0) into 0
47.780 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
47.781 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
47.781 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.782 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
47.782 * [backup-simplify]: Simplify (- 0) into 0
47.783 * [backup-simplify]: Simplify (+ 0 0) into 0
47.783 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
47.783 * [backup-simplify]: Simplify (+ 0 0) into 0
47.784 * [backup-simplify]: Simplify (- 0) into 0
47.784 * [backup-simplify]: Simplify (+ 0 0) into 0
47.787 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into 0
47.791 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2))) into 0
47.800 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2))) (/ 0 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
47.804 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)))))) into 0
47.804 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* lambda2 (* (pow phi1 2) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi1)) 4)) (* R (* (pow lambda2 3) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)) (* R (* (pow lambda2 3) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 2 (* (/ (* (sin (/ 0.5 phi2)) (* (pow (cos (/ 0.5 phi1)) 5) (* (pow (cos (/ 0.5 phi2)) 5) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 (* (pow phi1 2) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 (* R (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow phi2 2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 3/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (* 3/2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 5) (pow (sin (/ 0.5 phi1)) 5)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3)))))))))))) in lambda2
47.805 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* lambda2 (* (pow phi1 2) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) in lambda2
47.805 * [taylor]: Taking taylor expansion of 1/2 in lambda2
47.805 * [backup-simplify]: Simplify 1/2 into 1/2
47.805 * [taylor]: Taking taylor expansion of (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* lambda2 (* (pow phi1 2) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) in lambda2
47.805 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* lambda2 (* (pow phi1 2) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) in lambda2
47.805 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
47.805 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
47.805 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
47.805 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
47.805 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.806 * [backup-simplify]: Simplify 0.5 into 0.5
47.806 * [taylor]: Taking taylor expansion of phi2 in lambda2
47.806 * [backup-simplify]: Simplify phi2 into phi2
47.806 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
47.806 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
47.806 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
47.806 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
47.806 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
47.806 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
47.806 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
47.806 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
47.806 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
47.806 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.806 * [backup-simplify]: Simplify 0.5 into 0.5
47.806 * [taylor]: Taking taylor expansion of phi1 in lambda2
47.806 * [backup-simplify]: Simplify phi1 into phi1
47.806 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
47.806 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
47.807 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
47.807 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
47.807 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
47.807 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
47.807 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow phi1 2) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) in lambda2
47.807 * [taylor]: Taking taylor expansion of lambda2 in lambda2
47.807 * [backup-simplify]: Simplify 0 into 0
47.807 * [backup-simplify]: Simplify 1 into 1
47.807 * [taylor]: Taking taylor expansion of (* (pow phi1 2) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in lambda2
47.807 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2
47.807 * [taylor]: Taking taylor expansion of phi1 in lambda2
47.807 * [backup-simplify]: Simplify phi1 into phi1
47.807 * [taylor]: Taking taylor expansion of (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in lambda2
47.807 * [taylor]: Taking taylor expansion of R in lambda2
47.807 * [backup-simplify]: Simplify R into R
47.807 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
47.807 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
47.807 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
47.807 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
47.807 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
47.808 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
47.808 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.808 * [backup-simplify]: Simplify 0.5 into 0.5
47.808 * [taylor]: Taking taylor expansion of phi2 in lambda2
47.808 * [backup-simplify]: Simplify phi2 into phi2
47.808 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
47.808 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
47.808 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
47.808 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
47.808 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
47.808 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
47.808 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
47.808 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
47.808 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
47.808 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.808 * [backup-simplify]: Simplify 0.5 into 0.5
47.808 * [taylor]: Taking taylor expansion of phi1 in lambda2
47.808 * [backup-simplify]: Simplify phi1 into phi1
47.808 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
47.809 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
47.809 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
47.809 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
47.809 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
47.809 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
47.809 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
47.809 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
47.809 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
47.809 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
47.809 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.809 * [backup-simplify]: Simplify 0.5 into 0.5
47.809 * [taylor]: Taking taylor expansion of phi2 in lambda2
47.809 * [backup-simplify]: Simplify phi2 into phi2
47.809 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
47.809 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
47.809 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
47.810 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
47.810 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
47.810 * [backup-simplify]: Simplify (- 0) into 0
47.810 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
47.810 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
47.810 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
47.810 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
47.810 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.810 * [backup-simplify]: Simplify 0.5 into 0.5
47.811 * [taylor]: Taking taylor expansion of phi1 in lambda2
47.811 * [backup-simplify]: Simplify phi1 into phi1
47.811 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
47.811 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
47.811 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
47.811 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
47.811 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
47.811 * [backup-simplify]: Simplify (- 0) into 0
47.811 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
47.811 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
47.812 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
47.812 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
47.812 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
47.812 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.812 * [backup-simplify]: Simplify 0.5 into 0.5
47.812 * [taylor]: Taking taylor expansion of phi2 in lambda2
47.812 * [backup-simplify]: Simplify phi2 into phi2
47.812 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
47.812 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
47.812 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
47.812 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
47.812 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
47.812 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
47.812 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.812 * [backup-simplify]: Simplify 0.5 into 0.5
47.812 * [taylor]: Taking taylor expansion of phi1 in lambda2
47.812 * [backup-simplify]: Simplify phi1 into phi1
47.812 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
47.812 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
47.812 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
47.812 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
47.812 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
47.812 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
47.812 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.812 * [backup-simplify]: Simplify 0.5 into 0.5
47.812 * [taylor]: Taking taylor expansion of phi2 in lambda2
47.813 * [backup-simplify]: Simplify phi2 into phi2
47.813 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
47.813 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
47.813 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
47.813 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
47.813 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
47.813 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.813 * [backup-simplify]: Simplify 0.5 into 0.5
47.813 * [taylor]: Taking taylor expansion of phi1 in lambda2
47.813 * [backup-simplify]: Simplify phi1 into phi1
47.813 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
47.813 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
47.813 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
47.813 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
47.813 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
47.813 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
47.813 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.813 * [backup-simplify]: Simplify 0.5 into 0.5
47.813 * [taylor]: Taking taylor expansion of phi2 in lambda2
47.813 * [backup-simplify]: Simplify phi2 into phi2
47.813 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
47.813 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
47.814 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
47.814 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
47.814 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
47.814 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
47.814 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.814 * [backup-simplify]: Simplify 0.5 into 0.5
47.814 * [taylor]: Taking taylor expansion of phi1 in lambda2
47.814 * [backup-simplify]: Simplify phi1 into phi1
47.814 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
47.814 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
47.814 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
47.814 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
47.814 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
47.814 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
47.814 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.814 * [backup-simplify]: Simplify 0.5 into 0.5
47.814 * [taylor]: Taking taylor expansion of phi2 in lambda2
47.814 * [backup-simplify]: Simplify phi2 into phi2
47.814 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
47.814 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
47.814 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
47.814 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
47.814 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
47.815 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.815 * [backup-simplify]: Simplify 0.5 into 0.5
47.815 * [taylor]: Taking taylor expansion of phi1 in lambda2
47.815 * [backup-simplify]: Simplify phi1 into phi1
47.815 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
47.815 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
47.815 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
47.815 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
47.815 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
47.815 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
47.816 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
47.816 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
47.816 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
47.816 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
47.816 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
47.817 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
47.817 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
47.818 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
47.818 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
47.818 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
47.818 * [backup-simplify]: Simplify (- 0) into 0
47.819 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
47.819 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
47.819 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
47.819 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
47.819 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
47.819 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
47.819 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
47.819 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
47.819 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
47.820 * [backup-simplify]: Simplify (- 0) into 0
47.820 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
47.820 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
47.820 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
47.821 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
47.821 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
47.821 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
47.821 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
47.821 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
47.821 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
47.822 * [backup-simplify]: Simplify (- 0) into 0
47.822 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
47.822 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
47.822 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
47.822 * [backup-simplify]: Simplify (- 0) into 0
47.823 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
47.823 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
47.823 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
47.823 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
47.823 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
47.823 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
47.824 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
47.824 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))
47.825 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
47.827 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
47.829 * [backup-simplify]: Simplify (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)
47.831 * [backup-simplify]: Simplify (* (pow phi1 2) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) into (* R (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow phi1 2)))
47.833 * [backup-simplify]: Simplify (* 0 (* R (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow phi1 2)))) into 0
47.834 * [backup-simplify]: Simplify (+ 0) into 0
47.835 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
47.835 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
47.836 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.836 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
47.837 * [backup-simplify]: Simplify (+ 0 0) into 0
47.837 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
47.837 * [backup-simplify]: Simplify (+ 0) into 0
47.838 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
47.838 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
47.839 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.839 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
47.840 * [backup-simplify]: Simplify (+ 0 0) into 0
47.840 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
47.840 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
47.841 * [backup-simplify]: Simplify (+ 0) into 0
47.841 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
47.841 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
47.842 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.843 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
47.843 * [backup-simplify]: Simplify (- 0) into 0
47.843 * [backup-simplify]: Simplify (+ 0 0) into 0
47.843 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
47.844 * [backup-simplify]: Simplify (+ 0) into 0
47.844 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
47.845 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
47.845 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.846 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
47.846 * [backup-simplify]: Simplify (- 0) into 0
47.847 * [backup-simplify]: Simplify (+ 0 0) into 0
47.847 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
47.847 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
47.848 * [backup-simplify]: Simplify (+ 0 0) into 0
47.848 * [backup-simplify]: Simplify (+ 0) into 0
47.848 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
47.849 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
47.849 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.850 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
47.850 * [backup-simplify]: Simplify (- 0) into 0
47.851 * [backup-simplify]: Simplify (+ 0 0) into 0
47.851 * [backup-simplify]: Simplify (+ 0) into 0
47.852 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
47.852 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
47.852 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.853 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
47.853 * [backup-simplify]: Simplify (+ 0 0) into 0
47.854 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
47.854 * [backup-simplify]: Simplify (+ 0) into 0
47.855 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
47.855 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
47.856 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.856 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
47.857 * [backup-simplify]: Simplify (+ 0 0) into 0
47.857 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
47.857 * [backup-simplify]: Simplify (+ 0) into 0
47.858 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
47.858 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
47.859 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.859 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
47.860 * [backup-simplify]: Simplify (- 0) into 0
47.860 * [backup-simplify]: Simplify (+ 0 0) into 0
47.861 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
47.861 * [backup-simplify]: Simplify (+ 0) into 0
47.862 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
47.862 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
47.863 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.863 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
47.864 * [backup-simplify]: Simplify (+ 0 0) into 0
47.864 * [backup-simplify]: Simplify (+ 0) into 0
47.865 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
47.865 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
47.866 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.866 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
47.867 * [backup-simplify]: Simplify (- 0) into 0
47.867 * [backup-simplify]: Simplify (+ 0 0) into 0
47.867 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
47.868 * [backup-simplify]: Simplify (+ 0) into 0
47.868 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
47.868 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
47.869 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.876 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
47.878 * [backup-simplify]: Simplify (- 0) into 0
47.878 * [backup-simplify]: Simplify (+ 0 0) into 0
47.879 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
47.879 * [backup-simplify]: Simplify (+ 0) into 0
47.880 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
47.880 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
47.881 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.882 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
47.882 * [backup-simplify]: Simplify (+ 0 0) into 0
47.882 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
47.883 * [backup-simplify]: Simplify (+ 0 0) into 0
47.883 * [backup-simplify]: Simplify (- 0) into 0
47.884 * [backup-simplify]: Simplify (+ 0 0) into 0
47.886 * [backup-simplify]: Simplify (+ (* R 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into 0
47.886 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0
47.888 * [backup-simplify]: Simplify (+ (* (pow phi1 2) 0) (* 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R))) into 0
47.892 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* R (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow phi1 2))))) into (- (+ (* (pow phi1 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (* (pow phi1 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)))) (+ (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R))))) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R)))))))
47.896 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* (pow phi1 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (* (pow phi1 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)))) (+ (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R))))) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R)))))))) into (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)))) (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2))))) (+ (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))
47.896 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in lambda2
47.896 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in lambda2
47.896 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
47.896 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
47.896 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
47.896 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
47.896 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
47.896 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
47.896 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.896 * [backup-simplify]: Simplify 0.5 into 0.5
47.896 * [taylor]: Taking taylor expansion of phi2 in lambda2
47.896 * [backup-simplify]: Simplify phi2 into phi2
47.896 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
47.896 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
47.897 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
47.897 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
47.897 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
47.897 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
47.897 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
47.897 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
47.897 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
47.897 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.897 * [backup-simplify]: Simplify 0.5 into 0.5
47.897 * [taylor]: Taking taylor expansion of phi1 in lambda2
47.897 * [backup-simplify]: Simplify phi1 into phi1
47.897 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
47.897 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
47.897 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
47.897 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
47.898 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
47.898 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
47.898 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
47.898 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
47.898 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
47.898 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
47.898 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.898 * [backup-simplify]: Simplify 0.5 into 0.5
47.898 * [taylor]: Taking taylor expansion of phi2 in lambda2
47.898 * [backup-simplify]: Simplify phi2 into phi2
47.898 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
47.898 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
47.898 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
47.898 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
47.898 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
47.899 * [backup-simplify]: Simplify (- 0) into 0
47.899 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
47.899 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
47.899 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
47.899 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
47.899 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.899 * [backup-simplify]: Simplify 0.5 into 0.5
47.899 * [taylor]: Taking taylor expansion of phi1 in lambda2
47.900 * [backup-simplify]: Simplify phi1 into phi1
47.900 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
47.900 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
47.900 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
47.900 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
47.900 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
47.901 * [backup-simplify]: Simplify (- 0) into 0
47.901 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
47.901 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
47.901 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
47.901 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
47.901 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
47.901 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.901 * [backup-simplify]: Simplify 0.5 into 0.5
47.901 * [taylor]: Taking taylor expansion of phi2 in lambda2
47.901 * [backup-simplify]: Simplify phi2 into phi2
47.901 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
47.901 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
47.901 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
47.901 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
47.901 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
47.901 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
47.901 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.901 * [backup-simplify]: Simplify 0.5 into 0.5
47.901 * [taylor]: Taking taylor expansion of phi1 in lambda2
47.901 * [backup-simplify]: Simplify phi1 into phi1
47.902 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
47.902 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
47.902 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
47.902 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
47.902 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
47.902 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
47.902 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.902 * [backup-simplify]: Simplify 0.5 into 0.5
47.902 * [taylor]: Taking taylor expansion of phi2 in lambda2
47.902 * [backup-simplify]: Simplify phi2 into phi2
47.902 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
47.902 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
47.902 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
47.902 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
47.902 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
47.902 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.902 * [backup-simplify]: Simplify 0.5 into 0.5
47.902 * [taylor]: Taking taylor expansion of phi1 in lambda2
47.902 * [backup-simplify]: Simplify phi1 into phi1
47.902 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
47.902 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
47.903 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
47.903 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
47.903 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
47.903 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
47.903 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.903 * [backup-simplify]: Simplify 0.5 into 0.5
47.903 * [taylor]: Taking taylor expansion of phi2 in lambda2
47.903 * [backup-simplify]: Simplify phi2 into phi2
47.903 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
47.903 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
47.903 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
47.903 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
47.903 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
47.903 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
47.903 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.903 * [backup-simplify]: Simplify 0.5 into 0.5
47.903 * [taylor]: Taking taylor expansion of phi1 in lambda2
47.903 * [backup-simplify]: Simplify phi1 into phi1
47.903 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
47.903 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
47.903 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
47.904 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
47.904 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
47.904 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
47.904 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.904 * [backup-simplify]: Simplify 0.5 into 0.5
47.904 * [taylor]: Taking taylor expansion of phi2 in lambda2
47.904 * [backup-simplify]: Simplify phi2 into phi2
47.904 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
47.904 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
47.904 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
47.904 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
47.904 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
47.904 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.904 * [backup-simplify]: Simplify 0.5 into 0.5
47.904 * [taylor]: Taking taylor expansion of phi1 in lambda2
47.904 * [backup-simplify]: Simplify phi1 into phi1
47.904 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
47.904 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
47.904 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
47.905 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
47.905 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
47.905 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
47.906 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
47.906 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
47.906 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
47.907 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
47.907 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
47.908 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
47.908 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
47.908 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
47.908 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
47.908 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
47.908 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
47.908 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
47.909 * [backup-simplify]: Simplify (- 0) into 0
47.909 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
47.909 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
47.910 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
47.910 * [backup-simplify]: Simplify (- 0) into 0
47.910 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
47.910 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
47.911 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
47.911 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
47.911 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
47.911 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
47.912 * [backup-simplify]: Simplify (- 0) into 0
47.912 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
47.912 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
47.912 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
47.913 * [backup-simplify]: Simplify (- 0) into 0
47.913 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
47.913 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
47.913 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
47.913 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
47.913 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
47.913 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
47.914 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
47.914 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
47.914 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
47.914 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
47.915 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))
47.916 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
47.918 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
47.920 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
47.922 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
47.923 * [backup-simplify]: Simplify (+ 0) into 0
47.923 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
47.924 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
47.924 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.925 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
47.925 * [backup-simplify]: Simplify (+ 0 0) into 0
47.925 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
47.926 * [backup-simplify]: Simplify (+ 0) into 0
47.926 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
47.927 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
47.927 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.928 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
47.928 * [backup-simplify]: Simplify (+ 0 0) into 0
47.928 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
47.929 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
47.929 * [backup-simplify]: Simplify (+ 0) into 0
47.930 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
47.930 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
47.931 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.931 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
47.932 * [backup-simplify]: Simplify (- 0) into 0
47.932 * [backup-simplify]: Simplify (+ 0 0) into 0
47.932 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
47.933 * [backup-simplify]: Simplify (+ 0) into 0
47.933 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
47.933 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
47.934 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.935 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
47.935 * [backup-simplify]: Simplify (- 0) into 0
47.936 * [backup-simplify]: Simplify (+ 0 0) into 0
47.936 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
47.936 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
47.937 * [backup-simplify]: Simplify (+ 0 0) into 0
47.937 * [backup-simplify]: Simplify (+ 0) into 0
47.938 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
47.938 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
47.939 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.939 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
47.940 * [backup-simplify]: Simplify (- 0) into 0
47.940 * [backup-simplify]: Simplify (+ 0 0) into 0
47.940 * [backup-simplify]: Simplify (+ 0) into 0
47.941 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
47.941 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
47.942 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.943 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
47.943 * [backup-simplify]: Simplify (- 0) into 0
47.943 * [backup-simplify]: Simplify (+ 0 0) into 0
47.943 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
47.944 * [backup-simplify]: Simplify (+ 0) into 0
47.944 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
47.945 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
47.945 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.946 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
47.946 * [backup-simplify]: Simplify (+ 0 0) into 0
47.947 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
47.947 * [backup-simplify]: Simplify (+ 0) into 0
47.948 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
47.948 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
47.948 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.949 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
47.949 * [backup-simplify]: Simplify (+ 0 0) into 0
47.950 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
47.950 * [backup-simplify]: Simplify (+ 0) into 0
47.951 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
47.951 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
47.952 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.952 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
47.953 * [backup-simplify]: Simplify (+ 0 0) into 0
47.953 * [backup-simplify]: Simplify (+ 0) into 0
47.954 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
47.954 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
47.954 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.955 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
47.955 * [backup-simplify]: Simplify (+ 0 0) into 0
47.956 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
47.956 * [backup-simplify]: Simplify (+ 0) into 0
47.957 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
47.957 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
47.958 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.958 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
47.958 * [backup-simplify]: Simplify (- 0) into 0
47.959 * [backup-simplify]: Simplify (+ 0 0) into 0
47.959 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
47.959 * [backup-simplify]: Simplify (+ 0) into 0
47.960 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
47.960 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
47.961 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
47.961 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
47.962 * [backup-simplify]: Simplify (- 0) into 0
47.962 * [backup-simplify]: Simplify (+ 0 0) into 0
47.963 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
47.963 * [backup-simplify]: Simplify (+ 0 0) into 0
47.963 * [backup-simplify]: Simplify (- 0) into 0
47.964 * [backup-simplify]: Simplify (+ 0 0) into 0
47.968 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
47.970 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
47.970 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi1)) 4)) (* R (* (pow lambda2 3) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)) (* R (* (pow lambda2 3) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 2 (* (/ (* (sin (/ 0.5 phi2)) (* (pow (cos (/ 0.5 phi1)) 5) (* (pow (cos (/ 0.5 phi2)) 5) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 (* (pow phi1 2) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 (* R (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow phi2 2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 3/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (* 3/2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 5) (pow (sin (/ 0.5 phi1)) 5)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))))))))) in lambda2
47.970 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi1)) 4)) (* R (* (pow lambda2 3) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) in lambda2
47.970 * [taylor]: Taking taylor expansion of 1/2 in lambda2
47.970 * [backup-simplify]: Simplify 1/2 into 1/2
47.970 * [taylor]: Taking taylor expansion of (* (/ (* (pow (cos (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi1)) 4)) (* R (* (pow lambda2 3) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) in lambda2
47.970 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi1)) 4)) (* R (* (pow lambda2 3) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) in lambda2
47.970 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi1)) 4)) in lambda2
47.970 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 4) in lambda2
47.970 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
47.970 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
47.970 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.970 * [backup-simplify]: Simplify 0.5 into 0.5
47.970 * [taylor]: Taking taylor expansion of phi2 in lambda2
47.970 * [backup-simplify]: Simplify phi2 into phi2
47.970 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
47.970 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
47.970 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
47.970 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
47.971 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
47.971 * [backup-simplify]: Simplify (- 0) into 0
47.971 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
47.971 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 4) in lambda2
47.971 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
47.971 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
47.971 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.971 * [backup-simplify]: Simplify 0.5 into 0.5
47.971 * [taylor]: Taking taylor expansion of phi1 in lambda2
47.971 * [backup-simplify]: Simplify phi1 into phi1
47.971 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
47.971 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
47.971 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
47.971 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
47.971 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
47.972 * [backup-simplify]: Simplify (- 0) into 0
47.972 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
47.972 * [taylor]: Taking taylor expansion of (* R (* (pow lambda2 3) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in lambda2
47.972 * [taylor]: Taking taylor expansion of R in lambda2
47.972 * [backup-simplify]: Simplify R into R
47.972 * [taylor]: Taking taylor expansion of (* (pow lambda2 3) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in lambda2
47.972 * [taylor]: Taking taylor expansion of (pow lambda2 3) in lambda2
47.972 * [taylor]: Taking taylor expansion of lambda2 in lambda2
47.972 * [backup-simplify]: Simplify 0 into 0
47.972 * [backup-simplify]: Simplify 1 into 1
47.972 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
47.972 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
47.972 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
47.972 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
47.972 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
47.972 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
47.972 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.972 * [backup-simplify]: Simplify 0.5 into 0.5
47.972 * [taylor]: Taking taylor expansion of phi2 in lambda2
47.972 * [backup-simplify]: Simplify phi2 into phi2
47.972 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
47.972 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
47.972 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
47.972 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
47.972 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
47.972 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
47.972 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
47.972 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
47.972 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
47.972 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.973 * [backup-simplify]: Simplify 0.5 into 0.5
47.973 * [taylor]: Taking taylor expansion of phi1 in lambda2
47.973 * [backup-simplify]: Simplify phi1 into phi1
47.973 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
47.973 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
47.973 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
47.973 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
47.973 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
47.973 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
47.973 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
47.973 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
47.973 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
47.973 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
47.973 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.973 * [backup-simplify]: Simplify 0.5 into 0.5
47.973 * [taylor]: Taking taylor expansion of phi2 in lambda2
47.973 * [backup-simplify]: Simplify phi2 into phi2
47.973 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
47.973 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
47.973 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
47.973 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
47.973 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
47.974 * [backup-simplify]: Simplify (- 0) into 0
47.974 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
47.974 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
47.974 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
47.974 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
47.974 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.974 * [backup-simplify]: Simplify 0.5 into 0.5
47.974 * [taylor]: Taking taylor expansion of phi1 in lambda2
47.974 * [backup-simplify]: Simplify phi1 into phi1
47.974 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
47.974 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
47.974 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
47.974 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
47.974 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
47.974 * [backup-simplify]: Simplify (- 0) into 0
47.974 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
47.974 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
47.974 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
47.974 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
47.974 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
47.974 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.974 * [backup-simplify]: Simplify 0.5 into 0.5
47.974 * [taylor]: Taking taylor expansion of phi2 in lambda2
47.975 * [backup-simplify]: Simplify phi2 into phi2
47.975 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
47.975 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
47.975 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
47.975 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
47.975 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
47.975 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
47.975 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.975 * [backup-simplify]: Simplify 0.5 into 0.5
47.975 * [taylor]: Taking taylor expansion of phi1 in lambda2
47.975 * [backup-simplify]: Simplify phi1 into phi1
47.975 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
47.975 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
47.975 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
47.975 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
47.975 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
47.975 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
47.975 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.975 * [backup-simplify]: Simplify 0.5 into 0.5
47.975 * [taylor]: Taking taylor expansion of phi2 in lambda2
47.975 * [backup-simplify]: Simplify phi2 into phi2
47.975 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
47.975 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
47.975 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
47.975 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
47.975 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
47.975 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.975 * [backup-simplify]: Simplify 0.5 into 0.5
47.975 * [taylor]: Taking taylor expansion of phi1 in lambda2
47.975 * [backup-simplify]: Simplify phi1 into phi1
47.975 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
47.975 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
47.975 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
47.975 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
47.975 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
47.975 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
47.976 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.976 * [backup-simplify]: Simplify 0.5 into 0.5
47.976 * [taylor]: Taking taylor expansion of phi2 in lambda2
47.976 * [backup-simplify]: Simplify phi2 into phi2
47.976 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
47.976 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
47.976 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
47.976 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
47.976 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
47.976 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
47.976 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.976 * [backup-simplify]: Simplify 0.5 into 0.5
47.976 * [taylor]: Taking taylor expansion of phi1 in lambda2
47.976 * [backup-simplify]: Simplify phi1 into phi1
47.976 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
47.976 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
47.976 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
47.976 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
47.976 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
47.976 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
47.976 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.976 * [backup-simplify]: Simplify 0.5 into 0.5
47.976 * [taylor]: Taking taylor expansion of phi2 in lambda2
47.976 * [backup-simplify]: Simplify phi2 into phi2
47.976 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
47.976 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
47.976 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
47.976 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
47.976 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
47.976 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.976 * [backup-simplify]: Simplify 0.5 into 0.5
47.976 * [taylor]: Taking taylor expansion of phi1 in lambda2
47.976 * [backup-simplify]: Simplify phi1 into phi1
47.976 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
47.976 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
47.976 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
47.977 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
47.977 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (pow (cos (/ 0.5 phi2)) 4)
47.977 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
47.977 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (pow (cos (/ 0.5 phi1)) 4)
47.977 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi1)) 4)) into (* (pow (cos (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi1)) 4))
47.978 * [backup-simplify]: Simplify (* 1 1) into 1
47.978 * [backup-simplify]: Simplify (* 1 1) into 1
47.978 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
47.978 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
47.978 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
47.978 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
47.978 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
47.979 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
47.979 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
47.979 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
47.979 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
47.979 * [backup-simplify]: Simplify (- 0) into 0
47.980 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
47.980 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
47.980 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
47.980 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
47.980 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
47.980 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
47.980 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
47.980 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
47.980 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
47.980 * [backup-simplify]: Simplify (- 0) into 0
47.980 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
47.980 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
47.981 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
47.981 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
47.981 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
47.981 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
47.981 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
47.981 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
47.981 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
47.981 * [backup-simplify]: Simplify (- 0) into 0
47.981 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
47.981 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
47.982 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
47.982 * [backup-simplify]: Simplify (- 0) into 0
47.982 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
47.982 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
47.982 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
47.982 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
47.982 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
47.982 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
47.982 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
47.983 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))
47.983 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
47.984 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
47.986 * [backup-simplify]: Simplify (* 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
47.987 * [backup-simplify]: Simplify (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)
47.988 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi1)) 4)) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) into (/ (* (pow (cos (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi1)) 4)) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
47.988 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in lambda2
47.988 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in lambda2
47.988 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
47.988 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
47.988 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
47.988 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
47.988 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
47.988 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
47.988 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.988 * [backup-simplify]: Simplify 0.5 into 0.5
47.988 * [taylor]: Taking taylor expansion of phi2 in lambda2
47.988 * [backup-simplify]: Simplify phi2 into phi2
47.988 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
47.988 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
47.988 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
47.988 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
47.988 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
47.988 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
47.988 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
47.988 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
47.988 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
47.988 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.988 * [backup-simplify]: Simplify 0.5 into 0.5
47.988 * [taylor]: Taking taylor expansion of phi1 in lambda2
47.988 * [backup-simplify]: Simplify phi1 into phi1
47.989 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
47.989 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
47.989 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
47.989 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
47.989 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
47.989 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
47.989 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
47.989 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
47.989 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
47.989 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
47.989 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.989 * [backup-simplify]: Simplify 0.5 into 0.5
47.989 * [taylor]: Taking taylor expansion of phi2 in lambda2
47.989 * [backup-simplify]: Simplify phi2 into phi2
47.989 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
47.989 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
47.989 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
47.989 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
47.989 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
47.990 * [backup-simplify]: Simplify (- 0) into 0
47.990 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
47.990 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
47.990 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
47.990 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
47.990 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.990 * [backup-simplify]: Simplify 0.5 into 0.5
47.990 * [taylor]: Taking taylor expansion of phi1 in lambda2
47.990 * [backup-simplify]: Simplify phi1 into phi1
47.990 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
47.990 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
47.990 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
47.990 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
47.990 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
47.991 * [backup-simplify]: Simplify (- 0) into 0
47.991 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
47.991 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
47.991 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
47.991 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
47.991 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
47.991 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.991 * [backup-simplify]: Simplify 0.5 into 0.5
47.991 * [taylor]: Taking taylor expansion of phi2 in lambda2
47.991 * [backup-simplify]: Simplify phi2 into phi2
47.991 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
47.991 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
47.991 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
47.991 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
47.991 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
47.991 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
47.991 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.991 * [backup-simplify]: Simplify 0.5 into 0.5
47.991 * [taylor]: Taking taylor expansion of phi1 in lambda2
47.991 * [backup-simplify]: Simplify phi1 into phi1
47.991 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
47.991 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
47.991 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
47.991 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
47.991 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
47.991 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
47.991 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.991 * [backup-simplify]: Simplify 0.5 into 0.5
47.991 * [taylor]: Taking taylor expansion of phi2 in lambda2
47.991 * [backup-simplify]: Simplify phi2 into phi2
47.991 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
47.991 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
47.991 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
47.991 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
47.992 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
47.992 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.992 * [backup-simplify]: Simplify 0.5 into 0.5
47.992 * [taylor]: Taking taylor expansion of phi1 in lambda2
47.992 * [backup-simplify]: Simplify phi1 into phi1
47.992 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
47.992 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
47.992 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
47.992 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
47.992 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
47.992 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
47.992 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.992 * [backup-simplify]: Simplify 0.5 into 0.5
47.992 * [taylor]: Taking taylor expansion of phi2 in lambda2
47.992 * [backup-simplify]: Simplify phi2 into phi2
47.992 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
47.992 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
47.992 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
47.992 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
47.992 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
47.992 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
47.992 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.992 * [backup-simplify]: Simplify 0.5 into 0.5
47.992 * [taylor]: Taking taylor expansion of phi1 in lambda2
47.992 * [backup-simplify]: Simplify phi1 into phi1
47.992 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
47.992 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
47.992 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
47.992 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
47.992 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
47.992 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
47.992 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.992 * [backup-simplify]: Simplify 0.5 into 0.5
47.992 * [taylor]: Taking taylor expansion of phi2 in lambda2
47.992 * [backup-simplify]: Simplify phi2 into phi2
47.992 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
47.992 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
47.992 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
47.993 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
47.993 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
47.993 * [taylor]: Taking taylor expansion of 0.5 in lambda2
47.993 * [backup-simplify]: Simplify 0.5 into 0.5
47.993 * [taylor]: Taking taylor expansion of phi1 in lambda2
47.993 * [backup-simplify]: Simplify phi1 into phi1
47.993 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
47.993 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
47.993 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
47.993 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
47.993 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
47.993 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
47.993 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
47.993 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
47.994 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
47.994 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
47.994 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
47.994 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
47.994 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
47.994 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
47.994 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
47.994 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
47.994 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
47.994 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
47.995 * [backup-simplify]: Simplify (- 0) into 0
47.995 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
47.995 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
47.995 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
47.995 * [backup-simplify]: Simplify (- 0) into 0
47.995 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
47.995 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
47.996 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
47.996 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
47.996 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
47.996 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
47.996 * [backup-simplify]: Simplify (- 0) into 0
47.996 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
47.996 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
47.996 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
47.997 * [backup-simplify]: Simplify (- 0) into 0
47.997 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
47.997 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
47.997 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
47.997 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
47.997 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
47.997 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
47.997 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
47.997 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
47.997 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
47.997 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
47.998 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))
47.998 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
47.999 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
48.000 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
48.001 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
48.002 * [backup-simplify]: Simplify (+ 0) into 0
48.002 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
48.003 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
48.003 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.004 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
48.004 * [backup-simplify]: Simplify (+ 0 0) into 0
48.004 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
48.004 * [backup-simplify]: Simplify (+ 0) into 0
48.005 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
48.005 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
48.006 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.006 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
48.006 * [backup-simplify]: Simplify (+ 0 0) into 0
48.007 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
48.007 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
48.007 * [backup-simplify]: Simplify (+ 0) into 0
48.008 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
48.008 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
48.009 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.009 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
48.009 * [backup-simplify]: Simplify (- 0) into 0
48.010 * [backup-simplify]: Simplify (+ 0 0) into 0
48.010 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
48.010 * [backup-simplify]: Simplify (+ 0) into 0
48.011 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
48.011 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
48.012 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.012 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
48.012 * [backup-simplify]: Simplify (- 0) into 0
48.013 * [backup-simplify]: Simplify (+ 0 0) into 0
48.013 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
48.013 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
48.014 * [backup-simplify]: Simplify (+ 0 0) into 0
48.014 * [backup-simplify]: Simplify (+ 0) into 0
48.014 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
48.015 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
48.015 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.016 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
48.016 * [backup-simplify]: Simplify (- 0) into 0
48.017 * [backup-simplify]: Simplify (+ 0 0) into 0
48.017 * [backup-simplify]: Simplify (+ 0) into 0
48.017 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
48.018 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
48.018 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.019 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
48.019 * [backup-simplify]: Simplify (- 0) into 0
48.019 * [backup-simplify]: Simplify (+ 0 0) into 0
48.019 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
48.020 * [backup-simplify]: Simplify (+ 0) into 0
48.020 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
48.020 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
48.021 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.022 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
48.022 * [backup-simplify]: Simplify (+ 0 0) into 0
48.022 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
48.023 * [backup-simplify]: Simplify (+ 0) into 0
48.023 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
48.023 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
48.024 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.024 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
48.025 * [backup-simplify]: Simplify (+ 0 0) into 0
48.025 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
48.025 * [backup-simplify]: Simplify (+ 0) into 0
48.026 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
48.026 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
48.027 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.027 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
48.028 * [backup-simplify]: Simplify (+ 0 0) into 0
48.028 * [backup-simplify]: Simplify (+ 0) into 0
48.034 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
48.034 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
48.035 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.036 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
48.036 * [backup-simplify]: Simplify (+ 0 0) into 0
48.036 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
48.037 * [backup-simplify]: Simplify (+ 0) into 0
48.037 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
48.037 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
48.038 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.039 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
48.039 * [backup-simplify]: Simplify (- 0) into 0
48.040 * [backup-simplify]: Simplify (+ 0 0) into 0
48.040 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
48.040 * [backup-simplify]: Simplify (+ 0) into 0
48.041 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
48.041 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
48.041 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.042 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
48.042 * [backup-simplify]: Simplify (- 0) into 0
48.043 * [backup-simplify]: Simplify (+ 0 0) into 0
48.043 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
48.043 * [backup-simplify]: Simplify (+ 0 0) into 0
48.044 * [backup-simplify]: Simplify (- 0) into 0
48.044 * [backup-simplify]: Simplify (+ 0 0) into 0
48.047 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
48.049 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
48.049 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)) (* R (* (pow lambda2 3) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 2 (* (/ (* (sin (/ 0.5 phi2)) (* (pow (cos (/ 0.5 phi1)) 5) (* (pow (cos (/ 0.5 phi2)) 5) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 (* (pow phi1 2) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 (* R (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow phi2 2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 3/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (* 3/2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 5) (pow (sin (/ 0.5 phi1)) 5)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3)))))))))) in lambda2
48.049 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)) (* R (* (pow lambda2 3) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) in lambda2
48.050 * [taylor]: Taking taylor expansion of 1/2 in lambda2
48.050 * [backup-simplify]: Simplify 1/2 into 1/2
48.050 * [taylor]: Taking taylor expansion of (* (/ (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)) (* R (* (pow lambda2 3) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) in lambda2
48.050 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)) (* R (* (pow lambda2 3) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) in lambda2
48.050 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)) in lambda2
48.050 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 4) in lambda2
48.050 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
48.050 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
48.050 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.050 * [backup-simplify]: Simplify 0.5 into 0.5
48.050 * [taylor]: Taking taylor expansion of phi2 in lambda2
48.050 * [backup-simplify]: Simplify phi2 into phi2
48.050 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
48.050 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
48.050 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
48.050 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
48.050 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
48.051 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
48.051 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 4) in lambda2
48.051 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
48.051 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
48.051 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.051 * [backup-simplify]: Simplify 0.5 into 0.5
48.051 * [taylor]: Taking taylor expansion of phi1 in lambda2
48.051 * [backup-simplify]: Simplify phi1 into phi1
48.051 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
48.051 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
48.051 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
48.051 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
48.051 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
48.051 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
48.051 * [taylor]: Taking taylor expansion of (* R (* (pow lambda2 3) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in lambda2
48.051 * [taylor]: Taking taylor expansion of R in lambda2
48.052 * [backup-simplify]: Simplify R into R
48.052 * [taylor]: Taking taylor expansion of (* (pow lambda2 3) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in lambda2
48.052 * [taylor]: Taking taylor expansion of (pow lambda2 3) in lambda2
48.052 * [taylor]: Taking taylor expansion of lambda2 in lambda2
48.052 * [backup-simplify]: Simplify 0 into 0
48.052 * [backup-simplify]: Simplify 1 into 1
48.052 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
48.052 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
48.052 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
48.052 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
48.052 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
48.052 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
48.052 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.052 * [backup-simplify]: Simplify 0.5 into 0.5
48.052 * [taylor]: Taking taylor expansion of phi2 in lambda2
48.052 * [backup-simplify]: Simplify phi2 into phi2
48.052 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
48.052 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
48.052 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
48.052 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
48.052 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
48.053 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
48.053 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
48.053 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
48.053 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
48.053 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.053 * [backup-simplify]: Simplify 0.5 into 0.5
48.053 * [taylor]: Taking taylor expansion of phi1 in lambda2
48.053 * [backup-simplify]: Simplify phi1 into phi1
48.053 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
48.053 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
48.053 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
48.053 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
48.053 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
48.053 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
48.053 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
48.053 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
48.053 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
48.053 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
48.053 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.054 * [backup-simplify]: Simplify 0.5 into 0.5
48.054 * [taylor]: Taking taylor expansion of phi2 in lambda2
48.054 * [backup-simplify]: Simplify phi2 into phi2
48.054 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
48.054 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
48.054 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
48.054 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
48.054 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
48.055 * [backup-simplify]: Simplify (- 0) into 0
48.055 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
48.055 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
48.055 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
48.055 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
48.055 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.055 * [backup-simplify]: Simplify 0.5 into 0.5
48.055 * [taylor]: Taking taylor expansion of phi1 in lambda2
48.055 * [backup-simplify]: Simplify phi1 into phi1
48.055 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
48.055 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
48.055 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
48.055 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
48.055 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
48.056 * [backup-simplify]: Simplify (- 0) into 0
48.056 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
48.056 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
48.056 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
48.056 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
48.056 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
48.056 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.056 * [backup-simplify]: Simplify 0.5 into 0.5
48.056 * [taylor]: Taking taylor expansion of phi2 in lambda2
48.056 * [backup-simplify]: Simplify phi2 into phi2
48.056 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
48.056 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
48.057 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
48.057 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
48.057 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
48.057 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
48.057 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.057 * [backup-simplify]: Simplify 0.5 into 0.5
48.057 * [taylor]: Taking taylor expansion of phi1 in lambda2
48.057 * [backup-simplify]: Simplify phi1 into phi1
48.057 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
48.057 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
48.057 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
48.057 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
48.057 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
48.057 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
48.057 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.057 * [backup-simplify]: Simplify 0.5 into 0.5
48.057 * [taylor]: Taking taylor expansion of phi2 in lambda2
48.057 * [backup-simplify]: Simplify phi2 into phi2
48.057 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
48.057 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
48.057 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
48.058 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
48.058 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
48.058 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.058 * [backup-simplify]: Simplify 0.5 into 0.5
48.058 * [taylor]: Taking taylor expansion of phi1 in lambda2
48.058 * [backup-simplify]: Simplify phi1 into phi1
48.058 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
48.058 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
48.058 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
48.058 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
48.058 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
48.058 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
48.058 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.058 * [backup-simplify]: Simplify 0.5 into 0.5
48.058 * [taylor]: Taking taylor expansion of phi2 in lambda2
48.058 * [backup-simplify]: Simplify phi2 into phi2
48.058 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
48.058 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
48.058 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
48.058 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
48.058 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
48.058 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
48.059 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.059 * [backup-simplify]: Simplify 0.5 into 0.5
48.059 * [taylor]: Taking taylor expansion of phi1 in lambda2
48.059 * [backup-simplify]: Simplify phi1 into phi1
48.059 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
48.059 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
48.059 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
48.059 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
48.059 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
48.059 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
48.059 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.059 * [backup-simplify]: Simplify 0.5 into 0.5
48.059 * [taylor]: Taking taylor expansion of phi2 in lambda2
48.059 * [backup-simplify]: Simplify phi2 into phi2
48.059 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
48.059 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
48.059 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
48.059 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
48.059 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
48.059 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.059 * [backup-simplify]: Simplify 0.5 into 0.5
48.059 * [taylor]: Taking taylor expansion of phi1 in lambda2
48.059 * [backup-simplify]: Simplify phi1 into phi1
48.060 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
48.060 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
48.060 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
48.060 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
48.060 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (pow (sin (/ 0.5 phi2)) 4)
48.061 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
48.061 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (pow (sin (/ 0.5 phi1)) 4)
48.061 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)) into (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4))
48.062 * [backup-simplify]: Simplify (* 1 1) into 1
48.062 * [backup-simplify]: Simplify (* 1 1) into 1
48.062 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
48.063 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
48.063 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
48.063 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
48.063 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
48.064 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
48.065 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
48.065 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
48.065 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
48.065 * [backup-simplify]: Simplify (- 0) into 0
48.066 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
48.066 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
48.066 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
48.066 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
48.066 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
48.066 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
48.066 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
48.066 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
48.066 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
48.067 * [backup-simplify]: Simplify (- 0) into 0
48.067 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
48.067 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
48.067 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
48.068 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
48.068 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
48.068 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
48.068 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
48.068 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
48.068 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
48.069 * [backup-simplify]: Simplify (- 0) into 0
48.069 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
48.069 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
48.069 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
48.070 * [backup-simplify]: Simplify (- 0) into 0
48.070 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
48.070 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
48.070 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
48.070 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
48.070 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
48.071 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
48.071 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
48.072 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))
48.073 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
48.076 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
48.079 * [backup-simplify]: Simplify (* 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
48.081 * [backup-simplify]: Simplify (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)
48.084 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) into (/ (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
48.084 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in lambda2
48.084 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in lambda2
48.084 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
48.084 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
48.084 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
48.084 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
48.084 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
48.084 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
48.084 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.084 * [backup-simplify]: Simplify 0.5 into 0.5
48.084 * [taylor]: Taking taylor expansion of phi2 in lambda2
48.084 * [backup-simplify]: Simplify phi2 into phi2
48.084 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
48.085 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
48.085 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
48.085 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
48.085 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
48.085 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
48.085 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
48.085 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
48.085 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
48.085 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.085 * [backup-simplify]: Simplify 0.5 into 0.5
48.085 * [taylor]: Taking taylor expansion of phi1 in lambda2
48.085 * [backup-simplify]: Simplify phi1 into phi1
48.085 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
48.085 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
48.086 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
48.086 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
48.086 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
48.086 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
48.086 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
48.086 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
48.086 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
48.086 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
48.086 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.086 * [backup-simplify]: Simplify 0.5 into 0.5
48.086 * [taylor]: Taking taylor expansion of phi2 in lambda2
48.086 * [backup-simplify]: Simplify phi2 into phi2
48.086 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
48.086 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
48.086 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
48.087 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
48.087 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
48.087 * [backup-simplify]: Simplify (- 0) into 0
48.087 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
48.087 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
48.087 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
48.087 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
48.087 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.087 * [backup-simplify]: Simplify 0.5 into 0.5
48.088 * [taylor]: Taking taylor expansion of phi1 in lambda2
48.088 * [backup-simplify]: Simplify phi1 into phi1
48.088 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
48.088 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
48.088 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
48.088 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
48.088 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
48.088 * [backup-simplify]: Simplify (- 0) into 0
48.089 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
48.089 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
48.089 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
48.089 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
48.089 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
48.089 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.089 * [backup-simplify]: Simplify 0.5 into 0.5
48.089 * [taylor]: Taking taylor expansion of phi2 in lambda2
48.089 * [backup-simplify]: Simplify phi2 into phi2
48.089 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
48.089 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
48.089 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
48.089 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
48.089 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
48.089 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
48.089 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.089 * [backup-simplify]: Simplify 0.5 into 0.5
48.089 * [taylor]: Taking taylor expansion of phi1 in lambda2
48.089 * [backup-simplify]: Simplify phi1 into phi1
48.089 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
48.089 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
48.090 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
48.090 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
48.090 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
48.090 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
48.090 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.090 * [backup-simplify]: Simplify 0.5 into 0.5
48.090 * [taylor]: Taking taylor expansion of phi2 in lambda2
48.090 * [backup-simplify]: Simplify phi2 into phi2
48.090 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
48.090 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
48.090 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
48.090 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
48.090 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
48.090 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.090 * [backup-simplify]: Simplify 0.5 into 0.5
48.090 * [taylor]: Taking taylor expansion of phi1 in lambda2
48.090 * [backup-simplify]: Simplify phi1 into phi1
48.090 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
48.090 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
48.090 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
48.091 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
48.091 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
48.091 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
48.091 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.091 * [backup-simplify]: Simplify 0.5 into 0.5
48.091 * [taylor]: Taking taylor expansion of phi2 in lambda2
48.091 * [backup-simplify]: Simplify phi2 into phi2
48.091 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
48.091 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
48.091 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
48.091 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
48.091 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
48.091 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
48.091 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.091 * [backup-simplify]: Simplify 0.5 into 0.5
48.091 * [taylor]: Taking taylor expansion of phi1 in lambda2
48.091 * [backup-simplify]: Simplify phi1 into phi1
48.091 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
48.091 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
48.091 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
48.091 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
48.091 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
48.091 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
48.092 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.092 * [backup-simplify]: Simplify 0.5 into 0.5
48.092 * [taylor]: Taking taylor expansion of phi2 in lambda2
48.092 * [backup-simplify]: Simplify phi2 into phi2
48.092 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
48.092 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
48.092 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
48.092 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
48.092 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
48.092 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.092 * [backup-simplify]: Simplify 0.5 into 0.5
48.092 * [taylor]: Taking taylor expansion of phi1 in lambda2
48.092 * [backup-simplify]: Simplify phi1 into phi1
48.092 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
48.092 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
48.092 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
48.092 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
48.093 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
48.093 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
48.093 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
48.093 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
48.094 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
48.094 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
48.095 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
48.095 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
48.095 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
48.095 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
48.095 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
48.095 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
48.095 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
48.095 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
48.096 * [backup-simplify]: Simplify (- 0) into 0
48.096 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
48.096 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
48.096 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
48.097 * [backup-simplify]: Simplify (- 0) into 0
48.097 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
48.097 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
48.097 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
48.098 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
48.098 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
48.098 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
48.098 * [backup-simplify]: Simplify (- 0) into 0
48.098 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
48.099 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
48.099 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
48.099 * [backup-simplify]: Simplify (- 0) into 0
48.100 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
48.100 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
48.100 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
48.100 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
48.100 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
48.100 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
48.100 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
48.100 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
48.101 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
48.101 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
48.102 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))
48.103 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
48.105 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
48.107 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
48.109 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
48.110 * [backup-simplify]: Simplify (+ 0) into 0
48.110 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
48.110 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
48.111 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.112 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
48.112 * [backup-simplify]: Simplify (+ 0 0) into 0
48.112 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
48.113 * [backup-simplify]: Simplify (+ 0) into 0
48.113 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
48.114 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
48.115 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.115 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
48.116 * [backup-simplify]: Simplify (+ 0 0) into 0
48.116 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
48.116 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
48.117 * [backup-simplify]: Simplify (+ 0) into 0
48.117 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
48.118 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
48.118 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.118 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
48.119 * [backup-simplify]: Simplify (- 0) into 0
48.119 * [backup-simplify]: Simplify (+ 0 0) into 0
48.119 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
48.119 * [backup-simplify]: Simplify (+ 0) into 0
48.120 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
48.120 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
48.120 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.120 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
48.121 * [backup-simplify]: Simplify (- 0) into 0
48.121 * [backup-simplify]: Simplify (+ 0 0) into 0
48.121 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
48.121 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
48.122 * [backup-simplify]: Simplify (+ 0 0) into 0
48.122 * [backup-simplify]: Simplify (+ 0) into 0
48.122 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
48.122 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
48.123 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.123 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
48.123 * [backup-simplify]: Simplify (- 0) into 0
48.123 * [backup-simplify]: Simplify (+ 0 0) into 0
48.124 * [backup-simplify]: Simplify (+ 0) into 0
48.124 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
48.124 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
48.125 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.125 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
48.125 * [backup-simplify]: Simplify (- 0) into 0
48.125 * [backup-simplify]: Simplify (+ 0 0) into 0
48.126 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
48.126 * [backup-simplify]: Simplify (+ 0) into 0
48.126 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
48.126 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
48.127 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.127 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
48.127 * [backup-simplify]: Simplify (+ 0 0) into 0
48.128 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
48.128 * [backup-simplify]: Simplify (+ 0) into 0
48.128 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
48.128 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
48.129 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.129 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
48.129 * [backup-simplify]: Simplify (+ 0 0) into 0
48.130 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
48.130 * [backup-simplify]: Simplify (+ 0) into 0
48.130 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
48.130 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
48.131 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.131 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
48.131 * [backup-simplify]: Simplify (+ 0 0) into 0
48.132 * [backup-simplify]: Simplify (+ 0) into 0
48.132 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
48.132 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
48.133 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.133 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
48.133 * [backup-simplify]: Simplify (+ 0 0) into 0
48.133 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
48.133 * [backup-simplify]: Simplify (+ 0) into 0
48.134 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
48.134 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
48.134 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.135 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
48.135 * [backup-simplify]: Simplify (- 0) into 0
48.135 * [backup-simplify]: Simplify (+ 0 0) into 0
48.135 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
48.136 * [backup-simplify]: Simplify (+ 0) into 0
48.136 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
48.136 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
48.137 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.137 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
48.137 * [backup-simplify]: Simplify (- 0) into 0
48.137 * [backup-simplify]: Simplify (+ 0 0) into 0
48.138 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
48.138 * [backup-simplify]: Simplify (+ 0 0) into 0
48.138 * [backup-simplify]: Simplify (- 0) into 0
48.138 * [backup-simplify]: Simplify (+ 0 0) into 0
48.140 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
48.141 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
48.142 * [taylor]: Taking taylor expansion of (+ (* 2 (* (/ (* (sin (/ 0.5 phi2)) (* (pow (cos (/ 0.5 phi1)) 5) (* (pow (cos (/ 0.5 phi2)) 5) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 (* (pow phi1 2) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 (* R (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow phi2 2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 3/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (* 3/2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 5) (pow (sin (/ 0.5 phi1)) 5)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))))))) in lambda2
48.142 * [taylor]: Taking taylor expansion of (* 2 (* (/ (* (sin (/ 0.5 phi2)) (* (pow (cos (/ 0.5 phi1)) 5) (* (pow (cos (/ 0.5 phi2)) 5) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) in lambda2
48.142 * [taylor]: Taking taylor expansion of 2 in lambda2
48.142 * [backup-simplify]: Simplify 2 into 2
48.142 * [taylor]: Taking taylor expansion of (* (/ (* (sin (/ 0.5 phi2)) (* (pow (cos (/ 0.5 phi1)) 5) (* (pow (cos (/ 0.5 phi2)) 5) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3)))) in lambda2
48.142 * [taylor]: Taking taylor expansion of (/ (* (sin (/ 0.5 phi2)) (* (pow (cos (/ 0.5 phi1)) 5) (* (pow (cos (/ 0.5 phi2)) 5) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) in lambda2
48.142 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (pow (cos (/ 0.5 phi1)) 5) (* (pow (cos (/ 0.5 phi2)) 5) (sin (/ 0.5 phi1))))) in lambda2
48.142 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
48.142 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
48.142 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.142 * [backup-simplify]: Simplify 0.5 into 0.5
48.142 * [taylor]: Taking taylor expansion of phi2 in lambda2
48.142 * [backup-simplify]: Simplify phi2 into phi2
48.142 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
48.142 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
48.142 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
48.142 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 5) (* (pow (cos (/ 0.5 phi2)) 5) (sin (/ 0.5 phi1)))) in lambda2
48.142 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 5) in lambda2
48.142 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
48.142 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
48.142 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.142 * [backup-simplify]: Simplify 0.5 into 0.5
48.142 * [taylor]: Taking taylor expansion of phi1 in lambda2
48.142 * [backup-simplify]: Simplify phi1 into phi1
48.142 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
48.142 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
48.142 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
48.143 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
48.143 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
48.143 * [backup-simplify]: Simplify (- 0) into 0
48.143 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
48.143 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 5) (sin (/ 0.5 phi1))) in lambda2
48.143 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 5) in lambda2
48.143 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
48.143 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
48.143 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.143 * [backup-simplify]: Simplify 0.5 into 0.5
48.143 * [taylor]: Taking taylor expansion of phi2 in lambda2
48.143 * [backup-simplify]: Simplify phi2 into phi2
48.143 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
48.143 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
48.143 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
48.143 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
48.144 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
48.144 * [backup-simplify]: Simplify (- 0) into 0
48.144 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
48.144 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
48.144 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
48.144 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.144 * [backup-simplify]: Simplify 0.5 into 0.5
48.144 * [taylor]: Taking taylor expansion of phi1 in lambda2
48.144 * [backup-simplify]: Simplify phi1 into phi1
48.144 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
48.144 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
48.144 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
48.144 * [taylor]: Taking taylor expansion of (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3))) in lambda2
48.144 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
48.144 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
48.144 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
48.144 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
48.144 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
48.144 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
48.144 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.144 * [backup-simplify]: Simplify 0.5 into 0.5
48.144 * [taylor]: Taking taylor expansion of phi2 in lambda2
48.144 * [backup-simplify]: Simplify phi2 into phi2
48.144 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
48.145 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
48.145 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
48.145 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
48.145 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
48.145 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
48.145 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
48.145 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
48.145 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
48.145 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.145 * [backup-simplify]: Simplify 0.5 into 0.5
48.145 * [taylor]: Taking taylor expansion of phi1 in lambda2
48.145 * [backup-simplify]: Simplify phi1 into phi1
48.145 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
48.145 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
48.145 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
48.145 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
48.145 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
48.145 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
48.145 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
48.145 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
48.145 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
48.145 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
48.145 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.145 * [backup-simplify]: Simplify 0.5 into 0.5
48.145 * [taylor]: Taking taylor expansion of phi2 in lambda2
48.145 * [backup-simplify]: Simplify phi2 into phi2
48.145 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
48.146 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
48.146 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
48.146 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
48.146 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
48.146 * [backup-simplify]: Simplify (- 0) into 0
48.147 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
48.147 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
48.147 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
48.147 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
48.147 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.147 * [backup-simplify]: Simplify 0.5 into 0.5
48.147 * [taylor]: Taking taylor expansion of phi1 in lambda2
48.147 * [backup-simplify]: Simplify phi1 into phi1
48.147 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
48.147 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
48.147 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
48.147 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
48.147 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
48.148 * [backup-simplify]: Simplify (- 0) into 0
48.148 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
48.148 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
48.148 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
48.148 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
48.148 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
48.148 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.148 * [backup-simplify]: Simplify 0.5 into 0.5
48.148 * [taylor]: Taking taylor expansion of phi2 in lambda2
48.148 * [backup-simplify]: Simplify phi2 into phi2
48.148 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
48.148 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
48.148 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
48.149 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
48.149 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
48.149 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
48.149 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.149 * [backup-simplify]: Simplify 0.5 into 0.5
48.149 * [taylor]: Taking taylor expansion of phi1 in lambda2
48.149 * [backup-simplify]: Simplify phi1 into phi1
48.149 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
48.149 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
48.149 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
48.149 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
48.149 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
48.149 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
48.149 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.149 * [backup-simplify]: Simplify 0.5 into 0.5
48.149 * [taylor]: Taking taylor expansion of phi2 in lambda2
48.149 * [backup-simplify]: Simplify phi2 into phi2
48.149 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
48.149 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
48.149 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
48.150 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
48.150 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
48.150 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.150 * [backup-simplify]: Simplify 0.5 into 0.5
48.150 * [taylor]: Taking taylor expansion of phi1 in lambda2
48.150 * [backup-simplify]: Simplify phi1 into phi1
48.150 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
48.150 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
48.150 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
48.150 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
48.150 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
48.150 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
48.150 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.150 * [backup-simplify]: Simplify 0.5 into 0.5
48.150 * [taylor]: Taking taylor expansion of phi2 in lambda2
48.150 * [backup-simplify]: Simplify phi2 into phi2
48.150 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
48.150 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
48.150 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
48.150 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
48.150 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
48.150 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
48.151 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.151 * [backup-simplify]: Simplify 0.5 into 0.5
48.151 * [taylor]: Taking taylor expansion of phi1 in lambda2
48.151 * [backup-simplify]: Simplify phi1 into phi1
48.151 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
48.151 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
48.151 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
48.151 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
48.151 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
48.151 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
48.151 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.151 * [backup-simplify]: Simplify 0.5 into 0.5
48.151 * [taylor]: Taking taylor expansion of phi2 in lambda2
48.151 * [backup-simplify]: Simplify phi2 into phi2
48.151 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
48.151 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
48.151 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
48.151 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
48.151 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
48.151 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.151 * [backup-simplify]: Simplify 0.5 into 0.5
48.151 * [taylor]: Taking taylor expansion of phi1 in lambda2
48.151 * [backup-simplify]: Simplify phi1 into phi1
48.152 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
48.152 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
48.152 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
48.152 * [taylor]: Taking taylor expansion of (* R (pow lambda2 3)) in lambda2
48.152 * [taylor]: Taking taylor expansion of R in lambda2
48.152 * [backup-simplify]: Simplify R into R
48.152 * [taylor]: Taking taylor expansion of (pow lambda2 3) in lambda2
48.152 * [taylor]: Taking taylor expansion of lambda2 in lambda2
48.152 * [backup-simplify]: Simplify 0 into 0
48.152 * [backup-simplify]: Simplify 1 into 1
48.152 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
48.152 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
48.152 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
48.152 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
48.153 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (pow (cos (/ 0.5 phi1)) 4)
48.153 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (pow (cos (/ 0.5 phi1)) 4)) into (pow (cos (/ 0.5 phi1)) 5)
48.153 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
48.154 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (pow (cos (/ 0.5 phi2)) 4)
48.154 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (pow (cos (/ 0.5 phi2)) 4)) into (pow (cos (/ 0.5 phi2)) 5)
48.154 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
48.154 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
48.154 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
48.154 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 5) (sin (/ 0.5 phi1))) into (* (pow (cos (/ 0.5 phi2)) 5) (sin (/ 0.5 phi1)))
48.155 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 5) (* (pow (cos (/ 0.5 phi2)) 5) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (pow (cos (/ 0.5 phi2)) 5) (pow (cos (/ 0.5 phi1)) 5)))
48.155 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (pow (cos (/ 0.5 phi2)) 5) (pow (cos (/ 0.5 phi1)) 5)))) into (* (pow (cos (/ 0.5 phi2)) 5) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (pow (cos (/ 0.5 phi1)) 5))))
48.156 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
48.156 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
48.156 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
48.156 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
48.157 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
48.157 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
48.158 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
48.158 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
48.158 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
48.159 * [backup-simplify]: Simplify (- 0) into 0
48.159 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
48.159 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
48.159 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
48.159 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
48.159 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
48.159 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
48.159 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
48.159 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
48.160 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
48.160 * [backup-simplify]: Simplify (- 0) into 0
48.161 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
48.161 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
48.161 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
48.161 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
48.161 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
48.161 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
48.162 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
48.162 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
48.162 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
48.162 * [backup-simplify]: Simplify (- 0) into 0
48.162 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
48.163 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
48.163 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
48.163 * [backup-simplify]: Simplify (- 0) into 0
48.163 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
48.163 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
48.163 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
48.164 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
48.164 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
48.164 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
48.164 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
48.165 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))
48.166 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
48.168 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
48.169 * [backup-simplify]: Simplify (* 1 1) into 1
48.169 * [backup-simplify]: Simplify (* 1 1) into 1
48.169 * [backup-simplify]: Simplify (* R 1) into R
48.172 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R) into (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)
48.175 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi2)) 5) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (pow (cos (/ 0.5 phi1)) 5)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) into (/ (* (pow (cos (/ 0.5 phi2)) 5) (* (pow (cos (/ 0.5 phi1)) 5) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
48.175 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))) in lambda2
48.175 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3)) in lambda2
48.175 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3) in lambda2
48.175 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
48.175 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
48.175 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
48.175 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
48.175 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
48.175 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
48.175 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.175 * [backup-simplify]: Simplify 0.5 into 0.5
48.175 * [taylor]: Taking taylor expansion of phi2 in lambda2
48.176 * [backup-simplify]: Simplify phi2 into phi2
48.176 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
48.176 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
48.176 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
48.176 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
48.176 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
48.176 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
48.176 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
48.176 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
48.176 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
48.176 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.176 * [backup-simplify]: Simplify 0.5 into 0.5
48.176 * [taylor]: Taking taylor expansion of phi1 in lambda2
48.176 * [backup-simplify]: Simplify phi1 into phi1
48.176 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
48.177 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
48.177 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
48.177 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
48.177 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
48.177 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
48.177 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
48.177 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
48.177 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
48.177 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
48.177 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.177 * [backup-simplify]: Simplify 0.5 into 0.5
48.177 * [taylor]: Taking taylor expansion of phi2 in lambda2
48.177 * [backup-simplify]: Simplify phi2 into phi2
48.177 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
48.177 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
48.177 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
48.178 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
48.178 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
48.178 * [backup-simplify]: Simplify (- 0) into 0
48.178 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
48.178 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
48.178 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
48.178 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
48.178 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.178 * [backup-simplify]: Simplify 0.5 into 0.5
48.178 * [taylor]: Taking taylor expansion of phi1 in lambda2
48.178 * [backup-simplify]: Simplify phi1 into phi1
48.178 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
48.178 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
48.179 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
48.179 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
48.179 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
48.179 * [backup-simplify]: Simplify (- 0) into 0
48.179 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
48.179 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
48.179 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
48.179 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
48.179 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
48.179 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.179 * [backup-simplify]: Simplify 0.5 into 0.5
48.179 * [taylor]: Taking taylor expansion of phi2 in lambda2
48.179 * [backup-simplify]: Simplify phi2 into phi2
48.179 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
48.179 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
48.179 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
48.179 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
48.179 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
48.179 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
48.179 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.179 * [backup-simplify]: Simplify 0.5 into 0.5
48.179 * [taylor]: Taking taylor expansion of phi1 in lambda2
48.179 * [backup-simplify]: Simplify phi1 into phi1
48.180 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
48.180 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
48.180 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
48.180 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
48.180 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
48.180 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
48.180 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.180 * [backup-simplify]: Simplify 0.5 into 0.5
48.180 * [taylor]: Taking taylor expansion of phi2 in lambda2
48.180 * [backup-simplify]: Simplify phi2 into phi2
48.180 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
48.180 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
48.180 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
48.180 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
48.180 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
48.180 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.180 * [backup-simplify]: Simplify 0.5 into 0.5
48.180 * [taylor]: Taking taylor expansion of phi1 in lambda2
48.180 * [backup-simplify]: Simplify phi1 into phi1
48.180 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
48.180 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
48.180 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
48.180 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
48.180 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
48.180 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
48.180 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.180 * [backup-simplify]: Simplify 0.5 into 0.5
48.180 * [taylor]: Taking taylor expansion of phi2 in lambda2
48.180 * [backup-simplify]: Simplify phi2 into phi2
48.180 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
48.180 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
48.180 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
48.180 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
48.180 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
48.180 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
48.180 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.181 * [backup-simplify]: Simplify 0.5 into 0.5
48.181 * [taylor]: Taking taylor expansion of phi1 in lambda2
48.181 * [backup-simplify]: Simplify phi1 into phi1
48.181 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
48.181 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
48.181 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
48.181 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
48.181 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
48.181 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
48.181 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.181 * [backup-simplify]: Simplify 0.5 into 0.5
48.181 * [taylor]: Taking taylor expansion of phi2 in lambda2
48.181 * [backup-simplify]: Simplify phi2 into phi2
48.181 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
48.181 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
48.181 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
48.181 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
48.181 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
48.181 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.181 * [backup-simplify]: Simplify 0.5 into 0.5
48.181 * [taylor]: Taking taylor expansion of phi1 in lambda2
48.181 * [backup-simplify]: Simplify phi1 into phi1
48.181 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
48.181 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
48.181 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
48.181 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
48.181 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
48.182 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
48.182 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
48.182 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
48.182 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
48.182 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
48.183 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
48.183 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
48.183 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
48.183 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
48.183 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
48.183 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
48.183 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
48.183 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
48.183 * [backup-simplify]: Simplify (- 0) into 0
48.183 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
48.183 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
48.184 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
48.184 * [backup-simplify]: Simplify (- 0) into 0
48.184 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
48.184 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
48.184 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
48.184 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
48.184 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
48.184 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
48.185 * [backup-simplify]: Simplify (- 0) into 0
48.185 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
48.185 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
48.185 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
48.185 * [backup-simplify]: Simplify (- 0) into 0
48.185 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
48.185 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
48.185 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
48.185 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
48.185 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
48.186 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
48.186 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
48.186 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
48.186 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
48.186 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
48.186 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))
48.187 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
48.188 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
48.190 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)
48.192 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)) into (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
48.194 * [backup-simplify]: Simplify (/ 1 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)))
48.196 * [backup-simplify]: Simplify (sqrt (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)))) into (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))
48.201 * [backup-simplify]: Simplify (+ 0) into 0
48.202 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
48.202 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
48.202 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.203 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
48.203 * [backup-simplify]: Simplify (+ 0 0) into 0
48.203 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
48.203 * [backup-simplify]: Simplify (+ 0) into 0
48.204 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
48.204 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
48.204 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.205 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
48.205 * [backup-simplify]: Simplify (+ 0 0) into 0
48.205 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
48.206 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
48.206 * [backup-simplify]: Simplify (+ 0) into 0
48.207 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
48.207 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
48.208 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.208 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
48.209 * [backup-simplify]: Simplify (- 0) into 0
48.209 * [backup-simplify]: Simplify (+ 0 0) into 0
48.209 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
48.210 * [backup-simplify]: Simplify (+ 0) into 0
48.210 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
48.210 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
48.211 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.212 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
48.213 * [backup-simplify]: Simplify (- 0) into 0
48.213 * [backup-simplify]: Simplify (+ 0 0) into 0
48.213 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
48.214 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
48.214 * [backup-simplify]: Simplify (+ 0 0) into 0
48.214 * [backup-simplify]: Simplify (+ 0) into 0
48.215 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
48.215 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
48.216 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.217 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
48.217 * [backup-simplify]: Simplify (- 0) into 0
48.217 * [backup-simplify]: Simplify (+ 0 0) into 0
48.218 * [backup-simplify]: Simplify (+ 0) into 0
48.218 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
48.219 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
48.219 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.220 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
48.221 * [backup-simplify]: Simplify (- 0) into 0
48.221 * [backup-simplify]: Simplify (+ 0 0) into 0
48.221 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
48.222 * [backup-simplify]: Simplify (+ 0) into 0
48.222 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
48.222 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
48.223 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.224 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
48.224 * [backup-simplify]: Simplify (+ 0 0) into 0
48.224 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
48.225 * [backup-simplify]: Simplify (+ 0) into 0
48.225 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
48.225 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
48.226 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.227 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
48.227 * [backup-simplify]: Simplify (+ 0 0) into 0
48.227 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
48.228 * [backup-simplify]: Simplify (+ 0) into 0
48.228 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
48.229 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
48.229 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.230 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
48.230 * [backup-simplify]: Simplify (+ 0 0) into 0
48.231 * [backup-simplify]: Simplify (+ 0) into 0
48.231 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
48.231 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
48.232 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.233 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
48.233 * [backup-simplify]: Simplify (+ 0 0) into 0
48.233 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
48.234 * [backup-simplify]: Simplify (+ 0) into 0
48.234 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
48.234 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
48.235 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.236 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
48.236 * [backup-simplify]: Simplify (- 0) into 0
48.236 * [backup-simplify]: Simplify (+ 0 0) into 0
48.237 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
48.237 * [backup-simplify]: Simplify (+ 0) into 0
48.237 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
48.238 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
48.238 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.239 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
48.239 * [backup-simplify]: Simplify (- 0) into 0
48.240 * [backup-simplify]: Simplify (+ 0 0) into 0
48.240 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
48.241 * [backup-simplify]: Simplify (+ 0 0) into 0
48.241 * [backup-simplify]: Simplify (- 0) into 0
48.241 * [backup-simplify]: Simplify (+ 0 0) into 0
48.245 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into 0
48.250 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2))) into 0
48.258 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2))) (/ 0 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
48.263 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)))))) into 0
48.263 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 (* (pow phi1 2) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 (* R (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow phi2 2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 3/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (* 3/2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 5) (pow (sin (/ 0.5 phi1)) 5)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3)))))))) in lambda2
48.263 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 (* (pow phi1 2) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) in lambda2
48.263 * [taylor]: Taking taylor expansion of 1/2 in lambda2
48.263 * [backup-simplify]: Simplify 1/2 into 1/2
48.263 * [taylor]: Taking taylor expansion of (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 (* (pow phi1 2) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) in lambda2
48.263 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 (* (pow phi1 2) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)))) in lambda2
48.263 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in lambda2
48.263 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
48.264 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
48.264 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
48.264 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.264 * [backup-simplify]: Simplify 0.5 into 0.5
48.264 * [taylor]: Taking taylor expansion of phi1 in lambda2
48.264 * [backup-simplify]: Simplify phi1 into phi1
48.264 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
48.264 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
48.264 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
48.264 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
48.264 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
48.265 * [backup-simplify]: Simplify (- 0) into 0
48.265 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
48.265 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
48.265 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
48.265 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
48.265 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.265 * [backup-simplify]: Simplify 0.5 into 0.5
48.265 * [taylor]: Taking taylor expansion of phi2 in lambda2
48.265 * [backup-simplify]: Simplify phi2 into phi2
48.265 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
48.265 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
48.265 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
48.265 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
48.266 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
48.266 * [backup-simplify]: Simplify (- 0) into 0
48.266 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
48.266 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow phi1 2) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R))) in lambda2
48.266 * [taylor]: Taking taylor expansion of lambda2 in lambda2
48.266 * [backup-simplify]: Simplify 0 into 0
48.266 * [backup-simplify]: Simplify 1 into 1
48.266 * [taylor]: Taking taylor expansion of (* (pow phi1 2) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) in lambda2
48.266 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2
48.266 * [taylor]: Taking taylor expansion of phi1 in lambda2
48.266 * [backup-simplify]: Simplify phi1 into phi1
48.266 * [taylor]: Taking taylor expansion of (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R) in lambda2
48.267 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
48.267 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
48.267 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
48.267 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
48.267 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
48.267 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
48.267 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.267 * [backup-simplify]: Simplify 0.5 into 0.5
48.267 * [taylor]: Taking taylor expansion of phi2 in lambda2
48.267 * [backup-simplify]: Simplify phi2 into phi2
48.267 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
48.267 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
48.267 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
48.267 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
48.267 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
48.267 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
48.268 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
48.268 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
48.268 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
48.268 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.268 * [backup-simplify]: Simplify 0.5 into 0.5
48.268 * [taylor]: Taking taylor expansion of phi1 in lambda2
48.268 * [backup-simplify]: Simplify phi1 into phi1
48.268 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
48.268 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
48.268 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
48.268 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
48.268 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
48.268 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
48.268 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
48.268 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
48.268 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
48.268 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
48.268 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.269 * [backup-simplify]: Simplify 0.5 into 0.5
48.269 * [taylor]: Taking taylor expansion of phi2 in lambda2
48.269 * [backup-simplify]: Simplify phi2 into phi2
48.269 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
48.269 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
48.269 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
48.269 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
48.269 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
48.270 * [backup-simplify]: Simplify (- 0) into 0
48.270 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
48.270 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
48.270 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
48.270 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
48.270 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.270 * [backup-simplify]: Simplify 0.5 into 0.5
48.270 * [taylor]: Taking taylor expansion of phi1 in lambda2
48.270 * [backup-simplify]: Simplify phi1 into phi1
48.270 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
48.270 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
48.270 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
48.270 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
48.270 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
48.271 * [backup-simplify]: Simplify (- 0) into 0
48.271 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
48.271 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
48.271 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
48.271 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
48.271 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
48.271 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.271 * [backup-simplify]: Simplify 0.5 into 0.5
48.271 * [taylor]: Taking taylor expansion of phi2 in lambda2
48.271 * [backup-simplify]: Simplify phi2 into phi2
48.271 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
48.271 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
48.271 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
48.271 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
48.271 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
48.271 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
48.271 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.271 * [backup-simplify]: Simplify 0.5 into 0.5
48.271 * [taylor]: Taking taylor expansion of phi1 in lambda2
48.272 * [backup-simplify]: Simplify phi1 into phi1
48.272 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
48.272 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
48.272 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
48.272 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
48.272 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
48.272 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
48.272 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.272 * [backup-simplify]: Simplify 0.5 into 0.5
48.272 * [taylor]: Taking taylor expansion of phi2 in lambda2
48.272 * [backup-simplify]: Simplify phi2 into phi2
48.272 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
48.272 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
48.272 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
48.272 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
48.272 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
48.272 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.272 * [backup-simplify]: Simplify 0.5 into 0.5
48.272 * [taylor]: Taking taylor expansion of phi1 in lambda2
48.272 * [backup-simplify]: Simplify phi1 into phi1
48.272 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
48.272 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
48.273 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
48.273 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
48.273 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
48.273 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
48.273 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.273 * [backup-simplify]: Simplify 0.5 into 0.5
48.273 * [taylor]: Taking taylor expansion of phi2 in lambda2
48.273 * [backup-simplify]: Simplify phi2 into phi2
48.273 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
48.273 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
48.273 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
48.273 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
48.273 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
48.273 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
48.273 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.273 * [backup-simplify]: Simplify 0.5 into 0.5
48.273 * [taylor]: Taking taylor expansion of phi1 in lambda2
48.273 * [backup-simplify]: Simplify phi1 into phi1
48.273 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
48.273 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
48.274 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
48.274 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
48.274 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
48.274 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
48.274 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.274 * [backup-simplify]: Simplify 0.5 into 0.5
48.274 * [taylor]: Taking taylor expansion of phi2 in lambda2
48.274 * [backup-simplify]: Simplify phi2 into phi2
48.274 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
48.274 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
48.274 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
48.274 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
48.274 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
48.274 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.274 * [backup-simplify]: Simplify 0.5 into 0.5
48.274 * [taylor]: Taking taylor expansion of phi1 in lambda2
48.274 * [backup-simplify]: Simplify phi1 into phi1
48.274 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
48.274 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
48.274 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
48.274 * [taylor]: Taking taylor expansion of R in lambda2
48.275 * [backup-simplify]: Simplify R into R
48.275 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
48.275 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
48.275 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
48.275 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
48.275 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
48.276 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
48.276 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
48.276 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
48.276 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
48.277 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
48.277 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
48.278 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
48.278 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
48.278 * [backup-simplify]: Simplify (- 0) into 0
48.278 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
48.279 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
48.279 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
48.279 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
48.279 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
48.279 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
48.279 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
48.279 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
48.279 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
48.280 * [backup-simplify]: Simplify (- 0) into 0
48.280 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
48.280 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
48.280 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
48.281 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
48.281 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
48.281 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
48.281 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
48.281 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
48.282 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
48.282 * [backup-simplify]: Simplify (- 0) into 0
48.282 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
48.282 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
48.282 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
48.283 * [backup-simplify]: Simplify (- 0) into 0
48.283 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
48.283 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
48.283 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
48.283 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
48.283 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
48.284 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
48.284 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
48.285 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))
48.286 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
48.288 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
48.290 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R) into (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)
48.292 * [backup-simplify]: Simplify (* (pow phi1 2) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) into (* R (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow phi1 2)))
48.294 * [backup-simplify]: Simplify (* 0 (* R (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow phi1 2)))) into 0
48.294 * [backup-simplify]: Simplify (+ 0) into 0
48.295 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
48.295 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
48.296 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.296 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
48.297 * [backup-simplify]: Simplify (+ 0 0) into 0
48.297 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
48.297 * [backup-simplify]: Simplify (+ 0) into 0
48.298 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
48.298 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
48.299 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.299 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
48.300 * [backup-simplify]: Simplify (+ 0 0) into 0
48.300 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
48.300 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
48.301 * [backup-simplify]: Simplify (+ 0) into 0
48.301 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
48.302 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
48.302 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.303 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
48.303 * [backup-simplify]: Simplify (- 0) into 0
48.304 * [backup-simplify]: Simplify (+ 0 0) into 0
48.304 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
48.304 * [backup-simplify]: Simplify (+ 0) into 0
48.305 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
48.305 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
48.306 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.306 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
48.307 * [backup-simplify]: Simplify (- 0) into 0
48.308 * [backup-simplify]: Simplify (+ 0 0) into 0
48.308 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
48.308 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
48.309 * [backup-simplify]: Simplify (+ 0 0) into 0
48.309 * [backup-simplify]: Simplify (+ 0) into 0
48.310 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
48.310 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
48.311 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.311 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
48.311 * [backup-simplify]: Simplify (- 0) into 0
48.312 * [backup-simplify]: Simplify (+ 0 0) into 0
48.312 * [backup-simplify]: Simplify (+ 0) into 0
48.313 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
48.313 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
48.314 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.314 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
48.315 * [backup-simplify]: Simplify (+ 0 0) into 0
48.315 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
48.315 * [backup-simplify]: Simplify (+ 0) into 0
48.316 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
48.316 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
48.317 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.317 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
48.318 * [backup-simplify]: Simplify (+ 0 0) into 0
48.318 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
48.318 * [backup-simplify]: Simplify (+ 0) into 0
48.319 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
48.319 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
48.320 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.320 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
48.321 * [backup-simplify]: Simplify (- 0) into 0
48.321 * [backup-simplify]: Simplify (+ 0 0) into 0
48.322 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
48.322 * [backup-simplify]: Simplify (+ 0) into 0
48.323 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
48.323 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
48.324 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.324 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
48.325 * [backup-simplify]: Simplify (+ 0 0) into 0
48.325 * [backup-simplify]: Simplify (+ 0) into 0
48.326 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
48.326 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
48.327 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.327 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
48.327 * [backup-simplify]: Simplify (- 0) into 0
48.328 * [backup-simplify]: Simplify (+ 0 0) into 0
48.328 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
48.328 * [backup-simplify]: Simplify (+ 0) into 0
48.329 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
48.329 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
48.330 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.331 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
48.331 * [backup-simplify]: Simplify (- 0) into 0
48.331 * [backup-simplify]: Simplify (+ 0 0) into 0
48.332 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
48.332 * [backup-simplify]: Simplify (+ 0) into 0
48.333 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
48.333 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
48.334 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.334 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
48.334 * [backup-simplify]: Simplify (+ 0 0) into 0
48.335 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
48.335 * [backup-simplify]: Simplify (+ 0 0) into 0
48.336 * [backup-simplify]: Simplify (- 0) into 0
48.336 * [backup-simplify]: Simplify (+ 0 0) into 0
48.338 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (* 0 R)) into 0
48.338 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0
48.339 * [backup-simplify]: Simplify (+ (* (pow phi1 2) 0) (* 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R))) into 0
48.341 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* R (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow phi1 2))))) into (- (+ (* (pow phi1 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (* (pow phi1 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)))) (+ (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R))))) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R)))))))
48.343 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow phi1 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (* (pow phi1 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)))) (+ (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R))))) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R)))))))) into (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)))) (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2))))) (+ (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))
48.343 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in lambda2
48.343 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in lambda2
48.343 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
48.343 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
48.343 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
48.343 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
48.343 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
48.343 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
48.343 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.343 * [backup-simplify]: Simplify 0.5 into 0.5
48.343 * [taylor]: Taking taylor expansion of phi2 in lambda2
48.343 * [backup-simplify]: Simplify phi2 into phi2
48.343 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
48.343 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
48.343 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
48.343 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
48.343 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
48.343 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
48.343 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
48.344 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
48.344 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
48.344 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.344 * [backup-simplify]: Simplify 0.5 into 0.5
48.344 * [taylor]: Taking taylor expansion of phi1 in lambda2
48.344 * [backup-simplify]: Simplify phi1 into phi1
48.344 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
48.344 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
48.344 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
48.344 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
48.344 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
48.344 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
48.344 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
48.344 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
48.344 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
48.344 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
48.344 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.344 * [backup-simplify]: Simplify 0.5 into 0.5
48.344 * [taylor]: Taking taylor expansion of phi2 in lambda2
48.344 * [backup-simplify]: Simplify phi2 into phi2
48.344 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
48.344 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
48.344 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
48.344 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
48.344 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
48.345 * [backup-simplify]: Simplify (- 0) into 0
48.345 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
48.345 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
48.345 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
48.345 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
48.345 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.345 * [backup-simplify]: Simplify 0.5 into 0.5
48.345 * [taylor]: Taking taylor expansion of phi1 in lambda2
48.345 * [backup-simplify]: Simplify phi1 into phi1
48.345 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
48.345 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
48.345 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
48.345 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
48.345 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
48.345 * [backup-simplify]: Simplify (- 0) into 0
48.346 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
48.346 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
48.346 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
48.346 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
48.346 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
48.346 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.346 * [backup-simplify]: Simplify 0.5 into 0.5
48.346 * [taylor]: Taking taylor expansion of phi2 in lambda2
48.346 * [backup-simplify]: Simplify phi2 into phi2
48.346 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
48.346 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
48.346 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
48.346 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
48.346 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
48.346 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
48.346 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.346 * [backup-simplify]: Simplify 0.5 into 0.5
48.346 * [taylor]: Taking taylor expansion of phi1 in lambda2
48.346 * [backup-simplify]: Simplify phi1 into phi1
48.346 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
48.346 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
48.346 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
48.346 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
48.346 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
48.346 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
48.346 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.346 * [backup-simplify]: Simplify 0.5 into 0.5
48.346 * [taylor]: Taking taylor expansion of phi2 in lambda2
48.346 * [backup-simplify]: Simplify phi2 into phi2
48.346 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
48.346 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
48.346 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
48.346 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
48.346 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
48.346 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.346 * [backup-simplify]: Simplify 0.5 into 0.5
48.346 * [taylor]: Taking taylor expansion of phi1 in lambda2
48.346 * [backup-simplify]: Simplify phi1 into phi1
48.346 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
48.347 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
48.347 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
48.347 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
48.347 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
48.347 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
48.347 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.347 * [backup-simplify]: Simplify 0.5 into 0.5
48.347 * [taylor]: Taking taylor expansion of phi2 in lambda2
48.347 * [backup-simplify]: Simplify phi2 into phi2
48.347 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
48.347 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
48.347 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
48.347 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
48.347 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
48.347 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
48.347 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.347 * [backup-simplify]: Simplify 0.5 into 0.5
48.347 * [taylor]: Taking taylor expansion of phi1 in lambda2
48.347 * [backup-simplify]: Simplify phi1 into phi1
48.347 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
48.347 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
48.347 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
48.347 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
48.347 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
48.347 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
48.347 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.347 * [backup-simplify]: Simplify 0.5 into 0.5
48.347 * [taylor]: Taking taylor expansion of phi2 in lambda2
48.347 * [backup-simplify]: Simplify phi2 into phi2
48.347 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
48.347 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
48.347 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
48.347 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
48.347 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
48.347 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.347 * [backup-simplify]: Simplify 0.5 into 0.5
48.347 * [taylor]: Taking taylor expansion of phi1 in lambda2
48.347 * [backup-simplify]: Simplify phi1 into phi1
48.348 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
48.348 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
48.348 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
48.348 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
48.348 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
48.348 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
48.348 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
48.348 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
48.348 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
48.349 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
48.349 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
48.349 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
48.349 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
48.349 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
48.349 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
48.349 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
48.349 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
48.349 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
48.350 * [backup-simplify]: Simplify (- 0) into 0
48.350 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
48.350 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
48.350 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
48.351 * [backup-simplify]: Simplify (- 0) into 0
48.351 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
48.351 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
48.351 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
48.351 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
48.351 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
48.351 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
48.351 * [backup-simplify]: Simplify (- 0) into 0
48.352 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
48.352 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
48.352 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
48.352 * [backup-simplify]: Simplify (- 0) into 0
48.352 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
48.352 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
48.352 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
48.352 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
48.352 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
48.352 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
48.352 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
48.352 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
48.353 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
48.353 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
48.353 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))
48.354 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
48.355 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
48.356 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
48.357 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
48.361 * [backup-simplify]: Simplify (+ 0) into 0
48.362 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
48.362 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
48.363 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.363 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
48.363 * [backup-simplify]: Simplify (+ 0 0) into 0
48.363 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
48.364 * [backup-simplify]: Simplify (+ 0) into 0
48.364 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
48.364 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
48.364 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.365 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
48.365 * [backup-simplify]: Simplify (+ 0 0) into 0
48.365 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
48.365 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
48.366 * [backup-simplify]: Simplify (+ 0) into 0
48.366 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
48.366 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
48.367 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.367 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
48.367 * [backup-simplify]: Simplify (- 0) into 0
48.367 * [backup-simplify]: Simplify (+ 0 0) into 0
48.368 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
48.368 * [backup-simplify]: Simplify (+ 0) into 0
48.369 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
48.369 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
48.370 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.370 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
48.370 * [backup-simplify]: Simplify (- 0) into 0
48.370 * [backup-simplify]: Simplify (+ 0 0) into 0
48.370 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
48.371 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
48.371 * [backup-simplify]: Simplify (+ 0 0) into 0
48.371 * [backup-simplify]: Simplify (+ 0) into 0
48.372 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
48.372 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
48.372 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.373 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
48.373 * [backup-simplify]: Simplify (- 0) into 0
48.373 * [backup-simplify]: Simplify (+ 0 0) into 0
48.373 * [backup-simplify]: Simplify (+ 0) into 0
48.375 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
48.375 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
48.376 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.376 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
48.377 * [backup-simplify]: Simplify (- 0) into 0
48.377 * [backup-simplify]: Simplify (+ 0 0) into 0
48.378 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
48.378 * [backup-simplify]: Simplify (+ 0) into 0
48.379 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
48.379 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
48.380 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.380 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
48.381 * [backup-simplify]: Simplify (+ 0 0) into 0
48.381 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
48.381 * [backup-simplify]: Simplify (+ 0) into 0
48.382 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
48.382 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
48.383 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.383 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
48.384 * [backup-simplify]: Simplify (+ 0 0) into 0
48.384 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
48.384 * [backup-simplify]: Simplify (+ 0) into 0
48.385 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
48.385 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
48.386 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.386 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
48.387 * [backup-simplify]: Simplify (+ 0 0) into 0
48.387 * [backup-simplify]: Simplify (+ 0) into 0
48.388 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
48.388 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
48.389 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.389 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
48.389 * [backup-simplify]: Simplify (+ 0 0) into 0
48.390 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
48.390 * [backup-simplify]: Simplify (+ 0) into 0
48.391 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
48.391 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
48.392 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.392 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
48.393 * [backup-simplify]: Simplify (- 0) into 0
48.393 * [backup-simplify]: Simplify (+ 0 0) into 0
48.393 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
48.394 * [backup-simplify]: Simplify (+ 0) into 0
48.395 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
48.395 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
48.396 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.396 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
48.397 * [backup-simplify]: Simplify (- 0) into 0
48.397 * [backup-simplify]: Simplify (+ 0 0) into 0
48.397 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
48.398 * [backup-simplify]: Simplify (+ 0 0) into 0
48.398 * [backup-simplify]: Simplify (- 0) into 0
48.398 * [backup-simplify]: Simplify (+ 0 0) into 0
48.402 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
48.403 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
48.403 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 (* R (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow phi2 2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 3/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (* 3/2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 5) (pow (sin (/ 0.5 phi1)) 5)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))))) in lambda2
48.403 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 (* R (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow phi2 2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) in lambda2
48.403 * [taylor]: Taking taylor expansion of 1/2 in lambda2
48.403 * [backup-simplify]: Simplify 1/2 into 1/2
48.403 * [taylor]: Taking taylor expansion of (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 (* R (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow phi2 2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) in lambda2
48.403 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 (* R (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow phi2 2))))) in lambda2
48.403 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in lambda2
48.403 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
48.403 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
48.404 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
48.404 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.404 * [backup-simplify]: Simplify 0.5 into 0.5
48.404 * [taylor]: Taking taylor expansion of phi1 in lambda2
48.404 * [backup-simplify]: Simplify phi1 into phi1
48.404 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
48.404 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
48.404 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
48.404 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
48.404 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
48.404 * [backup-simplify]: Simplify (- 0) into 0
48.404 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
48.404 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
48.404 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
48.404 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
48.404 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.405 * [backup-simplify]: Simplify 0.5 into 0.5
48.405 * [taylor]: Taking taylor expansion of phi2 in lambda2
48.405 * [backup-simplify]: Simplify phi2 into phi2
48.405 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
48.405 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
48.405 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
48.405 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
48.405 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
48.405 * [backup-simplify]: Simplify (- 0) into 0
48.405 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
48.405 * [taylor]: Taking taylor expansion of (* lambda2 (* R (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow phi2 2)))) in lambda2
48.405 * [taylor]: Taking taylor expansion of lambda2 in lambda2
48.405 * [backup-simplify]: Simplify 0 into 0
48.405 * [backup-simplify]: Simplify 1 into 1
48.405 * [taylor]: Taking taylor expansion of (* R (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow phi2 2))) in lambda2
48.405 * [taylor]: Taking taylor expansion of R in lambda2
48.405 * [backup-simplify]: Simplify R into R
48.405 * [taylor]: Taking taylor expansion of (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow phi2 2)) in lambda2
48.405 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
48.405 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
48.405 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
48.405 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
48.405 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
48.405 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
48.406 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.406 * [backup-simplify]: Simplify 0.5 into 0.5
48.406 * [taylor]: Taking taylor expansion of phi2 in lambda2
48.406 * [backup-simplify]: Simplify phi2 into phi2
48.406 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
48.406 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
48.406 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
48.406 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
48.406 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
48.406 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
48.406 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
48.406 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
48.406 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
48.406 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.406 * [backup-simplify]: Simplify 0.5 into 0.5
48.406 * [taylor]: Taking taylor expansion of phi1 in lambda2
48.406 * [backup-simplify]: Simplify phi1 into phi1
48.406 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
48.406 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
48.406 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
48.406 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
48.406 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
48.406 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
48.406 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
48.406 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
48.406 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
48.406 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
48.406 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.406 * [backup-simplify]: Simplify 0.5 into 0.5
48.407 * [taylor]: Taking taylor expansion of phi2 in lambda2
48.407 * [backup-simplify]: Simplify phi2 into phi2
48.407 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
48.407 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
48.407 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
48.407 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
48.407 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
48.407 * [backup-simplify]: Simplify (- 0) into 0
48.407 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
48.407 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
48.407 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
48.407 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
48.407 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.407 * [backup-simplify]: Simplify 0.5 into 0.5
48.407 * [taylor]: Taking taylor expansion of phi1 in lambda2
48.407 * [backup-simplify]: Simplify phi1 into phi1
48.407 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
48.407 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
48.407 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
48.408 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
48.408 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
48.408 * [backup-simplify]: Simplify (- 0) into 0
48.408 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
48.408 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
48.408 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
48.408 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
48.408 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
48.408 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.408 * [backup-simplify]: Simplify 0.5 into 0.5
48.408 * [taylor]: Taking taylor expansion of phi2 in lambda2
48.408 * [backup-simplify]: Simplify phi2 into phi2
48.408 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
48.408 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
48.408 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
48.408 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
48.408 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
48.408 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
48.408 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.408 * [backup-simplify]: Simplify 0.5 into 0.5
48.408 * [taylor]: Taking taylor expansion of phi1 in lambda2
48.408 * [backup-simplify]: Simplify phi1 into phi1
48.408 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
48.408 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
48.409 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
48.409 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
48.409 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
48.409 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
48.409 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.409 * [backup-simplify]: Simplify 0.5 into 0.5
48.409 * [taylor]: Taking taylor expansion of phi2 in lambda2
48.409 * [backup-simplify]: Simplify phi2 into phi2
48.409 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
48.409 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
48.409 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
48.409 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
48.409 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
48.409 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.409 * [backup-simplify]: Simplify 0.5 into 0.5
48.409 * [taylor]: Taking taylor expansion of phi1 in lambda2
48.409 * [backup-simplify]: Simplify phi1 into phi1
48.409 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
48.409 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
48.409 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
48.409 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
48.409 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
48.409 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
48.409 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.409 * [backup-simplify]: Simplify 0.5 into 0.5
48.409 * [taylor]: Taking taylor expansion of phi2 in lambda2
48.409 * [backup-simplify]: Simplify phi2 into phi2
48.409 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
48.409 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
48.409 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
48.409 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
48.409 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
48.409 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
48.409 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.409 * [backup-simplify]: Simplify 0.5 into 0.5
48.409 * [taylor]: Taking taylor expansion of phi1 in lambda2
48.409 * [backup-simplify]: Simplify phi1 into phi1
48.409 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
48.410 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
48.410 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
48.410 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
48.410 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
48.410 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
48.410 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.410 * [backup-simplify]: Simplify 0.5 into 0.5
48.410 * [taylor]: Taking taylor expansion of phi2 in lambda2
48.410 * [backup-simplify]: Simplify phi2 into phi2
48.410 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
48.410 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
48.410 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
48.410 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
48.410 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
48.410 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.410 * [backup-simplify]: Simplify 0.5 into 0.5
48.410 * [taylor]: Taking taylor expansion of phi1 in lambda2
48.410 * [backup-simplify]: Simplify phi1 into phi1
48.410 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
48.410 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
48.410 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
48.410 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2
48.410 * [taylor]: Taking taylor expansion of phi2 in lambda2
48.410 * [backup-simplify]: Simplify phi2 into phi2
48.410 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
48.410 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
48.411 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
48.411 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
48.411 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
48.411 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
48.411 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
48.411 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
48.411 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
48.412 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
48.412 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
48.412 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
48.412 * [backup-simplify]: Simplify (- 0) into 0
48.412 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
48.412 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
48.413 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
48.413 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
48.413 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
48.413 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
48.413 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
48.413 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
48.413 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
48.413 * [backup-simplify]: Simplify (- 0) into 0
48.413 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
48.413 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
48.414 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
48.414 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
48.414 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
48.414 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
48.414 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
48.414 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
48.414 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
48.414 * [backup-simplify]: Simplify (- 0) into 0
48.414 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
48.414 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
48.414 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
48.415 * [backup-simplify]: Simplify (- 0) into 0
48.415 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
48.415 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
48.415 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
48.415 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
48.415 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
48.415 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
48.415 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
48.416 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))
48.416 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
48.417 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
48.417 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
48.418 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow phi2 2)) into (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow phi2 2))
48.419 * [backup-simplify]: Simplify (* R (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow phi2 2))) into (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow phi2 2)))
48.420 * [backup-simplify]: Simplify (* 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow phi2 2)))) into 0
48.420 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0
48.421 * [backup-simplify]: Simplify (+ 0) into 0
48.421 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
48.421 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
48.422 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.422 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
48.422 * [backup-simplify]: Simplify (+ 0 0) into 0
48.422 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
48.423 * [backup-simplify]: Simplify (+ 0) into 0
48.423 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
48.423 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
48.424 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.424 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
48.424 * [backup-simplify]: Simplify (+ 0 0) into 0
48.424 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
48.425 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
48.425 * [backup-simplify]: Simplify (+ 0) into 0
48.425 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
48.425 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
48.426 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.426 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
48.426 * [backup-simplify]: Simplify (- 0) into 0
48.426 * [backup-simplify]: Simplify (+ 0 0) into 0
48.427 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
48.427 * [backup-simplify]: Simplify (+ 0) into 0
48.427 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
48.427 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
48.428 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.428 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
48.428 * [backup-simplify]: Simplify (- 0) into 0
48.429 * [backup-simplify]: Simplify (+ 0 0) into 0
48.429 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
48.429 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
48.429 * [backup-simplify]: Simplify (+ 0 0) into 0
48.429 * [backup-simplify]: Simplify (+ 0) into 0
48.430 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
48.430 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
48.430 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.431 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
48.431 * [backup-simplify]: Simplify (- 0) into 0
48.431 * [backup-simplify]: Simplify (+ 0 0) into 0
48.431 * [backup-simplify]: Simplify (+ 0) into 0
48.432 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
48.432 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
48.432 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.433 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
48.433 * [backup-simplify]: Simplify (+ 0 0) into 0
48.433 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
48.433 * [backup-simplify]: Simplify (+ 0) into 0
48.433 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
48.434 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
48.434 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.434 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
48.435 * [backup-simplify]: Simplify (+ 0 0) into 0
48.435 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
48.435 * [backup-simplify]: Simplify (+ 0) into 0
48.436 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
48.436 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
48.436 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.436 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
48.437 * [backup-simplify]: Simplify (- 0) into 0
48.437 * [backup-simplify]: Simplify (+ 0 0) into 0
48.437 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
48.437 * [backup-simplify]: Simplify (+ 0) into 0
48.438 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
48.438 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
48.438 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.439 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
48.439 * [backup-simplify]: Simplify (+ 0 0) into 0
48.439 * [backup-simplify]: Simplify (+ 0) into 0
48.439 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
48.440 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
48.440 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.440 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
48.441 * [backup-simplify]: Simplify (- 0) into 0
48.441 * [backup-simplify]: Simplify (+ 0 0) into 0
48.441 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
48.441 * [backup-simplify]: Simplify (+ 0) into 0
48.441 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
48.442 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
48.442 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.442 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
48.443 * [backup-simplify]: Simplify (- 0) into 0
48.444 * [backup-simplify]: Simplify (+ 0 0) into 0
48.444 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
48.444 * [backup-simplify]: Simplify (+ 0) into 0
48.445 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
48.445 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
48.445 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.446 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
48.446 * [backup-simplify]: Simplify (+ 0 0) into 0
48.446 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
48.446 * [backup-simplify]: Simplify (+ 0 0) into 0
48.447 * [backup-simplify]: Simplify (- 0) into 0
48.447 * [backup-simplify]: Simplify (+ 0 0) into 0
48.448 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (* 0 (pow phi2 2))) into 0
48.449 * [backup-simplify]: Simplify (+ (* R 0) (* 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow phi2 2)))) into 0
48.451 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow phi2 2))))) into (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))
48.453 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) into (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2)))))))))
48.453 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in lambda2
48.453 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in lambda2
48.453 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
48.453 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
48.453 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
48.453 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
48.454 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
48.454 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
48.454 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.454 * [backup-simplify]: Simplify 0.5 into 0.5
48.454 * [taylor]: Taking taylor expansion of phi2 in lambda2
48.454 * [backup-simplify]: Simplify phi2 into phi2
48.454 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
48.454 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
48.454 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
48.454 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
48.454 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
48.454 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
48.454 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
48.454 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
48.454 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
48.454 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.454 * [backup-simplify]: Simplify 0.5 into 0.5
48.454 * [taylor]: Taking taylor expansion of phi1 in lambda2
48.454 * [backup-simplify]: Simplify phi1 into phi1
48.454 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
48.454 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
48.454 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
48.454 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
48.454 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
48.454 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
48.454 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
48.454 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
48.454 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
48.454 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
48.454 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.454 * [backup-simplify]: Simplify 0.5 into 0.5
48.455 * [taylor]: Taking taylor expansion of phi2 in lambda2
48.455 * [backup-simplify]: Simplify phi2 into phi2
48.455 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
48.455 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
48.455 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
48.455 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
48.455 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
48.455 * [backup-simplify]: Simplify (- 0) into 0
48.455 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
48.455 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
48.455 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
48.455 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
48.455 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.455 * [backup-simplify]: Simplify 0.5 into 0.5
48.455 * [taylor]: Taking taylor expansion of phi1 in lambda2
48.455 * [backup-simplify]: Simplify phi1 into phi1
48.455 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
48.455 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
48.456 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
48.456 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
48.456 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
48.456 * [backup-simplify]: Simplify (- 0) into 0
48.456 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
48.456 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
48.456 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
48.456 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
48.456 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
48.456 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.456 * [backup-simplify]: Simplify 0.5 into 0.5
48.456 * [taylor]: Taking taylor expansion of phi2 in lambda2
48.456 * [backup-simplify]: Simplify phi2 into phi2
48.456 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
48.456 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
48.456 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
48.456 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
48.456 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
48.456 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
48.456 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.456 * [backup-simplify]: Simplify 0.5 into 0.5
48.456 * [taylor]: Taking taylor expansion of phi1 in lambda2
48.456 * [backup-simplify]: Simplify phi1 into phi1
48.456 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
48.456 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
48.457 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
48.457 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
48.457 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
48.457 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
48.457 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.457 * [backup-simplify]: Simplify 0.5 into 0.5
48.457 * [taylor]: Taking taylor expansion of phi2 in lambda2
48.457 * [backup-simplify]: Simplify phi2 into phi2
48.457 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
48.457 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
48.457 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
48.457 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
48.457 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
48.457 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.457 * [backup-simplify]: Simplify 0.5 into 0.5
48.457 * [taylor]: Taking taylor expansion of phi1 in lambda2
48.457 * [backup-simplify]: Simplify phi1 into phi1
48.457 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
48.457 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
48.457 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
48.457 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
48.457 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
48.457 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
48.457 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.457 * [backup-simplify]: Simplify 0.5 into 0.5
48.457 * [taylor]: Taking taylor expansion of phi2 in lambda2
48.457 * [backup-simplify]: Simplify phi2 into phi2
48.457 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
48.457 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
48.457 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
48.457 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
48.457 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
48.457 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
48.457 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.457 * [backup-simplify]: Simplify 0.5 into 0.5
48.457 * [taylor]: Taking taylor expansion of phi1 in lambda2
48.457 * [backup-simplify]: Simplify phi1 into phi1
48.458 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
48.458 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
48.458 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
48.458 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
48.458 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
48.458 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
48.458 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.458 * [backup-simplify]: Simplify 0.5 into 0.5
48.458 * [taylor]: Taking taylor expansion of phi2 in lambda2
48.458 * [backup-simplify]: Simplify phi2 into phi2
48.458 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
48.458 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
48.458 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
48.458 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
48.458 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
48.458 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.458 * [backup-simplify]: Simplify 0.5 into 0.5
48.458 * [taylor]: Taking taylor expansion of phi1 in lambda2
48.458 * [backup-simplify]: Simplify phi1 into phi1
48.458 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
48.459 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
48.459 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
48.459 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
48.459 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
48.459 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
48.459 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
48.460 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
48.460 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
48.461 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
48.461 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
48.461 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
48.461 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
48.461 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
48.461 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
48.461 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
48.462 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
48.462 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
48.462 * [backup-simplify]: Simplify (- 0) into 0
48.462 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
48.462 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
48.463 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
48.463 * [backup-simplify]: Simplify (- 0) into 0
48.463 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
48.463 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
48.464 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
48.464 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
48.464 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
48.464 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
48.465 * [backup-simplify]: Simplify (- 0) into 0
48.465 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
48.465 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
48.465 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
48.465 * [backup-simplify]: Simplify (- 0) into 0
48.465 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
48.466 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
48.466 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
48.466 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
48.466 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
48.466 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
48.466 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
48.466 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
48.466 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
48.467 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
48.468 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))
48.468 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
48.470 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
48.472 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
48.474 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
48.475 * [backup-simplify]: Simplify (+ 0) into 0
48.476 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
48.476 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
48.477 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.477 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
48.478 * [backup-simplify]: Simplify (+ 0 0) into 0
48.478 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
48.478 * [backup-simplify]: Simplify (+ 0) into 0
48.479 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
48.479 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
48.480 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.480 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
48.481 * [backup-simplify]: Simplify (+ 0 0) into 0
48.481 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
48.481 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
48.482 * [backup-simplify]: Simplify (+ 0) into 0
48.482 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
48.482 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
48.483 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.484 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
48.484 * [backup-simplify]: Simplify (- 0) into 0
48.485 * [backup-simplify]: Simplify (+ 0 0) into 0
48.485 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
48.486 * [backup-simplify]: Simplify (+ 0) into 0
48.486 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
48.486 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
48.487 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.488 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
48.488 * [backup-simplify]: Simplify (- 0) into 0
48.488 * [backup-simplify]: Simplify (+ 0 0) into 0
48.489 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
48.489 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
48.489 * [backup-simplify]: Simplify (+ 0 0) into 0
48.490 * [backup-simplify]: Simplify (+ 0) into 0
48.490 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
48.491 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
48.498 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.498 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
48.499 * [backup-simplify]: Simplify (- 0) into 0
48.499 * [backup-simplify]: Simplify (+ 0 0) into 0
48.499 * [backup-simplify]: Simplify (+ 0) into 0
48.500 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
48.500 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
48.500 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.500 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
48.501 * [backup-simplify]: Simplify (- 0) into 0
48.501 * [backup-simplify]: Simplify (+ 0 0) into 0
48.501 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
48.501 * [backup-simplify]: Simplify (+ 0) into 0
48.502 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
48.502 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
48.502 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.503 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
48.503 * [backup-simplify]: Simplify (+ 0 0) into 0
48.503 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
48.503 * [backup-simplify]: Simplify (+ 0) into 0
48.504 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
48.504 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
48.504 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.505 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
48.505 * [backup-simplify]: Simplify (+ 0 0) into 0
48.505 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
48.505 * [backup-simplify]: Simplify (+ 0) into 0
48.506 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
48.506 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
48.506 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.506 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
48.507 * [backup-simplify]: Simplify (+ 0 0) into 0
48.507 * [backup-simplify]: Simplify (+ 0) into 0
48.507 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
48.507 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
48.508 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.508 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
48.508 * [backup-simplify]: Simplify (+ 0 0) into 0
48.508 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
48.509 * [backup-simplify]: Simplify (+ 0) into 0
48.509 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
48.509 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
48.510 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.510 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
48.510 * [backup-simplify]: Simplify (- 0) into 0
48.510 * [backup-simplify]: Simplify (+ 0 0) into 0
48.511 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
48.511 * [backup-simplify]: Simplify (+ 0) into 0
48.511 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
48.511 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
48.512 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.512 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
48.512 * [backup-simplify]: Simplify (- 0) into 0
48.513 * [backup-simplify]: Simplify (+ 0 0) into 0
48.513 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
48.513 * [backup-simplify]: Simplify (+ 0 0) into 0
48.513 * [backup-simplify]: Simplify (- 0) into 0
48.513 * [backup-simplify]: Simplify (+ 0 0) into 0
48.516 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
48.517 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
48.517 * [taylor]: Taking taylor expansion of (+ (* 3/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (* 3/2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 5) (pow (sin (/ 0.5 phi1)) 5)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3)))))) in lambda2
48.517 * [taylor]: Taking taylor expansion of (* 3/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) in lambda2
48.517 * [taylor]: Taking taylor expansion of 3/2 in lambda2
48.517 * [backup-simplify]: Simplify 3/2 into 3/2
48.517 * [taylor]: Taking taylor expansion of (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) in lambda2
48.517 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) in lambda2
48.517 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) in lambda2
48.517 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
48.517 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
48.517 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
48.517 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.517 * [backup-simplify]: Simplify 0.5 into 0.5
48.517 * [taylor]: Taking taylor expansion of phi2 in lambda2
48.517 * [backup-simplify]: Simplify phi2 into phi2
48.517 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
48.517 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
48.517 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
48.517 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
48.518 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
48.518 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
48.518 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))) in lambda2
48.518 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
48.518 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
48.518 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
48.518 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.518 * [backup-simplify]: Simplify 0.5 into 0.5
48.518 * [taylor]: Taking taylor expansion of phi1 in lambda2
48.518 * [backup-simplify]: Simplify phi1 into phi1
48.518 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
48.518 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
48.518 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
48.518 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
48.518 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
48.519 * [backup-simplify]: Simplify (- 0) into 0
48.519 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
48.519 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
48.519 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
48.519 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
48.519 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
48.519 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.519 * [backup-simplify]: Simplify 0.5 into 0.5
48.519 * [taylor]: Taking taylor expansion of phi2 in lambda2
48.519 * [backup-simplify]: Simplify phi2 into phi2
48.519 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
48.519 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
48.519 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
48.519 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
48.519 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
48.519 * [backup-simplify]: Simplify (- 0) into 0
48.519 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
48.520 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
48.520 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
48.520 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
48.520 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.520 * [backup-simplify]: Simplify 0.5 into 0.5
48.520 * [taylor]: Taking taylor expansion of phi1 in lambda2
48.520 * [backup-simplify]: Simplify phi1 into phi1
48.520 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
48.520 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
48.520 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
48.520 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
48.520 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
48.520 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
48.520 * [taylor]: Taking taylor expansion of (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3))) in lambda2
48.520 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
48.520 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
48.520 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
48.520 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
48.520 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
48.520 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
48.520 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.520 * [backup-simplify]: Simplify 0.5 into 0.5
48.520 * [taylor]: Taking taylor expansion of phi2 in lambda2
48.520 * [backup-simplify]: Simplify phi2 into phi2
48.520 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
48.520 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
48.520 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
48.520 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
48.520 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
48.521 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
48.521 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
48.521 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
48.521 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
48.521 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.521 * [backup-simplify]: Simplify 0.5 into 0.5
48.521 * [taylor]: Taking taylor expansion of phi1 in lambda2
48.521 * [backup-simplify]: Simplify phi1 into phi1
48.521 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
48.521 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
48.521 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
48.521 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
48.521 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
48.521 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
48.521 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
48.521 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
48.521 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
48.521 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
48.521 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.521 * [backup-simplify]: Simplify 0.5 into 0.5
48.521 * [taylor]: Taking taylor expansion of phi2 in lambda2
48.521 * [backup-simplify]: Simplify phi2 into phi2
48.521 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
48.521 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
48.521 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
48.521 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
48.521 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
48.522 * [backup-simplify]: Simplify (- 0) into 0
48.522 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
48.522 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
48.522 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
48.522 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
48.522 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.522 * [backup-simplify]: Simplify 0.5 into 0.5
48.522 * [taylor]: Taking taylor expansion of phi1 in lambda2
48.522 * [backup-simplify]: Simplify phi1 into phi1
48.522 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
48.522 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
48.522 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
48.522 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
48.522 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
48.523 * [backup-simplify]: Simplify (- 0) into 0
48.523 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
48.523 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
48.523 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
48.523 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
48.523 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
48.523 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.523 * [backup-simplify]: Simplify 0.5 into 0.5
48.523 * [taylor]: Taking taylor expansion of phi2 in lambda2
48.523 * [backup-simplify]: Simplify phi2 into phi2
48.523 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
48.523 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
48.523 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
48.523 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
48.523 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
48.523 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
48.523 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.523 * [backup-simplify]: Simplify 0.5 into 0.5
48.523 * [taylor]: Taking taylor expansion of phi1 in lambda2
48.523 * [backup-simplify]: Simplify phi1 into phi1
48.523 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
48.523 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
48.523 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
48.523 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
48.523 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
48.523 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
48.523 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.523 * [backup-simplify]: Simplify 0.5 into 0.5
48.523 * [taylor]: Taking taylor expansion of phi2 in lambda2
48.523 * [backup-simplify]: Simplify phi2 into phi2
48.523 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
48.523 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
48.523 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
48.523 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
48.523 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
48.523 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.523 * [backup-simplify]: Simplify 0.5 into 0.5
48.524 * [taylor]: Taking taylor expansion of phi1 in lambda2
48.524 * [backup-simplify]: Simplify phi1 into phi1
48.524 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
48.524 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
48.524 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
48.524 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
48.524 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
48.524 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
48.524 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.524 * [backup-simplify]: Simplify 0.5 into 0.5
48.524 * [taylor]: Taking taylor expansion of phi2 in lambda2
48.524 * [backup-simplify]: Simplify phi2 into phi2
48.524 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
48.524 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
48.524 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
48.524 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
48.524 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
48.524 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
48.524 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.524 * [backup-simplify]: Simplify 0.5 into 0.5
48.524 * [taylor]: Taking taylor expansion of phi1 in lambda2
48.524 * [backup-simplify]: Simplify phi1 into phi1
48.524 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
48.524 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
48.524 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
48.524 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
48.524 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
48.524 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
48.524 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.524 * [backup-simplify]: Simplify 0.5 into 0.5
48.524 * [taylor]: Taking taylor expansion of phi2 in lambda2
48.524 * [backup-simplify]: Simplify phi2 into phi2
48.524 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
48.524 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
48.524 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
48.524 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
48.524 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
48.525 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.525 * [backup-simplify]: Simplify 0.5 into 0.5
48.525 * [taylor]: Taking taylor expansion of phi1 in lambda2
48.525 * [backup-simplify]: Simplify phi1 into phi1
48.525 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
48.525 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
48.525 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
48.525 * [taylor]: Taking taylor expansion of (* R (pow lambda2 3)) in lambda2
48.525 * [taylor]: Taking taylor expansion of R in lambda2
48.525 * [backup-simplify]: Simplify R into R
48.525 * [taylor]: Taking taylor expansion of (pow lambda2 3) in lambda2
48.525 * [taylor]: Taking taylor expansion of lambda2 in lambda2
48.525 * [backup-simplify]: Simplify 0 into 0
48.525 * [backup-simplify]: Simplify 1 into 1
48.525 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
48.525 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
48.525 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
48.525 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
48.525 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
48.526 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))) into (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
48.526 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))) into (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))))
48.526 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
48.526 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
48.526 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
48.527 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
48.527 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
48.527 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
48.527 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
48.527 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
48.527 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
48.528 * [backup-simplify]: Simplify (- 0) into 0
48.528 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
48.528 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
48.528 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
48.528 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
48.528 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
48.528 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
48.528 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
48.528 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
48.528 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
48.529 * [backup-simplify]: Simplify (- 0) into 0
48.529 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
48.529 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
48.529 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
48.529 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
48.529 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
48.529 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
48.529 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
48.529 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
48.529 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
48.530 * [backup-simplify]: Simplify (- 0) into 0
48.530 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
48.530 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
48.530 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
48.530 * [backup-simplify]: Simplify (- 0) into 0
48.530 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
48.530 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
48.530 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
48.530 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
48.531 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
48.531 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
48.531 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
48.531 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))
48.532 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
48.533 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
48.533 * [backup-simplify]: Simplify (* 1 1) into 1
48.533 * [backup-simplify]: Simplify (* 1 1) into 1
48.533 * [backup-simplify]: Simplify (* R 1) into R
48.534 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R) into (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)
48.536 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) into (/ (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
48.536 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in lambda2
48.536 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in lambda2
48.536 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
48.536 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
48.536 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
48.536 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
48.536 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
48.536 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
48.536 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.536 * [backup-simplify]: Simplify 0.5 into 0.5
48.536 * [taylor]: Taking taylor expansion of phi2 in lambda2
48.536 * [backup-simplify]: Simplify phi2 into phi2
48.536 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
48.536 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
48.536 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
48.536 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
48.536 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
48.536 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
48.536 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
48.536 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
48.536 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
48.536 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.537 * [backup-simplify]: Simplify 0.5 into 0.5
48.537 * [taylor]: Taking taylor expansion of phi1 in lambda2
48.537 * [backup-simplify]: Simplify phi1 into phi1
48.537 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
48.537 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
48.537 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
48.537 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
48.537 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
48.537 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
48.537 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
48.537 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
48.537 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
48.537 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
48.537 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.537 * [backup-simplify]: Simplify 0.5 into 0.5
48.537 * [taylor]: Taking taylor expansion of phi2 in lambda2
48.537 * [backup-simplify]: Simplify phi2 into phi2
48.537 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
48.537 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
48.537 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
48.537 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
48.537 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
48.538 * [backup-simplify]: Simplify (- 0) into 0
48.538 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
48.538 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
48.538 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
48.538 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
48.538 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.538 * [backup-simplify]: Simplify 0.5 into 0.5
48.538 * [taylor]: Taking taylor expansion of phi1 in lambda2
48.538 * [backup-simplify]: Simplify phi1 into phi1
48.538 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
48.538 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
48.538 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
48.538 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
48.538 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
48.538 * [backup-simplify]: Simplify (- 0) into 0
48.539 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
48.539 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
48.539 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
48.539 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
48.539 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
48.539 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.539 * [backup-simplify]: Simplify 0.5 into 0.5
48.539 * [taylor]: Taking taylor expansion of phi2 in lambda2
48.539 * [backup-simplify]: Simplify phi2 into phi2
48.539 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
48.539 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
48.539 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
48.539 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
48.539 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
48.539 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
48.539 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.539 * [backup-simplify]: Simplify 0.5 into 0.5
48.539 * [taylor]: Taking taylor expansion of phi1 in lambda2
48.539 * [backup-simplify]: Simplify phi1 into phi1
48.539 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
48.539 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
48.539 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
48.539 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
48.539 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
48.539 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
48.539 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.539 * [backup-simplify]: Simplify 0.5 into 0.5
48.539 * [taylor]: Taking taylor expansion of phi2 in lambda2
48.539 * [backup-simplify]: Simplify phi2 into phi2
48.539 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
48.539 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
48.539 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
48.539 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
48.539 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
48.539 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.539 * [backup-simplify]: Simplify 0.5 into 0.5
48.539 * [taylor]: Taking taylor expansion of phi1 in lambda2
48.539 * [backup-simplify]: Simplify phi1 into phi1
48.540 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
48.540 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
48.540 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
48.540 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
48.540 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
48.540 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
48.540 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.540 * [backup-simplify]: Simplify 0.5 into 0.5
48.540 * [taylor]: Taking taylor expansion of phi2 in lambda2
48.540 * [backup-simplify]: Simplify phi2 into phi2
48.540 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
48.540 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
48.540 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
48.540 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
48.540 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
48.540 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
48.540 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.540 * [backup-simplify]: Simplify 0.5 into 0.5
48.540 * [taylor]: Taking taylor expansion of phi1 in lambda2
48.540 * [backup-simplify]: Simplify phi1 into phi1
48.540 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
48.540 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
48.540 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
48.540 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
48.540 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
48.540 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
48.540 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.540 * [backup-simplify]: Simplify 0.5 into 0.5
48.540 * [taylor]: Taking taylor expansion of phi2 in lambda2
48.540 * [backup-simplify]: Simplify phi2 into phi2
48.540 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
48.540 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
48.540 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
48.540 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
48.540 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
48.540 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.540 * [backup-simplify]: Simplify 0.5 into 0.5
48.541 * [taylor]: Taking taylor expansion of phi1 in lambda2
48.541 * [backup-simplify]: Simplify phi1 into phi1
48.541 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
48.541 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
48.541 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
48.541 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
48.541 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
48.541 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
48.541 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
48.541 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
48.541 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
48.542 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
48.542 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
48.542 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
48.542 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
48.542 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
48.542 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
48.542 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
48.542 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
48.542 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
48.543 * [backup-simplify]: Simplify (- 0) into 0
48.543 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
48.543 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
48.543 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
48.543 * [backup-simplify]: Simplify (- 0) into 0
48.543 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
48.543 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
48.544 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
48.544 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
48.544 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
48.544 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
48.544 * [backup-simplify]: Simplify (- 0) into 0
48.544 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
48.544 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
48.544 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
48.545 * [backup-simplify]: Simplify (- 0) into 0
48.545 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
48.545 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
48.545 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
48.545 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
48.545 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
48.545 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
48.545 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
48.545 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
48.545 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
48.545 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
48.546 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))
48.546 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
48.547 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
48.548 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
48.549 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
48.550 * [backup-simplify]: Simplify (+ 0) into 0
48.550 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
48.550 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
48.551 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.551 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
48.551 * [backup-simplify]: Simplify (+ 0 0) into 0
48.551 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
48.551 * [backup-simplify]: Simplify (+ 0) into 0
48.552 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
48.552 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
48.553 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.553 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
48.553 * [backup-simplify]: Simplify (+ 0 0) into 0
48.553 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
48.554 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
48.554 * [backup-simplify]: Simplify (+ 0) into 0
48.554 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
48.554 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
48.555 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.555 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
48.555 * [backup-simplify]: Simplify (- 0) into 0
48.556 * [backup-simplify]: Simplify (+ 0 0) into 0
48.556 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
48.556 * [backup-simplify]: Simplify (+ 0) into 0
48.556 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
48.556 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
48.557 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.557 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
48.557 * [backup-simplify]: Simplify (- 0) into 0
48.558 * [backup-simplify]: Simplify (+ 0 0) into 0
48.558 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
48.558 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
48.558 * [backup-simplify]: Simplify (+ 0 0) into 0
48.558 * [backup-simplify]: Simplify (+ 0) into 0
48.559 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
48.559 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
48.559 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.560 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
48.560 * [backup-simplify]: Simplify (- 0) into 0
48.560 * [backup-simplify]: Simplify (+ 0 0) into 0
48.560 * [backup-simplify]: Simplify (+ 0) into 0
48.561 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
48.561 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
48.561 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.562 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
48.562 * [backup-simplify]: Simplify (- 0) into 0
48.562 * [backup-simplify]: Simplify (+ 0 0) into 0
48.562 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
48.562 * [backup-simplify]: Simplify (+ 0) into 0
48.563 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
48.563 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
48.563 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.564 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
48.564 * [backup-simplify]: Simplify (+ 0 0) into 0
48.564 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
48.564 * [backup-simplify]: Simplify (+ 0) into 0
48.565 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
48.565 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
48.565 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.565 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
48.566 * [backup-simplify]: Simplify (+ 0 0) into 0
48.566 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
48.566 * [backup-simplify]: Simplify (+ 0) into 0
48.566 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
48.567 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
48.567 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.567 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
48.568 * [backup-simplify]: Simplify (+ 0 0) into 0
48.568 * [backup-simplify]: Simplify (+ 0) into 0
48.568 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
48.568 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
48.569 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.569 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
48.569 * [backup-simplify]: Simplify (+ 0 0) into 0
48.569 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
48.570 * [backup-simplify]: Simplify (+ 0) into 0
48.570 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
48.570 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
48.571 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.571 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
48.571 * [backup-simplify]: Simplify (- 0) into 0
48.571 * [backup-simplify]: Simplify (+ 0 0) into 0
48.571 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
48.572 * [backup-simplify]: Simplify (+ 0) into 0
48.572 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
48.572 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
48.573 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.573 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
48.573 * [backup-simplify]: Simplify (- 0) into 0
48.573 * [backup-simplify]: Simplify (+ 0 0) into 0
48.574 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
48.574 * [backup-simplify]: Simplify (+ 0 0) into 0
48.574 * [backup-simplify]: Simplify (- 0) into 0
48.574 * [backup-simplify]: Simplify (+ 0 0) into 0
48.576 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
48.577 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
48.578 * [taylor]: Taking taylor expansion of (* 3/2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 5) (pow (sin (/ 0.5 phi1)) 5)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) in lambda2
48.578 * [taylor]: Taking taylor expansion of 3/2 in lambda2
48.578 * [backup-simplify]: Simplify 3/2 into 3/2
48.578 * [taylor]: Taking taylor expansion of (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 5) (pow (sin (/ 0.5 phi1)) 5)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3)))) in lambda2
48.578 * [taylor]: Taking taylor expansion of (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 5) (pow (sin (/ 0.5 phi1)) 5)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) in lambda2
48.578 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 5) (pow (sin (/ 0.5 phi1)) 5)))) in lambda2
48.578 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
48.578 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
48.578 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.578 * [backup-simplify]: Simplify 0.5 into 0.5
48.578 * [taylor]: Taking taylor expansion of phi2 in lambda2
48.578 * [backup-simplify]: Simplify phi2 into phi2
48.578 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
48.578 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
48.578 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
48.578 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 5) (pow (sin (/ 0.5 phi1)) 5))) in lambda2
48.578 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
48.578 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
48.578 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.578 * [backup-simplify]: Simplify 0.5 into 0.5
48.578 * [taylor]: Taking taylor expansion of phi1 in lambda2
48.578 * [backup-simplify]: Simplify phi1 into phi1
48.578 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
48.578 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
48.578 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
48.578 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 5) (pow (sin (/ 0.5 phi1)) 5)) in lambda2
48.578 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 5) in lambda2
48.578 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
48.578 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
48.578 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.578 * [backup-simplify]: Simplify 0.5 into 0.5
48.578 * [taylor]: Taking taylor expansion of phi2 in lambda2
48.578 * [backup-simplify]: Simplify phi2 into phi2
48.578 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
48.578 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
48.579 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
48.579 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
48.579 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
48.579 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
48.579 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 5) in lambda2
48.579 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
48.579 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
48.579 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.579 * [backup-simplify]: Simplify 0.5 into 0.5
48.579 * [taylor]: Taking taylor expansion of phi1 in lambda2
48.579 * [backup-simplify]: Simplify phi1 into phi1
48.579 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
48.579 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
48.579 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
48.579 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
48.579 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
48.579 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
48.579 * [taylor]: Taking taylor expansion of (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3))) in lambda2
48.579 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
48.579 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
48.579 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
48.579 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
48.579 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
48.579 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
48.579 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.579 * [backup-simplify]: Simplify 0.5 into 0.5
48.579 * [taylor]: Taking taylor expansion of phi2 in lambda2
48.579 * [backup-simplify]: Simplify phi2 into phi2
48.579 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
48.580 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
48.580 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
48.580 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
48.580 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
48.580 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
48.580 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
48.580 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
48.580 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
48.580 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.580 * [backup-simplify]: Simplify 0.5 into 0.5
48.580 * [taylor]: Taking taylor expansion of phi1 in lambda2
48.580 * [backup-simplify]: Simplify phi1 into phi1
48.580 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
48.580 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
48.580 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
48.580 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
48.580 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
48.580 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
48.580 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
48.580 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
48.580 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
48.580 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
48.580 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.580 * [backup-simplify]: Simplify 0.5 into 0.5
48.580 * [taylor]: Taking taylor expansion of phi2 in lambda2
48.580 * [backup-simplify]: Simplify phi2 into phi2
48.580 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
48.580 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
48.580 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
48.581 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
48.581 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
48.581 * [backup-simplify]: Simplify (- 0) into 0
48.581 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
48.581 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
48.581 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
48.581 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
48.581 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.581 * [backup-simplify]: Simplify 0.5 into 0.5
48.581 * [taylor]: Taking taylor expansion of phi1 in lambda2
48.581 * [backup-simplify]: Simplify phi1 into phi1
48.581 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
48.581 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
48.581 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
48.581 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
48.581 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
48.582 * [backup-simplify]: Simplify (- 0) into 0
48.582 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
48.582 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
48.582 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
48.582 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
48.582 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
48.582 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.582 * [backup-simplify]: Simplify 0.5 into 0.5
48.582 * [taylor]: Taking taylor expansion of phi2 in lambda2
48.582 * [backup-simplify]: Simplify phi2 into phi2
48.582 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
48.582 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
48.582 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
48.582 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
48.582 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
48.582 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
48.582 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.582 * [backup-simplify]: Simplify 0.5 into 0.5
48.582 * [taylor]: Taking taylor expansion of phi1 in lambda2
48.582 * [backup-simplify]: Simplify phi1 into phi1
48.582 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
48.582 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
48.582 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
48.582 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
48.582 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
48.582 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
48.582 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.582 * [backup-simplify]: Simplify 0.5 into 0.5
48.583 * [taylor]: Taking taylor expansion of phi2 in lambda2
48.583 * [backup-simplify]: Simplify phi2 into phi2
48.583 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
48.583 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
48.583 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
48.583 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
48.583 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
48.583 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.583 * [backup-simplify]: Simplify 0.5 into 0.5
48.583 * [taylor]: Taking taylor expansion of phi1 in lambda2
48.583 * [backup-simplify]: Simplify phi1 into phi1
48.583 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
48.583 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
48.583 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
48.583 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
48.583 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
48.583 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
48.583 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.583 * [backup-simplify]: Simplify 0.5 into 0.5
48.583 * [taylor]: Taking taylor expansion of phi2 in lambda2
48.583 * [backup-simplify]: Simplify phi2 into phi2
48.583 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
48.583 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
48.583 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
48.583 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
48.583 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
48.583 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
48.583 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.583 * [backup-simplify]: Simplify 0.5 into 0.5
48.583 * [taylor]: Taking taylor expansion of phi1 in lambda2
48.583 * [backup-simplify]: Simplify phi1 into phi1
48.583 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
48.583 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
48.583 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
48.583 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
48.583 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
48.583 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
48.584 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.584 * [backup-simplify]: Simplify 0.5 into 0.5
48.584 * [taylor]: Taking taylor expansion of phi2 in lambda2
48.584 * [backup-simplify]: Simplify phi2 into phi2
48.584 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
48.584 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
48.584 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
48.584 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
48.584 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
48.584 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.584 * [backup-simplify]: Simplify 0.5 into 0.5
48.584 * [taylor]: Taking taylor expansion of phi1 in lambda2
48.584 * [backup-simplify]: Simplify phi1 into phi1
48.584 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
48.584 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
48.584 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
48.584 * [taylor]: Taking taylor expansion of (* R (pow lambda2 3)) in lambda2
48.584 * [taylor]: Taking taylor expansion of R in lambda2
48.584 * [backup-simplify]: Simplify R into R
48.584 * [taylor]: Taking taylor expansion of (pow lambda2 3) in lambda2
48.584 * [taylor]: Taking taylor expansion of lambda2 in lambda2
48.584 * [backup-simplify]: Simplify 0 into 0
48.584 * [backup-simplify]: Simplify 1 into 1
48.584 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
48.584 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
48.585 * [backup-simplify]: Simplify (- 0) into 0
48.585 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
48.585 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
48.585 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
48.585 * [backup-simplify]: Simplify (- 0) into 0
48.585 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
48.585 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
48.585 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (pow (sin (/ 0.5 phi2)) 4)
48.586 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (pow (sin (/ 0.5 phi2)) 4)) into (pow (sin (/ 0.5 phi2)) 5)
48.586 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
48.586 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (pow (sin (/ 0.5 phi1)) 4)
48.586 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (pow (sin (/ 0.5 phi1)) 4)) into (pow (sin (/ 0.5 phi1)) 5)
48.587 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 5) (pow (sin (/ 0.5 phi1)) 5)) into (* (pow (sin (/ 0.5 phi2)) 5) (pow (sin (/ 0.5 phi1)) 5))
48.587 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 5) (pow (sin (/ 0.5 phi1)) 5))) into (* (pow (sin (/ 0.5 phi1)) 5) (* (pow (sin (/ 0.5 phi2)) 5) (cos (/ 0.5 phi1))))
48.588 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (pow (sin (/ 0.5 phi1)) 5) (* (pow (sin (/ 0.5 phi2)) 5) (cos (/ 0.5 phi1))))) into (* (pow (sin (/ 0.5 phi2)) 5) (* (pow (sin (/ 0.5 phi1)) 5) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
48.588 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
48.588 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
48.588 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
48.589 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
48.589 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
48.589 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
48.590 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
48.590 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
48.590 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
48.591 * [backup-simplify]: Simplify (- 0) into 0
48.591 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
48.591 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
48.591 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
48.591 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
48.591 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
48.591 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
48.592 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
48.592 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
48.592 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
48.592 * [backup-simplify]: Simplify (- 0) into 0
48.592 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
48.593 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
48.593 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
48.593 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
48.594 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
48.594 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
48.594 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
48.594 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
48.594 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
48.595 * [backup-simplify]: Simplify (- 0) into 0
48.595 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
48.595 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
48.595 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
48.595 * [backup-simplify]: Simplify (- 0) into 0
48.595 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
48.596 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
48.596 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
48.596 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
48.596 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
48.596 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
48.597 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
48.597 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))
48.598 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
48.599 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
48.599 * [backup-simplify]: Simplify (* 1 1) into 1
48.600 * [backup-simplify]: Simplify (* 1 1) into 1
48.600 * [backup-simplify]: Simplify (* R 1) into R
48.601 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R) into (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)
48.602 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi2)) 5) (* (pow (sin (/ 0.5 phi1)) 5) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) into (/ (* (pow (sin (/ 0.5 phi2)) 5) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 5)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
48.603 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))) in lambda2
48.603 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3)) in lambda2
48.603 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3) in lambda2
48.603 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
48.603 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
48.603 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
48.603 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
48.603 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
48.603 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
48.603 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.603 * [backup-simplify]: Simplify 0.5 into 0.5
48.603 * [taylor]: Taking taylor expansion of phi2 in lambda2
48.603 * [backup-simplify]: Simplify phi2 into phi2
48.603 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
48.603 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
48.603 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
48.603 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
48.603 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
48.603 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
48.603 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
48.603 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
48.603 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
48.603 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.603 * [backup-simplify]: Simplify 0.5 into 0.5
48.603 * [taylor]: Taking taylor expansion of phi1 in lambda2
48.603 * [backup-simplify]: Simplify phi1 into phi1
48.603 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
48.603 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
48.603 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
48.603 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
48.604 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
48.604 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
48.604 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
48.604 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
48.604 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
48.604 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
48.604 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.604 * [backup-simplify]: Simplify 0.5 into 0.5
48.604 * [taylor]: Taking taylor expansion of phi2 in lambda2
48.604 * [backup-simplify]: Simplify phi2 into phi2
48.604 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
48.604 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
48.604 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
48.604 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
48.604 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
48.604 * [backup-simplify]: Simplify (- 0) into 0
48.604 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
48.604 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
48.605 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
48.605 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
48.605 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.605 * [backup-simplify]: Simplify 0.5 into 0.5
48.605 * [taylor]: Taking taylor expansion of phi1 in lambda2
48.605 * [backup-simplify]: Simplify phi1 into phi1
48.605 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
48.605 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
48.605 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
48.605 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
48.605 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
48.605 * [backup-simplify]: Simplify (- 0) into 0
48.605 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
48.605 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
48.605 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
48.605 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
48.605 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
48.605 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.605 * [backup-simplify]: Simplify 0.5 into 0.5
48.605 * [taylor]: Taking taylor expansion of phi2 in lambda2
48.605 * [backup-simplify]: Simplify phi2 into phi2
48.605 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
48.605 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
48.606 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
48.606 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
48.606 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
48.606 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
48.606 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.606 * [backup-simplify]: Simplify 0.5 into 0.5
48.606 * [taylor]: Taking taylor expansion of phi1 in lambda2
48.606 * [backup-simplify]: Simplify phi1 into phi1
48.606 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
48.606 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
48.606 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
48.606 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
48.606 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
48.606 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
48.606 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.606 * [backup-simplify]: Simplify 0.5 into 0.5
48.606 * [taylor]: Taking taylor expansion of phi2 in lambda2
48.606 * [backup-simplify]: Simplify phi2 into phi2
48.606 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
48.606 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
48.606 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
48.606 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
48.606 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
48.606 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.606 * [backup-simplify]: Simplify 0.5 into 0.5
48.606 * [taylor]: Taking taylor expansion of phi1 in lambda2
48.606 * [backup-simplify]: Simplify phi1 into phi1
48.606 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
48.606 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
48.606 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
48.606 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
48.606 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
48.606 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
48.606 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.606 * [backup-simplify]: Simplify 0.5 into 0.5
48.606 * [taylor]: Taking taylor expansion of phi2 in lambda2
48.606 * [backup-simplify]: Simplify phi2 into phi2
48.606 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
48.607 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
48.607 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
48.607 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
48.607 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
48.607 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
48.607 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.607 * [backup-simplify]: Simplify 0.5 into 0.5
48.607 * [taylor]: Taking taylor expansion of phi1 in lambda2
48.607 * [backup-simplify]: Simplify phi1 into phi1
48.607 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
48.607 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
48.607 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
48.607 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
48.607 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
48.607 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
48.607 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.607 * [backup-simplify]: Simplify 0.5 into 0.5
48.607 * [taylor]: Taking taylor expansion of phi2 in lambda2
48.607 * [backup-simplify]: Simplify phi2 into phi2
48.607 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
48.607 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
48.607 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
48.607 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
48.607 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
48.607 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.607 * [backup-simplify]: Simplify 0.5 into 0.5
48.607 * [taylor]: Taking taylor expansion of phi1 in lambda2
48.607 * [backup-simplify]: Simplify phi1 into phi1
48.607 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
48.607 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
48.607 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
48.607 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
48.608 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
48.608 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
48.608 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
48.608 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
48.608 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
48.609 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
48.609 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
48.609 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
48.609 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
48.609 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
48.609 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
48.609 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
48.609 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
48.609 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
48.610 * [backup-simplify]: Simplify (- 0) into 0
48.610 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
48.610 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
48.610 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
48.610 * [backup-simplify]: Simplify (- 0) into 0
48.610 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
48.610 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
48.610 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
48.611 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
48.611 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
48.611 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
48.616 * [backup-simplify]: Simplify (- 0) into 0
48.616 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
48.617 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
48.617 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
48.617 * [backup-simplify]: Simplify (- 0) into 0
48.617 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
48.617 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
48.617 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
48.617 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
48.618 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
48.618 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
48.618 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
48.618 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
48.618 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
48.618 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
48.618 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))
48.619 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
48.620 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
48.622 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)
48.624 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)) into (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
48.626 * [backup-simplify]: Simplify (/ 1 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)))
48.628 * [backup-simplify]: Simplify (sqrt (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)))) into (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))
48.629 * [backup-simplify]: Simplify (+ 0) into 0
48.629 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
48.629 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
48.630 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.630 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
48.630 * [backup-simplify]: Simplify (+ 0 0) into 0
48.630 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
48.631 * [backup-simplify]: Simplify (+ 0) into 0
48.631 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
48.631 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
48.631 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.632 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
48.632 * [backup-simplify]: Simplify (+ 0 0) into 0
48.632 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
48.632 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
48.633 * [backup-simplify]: Simplify (+ 0) into 0
48.633 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
48.633 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
48.634 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.634 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
48.634 * [backup-simplify]: Simplify (- 0) into 0
48.634 * [backup-simplify]: Simplify (+ 0 0) into 0
48.635 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
48.635 * [backup-simplify]: Simplify (+ 0) into 0
48.635 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
48.635 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
48.636 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.636 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
48.636 * [backup-simplify]: Simplify (- 0) into 0
48.636 * [backup-simplify]: Simplify (+ 0 0) into 0
48.637 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
48.637 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
48.637 * [backup-simplify]: Simplify (+ 0 0) into 0
48.637 * [backup-simplify]: Simplify (+ 0) into 0
48.638 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
48.638 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
48.638 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.639 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
48.639 * [backup-simplify]: Simplify (- 0) into 0
48.639 * [backup-simplify]: Simplify (+ 0 0) into 0
48.639 * [backup-simplify]: Simplify (+ 0) into 0
48.640 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
48.641 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
48.641 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.641 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
48.642 * [backup-simplify]: Simplify (- 0) into 0
48.642 * [backup-simplify]: Simplify (+ 0 0) into 0
48.642 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
48.642 * [backup-simplify]: Simplify (+ 0) into 0
48.643 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
48.643 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
48.643 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.644 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
48.644 * [backup-simplify]: Simplify (+ 0 0) into 0
48.644 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
48.644 * [backup-simplify]: Simplify (+ 0) into 0
48.645 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
48.645 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
48.645 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.646 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
48.646 * [backup-simplify]: Simplify (+ 0 0) into 0
48.646 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
48.647 * [backup-simplify]: Simplify (+ 0) into 0
48.647 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
48.647 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
48.648 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.648 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
48.648 * [backup-simplify]: Simplify (+ 0 0) into 0
48.648 * [backup-simplify]: Simplify (+ 0) into 0
48.649 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
48.649 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
48.649 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.650 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
48.650 * [backup-simplify]: Simplify (+ 0 0) into 0
48.650 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
48.650 * [backup-simplify]: Simplify (+ 0) into 0
48.651 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
48.651 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
48.651 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.651 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
48.652 * [backup-simplify]: Simplify (- 0) into 0
48.652 * [backup-simplify]: Simplify (+ 0 0) into 0
48.652 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
48.652 * [backup-simplify]: Simplify (+ 0) into 0
48.653 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
48.653 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
48.654 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.654 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
48.654 * [backup-simplify]: Simplify (- 0) into 0
48.654 * [backup-simplify]: Simplify (+ 0 0) into 0
48.655 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
48.655 * [backup-simplify]: Simplify (+ 0 0) into 0
48.655 * [backup-simplify]: Simplify (- 0) into 0
48.655 * [backup-simplify]: Simplify (+ 0 0) into 0
48.657 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into 0
48.659 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2))) into 0
48.664 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2))) (/ 0 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
48.666 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)))))) into 0
48.666 * [taylor]: Taking taylor expansion of (+ (* 2 (* (/ (* (pow (cos (/ 0.5 phi2)) 3) (* (pow (cos (/ 0.5 phi1)) 3) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* lambda2 (* phi1 (* R (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) phi2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (+ (* 1/2 (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (* lambda2 (pow phi2 2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 6) (pow (cos (/ 0.5 phi1)) 6)) (* R (* (pow lambda2 3) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 2 (* (/ (* (pow (sin (/ 0.5 phi2)) 3) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 3)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* (pow phi1 2) (* lambda2 R)))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (+ (* 3 (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 6) (pow (sin (/ 0.5 phi1)) 6)) (* R (* (pow lambda2 3) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 15/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 4) (* (pow (cos (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 2)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 9/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 4) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 4)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 (* phi1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R phi2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* 1/2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (* lambda2 (pow phi2 2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))))))))))))) in lambda2
48.666 * [taylor]: Taking taylor expansion of (* 2 (* (/ (* (pow (cos (/ 0.5 phi2)) 3) (* (pow (cos (/ 0.5 phi1)) 3) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) in lambda2
48.666 * [taylor]: Taking taylor expansion of 2 in lambda2
48.667 * [backup-simplify]: Simplify 2 into 2
48.667 * [taylor]: Taking taylor expansion of (* (/ (* (pow (cos (/ 0.5 phi2)) 3) (* (pow (cos (/ 0.5 phi1)) 3) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) in lambda2
48.667 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi2)) 3) (* (pow (cos (/ 0.5 phi1)) 3) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) in lambda2
48.667 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 3) (* (pow (cos (/ 0.5 phi1)) 3) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
48.667 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 3) in lambda2
48.667 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
48.667 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
48.667 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.667 * [backup-simplify]: Simplify 0.5 into 0.5
48.667 * [taylor]: Taking taylor expansion of phi2 in lambda2
48.667 * [backup-simplify]: Simplify phi2 into phi2
48.667 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
48.667 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
48.667 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
48.667 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
48.667 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
48.667 * [backup-simplify]: Simplify (- 0) into 0
48.668 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
48.668 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 3) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
48.668 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 3) in lambda2
48.668 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
48.668 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
48.668 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.668 * [backup-simplify]: Simplify 0.5 into 0.5
48.668 * [taylor]: Taking taylor expansion of phi1 in lambda2
48.668 * [backup-simplify]: Simplify phi1 into phi1
48.668 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
48.668 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
48.668 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
48.668 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
48.668 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
48.668 * [backup-simplify]: Simplify (- 0) into 0
48.668 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
48.668 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
48.668 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
48.668 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
48.668 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.668 * [backup-simplify]: Simplify 0.5 into 0.5
48.668 * [taylor]: Taking taylor expansion of phi2 in lambda2
48.668 * [backup-simplify]: Simplify phi2 into phi2
48.668 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
48.668 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
48.669 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
48.669 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
48.669 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
48.669 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.669 * [backup-simplify]: Simplify 0.5 into 0.5
48.669 * [taylor]: Taking taylor expansion of phi1 in lambda2
48.669 * [backup-simplify]: Simplify phi1 into phi1
48.669 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
48.669 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
48.669 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
48.669 * [taylor]: Taking taylor expansion of (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3))) in lambda2
48.669 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
48.669 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
48.669 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
48.669 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
48.669 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
48.669 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
48.669 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.669 * [backup-simplify]: Simplify 0.5 into 0.5
48.669 * [taylor]: Taking taylor expansion of phi2 in lambda2
48.669 * [backup-simplify]: Simplify phi2 into phi2
48.669 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
48.669 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
48.669 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
48.669 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
48.669 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
48.669 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
48.669 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
48.669 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
48.669 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
48.669 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.669 * [backup-simplify]: Simplify 0.5 into 0.5
48.669 * [taylor]: Taking taylor expansion of phi1 in lambda2
48.669 * [backup-simplify]: Simplify phi1 into phi1
48.670 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
48.670 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
48.670 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
48.670 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
48.670 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
48.670 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
48.670 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
48.670 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
48.670 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
48.670 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
48.670 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.670 * [backup-simplify]: Simplify 0.5 into 0.5
48.670 * [taylor]: Taking taylor expansion of phi2 in lambda2
48.670 * [backup-simplify]: Simplify phi2 into phi2
48.670 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
48.670 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
48.670 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
48.670 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
48.670 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
48.670 * [backup-simplify]: Simplify (- 0) into 0
48.671 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
48.671 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
48.671 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
48.671 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
48.671 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.671 * [backup-simplify]: Simplify 0.5 into 0.5
48.671 * [taylor]: Taking taylor expansion of phi1 in lambda2
48.671 * [backup-simplify]: Simplify phi1 into phi1
48.671 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
48.671 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
48.671 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
48.671 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
48.671 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
48.671 * [backup-simplify]: Simplify (- 0) into 0
48.671 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
48.671 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
48.671 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
48.671 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
48.671 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
48.671 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.671 * [backup-simplify]: Simplify 0.5 into 0.5
48.671 * [taylor]: Taking taylor expansion of phi2 in lambda2
48.671 * [backup-simplify]: Simplify phi2 into phi2
48.671 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
48.671 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
48.672 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
48.672 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
48.672 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
48.672 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
48.672 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.672 * [backup-simplify]: Simplify 0.5 into 0.5
48.672 * [taylor]: Taking taylor expansion of phi1 in lambda2
48.672 * [backup-simplify]: Simplify phi1 into phi1
48.672 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
48.672 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
48.672 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
48.672 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
48.672 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
48.672 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
48.672 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.672 * [backup-simplify]: Simplify 0.5 into 0.5
48.672 * [taylor]: Taking taylor expansion of phi2 in lambda2
48.672 * [backup-simplify]: Simplify phi2 into phi2
48.672 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
48.672 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
48.672 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
48.672 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
48.672 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
48.672 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.672 * [backup-simplify]: Simplify 0.5 into 0.5
48.672 * [taylor]: Taking taylor expansion of phi1 in lambda2
48.672 * [backup-simplify]: Simplify phi1 into phi1
48.672 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
48.672 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
48.672 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
48.672 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
48.672 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
48.672 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
48.672 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.672 * [backup-simplify]: Simplify 0.5 into 0.5
48.672 * [taylor]: Taking taylor expansion of phi2 in lambda2
48.672 * [backup-simplify]: Simplify phi2 into phi2
48.672 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
48.673 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
48.673 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
48.673 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
48.673 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
48.673 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
48.673 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.673 * [backup-simplify]: Simplify 0.5 into 0.5
48.673 * [taylor]: Taking taylor expansion of phi1 in lambda2
48.673 * [backup-simplify]: Simplify phi1 into phi1
48.673 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
48.673 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
48.673 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
48.673 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
48.673 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
48.673 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
48.673 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.673 * [backup-simplify]: Simplify 0.5 into 0.5
48.673 * [taylor]: Taking taylor expansion of phi2 in lambda2
48.673 * [backup-simplify]: Simplify phi2 into phi2
48.673 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
48.673 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
48.673 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
48.673 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
48.673 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
48.673 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.673 * [backup-simplify]: Simplify 0.5 into 0.5
48.673 * [taylor]: Taking taylor expansion of phi1 in lambda2
48.673 * [backup-simplify]: Simplify phi1 into phi1
48.673 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
48.673 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
48.673 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
48.673 * [taylor]: Taking taylor expansion of (* R (pow lambda2 3)) in lambda2
48.673 * [taylor]: Taking taylor expansion of R in lambda2
48.673 * [backup-simplify]: Simplify R into R
48.673 * [taylor]: Taking taylor expansion of (pow lambda2 3) in lambda2
48.673 * [taylor]: Taking taylor expansion of lambda2 in lambda2
48.673 * [backup-simplify]: Simplify 0 into 0
48.673 * [backup-simplify]: Simplify 1 into 1
48.674 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
48.674 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (pow (cos (/ 0.5 phi2)) 2)) into (pow (cos (/ 0.5 phi2)) 3)
48.674 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
48.674 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (pow (cos (/ 0.5 phi1)) 2)) into (pow (cos (/ 0.5 phi1)) 3)
48.674 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
48.674 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
48.674 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
48.674 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
48.674 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
48.674 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
48.674 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
48.675 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 3) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (pow (cos (/ 0.5 phi1)) 3)))
48.675 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 3) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (pow (cos (/ 0.5 phi1)) 3)))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (pow (cos (/ 0.5 phi2)) 3) (pow (cos (/ 0.5 phi1)) 3))))
48.675 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
48.675 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
48.675 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
48.675 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
48.675 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
48.676 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
48.676 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
48.676 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
48.676 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
48.677 * [backup-simplify]: Simplify (- 0) into 0
48.677 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
48.677 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
48.677 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
48.677 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
48.677 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
48.677 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
48.677 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
48.677 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
48.677 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
48.677 * [backup-simplify]: Simplify (- 0) into 0
48.677 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
48.678 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
48.678 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
48.678 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
48.678 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
48.678 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
48.678 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
48.678 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
48.678 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
48.678 * [backup-simplify]: Simplify (- 0) into 0
48.678 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
48.679 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
48.679 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
48.679 * [backup-simplify]: Simplify (- 0) into 0
48.679 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
48.679 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
48.679 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
48.679 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
48.679 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
48.679 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
48.680 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
48.680 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))
48.680 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
48.682 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
48.682 * [backup-simplify]: Simplify (* 1 1) into 1
48.682 * [backup-simplify]: Simplify (* 1 1) into 1
48.682 * [backup-simplify]: Simplify (* R 1) into R
48.683 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R) into (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)
48.685 * [backup-simplify]: Simplify (/ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (pow (cos (/ 0.5 phi2)) 3) (pow (cos (/ 0.5 phi1)) 3)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) into (/ (* (sin (/ 0.5 phi2)) (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (cos (/ 0.5 phi2)) 3) (sin (/ 0.5 phi1))))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
48.685 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in lambda2
48.685 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in lambda2
48.685 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
48.685 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
48.685 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
48.685 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
48.685 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
48.685 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
48.685 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.685 * [backup-simplify]: Simplify 0.5 into 0.5
48.685 * [taylor]: Taking taylor expansion of phi2 in lambda2
48.685 * [backup-simplify]: Simplify phi2 into phi2
48.685 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
48.685 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
48.685 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
48.685 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
48.685 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
48.685 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
48.685 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
48.685 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
48.685 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
48.685 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.685 * [backup-simplify]: Simplify 0.5 into 0.5
48.685 * [taylor]: Taking taylor expansion of phi1 in lambda2
48.685 * [backup-simplify]: Simplify phi1 into phi1
48.685 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
48.686 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
48.686 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
48.686 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
48.686 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
48.686 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
48.686 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
48.686 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
48.686 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
48.686 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
48.686 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.686 * [backup-simplify]: Simplify 0.5 into 0.5
48.686 * [taylor]: Taking taylor expansion of phi2 in lambda2
48.686 * [backup-simplify]: Simplify phi2 into phi2
48.686 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
48.686 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
48.686 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
48.686 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
48.686 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
48.687 * [backup-simplify]: Simplify (- 0) into 0
48.687 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
48.687 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
48.687 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
48.687 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
48.687 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.687 * [backup-simplify]: Simplify 0.5 into 0.5
48.687 * [taylor]: Taking taylor expansion of phi1 in lambda2
48.687 * [backup-simplify]: Simplify phi1 into phi1
48.687 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
48.687 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
48.687 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
48.687 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
48.687 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
48.687 * [backup-simplify]: Simplify (- 0) into 0
48.687 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
48.687 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
48.687 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
48.687 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
48.687 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
48.687 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.688 * [backup-simplify]: Simplify 0.5 into 0.5
48.688 * [taylor]: Taking taylor expansion of phi2 in lambda2
48.688 * [backup-simplify]: Simplify phi2 into phi2
48.688 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
48.688 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
48.688 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
48.688 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
48.688 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
48.688 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
48.688 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.688 * [backup-simplify]: Simplify 0.5 into 0.5
48.688 * [taylor]: Taking taylor expansion of phi1 in lambda2
48.688 * [backup-simplify]: Simplify phi1 into phi1
48.688 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
48.688 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
48.688 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
48.688 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
48.688 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
48.688 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
48.688 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.688 * [backup-simplify]: Simplify 0.5 into 0.5
48.688 * [taylor]: Taking taylor expansion of phi2 in lambda2
48.688 * [backup-simplify]: Simplify phi2 into phi2
48.688 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
48.688 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
48.688 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
48.688 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
48.688 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
48.688 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.688 * [backup-simplify]: Simplify 0.5 into 0.5
48.688 * [taylor]: Taking taylor expansion of phi1 in lambda2
48.688 * [backup-simplify]: Simplify phi1 into phi1
48.688 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
48.688 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
48.688 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
48.688 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
48.689 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
48.689 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
48.689 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.689 * [backup-simplify]: Simplify 0.5 into 0.5
48.689 * [taylor]: Taking taylor expansion of phi2 in lambda2
48.689 * [backup-simplify]: Simplify phi2 into phi2
48.689 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
48.689 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
48.689 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
48.689 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
48.689 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
48.689 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
48.689 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.689 * [backup-simplify]: Simplify 0.5 into 0.5
48.689 * [taylor]: Taking taylor expansion of phi1 in lambda2
48.689 * [backup-simplify]: Simplify phi1 into phi1
48.689 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
48.689 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
48.689 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
48.689 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
48.689 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
48.689 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
48.689 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.689 * [backup-simplify]: Simplify 0.5 into 0.5
48.689 * [taylor]: Taking taylor expansion of phi2 in lambda2
48.689 * [backup-simplify]: Simplify phi2 into phi2
48.689 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
48.689 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
48.689 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
48.689 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
48.689 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
48.689 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.689 * [backup-simplify]: Simplify 0.5 into 0.5
48.689 * [taylor]: Taking taylor expansion of phi1 in lambda2
48.689 * [backup-simplify]: Simplify phi1 into phi1
48.689 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
48.689 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
48.689 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
48.690 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
48.690 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
48.690 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
48.690 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
48.690 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
48.690 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
48.691 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
48.691 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
48.691 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
48.691 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
48.691 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
48.691 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
48.691 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
48.691 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
48.691 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
48.692 * [backup-simplify]: Simplify (- 0) into 0
48.692 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
48.692 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
48.692 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
48.692 * [backup-simplify]: Simplify (- 0) into 0
48.692 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
48.692 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
48.692 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
48.692 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
48.693 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
48.693 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
48.693 * [backup-simplify]: Simplify (- 0) into 0
48.693 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
48.693 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
48.693 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
48.693 * [backup-simplify]: Simplify (- 0) into 0
48.693 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
48.693 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
48.694 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
48.694 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
48.694 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
48.694 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
48.694 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
48.694 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
48.694 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
48.694 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
48.695 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))
48.695 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
48.696 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
48.697 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
48.698 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
48.698 * [backup-simplify]: Simplify (+ 0) into 0
48.699 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
48.699 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
48.699 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.700 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
48.700 * [backup-simplify]: Simplify (+ 0 0) into 0
48.700 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
48.700 * [backup-simplify]: Simplify (+ 0) into 0
48.701 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
48.701 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
48.701 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.702 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
48.702 * [backup-simplify]: Simplify (+ 0 0) into 0
48.702 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
48.703 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
48.704 * [backup-simplify]: Simplify (+ 0) into 0
48.704 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
48.704 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
48.705 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.706 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
48.706 * [backup-simplify]: Simplify (- 0) into 0
48.707 * [backup-simplify]: Simplify (+ 0 0) into 0
48.707 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
48.707 * [backup-simplify]: Simplify (+ 0) into 0
48.708 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
48.708 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
48.709 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.709 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
48.710 * [backup-simplify]: Simplify (- 0) into 0
48.710 * [backup-simplify]: Simplify (+ 0 0) into 0
48.710 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
48.711 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
48.711 * [backup-simplify]: Simplify (+ 0 0) into 0
48.712 * [backup-simplify]: Simplify (+ 0) into 0
48.712 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
48.713 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
48.714 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.714 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
48.715 * [backup-simplify]: Simplify (- 0) into 0
48.715 * [backup-simplify]: Simplify (+ 0 0) into 0
48.716 * [backup-simplify]: Simplify (+ 0) into 0
48.716 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
48.716 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
48.717 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.718 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
48.718 * [backup-simplify]: Simplify (- 0) into 0
48.718 * [backup-simplify]: Simplify (+ 0 0) into 0
48.719 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
48.719 * [backup-simplify]: Simplify (+ 0) into 0
48.720 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
48.720 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
48.721 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.721 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
48.721 * [backup-simplify]: Simplify (+ 0 0) into 0
48.722 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
48.722 * [backup-simplify]: Simplify (+ 0) into 0
48.723 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
48.723 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
48.724 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.724 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
48.725 * [backup-simplify]: Simplify (+ 0 0) into 0
48.725 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
48.725 * [backup-simplify]: Simplify (+ 0) into 0
48.726 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
48.726 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
48.727 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.727 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
48.728 * [backup-simplify]: Simplify (+ 0 0) into 0
48.737 * [backup-simplify]: Simplify (+ 0) into 0
48.738 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
48.739 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
48.740 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.740 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
48.741 * [backup-simplify]: Simplify (+ 0 0) into 0
48.741 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
48.742 * [backup-simplify]: Simplify (+ 0) into 0
48.742 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
48.742 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
48.743 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.744 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
48.744 * [backup-simplify]: Simplify (- 0) into 0
48.745 * [backup-simplify]: Simplify (+ 0 0) into 0
48.745 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
48.745 * [backup-simplify]: Simplify (+ 0) into 0
48.746 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
48.746 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
48.747 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.747 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
48.748 * [backup-simplify]: Simplify (- 0) into 0
48.748 * [backup-simplify]: Simplify (+ 0 0) into 0
48.748 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
48.749 * [backup-simplify]: Simplify (+ 0 0) into 0
48.749 * [backup-simplify]: Simplify (- 0) into 0
48.749 * [backup-simplify]: Simplify (+ 0 0) into 0
48.753 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
48.756 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
48.756 * [taylor]: Taking taylor expansion of (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* lambda2 (* phi1 (* R (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) phi2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (+ (* 1/2 (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (* lambda2 (pow phi2 2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 6) (pow (cos (/ 0.5 phi1)) 6)) (* R (* (pow lambda2 3) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 2 (* (/ (* (pow (sin (/ 0.5 phi2)) 3) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 3)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* (pow phi1 2) (* lambda2 R)))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (+ (* 3 (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 6) (pow (sin (/ 0.5 phi1)) 6)) (* R (* (pow lambda2 3) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 15/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 4) (* (pow (cos (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 2)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 9/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 4) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 4)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 (* phi1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R phi2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* 1/2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (* lambda2 (pow phi2 2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))))))))))) in lambda2
48.756 * [taylor]: Taking taylor expansion of (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* lambda2 (* phi1 (* R (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) phi2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) in lambda2
48.757 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* lambda2 (* phi1 (* R (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) phi2))))) in lambda2
48.757 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
48.757 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
48.757 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
48.757 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
48.757 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.757 * [backup-simplify]: Simplify 0.5 into 0.5
48.757 * [taylor]: Taking taylor expansion of phi2 in lambda2
48.757 * [backup-simplify]: Simplify phi2 into phi2
48.757 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
48.757 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
48.757 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
48.757 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
48.757 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
48.757 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
48.758 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
48.758 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
48.758 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
48.758 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.758 * [backup-simplify]: Simplify 0.5 into 0.5
48.758 * [taylor]: Taking taylor expansion of phi1 in lambda2
48.758 * [backup-simplify]: Simplify phi1 into phi1
48.758 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
48.758 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
48.758 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
48.758 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
48.758 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
48.758 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
48.758 * [taylor]: Taking taylor expansion of (* lambda2 (* phi1 (* R (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) phi2)))) in lambda2
48.758 * [taylor]: Taking taylor expansion of lambda2 in lambda2
48.758 * [backup-simplify]: Simplify 0 into 0
48.758 * [backup-simplify]: Simplify 1 into 1
48.758 * [taylor]: Taking taylor expansion of (* phi1 (* R (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) phi2))) in lambda2
48.759 * [taylor]: Taking taylor expansion of phi1 in lambda2
48.759 * [backup-simplify]: Simplify phi1 into phi1
48.759 * [taylor]: Taking taylor expansion of (* R (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) phi2)) in lambda2
48.759 * [taylor]: Taking taylor expansion of R in lambda2
48.759 * [backup-simplify]: Simplify R into R
48.759 * [taylor]: Taking taylor expansion of (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) phi2) in lambda2
48.759 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
48.759 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
48.759 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
48.759 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
48.759 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
48.759 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
48.759 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.759 * [backup-simplify]: Simplify 0.5 into 0.5
48.759 * [taylor]: Taking taylor expansion of phi2 in lambda2
48.759 * [backup-simplify]: Simplify phi2 into phi2
48.759 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
48.759 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
48.759 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
48.759 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
48.760 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
48.760 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
48.760 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
48.760 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
48.760 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
48.760 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.760 * [backup-simplify]: Simplify 0.5 into 0.5
48.760 * [taylor]: Taking taylor expansion of phi1 in lambda2
48.760 * [backup-simplify]: Simplify phi1 into phi1
48.760 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
48.760 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
48.760 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
48.760 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
48.760 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
48.760 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
48.760 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
48.761 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
48.761 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
48.761 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
48.761 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.761 * [backup-simplify]: Simplify 0.5 into 0.5
48.761 * [taylor]: Taking taylor expansion of phi2 in lambda2
48.761 * [backup-simplify]: Simplify phi2 into phi2
48.761 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
48.761 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
48.761 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
48.761 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
48.761 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
48.762 * [backup-simplify]: Simplify (- 0) into 0
48.762 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
48.762 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
48.762 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
48.762 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
48.762 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.762 * [backup-simplify]: Simplify 0.5 into 0.5
48.762 * [taylor]: Taking taylor expansion of phi1 in lambda2
48.762 * [backup-simplify]: Simplify phi1 into phi1
48.762 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
48.762 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
48.762 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
48.762 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
48.763 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
48.763 * [backup-simplify]: Simplify (- 0) into 0
48.763 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
48.763 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
48.763 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
48.764 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
48.764 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
48.764 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.764 * [backup-simplify]: Simplify 0.5 into 0.5
48.764 * [taylor]: Taking taylor expansion of phi2 in lambda2
48.764 * [backup-simplify]: Simplify phi2 into phi2
48.764 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
48.764 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
48.764 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
48.764 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
48.764 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
48.764 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
48.764 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.764 * [backup-simplify]: Simplify 0.5 into 0.5
48.764 * [taylor]: Taking taylor expansion of phi1 in lambda2
48.764 * [backup-simplify]: Simplify phi1 into phi1
48.764 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
48.764 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
48.764 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
48.764 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
48.764 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
48.764 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
48.764 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.765 * [backup-simplify]: Simplify 0.5 into 0.5
48.765 * [taylor]: Taking taylor expansion of phi2 in lambda2
48.765 * [backup-simplify]: Simplify phi2 into phi2
48.765 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
48.765 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
48.765 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
48.765 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
48.765 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
48.765 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.765 * [backup-simplify]: Simplify 0.5 into 0.5
48.765 * [taylor]: Taking taylor expansion of phi1 in lambda2
48.765 * [backup-simplify]: Simplify phi1 into phi1
48.765 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
48.765 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
48.765 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
48.765 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
48.765 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
48.765 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
48.765 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.765 * [backup-simplify]: Simplify 0.5 into 0.5
48.765 * [taylor]: Taking taylor expansion of phi2 in lambda2
48.766 * [backup-simplify]: Simplify phi2 into phi2
48.766 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
48.766 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
48.766 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
48.766 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
48.766 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
48.766 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
48.766 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.766 * [backup-simplify]: Simplify 0.5 into 0.5
48.766 * [taylor]: Taking taylor expansion of phi1 in lambda2
48.766 * [backup-simplify]: Simplify phi1 into phi1
48.766 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
48.766 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
48.766 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
48.766 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
48.766 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
48.766 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
48.766 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.766 * [backup-simplify]: Simplify 0.5 into 0.5
48.766 * [taylor]: Taking taylor expansion of phi2 in lambda2
48.766 * [backup-simplify]: Simplify phi2 into phi2
48.767 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
48.767 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
48.767 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
48.767 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
48.767 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
48.767 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.767 * [backup-simplify]: Simplify 0.5 into 0.5
48.767 * [taylor]: Taking taylor expansion of phi1 in lambda2
48.767 * [backup-simplify]: Simplify phi1 into phi1
48.767 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
48.767 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
48.767 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
48.767 * [taylor]: Taking taylor expansion of phi2 in lambda2
48.767 * [backup-simplify]: Simplify phi2 into phi2
48.767 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
48.768 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
48.768 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
48.768 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
48.768 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
48.769 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
48.769 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
48.769 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
48.769 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
48.770 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
48.770 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
48.770 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
48.771 * [backup-simplify]: Simplify (- 0) into 0
48.771 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
48.771 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
48.771 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
48.771 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
48.772 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
48.772 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
48.772 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
48.772 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
48.772 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
48.772 * [backup-simplify]: Simplify (- 0) into 0
48.772 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
48.773 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
48.773 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
48.773 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
48.773 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
48.773 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
48.774 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
48.774 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
48.774 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
48.774 * [backup-simplify]: Simplify (- 0) into 0
48.774 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
48.774 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
48.775 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
48.775 * [backup-simplify]: Simplify (- 0) into 0
48.775 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
48.775 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
48.775 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
48.775 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
48.776 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
48.776 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
48.776 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
48.777 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))
48.778 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
48.780 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
48.782 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) phi2) into (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) phi2)
48.784 * [backup-simplify]: Simplify (* R (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) phi2)) into (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R phi2))
48.786 * [backup-simplify]: Simplify (* phi1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R phi2))) into (* R (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* phi1 phi2)))
48.788 * [backup-simplify]: Simplify (* 0 (* R (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* phi1 phi2)))) into 0
48.788 * [backup-simplify]: Simplify (+ 0) into 0
48.789 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
48.789 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
48.790 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.791 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
48.791 * [backup-simplify]: Simplify (+ 0 0) into 0
48.791 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
48.792 * [backup-simplify]: Simplify (+ 0) into 0
48.792 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
48.792 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
48.793 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.793 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
48.794 * [backup-simplify]: Simplify (+ 0 0) into 0
48.794 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
48.794 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
48.794 * [backup-simplify]: Simplify (+ 0) into 0
48.795 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
48.795 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
48.795 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.796 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
48.796 * [backup-simplify]: Simplify (- 0) into 0
48.797 * [backup-simplify]: Simplify (+ 0 0) into 0
48.797 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
48.797 * [backup-simplify]: Simplify (+ 0) into 0
48.797 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
48.797 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
48.798 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.798 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
48.798 * [backup-simplify]: Simplify (- 0) into 0
48.799 * [backup-simplify]: Simplify (+ 0 0) into 0
48.799 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
48.799 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
48.799 * [backup-simplify]: Simplify (+ 0 0) into 0
48.800 * [backup-simplify]: Simplify (+ 0) into 0
48.800 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
48.800 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
48.801 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.801 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
48.801 * [backup-simplify]: Simplify (- 0) into 0
48.801 * [backup-simplify]: Simplify (+ 0 0) into 0
48.802 * [backup-simplify]: Simplify (+ 0) into 0
48.802 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
48.802 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
48.802 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.803 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
48.803 * [backup-simplify]: Simplify (+ 0 0) into 0
48.803 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
48.803 * [backup-simplify]: Simplify (+ 0) into 0
48.804 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
48.804 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
48.804 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.805 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
48.805 * [backup-simplify]: Simplify (+ 0 0) into 0
48.805 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
48.805 * [backup-simplify]: Simplify (+ 0) into 0
48.806 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
48.806 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
48.806 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.806 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
48.807 * [backup-simplify]: Simplify (- 0) into 0
48.807 * [backup-simplify]: Simplify (+ 0 0) into 0
48.807 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
48.807 * [backup-simplify]: Simplify (+ 0) into 0
48.808 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
48.808 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
48.808 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.809 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
48.809 * [backup-simplify]: Simplify (+ 0 0) into 0
48.809 * [backup-simplify]: Simplify (+ 0) into 0
48.809 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
48.809 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
48.810 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.810 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
48.810 * [backup-simplify]: Simplify (- 0) into 0
48.811 * [backup-simplify]: Simplify (+ 0 0) into 0
48.811 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
48.811 * [backup-simplify]: Simplify (+ 0) into 0
48.811 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
48.812 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
48.813 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.813 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
48.813 * [backup-simplify]: Simplify (- 0) into 0
48.813 * [backup-simplify]: Simplify (+ 0 0) into 0
48.814 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
48.814 * [backup-simplify]: Simplify (+ 0) into 0
48.814 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
48.814 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
48.815 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.815 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
48.815 * [backup-simplify]: Simplify (+ 0 0) into 0
48.816 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
48.816 * [backup-simplify]: Simplify (+ 0 0) into 0
48.816 * [backup-simplify]: Simplify (- 0) into 0
48.816 * [backup-simplify]: Simplify (+ 0 0) into 0
48.817 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (* 0 phi2)) into 0
48.818 * [backup-simplify]: Simplify (+ (* R 0) (* 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) phi2))) into 0
48.819 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R phi2)))) into 0
48.821 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* R (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* phi1 phi2))))) into (- (+ (* phi1 (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (* phi1 (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))))))
48.823 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* phi1 (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (* phi1 (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))))))) into (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* phi1 phi2)))) (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* phi1 phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))))
48.823 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in lambda2
48.823 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in lambda2
48.823 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
48.823 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
48.823 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
48.823 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
48.823 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
48.823 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
48.823 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.823 * [backup-simplify]: Simplify 0.5 into 0.5
48.823 * [taylor]: Taking taylor expansion of phi2 in lambda2
48.823 * [backup-simplify]: Simplify phi2 into phi2
48.823 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
48.823 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
48.823 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
48.823 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
48.823 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
48.823 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
48.824 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
48.824 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
48.824 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
48.824 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.824 * [backup-simplify]: Simplify 0.5 into 0.5
48.824 * [taylor]: Taking taylor expansion of phi1 in lambda2
48.824 * [backup-simplify]: Simplify phi1 into phi1
48.824 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
48.824 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
48.824 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
48.824 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
48.824 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
48.824 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
48.824 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
48.824 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
48.824 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
48.824 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
48.824 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.824 * [backup-simplify]: Simplify 0.5 into 0.5
48.824 * [taylor]: Taking taylor expansion of phi2 in lambda2
48.824 * [backup-simplify]: Simplify phi2 into phi2
48.824 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
48.824 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
48.824 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
48.824 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
48.825 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
48.825 * [backup-simplify]: Simplify (- 0) into 0
48.825 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
48.825 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
48.825 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
48.825 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
48.825 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.825 * [backup-simplify]: Simplify 0.5 into 0.5
48.825 * [taylor]: Taking taylor expansion of phi1 in lambda2
48.825 * [backup-simplify]: Simplify phi1 into phi1
48.825 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
48.825 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
48.825 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
48.825 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
48.825 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
48.826 * [backup-simplify]: Simplify (- 0) into 0
48.826 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
48.826 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
48.826 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
48.826 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
48.826 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
48.826 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.826 * [backup-simplify]: Simplify 0.5 into 0.5
48.826 * [taylor]: Taking taylor expansion of phi2 in lambda2
48.826 * [backup-simplify]: Simplify phi2 into phi2
48.826 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
48.826 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
48.826 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
48.826 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
48.826 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
48.826 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
48.826 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.826 * [backup-simplify]: Simplify 0.5 into 0.5
48.826 * [taylor]: Taking taylor expansion of phi1 in lambda2
48.826 * [backup-simplify]: Simplify phi1 into phi1
48.826 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
48.826 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
48.826 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
48.826 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
48.826 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
48.826 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
48.826 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.826 * [backup-simplify]: Simplify 0.5 into 0.5
48.826 * [taylor]: Taking taylor expansion of phi2 in lambda2
48.826 * [backup-simplify]: Simplify phi2 into phi2
48.826 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
48.826 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
48.827 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
48.827 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
48.827 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
48.827 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.827 * [backup-simplify]: Simplify 0.5 into 0.5
48.827 * [taylor]: Taking taylor expansion of phi1 in lambda2
48.827 * [backup-simplify]: Simplify phi1 into phi1
48.827 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
48.827 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
48.827 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
48.827 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
48.827 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
48.827 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
48.827 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.827 * [backup-simplify]: Simplify 0.5 into 0.5
48.827 * [taylor]: Taking taylor expansion of phi2 in lambda2
48.827 * [backup-simplify]: Simplify phi2 into phi2
48.827 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
48.827 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
48.827 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
48.827 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
48.827 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
48.827 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
48.827 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.827 * [backup-simplify]: Simplify 0.5 into 0.5
48.827 * [taylor]: Taking taylor expansion of phi1 in lambda2
48.827 * [backup-simplify]: Simplify phi1 into phi1
48.827 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
48.827 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
48.827 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
48.827 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
48.827 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
48.827 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
48.827 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.827 * [backup-simplify]: Simplify 0.5 into 0.5
48.827 * [taylor]: Taking taylor expansion of phi2 in lambda2
48.827 * [backup-simplify]: Simplify phi2 into phi2
48.827 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
48.827 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
48.828 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
48.828 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
48.828 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
48.828 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.828 * [backup-simplify]: Simplify 0.5 into 0.5
48.828 * [taylor]: Taking taylor expansion of phi1 in lambda2
48.828 * [backup-simplify]: Simplify phi1 into phi1
48.828 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
48.828 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
48.828 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
48.828 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
48.828 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
48.828 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
48.828 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
48.828 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
48.829 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
48.829 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
48.829 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
48.829 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
48.829 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
48.829 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
48.829 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
48.829 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
48.829 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
48.830 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
48.830 * [backup-simplify]: Simplify (- 0) into 0
48.830 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
48.830 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
48.830 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
48.830 * [backup-simplify]: Simplify (- 0) into 0
48.830 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
48.830 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
48.831 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
48.831 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
48.831 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
48.831 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
48.831 * [backup-simplify]: Simplify (- 0) into 0
48.831 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
48.831 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
48.831 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
48.832 * [backup-simplify]: Simplify (- 0) into 0
48.832 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
48.832 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
48.832 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
48.832 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
48.832 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
48.832 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
48.832 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
48.832 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
48.832 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
48.832 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
48.833 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))
48.833 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
48.835 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
48.837 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
48.839 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
48.840 * [backup-simplify]: Simplify (+ 0) into 0
48.840 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
48.841 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
48.841 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.842 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
48.842 * [backup-simplify]: Simplify (+ 0 0) into 0
48.842 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
48.843 * [backup-simplify]: Simplify (+ 0) into 0
48.843 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
48.843 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
48.844 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.845 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
48.845 * [backup-simplify]: Simplify (+ 0 0) into 0
48.845 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
48.846 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
48.846 * [backup-simplify]: Simplify (+ 0) into 0
48.847 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
48.847 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
48.848 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.848 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
48.849 * [backup-simplify]: Simplify (- 0) into 0
48.849 * [backup-simplify]: Simplify (+ 0 0) into 0
48.849 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
48.850 * [backup-simplify]: Simplify (+ 0) into 0
48.850 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
48.850 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
48.851 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.851 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
48.852 * [backup-simplify]: Simplify (- 0) into 0
48.852 * [backup-simplify]: Simplify (+ 0 0) into 0
48.852 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
48.853 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
48.853 * [backup-simplify]: Simplify (+ 0 0) into 0
48.854 * [backup-simplify]: Simplify (+ 0) into 0
48.854 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
48.855 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
48.855 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.856 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
48.856 * [backup-simplify]: Simplify (- 0) into 0
48.857 * [backup-simplify]: Simplify (+ 0 0) into 0
48.857 * [backup-simplify]: Simplify (+ 0) into 0
48.858 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
48.858 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
48.858 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.859 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
48.859 * [backup-simplify]: Simplify (- 0) into 0
48.860 * [backup-simplify]: Simplify (+ 0 0) into 0
48.860 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
48.860 * [backup-simplify]: Simplify (+ 0) into 0
48.861 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
48.861 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
48.862 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.862 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
48.863 * [backup-simplify]: Simplify (+ 0 0) into 0
48.863 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
48.863 * [backup-simplify]: Simplify (+ 0) into 0
48.864 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
48.864 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
48.865 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.865 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
48.866 * [backup-simplify]: Simplify (+ 0 0) into 0
48.866 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
48.866 * [backup-simplify]: Simplify (+ 0) into 0
48.867 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
48.867 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
48.868 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.868 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
48.869 * [backup-simplify]: Simplify (+ 0 0) into 0
48.869 * [backup-simplify]: Simplify (+ 0) into 0
48.869 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
48.870 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
48.870 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.871 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
48.871 * [backup-simplify]: Simplify (+ 0 0) into 0
48.871 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
48.872 * [backup-simplify]: Simplify (+ 0) into 0
48.872 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
48.872 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
48.873 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.874 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
48.874 * [backup-simplify]: Simplify (- 0) into 0
48.875 * [backup-simplify]: Simplify (+ 0 0) into 0
48.875 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
48.875 * [backup-simplify]: Simplify (+ 0) into 0
48.876 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
48.876 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
48.877 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.877 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
48.877 * [backup-simplify]: Simplify (- 0) into 0
48.878 * [backup-simplify]: Simplify (+ 0 0) into 0
48.878 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
48.878 * [backup-simplify]: Simplify (+ 0 0) into 0
48.879 * [backup-simplify]: Simplify (- 0) into 0
48.879 * [backup-simplify]: Simplify (+ 0 0) into 0
48.883 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
48.885 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
48.885 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (* lambda2 (pow phi2 2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 6) (pow (cos (/ 0.5 phi1)) 6)) (* R (* (pow lambda2 3) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 2 (* (/ (* (pow (sin (/ 0.5 phi2)) 3) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 3)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* (pow phi1 2) (* lambda2 R)))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (+ (* 3 (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 6) (pow (sin (/ 0.5 phi1)) 6)) (* R (* (pow lambda2 3) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 15/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 4) (* (pow (cos (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 2)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 9/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 4) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 4)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 (* phi1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R phi2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* 1/2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (* lambda2 (pow phi2 2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))))))))))) in lambda2
48.892 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (* lambda2 (pow phi2 2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) in lambda2
48.893 * [taylor]: Taking taylor expansion of 1/2 in lambda2
48.893 * [backup-simplify]: Simplify 1/2 into 1/2
48.893 * [taylor]: Taking taylor expansion of (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (* lambda2 (pow phi2 2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) in lambda2
48.893 * [taylor]: Taking taylor expansion of (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (* lambda2 (pow phi2 2))))) in lambda2
48.893 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
48.893 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
48.893 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
48.893 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.893 * [backup-simplify]: Simplify 0.5 into 0.5
48.893 * [taylor]: Taking taylor expansion of phi2 in lambda2
48.893 * [backup-simplify]: Simplify phi2 into phi2
48.893 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
48.893 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
48.893 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
48.893 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
48.893 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
48.893 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
48.893 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.893 * [backup-simplify]: Simplify 0.5 into 0.5
48.893 * [taylor]: Taking taylor expansion of phi1 in lambda2
48.894 * [backup-simplify]: Simplify phi1 into phi1
48.894 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
48.894 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
48.894 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
48.894 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
48.894 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
48.894 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
48.894 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.894 * [backup-simplify]: Simplify 0.5 into 0.5
48.894 * [taylor]: Taking taylor expansion of phi2 in lambda2
48.894 * [backup-simplify]: Simplify phi2 into phi2
48.894 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
48.894 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
48.894 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
48.894 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
48.894 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
48.894 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.894 * [backup-simplify]: Simplify 0.5 into 0.5
48.894 * [taylor]: Taking taylor expansion of phi1 in lambda2
48.894 * [backup-simplify]: Simplify phi1 into phi1
48.894 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
48.895 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
48.895 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
48.895 * [taylor]: Taking taylor expansion of (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (* lambda2 (pow phi2 2)))) in lambda2
48.895 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
48.895 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
48.895 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
48.895 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
48.895 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
48.895 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
48.895 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.895 * [backup-simplify]: Simplify 0.5 into 0.5
48.895 * [taylor]: Taking taylor expansion of phi2 in lambda2
48.895 * [backup-simplify]: Simplify phi2 into phi2
48.895 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
48.895 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
48.895 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
48.895 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
48.896 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
48.896 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
48.896 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
48.896 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
48.896 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
48.896 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.896 * [backup-simplify]: Simplify 0.5 into 0.5
48.896 * [taylor]: Taking taylor expansion of phi1 in lambda2
48.896 * [backup-simplify]: Simplify phi1 into phi1
48.896 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
48.896 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
48.896 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
48.896 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
48.896 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
48.896 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
48.897 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
48.897 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
48.897 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
48.897 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
48.897 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.897 * [backup-simplify]: Simplify 0.5 into 0.5
48.897 * [taylor]: Taking taylor expansion of phi2 in lambda2
48.897 * [backup-simplify]: Simplify phi2 into phi2
48.897 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
48.897 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
48.897 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
48.897 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
48.897 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
48.898 * [backup-simplify]: Simplify (- 0) into 0
48.898 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
48.898 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
48.898 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
48.898 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
48.898 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.898 * [backup-simplify]: Simplify 0.5 into 0.5
48.898 * [taylor]: Taking taylor expansion of phi1 in lambda2
48.898 * [backup-simplify]: Simplify phi1 into phi1
48.898 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
48.898 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
48.899 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
48.899 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
48.899 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
48.899 * [backup-simplify]: Simplify (- 0) into 0
48.899 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
48.899 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
48.899 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
48.899 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
48.900 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
48.900 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.900 * [backup-simplify]: Simplify 0.5 into 0.5
48.900 * [taylor]: Taking taylor expansion of phi2 in lambda2
48.900 * [backup-simplify]: Simplify phi2 into phi2
48.900 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
48.900 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
48.900 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
48.900 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
48.900 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
48.900 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
48.900 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.900 * [backup-simplify]: Simplify 0.5 into 0.5
48.900 * [taylor]: Taking taylor expansion of phi1 in lambda2
48.900 * [backup-simplify]: Simplify phi1 into phi1
48.900 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
48.900 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
48.900 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
48.900 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
48.900 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
48.900 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
48.900 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.900 * [backup-simplify]: Simplify 0.5 into 0.5
48.901 * [taylor]: Taking taylor expansion of phi2 in lambda2
48.901 * [backup-simplify]: Simplify phi2 into phi2
48.901 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
48.901 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
48.901 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
48.901 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
48.901 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
48.901 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.901 * [backup-simplify]: Simplify 0.5 into 0.5
48.901 * [taylor]: Taking taylor expansion of phi1 in lambda2
48.901 * [backup-simplify]: Simplify phi1 into phi1
48.901 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
48.901 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
48.901 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
48.901 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
48.901 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
48.901 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
48.901 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.901 * [backup-simplify]: Simplify 0.5 into 0.5
48.901 * [taylor]: Taking taylor expansion of phi2 in lambda2
48.901 * [backup-simplify]: Simplify phi2 into phi2
48.901 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
48.902 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
48.902 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
48.902 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
48.902 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
48.902 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
48.902 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.902 * [backup-simplify]: Simplify 0.5 into 0.5
48.902 * [taylor]: Taking taylor expansion of phi1 in lambda2
48.902 * [backup-simplify]: Simplify phi1 into phi1
48.902 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
48.902 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
48.902 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
48.902 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
48.902 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
48.902 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
48.902 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.902 * [backup-simplify]: Simplify 0.5 into 0.5
48.902 * [taylor]: Taking taylor expansion of phi2 in lambda2
48.902 * [backup-simplify]: Simplify phi2 into phi2
48.902 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
48.903 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
48.903 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
48.903 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
48.903 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
48.903 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.903 * [backup-simplify]: Simplify 0.5 into 0.5
48.903 * [taylor]: Taking taylor expansion of phi1 in lambda2
48.903 * [backup-simplify]: Simplify phi1 into phi1
48.903 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
48.903 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
48.903 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
48.903 * [taylor]: Taking taylor expansion of (* R (* lambda2 (pow phi2 2))) in lambda2
48.903 * [taylor]: Taking taylor expansion of R in lambda2
48.903 * [backup-simplify]: Simplify R into R
48.903 * [taylor]: Taking taylor expansion of (* lambda2 (pow phi2 2)) in lambda2
48.903 * [taylor]: Taking taylor expansion of lambda2 in lambda2
48.903 * [backup-simplify]: Simplify 0 into 0
48.903 * [backup-simplify]: Simplify 1 into 1
48.903 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2
48.903 * [taylor]: Taking taylor expansion of phi2 in lambda2
48.903 * [backup-simplify]: Simplify phi2 into phi2
48.903 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
48.904 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
48.904 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
48.904 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
48.904 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
48.905 * [backup-simplify]: Simplify (- 0) into 0
48.905 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
48.905 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
48.905 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
48.905 * [backup-simplify]: Simplify (- 0) into 0
48.905 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
48.906 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
48.906 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
48.906 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
48.906 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
48.906 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
48.907 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
48.907 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
48.907 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
48.907 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
48.908 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
48.908 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
48.908 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
48.909 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
48.909 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
48.909 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
48.910 * [backup-simplify]: Simplify (- 0) into 0
48.910 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
48.910 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
48.910 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
48.910 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
48.910 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
48.911 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
48.911 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
48.911 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
48.911 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
48.911 * [backup-simplify]: Simplify (- 0) into 0
48.911 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
48.912 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
48.912 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
48.912 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
48.912 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
48.913 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
48.913 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
48.913 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
48.913 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
48.914 * [backup-simplify]: Simplify (- 0) into 0
48.914 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
48.914 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
48.914 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
48.914 * [backup-simplify]: Simplify (- 0) into 0
48.914 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
48.915 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
48.915 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
48.915 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
48.915 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
48.915 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
48.916 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
48.917 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))
48.918 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
48.920 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
48.920 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
48.920 * [backup-simplify]: Simplify (* 0 (pow phi2 2)) into 0
48.920 * [backup-simplify]: Simplify (* R 0) into 0
48.922 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) into 0
48.922 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0
48.922 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow phi2 2))) into (pow phi2 2)
48.923 * [backup-simplify]: Simplify (+ (* R (pow phi2 2)) (* 0 0)) into (* R (pow phi2 2))
48.923 * [backup-simplify]: Simplify (+ 0) into 0
48.923 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
48.923 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
48.924 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.925 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
48.925 * [backup-simplify]: Simplify (+ 0 0) into 0
48.925 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
48.925 * [backup-simplify]: Simplify (+ 0) into 0
48.925 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
48.926 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
48.926 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.926 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
48.927 * [backup-simplify]: Simplify (+ 0 0) into 0
48.927 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
48.927 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
48.927 * [backup-simplify]: Simplify (+ 0) into 0
48.928 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
48.928 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
48.928 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.928 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
48.929 * [backup-simplify]: Simplify (- 0) into 0
48.929 * [backup-simplify]: Simplify (+ 0 0) into 0
48.929 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
48.929 * [backup-simplify]: Simplify (+ 0) into 0
48.930 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
48.930 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
48.930 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.931 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
48.931 * [backup-simplify]: Simplify (- 0) into 0
48.931 * [backup-simplify]: Simplify (+ 0 0) into 0
48.931 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
48.931 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
48.932 * [backup-simplify]: Simplify (+ 0 0) into 0
48.932 * [backup-simplify]: Simplify (+ 0) into 0
48.932 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
48.932 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
48.933 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.933 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
48.933 * [backup-simplify]: Simplify (- 0) into 0
48.934 * [backup-simplify]: Simplify (+ 0 0) into 0
48.934 * [backup-simplify]: Simplify (+ 0) into 0
48.934 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
48.934 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
48.935 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.935 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
48.935 * [backup-simplify]: Simplify (+ 0 0) into 0
48.935 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
48.936 * [backup-simplify]: Simplify (+ 0) into 0
48.936 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
48.936 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
48.937 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.937 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
48.937 * [backup-simplify]: Simplify (+ 0 0) into 0
48.937 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
48.938 * [backup-simplify]: Simplify (+ 0) into 0
48.938 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
48.938 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
48.938 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.939 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
48.939 * [backup-simplify]: Simplify (- 0) into 0
48.939 * [backup-simplify]: Simplify (+ 0 0) into 0
48.939 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
48.940 * [backup-simplify]: Simplify (+ 0) into 0
48.940 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
48.940 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
48.941 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.941 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
48.941 * [backup-simplify]: Simplify (+ 0 0) into 0
48.942 * [backup-simplify]: Simplify (+ 0) into 0
48.942 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
48.942 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
48.942 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.943 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
48.943 * [backup-simplify]: Simplify (- 0) into 0
48.943 * [backup-simplify]: Simplify (+ 0 0) into 0
48.943 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
48.944 * [backup-simplify]: Simplify (+ 0) into 0
48.944 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
48.944 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
48.945 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.945 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
48.945 * [backup-simplify]: Simplify (- 0) into 0
48.945 * [backup-simplify]: Simplify (+ 0 0) into 0
48.946 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
48.946 * [backup-simplify]: Simplify (+ 0) into 0
48.946 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
48.947 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
48.947 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.947 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
48.948 * [backup-simplify]: Simplify (+ 0 0) into 0
48.948 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
48.948 * [backup-simplify]: Simplify (+ 0 0) into 0
48.949 * [backup-simplify]: Simplify (- 0) into 0
48.949 * [backup-simplify]: Simplify (+ 0 0) into 0
48.951 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow phi2 2))) (* 0 0)) into (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))
48.954 * [backup-simplify]: Simplify (/ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) into (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2)))))))))
48.954 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in lambda2
48.954 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in lambda2
48.954 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
48.954 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
48.954 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
48.954 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
48.954 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
48.954 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
48.954 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.954 * [backup-simplify]: Simplify 0.5 into 0.5
48.954 * [taylor]: Taking taylor expansion of phi2 in lambda2
48.954 * [backup-simplify]: Simplify phi2 into phi2
48.954 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
48.954 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
48.954 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
48.954 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
48.955 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
48.955 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
48.955 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
48.955 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
48.955 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
48.955 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.955 * [backup-simplify]: Simplify 0.5 into 0.5
48.955 * [taylor]: Taking taylor expansion of phi1 in lambda2
48.955 * [backup-simplify]: Simplify phi1 into phi1
48.955 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
48.955 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
48.955 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
48.955 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
48.955 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
48.955 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
48.955 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
48.955 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
48.955 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
48.955 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
48.955 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.955 * [backup-simplify]: Simplify 0.5 into 0.5
48.955 * [taylor]: Taking taylor expansion of phi2 in lambda2
48.955 * [backup-simplify]: Simplify phi2 into phi2
48.955 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
48.955 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
48.955 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
48.955 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
48.956 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
48.956 * [backup-simplify]: Simplify (- 0) into 0
48.956 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
48.956 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
48.956 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
48.956 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
48.956 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.956 * [backup-simplify]: Simplify 0.5 into 0.5
48.956 * [taylor]: Taking taylor expansion of phi1 in lambda2
48.956 * [backup-simplify]: Simplify phi1 into phi1
48.956 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
48.956 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
48.956 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
48.956 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
48.957 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
48.957 * [backup-simplify]: Simplify (- 0) into 0
48.957 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
48.957 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
48.957 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
48.957 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
48.957 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
48.957 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.957 * [backup-simplify]: Simplify 0.5 into 0.5
48.957 * [taylor]: Taking taylor expansion of phi2 in lambda2
48.957 * [backup-simplify]: Simplify phi2 into phi2
48.957 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
48.957 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
48.957 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
48.957 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
48.957 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
48.957 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
48.957 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.957 * [backup-simplify]: Simplify 0.5 into 0.5
48.957 * [taylor]: Taking taylor expansion of phi1 in lambda2
48.957 * [backup-simplify]: Simplify phi1 into phi1
48.957 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
48.957 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
48.958 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
48.958 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
48.958 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
48.958 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
48.958 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.958 * [backup-simplify]: Simplify 0.5 into 0.5
48.958 * [taylor]: Taking taylor expansion of phi2 in lambda2
48.958 * [backup-simplify]: Simplify phi2 into phi2
48.958 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
48.958 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
48.958 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
48.958 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
48.958 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
48.958 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.958 * [backup-simplify]: Simplify 0.5 into 0.5
48.958 * [taylor]: Taking taylor expansion of phi1 in lambda2
48.958 * [backup-simplify]: Simplify phi1 into phi1
48.958 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
48.958 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
48.958 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
48.958 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
48.958 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
48.958 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
48.958 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.958 * [backup-simplify]: Simplify 0.5 into 0.5
48.958 * [taylor]: Taking taylor expansion of phi2 in lambda2
48.958 * [backup-simplify]: Simplify phi2 into phi2
48.958 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
48.958 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
48.958 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
48.958 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
48.958 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
48.958 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
48.958 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.958 * [backup-simplify]: Simplify 0.5 into 0.5
48.959 * [taylor]: Taking taylor expansion of phi1 in lambda2
48.959 * [backup-simplify]: Simplify phi1 into phi1
48.959 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
48.959 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
48.959 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
48.959 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
48.959 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
48.959 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
48.959 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.959 * [backup-simplify]: Simplify 0.5 into 0.5
48.959 * [taylor]: Taking taylor expansion of phi2 in lambda2
48.959 * [backup-simplify]: Simplify phi2 into phi2
48.959 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
48.959 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
48.959 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
48.959 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
48.959 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
48.959 * [taylor]: Taking taylor expansion of 0.5 in lambda2
48.959 * [backup-simplify]: Simplify 0.5 into 0.5
48.959 * [taylor]: Taking taylor expansion of phi1 in lambda2
48.959 * [backup-simplify]: Simplify phi1 into phi1
48.959 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
48.959 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
48.959 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
48.959 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
48.959 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
48.960 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
48.960 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
48.960 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
48.960 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
48.961 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
48.961 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
48.961 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
48.961 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
48.961 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
48.961 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
48.961 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
48.961 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
48.961 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
48.961 * [backup-simplify]: Simplify (- 0) into 0
48.962 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
48.962 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
48.962 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
48.962 * [backup-simplify]: Simplify (- 0) into 0
48.962 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
48.962 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
48.962 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
48.962 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
48.962 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
48.963 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
48.963 * [backup-simplify]: Simplify (- 0) into 0
48.963 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
48.963 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
48.963 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
48.963 * [backup-simplify]: Simplify (- 0) into 0
48.963 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
48.963 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
48.963 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
48.964 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
48.964 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
48.964 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
48.964 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
48.964 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
48.964 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
48.964 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
48.964 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))
48.965 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
48.966 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
48.967 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
48.968 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
48.968 * [backup-simplify]: Simplify (+ 0) into 0
48.969 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
48.969 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
48.969 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.970 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
48.970 * [backup-simplify]: Simplify (+ 0 0) into 0
48.970 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
48.970 * [backup-simplify]: Simplify (+ 0) into 0
48.971 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
48.971 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
48.971 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.971 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
48.972 * [backup-simplify]: Simplify (+ 0 0) into 0
48.972 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
48.972 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
48.972 * [backup-simplify]: Simplify (+ 0) into 0
48.973 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
48.973 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
48.973 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.973 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
48.974 * [backup-simplify]: Simplify (- 0) into 0
48.974 * [backup-simplify]: Simplify (+ 0 0) into 0
48.974 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
48.974 * [backup-simplify]: Simplify (+ 0) into 0
48.975 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
48.975 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
48.975 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.976 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
48.976 * [backup-simplify]: Simplify (- 0) into 0
48.976 * [backup-simplify]: Simplify (+ 0 0) into 0
48.976 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
48.977 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
48.977 * [backup-simplify]: Simplify (+ 0 0) into 0
48.977 * [backup-simplify]: Simplify (+ 0) into 0
48.977 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
48.978 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
48.978 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.978 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
48.979 * [backup-simplify]: Simplify (- 0) into 0
48.979 * [backup-simplify]: Simplify (+ 0 0) into 0
48.979 * [backup-simplify]: Simplify (+ 0) into 0
48.979 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
48.979 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
48.980 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.980 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
48.981 * [backup-simplify]: Simplify (- 0) into 0
48.981 * [backup-simplify]: Simplify (+ 0 0) into 0
48.981 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
48.981 * [backup-simplify]: Simplify (+ 0) into 0
48.982 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
48.982 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
48.982 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.982 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
48.983 * [backup-simplify]: Simplify (+ 0 0) into 0
48.983 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
48.983 * [backup-simplify]: Simplify (+ 0) into 0
48.983 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
48.984 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
48.984 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.984 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
48.985 * [backup-simplify]: Simplify (+ 0 0) into 0
48.985 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
48.985 * [backup-simplify]: Simplify (+ 0) into 0
48.985 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
48.986 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
48.986 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.986 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
48.987 * [backup-simplify]: Simplify (+ 0 0) into 0
48.987 * [backup-simplify]: Simplify (+ 0) into 0
48.987 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
48.987 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
48.988 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.988 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
48.988 * [backup-simplify]: Simplify (+ 0 0) into 0
48.989 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
48.989 * [backup-simplify]: Simplify (+ 0) into 0
48.989 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
48.989 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
48.990 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.990 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
48.990 * [backup-simplify]: Simplify (- 0) into 0
48.991 * [backup-simplify]: Simplify (+ 0 0) into 0
48.991 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
48.991 * [backup-simplify]: Simplify (+ 0) into 0
48.991 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
48.991 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
48.992 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
48.992 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
48.992 * [backup-simplify]: Simplify (- 0) into 0
48.993 * [backup-simplify]: Simplify (+ 0 0) into 0
48.993 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
48.993 * [backup-simplify]: Simplify (+ 0 0) into 0
48.993 * [backup-simplify]: Simplify (- 0) into 0
48.994 * [backup-simplify]: Simplify (+ 0 0) into 0
48.998 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
49.000 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
49.000 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 6) (pow (cos (/ 0.5 phi1)) 6)) (* R (* (pow lambda2 3) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 2 (* (/ (* (pow (sin (/ 0.5 phi2)) 3) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 3)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* (pow phi1 2) (* lambda2 R)))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (+ (* 3 (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 6) (pow (sin (/ 0.5 phi1)) 6)) (* R (* (pow lambda2 3) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 15/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 4) (* (pow (cos (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 2)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 9/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 4) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 4)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 (* phi1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R phi2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* 1/2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (* lambda2 (pow phi2 2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))))))))) in lambda2
49.001 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 6) (pow (cos (/ 0.5 phi1)) 6)) (* R (* (pow lambda2 3) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) in lambda2
49.001 * [taylor]: Taking taylor expansion of 1/2 in lambda2
49.001 * [backup-simplify]: Simplify 1/2 into 1/2
49.001 * [taylor]: Taking taylor expansion of (* (/ (* (pow (cos (/ 0.5 phi2)) 6) (pow (cos (/ 0.5 phi1)) 6)) (* R (* (pow lambda2 3) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3)))) in lambda2
49.001 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi2)) 6) (pow (cos (/ 0.5 phi1)) 6)) (* R (* (pow lambda2 3) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) in lambda2
49.001 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 6) (pow (cos (/ 0.5 phi1)) 6)) in lambda2
49.001 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 6) in lambda2
49.001 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
49.001 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
49.001 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.001 * [backup-simplify]: Simplify 0.5 into 0.5
49.001 * [taylor]: Taking taylor expansion of phi2 in lambda2
49.001 * [backup-simplify]: Simplify phi2 into phi2
49.001 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
49.001 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
49.001 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
49.001 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
49.002 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
49.002 * [backup-simplify]: Simplify (- 0) into 0
49.002 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
49.002 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 6) in lambda2
49.002 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
49.002 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
49.002 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.002 * [backup-simplify]: Simplify 0.5 into 0.5
49.002 * [taylor]: Taking taylor expansion of phi1 in lambda2
49.002 * [backup-simplify]: Simplify phi1 into phi1
49.002 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
49.002 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
49.002 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
49.002 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
49.002 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
49.003 * [backup-simplify]: Simplify (- 0) into 0
49.003 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
49.003 * [taylor]: Taking taylor expansion of (* R (* (pow lambda2 3) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in lambda2
49.003 * [taylor]: Taking taylor expansion of R in lambda2
49.003 * [backup-simplify]: Simplify R into R
49.003 * [taylor]: Taking taylor expansion of (* (pow lambda2 3) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in lambda2
49.003 * [taylor]: Taking taylor expansion of (pow lambda2 3) in lambda2
49.003 * [taylor]: Taking taylor expansion of lambda2 in lambda2
49.003 * [backup-simplify]: Simplify 0 into 0
49.003 * [backup-simplify]: Simplify 1 into 1
49.003 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
49.003 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
49.003 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
49.003 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
49.003 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
49.003 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
49.003 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.003 * [backup-simplify]: Simplify 0.5 into 0.5
49.003 * [taylor]: Taking taylor expansion of phi2 in lambda2
49.003 * [backup-simplify]: Simplify phi2 into phi2
49.003 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
49.003 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
49.003 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
49.003 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
49.003 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
49.003 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
49.003 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
49.004 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
49.004 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
49.004 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.004 * [backup-simplify]: Simplify 0.5 into 0.5
49.004 * [taylor]: Taking taylor expansion of phi1 in lambda2
49.004 * [backup-simplify]: Simplify phi1 into phi1
49.004 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
49.004 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
49.004 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
49.004 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
49.004 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
49.004 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
49.004 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
49.004 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
49.004 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
49.004 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
49.004 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.004 * [backup-simplify]: Simplify 0.5 into 0.5
49.004 * [taylor]: Taking taylor expansion of phi2 in lambda2
49.004 * [backup-simplify]: Simplify phi2 into phi2
49.004 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
49.004 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
49.004 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
49.004 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
49.004 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
49.005 * [backup-simplify]: Simplify (- 0) into 0
49.005 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
49.005 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
49.005 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
49.005 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
49.005 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.005 * [backup-simplify]: Simplify 0.5 into 0.5
49.005 * [taylor]: Taking taylor expansion of phi1 in lambda2
49.005 * [backup-simplify]: Simplify phi1 into phi1
49.005 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
49.005 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
49.005 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
49.005 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
49.005 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
49.005 * [backup-simplify]: Simplify (- 0) into 0
49.005 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
49.005 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
49.006 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
49.006 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
49.006 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
49.006 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.006 * [backup-simplify]: Simplify 0.5 into 0.5
49.006 * [taylor]: Taking taylor expansion of phi2 in lambda2
49.006 * [backup-simplify]: Simplify phi2 into phi2
49.006 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
49.006 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
49.006 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
49.006 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
49.006 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
49.006 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
49.006 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.006 * [backup-simplify]: Simplify 0.5 into 0.5
49.006 * [taylor]: Taking taylor expansion of phi1 in lambda2
49.006 * [backup-simplify]: Simplify phi1 into phi1
49.006 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
49.006 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
49.006 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
49.006 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
49.006 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
49.006 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
49.006 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.006 * [backup-simplify]: Simplify 0.5 into 0.5
49.006 * [taylor]: Taking taylor expansion of phi2 in lambda2
49.006 * [backup-simplify]: Simplify phi2 into phi2
49.006 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
49.006 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
49.006 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
49.006 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
49.006 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
49.006 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.006 * [backup-simplify]: Simplify 0.5 into 0.5
49.006 * [taylor]: Taking taylor expansion of phi1 in lambda2
49.006 * [backup-simplify]: Simplify phi1 into phi1
49.006 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
49.006 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
49.007 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
49.007 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
49.007 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
49.007 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
49.007 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.007 * [backup-simplify]: Simplify 0.5 into 0.5
49.007 * [taylor]: Taking taylor expansion of phi2 in lambda2
49.007 * [backup-simplify]: Simplify phi2 into phi2
49.007 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
49.007 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
49.007 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
49.007 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
49.007 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
49.007 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
49.007 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.007 * [backup-simplify]: Simplify 0.5 into 0.5
49.007 * [taylor]: Taking taylor expansion of phi1 in lambda2
49.007 * [backup-simplify]: Simplify phi1 into phi1
49.007 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
49.007 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
49.007 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
49.007 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
49.007 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
49.007 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
49.007 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.007 * [backup-simplify]: Simplify 0.5 into 0.5
49.007 * [taylor]: Taking taylor expansion of phi2 in lambda2
49.007 * [backup-simplify]: Simplify phi2 into phi2
49.007 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
49.007 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
49.007 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
49.007 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
49.007 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
49.007 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.007 * [backup-simplify]: Simplify 0.5 into 0.5
49.007 * [taylor]: Taking taylor expansion of phi1 in lambda2
49.007 * [backup-simplify]: Simplify phi1 into phi1
49.007 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
49.008 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
49.008 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
49.008 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
49.008 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (pow (cos (/ 0.5 phi2)) 2)) into (pow (cos (/ 0.5 phi2)) 3)
49.008 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 3) (pow (cos (/ 0.5 phi2)) 3)) into (pow (cos (/ 0.5 phi2)) 6)
49.008 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
49.008 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (pow (cos (/ 0.5 phi1)) 2)) into (pow (cos (/ 0.5 phi1)) 3)
49.008 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 3) (pow (cos (/ 0.5 phi1)) 3)) into (pow (cos (/ 0.5 phi1)) 6)
49.009 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 6) (pow (cos (/ 0.5 phi1)) 6)) into (* (pow (cos (/ 0.5 phi2)) 6) (pow (cos (/ 0.5 phi1)) 6))
49.009 * [backup-simplify]: Simplify (* 1 1) into 1
49.009 * [backup-simplify]: Simplify (* 1 1) into 1
49.009 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
49.010 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
49.010 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
49.010 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
49.010 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
49.010 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
49.011 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
49.011 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
49.011 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
49.011 * [backup-simplify]: Simplify (- 0) into 0
49.011 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
49.011 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
49.011 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
49.011 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
49.011 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
49.011 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
49.011 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
49.012 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
49.012 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
49.012 * [backup-simplify]: Simplify (- 0) into 0
49.012 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
49.012 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
49.012 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
49.012 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
49.012 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
49.012 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
49.013 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
49.013 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
49.013 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
49.013 * [backup-simplify]: Simplify (- 0) into 0
49.013 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
49.013 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
49.013 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
49.013 * [backup-simplify]: Simplify (- 0) into 0
49.013 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
49.014 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
49.014 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
49.014 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
49.014 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
49.014 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
49.014 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
49.014 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))
49.015 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
49.016 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
49.017 * [backup-simplify]: Simplify (* 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
49.018 * [backup-simplify]: Simplify (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)
49.019 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi2)) 6) (pow (cos (/ 0.5 phi1)) 6)) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) into (/ (* (pow (cos (/ 0.5 phi2)) 6) (pow (cos (/ 0.5 phi1)) 6)) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
49.019 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))) in lambda2
49.019 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3)) in lambda2
49.019 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3) in lambda2
49.019 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
49.019 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
49.019 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
49.019 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
49.019 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
49.019 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
49.019 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.019 * [backup-simplify]: Simplify 0.5 into 0.5
49.019 * [taylor]: Taking taylor expansion of phi2 in lambda2
49.019 * [backup-simplify]: Simplify phi2 into phi2
49.019 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
49.020 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
49.020 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
49.020 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
49.020 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
49.020 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
49.020 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
49.020 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
49.020 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
49.020 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.020 * [backup-simplify]: Simplify 0.5 into 0.5
49.020 * [taylor]: Taking taylor expansion of phi1 in lambda2
49.020 * [backup-simplify]: Simplify phi1 into phi1
49.020 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
49.020 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
49.020 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
49.020 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
49.020 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
49.020 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
49.020 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
49.020 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
49.020 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
49.020 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
49.020 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.020 * [backup-simplify]: Simplify 0.5 into 0.5
49.020 * [taylor]: Taking taylor expansion of phi2 in lambda2
49.020 * [backup-simplify]: Simplify phi2 into phi2
49.020 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
49.021 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
49.021 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
49.021 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
49.021 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
49.029 * [backup-simplify]: Simplify (- 0) into 0
49.029 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
49.029 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
49.029 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
49.029 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
49.029 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.029 * [backup-simplify]: Simplify 0.5 into 0.5
49.029 * [taylor]: Taking taylor expansion of phi1 in lambda2
49.029 * [backup-simplify]: Simplify phi1 into phi1
49.029 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
49.029 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
49.030 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
49.030 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
49.030 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
49.030 * [backup-simplify]: Simplify (- 0) into 0
49.030 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
49.030 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
49.030 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
49.030 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
49.030 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
49.030 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.031 * [backup-simplify]: Simplify 0.5 into 0.5
49.031 * [taylor]: Taking taylor expansion of phi2 in lambda2
49.031 * [backup-simplify]: Simplify phi2 into phi2
49.031 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
49.031 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
49.031 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
49.031 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
49.031 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
49.031 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
49.031 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.031 * [backup-simplify]: Simplify 0.5 into 0.5
49.031 * [taylor]: Taking taylor expansion of phi1 in lambda2
49.031 * [backup-simplify]: Simplify phi1 into phi1
49.031 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
49.031 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
49.031 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
49.031 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
49.031 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
49.031 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
49.031 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.031 * [backup-simplify]: Simplify 0.5 into 0.5
49.031 * [taylor]: Taking taylor expansion of phi2 in lambda2
49.031 * [backup-simplify]: Simplify phi2 into phi2
49.031 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
49.031 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
49.031 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
49.031 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
49.031 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
49.031 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.031 * [backup-simplify]: Simplify 0.5 into 0.5
49.031 * [taylor]: Taking taylor expansion of phi1 in lambda2
49.031 * [backup-simplify]: Simplify phi1 into phi1
49.031 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
49.032 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
49.032 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
49.032 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
49.032 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
49.032 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
49.032 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.032 * [backup-simplify]: Simplify 0.5 into 0.5
49.032 * [taylor]: Taking taylor expansion of phi2 in lambda2
49.032 * [backup-simplify]: Simplify phi2 into phi2
49.032 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
49.032 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
49.032 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
49.032 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
49.032 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
49.032 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
49.032 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.032 * [backup-simplify]: Simplify 0.5 into 0.5
49.032 * [taylor]: Taking taylor expansion of phi1 in lambda2
49.032 * [backup-simplify]: Simplify phi1 into phi1
49.032 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
49.032 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
49.032 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
49.032 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
49.032 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
49.032 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
49.032 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.032 * [backup-simplify]: Simplify 0.5 into 0.5
49.032 * [taylor]: Taking taylor expansion of phi2 in lambda2
49.032 * [backup-simplify]: Simplify phi2 into phi2
49.032 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
49.032 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
49.032 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
49.032 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
49.032 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
49.033 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.033 * [backup-simplify]: Simplify 0.5 into 0.5
49.033 * [taylor]: Taking taylor expansion of phi1 in lambda2
49.033 * [backup-simplify]: Simplify phi1 into phi1
49.033 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
49.033 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
49.033 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
49.033 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
49.033 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
49.033 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
49.033 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
49.033 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
49.034 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
49.034 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
49.034 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
49.034 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
49.034 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
49.034 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
49.034 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
49.034 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
49.034 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
49.034 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
49.035 * [backup-simplify]: Simplify (- 0) into 0
49.035 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
49.035 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
49.035 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
49.035 * [backup-simplify]: Simplify (- 0) into 0
49.035 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
49.035 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
49.036 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
49.036 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
49.036 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
49.036 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
49.036 * [backup-simplify]: Simplify (- 0) into 0
49.036 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
49.036 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
49.036 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
49.037 * [backup-simplify]: Simplify (- 0) into 0
49.037 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
49.037 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
49.037 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
49.037 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
49.037 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
49.037 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
49.037 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
49.037 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
49.037 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
49.037 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
49.038 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))
49.039 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
49.041 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
49.045 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)
49.047 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)) into (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
49.049 * [backup-simplify]: Simplify (/ 1 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)))
49.051 * [backup-simplify]: Simplify (sqrt (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)))) into (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))
49.052 * [backup-simplify]: Simplify (+ 0) into 0
49.052 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
49.052 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
49.053 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
49.053 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
49.053 * [backup-simplify]: Simplify (+ 0 0) into 0
49.053 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
49.053 * [backup-simplify]: Simplify (+ 0) into 0
49.054 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
49.054 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
49.054 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
49.055 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
49.055 * [backup-simplify]: Simplify (+ 0 0) into 0
49.055 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
49.055 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
49.056 * [backup-simplify]: Simplify (+ 0) into 0
49.057 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
49.057 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
49.057 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
49.058 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
49.058 * [backup-simplify]: Simplify (- 0) into 0
49.058 * [backup-simplify]: Simplify (+ 0 0) into 0
49.058 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
49.058 * [backup-simplify]: Simplify (+ 0) into 0
49.059 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
49.059 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
49.059 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
49.060 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
49.060 * [backup-simplify]: Simplify (- 0) into 0
49.060 * [backup-simplify]: Simplify (+ 0 0) into 0
49.060 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
49.060 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
49.061 * [backup-simplify]: Simplify (+ 0 0) into 0
49.061 * [backup-simplify]: Simplify (+ 0) into 0
49.061 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
49.061 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
49.062 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
49.062 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
49.062 * [backup-simplify]: Simplify (- 0) into 0
49.063 * [backup-simplify]: Simplify (+ 0 0) into 0
49.063 * [backup-simplify]: Simplify (+ 0) into 0
49.063 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
49.063 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
49.064 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
49.064 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
49.064 * [backup-simplify]: Simplify (- 0) into 0
49.064 * [backup-simplify]: Simplify (+ 0 0) into 0
49.065 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
49.065 * [backup-simplify]: Simplify (+ 0) into 0
49.065 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
49.065 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
49.066 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
49.066 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
49.066 * [backup-simplify]: Simplify (+ 0 0) into 0
49.066 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
49.067 * [backup-simplify]: Simplify (+ 0) into 0
49.067 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
49.067 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
49.068 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
49.068 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
49.068 * [backup-simplify]: Simplify (+ 0 0) into 0
49.068 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
49.069 * [backup-simplify]: Simplify (+ 0) into 0
49.069 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
49.069 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
49.070 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
49.070 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
49.070 * [backup-simplify]: Simplify (+ 0 0) into 0
49.071 * [backup-simplify]: Simplify (+ 0) into 0
49.071 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
49.071 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
49.072 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
49.073 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
49.073 * [backup-simplify]: Simplify (+ 0 0) into 0
49.073 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
49.074 * [backup-simplify]: Simplify (+ 0) into 0
49.074 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
49.074 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
49.075 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
49.076 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
49.076 * [backup-simplify]: Simplify (- 0) into 0
49.076 * [backup-simplify]: Simplify (+ 0 0) into 0
49.077 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
49.077 * [backup-simplify]: Simplify (+ 0) into 0
49.078 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
49.078 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
49.079 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
49.079 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
49.079 * [backup-simplify]: Simplify (- 0) into 0
49.080 * [backup-simplify]: Simplify (+ 0 0) into 0
49.080 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
49.081 * [backup-simplify]: Simplify (+ 0 0) into 0
49.081 * [backup-simplify]: Simplify (- 0) into 0
49.081 * [backup-simplify]: Simplify (+ 0 0) into 0
49.085 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into 0
49.089 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2))) into 0
49.097 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2))) (/ 0 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
49.102 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)))))) into 0
49.102 * [taylor]: Taking taylor expansion of (+ (* 2 (* (/ (* (pow (sin (/ 0.5 phi2)) 3) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 3)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* (pow phi1 2) (* lambda2 R)))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (+ (* 3 (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 6) (pow (sin (/ 0.5 phi1)) 6)) (* R (* (pow lambda2 3) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 15/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 4) (* (pow (cos (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 2)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 9/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 4) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 4)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 (* phi1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R phi2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* 1/2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (* lambda2 (pow phi2 2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))))))))) in lambda2
49.102 * [taylor]: Taking taylor expansion of (* 2 (* (/ (* (pow (sin (/ 0.5 phi2)) 3) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 3)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) in lambda2
49.103 * [taylor]: Taking taylor expansion of 2 in lambda2
49.103 * [backup-simplify]: Simplify 2 into 2
49.103 * [taylor]: Taking taylor expansion of (* (/ (* (pow (sin (/ 0.5 phi2)) 3) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 3)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) in lambda2
49.103 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi2)) 3) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 3)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) in lambda2
49.103 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 3) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 3)))) in lambda2
49.103 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 3) in lambda2
49.103 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
49.103 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
49.103 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.103 * [backup-simplify]: Simplify 0.5 into 0.5
49.103 * [taylor]: Taking taylor expansion of phi2 in lambda2
49.103 * [backup-simplify]: Simplify phi2 into phi2
49.103 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
49.103 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
49.103 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
49.103 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
49.104 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
49.104 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
49.104 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 3))) in lambda2
49.104 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
49.104 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
49.104 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.104 * [backup-simplify]: Simplify 0.5 into 0.5
49.104 * [taylor]: Taking taylor expansion of phi1 in lambda2
49.104 * [backup-simplify]: Simplify phi1 into phi1
49.104 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
49.104 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
49.104 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
49.104 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 3)) in lambda2
49.104 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
49.104 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
49.104 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.104 * [backup-simplify]: Simplify 0.5 into 0.5
49.104 * [taylor]: Taking taylor expansion of phi2 in lambda2
49.104 * [backup-simplify]: Simplify phi2 into phi2
49.104 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
49.104 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
49.105 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
49.105 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 3) in lambda2
49.105 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
49.105 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
49.105 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.105 * [backup-simplify]: Simplify 0.5 into 0.5
49.105 * [taylor]: Taking taylor expansion of phi1 in lambda2
49.105 * [backup-simplify]: Simplify phi1 into phi1
49.105 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
49.105 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
49.105 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
49.105 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
49.105 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
49.105 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
49.105 * [taylor]: Taking taylor expansion of (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3))) in lambda2
49.105 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
49.105 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
49.105 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
49.106 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
49.106 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
49.106 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
49.106 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.106 * [backup-simplify]: Simplify 0.5 into 0.5
49.106 * [taylor]: Taking taylor expansion of phi2 in lambda2
49.106 * [backup-simplify]: Simplify phi2 into phi2
49.106 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
49.106 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
49.106 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
49.106 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
49.106 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
49.106 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
49.106 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
49.106 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
49.106 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
49.106 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.106 * [backup-simplify]: Simplify 0.5 into 0.5
49.106 * [taylor]: Taking taylor expansion of phi1 in lambda2
49.106 * [backup-simplify]: Simplify phi1 into phi1
49.107 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
49.107 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
49.107 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
49.107 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
49.107 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
49.107 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
49.107 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
49.107 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
49.107 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
49.107 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
49.107 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.107 * [backup-simplify]: Simplify 0.5 into 0.5
49.107 * [taylor]: Taking taylor expansion of phi2 in lambda2
49.107 * [backup-simplify]: Simplify phi2 into phi2
49.107 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
49.107 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
49.107 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
49.108 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
49.108 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
49.108 * [backup-simplify]: Simplify (- 0) into 0
49.108 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
49.108 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
49.108 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
49.108 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
49.108 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.109 * [backup-simplify]: Simplify 0.5 into 0.5
49.109 * [taylor]: Taking taylor expansion of phi1 in lambda2
49.109 * [backup-simplify]: Simplify phi1 into phi1
49.109 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
49.109 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
49.109 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
49.109 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
49.109 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
49.109 * [backup-simplify]: Simplify (- 0) into 0
49.110 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
49.110 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
49.110 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
49.110 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
49.110 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
49.110 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.110 * [backup-simplify]: Simplify 0.5 into 0.5
49.110 * [taylor]: Taking taylor expansion of phi2 in lambda2
49.110 * [backup-simplify]: Simplify phi2 into phi2
49.110 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
49.110 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
49.110 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
49.110 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
49.110 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
49.110 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
49.110 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.110 * [backup-simplify]: Simplify 0.5 into 0.5
49.110 * [taylor]: Taking taylor expansion of phi1 in lambda2
49.110 * [backup-simplify]: Simplify phi1 into phi1
49.110 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
49.110 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
49.110 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
49.111 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
49.111 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
49.111 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
49.111 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.111 * [backup-simplify]: Simplify 0.5 into 0.5
49.111 * [taylor]: Taking taylor expansion of phi2 in lambda2
49.111 * [backup-simplify]: Simplify phi2 into phi2
49.111 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
49.111 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
49.111 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
49.111 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
49.111 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
49.111 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.111 * [backup-simplify]: Simplify 0.5 into 0.5
49.111 * [taylor]: Taking taylor expansion of phi1 in lambda2
49.111 * [backup-simplify]: Simplify phi1 into phi1
49.111 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
49.111 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
49.111 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
49.111 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
49.111 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
49.111 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
49.111 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.111 * [backup-simplify]: Simplify 0.5 into 0.5
49.112 * [taylor]: Taking taylor expansion of phi2 in lambda2
49.112 * [backup-simplify]: Simplify phi2 into phi2
49.112 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
49.112 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
49.112 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
49.112 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
49.112 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
49.112 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
49.112 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.112 * [backup-simplify]: Simplify 0.5 into 0.5
49.112 * [taylor]: Taking taylor expansion of phi1 in lambda2
49.112 * [backup-simplify]: Simplify phi1 into phi1
49.112 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
49.112 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
49.112 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
49.112 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
49.112 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
49.112 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
49.112 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.112 * [backup-simplify]: Simplify 0.5 into 0.5
49.112 * [taylor]: Taking taylor expansion of phi2 in lambda2
49.112 * [backup-simplify]: Simplify phi2 into phi2
49.112 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
49.113 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
49.113 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
49.113 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
49.113 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
49.113 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.113 * [backup-simplify]: Simplify 0.5 into 0.5
49.113 * [taylor]: Taking taylor expansion of phi1 in lambda2
49.113 * [backup-simplify]: Simplify phi1 into phi1
49.113 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
49.113 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
49.113 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
49.113 * [taylor]: Taking taylor expansion of (* R (pow lambda2 3)) in lambda2
49.113 * [taylor]: Taking taylor expansion of R in lambda2
49.113 * [backup-simplify]: Simplify R into R
49.113 * [taylor]: Taking taylor expansion of (pow lambda2 3) in lambda2
49.113 * [taylor]: Taking taylor expansion of lambda2 in lambda2
49.113 * [backup-simplify]: Simplify 0 into 0
49.113 * [backup-simplify]: Simplify 1 into 1
49.113 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
49.114 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (pow (sin (/ 0.5 phi2)) 2)) into (pow (sin (/ 0.5 phi2)) 3)
49.114 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
49.114 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
49.114 * [backup-simplify]: Simplify (- 0) into 0
49.115 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
49.115 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
49.115 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
49.115 * [backup-simplify]: Simplify (- 0) into 0
49.115 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
49.115 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
49.116 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (pow (sin (/ 0.5 phi1)) 2)) into (pow (sin (/ 0.5 phi1)) 3)
49.116 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 3)) into (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 3))
49.116 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 3))) into (* (pow (sin (/ 0.5 phi1)) 3) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
49.117 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 3) (* (pow (sin (/ 0.5 phi1)) 3) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (pow (sin (/ 0.5 phi1)) 3) (* (pow (sin (/ 0.5 phi2)) 3) (cos (/ 0.5 phi1)))))
49.117 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
49.117 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
49.117 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
49.118 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
49.118 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
49.118 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
49.119 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
49.119 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
49.119 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
49.120 * [backup-simplify]: Simplify (- 0) into 0
49.120 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
49.120 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
49.120 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
49.120 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
49.120 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
49.120 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
49.120 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
49.121 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
49.121 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
49.121 * [backup-simplify]: Simplify (- 0) into 0
49.121 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
49.121 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
49.122 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
49.122 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
49.122 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
49.122 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
49.122 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
49.122 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
49.122 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
49.123 * [backup-simplify]: Simplify (- 0) into 0
49.123 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
49.123 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
49.123 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
49.124 * [backup-simplify]: Simplify (- 0) into 0
49.124 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
49.124 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
49.124 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
49.124 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
49.124 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
49.124 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
49.125 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
49.126 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))
49.126 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
49.128 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
49.129 * [backup-simplify]: Simplify (* 1 1) into 1
49.129 * [backup-simplify]: Simplify (* 1 1) into 1
49.129 * [backup-simplify]: Simplify (* R 1) into R
49.131 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R) into (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)
49.134 * [backup-simplify]: Simplify (/ (* (cos (/ 0.5 phi2)) (* (pow (sin (/ 0.5 phi1)) 3) (* (pow (sin (/ 0.5 phi2)) 3) (cos (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) into (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
49.134 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in lambda2
49.134 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in lambda2
49.134 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
49.134 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
49.134 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
49.134 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
49.134 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
49.134 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
49.134 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.134 * [backup-simplify]: Simplify 0.5 into 0.5
49.134 * [taylor]: Taking taylor expansion of phi2 in lambda2
49.134 * [backup-simplify]: Simplify phi2 into phi2
49.134 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
49.134 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
49.134 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
49.135 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
49.135 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
49.135 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
49.135 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
49.135 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
49.135 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
49.135 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.135 * [backup-simplify]: Simplify 0.5 into 0.5
49.135 * [taylor]: Taking taylor expansion of phi1 in lambda2
49.135 * [backup-simplify]: Simplify phi1 into phi1
49.135 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
49.135 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
49.135 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
49.135 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
49.136 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
49.136 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
49.136 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
49.136 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
49.136 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
49.136 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
49.136 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.136 * [backup-simplify]: Simplify 0.5 into 0.5
49.136 * [taylor]: Taking taylor expansion of phi2 in lambda2
49.136 * [backup-simplify]: Simplify phi2 into phi2
49.136 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
49.136 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
49.136 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
49.136 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
49.137 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
49.137 * [backup-simplify]: Simplify (- 0) into 0
49.137 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
49.137 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
49.137 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
49.137 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
49.137 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.137 * [backup-simplify]: Simplify 0.5 into 0.5
49.137 * [taylor]: Taking taylor expansion of phi1 in lambda2
49.137 * [backup-simplify]: Simplify phi1 into phi1
49.138 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
49.138 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
49.138 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
49.138 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
49.138 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
49.138 * [backup-simplify]: Simplify (- 0) into 0
49.138 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
49.138 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
49.139 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
49.139 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
49.139 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
49.139 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.139 * [backup-simplify]: Simplify 0.5 into 0.5
49.139 * [taylor]: Taking taylor expansion of phi2 in lambda2
49.139 * [backup-simplify]: Simplify phi2 into phi2
49.139 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
49.139 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
49.139 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
49.139 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
49.139 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
49.139 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
49.139 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.139 * [backup-simplify]: Simplify 0.5 into 0.5
49.139 * [taylor]: Taking taylor expansion of phi1 in lambda2
49.139 * [backup-simplify]: Simplify phi1 into phi1
49.139 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
49.139 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
49.139 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
49.139 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
49.139 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
49.139 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
49.139 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.139 * [backup-simplify]: Simplify 0.5 into 0.5
49.140 * [taylor]: Taking taylor expansion of phi2 in lambda2
49.140 * [backup-simplify]: Simplify phi2 into phi2
49.140 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
49.140 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
49.140 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
49.140 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
49.140 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
49.140 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.140 * [backup-simplify]: Simplify 0.5 into 0.5
49.140 * [taylor]: Taking taylor expansion of phi1 in lambda2
49.140 * [backup-simplify]: Simplify phi1 into phi1
49.140 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
49.140 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
49.140 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
49.140 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
49.140 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
49.140 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
49.140 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.140 * [backup-simplify]: Simplify 0.5 into 0.5
49.140 * [taylor]: Taking taylor expansion of phi2 in lambda2
49.140 * [backup-simplify]: Simplify phi2 into phi2
49.140 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
49.141 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
49.141 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
49.141 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
49.141 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
49.141 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
49.141 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.141 * [backup-simplify]: Simplify 0.5 into 0.5
49.141 * [taylor]: Taking taylor expansion of phi1 in lambda2
49.141 * [backup-simplify]: Simplify phi1 into phi1
49.141 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
49.141 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
49.141 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
49.141 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
49.141 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
49.141 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
49.141 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.141 * [backup-simplify]: Simplify 0.5 into 0.5
49.141 * [taylor]: Taking taylor expansion of phi2 in lambda2
49.141 * [backup-simplify]: Simplify phi2 into phi2
49.141 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
49.141 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
49.142 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
49.142 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
49.142 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
49.142 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.142 * [backup-simplify]: Simplify 0.5 into 0.5
49.142 * [taylor]: Taking taylor expansion of phi1 in lambda2
49.142 * [backup-simplify]: Simplify phi1 into phi1
49.142 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
49.142 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
49.142 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
49.142 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
49.142 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
49.143 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
49.143 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
49.143 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
49.143 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
49.144 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
49.144 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
49.144 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
49.145 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
49.145 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
49.145 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
49.145 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
49.145 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
49.145 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
49.146 * [backup-simplify]: Simplify (- 0) into 0
49.146 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
49.146 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
49.146 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
49.147 * [backup-simplify]: Simplify (- 0) into 0
49.147 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
49.147 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
49.147 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
49.148 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
49.148 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
49.148 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
49.148 * [backup-simplify]: Simplify (- 0) into 0
49.148 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
49.149 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
49.149 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
49.149 * [backup-simplify]: Simplify (- 0) into 0
49.149 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
49.149 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
49.149 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
49.150 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
49.150 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
49.150 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
49.150 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
49.150 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
49.150 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
49.151 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
49.151 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))
49.152 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
49.154 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
49.156 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
49.158 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
49.158 * [backup-simplify]: Simplify (+ 0) into 0
49.159 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
49.159 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
49.160 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
49.160 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
49.161 * [backup-simplify]: Simplify (+ 0 0) into 0
49.161 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
49.161 * [backup-simplify]: Simplify (+ 0) into 0
49.162 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
49.162 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
49.163 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
49.163 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
49.164 * [backup-simplify]: Simplify (+ 0 0) into 0
49.164 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
49.164 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
49.165 * [backup-simplify]: Simplify (+ 0) into 0
49.165 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
49.165 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
49.166 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
49.167 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
49.167 * [backup-simplify]: Simplify (- 0) into 0
49.167 * [backup-simplify]: Simplify (+ 0 0) into 0
49.168 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
49.168 * [backup-simplify]: Simplify (+ 0) into 0
49.168 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
49.169 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
49.169 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
49.170 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
49.170 * [backup-simplify]: Simplify (- 0) into 0
49.171 * [backup-simplify]: Simplify (+ 0 0) into 0
49.171 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
49.171 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
49.172 * [backup-simplify]: Simplify (+ 0 0) into 0
49.172 * [backup-simplify]: Simplify (+ 0) into 0
49.172 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
49.173 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
49.173 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
49.174 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
49.174 * [backup-simplify]: Simplify (- 0) into 0
49.175 * [backup-simplify]: Simplify (+ 0 0) into 0
49.175 * [backup-simplify]: Simplify (+ 0) into 0
49.175 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
49.176 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
49.176 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
49.177 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
49.177 * [backup-simplify]: Simplify (- 0) into 0
49.178 * [backup-simplify]: Simplify (+ 0 0) into 0
49.178 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
49.178 * [backup-simplify]: Simplify (+ 0) into 0
49.179 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
49.179 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
49.180 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
49.180 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
49.186 * [backup-simplify]: Simplify (+ 0 0) into 0
49.187 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
49.187 * [backup-simplify]: Simplify (+ 0) into 0
49.188 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
49.188 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
49.188 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
49.188 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
49.189 * [backup-simplify]: Simplify (+ 0 0) into 0
49.189 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
49.189 * [backup-simplify]: Simplify (+ 0) into 0
49.189 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
49.190 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
49.190 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
49.190 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
49.191 * [backup-simplify]: Simplify (+ 0 0) into 0
49.191 * [backup-simplify]: Simplify (+ 0) into 0
49.191 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
49.191 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
49.192 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
49.192 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
49.192 * [backup-simplify]: Simplify (+ 0 0) into 0
49.192 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
49.193 * [backup-simplify]: Simplify (+ 0) into 0
49.193 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
49.193 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
49.193 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
49.194 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
49.194 * [backup-simplify]: Simplify (- 0) into 0
49.194 * [backup-simplify]: Simplify (+ 0 0) into 0
49.194 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
49.195 * [backup-simplify]: Simplify (+ 0) into 0
49.195 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
49.195 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
49.196 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
49.196 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
49.196 * [backup-simplify]: Simplify (- 0) into 0
49.196 * [backup-simplify]: Simplify (+ 0 0) into 0
49.196 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
49.197 * [backup-simplify]: Simplify (+ 0 0) into 0
49.197 * [backup-simplify]: Simplify (- 0) into 0
49.197 * [backup-simplify]: Simplify (+ 0 0) into 0
49.199 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
49.200 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
49.200 * [taylor]: Taking taylor expansion of (+ (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* (pow phi1 2) (* lambda2 R)))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (+ (* 3 (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 6) (pow (sin (/ 0.5 phi1)) 6)) (* R (* (pow lambda2 3) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 15/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 4) (* (pow (cos (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 2)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 9/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 4) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 4)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 (* phi1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R phi2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* 1/2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (* lambda2 (pow phi2 2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))))))) in lambda2
49.201 * [taylor]: Taking taylor expansion of (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* (pow phi1 2) (* lambda2 R)))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) in lambda2
49.201 * [taylor]: Taking taylor expansion of (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* (pow phi1 2) (* lambda2 R)))) in lambda2
49.201 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
49.201 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
49.201 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
49.201 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.201 * [backup-simplify]: Simplify 0.5 into 0.5
49.201 * [taylor]: Taking taylor expansion of phi2 in lambda2
49.201 * [backup-simplify]: Simplify phi2 into phi2
49.201 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
49.201 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
49.201 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
49.201 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
49.201 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
49.201 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
49.201 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.201 * [backup-simplify]: Simplify 0.5 into 0.5
49.201 * [taylor]: Taking taylor expansion of phi1 in lambda2
49.201 * [backup-simplify]: Simplify phi1 into phi1
49.201 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
49.201 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
49.201 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
49.201 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
49.201 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
49.201 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
49.201 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.201 * [backup-simplify]: Simplify 0.5 into 0.5
49.201 * [taylor]: Taking taylor expansion of phi2 in lambda2
49.201 * [backup-simplify]: Simplify phi2 into phi2
49.201 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
49.202 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
49.202 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
49.202 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
49.202 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
49.202 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.202 * [backup-simplify]: Simplify 0.5 into 0.5
49.202 * [taylor]: Taking taylor expansion of phi1 in lambda2
49.202 * [backup-simplify]: Simplify phi1 into phi1
49.202 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
49.202 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
49.202 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
49.202 * [taylor]: Taking taylor expansion of (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* (pow phi1 2) (* lambda2 R))) in lambda2
49.202 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
49.202 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
49.202 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
49.202 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
49.202 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
49.202 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
49.202 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.202 * [backup-simplify]: Simplify 0.5 into 0.5
49.202 * [taylor]: Taking taylor expansion of phi2 in lambda2
49.202 * [backup-simplify]: Simplify phi2 into phi2
49.202 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
49.202 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
49.202 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
49.202 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
49.202 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
49.202 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
49.202 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
49.202 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
49.202 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
49.202 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.202 * [backup-simplify]: Simplify 0.5 into 0.5
49.203 * [taylor]: Taking taylor expansion of phi1 in lambda2
49.203 * [backup-simplify]: Simplify phi1 into phi1
49.203 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
49.203 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
49.203 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
49.203 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
49.203 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
49.203 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
49.203 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
49.203 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
49.203 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
49.203 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
49.203 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.203 * [backup-simplify]: Simplify 0.5 into 0.5
49.203 * [taylor]: Taking taylor expansion of phi2 in lambda2
49.203 * [backup-simplify]: Simplify phi2 into phi2
49.203 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
49.203 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
49.203 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
49.203 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
49.203 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
49.204 * [backup-simplify]: Simplify (- 0) into 0
49.204 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
49.204 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
49.204 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
49.204 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
49.204 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.204 * [backup-simplify]: Simplify 0.5 into 0.5
49.204 * [taylor]: Taking taylor expansion of phi1 in lambda2
49.204 * [backup-simplify]: Simplify phi1 into phi1
49.204 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
49.204 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
49.204 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
49.204 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
49.204 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
49.204 * [backup-simplify]: Simplify (- 0) into 0
49.205 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
49.205 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
49.205 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
49.205 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
49.205 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
49.205 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.205 * [backup-simplify]: Simplify 0.5 into 0.5
49.205 * [taylor]: Taking taylor expansion of phi2 in lambda2
49.205 * [backup-simplify]: Simplify phi2 into phi2
49.205 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
49.205 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
49.205 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
49.205 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
49.205 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
49.205 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
49.205 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.205 * [backup-simplify]: Simplify 0.5 into 0.5
49.205 * [taylor]: Taking taylor expansion of phi1 in lambda2
49.205 * [backup-simplify]: Simplify phi1 into phi1
49.205 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
49.205 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
49.205 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
49.205 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
49.205 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
49.205 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
49.205 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.205 * [backup-simplify]: Simplify 0.5 into 0.5
49.205 * [taylor]: Taking taylor expansion of phi2 in lambda2
49.205 * [backup-simplify]: Simplify phi2 into phi2
49.205 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
49.205 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
49.205 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
49.205 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
49.205 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
49.205 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.205 * [backup-simplify]: Simplify 0.5 into 0.5
49.205 * [taylor]: Taking taylor expansion of phi1 in lambda2
49.205 * [backup-simplify]: Simplify phi1 into phi1
49.206 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
49.206 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
49.206 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
49.206 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
49.206 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
49.206 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
49.206 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.206 * [backup-simplify]: Simplify 0.5 into 0.5
49.206 * [taylor]: Taking taylor expansion of phi2 in lambda2
49.206 * [backup-simplify]: Simplify phi2 into phi2
49.206 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
49.206 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
49.206 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
49.206 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
49.206 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
49.206 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
49.206 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.206 * [backup-simplify]: Simplify 0.5 into 0.5
49.206 * [taylor]: Taking taylor expansion of phi1 in lambda2
49.206 * [backup-simplify]: Simplify phi1 into phi1
49.206 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
49.206 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
49.206 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
49.206 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
49.206 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
49.206 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
49.206 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.206 * [backup-simplify]: Simplify 0.5 into 0.5
49.206 * [taylor]: Taking taylor expansion of phi2 in lambda2
49.206 * [backup-simplify]: Simplify phi2 into phi2
49.206 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
49.206 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
49.206 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
49.206 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
49.206 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
49.206 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.207 * [backup-simplify]: Simplify 0.5 into 0.5
49.207 * [taylor]: Taking taylor expansion of phi1 in lambda2
49.207 * [backup-simplify]: Simplify phi1 into phi1
49.207 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
49.207 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
49.207 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
49.207 * [taylor]: Taking taylor expansion of (* (pow phi1 2) (* lambda2 R)) in lambda2
49.207 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2
49.207 * [taylor]: Taking taylor expansion of phi1 in lambda2
49.207 * [backup-simplify]: Simplify phi1 into phi1
49.207 * [taylor]: Taking taylor expansion of (* lambda2 R) in lambda2
49.207 * [taylor]: Taking taylor expansion of lambda2 in lambda2
49.207 * [backup-simplify]: Simplify 0 into 0
49.207 * [backup-simplify]: Simplify 1 into 1
49.207 * [taylor]: Taking taylor expansion of R in lambda2
49.207 * [backup-simplify]: Simplify R into R
49.207 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
49.207 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
49.207 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
49.207 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
49.207 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
49.208 * [backup-simplify]: Simplify (- 0) into 0
49.208 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
49.208 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
49.208 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
49.208 * [backup-simplify]: Simplify (- 0) into 0
49.208 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
49.208 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
49.208 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
49.208 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
49.208 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
49.209 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
49.209 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
49.209 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
49.209 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
49.209 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
49.209 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
49.209 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
49.210 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
49.210 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
49.210 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
49.210 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
49.211 * [backup-simplify]: Simplify (- 0) into 0
49.211 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
49.211 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
49.211 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
49.211 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
49.211 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
49.211 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
49.211 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
49.211 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
49.211 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
49.211 * [backup-simplify]: Simplify (- 0) into 0
49.211 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
49.212 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
49.212 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
49.212 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
49.212 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
49.212 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
49.212 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
49.212 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
49.212 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
49.212 * [backup-simplify]: Simplify (- 0) into 0
49.213 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
49.213 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
49.213 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
49.213 * [backup-simplify]: Simplify (- 0) into 0
49.213 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
49.213 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
49.213 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
49.213 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
49.213 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
49.213 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
49.214 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
49.214 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))
49.215 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
49.217 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
49.217 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
49.218 * [backup-simplify]: Simplify (* 0 R) into 0
49.218 * [backup-simplify]: Simplify (* (pow phi1 2) 0) into 0
49.219 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) into 0
49.220 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 R)) into R
49.220 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0
49.221 * [backup-simplify]: Simplify (+ (* (pow phi1 2) R) (* 0 0)) into (* (pow phi1 2) R)
49.221 * [backup-simplify]: Simplify (+ 0) into 0
49.222 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
49.222 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
49.223 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
49.223 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
49.223 * [backup-simplify]: Simplify (+ 0 0) into 0
49.224 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
49.224 * [backup-simplify]: Simplify (+ 0) into 0
49.225 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
49.225 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
49.226 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
49.226 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
49.226 * [backup-simplify]: Simplify (+ 0 0) into 0
49.227 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
49.227 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
49.228 * [backup-simplify]: Simplify (+ 0) into 0
49.228 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
49.228 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
49.229 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
49.230 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
49.230 * [backup-simplify]: Simplify (- 0) into 0
49.230 * [backup-simplify]: Simplify (+ 0 0) into 0
49.231 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
49.231 * [backup-simplify]: Simplify (+ 0) into 0
49.231 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
49.232 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
49.232 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
49.233 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
49.233 * [backup-simplify]: Simplify (- 0) into 0
49.234 * [backup-simplify]: Simplify (+ 0 0) into 0
49.234 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
49.234 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
49.235 * [backup-simplify]: Simplify (+ 0 0) into 0
49.235 * [backup-simplify]: Simplify (+ 0) into 0
49.236 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
49.236 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
49.237 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
49.237 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
49.237 * [backup-simplify]: Simplify (- 0) into 0
49.238 * [backup-simplify]: Simplify (+ 0 0) into 0
49.238 * [backup-simplify]: Simplify (+ 0) into 0
49.239 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
49.239 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
49.240 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
49.240 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
49.241 * [backup-simplify]: Simplify (+ 0 0) into 0
49.241 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
49.242 * [backup-simplify]: Simplify (+ 0) into 0
49.242 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
49.243 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
49.244 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
49.244 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
49.245 * [backup-simplify]: Simplify (+ 0 0) into 0
49.245 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
49.245 * [backup-simplify]: Simplify (+ 0) into 0
49.246 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
49.247 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
49.247 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
49.248 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
49.248 * [backup-simplify]: Simplify (- 0) into 0
49.249 * [backup-simplify]: Simplify (+ 0 0) into 0
49.249 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
49.250 * [backup-simplify]: Simplify (+ 0) into 0
49.250 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
49.250 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
49.252 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
49.253 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
49.253 * [backup-simplify]: Simplify (+ 0 0) into 0
49.254 * [backup-simplify]: Simplify (+ 0) into 0
49.254 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
49.254 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
49.255 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
49.255 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
49.256 * [backup-simplify]: Simplify (- 0) into 0
49.256 * [backup-simplify]: Simplify (+ 0 0) into 0
49.256 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
49.257 * [backup-simplify]: Simplify (+ 0) into 0
49.257 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
49.258 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
49.258 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
49.259 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
49.259 * [backup-simplify]: Simplify (- 0) into 0
49.260 * [backup-simplify]: Simplify (+ 0 0) into 0
49.260 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
49.260 * [backup-simplify]: Simplify (+ 0) into 0
49.261 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
49.261 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
49.262 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
49.262 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
49.263 * [backup-simplify]: Simplify (+ 0 0) into 0
49.263 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
49.263 * [backup-simplify]: Simplify (+ 0 0) into 0
49.264 * [backup-simplify]: Simplify (- 0) into 0
49.264 * [backup-simplify]: Simplify (+ 0 0) into 0
49.267 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* (pow phi1 2) R)) (* 0 0)) into (- (+ (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)))) (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2))))) (+ (* (sin (/ 0.5 phi1)) (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow phi1 2)))))) (* (cos (/ 0.5 phi1)) (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (pow phi1 2))))))))
49.271 * [backup-simplify]: Simplify (/ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (- (+ (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)))) (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2))))) (+ (* (sin (/ 0.5 phi1)) (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow phi1 2)))))) (* (cos (/ 0.5 phi1)) (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (pow phi1 2))))))))) into (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* (pow phi1 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (* (pow phi1 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)))) (+ (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* R (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* R (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))
49.271 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in lambda2
49.271 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in lambda2
49.271 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
49.271 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
49.271 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
49.271 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
49.271 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
49.271 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
49.271 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.271 * [backup-simplify]: Simplify 0.5 into 0.5
49.271 * [taylor]: Taking taylor expansion of phi2 in lambda2
49.271 * [backup-simplify]: Simplify phi2 into phi2
49.271 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
49.272 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
49.272 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
49.272 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
49.272 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
49.272 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
49.272 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
49.272 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
49.272 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
49.272 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.272 * [backup-simplify]: Simplify 0.5 into 0.5
49.272 * [taylor]: Taking taylor expansion of phi1 in lambda2
49.272 * [backup-simplify]: Simplify phi1 into phi1
49.272 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
49.272 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
49.272 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
49.273 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
49.273 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
49.273 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
49.273 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
49.273 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
49.273 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
49.273 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
49.273 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.273 * [backup-simplify]: Simplify 0.5 into 0.5
49.273 * [taylor]: Taking taylor expansion of phi2 in lambda2
49.273 * [backup-simplify]: Simplify phi2 into phi2
49.273 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
49.273 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
49.273 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
49.273 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
49.273 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
49.274 * [backup-simplify]: Simplify (- 0) into 0
49.274 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
49.274 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
49.274 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
49.274 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
49.274 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.274 * [backup-simplify]: Simplify 0.5 into 0.5
49.274 * [taylor]: Taking taylor expansion of phi1 in lambda2
49.274 * [backup-simplify]: Simplify phi1 into phi1
49.274 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
49.274 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
49.275 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
49.275 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
49.275 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
49.275 * [backup-simplify]: Simplify (- 0) into 0
49.275 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
49.275 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
49.275 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
49.275 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
49.275 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
49.275 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.276 * [backup-simplify]: Simplify 0.5 into 0.5
49.276 * [taylor]: Taking taylor expansion of phi2 in lambda2
49.276 * [backup-simplify]: Simplify phi2 into phi2
49.276 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
49.276 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
49.276 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
49.276 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
49.276 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
49.276 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
49.276 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.276 * [backup-simplify]: Simplify 0.5 into 0.5
49.276 * [taylor]: Taking taylor expansion of phi1 in lambda2
49.276 * [backup-simplify]: Simplify phi1 into phi1
49.276 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
49.276 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
49.276 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
49.276 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
49.276 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
49.276 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
49.276 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.276 * [backup-simplify]: Simplify 0.5 into 0.5
49.276 * [taylor]: Taking taylor expansion of phi2 in lambda2
49.276 * [backup-simplify]: Simplify phi2 into phi2
49.276 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
49.277 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
49.277 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
49.277 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
49.277 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
49.277 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.277 * [backup-simplify]: Simplify 0.5 into 0.5
49.277 * [taylor]: Taking taylor expansion of phi1 in lambda2
49.277 * [backup-simplify]: Simplify phi1 into phi1
49.277 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
49.277 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
49.277 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
49.277 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
49.277 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
49.277 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
49.277 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.277 * [backup-simplify]: Simplify 0.5 into 0.5
49.277 * [taylor]: Taking taylor expansion of phi2 in lambda2
49.277 * [backup-simplify]: Simplify phi2 into phi2
49.277 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
49.277 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
49.277 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
49.278 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
49.278 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
49.278 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
49.278 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.278 * [backup-simplify]: Simplify 0.5 into 0.5
49.278 * [taylor]: Taking taylor expansion of phi1 in lambda2
49.278 * [backup-simplify]: Simplify phi1 into phi1
49.278 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
49.278 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
49.278 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
49.278 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
49.278 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
49.278 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
49.278 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.278 * [backup-simplify]: Simplify 0.5 into 0.5
49.278 * [taylor]: Taking taylor expansion of phi2 in lambda2
49.278 * [backup-simplify]: Simplify phi2 into phi2
49.278 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
49.278 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
49.278 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
49.278 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
49.278 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
49.278 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.278 * [backup-simplify]: Simplify 0.5 into 0.5
49.278 * [taylor]: Taking taylor expansion of phi1 in lambda2
49.279 * [backup-simplify]: Simplify phi1 into phi1
49.279 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
49.279 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
49.279 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
49.279 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
49.279 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
49.279 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
49.280 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
49.280 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
49.280 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
49.281 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
49.281 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
49.281 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
49.281 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
49.281 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
49.282 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
49.282 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
49.282 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
49.282 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
49.282 * [backup-simplify]: Simplify (- 0) into 0
49.283 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
49.283 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
49.283 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
49.283 * [backup-simplify]: Simplify (- 0) into 0
49.283 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
49.284 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
49.284 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
49.284 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
49.284 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
49.284 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
49.285 * [backup-simplify]: Simplify (- 0) into 0
49.285 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
49.285 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
49.285 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
49.286 * [backup-simplify]: Simplify (- 0) into 0
49.286 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
49.286 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
49.286 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
49.286 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
49.286 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
49.286 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
49.286 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
49.286 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
49.287 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
49.287 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
49.288 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))
49.289 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
49.291 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
49.293 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
49.295 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
49.295 * [backup-simplify]: Simplify (+ 0) into 0
49.296 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
49.296 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
49.297 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
49.297 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
49.298 * [backup-simplify]: Simplify (+ 0 0) into 0
49.298 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
49.299 * [backup-simplify]: Simplify (+ 0) into 0
49.299 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
49.299 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
49.300 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
49.301 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
49.301 * [backup-simplify]: Simplify (+ 0 0) into 0
49.301 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
49.302 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
49.302 * [backup-simplify]: Simplify (+ 0) into 0
49.303 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
49.303 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
49.303 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
49.304 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
49.304 * [backup-simplify]: Simplify (- 0) into 0
49.305 * [backup-simplify]: Simplify (+ 0 0) into 0
49.305 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
49.305 * [backup-simplify]: Simplify (+ 0) into 0
49.306 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
49.306 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
49.307 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
49.308 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
49.308 * [backup-simplify]: Simplify (- 0) into 0
49.309 * [backup-simplify]: Simplify (+ 0 0) into 0
49.309 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
49.309 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
49.310 * [backup-simplify]: Simplify (+ 0 0) into 0
49.310 * [backup-simplify]: Simplify (+ 0) into 0
49.310 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
49.311 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
49.311 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
49.312 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
49.312 * [backup-simplify]: Simplify (- 0) into 0
49.313 * [backup-simplify]: Simplify (+ 0 0) into 0
49.313 * [backup-simplify]: Simplify (+ 0) into 0
49.314 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
49.314 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
49.315 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
49.315 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
49.315 * [backup-simplify]: Simplify (- 0) into 0
49.316 * [backup-simplify]: Simplify (+ 0 0) into 0
49.316 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
49.316 * [backup-simplify]: Simplify (+ 0) into 0
49.317 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
49.317 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
49.318 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
49.318 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
49.319 * [backup-simplify]: Simplify (+ 0 0) into 0
49.319 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
49.319 * [backup-simplify]: Simplify (+ 0) into 0
49.320 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
49.320 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
49.321 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
49.321 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
49.322 * [backup-simplify]: Simplify (+ 0 0) into 0
49.322 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
49.323 * [backup-simplify]: Simplify (+ 0) into 0
49.323 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
49.323 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
49.324 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
49.325 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
49.325 * [backup-simplify]: Simplify (+ 0 0) into 0
49.325 * [backup-simplify]: Simplify (+ 0) into 0
49.326 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
49.326 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
49.326 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
49.326 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
49.327 * [backup-simplify]: Simplify (+ 0 0) into 0
49.327 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
49.327 * [backup-simplify]: Simplify (+ 0) into 0
49.327 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
49.328 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
49.328 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
49.328 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
49.328 * [backup-simplify]: Simplify (- 0) into 0
49.329 * [backup-simplify]: Simplify (+ 0 0) into 0
49.329 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
49.329 * [backup-simplify]: Simplify (+ 0) into 0
49.329 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
49.330 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
49.330 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
49.330 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
49.331 * [backup-simplify]: Simplify (- 0) into 0
49.331 * [backup-simplify]: Simplify (+ 0 0) into 0
49.331 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
49.331 * [backup-simplify]: Simplify (+ 0 0) into 0
49.336 * [backup-simplify]: Simplify (- 0) into 0
49.337 * [backup-simplify]: Simplify (+ 0 0) into 0
49.339 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
49.340 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
49.340 * [taylor]: Taking taylor expansion of (+ (* 3 (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 6) (pow (sin (/ 0.5 phi1)) 6)) (* R (* (pow lambda2 3) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 15/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 4) (* (pow (cos (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 2)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 9/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 4) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 4)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 (* phi1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R phi2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* 1/2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (* lambda2 (pow phi2 2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))))))) in lambda2
49.341 * [taylor]: Taking taylor expansion of (* 3 (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) in lambda2
49.341 * [taylor]: Taking taylor expansion of 3 in lambda2
49.341 * [backup-simplify]: Simplify 3 into 3
49.341 * [taylor]: Taking taylor expansion of (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3)))) in lambda2
49.341 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) in lambda2
49.341 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)))) in lambda2
49.341 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
49.341 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
49.341 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
49.341 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.341 * [backup-simplify]: Simplify 0.5 into 0.5
49.341 * [taylor]: Taking taylor expansion of phi2 in lambda2
49.341 * [backup-simplify]: Simplify phi2 into phi2
49.341 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
49.341 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
49.341 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
49.341 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
49.341 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
49.342 * [backup-simplify]: Simplify (- 0) into 0
49.342 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
49.342 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4))) in lambda2
49.342 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
49.342 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
49.342 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
49.342 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.342 * [backup-simplify]: Simplify 0.5 into 0.5
49.342 * [taylor]: Taking taylor expansion of phi1 in lambda2
49.342 * [backup-simplify]: Simplify phi1 into phi1
49.342 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
49.342 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
49.342 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
49.342 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
49.342 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
49.342 * [backup-simplify]: Simplify (- 0) into 0
49.343 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
49.343 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)) in lambda2
49.343 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 4) in lambda2
49.343 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
49.343 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
49.343 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.343 * [backup-simplify]: Simplify 0.5 into 0.5
49.343 * [taylor]: Taking taylor expansion of phi2 in lambda2
49.343 * [backup-simplify]: Simplify phi2 into phi2
49.343 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
49.343 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
49.343 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
49.343 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
49.343 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
49.343 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
49.343 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 4) in lambda2
49.343 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
49.343 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
49.343 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.343 * [backup-simplify]: Simplify 0.5 into 0.5
49.343 * [taylor]: Taking taylor expansion of phi1 in lambda2
49.343 * [backup-simplify]: Simplify phi1 into phi1
49.343 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
49.343 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
49.343 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
49.343 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
49.343 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
49.344 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
49.344 * [taylor]: Taking taylor expansion of (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3))) in lambda2
49.344 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
49.344 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
49.344 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
49.344 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
49.344 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
49.344 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
49.344 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.344 * [backup-simplify]: Simplify 0.5 into 0.5
49.344 * [taylor]: Taking taylor expansion of phi2 in lambda2
49.344 * [backup-simplify]: Simplify phi2 into phi2
49.344 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
49.344 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
49.344 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
49.344 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
49.344 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
49.344 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
49.344 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
49.344 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
49.344 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
49.344 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.344 * [backup-simplify]: Simplify 0.5 into 0.5
49.344 * [taylor]: Taking taylor expansion of phi1 in lambda2
49.344 * [backup-simplify]: Simplify phi1 into phi1
49.344 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
49.344 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
49.344 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
49.344 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
49.344 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
49.345 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
49.345 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
49.345 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
49.345 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
49.345 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
49.345 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.345 * [backup-simplify]: Simplify 0.5 into 0.5
49.345 * [taylor]: Taking taylor expansion of phi2 in lambda2
49.345 * [backup-simplify]: Simplify phi2 into phi2
49.345 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
49.345 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
49.345 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
49.345 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
49.345 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
49.345 * [backup-simplify]: Simplify (- 0) into 0
49.345 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
49.345 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
49.345 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
49.345 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
49.345 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.345 * [backup-simplify]: Simplify 0.5 into 0.5
49.345 * [taylor]: Taking taylor expansion of phi1 in lambda2
49.345 * [backup-simplify]: Simplify phi1 into phi1
49.346 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
49.346 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
49.346 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
49.346 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
49.346 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
49.346 * [backup-simplify]: Simplify (- 0) into 0
49.346 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
49.346 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
49.346 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
49.346 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
49.346 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
49.346 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.346 * [backup-simplify]: Simplify 0.5 into 0.5
49.346 * [taylor]: Taking taylor expansion of phi2 in lambda2
49.346 * [backup-simplify]: Simplify phi2 into phi2
49.346 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
49.346 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
49.346 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
49.346 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
49.346 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
49.346 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
49.346 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.346 * [backup-simplify]: Simplify 0.5 into 0.5
49.346 * [taylor]: Taking taylor expansion of phi1 in lambda2
49.347 * [backup-simplify]: Simplify phi1 into phi1
49.347 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
49.347 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
49.347 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
49.347 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
49.347 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
49.347 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
49.347 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.347 * [backup-simplify]: Simplify 0.5 into 0.5
49.347 * [taylor]: Taking taylor expansion of phi2 in lambda2
49.347 * [backup-simplify]: Simplify phi2 into phi2
49.347 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
49.347 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
49.347 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
49.347 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
49.347 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
49.347 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.347 * [backup-simplify]: Simplify 0.5 into 0.5
49.347 * [taylor]: Taking taylor expansion of phi1 in lambda2
49.347 * [backup-simplify]: Simplify phi1 into phi1
49.347 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
49.347 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
49.347 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
49.347 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
49.347 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
49.347 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
49.347 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.347 * [backup-simplify]: Simplify 0.5 into 0.5
49.347 * [taylor]: Taking taylor expansion of phi2 in lambda2
49.347 * [backup-simplify]: Simplify phi2 into phi2
49.347 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
49.347 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
49.347 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
49.347 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
49.347 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
49.347 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
49.348 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.348 * [backup-simplify]: Simplify 0.5 into 0.5
49.348 * [taylor]: Taking taylor expansion of phi1 in lambda2
49.348 * [backup-simplify]: Simplify phi1 into phi1
49.348 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
49.348 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
49.348 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
49.348 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
49.348 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
49.348 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
49.348 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.348 * [backup-simplify]: Simplify 0.5 into 0.5
49.348 * [taylor]: Taking taylor expansion of phi2 in lambda2
49.348 * [backup-simplify]: Simplify phi2 into phi2
49.348 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
49.348 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
49.348 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
49.348 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
49.348 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
49.348 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.348 * [backup-simplify]: Simplify 0.5 into 0.5
49.348 * [taylor]: Taking taylor expansion of phi1 in lambda2
49.348 * [backup-simplify]: Simplify phi1 into phi1
49.348 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
49.348 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
49.348 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
49.348 * [taylor]: Taking taylor expansion of (* R (pow lambda2 3)) in lambda2
49.348 * [taylor]: Taking taylor expansion of R in lambda2
49.348 * [backup-simplify]: Simplify R into R
49.348 * [taylor]: Taking taylor expansion of (pow lambda2 3) in lambda2
49.348 * [taylor]: Taking taylor expansion of lambda2 in lambda2
49.348 * [backup-simplify]: Simplify 0 into 0
49.348 * [backup-simplify]: Simplify 1 into 1
49.348 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
49.349 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
49.349 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
49.349 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (pow (sin (/ 0.5 phi2)) 4)
49.349 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
49.349 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (pow (sin (/ 0.5 phi1)) 4)
49.349 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)) into (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4))
49.350 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4))) into (* (pow (sin (/ 0.5 phi1)) 4) (* (pow (sin (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi1)) 2)))
49.350 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 4) (* (pow (sin (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi1)) 2)))) into (* (pow (sin (/ 0.5 phi2)) 4) (* (pow (sin (/ 0.5 phi1)) 4) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))))
49.350 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
49.350 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
49.350 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
49.350 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
49.351 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
49.351 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
49.351 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
49.351 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
49.351 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
49.352 * [backup-simplify]: Simplify (- 0) into 0
49.352 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
49.352 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
49.352 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
49.352 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
49.352 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
49.352 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
49.352 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
49.352 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
49.352 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
49.353 * [backup-simplify]: Simplify (- 0) into 0
49.353 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
49.353 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
49.353 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
49.353 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
49.353 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
49.353 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
49.353 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
49.353 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
49.353 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
49.354 * [backup-simplify]: Simplify (- 0) into 0
49.354 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
49.354 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
49.354 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
49.354 * [backup-simplify]: Simplify (- 0) into 0
49.354 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
49.354 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
49.354 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
49.354 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
49.354 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
49.355 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
49.355 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
49.355 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))
49.356 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
49.357 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
49.357 * [backup-simplify]: Simplify (* 1 1) into 1
49.357 * [backup-simplify]: Simplify (* 1 1) into 1
49.357 * [backup-simplify]: Simplify (* R 1) into R
49.358 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R) into (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)
49.360 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi2)) 4) (* (pow (sin (/ 0.5 phi1)) 4) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) into (/ (* (pow (sin (/ 0.5 phi2)) 4) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 4)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
49.360 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))) in lambda2
49.360 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3)) in lambda2
49.360 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3) in lambda2
49.360 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
49.360 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
49.360 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
49.360 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
49.360 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
49.360 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
49.360 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.360 * [backup-simplify]: Simplify 0.5 into 0.5
49.360 * [taylor]: Taking taylor expansion of phi2 in lambda2
49.360 * [backup-simplify]: Simplify phi2 into phi2
49.360 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
49.360 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
49.360 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
49.360 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
49.360 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
49.360 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
49.360 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
49.361 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
49.361 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
49.361 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.361 * [backup-simplify]: Simplify 0.5 into 0.5
49.361 * [taylor]: Taking taylor expansion of phi1 in lambda2
49.361 * [backup-simplify]: Simplify phi1 into phi1
49.361 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
49.361 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
49.361 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
49.361 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
49.361 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
49.361 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
49.361 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
49.361 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
49.361 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
49.361 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
49.361 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.361 * [backup-simplify]: Simplify 0.5 into 0.5
49.361 * [taylor]: Taking taylor expansion of phi2 in lambda2
49.361 * [backup-simplify]: Simplify phi2 into phi2
49.361 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
49.361 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
49.361 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
49.361 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
49.361 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
49.362 * [backup-simplify]: Simplify (- 0) into 0
49.362 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
49.362 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
49.362 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
49.362 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
49.362 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.362 * [backup-simplify]: Simplify 0.5 into 0.5
49.362 * [taylor]: Taking taylor expansion of phi1 in lambda2
49.362 * [backup-simplify]: Simplify phi1 into phi1
49.362 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
49.362 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
49.362 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
49.363 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
49.363 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
49.363 * [backup-simplify]: Simplify (- 0) into 0
49.363 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
49.363 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
49.363 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
49.363 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
49.363 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
49.363 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.363 * [backup-simplify]: Simplify 0.5 into 0.5
49.363 * [taylor]: Taking taylor expansion of phi2 in lambda2
49.363 * [backup-simplify]: Simplify phi2 into phi2
49.363 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
49.363 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
49.364 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
49.364 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
49.364 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
49.364 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
49.364 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.364 * [backup-simplify]: Simplify 0.5 into 0.5
49.364 * [taylor]: Taking taylor expansion of phi1 in lambda2
49.364 * [backup-simplify]: Simplify phi1 into phi1
49.364 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
49.364 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
49.364 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
49.364 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
49.364 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
49.364 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
49.364 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.364 * [backup-simplify]: Simplify 0.5 into 0.5
49.364 * [taylor]: Taking taylor expansion of phi2 in lambda2
49.364 * [backup-simplify]: Simplify phi2 into phi2
49.364 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
49.364 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
49.364 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
49.364 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
49.364 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
49.364 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.364 * [backup-simplify]: Simplify 0.5 into 0.5
49.364 * [taylor]: Taking taylor expansion of phi1 in lambda2
49.365 * [backup-simplify]: Simplify phi1 into phi1
49.365 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
49.365 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
49.365 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
49.365 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
49.365 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
49.365 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
49.365 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.365 * [backup-simplify]: Simplify 0.5 into 0.5
49.365 * [taylor]: Taking taylor expansion of phi2 in lambda2
49.365 * [backup-simplify]: Simplify phi2 into phi2
49.365 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
49.365 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
49.365 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
49.365 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
49.365 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
49.365 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
49.365 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.365 * [backup-simplify]: Simplify 0.5 into 0.5
49.365 * [taylor]: Taking taylor expansion of phi1 in lambda2
49.365 * [backup-simplify]: Simplify phi1 into phi1
49.365 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
49.365 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
49.365 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
49.366 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
49.366 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
49.366 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
49.366 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.366 * [backup-simplify]: Simplify 0.5 into 0.5
49.366 * [taylor]: Taking taylor expansion of phi2 in lambda2
49.366 * [backup-simplify]: Simplify phi2 into phi2
49.366 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
49.366 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
49.366 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
49.366 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
49.366 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
49.366 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.366 * [backup-simplify]: Simplify 0.5 into 0.5
49.366 * [taylor]: Taking taylor expansion of phi1 in lambda2
49.366 * [backup-simplify]: Simplify phi1 into phi1
49.366 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
49.366 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
49.366 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
49.366 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
49.367 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
49.367 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
49.367 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
49.368 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
49.368 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
49.369 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
49.369 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
49.369 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
49.369 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
49.369 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
49.369 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
49.369 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
49.369 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
49.369 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
49.370 * [backup-simplify]: Simplify (- 0) into 0
49.370 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
49.370 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
49.370 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
49.371 * [backup-simplify]: Simplify (- 0) into 0
49.371 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
49.371 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
49.371 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
49.371 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
49.372 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
49.372 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
49.372 * [backup-simplify]: Simplify (- 0) into 0
49.372 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
49.372 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
49.372 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
49.373 * [backup-simplify]: Simplify (- 0) into 0
49.373 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
49.373 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
49.373 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
49.373 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
49.373 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
49.373 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
49.373 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
49.374 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
49.374 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
49.374 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
49.375 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))
49.376 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
49.377 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
49.380 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)
49.384 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)) into (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
49.387 * [backup-simplify]: Simplify (/ 1 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)))
49.391 * [backup-simplify]: Simplify (sqrt (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)))) into (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))
49.392 * [backup-simplify]: Simplify (+ 0) into 0
49.392 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
49.393 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
49.393 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
49.394 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
49.394 * [backup-simplify]: Simplify (+ 0 0) into 0
49.394 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
49.395 * [backup-simplify]: Simplify (+ 0) into 0
49.395 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
49.395 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
49.396 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
49.396 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
49.397 * [backup-simplify]: Simplify (+ 0 0) into 0
49.397 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
49.397 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
49.398 * [backup-simplify]: Simplify (+ 0) into 0
49.398 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
49.398 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
49.399 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
49.400 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
49.400 * [backup-simplify]: Simplify (- 0) into 0
49.400 * [backup-simplify]: Simplify (+ 0 0) into 0
49.400 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
49.401 * [backup-simplify]: Simplify (+ 0) into 0
49.401 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
49.401 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
49.402 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
49.403 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
49.403 * [backup-simplify]: Simplify (- 0) into 0
49.403 * [backup-simplify]: Simplify (+ 0 0) into 0
49.403 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
49.404 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
49.404 * [backup-simplify]: Simplify (+ 0 0) into 0
49.405 * [backup-simplify]: Simplify (+ 0) into 0
49.405 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
49.405 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
49.406 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
49.406 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
49.407 * [backup-simplify]: Simplify (- 0) into 0
49.407 * [backup-simplify]: Simplify (+ 0 0) into 0
49.407 * [backup-simplify]: Simplify (+ 0) into 0
49.408 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
49.408 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
49.409 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
49.409 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
49.410 * [backup-simplify]: Simplify (- 0) into 0
49.410 * [backup-simplify]: Simplify (+ 0 0) into 0
49.410 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
49.410 * [backup-simplify]: Simplify (+ 0) into 0
49.410 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
49.411 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
49.411 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
49.411 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
49.412 * [backup-simplify]: Simplify (+ 0 0) into 0
49.412 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
49.412 * [backup-simplify]: Simplify (+ 0) into 0
49.412 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
49.412 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
49.413 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
49.413 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
49.413 * [backup-simplify]: Simplify (+ 0 0) into 0
49.414 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
49.414 * [backup-simplify]: Simplify (+ 0) into 0
49.414 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
49.414 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
49.415 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
49.415 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
49.415 * [backup-simplify]: Simplify (+ 0 0) into 0
49.416 * [backup-simplify]: Simplify (+ 0) into 0
49.416 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
49.416 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
49.416 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
49.417 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
49.417 * [backup-simplify]: Simplify (+ 0 0) into 0
49.417 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
49.417 * [backup-simplify]: Simplify (+ 0) into 0
49.418 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
49.418 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
49.418 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
49.419 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
49.419 * [backup-simplify]: Simplify (- 0) into 0
49.419 * [backup-simplify]: Simplify (+ 0 0) into 0
49.419 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
49.419 * [backup-simplify]: Simplify (+ 0) into 0
49.420 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
49.420 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
49.420 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
49.421 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
49.421 * [backup-simplify]: Simplify (- 0) into 0
49.421 * [backup-simplify]: Simplify (+ 0 0) into 0
49.421 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
49.422 * [backup-simplify]: Simplify (+ 0 0) into 0
49.422 * [backup-simplify]: Simplify (- 0) into 0
49.422 * [backup-simplify]: Simplify (+ 0 0) into 0
49.424 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into 0
49.426 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2))) into 0
49.432 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2))) (/ 0 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
49.437 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)))))) into 0
49.437 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 6) (pow (sin (/ 0.5 phi1)) 6)) (* R (* (pow lambda2 3) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 15/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 4) (* (pow (cos (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 2)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 9/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 4) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 4)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 (* phi1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R phi2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* 1/2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (* lambda2 (pow phi2 2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))))) in lambda2
49.437 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 6) (pow (sin (/ 0.5 phi1)) 6)) (* R (* (pow lambda2 3) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) in lambda2
49.437 * [taylor]: Taking taylor expansion of 1/2 in lambda2
49.437 * [backup-simplify]: Simplify 1/2 into 1/2
49.437 * [taylor]: Taking taylor expansion of (* (/ (* (pow (sin (/ 0.5 phi2)) 6) (pow (sin (/ 0.5 phi1)) 6)) (* R (* (pow lambda2 3) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3)))) in lambda2
49.437 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi2)) 6) (pow (sin (/ 0.5 phi1)) 6)) (* R (* (pow lambda2 3) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) in lambda2
49.438 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 6) (pow (sin (/ 0.5 phi1)) 6)) in lambda2
49.438 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 6) in lambda2
49.438 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
49.438 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
49.438 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.438 * [backup-simplify]: Simplify 0.5 into 0.5
49.438 * [taylor]: Taking taylor expansion of phi2 in lambda2
49.438 * [backup-simplify]: Simplify phi2 into phi2
49.438 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
49.438 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
49.438 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
49.438 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
49.438 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
49.438 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
49.438 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 6) in lambda2
49.438 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
49.438 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
49.438 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.438 * [backup-simplify]: Simplify 0.5 into 0.5
49.439 * [taylor]: Taking taylor expansion of phi1 in lambda2
49.439 * [backup-simplify]: Simplify phi1 into phi1
49.439 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
49.439 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
49.439 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
49.439 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
49.439 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
49.439 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
49.439 * [taylor]: Taking taylor expansion of (* R (* (pow lambda2 3) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in lambda2
49.439 * [taylor]: Taking taylor expansion of R in lambda2
49.439 * [backup-simplify]: Simplify R into R
49.439 * [taylor]: Taking taylor expansion of (* (pow lambda2 3) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in lambda2
49.439 * [taylor]: Taking taylor expansion of (pow lambda2 3) in lambda2
49.439 * [taylor]: Taking taylor expansion of lambda2 in lambda2
49.439 * [backup-simplify]: Simplify 0 into 0
49.439 * [backup-simplify]: Simplify 1 into 1
49.439 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
49.439 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
49.440 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
49.440 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
49.440 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
49.440 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
49.440 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.440 * [backup-simplify]: Simplify 0.5 into 0.5
49.440 * [taylor]: Taking taylor expansion of phi2 in lambda2
49.440 * [backup-simplify]: Simplify phi2 into phi2
49.440 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
49.440 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
49.440 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
49.440 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
49.440 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
49.440 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
49.440 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
49.440 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
49.440 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
49.440 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.440 * [backup-simplify]: Simplify 0.5 into 0.5
49.440 * [taylor]: Taking taylor expansion of phi1 in lambda2
49.440 * [backup-simplify]: Simplify phi1 into phi1
49.441 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
49.441 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
49.441 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
49.441 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
49.441 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
49.441 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
49.441 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
49.441 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
49.441 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
49.441 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
49.441 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.441 * [backup-simplify]: Simplify 0.5 into 0.5
49.441 * [taylor]: Taking taylor expansion of phi2 in lambda2
49.441 * [backup-simplify]: Simplify phi2 into phi2
49.441 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
49.441 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
49.442 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
49.442 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
49.442 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
49.442 * [backup-simplify]: Simplify (- 0) into 0
49.442 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
49.442 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
49.443 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
49.443 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
49.443 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.443 * [backup-simplify]: Simplify 0.5 into 0.5
49.443 * [taylor]: Taking taylor expansion of phi1 in lambda2
49.443 * [backup-simplify]: Simplify phi1 into phi1
49.443 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
49.443 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
49.443 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
49.443 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
49.443 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
49.444 * [backup-simplify]: Simplify (- 0) into 0
49.444 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
49.444 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
49.444 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
49.444 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
49.444 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
49.444 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.444 * [backup-simplify]: Simplify 0.5 into 0.5
49.444 * [taylor]: Taking taylor expansion of phi2 in lambda2
49.444 * [backup-simplify]: Simplify phi2 into phi2
49.444 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
49.444 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
49.444 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
49.444 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
49.444 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
49.444 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
49.444 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.444 * [backup-simplify]: Simplify 0.5 into 0.5
49.444 * [taylor]: Taking taylor expansion of phi1 in lambda2
49.444 * [backup-simplify]: Simplify phi1 into phi1
49.444 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
49.445 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
49.445 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
49.445 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
49.445 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
49.445 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
49.445 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.445 * [backup-simplify]: Simplify 0.5 into 0.5
49.445 * [taylor]: Taking taylor expansion of phi2 in lambda2
49.445 * [backup-simplify]: Simplify phi2 into phi2
49.445 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
49.445 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
49.445 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
49.445 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
49.445 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
49.445 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.445 * [backup-simplify]: Simplify 0.5 into 0.5
49.445 * [taylor]: Taking taylor expansion of phi1 in lambda2
49.445 * [backup-simplify]: Simplify phi1 into phi1
49.445 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
49.445 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
49.446 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
49.446 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
49.446 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
49.446 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
49.446 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.446 * [backup-simplify]: Simplify 0.5 into 0.5
49.446 * [taylor]: Taking taylor expansion of phi2 in lambda2
49.446 * [backup-simplify]: Simplify phi2 into phi2
49.446 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
49.446 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
49.446 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
49.446 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
49.446 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
49.446 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
49.446 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.446 * [backup-simplify]: Simplify 0.5 into 0.5
49.446 * [taylor]: Taking taylor expansion of phi1 in lambda2
49.446 * [backup-simplify]: Simplify phi1 into phi1
49.446 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
49.446 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
49.446 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
49.446 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
49.446 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
49.447 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
49.447 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.447 * [backup-simplify]: Simplify 0.5 into 0.5
49.447 * [taylor]: Taking taylor expansion of phi2 in lambda2
49.447 * [backup-simplify]: Simplify phi2 into phi2
49.447 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
49.447 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
49.447 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
49.447 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
49.447 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
49.447 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.447 * [backup-simplify]: Simplify 0.5 into 0.5
49.447 * [taylor]: Taking taylor expansion of phi1 in lambda2
49.447 * [backup-simplify]: Simplify phi1 into phi1
49.447 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
49.447 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
49.447 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
49.447 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
49.448 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (pow (sin (/ 0.5 phi2)) 2)) into (pow (sin (/ 0.5 phi2)) 3)
49.448 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi2)) 3)) into (pow (sin (/ 0.5 phi2)) 6)
49.448 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
49.449 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (pow (sin (/ 0.5 phi1)) 2)) into (pow (sin (/ 0.5 phi1)) 3)
49.449 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 3) (pow (sin (/ 0.5 phi1)) 3)) into (pow (sin (/ 0.5 phi1)) 6)
49.449 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 6) (pow (sin (/ 0.5 phi1)) 6)) into (* (pow (sin (/ 0.5 phi2)) 6) (pow (sin (/ 0.5 phi1)) 6))
49.450 * [backup-simplify]: Simplify (* 1 1) into 1
49.450 * [backup-simplify]: Simplify (* 1 1) into 1
49.451 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
49.451 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
49.451 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
49.451 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
49.452 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
49.452 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
49.453 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
49.453 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
49.453 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
49.454 * [backup-simplify]: Simplify (- 0) into 0
49.454 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
49.454 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
49.454 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
49.454 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
49.454 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
49.454 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
49.455 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
49.455 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
49.455 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
49.455 * [backup-simplify]: Simplify (- 0) into 0
49.455 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
49.456 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
49.456 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
49.456 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
49.456 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
49.457 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
49.457 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
49.457 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
49.457 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
49.457 * [backup-simplify]: Simplify (- 0) into 0
49.458 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
49.458 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
49.458 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
49.458 * [backup-simplify]: Simplify (- 0) into 0
49.458 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
49.458 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
49.459 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
49.459 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
49.459 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
49.459 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
49.459 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
49.460 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))
49.461 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
49.463 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
49.465 * [backup-simplify]: Simplify (* 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
49.467 * [backup-simplify]: Simplify (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)
49.469 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi2)) 6) (pow (sin (/ 0.5 phi1)) 6)) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) into (/ (* (pow (sin (/ 0.5 phi2)) 6) (pow (sin (/ 0.5 phi1)) 6)) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
49.470 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))) in lambda2
49.470 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3)) in lambda2
49.470 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3) in lambda2
49.470 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
49.470 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
49.470 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
49.470 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
49.470 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
49.470 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
49.470 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.470 * [backup-simplify]: Simplify 0.5 into 0.5
49.470 * [taylor]: Taking taylor expansion of phi2 in lambda2
49.470 * [backup-simplify]: Simplify phi2 into phi2
49.470 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
49.470 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
49.470 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
49.471 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
49.471 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
49.471 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
49.471 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
49.471 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
49.471 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
49.471 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.471 * [backup-simplify]: Simplify 0.5 into 0.5
49.471 * [taylor]: Taking taylor expansion of phi1 in lambda2
49.471 * [backup-simplify]: Simplify phi1 into phi1
49.471 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
49.471 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
49.471 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
49.471 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
49.471 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
49.472 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
49.472 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
49.472 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
49.472 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
49.472 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
49.472 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.472 * [backup-simplify]: Simplify 0.5 into 0.5
49.472 * [taylor]: Taking taylor expansion of phi2 in lambda2
49.472 * [backup-simplify]: Simplify phi2 into phi2
49.472 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
49.472 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
49.472 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
49.472 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
49.472 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
49.473 * [backup-simplify]: Simplify (- 0) into 0
49.473 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
49.473 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
49.473 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
49.473 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
49.473 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.473 * [backup-simplify]: Simplify 0.5 into 0.5
49.473 * [taylor]: Taking taylor expansion of phi1 in lambda2
49.473 * [backup-simplify]: Simplify phi1 into phi1
49.473 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
49.473 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
49.473 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
49.474 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
49.474 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
49.474 * [backup-simplify]: Simplify (- 0) into 0
49.474 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
49.474 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
49.474 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
49.474 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
49.474 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
49.474 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.474 * [backup-simplify]: Simplify 0.5 into 0.5
49.475 * [taylor]: Taking taylor expansion of phi2 in lambda2
49.475 * [backup-simplify]: Simplify phi2 into phi2
49.475 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
49.475 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
49.475 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
49.475 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
49.475 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
49.475 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
49.475 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.475 * [backup-simplify]: Simplify 0.5 into 0.5
49.475 * [taylor]: Taking taylor expansion of phi1 in lambda2
49.475 * [backup-simplify]: Simplify phi1 into phi1
49.475 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
49.475 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
49.475 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
49.475 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
49.475 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
49.475 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
49.475 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.475 * [backup-simplify]: Simplify 0.5 into 0.5
49.475 * [taylor]: Taking taylor expansion of phi2 in lambda2
49.475 * [backup-simplify]: Simplify phi2 into phi2
49.475 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
49.476 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
49.476 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
49.476 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
49.476 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
49.476 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.476 * [backup-simplify]: Simplify 0.5 into 0.5
49.476 * [taylor]: Taking taylor expansion of phi1 in lambda2
49.476 * [backup-simplify]: Simplify phi1 into phi1
49.476 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
49.476 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
49.476 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
49.476 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
49.476 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
49.476 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
49.476 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.476 * [backup-simplify]: Simplify 0.5 into 0.5
49.476 * [taylor]: Taking taylor expansion of phi2 in lambda2
49.476 * [backup-simplify]: Simplify phi2 into phi2
49.476 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
49.476 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
49.477 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
49.477 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
49.477 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
49.477 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
49.477 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.477 * [backup-simplify]: Simplify 0.5 into 0.5
49.477 * [taylor]: Taking taylor expansion of phi1 in lambda2
49.477 * [backup-simplify]: Simplify phi1 into phi1
49.477 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
49.477 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
49.477 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
49.477 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
49.477 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
49.477 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
49.477 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.477 * [backup-simplify]: Simplify 0.5 into 0.5
49.477 * [taylor]: Taking taylor expansion of phi2 in lambda2
49.477 * [backup-simplify]: Simplify phi2 into phi2
49.477 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
49.478 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
49.478 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
49.478 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
49.478 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
49.478 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.478 * [backup-simplify]: Simplify 0.5 into 0.5
49.478 * [taylor]: Taking taylor expansion of phi1 in lambda2
49.478 * [backup-simplify]: Simplify phi1 into phi1
49.478 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
49.478 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
49.478 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
49.478 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
49.479 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
49.479 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
49.479 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
49.479 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
49.480 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
49.480 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
49.481 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
49.481 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
49.481 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
49.481 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
49.481 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
49.481 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
49.481 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
49.481 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
49.482 * [backup-simplify]: Simplify (- 0) into 0
49.482 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
49.482 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
49.482 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
49.483 * [backup-simplify]: Simplify (- 0) into 0
49.483 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
49.483 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
49.483 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
49.484 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
49.484 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
49.484 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
49.485 * [backup-simplify]: Simplify (- 0) into 0
49.485 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
49.485 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
49.485 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
49.485 * [backup-simplify]: Simplify (- 0) into 0
49.485 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
49.486 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
49.486 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
49.486 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
49.486 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
49.486 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
49.486 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
49.486 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
49.487 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
49.487 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
49.488 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))
49.489 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
49.492 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
49.502 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)
49.506 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)) into (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
49.508 * [backup-simplify]: Simplify (/ 1 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)))
49.510 * [backup-simplify]: Simplify (sqrt (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)))) into (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))
49.511 * [backup-simplify]: Simplify (+ 0) into 0
49.511 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
49.511 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
49.512 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
49.512 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
49.512 * [backup-simplify]: Simplify (+ 0 0) into 0
49.513 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
49.513 * [backup-simplify]: Simplify (+ 0) into 0
49.513 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
49.513 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
49.514 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
49.514 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
49.514 * [backup-simplify]: Simplify (+ 0 0) into 0
49.514 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
49.515 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
49.515 * [backup-simplify]: Simplify (+ 0) into 0
49.515 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
49.515 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
49.516 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
49.516 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
49.516 * [backup-simplify]: Simplify (- 0) into 0
49.517 * [backup-simplify]: Simplify (+ 0 0) into 0
49.517 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
49.517 * [backup-simplify]: Simplify (+ 0) into 0
49.517 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
49.517 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
49.518 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
49.518 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
49.518 * [backup-simplify]: Simplify (- 0) into 0
49.519 * [backup-simplify]: Simplify (+ 0 0) into 0
49.519 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
49.519 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
49.519 * [backup-simplify]: Simplify (+ 0 0) into 0
49.520 * [backup-simplify]: Simplify (+ 0) into 0
49.520 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
49.520 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
49.520 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
49.521 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
49.521 * [backup-simplify]: Simplify (- 0) into 0
49.521 * [backup-simplify]: Simplify (+ 0 0) into 0
49.521 * [backup-simplify]: Simplify (+ 0) into 0
49.522 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
49.522 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
49.522 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
49.523 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
49.523 * [backup-simplify]: Simplify (- 0) into 0
49.523 * [backup-simplify]: Simplify (+ 0 0) into 0
49.523 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
49.523 * [backup-simplify]: Simplify (+ 0) into 0
49.524 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
49.524 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
49.524 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
49.525 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
49.525 * [backup-simplify]: Simplify (+ 0 0) into 0
49.525 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
49.525 * [backup-simplify]: Simplify (+ 0) into 0
49.526 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
49.526 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
49.526 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
49.527 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
49.527 * [backup-simplify]: Simplify (+ 0 0) into 0
49.527 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
49.527 * [backup-simplify]: Simplify (+ 0) into 0
49.528 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
49.528 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
49.528 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
49.528 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
49.529 * [backup-simplify]: Simplify (+ 0 0) into 0
49.529 * [backup-simplify]: Simplify (+ 0) into 0
49.529 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
49.529 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
49.530 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
49.530 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
49.530 * [backup-simplify]: Simplify (+ 0 0) into 0
49.530 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
49.531 * [backup-simplify]: Simplify (+ 0) into 0
49.531 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
49.531 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
49.532 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
49.532 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
49.532 * [backup-simplify]: Simplify (- 0) into 0
49.532 * [backup-simplify]: Simplify (+ 0 0) into 0
49.532 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
49.533 * [backup-simplify]: Simplify (+ 0) into 0
49.533 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
49.533 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
49.534 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
49.534 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
49.534 * [backup-simplify]: Simplify (- 0) into 0
49.534 * [backup-simplify]: Simplify (+ 0 0) into 0
49.535 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
49.535 * [backup-simplify]: Simplify (+ 0 0) into 0
49.535 * [backup-simplify]: Simplify (- 0) into 0
49.535 * [backup-simplify]: Simplify (+ 0 0) into 0
49.537 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into 0
49.539 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2))) into 0
49.546 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2))) (/ 0 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
49.551 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)))))) into 0
49.551 * [taylor]: Taking taylor expansion of (+ (* 15/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 4) (* (pow (cos (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 2)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* 9/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 4) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 4)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 (* phi1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R phi2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* 1/2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (* lambda2 (pow phi2 2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))))) in lambda2
49.551 * [taylor]: Taking taylor expansion of (* 15/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 4) (* (pow (cos (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 2)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) in lambda2
49.551 * [taylor]: Taking taylor expansion of 15/2 in lambda2
49.551 * [backup-simplify]: Simplify 15/2 into 15/2
49.551 * [taylor]: Taking taylor expansion of (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 4) (* (pow (cos (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 2)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3)))) in lambda2
49.551 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 4) (* (pow (cos (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 2)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) in lambda2
49.551 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 4) (* (pow (cos (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 2)))) in lambda2
49.552 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
49.552 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
49.552 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
49.552 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.552 * [backup-simplify]: Simplify 0.5 into 0.5
49.552 * [taylor]: Taking taylor expansion of phi2 in lambda2
49.552 * [backup-simplify]: Simplify phi2 into phi2
49.552 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
49.552 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
49.552 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
49.552 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
49.552 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
49.552 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
49.552 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 4) (* (pow (cos (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 2))) in lambda2
49.552 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 4) in lambda2
49.552 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
49.552 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
49.552 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.552 * [backup-simplify]: Simplify 0.5 into 0.5
49.552 * [taylor]: Taking taylor expansion of phi1 in lambda2
49.553 * [backup-simplify]: Simplify phi1 into phi1
49.553 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
49.553 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
49.553 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
49.553 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
49.553 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
49.554 * [backup-simplify]: Simplify (- 0) into 0
49.554 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
49.554 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
49.554 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 4) in lambda2
49.554 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
49.554 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
49.554 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.554 * [backup-simplify]: Simplify 0.5 into 0.5
49.554 * [taylor]: Taking taylor expansion of phi2 in lambda2
49.554 * [backup-simplify]: Simplify phi2 into phi2
49.554 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
49.554 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
49.554 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
49.554 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
49.554 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
49.555 * [backup-simplify]: Simplify (- 0) into 0
49.555 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
49.555 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
49.555 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
49.555 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
49.555 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.555 * [backup-simplify]: Simplify 0.5 into 0.5
49.555 * [taylor]: Taking taylor expansion of phi1 in lambda2
49.555 * [backup-simplify]: Simplify phi1 into phi1
49.555 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
49.555 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
49.555 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
49.555 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
49.556 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
49.556 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
49.556 * [taylor]: Taking taylor expansion of (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3))) in lambda2
49.556 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
49.556 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
49.556 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
49.556 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
49.556 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
49.556 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
49.556 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.556 * [backup-simplify]: Simplify 0.5 into 0.5
49.556 * [taylor]: Taking taylor expansion of phi2 in lambda2
49.556 * [backup-simplify]: Simplify phi2 into phi2
49.556 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
49.556 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
49.556 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
49.556 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
49.557 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
49.557 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
49.557 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
49.557 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
49.557 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
49.557 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.557 * [backup-simplify]: Simplify 0.5 into 0.5
49.557 * [taylor]: Taking taylor expansion of phi1 in lambda2
49.557 * [backup-simplify]: Simplify phi1 into phi1
49.557 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
49.557 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
49.557 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
49.557 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
49.557 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
49.557 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
49.557 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
49.557 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
49.557 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
49.558 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
49.558 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.558 * [backup-simplify]: Simplify 0.5 into 0.5
49.558 * [taylor]: Taking taylor expansion of phi2 in lambda2
49.558 * [backup-simplify]: Simplify phi2 into phi2
49.558 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
49.558 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
49.558 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
49.558 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
49.558 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
49.559 * [backup-simplify]: Simplify (- 0) into 0
49.559 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
49.559 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
49.559 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
49.559 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
49.559 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.559 * [backup-simplify]: Simplify 0.5 into 0.5
49.559 * [taylor]: Taking taylor expansion of phi1 in lambda2
49.559 * [backup-simplify]: Simplify phi1 into phi1
49.559 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
49.559 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
49.559 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
49.559 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
49.559 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
49.560 * [backup-simplify]: Simplify (- 0) into 0
49.560 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
49.560 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
49.560 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
49.560 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
49.560 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
49.560 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.560 * [backup-simplify]: Simplify 0.5 into 0.5
49.560 * [taylor]: Taking taylor expansion of phi2 in lambda2
49.560 * [backup-simplify]: Simplify phi2 into phi2
49.560 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
49.560 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
49.560 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
49.560 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
49.560 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
49.560 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
49.560 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.561 * [backup-simplify]: Simplify 0.5 into 0.5
49.561 * [taylor]: Taking taylor expansion of phi1 in lambda2
49.561 * [backup-simplify]: Simplify phi1 into phi1
49.561 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
49.561 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
49.561 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
49.561 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
49.561 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
49.561 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
49.561 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.561 * [backup-simplify]: Simplify 0.5 into 0.5
49.561 * [taylor]: Taking taylor expansion of phi2 in lambda2
49.561 * [backup-simplify]: Simplify phi2 into phi2
49.561 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
49.561 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
49.561 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
49.561 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
49.561 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
49.561 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.561 * [backup-simplify]: Simplify 0.5 into 0.5
49.561 * [taylor]: Taking taylor expansion of phi1 in lambda2
49.561 * [backup-simplify]: Simplify phi1 into phi1
49.561 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
49.562 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
49.562 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
49.562 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
49.562 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
49.562 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
49.562 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.562 * [backup-simplify]: Simplify 0.5 into 0.5
49.562 * [taylor]: Taking taylor expansion of phi2 in lambda2
49.562 * [backup-simplify]: Simplify phi2 into phi2
49.562 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
49.562 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
49.562 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
49.562 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
49.562 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
49.562 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
49.562 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.562 * [backup-simplify]: Simplify 0.5 into 0.5
49.562 * [taylor]: Taking taylor expansion of phi1 in lambda2
49.562 * [backup-simplify]: Simplify phi1 into phi1
49.562 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
49.562 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
49.563 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
49.563 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
49.563 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
49.563 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
49.563 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.563 * [backup-simplify]: Simplify 0.5 into 0.5
49.563 * [taylor]: Taking taylor expansion of phi2 in lambda2
49.563 * [backup-simplify]: Simplify phi2 into phi2
49.563 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
49.563 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
49.563 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
49.563 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
49.563 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
49.563 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.563 * [backup-simplify]: Simplify 0.5 into 0.5
49.563 * [taylor]: Taking taylor expansion of phi1 in lambda2
49.563 * [backup-simplify]: Simplify phi1 into phi1
49.563 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
49.563 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
49.563 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
49.563 * [taylor]: Taking taylor expansion of (* R (pow lambda2 3)) in lambda2
49.563 * [taylor]: Taking taylor expansion of R in lambda2
49.563 * [backup-simplify]: Simplify R into R
49.563 * [taylor]: Taking taylor expansion of (pow lambda2 3) in lambda2
49.564 * [taylor]: Taking taylor expansion of lambda2 in lambda2
49.564 * [backup-simplify]: Simplify 0 into 0
49.564 * [backup-simplify]: Simplify 1 into 1
49.564 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
49.564 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
49.564 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (pow (cos (/ 0.5 phi1)) 4)
49.564 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
49.565 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (pow (cos (/ 0.5 phi2)) 4)
49.565 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
49.565 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 2))
49.566 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 4) (* (pow (cos (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 2))) into (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi1)) 4)))
49.566 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi1)) 4)))) into (* (pow (cos (/ 0.5 phi2)) 4) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 4))))
49.567 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
49.567 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
49.567 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
49.567 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
49.567 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
49.568 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
49.568 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
49.569 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
49.569 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
49.569 * [backup-simplify]: Simplify (- 0) into 0
49.569 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
49.570 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
49.570 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
49.570 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
49.570 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
49.570 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
49.570 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
49.570 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
49.570 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
49.571 * [backup-simplify]: Simplify (- 0) into 0
49.571 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
49.571 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
49.571 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
49.572 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
49.572 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
49.572 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
49.572 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
49.572 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
49.572 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
49.573 * [backup-simplify]: Simplify (- 0) into 0
49.573 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
49.573 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
49.573 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
49.573 * [backup-simplify]: Simplify (- 0) into 0
49.573 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
49.574 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
49.574 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
49.574 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
49.574 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
49.574 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
49.574 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
49.575 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))
49.576 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
49.578 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
49.579 * [backup-simplify]: Simplify (* 1 1) into 1
49.579 * [backup-simplify]: Simplify (* 1 1) into 1
49.579 * [backup-simplify]: Simplify (* R 1) into R
49.581 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R) into (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)
49.584 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi2)) 4) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 4)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) into (/ (* (pow (cos (/ 0.5 phi2)) 4) (* (pow (cos (/ 0.5 phi1)) 4) (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
49.584 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))) in lambda2
49.584 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3)) in lambda2
49.584 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3) in lambda2
49.584 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
49.584 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
49.584 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
49.584 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
49.584 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
49.584 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
49.584 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.584 * [backup-simplify]: Simplify 0.5 into 0.5
49.584 * [taylor]: Taking taylor expansion of phi2 in lambda2
49.584 * [backup-simplify]: Simplify phi2 into phi2
49.584 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
49.584 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
49.585 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
49.585 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
49.585 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
49.585 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
49.585 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
49.585 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
49.585 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
49.585 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.585 * [backup-simplify]: Simplify 0.5 into 0.5
49.585 * [taylor]: Taking taylor expansion of phi1 in lambda2
49.585 * [backup-simplify]: Simplify phi1 into phi1
49.585 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
49.585 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
49.585 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
49.585 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
49.586 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
49.586 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
49.586 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
49.586 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
49.586 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
49.586 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
49.586 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.586 * [backup-simplify]: Simplify 0.5 into 0.5
49.586 * [taylor]: Taking taylor expansion of phi2 in lambda2
49.586 * [backup-simplify]: Simplify phi2 into phi2
49.586 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
49.586 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
49.586 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
49.586 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
49.586 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
49.587 * [backup-simplify]: Simplify (- 0) into 0
49.587 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
49.587 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
49.587 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
49.587 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
49.587 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.587 * [backup-simplify]: Simplify 0.5 into 0.5
49.587 * [taylor]: Taking taylor expansion of phi1 in lambda2
49.587 * [backup-simplify]: Simplify phi1 into phi1
49.587 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
49.587 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
49.588 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
49.588 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
49.588 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
49.588 * [backup-simplify]: Simplify (- 0) into 0
49.589 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
49.589 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
49.589 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
49.589 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
49.589 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
49.589 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.589 * [backup-simplify]: Simplify 0.5 into 0.5
49.589 * [taylor]: Taking taylor expansion of phi2 in lambda2
49.589 * [backup-simplify]: Simplify phi2 into phi2
49.589 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
49.589 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
49.589 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
49.589 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
49.589 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
49.589 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
49.589 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.589 * [backup-simplify]: Simplify 0.5 into 0.5
49.589 * [taylor]: Taking taylor expansion of phi1 in lambda2
49.589 * [backup-simplify]: Simplify phi1 into phi1
49.589 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
49.589 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
49.590 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
49.590 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
49.590 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
49.590 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
49.590 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.590 * [backup-simplify]: Simplify 0.5 into 0.5
49.590 * [taylor]: Taking taylor expansion of phi2 in lambda2
49.590 * [backup-simplify]: Simplify phi2 into phi2
49.590 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
49.590 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
49.590 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
49.590 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
49.590 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
49.590 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.590 * [backup-simplify]: Simplify 0.5 into 0.5
49.590 * [taylor]: Taking taylor expansion of phi1 in lambda2
49.590 * [backup-simplify]: Simplify phi1 into phi1
49.590 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
49.590 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
49.590 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
49.590 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
49.591 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
49.591 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
49.591 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.591 * [backup-simplify]: Simplify 0.5 into 0.5
49.591 * [taylor]: Taking taylor expansion of phi2 in lambda2
49.591 * [backup-simplify]: Simplify phi2 into phi2
49.591 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
49.591 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
49.591 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
49.591 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
49.591 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
49.591 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
49.591 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.591 * [backup-simplify]: Simplify 0.5 into 0.5
49.591 * [taylor]: Taking taylor expansion of phi1 in lambda2
49.591 * [backup-simplify]: Simplify phi1 into phi1
49.591 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
49.591 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
49.591 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
49.591 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
49.591 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
49.591 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
49.591 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.592 * [backup-simplify]: Simplify 0.5 into 0.5
49.592 * [taylor]: Taking taylor expansion of phi2 in lambda2
49.592 * [backup-simplify]: Simplify phi2 into phi2
49.592 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
49.592 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
49.592 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
49.592 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
49.592 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
49.592 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.592 * [backup-simplify]: Simplify 0.5 into 0.5
49.592 * [taylor]: Taking taylor expansion of phi1 in lambda2
49.592 * [backup-simplify]: Simplify phi1 into phi1
49.592 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
49.592 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
49.592 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
49.592 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
49.593 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
49.593 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
49.593 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
49.593 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
49.594 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
49.594 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
49.595 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
49.595 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
49.595 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
49.595 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
49.595 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
49.595 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
49.595 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
49.595 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
49.596 * [backup-simplify]: Simplify (- 0) into 0
49.596 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
49.596 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
49.596 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
49.597 * [backup-simplify]: Simplify (- 0) into 0
49.597 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
49.597 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
49.597 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
49.598 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
49.598 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
49.598 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
49.598 * [backup-simplify]: Simplify (- 0) into 0
49.598 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
49.598 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
49.599 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
49.599 * [backup-simplify]: Simplify (- 0) into 0
49.599 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
49.599 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
49.599 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
49.599 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
49.600 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
49.600 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
49.600 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
49.600 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
49.600 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
49.600 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
49.601 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))
49.602 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
49.604 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
49.608 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)
49.612 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)) into (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
49.616 * [backup-simplify]: Simplify (/ 1 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)))
49.620 * [backup-simplify]: Simplify (sqrt (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)))) into (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))
49.621 * [backup-simplify]: Simplify (+ 0) into 0
49.622 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
49.622 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
49.623 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
49.623 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
49.624 * [backup-simplify]: Simplify (+ 0 0) into 0
49.624 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
49.624 * [backup-simplify]: Simplify (+ 0) into 0
49.625 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
49.625 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
49.626 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
49.626 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
49.627 * [backup-simplify]: Simplify (+ 0 0) into 0
49.627 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
49.627 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
49.628 * [backup-simplify]: Simplify (+ 0) into 0
49.628 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
49.628 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
49.629 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
49.630 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
49.630 * [backup-simplify]: Simplify (- 0) into 0
49.630 * [backup-simplify]: Simplify (+ 0 0) into 0
49.631 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
49.631 * [backup-simplify]: Simplify (+ 0) into 0
49.632 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
49.632 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
49.633 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
49.633 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
49.633 * [backup-simplify]: Simplify (- 0) into 0
49.634 * [backup-simplify]: Simplify (+ 0 0) into 0
49.634 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
49.634 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
49.635 * [backup-simplify]: Simplify (+ 0 0) into 0
49.635 * [backup-simplify]: Simplify (+ 0) into 0
49.636 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
49.636 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
49.637 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
49.637 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
49.638 * [backup-simplify]: Simplify (- 0) into 0
49.638 * [backup-simplify]: Simplify (+ 0 0) into 0
49.638 * [backup-simplify]: Simplify (+ 0) into 0
49.639 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
49.639 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
49.640 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
49.640 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
49.641 * [backup-simplify]: Simplify (- 0) into 0
49.641 * [backup-simplify]: Simplify (+ 0 0) into 0
49.641 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
49.642 * [backup-simplify]: Simplify (+ 0) into 0
49.642 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
49.642 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
49.643 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
49.644 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
49.644 * [backup-simplify]: Simplify (+ 0 0) into 0
49.644 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
49.645 * [backup-simplify]: Simplify (+ 0) into 0
49.645 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
49.645 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
49.653 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
49.654 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
49.654 * [backup-simplify]: Simplify (+ 0 0) into 0
49.654 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
49.655 * [backup-simplify]: Simplify (+ 0) into 0
49.655 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
49.655 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
49.656 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
49.657 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
49.657 * [backup-simplify]: Simplify (+ 0 0) into 0
49.657 * [backup-simplify]: Simplify (+ 0) into 0
49.658 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
49.658 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
49.658 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
49.659 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
49.659 * [backup-simplify]: Simplify (+ 0 0) into 0
49.659 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
49.659 * [backup-simplify]: Simplify (+ 0) into 0
49.660 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
49.660 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
49.660 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
49.660 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
49.661 * [backup-simplify]: Simplify (- 0) into 0
49.661 * [backup-simplify]: Simplify (+ 0 0) into 0
49.661 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
49.661 * [backup-simplify]: Simplify (+ 0) into 0
49.662 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
49.662 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
49.662 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
49.662 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
49.663 * [backup-simplify]: Simplify (- 0) into 0
49.663 * [backup-simplify]: Simplify (+ 0 0) into 0
49.663 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
49.663 * [backup-simplify]: Simplify (+ 0 0) into 0
49.664 * [backup-simplify]: Simplify (- 0) into 0
49.664 * [backup-simplify]: Simplify (+ 0 0) into 0
49.666 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into 0
49.668 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2))) into 0
49.673 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2))) (/ 0 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
49.676 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)))))) into 0
49.677 * [taylor]: Taking taylor expansion of (+ (* 9/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 4) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 4)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) (+ (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 (* phi1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R phi2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* 1/2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (* lambda2 (pow phi2 2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))) in lambda2
49.677 * [taylor]: Taking taylor expansion of (* 9/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 4) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 4)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))) in lambda2
49.677 * [taylor]: Taking taylor expansion of 9/2 in lambda2
49.677 * [backup-simplify]: Simplify 9/2 into 9/2
49.677 * [taylor]: Taking taylor expansion of (* (/ (* (pow (sin (/ 0.5 phi2)) 4) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 4)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3)))) in lambda2
49.677 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi2)) 4) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 4)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3)))) in lambda2
49.677 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 4) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 4)))) in lambda2
49.677 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 4) in lambda2
49.677 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
49.677 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
49.677 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.677 * [backup-simplify]: Simplify 0.5 into 0.5
49.677 * [taylor]: Taking taylor expansion of phi2 in lambda2
49.677 * [backup-simplify]: Simplify phi2 into phi2
49.677 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
49.677 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
49.677 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
49.677 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
49.677 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
49.678 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
49.678 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 4))) in lambda2
49.678 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
49.678 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
49.678 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
49.678 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.678 * [backup-simplify]: Simplify 0.5 into 0.5
49.678 * [taylor]: Taking taylor expansion of phi1 in lambda2
49.678 * [backup-simplify]: Simplify phi1 into phi1
49.678 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
49.678 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
49.678 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
49.678 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
49.678 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
49.679 * [backup-simplify]: Simplify (- 0) into 0
49.679 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
49.679 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 4)) in lambda2
49.679 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
49.679 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
49.679 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
49.679 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.679 * [backup-simplify]: Simplify 0.5 into 0.5
49.679 * [taylor]: Taking taylor expansion of phi2 in lambda2
49.679 * [backup-simplify]: Simplify phi2 into phi2
49.679 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
49.679 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
49.679 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
49.679 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
49.679 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
49.679 * [backup-simplify]: Simplify (- 0) into 0
49.679 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
49.680 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 4) in lambda2
49.680 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
49.680 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
49.680 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.680 * [backup-simplify]: Simplify 0.5 into 0.5
49.680 * [taylor]: Taking taylor expansion of phi1 in lambda2
49.680 * [backup-simplify]: Simplify phi1 into phi1
49.680 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
49.680 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
49.680 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
49.680 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
49.680 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
49.680 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
49.680 * [taylor]: Taking taylor expansion of (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow lambda2 3))) in lambda2
49.680 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
49.680 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
49.680 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
49.680 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
49.680 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
49.680 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
49.680 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.680 * [backup-simplify]: Simplify 0.5 into 0.5
49.680 * [taylor]: Taking taylor expansion of phi2 in lambda2
49.680 * [backup-simplify]: Simplify phi2 into phi2
49.680 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
49.680 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
49.680 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
49.680 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
49.681 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
49.681 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
49.681 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
49.681 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
49.681 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
49.681 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.681 * [backup-simplify]: Simplify 0.5 into 0.5
49.681 * [taylor]: Taking taylor expansion of phi1 in lambda2
49.681 * [backup-simplify]: Simplify phi1 into phi1
49.681 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
49.681 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
49.681 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
49.681 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
49.681 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
49.681 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
49.681 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
49.681 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
49.681 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
49.681 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
49.681 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.681 * [backup-simplify]: Simplify 0.5 into 0.5
49.681 * [taylor]: Taking taylor expansion of phi2 in lambda2
49.681 * [backup-simplify]: Simplify phi2 into phi2
49.681 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
49.681 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
49.681 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
49.682 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
49.682 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
49.682 * [backup-simplify]: Simplify (- 0) into 0
49.682 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
49.682 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
49.682 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
49.682 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
49.682 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.682 * [backup-simplify]: Simplify 0.5 into 0.5
49.682 * [taylor]: Taking taylor expansion of phi1 in lambda2
49.682 * [backup-simplify]: Simplify phi1 into phi1
49.682 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
49.682 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
49.682 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
49.682 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
49.682 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
49.683 * [backup-simplify]: Simplify (- 0) into 0
49.683 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
49.683 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
49.683 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
49.683 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
49.683 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
49.683 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.683 * [backup-simplify]: Simplify 0.5 into 0.5
49.683 * [taylor]: Taking taylor expansion of phi2 in lambda2
49.683 * [backup-simplify]: Simplify phi2 into phi2
49.683 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
49.683 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
49.683 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
49.683 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
49.683 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
49.683 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
49.683 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.683 * [backup-simplify]: Simplify 0.5 into 0.5
49.683 * [taylor]: Taking taylor expansion of phi1 in lambda2
49.683 * [backup-simplify]: Simplify phi1 into phi1
49.683 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
49.683 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
49.683 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
49.683 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
49.684 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
49.684 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
49.684 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.684 * [backup-simplify]: Simplify 0.5 into 0.5
49.684 * [taylor]: Taking taylor expansion of phi2 in lambda2
49.684 * [backup-simplify]: Simplify phi2 into phi2
49.684 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
49.684 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
49.684 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
49.684 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
49.684 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
49.684 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.684 * [backup-simplify]: Simplify 0.5 into 0.5
49.684 * [taylor]: Taking taylor expansion of phi1 in lambda2
49.684 * [backup-simplify]: Simplify phi1 into phi1
49.684 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
49.684 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
49.684 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
49.684 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
49.684 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
49.684 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
49.684 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.684 * [backup-simplify]: Simplify 0.5 into 0.5
49.684 * [taylor]: Taking taylor expansion of phi2 in lambda2
49.684 * [backup-simplify]: Simplify phi2 into phi2
49.684 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
49.684 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
49.684 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
49.684 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
49.684 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
49.684 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
49.684 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.684 * [backup-simplify]: Simplify 0.5 into 0.5
49.684 * [taylor]: Taking taylor expansion of phi1 in lambda2
49.684 * [backup-simplify]: Simplify phi1 into phi1
49.684 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
49.685 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
49.685 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
49.685 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
49.685 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
49.685 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
49.685 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.685 * [backup-simplify]: Simplify 0.5 into 0.5
49.685 * [taylor]: Taking taylor expansion of phi2 in lambda2
49.685 * [backup-simplify]: Simplify phi2 into phi2
49.685 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
49.685 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
49.685 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
49.685 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
49.685 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
49.685 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.685 * [backup-simplify]: Simplify 0.5 into 0.5
49.685 * [taylor]: Taking taylor expansion of phi1 in lambda2
49.685 * [backup-simplify]: Simplify phi1 into phi1
49.685 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
49.685 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
49.685 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
49.685 * [taylor]: Taking taylor expansion of (* R (pow lambda2 3)) in lambda2
49.685 * [taylor]: Taking taylor expansion of R in lambda2
49.685 * [backup-simplify]: Simplify R into R
49.685 * [taylor]: Taking taylor expansion of (pow lambda2 3) in lambda2
49.685 * [taylor]: Taking taylor expansion of lambda2 in lambda2
49.685 * [backup-simplify]: Simplify 0 into 0
49.685 * [backup-simplify]: Simplify 1 into 1
49.685 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
49.686 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (pow (sin (/ 0.5 phi2)) 4)
49.686 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
49.686 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
49.686 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
49.686 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (pow (sin (/ 0.5 phi1)) 4)
49.686 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 4)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 4))
49.687 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 4))) into (* (pow (sin (/ 0.5 phi1)) 4) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
49.687 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 4) (* (pow (sin (/ 0.5 phi1)) 4) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))) into (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 4) (* (pow (sin (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi1)) 2))))
49.687 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
49.687 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
49.687 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
49.688 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
49.688 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
49.688 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
49.688 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
49.688 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
49.688 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
49.689 * [backup-simplify]: Simplify (- 0) into 0
49.689 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
49.689 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
49.689 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
49.689 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
49.689 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
49.689 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
49.689 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
49.689 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
49.689 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
49.690 * [backup-simplify]: Simplify (- 0) into 0
49.690 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
49.690 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
49.690 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
49.690 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
49.690 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
49.690 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
49.690 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
49.690 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
49.690 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
49.691 * [backup-simplify]: Simplify (- 0) into 0
49.691 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
49.691 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
49.691 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
49.691 * [backup-simplify]: Simplify (- 0) into 0
49.691 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
49.691 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
49.691 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
49.691 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
49.691 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
49.692 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
49.692 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
49.692 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))
49.693 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
49.694 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
49.694 * [backup-simplify]: Simplify (* 1 1) into 1
49.694 * [backup-simplify]: Simplify (* 1 1) into 1
49.694 * [backup-simplify]: Simplify (* R 1) into R
49.695 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R) into (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)
49.697 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 4) (* (pow (sin (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi1)) 2)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) into (/ (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
49.697 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))) in lambda2
49.697 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3)) in lambda2
49.697 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3) in lambda2
49.697 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
49.697 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
49.697 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
49.697 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
49.697 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
49.697 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
49.697 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.697 * [backup-simplify]: Simplify 0.5 into 0.5
49.697 * [taylor]: Taking taylor expansion of phi2 in lambda2
49.697 * [backup-simplify]: Simplify phi2 into phi2
49.697 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
49.697 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
49.697 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
49.697 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
49.697 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
49.697 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
49.697 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
49.697 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
49.697 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
49.697 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.697 * [backup-simplify]: Simplify 0.5 into 0.5
49.697 * [taylor]: Taking taylor expansion of phi1 in lambda2
49.697 * [backup-simplify]: Simplify phi1 into phi1
49.697 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
49.697 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
49.698 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
49.698 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
49.698 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
49.698 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
49.698 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
49.698 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
49.698 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
49.698 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
49.698 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.698 * [backup-simplify]: Simplify 0.5 into 0.5
49.698 * [taylor]: Taking taylor expansion of phi2 in lambda2
49.698 * [backup-simplify]: Simplify phi2 into phi2
49.698 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
49.698 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
49.698 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
49.698 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
49.698 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
49.698 * [backup-simplify]: Simplify (- 0) into 0
49.699 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
49.699 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
49.699 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
49.699 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
49.699 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.699 * [backup-simplify]: Simplify 0.5 into 0.5
49.699 * [taylor]: Taking taylor expansion of phi1 in lambda2
49.699 * [backup-simplify]: Simplify phi1 into phi1
49.699 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
49.699 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
49.699 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
49.699 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
49.699 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
49.699 * [backup-simplify]: Simplify (- 0) into 0
49.699 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
49.699 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
49.699 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
49.699 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
49.699 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
49.699 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.699 * [backup-simplify]: Simplify 0.5 into 0.5
49.699 * [taylor]: Taking taylor expansion of phi2 in lambda2
49.699 * [backup-simplify]: Simplify phi2 into phi2
49.699 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
49.700 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
49.700 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
49.700 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
49.700 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
49.700 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
49.700 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.700 * [backup-simplify]: Simplify 0.5 into 0.5
49.700 * [taylor]: Taking taylor expansion of phi1 in lambda2
49.700 * [backup-simplify]: Simplify phi1 into phi1
49.700 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
49.700 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
49.700 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
49.700 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
49.700 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
49.700 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
49.700 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.700 * [backup-simplify]: Simplify 0.5 into 0.5
49.700 * [taylor]: Taking taylor expansion of phi2 in lambda2
49.700 * [backup-simplify]: Simplify phi2 into phi2
49.700 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
49.700 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
49.700 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
49.700 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
49.700 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
49.700 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.700 * [backup-simplify]: Simplify 0.5 into 0.5
49.700 * [taylor]: Taking taylor expansion of phi1 in lambda2
49.700 * [backup-simplify]: Simplify phi1 into phi1
49.700 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
49.700 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
49.700 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
49.700 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
49.700 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
49.700 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
49.700 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.700 * [backup-simplify]: Simplify 0.5 into 0.5
49.700 * [taylor]: Taking taylor expansion of phi2 in lambda2
49.700 * [backup-simplify]: Simplify phi2 into phi2
49.701 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
49.701 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
49.701 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
49.701 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
49.701 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
49.701 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
49.701 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.701 * [backup-simplify]: Simplify 0.5 into 0.5
49.701 * [taylor]: Taking taylor expansion of phi1 in lambda2
49.701 * [backup-simplify]: Simplify phi1 into phi1
49.701 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
49.701 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
49.701 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
49.701 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
49.701 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
49.701 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
49.701 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.701 * [backup-simplify]: Simplify 0.5 into 0.5
49.701 * [taylor]: Taking taylor expansion of phi2 in lambda2
49.701 * [backup-simplify]: Simplify phi2 into phi2
49.701 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
49.701 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
49.701 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
49.701 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
49.701 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
49.701 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.701 * [backup-simplify]: Simplify 0.5 into 0.5
49.701 * [taylor]: Taking taylor expansion of phi1 in lambda2
49.701 * [backup-simplify]: Simplify phi1 into phi1
49.701 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
49.701 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
49.701 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
49.701 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
49.702 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
49.702 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
49.702 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
49.702 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
49.702 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
49.703 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
49.703 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
49.703 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
49.703 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
49.703 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
49.703 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
49.703 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
49.703 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
49.703 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
49.704 * [backup-simplify]: Simplify (- 0) into 0
49.704 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
49.704 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
49.704 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
49.704 * [backup-simplify]: Simplify (- 0) into 0
49.704 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
49.704 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
49.704 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
49.704 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
49.705 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
49.705 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
49.705 * [backup-simplify]: Simplify (- 0) into 0
49.705 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
49.705 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
49.705 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
49.705 * [backup-simplify]: Simplify (- 0) into 0
49.705 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
49.705 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
49.705 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
49.706 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
49.706 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
49.706 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
49.706 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
49.706 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
49.706 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
49.706 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
49.706 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))
49.707 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
49.708 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
49.711 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)
49.715 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)) into (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
49.720 * [backup-simplify]: Simplify (/ 1 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)))
49.724 * [backup-simplify]: Simplify (sqrt (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)))) into (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))
49.725 * [backup-simplify]: Simplify (+ 0) into 0
49.725 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
49.725 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
49.726 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
49.727 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
49.727 * [backup-simplify]: Simplify (+ 0 0) into 0
49.727 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
49.728 * [backup-simplify]: Simplify (+ 0) into 0
49.728 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
49.728 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
49.729 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
49.730 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
49.730 * [backup-simplify]: Simplify (+ 0 0) into 0
49.730 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
49.731 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
49.731 * [backup-simplify]: Simplify (+ 0) into 0
49.732 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
49.732 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
49.733 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
49.733 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
49.733 * [backup-simplify]: Simplify (- 0) into 0
49.734 * [backup-simplify]: Simplify (+ 0 0) into 0
49.734 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
49.734 * [backup-simplify]: Simplify (+ 0) into 0
49.735 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
49.735 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
49.736 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
49.736 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
49.737 * [backup-simplify]: Simplify (- 0) into 0
49.737 * [backup-simplify]: Simplify (+ 0 0) into 0
49.737 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
49.738 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
49.738 * [backup-simplify]: Simplify (+ 0 0) into 0
49.738 * [backup-simplify]: Simplify (+ 0) into 0
49.739 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
49.739 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
49.740 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
49.741 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
49.741 * [backup-simplify]: Simplify (- 0) into 0
49.741 * [backup-simplify]: Simplify (+ 0 0) into 0
49.743 * [backup-simplify]: Simplify (+ 0) into 0
49.744 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
49.744 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
49.745 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
49.745 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
49.746 * [backup-simplify]: Simplify (- 0) into 0
49.746 * [backup-simplify]: Simplify (+ 0 0) into 0
49.746 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
49.747 * [backup-simplify]: Simplify (+ 0) into 0
49.747 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
49.748 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
49.749 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
49.749 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
49.750 * [backup-simplify]: Simplify (+ 0 0) into 0
49.750 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
49.750 * [backup-simplify]: Simplify (+ 0) into 0
49.751 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
49.751 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
49.752 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
49.752 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
49.753 * [backup-simplify]: Simplify (+ 0 0) into 0
49.753 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
49.754 * [backup-simplify]: Simplify (+ 0) into 0
49.754 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
49.754 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
49.755 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
49.756 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
49.756 * [backup-simplify]: Simplify (+ 0 0) into 0
49.756 * [backup-simplify]: Simplify (+ 0) into 0
49.757 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
49.757 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
49.758 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
49.758 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
49.759 * [backup-simplify]: Simplify (+ 0 0) into 0
49.759 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
49.760 * [backup-simplify]: Simplify (+ 0) into 0
49.760 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
49.760 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
49.761 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
49.762 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
49.762 * [backup-simplify]: Simplify (- 0) into 0
49.762 * [backup-simplify]: Simplify (+ 0 0) into 0
49.763 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
49.763 * [backup-simplify]: Simplify (+ 0) into 0
49.763 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
49.764 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
49.764 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
49.765 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
49.765 * [backup-simplify]: Simplify (- 0) into 0
49.766 * [backup-simplify]: Simplify (+ 0 0) into 0
49.766 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
49.766 * [backup-simplify]: Simplify (+ 0 0) into 0
49.767 * [backup-simplify]: Simplify (- 0) into 0
49.767 * [backup-simplify]: Simplify (+ 0 0) into 0
49.771 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into 0
49.775 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2))) into 0
49.782 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2))) (/ 0 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
49.785 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)))))) into 0
49.785 * [taylor]: Taking taylor expansion of (+ (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 (* phi1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R phi2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* 1/2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (* lambda2 (pow phi2 2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) in lambda2
49.785 * [taylor]: Taking taylor expansion of (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 (* phi1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R phi2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) in lambda2
49.785 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 (* phi1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R phi2))))) in lambda2
49.785 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in lambda2
49.785 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
49.785 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
49.785 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
49.785 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.785 * [backup-simplify]: Simplify 0.5 into 0.5
49.785 * [taylor]: Taking taylor expansion of phi1 in lambda2
49.785 * [backup-simplify]: Simplify phi1 into phi1
49.785 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
49.785 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
49.785 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
49.785 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
49.785 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
49.786 * [backup-simplify]: Simplify (- 0) into 0
49.786 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
49.786 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
49.786 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
49.786 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
49.786 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.786 * [backup-simplify]: Simplify 0.5 into 0.5
49.786 * [taylor]: Taking taylor expansion of phi2 in lambda2
49.786 * [backup-simplify]: Simplify phi2 into phi2
49.786 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
49.786 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
49.786 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
49.786 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
49.786 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
49.786 * [backup-simplify]: Simplify (- 0) into 0
49.786 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
49.786 * [taylor]: Taking taylor expansion of (* lambda2 (* phi1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R phi2)))) in lambda2
49.786 * [taylor]: Taking taylor expansion of lambda2 in lambda2
49.786 * [backup-simplify]: Simplify 0 into 0
49.786 * [backup-simplify]: Simplify 1 into 1
49.787 * [taylor]: Taking taylor expansion of (* phi1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R phi2))) in lambda2
49.787 * [taylor]: Taking taylor expansion of phi1 in lambda2
49.787 * [backup-simplify]: Simplify phi1 into phi1
49.787 * [taylor]: Taking taylor expansion of (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R phi2)) in lambda2
49.787 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
49.787 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
49.787 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
49.787 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
49.787 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
49.787 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
49.787 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.787 * [backup-simplify]: Simplify 0.5 into 0.5
49.787 * [taylor]: Taking taylor expansion of phi2 in lambda2
49.787 * [backup-simplify]: Simplify phi2 into phi2
49.787 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
49.787 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
49.787 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
49.787 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
49.787 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
49.787 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
49.787 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
49.787 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
49.787 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
49.787 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.787 * [backup-simplify]: Simplify 0.5 into 0.5
49.787 * [taylor]: Taking taylor expansion of phi1 in lambda2
49.787 * [backup-simplify]: Simplify phi1 into phi1
49.787 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
49.787 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
49.787 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
49.787 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
49.787 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
49.788 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
49.788 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
49.788 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
49.788 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
49.788 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
49.788 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.788 * [backup-simplify]: Simplify 0.5 into 0.5
49.788 * [taylor]: Taking taylor expansion of phi2 in lambda2
49.788 * [backup-simplify]: Simplify phi2 into phi2
49.788 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
49.788 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
49.788 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
49.788 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
49.788 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
49.788 * [backup-simplify]: Simplify (- 0) into 0
49.788 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
49.788 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
49.788 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
49.788 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
49.788 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.788 * [backup-simplify]: Simplify 0.5 into 0.5
49.788 * [taylor]: Taking taylor expansion of phi1 in lambda2
49.788 * [backup-simplify]: Simplify phi1 into phi1
49.788 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
49.789 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
49.789 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
49.789 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
49.789 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
49.789 * [backup-simplify]: Simplify (- 0) into 0
49.789 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
49.789 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
49.789 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
49.789 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
49.789 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
49.789 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.789 * [backup-simplify]: Simplify 0.5 into 0.5
49.789 * [taylor]: Taking taylor expansion of phi2 in lambda2
49.789 * [backup-simplify]: Simplify phi2 into phi2
49.789 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
49.789 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
49.789 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
49.789 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
49.789 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
49.789 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
49.789 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.789 * [backup-simplify]: Simplify 0.5 into 0.5
49.789 * [taylor]: Taking taylor expansion of phi1 in lambda2
49.789 * [backup-simplify]: Simplify phi1 into phi1
49.789 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
49.790 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
49.790 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
49.790 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
49.790 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
49.790 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
49.790 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.790 * [backup-simplify]: Simplify 0.5 into 0.5
49.790 * [taylor]: Taking taylor expansion of phi2 in lambda2
49.790 * [backup-simplify]: Simplify phi2 into phi2
49.790 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
49.790 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
49.790 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
49.790 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
49.790 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
49.790 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.790 * [backup-simplify]: Simplify 0.5 into 0.5
49.790 * [taylor]: Taking taylor expansion of phi1 in lambda2
49.790 * [backup-simplify]: Simplify phi1 into phi1
49.790 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
49.790 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
49.790 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
49.790 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
49.790 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
49.790 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
49.790 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.790 * [backup-simplify]: Simplify 0.5 into 0.5
49.790 * [taylor]: Taking taylor expansion of phi2 in lambda2
49.790 * [backup-simplify]: Simplify phi2 into phi2
49.790 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
49.790 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
49.790 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
49.790 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
49.790 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
49.790 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
49.790 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.790 * [backup-simplify]: Simplify 0.5 into 0.5
49.790 * [taylor]: Taking taylor expansion of phi1 in lambda2
49.790 * [backup-simplify]: Simplify phi1 into phi1
49.790 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
49.791 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
49.791 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
49.791 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
49.791 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
49.791 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
49.791 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.791 * [backup-simplify]: Simplify 0.5 into 0.5
49.791 * [taylor]: Taking taylor expansion of phi2 in lambda2
49.791 * [backup-simplify]: Simplify phi2 into phi2
49.791 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
49.791 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
49.791 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
49.791 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
49.791 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
49.791 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.791 * [backup-simplify]: Simplify 0.5 into 0.5
49.791 * [taylor]: Taking taylor expansion of phi1 in lambda2
49.791 * [backup-simplify]: Simplify phi1 into phi1
49.791 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
49.791 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
49.791 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
49.791 * [taylor]: Taking taylor expansion of (* R phi2) in lambda2
49.791 * [taylor]: Taking taylor expansion of R in lambda2
49.791 * [backup-simplify]: Simplify R into R
49.791 * [taylor]: Taking taylor expansion of phi2 in lambda2
49.791 * [backup-simplify]: Simplify phi2 into phi2
49.791 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
49.791 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
49.792 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
49.792 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
49.792 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
49.792 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
49.792 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
49.792 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
49.792 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
49.793 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
49.793 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
49.793 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
49.797 * [backup-simplify]: Simplify (- 0) into 0
49.797 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
49.798 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
49.798 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
49.798 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
49.798 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
49.798 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
49.798 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
49.798 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
49.798 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
49.798 * [backup-simplify]: Simplify (- 0) into 0
49.799 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
49.799 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
49.799 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
49.799 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
49.799 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
49.799 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
49.799 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
49.799 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
49.799 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
49.799 * [backup-simplify]: Simplify (- 0) into 0
49.800 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
49.800 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
49.800 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
49.800 * [backup-simplify]: Simplify (- 0) into 0
49.800 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
49.800 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
49.800 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
49.800 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
49.800 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
49.800 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
49.801 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
49.801 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))
49.801 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
49.802 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
49.803 * [backup-simplify]: Simplify (* R phi2) into (* R phi2)
49.803 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R phi2)) into (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R phi2))
49.804 * [backup-simplify]: Simplify (* phi1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R phi2))) into (* R (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* phi1 phi2)))
49.805 * [backup-simplify]: Simplify (* 0 (* R (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* phi1 phi2)))) into 0
49.806 * [backup-simplify]: Simplify (+ (* R 0) (* 0 phi2)) into 0
49.806 * [backup-simplify]: Simplify (+ 0) into 0
49.806 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
49.806 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
49.807 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
49.807 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
49.807 * [backup-simplify]: Simplify (+ 0 0) into 0
49.808 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
49.808 * [backup-simplify]: Simplify (+ 0) into 0
49.808 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
49.808 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
49.809 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
49.809 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
49.809 * [backup-simplify]: Simplify (+ 0 0) into 0
49.809 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
49.810 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
49.810 * [backup-simplify]: Simplify (+ 0) into 0
49.810 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
49.810 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
49.811 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
49.811 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
49.811 * [backup-simplify]: Simplify (- 0) into 0
49.811 * [backup-simplify]: Simplify (+ 0 0) into 0
49.812 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
49.812 * [backup-simplify]: Simplify (+ 0) into 0
49.812 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
49.812 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
49.813 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
49.813 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
49.813 * [backup-simplify]: Simplify (- 0) into 0
49.813 * [backup-simplify]: Simplify (+ 0 0) into 0
49.814 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
49.814 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
49.814 * [backup-simplify]: Simplify (+ 0 0) into 0
49.814 * [backup-simplify]: Simplify (+ 0) into 0
49.815 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
49.815 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
49.816 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
49.816 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
49.816 * [backup-simplify]: Simplify (- 0) into 0
49.816 * [backup-simplify]: Simplify (+ 0 0) into 0
49.817 * [backup-simplify]: Simplify (+ 0) into 0
49.817 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
49.817 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
49.817 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
49.818 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
49.818 * [backup-simplify]: Simplify (+ 0 0) into 0
49.818 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
49.818 * [backup-simplify]: Simplify (+ 0) into 0
49.819 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
49.819 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
49.819 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
49.820 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
49.820 * [backup-simplify]: Simplify (+ 0 0) into 0
49.820 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
49.820 * [backup-simplify]: Simplify (+ 0) into 0
49.821 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
49.821 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
49.821 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
49.822 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
49.822 * [backup-simplify]: Simplify (- 0) into 0
49.822 * [backup-simplify]: Simplify (+ 0 0) into 0
49.822 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
49.823 * [backup-simplify]: Simplify (+ 0) into 0
49.823 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
49.823 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
49.823 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
49.824 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
49.824 * [backup-simplify]: Simplify (+ 0 0) into 0
49.824 * [backup-simplify]: Simplify (+ 0) into 0
49.824 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
49.825 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
49.825 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
49.825 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
49.826 * [backup-simplify]: Simplify (- 0) into 0
49.826 * [backup-simplify]: Simplify (+ 0 0) into 0
49.826 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
49.826 * [backup-simplify]: Simplify (+ 0) into 0
49.827 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
49.827 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
49.827 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
49.827 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
49.828 * [backup-simplify]: Simplify (- 0) into 0
49.828 * [backup-simplify]: Simplify (+ 0 0) into 0
49.828 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
49.828 * [backup-simplify]: Simplify (+ 0) into 0
49.829 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
49.829 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
49.829 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
49.829 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
49.830 * [backup-simplify]: Simplify (+ 0 0) into 0
49.830 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
49.830 * [backup-simplify]: Simplify (+ 0 0) into 0
49.830 * [backup-simplify]: Simplify (- 0) into 0
49.831 * [backup-simplify]: Simplify (+ 0 0) into 0
49.832 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (* 0 (* R phi2))) into 0
49.833 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R phi2)))) into 0
49.834 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* R (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* phi1 phi2))))) into (- (+ (* phi1 (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (* phi1 (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))))))
49.836 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* phi1 (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (* phi1 (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))))))) into (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* phi1 phi2)))) (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* phi1 phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))))
49.836 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in lambda2
49.836 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in lambda2
49.836 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
49.836 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
49.836 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
49.836 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
49.836 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
49.836 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
49.836 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.836 * [backup-simplify]: Simplify 0.5 into 0.5
49.836 * [taylor]: Taking taylor expansion of phi2 in lambda2
49.836 * [backup-simplify]: Simplify phi2 into phi2
49.836 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
49.836 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
49.837 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
49.837 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
49.837 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
49.837 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
49.837 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
49.837 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
49.837 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
49.837 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.837 * [backup-simplify]: Simplify 0.5 into 0.5
49.837 * [taylor]: Taking taylor expansion of phi1 in lambda2
49.837 * [backup-simplify]: Simplify phi1 into phi1
49.837 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
49.837 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
49.837 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
49.837 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
49.837 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
49.837 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
49.837 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
49.837 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
49.837 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
49.837 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
49.837 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.837 * [backup-simplify]: Simplify 0.5 into 0.5
49.837 * [taylor]: Taking taylor expansion of phi2 in lambda2
49.837 * [backup-simplify]: Simplify phi2 into phi2
49.837 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
49.837 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
49.837 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
49.838 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
49.838 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
49.838 * [backup-simplify]: Simplify (- 0) into 0
49.838 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
49.838 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
49.838 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
49.838 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
49.838 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.838 * [backup-simplify]: Simplify 0.5 into 0.5
49.838 * [taylor]: Taking taylor expansion of phi1 in lambda2
49.838 * [backup-simplify]: Simplify phi1 into phi1
49.838 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
49.838 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
49.838 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
49.838 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
49.838 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
49.839 * [backup-simplify]: Simplify (- 0) into 0
49.839 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
49.839 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
49.839 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
49.839 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
49.839 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
49.839 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.839 * [backup-simplify]: Simplify 0.5 into 0.5
49.839 * [taylor]: Taking taylor expansion of phi2 in lambda2
49.839 * [backup-simplify]: Simplify phi2 into phi2
49.839 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
49.839 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
49.839 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
49.839 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
49.839 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
49.839 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
49.839 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.839 * [backup-simplify]: Simplify 0.5 into 0.5
49.839 * [taylor]: Taking taylor expansion of phi1 in lambda2
49.839 * [backup-simplify]: Simplify phi1 into phi1
49.839 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
49.839 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
49.839 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
49.839 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
49.839 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
49.839 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
49.839 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.839 * [backup-simplify]: Simplify 0.5 into 0.5
49.839 * [taylor]: Taking taylor expansion of phi2 in lambda2
49.839 * [backup-simplify]: Simplify phi2 into phi2
49.839 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
49.840 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
49.840 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
49.840 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
49.840 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
49.840 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.840 * [backup-simplify]: Simplify 0.5 into 0.5
49.840 * [taylor]: Taking taylor expansion of phi1 in lambda2
49.840 * [backup-simplify]: Simplify phi1 into phi1
49.840 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
49.840 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
49.840 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
49.840 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
49.840 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
49.840 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
49.840 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.840 * [backup-simplify]: Simplify 0.5 into 0.5
49.840 * [taylor]: Taking taylor expansion of phi2 in lambda2
49.840 * [backup-simplify]: Simplify phi2 into phi2
49.840 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
49.840 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
49.840 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
49.840 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
49.840 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
49.840 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
49.840 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.840 * [backup-simplify]: Simplify 0.5 into 0.5
49.840 * [taylor]: Taking taylor expansion of phi1 in lambda2
49.840 * [backup-simplify]: Simplify phi1 into phi1
49.840 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
49.840 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
49.840 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
49.840 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
49.840 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
49.840 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
49.840 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.840 * [backup-simplify]: Simplify 0.5 into 0.5
49.840 * [taylor]: Taking taylor expansion of phi2 in lambda2
49.840 * [backup-simplify]: Simplify phi2 into phi2
49.840 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
49.841 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
49.841 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
49.841 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
49.841 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
49.841 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.841 * [backup-simplify]: Simplify 0.5 into 0.5
49.841 * [taylor]: Taking taylor expansion of phi1 in lambda2
49.841 * [backup-simplify]: Simplify phi1 into phi1
49.841 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
49.841 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
49.841 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
49.841 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
49.841 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
49.841 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
49.841 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
49.842 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
49.842 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
49.843 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
49.843 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
49.843 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
49.843 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
49.843 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
49.843 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
49.843 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
49.843 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
49.844 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
49.844 * [backup-simplify]: Simplify (- 0) into 0
49.844 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
49.844 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
49.844 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
49.845 * [backup-simplify]: Simplify (- 0) into 0
49.845 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
49.845 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
49.845 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
49.846 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
49.846 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
49.846 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
49.846 * [backup-simplify]: Simplify (- 0) into 0
49.846 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
49.847 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
49.847 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
49.847 * [backup-simplify]: Simplify (- 0) into 0
49.847 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
49.847 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
49.848 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
49.848 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
49.848 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
49.848 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
49.848 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
49.848 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
49.848 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
49.849 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
49.850 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))
49.850 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
49.852 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
49.854 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
49.856 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
49.857 * [backup-simplify]: Simplify (+ 0) into 0
49.857 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
49.858 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
49.858 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
49.859 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
49.859 * [backup-simplify]: Simplify (+ 0 0) into 0
49.859 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
49.860 * [backup-simplify]: Simplify (+ 0) into 0
49.860 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
49.861 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
49.861 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
49.862 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
49.862 * [backup-simplify]: Simplify (+ 0 0) into 0
49.862 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
49.863 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
49.863 * [backup-simplify]: Simplify (+ 0) into 0
49.864 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
49.864 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
49.865 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
49.865 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
49.866 * [backup-simplify]: Simplify (- 0) into 0
49.866 * [backup-simplify]: Simplify (+ 0 0) into 0
49.866 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
49.867 * [backup-simplify]: Simplify (+ 0) into 0
49.867 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
49.867 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
49.868 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
49.869 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
49.869 * [backup-simplify]: Simplify (- 0) into 0
49.869 * [backup-simplify]: Simplify (+ 0 0) into 0
49.870 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
49.870 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
49.871 * [backup-simplify]: Simplify (+ 0 0) into 0
49.871 * [backup-simplify]: Simplify (+ 0) into 0
49.872 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
49.872 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
49.873 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
49.873 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
49.873 * [backup-simplify]: Simplify (- 0) into 0
49.874 * [backup-simplify]: Simplify (+ 0 0) into 0
49.874 * [backup-simplify]: Simplify (+ 0) into 0
49.875 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
49.875 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
49.876 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
49.876 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
49.876 * [backup-simplify]: Simplify (- 0) into 0
49.877 * [backup-simplify]: Simplify (+ 0 0) into 0
49.877 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
49.877 * [backup-simplify]: Simplify (+ 0) into 0
49.878 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
49.878 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
49.879 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
49.879 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
49.880 * [backup-simplify]: Simplify (+ 0 0) into 0
49.880 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
49.881 * [backup-simplify]: Simplify (+ 0) into 0
49.881 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
49.881 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
49.882 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
49.882 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
49.883 * [backup-simplify]: Simplify (+ 0 0) into 0
49.883 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
49.884 * [backup-simplify]: Simplify (+ 0) into 0
49.884 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
49.884 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
49.885 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
49.886 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
49.886 * [backup-simplify]: Simplify (+ 0 0) into 0
49.886 * [backup-simplify]: Simplify (+ 0) into 0
49.887 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
49.887 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
49.888 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
49.888 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
49.889 * [backup-simplify]: Simplify (+ 0 0) into 0
49.889 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
49.889 * [backup-simplify]: Simplify (+ 0) into 0
49.890 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
49.890 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
49.891 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
49.891 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
49.892 * [backup-simplify]: Simplify (- 0) into 0
49.892 * [backup-simplify]: Simplify (+ 0 0) into 0
49.892 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
49.893 * [backup-simplify]: Simplify (+ 0) into 0
49.893 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
49.893 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
49.894 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
49.895 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
49.895 * [backup-simplify]: Simplify (- 0) into 0
49.895 * [backup-simplify]: Simplify (+ 0 0) into 0
49.896 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
49.896 * [backup-simplify]: Simplify (+ 0 0) into 0
49.896 * [backup-simplify]: Simplify (- 0) into 0
49.897 * [backup-simplify]: Simplify (+ 0 0) into 0
49.901 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
49.903 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
49.903 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (* lambda2 (pow phi2 2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) in lambda2
49.903 * [taylor]: Taking taylor expansion of 1/2 in lambda2
49.903 * [backup-simplify]: Simplify 1/2 into 1/2
49.903 * [taylor]: Taking taylor expansion of (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (* lambda2 (pow phi2 2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) in lambda2
49.903 * [taylor]: Taking taylor expansion of (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (* lambda2 (pow phi2 2))))) in lambda2
49.904 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
49.904 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
49.904 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
49.904 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.904 * [backup-simplify]: Simplify 0.5 into 0.5
49.904 * [taylor]: Taking taylor expansion of phi2 in lambda2
49.904 * [backup-simplify]: Simplify phi2 into phi2
49.904 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
49.904 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
49.904 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
49.904 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
49.904 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
49.904 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
49.904 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.904 * [backup-simplify]: Simplify 0.5 into 0.5
49.904 * [taylor]: Taking taylor expansion of phi1 in lambda2
49.904 * [backup-simplify]: Simplify phi1 into phi1
49.904 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
49.904 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
49.904 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
49.904 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
49.905 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
49.905 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
49.905 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.905 * [backup-simplify]: Simplify 0.5 into 0.5
49.905 * [taylor]: Taking taylor expansion of phi2 in lambda2
49.905 * [backup-simplify]: Simplify phi2 into phi2
49.905 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
49.905 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
49.905 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
49.905 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
49.905 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
49.905 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.905 * [backup-simplify]: Simplify 0.5 into 0.5
49.905 * [taylor]: Taking taylor expansion of phi1 in lambda2
49.905 * [backup-simplify]: Simplify phi1 into phi1
49.905 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
49.905 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
49.905 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
49.905 * [taylor]: Taking taylor expansion of (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (* lambda2 (pow phi2 2)))) in lambda2
49.905 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
49.905 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
49.906 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
49.906 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
49.906 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
49.906 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
49.906 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.906 * [backup-simplify]: Simplify 0.5 into 0.5
49.906 * [taylor]: Taking taylor expansion of phi2 in lambda2
49.906 * [backup-simplify]: Simplify phi2 into phi2
49.906 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
49.906 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
49.906 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
49.906 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
49.906 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
49.906 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
49.906 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
49.906 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
49.906 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
49.906 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.906 * [backup-simplify]: Simplify 0.5 into 0.5
49.906 * [taylor]: Taking taylor expansion of phi1 in lambda2
49.907 * [backup-simplify]: Simplify phi1 into phi1
49.907 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
49.907 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
49.907 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
49.907 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
49.907 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
49.907 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
49.907 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
49.907 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
49.907 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
49.907 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
49.907 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.907 * [backup-simplify]: Simplify 0.5 into 0.5
49.907 * [taylor]: Taking taylor expansion of phi2 in lambda2
49.907 * [backup-simplify]: Simplify phi2 into phi2
49.907 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
49.907 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
49.908 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
49.908 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
49.908 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
49.908 * [backup-simplify]: Simplify (- 0) into 0
49.908 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
49.908 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
49.909 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
49.909 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
49.909 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.909 * [backup-simplify]: Simplify 0.5 into 0.5
49.909 * [taylor]: Taking taylor expansion of phi1 in lambda2
49.909 * [backup-simplify]: Simplify phi1 into phi1
49.909 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
49.909 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
49.909 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
49.909 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
49.909 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
49.910 * [backup-simplify]: Simplify (- 0) into 0
49.910 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
49.910 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
49.910 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
49.910 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
49.910 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
49.910 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.910 * [backup-simplify]: Simplify 0.5 into 0.5
49.910 * [taylor]: Taking taylor expansion of phi2 in lambda2
49.910 * [backup-simplify]: Simplify phi2 into phi2
49.910 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
49.910 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
49.910 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
49.910 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
49.910 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
49.910 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
49.910 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.910 * [backup-simplify]: Simplify 0.5 into 0.5
49.910 * [taylor]: Taking taylor expansion of phi1 in lambda2
49.910 * [backup-simplify]: Simplify phi1 into phi1
49.910 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
49.911 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
49.911 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
49.911 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
49.911 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
49.911 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
49.911 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.911 * [backup-simplify]: Simplify 0.5 into 0.5
49.911 * [taylor]: Taking taylor expansion of phi2 in lambda2
49.911 * [backup-simplify]: Simplify phi2 into phi2
49.911 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
49.911 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
49.911 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
49.911 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
49.911 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
49.911 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.911 * [backup-simplify]: Simplify 0.5 into 0.5
49.911 * [taylor]: Taking taylor expansion of phi1 in lambda2
49.911 * [backup-simplify]: Simplify phi1 into phi1
49.911 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
49.911 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
49.912 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
49.912 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
49.912 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
49.912 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
49.912 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.912 * [backup-simplify]: Simplify 0.5 into 0.5
49.912 * [taylor]: Taking taylor expansion of phi2 in lambda2
49.912 * [backup-simplify]: Simplify phi2 into phi2
49.912 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
49.912 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
49.912 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
49.912 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
49.912 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
49.912 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
49.912 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.912 * [backup-simplify]: Simplify 0.5 into 0.5
49.912 * [taylor]: Taking taylor expansion of phi1 in lambda2
49.912 * [backup-simplify]: Simplify phi1 into phi1
49.912 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
49.912 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
49.912 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
49.912 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
49.913 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
49.913 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
49.913 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.913 * [backup-simplify]: Simplify 0.5 into 0.5
49.913 * [taylor]: Taking taylor expansion of phi2 in lambda2
49.913 * [backup-simplify]: Simplify phi2 into phi2
49.913 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
49.913 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
49.913 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
49.913 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
49.913 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
49.913 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.913 * [backup-simplify]: Simplify 0.5 into 0.5
49.913 * [taylor]: Taking taylor expansion of phi1 in lambda2
49.913 * [backup-simplify]: Simplify phi1 into phi1
49.913 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
49.913 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
49.913 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
49.913 * [taylor]: Taking taylor expansion of (* R (* lambda2 (pow phi2 2))) in lambda2
49.913 * [taylor]: Taking taylor expansion of R in lambda2
49.913 * [backup-simplify]: Simplify R into R
49.913 * [taylor]: Taking taylor expansion of (* lambda2 (pow phi2 2)) in lambda2
49.913 * [taylor]: Taking taylor expansion of lambda2 in lambda2
49.913 * [backup-simplify]: Simplify 0 into 0
49.914 * [backup-simplify]: Simplify 1 into 1
49.914 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2
49.914 * [taylor]: Taking taylor expansion of phi2 in lambda2
49.914 * [backup-simplify]: Simplify phi2 into phi2
49.914 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
49.914 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
49.914 * [backup-simplify]: Simplify (- 0) into 0
49.915 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
49.915 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
49.915 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
49.915 * [backup-simplify]: Simplify (- 0) into 0
49.915 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
49.915 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
49.915 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
49.916 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
49.916 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
49.916 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
49.916 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
49.916 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
49.916 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
49.917 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
49.917 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
49.917 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
49.917 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
49.918 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
49.918 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
49.918 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
49.919 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
49.919 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
49.919 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
49.920 * [backup-simplify]: Simplify (- 0) into 0
49.920 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
49.920 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
49.920 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
49.920 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
49.920 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
49.921 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
49.921 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
49.921 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
49.921 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
49.921 * [backup-simplify]: Simplify (- 0) into 0
49.921 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
49.922 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
49.922 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
49.922 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
49.922 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
49.922 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
49.923 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
49.923 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
49.923 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
49.923 * [backup-simplify]: Simplify (- 0) into 0
49.923 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
49.923 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
49.924 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
49.924 * [backup-simplify]: Simplify (- 0) into 0
49.924 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
49.924 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
49.924 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
49.924 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
49.925 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
49.925 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
49.925 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
49.926 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))
49.927 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
49.928 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
49.929 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
49.929 * [backup-simplify]: Simplify (* 0 (pow phi2 2)) into 0
49.929 * [backup-simplify]: Simplify (* R 0) into 0
49.930 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) into 0
49.930 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0
49.931 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow phi2 2))) into (pow phi2 2)
49.932 * [backup-simplify]: Simplify (+ (* R (pow phi2 2)) (* 0 0)) into (* R (pow phi2 2))
49.932 * [backup-simplify]: Simplify (+ 0) into 0
49.933 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
49.933 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
49.933 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
49.934 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
49.940 * [backup-simplify]: Simplify (+ 0 0) into 0
49.941 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
49.942 * [backup-simplify]: Simplify (+ 0) into 0
49.942 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
49.942 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
49.943 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
49.943 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
49.944 * [backup-simplify]: Simplify (+ 0 0) into 0
49.944 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
49.944 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
49.944 * [backup-simplify]: Simplify (+ 0) into 0
49.945 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
49.945 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
49.946 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
49.946 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
49.947 * [backup-simplify]: Simplify (- 0) into 0
49.947 * [backup-simplify]: Simplify (+ 0 0) into 0
49.947 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
49.948 * [backup-simplify]: Simplify (+ 0) into 0
49.948 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
49.949 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
49.949 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
49.950 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
49.950 * [backup-simplify]: Simplify (- 0) into 0
49.951 * [backup-simplify]: Simplify (+ 0 0) into 0
49.951 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
49.951 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
49.952 * [backup-simplify]: Simplify (+ 0 0) into 0
49.952 * [backup-simplify]: Simplify (+ 0) into 0
49.953 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
49.953 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
49.953 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
49.954 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
49.954 * [backup-simplify]: Simplify (- 0) into 0
49.955 * [backup-simplify]: Simplify (+ 0 0) into 0
49.955 * [backup-simplify]: Simplify (+ 0) into 0
49.956 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
49.956 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
49.957 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
49.957 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
49.957 * [backup-simplify]: Simplify (+ 0 0) into 0
49.957 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
49.958 * [backup-simplify]: Simplify (+ 0) into 0
49.958 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
49.958 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
49.959 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
49.959 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
49.959 * [backup-simplify]: Simplify (+ 0 0) into 0
49.959 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
49.960 * [backup-simplify]: Simplify (+ 0) into 0
49.960 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
49.960 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
49.960 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
49.961 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
49.961 * [backup-simplify]: Simplify (- 0) into 0
49.961 * [backup-simplify]: Simplify (+ 0 0) into 0
49.961 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
49.962 * [backup-simplify]: Simplify (+ 0) into 0
49.962 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
49.962 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
49.963 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
49.963 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
49.963 * [backup-simplify]: Simplify (+ 0 0) into 0
49.963 * [backup-simplify]: Simplify (+ 0) into 0
49.964 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
49.964 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
49.964 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
49.966 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
49.966 * [backup-simplify]: Simplify (- 0) into 0
49.966 * [backup-simplify]: Simplify (+ 0 0) into 0
49.966 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
49.967 * [backup-simplify]: Simplify (+ 0) into 0
49.967 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
49.967 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
49.968 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
49.968 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
49.968 * [backup-simplify]: Simplify (- 0) into 0
49.969 * [backup-simplify]: Simplify (+ 0 0) into 0
49.969 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
49.969 * [backup-simplify]: Simplify (+ 0) into 0
49.970 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
49.970 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
49.970 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
49.971 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
49.971 * [backup-simplify]: Simplify (+ 0 0) into 0
49.971 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
49.972 * [backup-simplify]: Simplify (+ 0 0) into 0
49.972 * [backup-simplify]: Simplify (- 0) into 0
49.972 * [backup-simplify]: Simplify (+ 0 0) into 0
49.974 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (pow phi2 2))) (* 0 0)) into (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))
49.976 * [backup-simplify]: Simplify (/ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) into (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2)))))))))
49.976 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in lambda2
49.976 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in lambda2
49.976 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in lambda2
49.976 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in lambda2
49.976 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in lambda2
49.976 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
49.976 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
49.976 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
49.976 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.976 * [backup-simplify]: Simplify 0.5 into 0.5
49.976 * [taylor]: Taking taylor expansion of phi2 in lambda2
49.976 * [backup-simplify]: Simplify phi2 into phi2
49.977 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
49.977 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
49.977 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
49.977 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
49.977 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
49.977 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
49.977 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
49.977 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
49.977 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
49.977 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.977 * [backup-simplify]: Simplify 0.5 into 0.5
49.977 * [taylor]: Taking taylor expansion of phi1 in lambda2
49.977 * [backup-simplify]: Simplify phi1 into phi1
49.977 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
49.977 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
49.977 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
49.977 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
49.977 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
49.977 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
49.977 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in lambda2
49.977 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
49.977 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
49.977 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
49.977 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.977 * [backup-simplify]: Simplify 0.5 into 0.5
49.977 * [taylor]: Taking taylor expansion of phi2 in lambda2
49.977 * [backup-simplify]: Simplify phi2 into phi2
49.977 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
49.978 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
49.978 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
49.978 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
49.978 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
49.978 * [backup-simplify]: Simplify (- 0) into 0
49.978 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
49.978 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
49.978 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
49.978 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
49.978 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.978 * [backup-simplify]: Simplify 0.5 into 0.5
49.978 * [taylor]: Taking taylor expansion of phi1 in lambda2
49.978 * [backup-simplify]: Simplify phi1 into phi1
49.978 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
49.978 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
49.978 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
49.979 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
49.979 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
49.979 * [backup-simplify]: Simplify (- 0) into 0
49.979 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
49.979 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in lambda2
49.979 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in lambda2
49.979 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
49.979 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
49.979 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.979 * [backup-simplify]: Simplify 0.5 into 0.5
49.979 * [taylor]: Taking taylor expansion of phi2 in lambda2
49.979 * [backup-simplify]: Simplify phi2 into phi2
49.979 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
49.979 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
49.979 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
49.979 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in lambda2
49.979 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
49.979 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
49.979 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.979 * [backup-simplify]: Simplify 0.5 into 0.5
49.979 * [taylor]: Taking taylor expansion of phi1 in lambda2
49.979 * [backup-simplify]: Simplify phi1 into phi1
49.979 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
49.979 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
49.980 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
49.980 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in lambda2
49.980 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
49.980 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
49.980 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.980 * [backup-simplify]: Simplify 0.5 into 0.5
49.980 * [taylor]: Taking taylor expansion of phi2 in lambda2
49.980 * [backup-simplify]: Simplify phi2 into phi2
49.980 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
49.980 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
49.980 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
49.980 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
49.980 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
49.980 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.980 * [backup-simplify]: Simplify 0.5 into 0.5
49.980 * [taylor]: Taking taylor expansion of phi1 in lambda2
49.980 * [backup-simplify]: Simplify phi1 into phi1
49.980 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
49.980 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
49.980 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
49.980 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in lambda2
49.980 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
49.980 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
49.980 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.980 * [backup-simplify]: Simplify 0.5 into 0.5
49.980 * [taylor]: Taking taylor expansion of phi2 in lambda2
49.980 * [backup-simplify]: Simplify phi2 into phi2
49.980 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
49.980 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
49.980 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
49.980 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in lambda2
49.980 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
49.980 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
49.980 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.980 * [backup-simplify]: Simplify 0.5 into 0.5
49.980 * [taylor]: Taking taylor expansion of phi1 in lambda2
49.980 * [backup-simplify]: Simplify phi1 into phi1
49.980 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
49.981 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
49.981 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
49.981 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in lambda2
49.981 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
49.981 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
49.981 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.981 * [backup-simplify]: Simplify 0.5 into 0.5
49.981 * [taylor]: Taking taylor expansion of phi2 in lambda2
49.981 * [backup-simplify]: Simplify phi2 into phi2
49.981 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
49.981 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
49.981 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
49.981 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
49.981 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
49.981 * [taylor]: Taking taylor expansion of 0.5 in lambda2
49.981 * [backup-simplify]: Simplify 0.5 into 0.5
49.981 * [taylor]: Taking taylor expansion of phi1 in lambda2
49.981 * [backup-simplify]: Simplify phi1 into phi1
49.981 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
49.981 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
49.981 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
49.981 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
49.981 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
49.981 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
49.982 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
49.982 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
49.982 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
49.982 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
49.982 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
49.982 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
49.982 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
49.983 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
49.983 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
49.983 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
49.983 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
49.983 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
49.983 * [backup-simplify]: Simplify (- 0) into 0
49.983 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
49.983 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
49.983 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
49.984 * [backup-simplify]: Simplify (- 0) into 0
49.984 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
49.984 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
49.984 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
49.984 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
49.984 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
49.984 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
49.985 * [backup-simplify]: Simplify (- 0) into 0
49.985 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
49.985 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
49.985 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
49.985 * [backup-simplify]: Simplify (- 0) into 0
49.985 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
49.985 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
49.985 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
49.985 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
49.985 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
49.985 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
49.985 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
49.985 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
49.986 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
49.986 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
49.986 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))
49.987 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
49.988 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
49.989 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
49.990 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
49.990 * [backup-simplify]: Simplify (+ 0) into 0
49.990 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
49.991 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
49.991 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
49.991 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
49.991 * [backup-simplify]: Simplify (+ 0 0) into 0
49.992 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
49.992 * [backup-simplify]: Simplify (+ 0) into 0
49.992 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
49.992 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
49.993 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
49.993 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
49.993 * [backup-simplify]: Simplify (+ 0 0) into 0
49.993 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
49.994 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
49.994 * [backup-simplify]: Simplify (+ 0) into 0
49.994 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
49.994 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
49.995 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
49.995 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
49.995 * [backup-simplify]: Simplify (- 0) into 0
49.996 * [backup-simplify]: Simplify (+ 0 0) into 0
49.996 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
49.996 * [backup-simplify]: Simplify (+ 0) into 0
49.996 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
49.996 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
49.997 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
49.997 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
49.997 * [backup-simplify]: Simplify (- 0) into 0
49.998 * [backup-simplify]: Simplify (+ 0 0) into 0
49.998 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
49.998 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
49.998 * [backup-simplify]: Simplify (+ 0 0) into 0
49.998 * [backup-simplify]: Simplify (+ 0) into 0
49.999 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
49.999 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
49.999 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
50.000 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
50.000 * [backup-simplify]: Simplify (- 0) into 0
50.000 * [backup-simplify]: Simplify (+ 0 0) into 0
50.000 * [backup-simplify]: Simplify (+ 0) into 0
50.001 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
50.001 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
50.001 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
50.002 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
50.002 * [backup-simplify]: Simplify (- 0) into 0
50.002 * [backup-simplify]: Simplify (+ 0 0) into 0
50.002 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
50.002 * [backup-simplify]: Simplify (+ 0) into 0
50.003 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
50.003 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
50.003 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
50.004 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
50.004 * [backup-simplify]: Simplify (+ 0 0) into 0
50.004 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
50.004 * [backup-simplify]: Simplify (+ 0) into 0
50.005 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
50.005 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
50.005 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
50.005 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
50.006 * [backup-simplify]: Simplify (+ 0 0) into 0
50.006 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
50.006 * [backup-simplify]: Simplify (+ 0) into 0
50.007 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
50.007 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
50.007 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
50.008 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
50.008 * [backup-simplify]: Simplify (+ 0 0) into 0
50.008 * [backup-simplify]: Simplify (+ 0) into 0
50.008 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
50.008 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
50.009 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
50.009 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
50.009 * [backup-simplify]: Simplify (+ 0 0) into 0
50.010 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
50.010 * [backup-simplify]: Simplify (+ 0) into 0
50.010 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
50.010 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
50.011 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
50.011 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
50.011 * [backup-simplify]: Simplify (- 0) into 0
50.011 * [backup-simplify]: Simplify (+ 0 0) into 0
50.012 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
50.012 * [backup-simplify]: Simplify (+ 0) into 0
50.012 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
50.012 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
50.013 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
50.013 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
50.013 * [backup-simplify]: Simplify (- 0) into 0
50.014 * [backup-simplify]: Simplify (+ 0 0) into 0
50.014 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
50.015 * [backup-simplify]: Simplify (+ 0 0) into 0
50.015 * [backup-simplify]: Simplify (- 0) into 0
50.016 * [backup-simplify]: Simplify (+ 0 0) into 0
50.018 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
50.019 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
50.020 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
50.021 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
50.021 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
50.022 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
50.022 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
50.022 * [backup-simplify]: Simplify (+ 0 0) into 0
50.023 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
50.023 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
50.024 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
50.024 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
50.024 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
50.024 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
50.025 * [backup-simplify]: Simplify (+ 0 0) into 0
50.025 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
50.026 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0
50.026 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
50.026 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
50.027 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
50.027 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
50.027 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
50.028 * [backup-simplify]: Simplify (- 0) into 0
50.028 * [backup-simplify]: Simplify (+ 0 0) into 0
50.028 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
50.029 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
50.029 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
50.029 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
50.030 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
50.030 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
50.030 * [backup-simplify]: Simplify (- 0) into 0
50.031 * [backup-simplify]: Simplify (+ 0 0) into 0
50.031 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
50.031 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 2)))) into 0
50.032 * [backup-simplify]: Simplify (+ 0 0) into 0
50.032 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
50.033 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
50.033 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
50.033 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
50.034 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
50.034 * [backup-simplify]: Simplify (- 0) into 0
50.034 * [backup-simplify]: Simplify (+ 0 0) into 0
50.035 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
50.035 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
50.035 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
50.036 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
50.036 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
50.036 * [backup-simplify]: Simplify (- 0) into 0
50.037 * [backup-simplify]: Simplify (+ 0 0) into 0
50.037 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
50.037 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
50.038 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
50.038 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
50.039 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
50.039 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
50.040 * [backup-simplify]: Simplify (+ 0 0) into 0
50.040 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
50.041 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
50.042 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
50.042 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
50.043 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
50.044 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
50.044 * [backup-simplify]: Simplify (+ 0 0) into 0
50.045 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into 0
50.046 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
50.046 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
50.047 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
50.054 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
50.055 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
50.055 * [backup-simplify]: Simplify (+ 0 0) into 0
50.056 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
50.057 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
50.057 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
50.058 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
50.059 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
50.059 * [backup-simplify]: Simplify (+ 0 0) into 0
50.060 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
50.061 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
50.061 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
50.062 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
50.062 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
50.063 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
50.063 * [backup-simplify]: Simplify (- 0) into 0
50.064 * [backup-simplify]: Simplify (+ 0 0) into 0
50.064 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
50.065 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
50.066 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
50.066 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
50.067 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
50.067 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
50.068 * [backup-simplify]: Simplify (- 0) into 0
50.068 * [backup-simplify]: Simplify (+ 0 0) into 0
50.069 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into 0
50.069 * [backup-simplify]: Simplify (+ 0 0) into 0
50.070 * [backup-simplify]: Simplify (- 0) into 0
50.070 * [backup-simplify]: Simplify (+ 0 0) into 0
50.074 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into 0
50.079 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)))) into 0
50.091 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2))) (/ 0 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* 0 (/ 0 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
50.097 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
50.097 * [backup-simplify]: Simplify (+ 0) into 0
50.098 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
50.098 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
50.099 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
50.099 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
50.100 * [backup-simplify]: Simplify (+ 0 0) into 0
50.100 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
50.100 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
50.101 * [backup-simplify]: Simplify (+ 0) into 0
50.101 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
50.101 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
50.102 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
50.102 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
50.103 * [backup-simplify]: Simplify (+ 0 0) into 0
50.103 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
50.103 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0
50.104 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 3) 0) (* 0 (pow (sin (/ 0.5 phi1)) 3))) into 0
50.104 * [backup-simplify]: Simplify (+ 0) into 0
50.104 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
50.105 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
50.105 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
50.106 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
50.106 * [backup-simplify]: Simplify (- 0) into 0
50.107 * [backup-simplify]: Simplify (+ 0 0) into 0
50.107 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
50.107 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
50.108 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 3) 0) (* 0 (* (pow (sin (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)))) into 0
50.108 * [backup-simplify]: Simplify (+ 0) into 0
50.109 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
50.109 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
50.110 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
50.110 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
50.110 * [backup-simplify]: Simplify (- 0) into 0
50.111 * [backup-simplify]: Simplify (+ 0 0) into 0
50.111 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
50.111 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0
50.112 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 3) 0) (* 0 (* (pow (sin (/ 0.5 phi1)) 3) (* (pow (sin (/ 0.5 phi2)) 3) (pow (cos (/ 0.5 phi1)) 3))))) into 0
50.113 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
50.113 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
50.114 * [backup-simplify]: Simplify (+ (* R 0) (* 0 1)) into 0
50.114 * [backup-simplify]: Simplify (+ 0) into 0
50.115 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
50.115 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
50.116 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
50.116 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
50.117 * [backup-simplify]: Simplify (+ 0 0) into 0
50.117 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
50.117 * [backup-simplify]: Simplify (+ 0) into 0
50.118 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
50.118 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
50.119 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
50.119 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
50.119 * [backup-simplify]: Simplify (+ 0 0) into 0
50.120 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
50.120 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
50.121 * [backup-simplify]: Simplify (+ 0) into 0
50.121 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
50.121 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
50.122 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
50.122 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
50.123 * [backup-simplify]: Simplify (- 0) into 0
50.123 * [backup-simplify]: Simplify (+ 0 0) into 0
50.123 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
50.124 * [backup-simplify]: Simplify (+ 0) into 0
50.124 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
50.124 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
50.125 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
50.126 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
50.126 * [backup-simplify]: Simplify (- 0) into 0
50.126 * [backup-simplify]: Simplify (+ 0 0) into 0
50.127 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
50.127 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
50.127 * [backup-simplify]: Simplify (+ 0 0) into 0
50.128 * [backup-simplify]: Simplify (+ 0) into 0
50.128 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
50.129 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
50.129 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
50.130 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
50.130 * [backup-simplify]: Simplify (- 0) into 0
50.131 * [backup-simplify]: Simplify (+ 0 0) into 0
50.131 * [backup-simplify]: Simplify (+ 0) into 0
50.132 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
50.132 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
50.133 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
50.133 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
50.134 * [backup-simplify]: Simplify (+ 0 0) into 0
50.134 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
50.134 * [backup-simplify]: Simplify (+ 0) into 0
50.135 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
50.135 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
50.136 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
50.136 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
50.137 * [backup-simplify]: Simplify (+ 0 0) into 0
50.137 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
50.137 * [backup-simplify]: Simplify (+ 0) into 0
50.138 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
50.138 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
50.139 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
50.139 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
50.140 * [backup-simplify]: Simplify (- 0) into 0
50.140 * [backup-simplify]: Simplify (+ 0 0) into 0
50.141 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
50.141 * [backup-simplify]: Simplify (+ 0) into 0
50.142 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
50.142 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
50.143 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
50.143 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
50.144 * [backup-simplify]: Simplify (+ 0 0) into 0
50.144 * [backup-simplify]: Simplify (+ 0) into 0
50.145 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
50.145 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
50.146 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
50.146 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
50.147 * [backup-simplify]: Simplify (- 0) into 0
50.147 * [backup-simplify]: Simplify (+ 0 0) into 0
50.147 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
50.148 * [backup-simplify]: Simplify (+ 0) into 0
50.148 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
50.148 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
50.149 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
50.149 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
50.150 * [backup-simplify]: Simplify (- 0) into 0
50.150 * [backup-simplify]: Simplify (+ 0 0) into 0
50.151 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
50.151 * [backup-simplify]: Simplify (+ 0) into 0
50.151 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
50.152 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
50.152 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
50.153 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
50.153 * [backup-simplify]: Simplify (+ 0 0) into 0
50.154 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
50.154 * [backup-simplify]: Simplify (+ 0 0) into 0
50.154 * [backup-simplify]: Simplify (- 0) into 0
50.155 * [backup-simplify]: Simplify (+ 0 0) into 0
50.157 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (* 0 R)) into 0
50.164 * [backup-simplify]: Simplify (- (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 3) (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (cos (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R))))) into 0
50.165 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
50.166 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
50.166 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
50.167 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
50.167 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
50.168 * [backup-simplify]: Simplify (+ 0 0) into 0
50.168 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
50.169 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0
50.170 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
50.170 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
50.171 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
50.171 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
50.172 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
50.172 * [backup-simplify]: Simplify (+ 0 0) into 0
50.173 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
50.174 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi2)) 2)))) into 0
50.174 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 3) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 3)))) into 0
50.175 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
50.176 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
50.176 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
50.177 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
50.178 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
50.178 * [backup-simplify]: Simplify (- 0) into 0
50.178 * [backup-simplify]: Simplify (+ 0 0) into 0
50.179 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
50.180 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 2)))) into 0
50.181 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 3) 0) (+ (* 0 0) (* 0 (* (pow (sin (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3))))) into 0
50.182 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
50.182 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
50.183 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
50.184 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
50.184 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
50.185 * [backup-simplify]: Simplify (- 0) into 0
50.185 * [backup-simplify]: Simplify (+ 0 0) into 0
50.186 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
50.186 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi2)) 2)))) into 0
50.188 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 3) 0) (+ (* 0 0) (* 0 (* (pow (sin (/ 0.5 phi1)) 3) (* (pow (sin (/ 0.5 phi2)) 3) (pow (cos (/ 0.5 phi1)) 3)))))) into 0
50.189 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
50.190 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
50.190 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (* 0 1))) into 0
50.191 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
50.193 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
50.193 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
50.194 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
50.194 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
50.195 * [backup-simplify]: Simplify (+ 0 0) into 0
50.195 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
50.196 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
50.197 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
50.197 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
50.198 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
50.199 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
50.199 * [backup-simplify]: Simplify (+ 0 0) into 0
50.200 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
50.201 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0
50.202 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
50.202 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
50.203 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
50.203 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
50.204 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
50.204 * [backup-simplify]: Simplify (- 0) into 0
50.205 * [backup-simplify]: Simplify (+ 0 0) into 0
50.205 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
50.207 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
50.207 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
50.208 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
50.208 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
50.209 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
50.209 * [backup-simplify]: Simplify (- 0) into 0
50.210 * [backup-simplify]: Simplify (+ 0 0) into 0
50.210 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
50.211 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 2)))) into 0
50.211 * [backup-simplify]: Simplify (+ 0 0) into 0
50.218 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
50.220 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
50.220 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
50.221 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
50.221 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
50.222 * [backup-simplify]: Simplify (- 0) into 0
50.222 * [backup-simplify]: Simplify (+ 0 0) into 0
50.223 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
50.224 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
50.224 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
50.224 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
50.225 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
50.225 * [backup-simplify]: Simplify (+ 0 0) into 0
50.226 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
50.227 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
50.227 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
50.228 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
50.228 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
50.229 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
50.229 * [backup-simplify]: Simplify (+ 0 0) into 0
50.230 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
50.231 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
50.232 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
50.232 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
50.233 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
50.234 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
50.234 * [backup-simplify]: Simplify (- 0) into 0
50.234 * [backup-simplify]: Simplify (+ 0 0) into 0
50.235 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into 0
50.236 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
50.237 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
50.237 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
50.238 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
50.239 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
50.239 * [backup-simplify]: Simplify (+ 0 0) into 0
50.240 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
50.241 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
50.241 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
50.242 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
50.242 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
50.243 * [backup-simplify]: Simplify (- 0) into 0
50.243 * [backup-simplify]: Simplify (+ 0 0) into 0
50.244 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
50.245 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
50.245 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
50.246 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
50.246 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
50.247 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
50.247 * [backup-simplify]: Simplify (- 0) into 0
50.248 * [backup-simplify]: Simplify (+ 0 0) into 0
50.248 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
50.249 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
50.250 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
50.250 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
50.250 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
50.251 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
50.251 * [backup-simplify]: Simplify (+ 0 0) into 0
50.251 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into 0
50.252 * [backup-simplify]: Simplify (+ 0 0) into 0
50.254 * [backup-simplify]: Simplify (- 0) into 0
50.254 * [backup-simplify]: Simplify (+ 0 0) into 0
50.256 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (+ (* 0 0) (* 0 R))) into 0
50.260 * [backup-simplify]: Simplify (- (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 3) (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (cos (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R))) (* 0 (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R))))) into 0
50.265 * [backup-simplify]: Simplify (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 3) (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (cos (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) 0) (+ (* 0 0) (* 0 (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))) into 0
50.268 * [backup-simplify]: Simplify (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 3) (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (cos (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) 0) (* 0 (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
50.272 * [backup-simplify]: Simplify (* (/ (* (pow (sin (/ 0.5 phi2)) 3) (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (cos (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into (* (/ (* (pow (cos (/ 0.5 phi2)) 3) (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (sin (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))
50.275 * [backup-simplify]: Simplify (+ (* 3/2 0) (+ (* 0 0) (* 0 (* (/ (* (pow (cos (/ 0.5 phi2)) 3) (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (sin (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))))) into 0
50.276 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
50.276 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
50.276 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
50.277 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
50.277 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
50.277 * [backup-simplify]: Simplify (+ 0 0) into 0
50.278 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
50.278 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
50.279 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
50.279 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
50.279 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
50.280 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
50.280 * [backup-simplify]: Simplify (+ 0 0) into 0
50.280 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
50.281 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0
50.281 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
50.282 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
50.282 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
50.282 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
50.283 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
50.283 * [backup-simplify]: Simplify (- 0) into 0
50.283 * [backup-simplify]: Simplify (+ 0 0) into 0
50.283 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
50.284 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
50.284 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
50.284 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
50.285 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
50.285 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
50.286 * [backup-simplify]: Simplify (- 0) into 0
50.286 * [backup-simplify]: Simplify (+ 0 0) into 0
50.286 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
50.287 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 2)))) into 0
50.287 * [backup-simplify]: Simplify (+ 0 0) into 0
50.287 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
50.288 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
50.288 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
50.288 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
50.289 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
50.289 * [backup-simplify]: Simplify (- 0) into 0
50.289 * [backup-simplify]: Simplify (+ 0 0) into 0
50.290 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
50.291 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
50.291 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
50.292 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
50.292 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
50.293 * [backup-simplify]: Simplify (- 0) into 0
50.293 * [backup-simplify]: Simplify (+ 0 0) into 0
50.294 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
50.294 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
50.295 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
50.295 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
50.296 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
50.297 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
50.297 * [backup-simplify]: Simplify (+ 0 0) into 0
50.298 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
50.299 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
50.299 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
50.300 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
50.300 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
50.301 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
50.301 * [backup-simplify]: Simplify (+ 0 0) into 0
50.302 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into 0
50.303 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
50.304 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
50.304 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
50.305 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
50.305 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
50.306 * [backup-simplify]: Simplify (+ 0 0) into 0
50.306 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
50.307 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
50.307 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
50.308 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
50.309 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
50.309 * [backup-simplify]: Simplify (+ 0 0) into 0
50.310 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
50.311 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
50.311 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
50.312 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
50.313 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
50.313 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
50.314 * [backup-simplify]: Simplify (- 0) into 0
50.314 * [backup-simplify]: Simplify (+ 0 0) into 0
50.315 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
50.315 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
50.316 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
50.316 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
50.317 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
50.318 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
50.318 * [backup-simplify]: Simplify (- 0) into 0
50.319 * [backup-simplify]: Simplify (+ 0 0) into 0
50.319 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into 0
50.320 * [backup-simplify]: Simplify (+ 0 0) into 0
50.320 * [backup-simplify]: Simplify (- 0) into 0
50.320 * [backup-simplify]: Simplify (+ 0 0) into 0
50.325 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into 0
50.329 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)))) into 0
50.342 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2))) (/ 0 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* 0 (/ 0 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
50.353 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
50.354 * [backup-simplify]: Simplify (+ 0) into 0
50.355 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
50.355 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
50.355 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
50.356 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
50.356 * [backup-simplify]: Simplify (+ 0 0) into 0
50.356 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
50.357 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
50.357 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (pow (sin (/ 0.5 phi1)) 4))) into 0
50.358 * [backup-simplify]: Simplify (+ 0) into 0
50.358 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
50.358 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
50.359 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
50.360 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
50.360 * [backup-simplify]: Simplify (- 0) into 0
50.360 * [backup-simplify]: Simplify (+ 0 0) into 0
50.361 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (pow (sin (/ 0.5 phi1)) 5))) into 0
50.361 * [backup-simplify]: Simplify (+ 0) into 0
50.361 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
50.362 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
50.362 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
50.363 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
50.363 * [backup-simplify]: Simplify (- 0) into 0
50.364 * [backup-simplify]: Simplify (+ 0 0) into 0
50.364 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 5)))) into 0
50.364 * [backup-simplify]: Simplify (+ 0) into 0
50.365 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
50.365 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
50.366 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
50.366 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
50.367 * [backup-simplify]: Simplify (+ 0 0) into 0
50.367 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
50.367 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0
50.368 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (pow (sin (/ 0.5 phi2)) 4))) into 0
50.368 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 5) 0) (* 0 (* (pow (sin (/ 0.5 phi1)) 5) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
50.369 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
50.369 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
50.370 * [backup-simplify]: Simplify (+ (* R 0) (* 0 1)) into 0
50.370 * [backup-simplify]: Simplify (+ 0) into 0
50.371 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
50.371 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
50.372 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
50.372 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
50.373 * [backup-simplify]: Simplify (+ 0 0) into 0
50.373 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
50.373 * [backup-simplify]: Simplify (+ 0) into 0
50.374 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
50.374 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
50.375 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
50.375 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
50.376 * [backup-simplify]: Simplify (+ 0 0) into 0
50.376 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
50.376 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
50.377 * [backup-simplify]: Simplify (+ 0) into 0
50.377 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
50.377 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
50.378 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
50.379 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
50.379 * [backup-simplify]: Simplify (- 0) into 0
50.379 * [backup-simplify]: Simplify (+ 0 0) into 0
50.380 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
50.380 * [backup-simplify]: Simplify (+ 0) into 0
50.380 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
50.381 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
50.381 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
50.382 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
50.382 * [backup-simplify]: Simplify (- 0) into 0
50.382 * [backup-simplify]: Simplify (+ 0 0) into 0
50.383 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
50.383 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
50.384 * [backup-simplify]: Simplify (+ 0 0) into 0
50.384 * [backup-simplify]: Simplify (+ 0) into 0
50.385 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
50.385 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
50.385 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
50.386 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
50.386 * [backup-simplify]: Simplify (- 0) into 0
50.387 * [backup-simplify]: Simplify (+ 0 0) into 0
50.387 * [backup-simplify]: Simplify (+ 0) into 0
50.387 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
50.388 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
50.388 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
50.389 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
50.389 * [backup-simplify]: Simplify (+ 0 0) into 0
50.389 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
50.390 * [backup-simplify]: Simplify (+ 0) into 0
50.390 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
50.391 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
50.391 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
50.392 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
50.392 * [backup-simplify]: Simplify (+ 0 0) into 0
50.392 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
50.393 * [backup-simplify]: Simplify (+ 0) into 0
50.393 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
50.394 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
50.394 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
50.395 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
50.395 * [backup-simplify]: Simplify (- 0) into 0
50.396 * [backup-simplify]: Simplify (+ 0 0) into 0
50.396 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
50.396 * [backup-simplify]: Simplify (+ 0) into 0
50.397 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
50.397 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
50.398 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
50.398 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
50.399 * [backup-simplify]: Simplify (+ 0 0) into 0
50.399 * [backup-simplify]: Simplify (+ 0) into 0
50.400 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
50.400 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
50.400 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
50.401 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
50.401 * [backup-simplify]: Simplify (- 0) into 0
50.402 * [backup-simplify]: Simplify (+ 0 0) into 0
50.402 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
50.402 * [backup-simplify]: Simplify (+ 0) into 0
50.403 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
50.403 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
50.404 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
50.404 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
50.405 * [backup-simplify]: Simplify (- 0) into 0
50.405 * [backup-simplify]: Simplify (+ 0 0) into 0
50.405 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
50.406 * [backup-simplify]: Simplify (+ 0) into 0
50.406 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
50.406 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
50.407 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
50.408 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
50.408 * [backup-simplify]: Simplify (+ 0 0) into 0
50.408 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
50.409 * [backup-simplify]: Simplify (+ 0 0) into 0
50.409 * [backup-simplify]: Simplify (- 0) into 0
50.409 * [backup-simplify]: Simplify (+ 0 0) into 0
50.411 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (* 0 R)) into 0
50.418 * [backup-simplify]: Simplify (- (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) (+ (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 5) (pow (sin (/ 0.5 phi1)) 5)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R))))) into 0
50.419 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
50.420 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
50.420 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
50.421 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
50.422 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
50.422 * [backup-simplify]: Simplify (+ 0 0) into 0
50.423 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
50.424 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0
50.424 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 4)))) into 0
50.425 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
50.426 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
50.426 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
50.427 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
50.428 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
50.428 * [backup-simplify]: Simplify (- 0) into 0
50.428 * [backup-simplify]: Simplify (+ 0 0) into 0
50.429 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 5)))) into 0
50.430 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
50.431 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
50.431 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
50.432 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
50.432 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
50.433 * [backup-simplify]: Simplify (- 0) into 0
50.433 * [backup-simplify]: Simplify (+ 0 0) into 0
50.434 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 5))))) into 0
50.435 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
50.435 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
50.436 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
50.436 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
50.437 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
50.437 * [backup-simplify]: Simplify (+ 0 0) into 0
50.438 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
50.439 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi2)) 2)))) into 0
50.439 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi2)) 4)))) into 0
50.440 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 5) 0) (+ (* 0 0) (* 0 (* (pow (sin (/ 0.5 phi1)) 5) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into 0
50.441 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
50.442 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
50.443 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (* 0 1))) into 0
50.444 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
50.444 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
50.445 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
50.445 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
50.446 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
50.446 * [backup-simplify]: Simplify (+ 0 0) into 0
50.447 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
50.448 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
50.448 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
50.449 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
50.449 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
50.450 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
50.450 * [backup-simplify]: Simplify (+ 0 0) into 0
50.451 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
50.452 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0
50.453 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
50.453 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
50.454 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
50.454 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
50.455 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
50.455 * [backup-simplify]: Simplify (- 0) into 0
50.456 * [backup-simplify]: Simplify (+ 0 0) into 0
50.456 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
50.457 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
50.458 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
50.458 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
50.459 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
50.460 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
50.460 * [backup-simplify]: Simplify (- 0) into 0
50.460 * [backup-simplify]: Simplify (+ 0 0) into 0
50.461 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
50.462 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 2)))) into 0
50.462 * [backup-simplify]: Simplify (+ 0 0) into 0
50.463 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
50.463 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
50.464 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
50.464 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
50.465 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
50.465 * [backup-simplify]: Simplify (- 0) into 0
50.466 * [backup-simplify]: Simplify (+ 0 0) into 0
50.467 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
50.467 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
50.468 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
50.468 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
50.469 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
50.469 * [backup-simplify]: Simplify (+ 0 0) into 0
50.470 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
50.471 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
50.471 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
50.472 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
50.472 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
50.473 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
50.473 * [backup-simplify]: Simplify (+ 0 0) into 0
50.474 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
50.475 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
50.476 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
50.476 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
50.477 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
50.477 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
50.478 * [backup-simplify]: Simplify (- 0) into 0
50.478 * [backup-simplify]: Simplify (+ 0 0) into 0
50.479 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into 0
50.480 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
50.480 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
50.480 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
50.481 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
50.481 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
50.481 * [backup-simplify]: Simplify (+ 0 0) into 0
50.482 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
50.482 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
50.483 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
50.484 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
50.484 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
50.484 * [backup-simplify]: Simplify (- 0) into 0
50.484 * [backup-simplify]: Simplify (+ 0 0) into 0
50.485 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
50.485 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
50.486 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
50.486 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
50.486 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
50.487 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
50.487 * [backup-simplify]: Simplify (- 0) into 0
50.487 * [backup-simplify]: Simplify (+ 0 0) into 0
50.488 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
50.488 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
50.489 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
50.489 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
50.489 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
50.489 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
50.490 * [backup-simplify]: Simplify (+ 0 0) into 0
50.495 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into 0
50.496 * [backup-simplify]: Simplify (+ 0 0) into 0
50.496 * [backup-simplify]: Simplify (- 0) into 0
50.497 * [backup-simplify]: Simplify (+ 0 0) into 0
50.498 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (+ (* 0 0) (* 0 R))) into 0
50.502 * [backup-simplify]: Simplify (- (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) (+ (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 5) (pow (sin (/ 0.5 phi1)) 5)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R))) (* 0 (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R))))) into 0
50.506 * [backup-simplify]: Simplify (+ (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 5) (pow (sin (/ 0.5 phi1)) 5)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) 0) (+ (* 0 0) (* 0 (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))) into 0
50.510 * [backup-simplify]: Simplify (+ (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 5) (pow (sin (/ 0.5 phi1)) 5)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) 0) (* 0 (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
50.513 * [backup-simplify]: Simplify (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 5) (pow (sin (/ 0.5 phi1)) 5)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into (* (/ (* (pow (sin (/ 0.5 phi2)) 5) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 5)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))
50.517 * [backup-simplify]: Simplify (+ (* 3/2 0) (+ (* 0 0) (* 0 (* (/ (* (pow (sin (/ 0.5 phi2)) 5) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 5)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))))) into 0
50.517 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
50.518 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
50.518 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
50.519 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
50.519 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
50.519 * [backup-simplify]: Simplify (+ 0 0) into 0
50.520 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
50.521 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
50.521 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
50.521 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
50.522 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
50.522 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
50.522 * [backup-simplify]: Simplify (+ 0 0) into 0
50.523 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
50.523 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0
50.524 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
50.524 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
50.524 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
50.525 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
50.525 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
50.525 * [backup-simplify]: Simplify (- 0) into 0
50.526 * [backup-simplify]: Simplify (+ 0 0) into 0
50.526 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
50.527 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
50.527 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
50.527 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
50.528 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
50.528 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
50.528 * [backup-simplify]: Simplify (- 0) into 0
50.528 * [backup-simplify]: Simplify (+ 0 0) into 0
50.529 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
50.529 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 2)))) into 0
50.530 * [backup-simplify]: Simplify (+ 0 0) into 0
50.530 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
50.531 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
50.531 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
50.531 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
50.532 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
50.532 * [backup-simplify]: Simplify (- 0) into 0
50.532 * [backup-simplify]: Simplify (+ 0 0) into 0
50.533 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
50.533 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
50.533 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
50.534 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
50.534 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
50.535 * [backup-simplify]: Simplify (- 0) into 0
50.535 * [backup-simplify]: Simplify (+ 0 0) into 0
50.535 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
50.536 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
50.536 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
50.536 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
50.537 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
50.537 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
50.537 * [backup-simplify]: Simplify (+ 0 0) into 0
50.538 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
50.538 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
50.539 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
50.539 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
50.539 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
50.540 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
50.540 * [backup-simplify]: Simplify (+ 0 0) into 0
50.540 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into 0
50.541 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
50.541 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
50.542 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
50.542 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
50.542 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
50.543 * [backup-simplify]: Simplify (+ 0 0) into 0
50.543 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
50.544 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
50.544 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
50.544 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
50.545 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
50.545 * [backup-simplify]: Simplify (+ 0 0) into 0
50.545 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
50.546 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
50.546 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
50.546 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
50.547 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
50.547 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
50.547 * [backup-simplify]: Simplify (- 0) into 0
50.547 * [backup-simplify]: Simplify (+ 0 0) into 0
50.548 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
50.548 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
50.549 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
50.549 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
50.549 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
50.550 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
50.550 * [backup-simplify]: Simplify (- 0) into 0
50.550 * [backup-simplify]: Simplify (+ 0 0) into 0
50.551 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into 0
50.551 * [backup-simplify]: Simplify (+ 0 0) into 0
50.551 * [backup-simplify]: Simplify (- 0) into 0
50.551 * [backup-simplify]: Simplify (+ 0 0) into 0
50.554 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (* 0 (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
50.556 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
50.556 * [backup-simplify]: Simplify (+ 0) into 0
50.557 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
50.557 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
50.557 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
50.558 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
50.558 * [backup-simplify]: Simplify (+ 0 0) into 0
50.558 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
50.558 * [backup-simplify]: Simplify (+ 0) into 0
50.559 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
50.559 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
50.559 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
50.559 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
50.560 * [backup-simplify]: Simplify (+ 0 0) into 0
50.560 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
50.560 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
50.560 * [backup-simplify]: Simplify (+ 0) into 0
50.561 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
50.561 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
50.561 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
50.561 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
50.562 * [backup-simplify]: Simplify (- 0) into 0
50.562 * [backup-simplify]: Simplify (+ 0 0) into 0
50.562 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
50.562 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) into 0
50.563 * [backup-simplify]: Simplify (+ 0) into 0
50.563 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
50.563 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
50.563 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
50.564 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
50.564 * [backup-simplify]: Simplify (- 0) into 0
50.564 * [backup-simplify]: Simplify (+ 0 0) into 0
50.564 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
50.565 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))))) into 0
50.565 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
50.566 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
50.566 * [backup-simplify]: Simplify (+ (* R 0) (* 0 1)) into 0
50.566 * [backup-simplify]: Simplify (+ 0) into 0
50.567 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
50.567 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
50.567 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
50.567 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
50.568 * [backup-simplify]: Simplify (+ 0 0) into 0
50.568 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
50.568 * [backup-simplify]: Simplify (+ 0) into 0
50.568 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
50.568 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
50.569 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
50.569 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
50.569 * [backup-simplify]: Simplify (+ 0 0) into 0
50.570 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
50.570 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
50.570 * [backup-simplify]: Simplify (+ 0) into 0
50.570 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
50.571 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
50.571 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
50.571 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
50.572 * [backup-simplify]: Simplify (- 0) into 0
50.572 * [backup-simplify]: Simplify (+ 0 0) into 0
50.572 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
50.572 * [backup-simplify]: Simplify (+ 0) into 0
50.572 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
50.573 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
50.573 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
50.573 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
50.574 * [backup-simplify]: Simplify (- 0) into 0
50.574 * [backup-simplify]: Simplify (+ 0 0) into 0
50.574 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
50.574 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
50.574 * [backup-simplify]: Simplify (+ 0 0) into 0
50.575 * [backup-simplify]: Simplify (+ 0) into 0
50.575 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
50.575 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
50.576 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
50.576 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
50.576 * [backup-simplify]: Simplify (- 0) into 0
50.576 * [backup-simplify]: Simplify (+ 0 0) into 0
50.577 * [backup-simplify]: Simplify (+ 0) into 0
50.577 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
50.577 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
50.578 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
50.578 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
50.578 * [backup-simplify]: Simplify (+ 0 0) into 0
50.578 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
50.578 * [backup-simplify]: Simplify (+ 0) into 0
50.579 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
50.579 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
50.579 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
50.580 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
50.580 * [backup-simplify]: Simplify (+ 0 0) into 0
50.580 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
50.580 * [backup-simplify]: Simplify (+ 0) into 0
50.581 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
50.581 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
50.581 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
50.581 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
50.582 * [backup-simplify]: Simplify (- 0) into 0
50.582 * [backup-simplify]: Simplify (+ 0 0) into 0
50.582 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
50.582 * [backup-simplify]: Simplify (+ 0) into 0
50.583 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
50.583 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
50.583 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
50.584 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
50.584 * [backup-simplify]: Simplify (+ 0 0) into 0
50.584 * [backup-simplify]: Simplify (+ 0) into 0
50.585 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
50.585 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
50.585 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
50.586 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
50.586 * [backup-simplify]: Simplify (- 0) into 0
50.586 * [backup-simplify]: Simplify (+ 0 0) into 0
50.586 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
50.586 * [backup-simplify]: Simplify (+ 0) into 0
50.591 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
50.592 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
50.592 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
50.593 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
50.593 * [backup-simplify]: Simplify (- 0) into 0
50.593 * [backup-simplify]: Simplify (+ 0 0) into 0
50.593 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
50.594 * [backup-simplify]: Simplify (+ 0) into 0
50.594 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
50.594 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
50.595 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
50.595 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
50.595 * [backup-simplify]: Simplify (+ 0 0) into 0
50.595 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
50.596 * [backup-simplify]: Simplify (+ 0 0) into 0
50.596 * [backup-simplify]: Simplify (- 0) into 0
50.596 * [backup-simplify]: Simplify (+ 0 0) into 0
50.597 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (* 0 R)) into 0
50.601 * [backup-simplify]: Simplify (- (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R))))) into 0
50.601 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
50.602 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
50.602 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
50.603 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
50.603 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
50.603 * [backup-simplify]: Simplify (+ 0 0) into 0
50.603 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
50.604 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
50.604 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
50.605 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
50.605 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
50.605 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
50.606 * [backup-simplify]: Simplify (+ 0 0) into 0
50.606 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
50.606 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0
50.607 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
50.607 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
50.608 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
50.608 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
50.608 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
50.609 * [backup-simplify]: Simplify (- 0) into 0
50.609 * [backup-simplify]: Simplify (+ 0 0) into 0
50.609 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
50.610 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))))) into 0
50.610 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
50.611 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
50.611 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
50.611 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
50.612 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
50.612 * [backup-simplify]: Simplify (- 0) into 0
50.612 * [backup-simplify]: Simplify (+ 0 0) into 0
50.612 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
50.613 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))))) into 0
50.614 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
50.614 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
50.615 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (* 0 1))) into 0
50.615 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
50.616 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
50.616 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
50.616 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
50.617 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
50.617 * [backup-simplify]: Simplify (+ 0 0) into 0
50.617 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
50.618 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
50.618 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
50.618 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
50.619 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
50.619 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
50.619 * [backup-simplify]: Simplify (+ 0 0) into 0
50.620 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
50.620 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0
50.621 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
50.621 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
50.621 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
50.622 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
50.622 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
50.622 * [backup-simplify]: Simplify (- 0) into 0
50.622 * [backup-simplify]: Simplify (+ 0 0) into 0
50.623 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
50.623 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
50.624 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
50.624 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
50.624 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
50.625 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
50.625 * [backup-simplify]: Simplify (- 0) into 0
50.625 * [backup-simplify]: Simplify (+ 0 0) into 0
50.626 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
50.626 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 2)))) into 0
50.626 * [backup-simplify]: Simplify (+ 0 0) into 0
50.627 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
50.627 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
50.627 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
50.628 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
50.628 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
50.628 * [backup-simplify]: Simplify (- 0) into 0
50.629 * [backup-simplify]: Simplify (+ 0 0) into 0
50.629 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
50.630 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
50.630 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
50.631 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
50.631 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
50.631 * [backup-simplify]: Simplify (+ 0 0) into 0
50.632 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
50.632 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
50.633 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
50.633 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
50.633 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
50.633 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
50.634 * [backup-simplify]: Simplify (+ 0 0) into 0
50.634 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
50.635 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
50.635 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
50.635 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
50.636 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
50.636 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
50.636 * [backup-simplify]: Simplify (- 0) into 0
50.637 * [backup-simplify]: Simplify (+ 0 0) into 0
50.637 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into 0
50.638 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
50.639 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
50.639 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
50.640 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
50.640 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
50.641 * [backup-simplify]: Simplify (+ 0 0) into 0
50.642 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
50.642 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
50.643 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
50.643 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
50.644 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
50.644 * [backup-simplify]: Simplify (- 0) into 0
50.645 * [backup-simplify]: Simplify (+ 0 0) into 0
50.645 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
50.646 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
50.647 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
50.647 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
50.648 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
50.649 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
50.649 * [backup-simplify]: Simplify (- 0) into 0
50.649 * [backup-simplify]: Simplify (+ 0 0) into 0
50.650 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
50.651 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
50.652 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
50.652 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
50.653 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
50.653 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
50.654 * [backup-simplify]: Simplify (+ 0 0) into 0
50.654 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into 0
50.655 * [backup-simplify]: Simplify (+ 0 0) into 0
50.655 * [backup-simplify]: Simplify (- 0) into 0
50.655 * [backup-simplify]: Simplify (+ 0 0) into 0
50.658 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (+ (* 0 0) (* 0 R))) into 0
50.667 * [backup-simplify]: Simplify (- (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R))) (* 0 (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R))))) into 0
50.672 * [backup-simplify]: Simplify (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) 0) (+ (* 0 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
50.677 * [backup-simplify]: Simplify (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
50.682 * [backup-simplify]: Simplify (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))
50.689 * [backup-simplify]: Simplify (+ (* 3/2 0) (+ (* 0 0) (* 0 (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))) into 0
50.694 * [backup-simplify]: Simplify (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* phi1 phi2)))) (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* phi1 phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* phi1 (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (* phi1 (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))
50.696 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
50.697 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
50.697 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
50.698 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
50.698 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
50.699 * [backup-simplify]: Simplify (+ 0 0) into 0
50.699 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
50.700 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
50.701 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
50.701 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
50.702 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
50.703 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
50.703 * [backup-simplify]: Simplify (+ 0 0) into 0
50.704 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
50.705 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0
50.706 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
50.706 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
50.707 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
50.707 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
50.708 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
50.708 * [backup-simplify]: Simplify (- 0) into 0
50.709 * [backup-simplify]: Simplify (+ 0 0) into 0
50.709 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
50.710 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
50.711 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
50.711 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
50.712 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
50.713 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
50.713 * [backup-simplify]: Simplify (- 0) into 0
50.713 * [backup-simplify]: Simplify (+ 0 0) into 0
50.714 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
50.715 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 2)))) into 0
50.722 * [backup-simplify]: Simplify (+ 0 0) into 0
50.724 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
50.725 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
50.725 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
50.726 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
50.726 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
50.727 * [backup-simplify]: Simplify (- 0) into 0
50.727 * [backup-simplify]: Simplify (+ 0 0) into 0
50.728 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
50.729 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
50.729 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
50.730 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
50.731 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
50.731 * [backup-simplify]: Simplify (- 0) into 0
50.731 * [backup-simplify]: Simplify (+ 0 0) into 0
50.732 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
50.733 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
50.734 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
50.734 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
50.735 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
50.736 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
50.736 * [backup-simplify]: Simplify (+ 0 0) into 0
50.737 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
50.738 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
50.739 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
50.739 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
50.740 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
50.741 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
50.741 * [backup-simplify]: Simplify (+ 0 0) into 0
50.742 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into 0
50.743 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
50.744 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
50.744 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
50.745 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
50.745 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
50.746 * [backup-simplify]: Simplify (+ 0 0) into 0
50.746 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
50.747 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
50.747 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
50.747 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
50.748 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
50.748 * [backup-simplify]: Simplify (+ 0 0) into 0
50.748 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
50.749 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
50.749 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
50.749 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
50.750 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
50.750 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
50.750 * [backup-simplify]: Simplify (- 0) into 0
50.751 * [backup-simplify]: Simplify (+ 0 0) into 0
50.751 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
50.752 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
50.752 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
50.752 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
50.753 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
50.753 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
50.753 * [backup-simplify]: Simplify (- 0) into 0
50.754 * [backup-simplify]: Simplify (+ 0 0) into 0
50.754 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into 0
50.754 * [backup-simplify]: Simplify (+ 0 0) into 0
50.755 * [backup-simplify]: Simplify (- 0) into 0
50.755 * [backup-simplify]: Simplify (+ 0 0) into 0
50.757 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into 0
50.759 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)))) into 0
50.766 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2))) (/ 0 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* 0 (/ 0 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
50.769 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
50.769 * [backup-simplify]: Simplify (+ 0) into 0
50.770 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
50.770 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
50.771 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
50.771 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
50.771 * [backup-simplify]: Simplify (+ 0 0) into 0
50.772 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
50.772 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
50.772 * [backup-simplify]: Simplify (+ 0) into 0
50.772 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
50.773 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
50.773 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
50.773 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
50.774 * [backup-simplify]: Simplify (- 0) into 0
50.774 * [backup-simplify]: Simplify (+ 0 0) into 0
50.774 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
50.774 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0
50.774 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 3) 0) (* 0 (pow (sin (/ 0.5 phi1)) 3))) into 0
50.775 * [backup-simplify]: Simplify (+ 0) into 0
50.775 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
50.775 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
50.776 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
50.776 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
50.776 * [backup-simplify]: Simplify (- 0) into 0
50.777 * [backup-simplify]: Simplify (+ 0 0) into 0
50.777 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
50.777 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
50.777 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 3) 0) (* 0 (* (pow (cos (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)))) into 0
50.778 * [backup-simplify]: Simplify (+ 0) into 0
50.778 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
50.778 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
50.778 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
50.779 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
50.779 * [backup-simplify]: Simplify (+ 0 0) into 0
50.779 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
50.779 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0
50.780 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 3) 0) (* 0 (* (pow (sin (/ 0.5 phi1)) 3) (* (pow (cos (/ 0.5 phi2)) 3) (pow (cos (/ 0.5 phi1)) 3))))) into 0
50.780 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
50.781 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
50.781 * [backup-simplify]: Simplify (+ (* R 0) (* 0 1)) into 0
50.781 * [backup-simplify]: Simplify (+ 0) into 0
50.782 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
50.782 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
50.783 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
50.783 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
50.783 * [backup-simplify]: Simplify (+ 0 0) into 0
50.784 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
50.784 * [backup-simplify]: Simplify (+ 0) into 0
50.785 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
50.785 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
50.786 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
50.786 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
50.787 * [backup-simplify]: Simplify (+ 0 0) into 0
50.787 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
50.787 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
50.788 * [backup-simplify]: Simplify (+ 0) into 0
50.788 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
50.788 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
50.789 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
50.790 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
50.790 * [backup-simplify]: Simplify (- 0) into 0
50.790 * [backup-simplify]: Simplify (+ 0 0) into 0
50.791 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
50.791 * [backup-simplify]: Simplify (+ 0) into 0
50.792 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
50.792 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
50.793 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
50.793 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
50.793 * [backup-simplify]: Simplify (- 0) into 0
50.794 * [backup-simplify]: Simplify (+ 0 0) into 0
50.794 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
50.794 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
50.795 * [backup-simplify]: Simplify (+ 0 0) into 0
50.796 * [backup-simplify]: Simplify (+ 0) into 0
50.796 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
50.796 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
50.797 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
50.798 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
50.798 * [backup-simplify]: Simplify (- 0) into 0
50.798 * [backup-simplify]: Simplify (+ 0 0) into 0
50.799 * [backup-simplify]: Simplify (+ 0) into 0
50.799 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
50.800 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
50.800 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
50.801 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
50.801 * [backup-simplify]: Simplify (+ 0 0) into 0
50.802 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
50.802 * [backup-simplify]: Simplify (+ 0) into 0
50.802 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
50.803 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
50.803 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
50.804 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
50.804 * [backup-simplify]: Simplify (+ 0 0) into 0
50.805 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
50.805 * [backup-simplify]: Simplify (+ 0) into 0
50.806 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
50.806 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
50.807 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
50.807 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
50.807 * [backup-simplify]: Simplify (- 0) into 0
50.808 * [backup-simplify]: Simplify (+ 0 0) into 0
50.808 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
50.809 * [backup-simplify]: Simplify (+ 0) into 0
50.809 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
50.809 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
50.810 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
50.810 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
50.810 * [backup-simplify]: Simplify (+ 0 0) into 0
50.811 * [backup-simplify]: Simplify (+ 0) into 0
50.811 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
50.811 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
50.811 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
50.812 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
50.812 * [backup-simplify]: Simplify (- 0) into 0
50.812 * [backup-simplify]: Simplify (+ 0 0) into 0
50.812 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
50.813 * [backup-simplify]: Simplify (+ 0) into 0
50.813 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
50.813 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
50.813 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
50.814 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
50.814 * [backup-simplify]: Simplify (- 0) into 0
50.814 * [backup-simplify]: Simplify (+ 0 0) into 0
50.814 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
50.815 * [backup-simplify]: Simplify (+ 0) into 0
50.815 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
50.815 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
50.816 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
50.816 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
50.816 * [backup-simplify]: Simplify (+ 0 0) into 0
50.816 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
50.817 * [backup-simplify]: Simplify (+ 0 0) into 0
50.817 * [backup-simplify]: Simplify (- 0) into 0
50.817 * [backup-simplify]: Simplify (+ 0 0) into 0
50.818 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (* 0 R)) into 0
50.822 * [backup-simplify]: Simplify (- (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 3) (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (sin (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R))))) into 0
50.823 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
50.823 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
50.823 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
50.824 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
50.824 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
50.825 * [backup-simplify]: Simplify (+ 0 0) into 0
50.825 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
50.825 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0
50.826 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
50.826 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
50.827 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
50.827 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
50.827 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
50.828 * [backup-simplify]: Simplify (- 0) into 0
50.828 * [backup-simplify]: Simplify (+ 0 0) into 0
50.828 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
50.829 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi2)) 2)))) into 0
50.829 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 3) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 3)))) into 0
50.830 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
50.830 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
50.830 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
50.831 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
50.831 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
50.831 * [backup-simplify]: Simplify (- 0) into 0
50.832 * [backup-simplify]: Simplify (+ 0 0) into 0
50.832 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
50.832 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 2)))) into 0
50.833 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 3) 0) (+ (* 0 0) (* 0 (* (pow (cos (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3))))) into 0
50.834 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
50.834 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
50.834 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
50.835 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
50.835 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
50.835 * [backup-simplify]: Simplify (+ 0 0) into 0
50.836 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
50.836 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi2)) 2)))) into 0
50.837 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 3) 0) (+ (* 0 0) (* 0 (* (pow (sin (/ 0.5 phi1)) 3) (* (pow (cos (/ 0.5 phi2)) 3) (pow (cos (/ 0.5 phi1)) 3)))))) into 0
50.837 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
50.844 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
50.845 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (* 0 1))) into 0
50.846 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
50.847 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
50.847 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
50.847 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
50.848 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
50.848 * [backup-simplify]: Simplify (+ 0 0) into 0
50.849 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
50.850 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
50.850 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
50.851 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
50.851 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
50.852 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
50.852 * [backup-simplify]: Simplify (+ 0 0) into 0
50.853 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
50.854 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0
50.854 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
50.855 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
50.855 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
50.856 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
50.857 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
50.857 * [backup-simplify]: Simplify (- 0) into 0
50.858 * [backup-simplify]: Simplify (+ 0 0) into 0
50.858 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
50.859 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
50.860 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
50.860 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
50.860 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
50.861 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
50.861 * [backup-simplify]: Simplify (- 0) into 0
50.862 * [backup-simplify]: Simplify (+ 0 0) into 0
50.862 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
50.863 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 2)))) into 0
50.864 * [backup-simplify]: Simplify (+ 0 0) into 0
50.864 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
50.865 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
50.865 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
50.866 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
50.866 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
50.867 * [backup-simplify]: Simplify (- 0) into 0
50.867 * [backup-simplify]: Simplify (+ 0 0) into 0
50.868 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
50.869 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
50.869 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
50.869 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
50.870 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
50.870 * [backup-simplify]: Simplify (+ 0 0) into 0
50.871 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
50.872 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
50.872 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
50.872 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
50.873 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
50.874 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
50.874 * [backup-simplify]: Simplify (+ 0 0) into 0
50.875 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
50.875 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
50.876 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
50.876 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
50.877 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
50.877 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
50.878 * [backup-simplify]: Simplify (- 0) into 0
50.878 * [backup-simplify]: Simplify (+ 0 0) into 0
50.879 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into 0
50.880 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
50.881 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
50.881 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
50.881 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
50.882 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
50.882 * [backup-simplify]: Simplify (+ 0 0) into 0
50.883 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
50.884 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
50.884 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
50.885 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
50.885 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
50.886 * [backup-simplify]: Simplify (- 0) into 0
50.886 * [backup-simplify]: Simplify (+ 0 0) into 0
50.886 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
50.887 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
50.888 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
50.888 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
50.889 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
50.889 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
50.890 * [backup-simplify]: Simplify (- 0) into 0
50.890 * [backup-simplify]: Simplify (+ 0 0) into 0
50.890 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
50.891 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
50.891 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
50.891 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
50.892 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
50.892 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
50.892 * [backup-simplify]: Simplify (+ 0 0) into 0
50.893 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into 0
50.893 * [backup-simplify]: Simplify (+ 0 0) into 0
50.893 * [backup-simplify]: Simplify (- 0) into 0
50.893 * [backup-simplify]: Simplify (+ 0 0) into 0
50.895 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (+ (* 0 0) (* 0 R))) into 0
50.899 * [backup-simplify]: Simplify (- (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 3) (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (sin (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R))) (* 0 (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R))))) into 0
50.903 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 3) (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (sin (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) 0) (+ (* 0 0) (* 0 (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))) into 0
50.907 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 3) (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (sin (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) 0) (* 0 (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
50.911 * [backup-simplify]: Simplify (* (/ (* (pow (cos (/ 0.5 phi2)) 3) (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (sin (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into (* (/ (* (pow (sin (/ 0.5 phi2)) 3) (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (cos (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))
50.917 * [backup-simplify]: Simplify (+ (* 17/2 0) (+ (* 0 0) (* 0 (* (/ (* (pow (sin (/ 0.5 phi2)) 3) (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (cos (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))))) into 0
50.922 * [backup-simplify]: Simplify (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* phi1 phi2)))) (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* phi1 phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* phi1 (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (* phi1 (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))
50.927 * [backup-simplify]: Simplify (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))
50.932 * [backup-simplify]: Simplify (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2)))))))))))
50.934 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
50.935 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
50.935 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
50.936 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
50.937 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
50.938 * [backup-simplify]: Simplify (+ 0 0) into 0
50.938 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
50.939 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
50.940 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
50.941 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
50.942 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
50.942 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
50.943 * [backup-simplify]: Simplify (+ 0 0) into 0
50.943 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
50.944 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0
50.945 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
50.946 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
50.946 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
50.947 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
50.948 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
50.948 * [backup-simplify]: Simplify (- 0) into 0
50.949 * [backup-simplify]: Simplify (+ 0 0) into 0
50.949 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
50.950 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
50.951 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
50.951 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
50.952 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
50.953 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
50.953 * [backup-simplify]: Simplify (- 0) into 0
50.954 * [backup-simplify]: Simplify (+ 0 0) into 0
50.954 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
50.955 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 2)))) into 0
50.955 * [backup-simplify]: Simplify (+ 0 0) into 0
50.957 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
50.958 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
50.958 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
50.959 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
50.959 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
50.960 * [backup-simplify]: Simplify (- 0) into 0
50.960 * [backup-simplify]: Simplify (+ 0 0) into 0
50.961 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
50.962 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
50.962 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
50.963 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
50.964 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
50.964 * [backup-simplify]: Simplify (- 0) into 0
50.964 * [backup-simplify]: Simplify (+ 0 0) into 0
50.965 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
50.966 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
50.967 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
50.967 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
50.968 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
50.969 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
50.969 * [backup-simplify]: Simplify (+ 0 0) into 0
50.970 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
50.971 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
50.972 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
50.972 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
50.973 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
50.973 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
50.974 * [backup-simplify]: Simplify (+ 0 0) into 0
50.974 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into 0
50.975 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
50.983 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
50.983 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
50.984 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
50.985 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
50.986 * [backup-simplify]: Simplify (+ 0 0) into 0
50.987 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
50.987 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
50.988 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
50.988 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
50.989 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
50.989 * [backup-simplify]: Simplify (+ 0 0) into 0
50.990 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
50.991 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
50.992 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
50.992 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
50.993 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
50.993 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
50.994 * [backup-simplify]: Simplify (- 0) into 0
50.994 * [backup-simplify]: Simplify (+ 0 0) into 0
50.995 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
50.996 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
50.997 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
50.997 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
50.998 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
50.998 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
50.998 * [backup-simplify]: Simplify (- 0) into 0
50.998 * [backup-simplify]: Simplify (+ 0 0) into 0
50.999 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into 0
50.999 * [backup-simplify]: Simplify (+ 0 0) into 0
50.999 * [backup-simplify]: Simplify (- 0) into 0
51.000 * [backup-simplify]: Simplify (+ 0 0) into 0
51.002 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into 0
51.004 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)))) into 0
51.011 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2))) (/ 0 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* 0 (/ 0 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
51.014 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
51.014 * [backup-simplify]: Simplify (+ 0) into 0
51.014 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
51.015 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
51.015 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
51.015 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
51.016 * [backup-simplify]: Simplify (+ 0 0) into 0
51.016 * [backup-simplify]: Simplify (+ 0) into 0
51.016 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
51.016 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
51.017 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
51.017 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
51.017 * [backup-simplify]: Simplify (+ 0 0) into 0
51.018 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
51.018 * [backup-simplify]: Simplify (+ 0) into 0
51.018 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
51.018 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
51.019 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
51.019 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
51.019 * [backup-simplify]: Simplify (- 0) into 0
51.020 * [backup-simplify]: Simplify (+ 0 0) into 0
51.020 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
51.020 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
51.020 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (pow (cos (/ 0.5 phi1)) 4))) into 0
51.020 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 5) 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
51.021 * [backup-simplify]: Simplify (+ 0) into 0
51.021 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
51.021 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
51.021 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
51.022 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
51.022 * [backup-simplify]: Simplify (- 0) into 0
51.022 * [backup-simplify]: Simplify (+ 0 0) into 0
51.022 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
51.023 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0
51.023 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (pow (cos (/ 0.5 phi2)) 4))) into 0
51.023 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 5) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (pow (cos (/ 0.5 phi1)) 5))))) into 0
51.023 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
51.024 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
51.024 * [backup-simplify]: Simplify (+ (* R 0) (* 0 1)) into 0
51.025 * [backup-simplify]: Simplify (+ 0) into 0
51.025 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
51.025 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
51.026 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
51.026 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
51.026 * [backup-simplify]: Simplify (+ 0 0) into 0
51.027 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
51.027 * [backup-simplify]: Simplify (+ 0) into 0
51.028 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
51.028 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
51.029 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
51.029 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
51.029 * [backup-simplify]: Simplify (+ 0 0) into 0
51.030 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
51.030 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
51.031 * [backup-simplify]: Simplify (+ 0) into 0
51.031 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
51.031 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
51.032 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
51.033 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
51.033 * [backup-simplify]: Simplify (- 0) into 0
51.033 * [backup-simplify]: Simplify (+ 0 0) into 0
51.034 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
51.034 * [backup-simplify]: Simplify (+ 0) into 0
51.035 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
51.035 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
51.036 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
51.036 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
51.037 * [backup-simplify]: Simplify (- 0) into 0
51.037 * [backup-simplify]: Simplify (+ 0 0) into 0
51.037 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
51.038 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
51.038 * [backup-simplify]: Simplify (+ 0 0) into 0
51.039 * [backup-simplify]: Simplify (+ 0) into 0
51.039 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
51.040 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
51.040 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
51.041 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
51.041 * [backup-simplify]: Simplify (- 0) into 0
51.042 * [backup-simplify]: Simplify (+ 0 0) into 0
51.042 * [backup-simplify]: Simplify (+ 0) into 0
51.043 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
51.043 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
51.044 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
51.044 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
51.045 * [backup-simplify]: Simplify (+ 0 0) into 0
51.045 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
51.045 * [backup-simplify]: Simplify (+ 0) into 0
51.046 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
51.046 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
51.047 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
51.047 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
51.048 * [backup-simplify]: Simplify (+ 0 0) into 0
51.048 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
51.048 * [backup-simplify]: Simplify (+ 0) into 0
51.049 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
51.049 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
51.050 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
51.050 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
51.051 * [backup-simplify]: Simplify (- 0) into 0
51.051 * [backup-simplify]: Simplify (+ 0 0) into 0
51.052 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
51.052 * [backup-simplify]: Simplify (+ 0) into 0
51.053 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
51.053 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
51.054 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
51.054 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
51.055 * [backup-simplify]: Simplify (+ 0 0) into 0
51.055 * [backup-simplify]: Simplify (+ 0) into 0
51.056 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
51.056 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
51.057 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
51.057 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
51.058 * [backup-simplify]: Simplify (- 0) into 0
51.058 * [backup-simplify]: Simplify (+ 0 0) into 0
51.058 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
51.059 * [backup-simplify]: Simplify (+ 0) into 0
51.059 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
51.060 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
51.060 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
51.061 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
51.061 * [backup-simplify]: Simplify (- 0) into 0
51.062 * [backup-simplify]: Simplify (+ 0 0) into 0
51.062 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
51.062 * [backup-simplify]: Simplify (+ 0) into 0
51.063 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
51.063 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
51.064 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
51.064 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
51.065 * [backup-simplify]: Simplify (+ 0 0) into 0
51.065 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
51.066 * [backup-simplify]: Simplify (+ 0 0) into 0
51.066 * [backup-simplify]: Simplify (- 0) into 0
51.066 * [backup-simplify]: Simplify (+ 0 0) into 0
51.068 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (* 0 R)) into 0
51.075 * [backup-simplify]: Simplify (- (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) (+ (* (/ (* (sin (/ 0.5 phi2)) (* (pow (cos (/ 0.5 phi1)) 5) (* (pow (cos (/ 0.5 phi2)) 5) (sin (/ 0.5 phi1))))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R))))) into 0
51.076 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
51.077 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
51.078 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
51.078 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
51.079 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
51.079 * [backup-simplify]: Simplify (+ 0 0) into 0
51.080 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
51.081 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
51.081 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
51.082 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
51.083 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
51.083 * [backup-simplify]: Simplify (+ 0 0) into 0
51.084 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
51.085 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
51.086 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
51.086 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
51.087 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
51.088 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
51.088 * [backup-simplify]: Simplify (- 0) into 0
51.089 * [backup-simplify]: Simplify (+ 0 0) into 0
51.089 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
51.090 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 2)))) into 0
51.091 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 4)))) into 0
51.092 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 5) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
51.093 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
51.093 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
51.094 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
51.094 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
51.095 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
51.095 * [backup-simplify]: Simplify (- 0) into 0
51.096 * [backup-simplify]: Simplify (+ 0 0) into 0
51.096 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
51.097 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi2)) 2)))) into 0
51.098 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi2)) 4)))) into 0
51.099 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 5) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (pow (cos (/ 0.5 phi1)) 5)))))) into 0
51.100 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
51.101 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
51.101 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (* 0 1))) into 0
51.102 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
51.103 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
51.103 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
51.104 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
51.105 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
51.105 * [backup-simplify]: Simplify (+ 0 0) into 0
51.106 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
51.107 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
51.108 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
51.108 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
51.109 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
51.109 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
51.110 * [backup-simplify]: Simplify (+ 0 0) into 0
51.110 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
51.111 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0
51.112 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
51.113 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
51.113 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
51.114 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
51.114 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
51.115 * [backup-simplify]: Simplify (- 0) into 0
51.115 * [backup-simplify]: Simplify (+ 0 0) into 0
51.116 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
51.117 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
51.117 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
51.118 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
51.119 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
51.119 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
51.120 * [backup-simplify]: Simplify (- 0) into 0
51.120 * [backup-simplify]: Simplify (+ 0 0) into 0
51.121 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
51.121 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 2)))) into 0
51.122 * [backup-simplify]: Simplify (+ 0 0) into 0
51.130 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
51.132 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
51.132 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
51.133 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
51.134 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
51.134 * [backup-simplify]: Simplify (- 0) into 0
51.135 * [backup-simplify]: Simplify (+ 0 0) into 0
51.136 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
51.137 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
51.137 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
51.138 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
51.139 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
51.139 * [backup-simplify]: Simplify (+ 0 0) into 0
51.140 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
51.141 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
51.142 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
51.142 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
51.143 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
51.143 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
51.144 * [backup-simplify]: Simplify (+ 0 0) into 0
51.145 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
51.146 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
51.146 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
51.147 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
51.148 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
51.149 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
51.149 * [backup-simplify]: Simplify (- 0) into 0
51.150 * [backup-simplify]: Simplify (+ 0 0) into 0
51.150 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into 0
51.153 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
51.155 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
51.155 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
51.156 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
51.157 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
51.157 * [backup-simplify]: Simplify (+ 0 0) into 0
51.158 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
51.159 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
51.160 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
51.161 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
51.161 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
51.162 * [backup-simplify]: Simplify (- 0) into 0
51.162 * [backup-simplify]: Simplify (+ 0 0) into 0
51.163 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
51.164 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
51.164 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
51.165 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
51.165 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
51.166 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
51.166 * [backup-simplify]: Simplify (- 0) into 0
51.167 * [backup-simplify]: Simplify (+ 0 0) into 0
51.168 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
51.168 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
51.169 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
51.170 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
51.170 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
51.171 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
51.171 * [backup-simplify]: Simplify (+ 0 0) into 0
51.172 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into 0
51.172 * [backup-simplify]: Simplify (+ 0 0) into 0
51.173 * [backup-simplify]: Simplify (- 0) into 0
51.173 * [backup-simplify]: Simplify (+ 0 0) into 0
51.176 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (+ (* 0 0) (* 0 R))) into 0
51.184 * [backup-simplify]: Simplify (- (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) (+ (* (/ (* (sin (/ 0.5 phi2)) (* (pow (cos (/ 0.5 phi1)) 5) (* (pow (cos (/ 0.5 phi2)) 5) (sin (/ 0.5 phi1))))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R))) (* 0 (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R))))) into 0
51.192 * [backup-simplify]: Simplify (+ (* (/ (* (sin (/ 0.5 phi2)) (* (pow (cos (/ 0.5 phi1)) 5) (* (pow (cos (/ 0.5 phi2)) 5) (sin (/ 0.5 phi1))))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) 0) (+ (* 0 0) (* 0 (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))) into 0
51.198 * [backup-simplify]: Simplify (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)))) (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2))))) (+ (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* (pow phi1 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (* (pow phi1 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)))) (+ (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R))))) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))
51.204 * [backup-simplify]: Simplify (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* (pow phi1 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (* (pow phi1 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)))) (+ (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R))))) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)))) (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2))))) (+ (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))
51.206 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
51.207 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
51.207 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
51.208 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
51.209 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
51.209 * [backup-simplify]: Simplify (+ 0 0) into 0
51.210 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
51.210 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
51.211 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
51.211 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
51.212 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
51.213 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
51.213 * [backup-simplify]: Simplify (+ 0 0) into 0
51.214 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
51.215 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0
51.215 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
51.216 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
51.216 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
51.217 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
51.218 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
51.218 * [backup-simplify]: Simplify (- 0) into 0
51.219 * [backup-simplify]: Simplify (+ 0 0) into 0
51.219 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
51.220 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
51.221 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
51.221 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
51.222 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
51.223 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
51.223 * [backup-simplify]: Simplify (- 0) into 0
51.224 * [backup-simplify]: Simplify (+ 0 0) into 0
51.224 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
51.225 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 2)))) into 0
51.225 * [backup-simplify]: Simplify (+ 0 0) into 0
51.226 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
51.227 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
51.227 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
51.228 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
51.229 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
51.229 * [backup-simplify]: Simplify (- 0) into 0
51.229 * [backup-simplify]: Simplify (+ 0 0) into 0
51.230 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
51.231 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
51.231 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
51.232 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
51.233 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
51.233 * [backup-simplify]: Simplify (- 0) into 0
51.233 * [backup-simplify]: Simplify (+ 0 0) into 0
51.234 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
51.235 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
51.236 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
51.236 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
51.237 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
51.237 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
51.237 * [backup-simplify]: Simplify (+ 0 0) into 0
51.238 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
51.239 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
51.240 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
51.240 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
51.241 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
51.241 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
51.242 * [backup-simplify]: Simplify (+ 0 0) into 0
51.243 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into 0
51.243 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
51.244 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
51.244 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
51.245 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
51.246 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
51.246 * [backup-simplify]: Simplify (+ 0 0) into 0
51.247 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
51.248 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
51.248 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
51.249 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
51.249 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
51.250 * [backup-simplify]: Simplify (+ 0 0) into 0
51.250 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
51.251 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
51.252 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
51.252 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
51.253 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
51.254 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
51.254 * [backup-simplify]: Simplify (- 0) into 0
51.254 * [backup-simplify]: Simplify (+ 0 0) into 0
51.255 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
51.256 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
51.257 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
51.257 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
51.258 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
51.258 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
51.259 * [backup-simplify]: Simplify (- 0) into 0
51.259 * [backup-simplify]: Simplify (+ 0 0) into 0
51.260 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into 0
51.260 * [backup-simplify]: Simplify (+ 0 0) into 0
51.261 * [backup-simplify]: Simplify (- 0) into 0
51.261 * [backup-simplify]: Simplify (+ 0 0) into 0
51.267 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (* 0 (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
51.271 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
51.271 * [backup-simplify]: Simplify (+ 0) into 0
51.272 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
51.272 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
51.273 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
51.273 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
51.273 * [backup-simplify]: Simplify (- 0) into 0
51.274 * [backup-simplify]: Simplify (+ 0 0) into 0
51.274 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
51.274 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
51.275 * [backup-simplify]: Simplify (+ 0) into 0
51.275 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
51.276 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
51.276 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
51.277 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
51.277 * [backup-simplify]: Simplify (- 0) into 0
51.278 * [backup-simplify]: Simplify (+ 0 0) into 0
51.278 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
51.278 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0
51.279 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 4) 0) (* 0 (pow (cos (/ 0.5 phi1)) 4))) into 0
51.279 * [backup-simplify]: Simplify (+ 0) into 0
51.280 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
51.280 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
51.281 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
51.281 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
51.281 * [backup-simplify]: Simplify (+ 0 0) into 0
51.282 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
51.282 * [backup-simplify]: Simplify (+ 0) into 0
51.283 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
51.283 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
51.284 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
51.284 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
51.285 * [backup-simplify]: Simplify (+ 0 0) into 0
51.285 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
51.285 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
51.286 * [backup-simplify]: Simplify (+ 0) into 0
51.286 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
51.287 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
51.287 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
51.288 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
51.288 * [backup-simplify]: Simplify (- 0) into 0
51.289 * [backup-simplify]: Simplify (+ 0 0) into 0
51.289 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
51.289 * [backup-simplify]: Simplify (+ 0) into 0
51.290 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
51.290 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
51.291 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
51.291 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
51.292 * [backup-simplify]: Simplify (- 0) into 0
51.292 * [backup-simplify]: Simplify (+ 0 0) into 0
51.292 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
51.293 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
51.293 * [backup-simplify]: Simplify (+ 0 0) into 0
51.300 * [backup-simplify]: Simplify (+ 0) into 0
51.301 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
51.301 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
51.302 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
51.302 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
51.303 * [backup-simplify]: Simplify (- 0) into 0
51.303 * [backup-simplify]: Simplify (+ 0 0) into 0
51.303 * [backup-simplify]: Simplify (+ 0) into 0
51.304 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
51.304 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
51.305 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
51.305 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
51.306 * [backup-simplify]: Simplify (+ 0 0) into 0
51.306 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
51.306 * [backup-simplify]: Simplify (+ 0) into 0
51.307 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
51.307 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
51.308 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
51.308 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
51.309 * [backup-simplify]: Simplify (+ 0 0) into 0
51.309 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
51.309 * [backup-simplify]: Simplify (+ 0) into 0
51.310 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
51.310 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
51.311 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
51.311 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
51.312 * [backup-simplify]: Simplify (- 0) into 0
51.312 * [backup-simplify]: Simplify (+ 0 0) into 0
51.312 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
51.313 * [backup-simplify]: Simplify (+ 0) into 0
51.313 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
51.314 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
51.314 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
51.315 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
51.315 * [backup-simplify]: Simplify (+ 0 0) into 0
51.316 * [backup-simplify]: Simplify (+ 0) into 0
51.316 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
51.316 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
51.317 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
51.317 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
51.318 * [backup-simplify]: Simplify (- 0) into 0
51.318 * [backup-simplify]: Simplify (+ 0 0) into 0
51.318 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
51.319 * [backup-simplify]: Simplify (+ 0) into 0
51.319 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
51.320 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
51.320 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
51.321 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
51.321 * [backup-simplify]: Simplify (- 0) into 0
51.322 * [backup-simplify]: Simplify (+ 0 0) into 0
51.322 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
51.322 * [backup-simplify]: Simplify (+ 0) into 0
51.323 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
51.323 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
51.324 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
51.324 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
51.325 * [backup-simplify]: Simplify (+ 0 0) into 0
51.325 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
51.326 * [backup-simplify]: Simplify (+ 0 0) into 0
51.326 * [backup-simplify]: Simplify (- 0) into 0
51.326 * [backup-simplify]: Simplify (+ 0 0) into 0
51.327 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
51.328 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
51.331 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into 0
51.333 * [backup-simplify]: Simplify (+ (* R 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into 0
51.339 * [backup-simplify]: Simplify (- (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi1)) 4)) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R))))) into 0
51.340 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
51.341 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
51.341 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
51.342 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
51.343 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
51.343 * [backup-simplify]: Simplify (- 0) into 0
51.344 * [backup-simplify]: Simplify (+ 0 0) into 0
51.344 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
51.345 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 2)))) into 0
51.346 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
51.347 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
51.347 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
51.348 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
51.348 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
51.349 * [backup-simplify]: Simplify (- 0) into 0
51.349 * [backup-simplify]: Simplify (+ 0 0) into 0
51.350 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
51.350 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi2)) 2)))) into 0
51.351 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 4) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 4)))) into 0
51.351 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
51.351 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
51.352 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
51.352 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
51.352 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
51.353 * [backup-simplify]: Simplify (+ 0 0) into 0
51.353 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
51.354 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
51.354 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
51.354 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
51.355 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
51.355 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
51.355 * [backup-simplify]: Simplify (+ 0 0) into 0
51.356 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
51.356 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0
51.357 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
51.357 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
51.357 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
51.358 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
51.358 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
51.358 * [backup-simplify]: Simplify (- 0) into 0
51.359 * [backup-simplify]: Simplify (+ 0 0) into 0
51.359 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
51.359 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
51.360 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
51.360 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
51.360 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
51.361 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
51.361 * [backup-simplify]: Simplify (- 0) into 0
51.361 * [backup-simplify]: Simplify (+ 0 0) into 0
51.362 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
51.362 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 2)))) into 0
51.362 * [backup-simplify]: Simplify (+ 0 0) into 0
51.363 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
51.364 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
51.364 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
51.364 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
51.365 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
51.365 * [backup-simplify]: Simplify (- 0) into 0
51.365 * [backup-simplify]: Simplify (+ 0 0) into 0
51.366 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
51.366 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
51.366 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
51.367 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
51.367 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
51.367 * [backup-simplify]: Simplify (+ 0 0) into 0
51.368 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
51.368 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
51.369 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
51.369 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
51.369 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
51.369 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
51.370 * [backup-simplify]: Simplify (+ 0 0) into 0
51.370 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
51.371 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
51.371 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
51.371 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
51.372 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
51.372 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
51.373 * [backup-simplify]: Simplify (- 0) into 0
51.373 * [backup-simplify]: Simplify (+ 0 0) into 0
51.373 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into 0
51.374 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
51.374 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
51.374 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
51.375 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
51.375 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
51.375 * [backup-simplify]: Simplify (+ 0 0) into 0
51.376 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
51.376 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
51.376 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
51.377 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
51.377 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
51.377 * [backup-simplify]: Simplify (- 0) into 0
51.378 * [backup-simplify]: Simplify (+ 0 0) into 0
51.378 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
51.379 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
51.380 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
51.380 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
51.381 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
51.381 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
51.382 * [backup-simplify]: Simplify (- 0) into 0
51.382 * [backup-simplify]: Simplify (+ 0 0) into 0
51.383 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
51.384 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
51.384 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
51.385 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
51.386 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
51.386 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
51.386 * [backup-simplify]: Simplify (+ 0 0) into 0
51.387 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into 0
51.388 * [backup-simplify]: Simplify (+ 0 0) into 0
51.388 * [backup-simplify]: Simplify (- 0) into 0
51.390 * [backup-simplify]: Simplify (+ 0 0) into 0
51.391 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
51.392 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
51.395 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into 0
51.398 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into 0
51.407 * [backup-simplify]: Simplify (- (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi1)) 4)) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R))) (* 0 (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R))))) into 0
51.411 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi1)) 4)) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) 0) (+ (* 0 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
51.413 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi1)) 4)) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
51.415 * [backup-simplify]: Simplify (* (/ (* (pow (cos (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi1)) 4)) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into (* (/ (* (pow (cos (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi1)) 4)) R) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))
51.418 * [backup-simplify]: Simplify (+ (* 1/2 0) (+ (* 0 0) (* 0 (* (/ (* (pow (cos (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi1)) 4)) R) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))))) into 0
51.418 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
51.419 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
51.419 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
51.419 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
51.420 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
51.420 * [backup-simplify]: Simplify (+ 0 0) into 0
51.420 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
51.421 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
51.421 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
51.422 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
51.422 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
51.422 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
51.423 * [backup-simplify]: Simplify (+ 0 0) into 0
51.423 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
51.423 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0
51.424 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
51.424 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
51.425 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
51.425 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
51.425 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
51.430 * [backup-simplify]: Simplify (- 0) into 0
51.430 * [backup-simplify]: Simplify (+ 0 0) into 0
51.431 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
51.431 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
51.431 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
51.432 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
51.432 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
51.432 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
51.433 * [backup-simplify]: Simplify (- 0) into 0
51.433 * [backup-simplify]: Simplify (+ 0 0) into 0
51.433 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
51.434 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 2)))) into 0
51.434 * [backup-simplify]: Simplify (+ 0 0) into 0
51.434 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
51.435 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
51.435 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
51.435 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
51.436 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
51.436 * [backup-simplify]: Simplify (- 0) into 0
51.436 * [backup-simplify]: Simplify (+ 0 0) into 0
51.437 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
51.437 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
51.437 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
51.438 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
51.438 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
51.438 * [backup-simplify]: Simplify (- 0) into 0
51.439 * [backup-simplify]: Simplify (+ 0 0) into 0
51.439 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
51.439 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
51.440 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
51.440 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
51.440 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
51.441 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
51.441 * [backup-simplify]: Simplify (+ 0 0) into 0
51.441 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
51.442 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
51.442 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
51.442 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
51.443 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
51.443 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
51.443 * [backup-simplify]: Simplify (+ 0 0) into 0
51.444 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into 0
51.444 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
51.445 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
51.445 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
51.445 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
51.446 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
51.446 * [backup-simplify]: Simplify (+ 0 0) into 0
51.446 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
51.447 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
51.447 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
51.447 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
51.448 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
51.448 * [backup-simplify]: Simplify (+ 0 0) into 0
51.448 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
51.449 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
51.450 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
51.450 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
51.451 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
51.451 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
51.452 * [backup-simplify]: Simplify (- 0) into 0
51.452 * [backup-simplify]: Simplify (+ 0 0) into 0
51.453 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
51.454 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
51.454 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
51.455 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
51.456 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
51.456 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
51.457 * [backup-simplify]: Simplify (- 0) into 0
51.457 * [backup-simplify]: Simplify (+ 0 0) into 0
51.458 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into 0
51.458 * [backup-simplify]: Simplify (+ 0 0) into 0
51.459 * [backup-simplify]: Simplify (- 0) into 0
51.459 * [backup-simplify]: Simplify (+ 0 0) into 0
51.465 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (* 0 (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
51.469 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
51.469 * [backup-simplify]: Simplify (+ 0) into 0
51.470 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
51.470 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
51.471 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
51.471 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
51.472 * [backup-simplify]: Simplify (+ 0 0) into 0
51.472 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
51.472 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
51.473 * [backup-simplify]: Simplify (+ 0) into 0
51.473 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
51.473 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
51.474 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
51.475 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
51.475 * [backup-simplify]: Simplify (+ 0 0) into 0
51.475 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
51.476 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0
51.476 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 4) 0) (* 0 (pow (sin (/ 0.5 phi1)) 4))) into 0
51.476 * [backup-simplify]: Simplify (+ 0) into 0
51.477 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
51.477 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
51.478 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
51.478 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
51.479 * [backup-simplify]: Simplify (+ 0 0) into 0
51.479 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
51.479 * [backup-simplify]: Simplify (+ 0) into 0
51.480 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
51.480 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
51.481 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
51.481 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
51.482 * [backup-simplify]: Simplify (+ 0 0) into 0
51.482 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
51.482 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
51.483 * [backup-simplify]: Simplify (+ 0) into 0
51.483 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
51.483 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
51.484 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
51.485 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
51.485 * [backup-simplify]: Simplify (- 0) into 0
51.485 * [backup-simplify]: Simplify (+ 0 0) into 0
51.486 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
51.486 * [backup-simplify]: Simplify (+ 0) into 0
51.486 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
51.487 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
51.487 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
51.488 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
51.488 * [backup-simplify]: Simplify (- 0) into 0
51.489 * [backup-simplify]: Simplify (+ 0 0) into 0
51.489 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
51.489 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
51.490 * [backup-simplify]: Simplify (+ 0 0) into 0
51.490 * [backup-simplify]: Simplify (+ 0) into 0
51.490 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
51.491 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
51.491 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
51.492 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
51.492 * [backup-simplify]: Simplify (- 0) into 0
51.493 * [backup-simplify]: Simplify (+ 0 0) into 0
51.493 * [backup-simplify]: Simplify (+ 0) into 0
51.494 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
51.494 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
51.494 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
51.495 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
51.495 * [backup-simplify]: Simplify (+ 0 0) into 0
51.495 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
51.496 * [backup-simplify]: Simplify (+ 0) into 0
51.496 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
51.497 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
51.497 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
51.498 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
51.498 * [backup-simplify]: Simplify (+ 0 0) into 0
51.498 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
51.499 * [backup-simplify]: Simplify (+ 0) into 0
51.500 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
51.500 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
51.501 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
51.501 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
51.502 * [backup-simplify]: Simplify (- 0) into 0
51.502 * [backup-simplify]: Simplify (+ 0 0) into 0
51.502 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
51.503 * [backup-simplify]: Simplify (+ 0) into 0
51.503 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
51.503 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
51.504 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
51.505 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
51.505 * [backup-simplify]: Simplify (+ 0 0) into 0
51.505 * [backup-simplify]: Simplify (+ 0) into 0
51.506 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
51.506 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
51.507 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
51.507 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
51.508 * [backup-simplify]: Simplify (- 0) into 0
51.508 * [backup-simplify]: Simplify (+ 0 0) into 0
51.508 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
51.509 * [backup-simplify]: Simplify (+ 0) into 0
51.509 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
51.509 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
51.510 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
51.511 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
51.511 * [backup-simplify]: Simplify (- 0) into 0
51.511 * [backup-simplify]: Simplify (+ 0 0) into 0
51.512 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
51.512 * [backup-simplify]: Simplify (+ 0) into 0
51.512 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
51.513 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
51.513 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
51.514 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
51.514 * [backup-simplify]: Simplify (+ 0 0) into 0
51.515 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
51.515 * [backup-simplify]: Simplify (+ 0 0) into 0
51.515 * [backup-simplify]: Simplify (- 0) into 0
51.516 * [backup-simplify]: Simplify (+ 0 0) into 0
51.516 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
51.517 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
51.520 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into 0
51.522 * [backup-simplify]: Simplify (+ (* R 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into 0
51.529 * [backup-simplify]: Simplify (- (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R))))) into 0
51.530 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
51.531 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
51.531 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
51.532 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
51.533 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
51.533 * [backup-simplify]: Simplify (+ 0 0) into 0
51.534 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
51.535 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0
51.535 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
51.536 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
51.536 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
51.537 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
51.538 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
51.538 * [backup-simplify]: Simplify (+ 0 0) into 0
51.539 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
51.540 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi2)) 2)))) into 0
51.541 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 4) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 4)))) into 0
51.542 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
51.542 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
51.543 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
51.543 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
51.544 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
51.544 * [backup-simplify]: Simplify (+ 0 0) into 0
51.545 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
51.546 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
51.547 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
51.547 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
51.548 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
51.548 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
51.549 * [backup-simplify]: Simplify (+ 0 0) into 0
51.549 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
51.550 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0
51.551 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
51.552 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
51.552 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
51.553 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
51.553 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
51.553 * [backup-simplify]: Simplify (- 0) into 0
51.554 * [backup-simplify]: Simplify (+ 0 0) into 0
51.554 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
51.555 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
51.556 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
51.556 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
51.557 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
51.558 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
51.558 * [backup-simplify]: Simplify (- 0) into 0
51.558 * [backup-simplify]: Simplify (+ 0 0) into 0
51.559 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
51.560 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 2)))) into 0
51.560 * [backup-simplify]: Simplify (+ 0 0) into 0
51.561 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
51.562 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
51.562 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
51.563 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
51.564 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
51.564 * [backup-simplify]: Simplify (- 0) into 0
51.564 * [backup-simplify]: Simplify (+ 0 0) into 0
51.572 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
51.573 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
51.573 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
51.574 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
51.574 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
51.575 * [backup-simplify]: Simplify (+ 0 0) into 0
51.575 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
51.576 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
51.577 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
51.577 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
51.578 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
51.579 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
51.579 * [backup-simplify]: Simplify (+ 0 0) into 0
51.580 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
51.581 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
51.581 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
51.582 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
51.582 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
51.583 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
51.583 * [backup-simplify]: Simplify (- 0) into 0
51.584 * [backup-simplify]: Simplify (+ 0 0) into 0
51.584 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into 0
51.585 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
51.586 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
51.586 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
51.587 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
51.588 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
51.588 * [backup-simplify]: Simplify (+ 0 0) into 0
51.589 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
51.590 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
51.590 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
51.591 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
51.591 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
51.591 * [backup-simplify]: Simplify (- 0) into 0
51.592 * [backup-simplify]: Simplify (+ 0 0) into 0
51.592 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
51.593 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
51.594 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
51.594 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
51.595 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
51.596 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
51.596 * [backup-simplify]: Simplify (- 0) into 0
51.596 * [backup-simplify]: Simplify (+ 0 0) into 0
51.597 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
51.598 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
51.599 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
51.599 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
51.600 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
51.600 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
51.601 * [backup-simplify]: Simplify (+ 0 0) into 0
51.601 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into 0
51.602 * [backup-simplify]: Simplify (+ 0 0) into 0
51.602 * [backup-simplify]: Simplify (- 0) into 0
51.603 * [backup-simplify]: Simplify (+ 0 0) into 0
51.603 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
51.604 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
51.607 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into 0
51.610 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into 0
51.620 * [backup-simplify]: Simplify (- (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R))) (* 0 (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R))))) into 0
51.626 * [backup-simplify]: Simplify (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) 0) (+ (* 0 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
51.631 * [backup-simplify]: Simplify (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
51.636 * [backup-simplify]: Simplify (* (/ (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into (* (/ (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)) R) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))
51.641 * [backup-simplify]: Simplify (+ (* 1/2 0) (+ (* 0 0) (* 0 (* (/ (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)) R) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))))) into 0
51.642 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
51.643 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
51.643 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
51.644 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
51.645 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
51.646 * [backup-simplify]: Simplify (+ 0 0) into 0
51.646 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
51.647 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
51.648 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
51.649 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
51.650 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
51.651 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
51.651 * [backup-simplify]: Simplify (+ 0 0) into 0
51.652 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
51.653 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0
51.654 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
51.655 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
51.655 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
51.656 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
51.657 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
51.657 * [backup-simplify]: Simplify (- 0) into 0
51.657 * [backup-simplify]: Simplify (+ 0 0) into 0
51.658 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
51.659 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
51.660 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
51.660 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
51.661 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
51.661 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
51.662 * [backup-simplify]: Simplify (- 0) into 0
51.662 * [backup-simplify]: Simplify (+ 0 0) into 0
51.663 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
51.663 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 2)))) into 0
51.664 * [backup-simplify]: Simplify (+ 0 0) into 0
51.665 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
51.666 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
51.666 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
51.667 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
51.667 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
51.667 * [backup-simplify]: Simplify (- 0) into 0
51.668 * [backup-simplify]: Simplify (+ 0 0) into 0
51.669 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
51.670 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
51.670 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
51.671 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
51.671 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
51.672 * [backup-simplify]: Simplify (- 0) into 0
51.672 * [backup-simplify]: Simplify (+ 0 0) into 0
51.672 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
51.673 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
51.674 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
51.674 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
51.675 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
51.676 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
51.676 * [backup-simplify]: Simplify (+ 0 0) into 0
51.677 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
51.677 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
51.678 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
51.678 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
51.679 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
51.680 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
51.680 * [backup-simplify]: Simplify (+ 0 0) into 0
51.681 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into 0
51.682 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
51.683 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
51.683 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
51.684 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
51.684 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
51.685 * [backup-simplify]: Simplify (+ 0 0) into 0
51.686 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
51.686 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
51.686 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
51.687 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
51.688 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
51.688 * [backup-simplify]: Simplify (+ 0 0) into 0
51.689 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
51.690 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
51.690 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
51.690 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
51.691 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
51.692 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
51.692 * [backup-simplify]: Simplify (- 0) into 0
51.693 * [backup-simplify]: Simplify (+ 0 0) into 0
51.693 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
51.694 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
51.695 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
51.695 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
51.696 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
51.696 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
51.697 * [backup-simplify]: Simplify (- 0) into 0
51.697 * [backup-simplify]: Simplify (+ 0 0) into 0
51.698 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into 0
51.698 * [backup-simplify]: Simplify (+ 0 0) into 0
51.699 * [backup-simplify]: Simplify (- 0) into 0
51.699 * [backup-simplify]: Simplify (+ 0 0) into 0
51.703 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into 0
51.708 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)))) into 0
51.721 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2))) (/ 0 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* 0 (/ 0 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
51.726 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
51.727 * [backup-simplify]: Simplify (+ 0) into 0
51.727 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
51.727 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
51.728 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
51.729 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
51.729 * [backup-simplify]: Simplify (+ 0 0) into 0
51.735 * [backup-simplify]: Simplify (+ 0) into 0
51.736 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
51.736 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
51.737 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
51.738 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
51.738 * [backup-simplify]: Simplify (- 0) into 0
51.738 * [backup-simplify]: Simplify (+ 0 0) into 0
51.739 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
51.739 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0
51.739 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (pow (cos (/ 0.5 phi2)) 4))) into 0
51.740 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 5) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
51.740 * [backup-simplify]: Simplify (+ 0) into 0
51.741 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
51.741 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
51.742 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
51.742 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
51.743 * [backup-simplify]: Simplify (- 0) into 0
51.743 * [backup-simplify]: Simplify (+ 0 0) into 0
51.743 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
51.744 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
51.744 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (pow (cos (/ 0.5 phi1)) 4))) into 0
51.744 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 5) 0) (* 0 (* (pow (cos (/ 0.5 phi2)) 5) (sin (/ 0.5 phi1))))) into 0
51.745 * [backup-simplify]: Simplify (+ 0) into 0
51.745 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
51.746 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
51.746 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
51.747 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
51.747 * [backup-simplify]: Simplify (+ 0 0) into 0
51.748 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (pow (cos (/ 0.5 phi2)) 5) (pow (cos (/ 0.5 phi1)) 5))))) into 0
51.749 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
51.749 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
51.750 * [backup-simplify]: Simplify (+ (* R 0) (* 0 1)) into 0
51.751 * [backup-simplify]: Simplify (+ 0) into 0
51.751 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
51.751 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
51.752 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
51.753 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
51.753 * [backup-simplify]: Simplify (+ 0 0) into 0
51.753 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
51.753 * [backup-simplify]: Simplify (+ 0) into 0
51.754 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
51.754 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
51.754 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
51.755 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
51.755 * [backup-simplify]: Simplify (+ 0 0) into 0
51.755 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
51.755 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
51.755 * [backup-simplify]: Simplify (+ 0) into 0
51.756 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
51.756 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
51.756 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
51.757 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
51.757 * [backup-simplify]: Simplify (- 0) into 0
51.757 * [backup-simplify]: Simplify (+ 0 0) into 0
51.757 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
51.757 * [backup-simplify]: Simplify (+ 0) into 0
51.758 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
51.758 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
51.758 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
51.759 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
51.759 * [backup-simplify]: Simplify (- 0) into 0
51.759 * [backup-simplify]: Simplify (+ 0 0) into 0
51.759 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
51.759 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
51.760 * [backup-simplify]: Simplify (+ 0 0) into 0
51.760 * [backup-simplify]: Simplify (+ 0) into 0
51.760 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
51.760 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
51.761 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
51.761 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
51.761 * [backup-simplify]: Simplify (- 0) into 0
51.762 * [backup-simplify]: Simplify (+ 0 0) into 0
51.762 * [backup-simplify]: Simplify (+ 0) into 0
51.762 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
51.762 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
51.763 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
51.763 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
51.763 * [backup-simplify]: Simplify (+ 0 0) into 0
51.763 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
51.764 * [backup-simplify]: Simplify (+ 0) into 0
51.764 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
51.764 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
51.764 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
51.765 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
51.765 * [backup-simplify]: Simplify (+ 0 0) into 0
51.765 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
51.765 * [backup-simplify]: Simplify (+ 0) into 0
51.766 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
51.766 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
51.766 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
51.766 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
51.767 * [backup-simplify]: Simplify (- 0) into 0
51.767 * [backup-simplify]: Simplify (+ 0 0) into 0
51.767 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
51.767 * [backup-simplify]: Simplify (+ 0) into 0
51.768 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
51.768 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
51.768 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
51.769 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
51.769 * [backup-simplify]: Simplify (+ 0 0) into 0
51.769 * [backup-simplify]: Simplify (+ 0) into 0
51.769 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
51.769 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
51.770 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
51.770 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
51.770 * [backup-simplify]: Simplify (- 0) into 0
51.771 * [backup-simplify]: Simplify (+ 0 0) into 0
51.771 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
51.771 * [backup-simplify]: Simplify (+ 0) into 0
51.771 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
51.771 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
51.772 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
51.772 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
51.772 * [backup-simplify]: Simplify (- 0) into 0
51.773 * [backup-simplify]: Simplify (+ 0 0) into 0
51.773 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
51.773 * [backup-simplify]: Simplify (+ 0) into 0
51.773 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
51.773 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
51.774 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
51.774 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
51.774 * [backup-simplify]: Simplify (+ 0 0) into 0
51.775 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
51.775 * [backup-simplify]: Simplify (+ 0 0) into 0
51.775 * [backup-simplify]: Simplify (- 0) into 0
51.775 * [backup-simplify]: Simplify (+ 0 0) into 0
51.776 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (* 0 R)) into 0
51.780 * [backup-simplify]: Simplify (- (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 5) (* (pow (cos (/ 0.5 phi1)) 5) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R))))) into 0
51.781 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
51.781 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
51.781 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
51.782 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
51.782 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
51.782 * [backup-simplify]: Simplify (+ 0 0) into 0
51.783 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
51.783 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
51.784 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
51.784 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
51.784 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
51.785 * [backup-simplify]: Simplify (- 0) into 0
51.785 * [backup-simplify]: Simplify (+ 0 0) into 0
51.786 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
51.786 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi2)) 2)))) into 0
51.787 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi2)) 4)))) into 0
51.787 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 5) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
51.788 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
51.788 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
51.788 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
51.789 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
51.789 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
51.789 * [backup-simplify]: Simplify (- 0) into 0
51.790 * [backup-simplify]: Simplify (+ 0 0) into 0
51.790 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
51.790 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 2)))) into 0
51.791 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 4)))) into 0
51.792 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 5) 0) (+ (* 0 0) (* 0 (* (pow (cos (/ 0.5 phi2)) 5) (sin (/ 0.5 phi1)))))) into 0
51.792 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
51.793 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
51.793 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
51.793 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
51.793 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
51.794 * [backup-simplify]: Simplify (+ 0 0) into 0
51.794 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (pow (cos (/ 0.5 phi2)) 5) (pow (cos (/ 0.5 phi1)) 5)))))) into 0
51.795 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
51.795 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
51.796 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (* 0 1))) into 0
51.796 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
51.797 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
51.797 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
51.797 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
51.798 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
51.798 * [backup-simplify]: Simplify (+ 0 0) into 0
51.798 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
51.799 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
51.799 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
51.799 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
51.800 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
51.800 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
51.800 * [backup-simplify]: Simplify (+ 0 0) into 0
51.801 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
51.801 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0
51.802 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
51.802 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
51.802 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
51.803 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
51.803 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
51.803 * [backup-simplify]: Simplify (- 0) into 0
51.803 * [backup-simplify]: Simplify (+ 0 0) into 0
51.804 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
51.804 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
51.805 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
51.805 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
51.805 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
51.806 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
51.806 * [backup-simplify]: Simplify (- 0) into 0
51.806 * [backup-simplify]: Simplify (+ 0 0) into 0
51.806 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
51.807 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 2)))) into 0
51.807 * [backup-simplify]: Simplify (+ 0 0) into 0
51.808 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
51.808 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
51.808 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
51.809 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
51.809 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
51.809 * [backup-simplify]: Simplify (- 0) into 0
51.809 * [backup-simplify]: Simplify (+ 0 0) into 0
51.810 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
51.810 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
51.810 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
51.811 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
51.811 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
51.811 * [backup-simplify]: Simplify (+ 0 0) into 0
51.812 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
51.812 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
51.813 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
51.813 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
51.813 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
51.814 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
51.814 * [backup-simplify]: Simplify (+ 0 0) into 0
51.814 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
51.815 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
51.815 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
51.815 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
51.816 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
51.816 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
51.816 * [backup-simplify]: Simplify (- 0) into 0
51.817 * [backup-simplify]: Simplify (+ 0 0) into 0
51.817 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into 0
51.818 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
51.818 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
51.819 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
51.819 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
51.820 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
51.820 * [backup-simplify]: Simplify (+ 0 0) into 0
51.821 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
51.822 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
51.822 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
51.823 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
51.823 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
51.824 * [backup-simplify]: Simplify (- 0) into 0
51.824 * [backup-simplify]: Simplify (+ 0 0) into 0
51.825 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
51.826 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
51.826 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
51.827 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
51.827 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
51.828 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
51.828 * [backup-simplify]: Simplify (- 0) into 0
51.829 * [backup-simplify]: Simplify (+ 0 0) into 0
51.829 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
51.830 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
51.831 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
51.831 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
51.832 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
51.833 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
51.833 * [backup-simplify]: Simplify (+ 0 0) into 0
51.834 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into 0
51.834 * [backup-simplify]: Simplify (+ 0 0) into 0
51.835 * [backup-simplify]: Simplify (- 0) into 0
51.835 * [backup-simplify]: Simplify (+ 0 0) into 0
51.838 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (+ (* 0 0) (* 0 R))) into 0
51.854 * [backup-simplify]: Simplify (- (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 5) (* (pow (cos (/ 0.5 phi1)) 5) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R))) (* 0 (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R))))) into 0
51.863 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 5) (* (pow (cos (/ 0.5 phi1)) 5) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) 0) (+ (* 0 0) (* 0 (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))) into 0
51.871 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 5) (* (pow (cos (/ 0.5 phi1)) 5) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) 0) (* 0 (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
51.879 * [backup-simplify]: Simplify (* (/ (* (pow (cos (/ 0.5 phi2)) 5) (* (pow (cos (/ 0.5 phi1)) 5) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into (* (/ (* (sin (/ 0.5 phi2)) (* (pow (cos (/ 0.5 phi1)) 5) (* (pow (cos (/ 0.5 phi2)) 5) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))
51.884 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (* (/ (* (sin (/ 0.5 phi2)) (* (pow (cos (/ 0.5 phi1)) 5) (* (pow (cos (/ 0.5 phi2)) 5) (sin (/ 0.5 phi1))))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))))) into 0
51.888 * [backup-simplify]: Simplify (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)))) (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2))))) (+ (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow phi1 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (* (pow phi1 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)))) (+ (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R))))) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))
51.892 * [backup-simplify]: Simplify (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow phi1 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (* (pow phi1 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)))) (+ (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R))))) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)))) (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2))))) (+ (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))
51.896 * [backup-simplify]: Simplify (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))
51.899 * [backup-simplify]: Simplify (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2)))))))))))
51.900 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
51.901 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
51.901 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
51.901 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
51.902 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
51.902 * [backup-simplify]: Simplify (+ 0 0) into 0
51.903 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
51.903 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
51.904 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
51.904 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
51.904 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
51.905 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
51.905 * [backup-simplify]: Simplify (+ 0 0) into 0
51.905 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
51.906 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0
51.906 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
51.907 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
51.907 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
51.907 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
51.908 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
51.908 * [backup-simplify]: Simplify (- 0) into 0
51.908 * [backup-simplify]: Simplify (+ 0 0) into 0
51.908 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
51.909 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
51.910 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
51.910 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
51.911 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
51.911 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
51.912 * [backup-simplify]: Simplify (- 0) into 0
51.912 * [backup-simplify]: Simplify (+ 0 0) into 0
51.912 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
51.913 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 2)))) into 0
51.914 * [backup-simplify]: Simplify (+ 0 0) into 0
51.915 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
51.915 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
51.916 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
51.916 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
51.917 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
51.917 * [backup-simplify]: Simplify (- 0) into 0
51.918 * [backup-simplify]: Simplify (+ 0 0) into 0
51.918 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
51.919 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
51.919 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
51.920 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
51.921 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
51.921 * [backup-simplify]: Simplify (- 0) into 0
51.922 * [backup-simplify]: Simplify (+ 0 0) into 0
51.922 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
51.923 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
51.924 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
51.924 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
51.925 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
51.925 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
51.926 * [backup-simplify]: Simplify (+ 0 0) into 0
51.926 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
51.927 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
51.928 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
51.928 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
51.929 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
51.929 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
51.930 * [backup-simplify]: Simplify (+ 0 0) into 0
51.931 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into 0
51.931 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
51.932 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
51.932 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
51.933 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
51.934 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
51.934 * [backup-simplify]: Simplify (+ 0 0) into 0
51.934 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
51.935 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
51.935 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
51.935 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
51.936 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
51.936 * [backup-simplify]: Simplify (+ 0 0) into 0
51.936 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
51.937 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
51.937 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
51.937 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
51.938 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
51.938 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
51.938 * [backup-simplify]: Simplify (- 0) into 0
51.939 * [backup-simplify]: Simplify (+ 0 0) into 0
51.939 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
51.940 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
51.940 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
51.941 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
51.941 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
51.941 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
51.942 * [backup-simplify]: Simplify (- 0) into 0
51.942 * [backup-simplify]: Simplify (+ 0 0) into 0
51.942 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into 0
51.943 * [backup-simplify]: Simplify (+ 0 0) into 0
51.943 * [backup-simplify]: Simplify (- 0) into 0
51.943 * [backup-simplify]: Simplify (+ 0 0) into 0
51.946 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (* 0 (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
51.948 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
51.948 * [backup-simplify]: Simplify (+ 0) into 0
51.948 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
51.948 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
51.949 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
51.949 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
51.949 * [backup-simplify]: Simplify (+ 0 0) into 0
51.950 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
51.950 * [backup-simplify]: Simplify (+ 0) into 0
51.950 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
51.950 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
51.951 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
51.951 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
51.951 * [backup-simplify]: Simplify (- 0) into 0
51.952 * [backup-simplify]: Simplify (+ 0 0) into 0
51.952 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
51.952 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
51.953 * [backup-simplify]: Simplify (+ 0) into 0
51.953 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
51.953 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
51.954 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
51.954 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
51.954 * [backup-simplify]: Simplify (- 0) into 0
51.954 * [backup-simplify]: Simplify (+ 0 0) into 0
51.954 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
51.955 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) into 0
51.955 * [backup-simplify]: Simplify (+ 0) into 0
51.955 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
51.955 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
51.956 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
51.956 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
51.956 * [backup-simplify]: Simplify (+ 0 0) into 0
51.957 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
51.957 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))))) into 0
51.957 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
51.958 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
51.958 * [backup-simplify]: Simplify (+ (* R 0) (* 0 1)) into 0
51.958 * [backup-simplify]: Simplify (+ 0) into 0
51.959 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
51.959 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
51.959 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
51.960 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
51.960 * [backup-simplify]: Simplify (+ 0 0) into 0
51.960 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
51.960 * [backup-simplify]: Simplify (+ 0) into 0
51.960 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
51.961 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
51.961 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
51.961 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
51.962 * [backup-simplify]: Simplify (+ 0 0) into 0
51.962 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
51.962 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
51.962 * [backup-simplify]: Simplify (+ 0) into 0
51.963 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
51.963 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
51.963 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
51.963 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
51.964 * [backup-simplify]: Simplify (- 0) into 0
51.964 * [backup-simplify]: Simplify (+ 0 0) into 0
51.964 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
51.964 * [backup-simplify]: Simplify (+ 0) into 0
51.965 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
51.965 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
51.965 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
51.965 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
51.972 * [backup-simplify]: Simplify (- 0) into 0
51.973 * [backup-simplify]: Simplify (+ 0 0) into 0
51.973 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
51.973 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
51.974 * [backup-simplify]: Simplify (+ 0 0) into 0
51.974 * [backup-simplify]: Simplify (+ 0) into 0
51.975 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
51.975 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
51.976 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
51.976 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
51.977 * [backup-simplify]: Simplify (- 0) into 0
51.977 * [backup-simplify]: Simplify (+ 0 0) into 0
51.978 * [backup-simplify]: Simplify (+ 0) into 0
51.978 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
51.978 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
51.979 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
51.980 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
51.980 * [backup-simplify]: Simplify (+ 0 0) into 0
51.980 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
51.980 * [backup-simplify]: Simplify (+ 0) into 0
51.981 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
51.981 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
51.982 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
51.982 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
51.983 * [backup-simplify]: Simplify (+ 0 0) into 0
51.983 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
51.983 * [backup-simplify]: Simplify (+ 0) into 0
51.984 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
51.984 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
51.985 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
51.985 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
51.986 * [backup-simplify]: Simplify (- 0) into 0
51.986 * [backup-simplify]: Simplify (+ 0 0) into 0
51.987 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
51.987 * [backup-simplify]: Simplify (+ 0) into 0
51.987 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
51.988 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
51.988 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
51.989 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
51.989 * [backup-simplify]: Simplify (+ 0 0) into 0
51.990 * [backup-simplify]: Simplify (+ 0) into 0
51.990 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
51.990 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
51.991 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
51.992 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
51.992 * [backup-simplify]: Simplify (- 0) into 0
51.992 * [backup-simplify]: Simplify (+ 0 0) into 0
51.992 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
51.993 * [backup-simplify]: Simplify (+ 0) into 0
51.993 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
51.994 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
51.994 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
51.995 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
51.995 * [backup-simplify]: Simplify (- 0) into 0
51.996 * [backup-simplify]: Simplify (+ 0 0) into 0
51.996 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
51.996 * [backup-simplify]: Simplify (+ 0) into 0
51.997 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
51.997 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
51.998 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
51.998 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
51.999 * [backup-simplify]: Simplify (+ 0 0) into 0
51.999 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
51.999 * [backup-simplify]: Simplify (+ 0 0) into 0
52.000 * [backup-simplify]: Simplify (- 0) into 0
52.000 * [backup-simplify]: Simplify (+ 0 0) into 0
52.002 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (* 0 R)) into 0
52.009 * [backup-simplify]: Simplify (- (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R))))) into 0
52.010 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
52.011 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
52.011 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
52.012 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
52.013 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
52.013 * [backup-simplify]: Simplify (+ 0 0) into 0
52.014 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
52.015 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
52.016 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
52.016 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
52.017 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
52.017 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
52.018 * [backup-simplify]: Simplify (- 0) into 0
52.018 * [backup-simplify]: Simplify (+ 0 0) into 0
52.019 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
52.020 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0
52.020 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
52.021 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
52.021 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
52.022 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
52.023 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
52.023 * [backup-simplify]: Simplify (- 0) into 0
52.023 * [backup-simplify]: Simplify (+ 0 0) into 0
52.024 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
52.025 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))))) into 0
52.026 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
52.027 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
52.027 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
52.028 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
52.028 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
52.028 * [backup-simplify]: Simplify (+ 0 0) into 0
52.029 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
52.030 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))))) into 0
52.031 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
52.032 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
52.033 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (* 0 1))) into 0
52.033 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
52.034 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
52.034 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
52.034 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
52.035 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
52.035 * [backup-simplify]: Simplify (+ 0 0) into 0
52.035 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
52.036 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
52.036 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
52.036 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
52.037 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
52.038 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
52.038 * [backup-simplify]: Simplify (+ 0 0) into 0
52.038 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
52.039 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0
52.039 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
52.040 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
52.040 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
52.040 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
52.040 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
52.041 * [backup-simplify]: Simplify (- 0) into 0
52.041 * [backup-simplify]: Simplify (+ 0 0) into 0
52.041 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
52.042 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
52.042 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
52.043 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
52.043 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
52.043 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
52.044 * [backup-simplify]: Simplify (- 0) into 0
52.044 * [backup-simplify]: Simplify (+ 0 0) into 0
52.044 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
52.045 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 2)))) into 0
52.045 * [backup-simplify]: Simplify (+ 0 0) into 0
52.045 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
52.046 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
52.046 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
52.046 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
52.047 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
52.047 * [backup-simplify]: Simplify (- 0) into 0
52.047 * [backup-simplify]: Simplify (+ 0 0) into 0
52.048 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
52.048 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
52.048 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
52.049 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
52.049 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
52.049 * [backup-simplify]: Simplify (+ 0 0) into 0
52.050 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
52.050 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
52.051 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
52.051 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
52.051 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
52.051 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
52.052 * [backup-simplify]: Simplify (+ 0 0) into 0
52.052 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
52.053 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
52.053 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
52.053 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
52.054 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
52.054 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
52.054 * [backup-simplify]: Simplify (- 0) into 0
52.054 * [backup-simplify]: Simplify (+ 0 0) into 0
52.055 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into 0
52.055 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
52.056 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
52.056 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
52.056 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
52.057 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
52.057 * [backup-simplify]: Simplify (+ 0 0) into 0
52.057 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
52.058 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
52.058 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
52.058 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
52.059 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
52.059 * [backup-simplify]: Simplify (- 0) into 0
52.059 * [backup-simplify]: Simplify (+ 0 0) into 0
52.060 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
52.060 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
52.060 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
52.061 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
52.061 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
52.061 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
52.062 * [backup-simplify]: Simplify (- 0) into 0
52.062 * [backup-simplify]: Simplify (+ 0 0) into 0
52.062 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
52.063 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
52.063 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
52.063 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
52.064 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
52.064 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
52.064 * [backup-simplify]: Simplify (+ 0 0) into 0
52.065 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into 0
52.065 * [backup-simplify]: Simplify (+ 0 0) into 0
52.065 * [backup-simplify]: Simplify (- 0) into 0
52.065 * [backup-simplify]: Simplify (+ 0 0) into 0
52.067 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (+ (* 0 0) (* 0 R))) into 0
52.071 * [backup-simplify]: Simplify (- (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R))) (* 0 (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R))))) into 0
52.075 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) 0) (+ (* 0 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
52.077 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
52.080 * [backup-simplify]: Simplify (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))
52.083 * [backup-simplify]: Simplify (+ (* 3/2 0) (+ (* 0 0) (* 0 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))) into 0
52.084 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
52.084 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
52.084 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
52.085 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
52.085 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
52.085 * [backup-simplify]: Simplify (+ 0 0) into 0
52.086 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
52.086 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
52.091 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
52.091 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
52.092 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
52.092 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
52.092 * [backup-simplify]: Simplify (+ 0 0) into 0
52.092 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
52.093 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0
52.094 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
52.094 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
52.094 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
52.095 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
52.095 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
52.095 * [backup-simplify]: Simplify (- 0) into 0
52.095 * [backup-simplify]: Simplify (+ 0 0) into 0
52.096 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
52.096 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
52.097 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
52.097 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
52.097 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
52.098 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
52.098 * [backup-simplify]: Simplify (- 0) into 0
52.098 * [backup-simplify]: Simplify (+ 0 0) into 0
52.098 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
52.099 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 2)))) into 0
52.099 * [backup-simplify]: Simplify (+ 0 0) into 0
52.100 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
52.100 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
52.100 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
52.101 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
52.101 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
52.101 * [backup-simplify]: Simplify (- 0) into 0
52.101 * [backup-simplify]: Simplify (+ 0 0) into 0
52.102 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
52.102 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
52.103 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
52.103 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
52.103 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
52.104 * [backup-simplify]: Simplify (- 0) into 0
52.104 * [backup-simplify]: Simplify (+ 0 0) into 0
52.104 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
52.105 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
52.105 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
52.105 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
52.106 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
52.106 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
52.107 * [backup-simplify]: Simplify (+ 0 0) into 0
52.108 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
52.108 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
52.109 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
52.109 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
52.111 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
52.112 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
52.112 * [backup-simplify]: Simplify (+ 0 0) into 0
52.113 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into 0
52.114 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
52.115 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
52.115 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
52.116 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
52.116 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
52.117 * [backup-simplify]: Simplify (+ 0 0) into 0
52.118 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
52.118 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
52.118 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
52.119 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
52.120 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
52.120 * [backup-simplify]: Simplify (+ 0 0) into 0
52.121 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
52.122 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
52.122 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
52.123 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
52.124 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
52.125 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
52.125 * [backup-simplify]: Simplify (- 0) into 0
52.125 * [backup-simplify]: Simplify (+ 0 0) into 0
52.126 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
52.127 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
52.128 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
52.128 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
52.129 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
52.130 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
52.130 * [backup-simplify]: Simplify (- 0) into 0
52.130 * [backup-simplify]: Simplify (+ 0 0) into 0
52.131 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into 0
52.132 * [backup-simplify]: Simplify (+ 0 0) into 0
52.132 * [backup-simplify]: Simplify (- 0) into 0
52.132 * [backup-simplify]: Simplify (+ 0 0) into 0
52.137 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into 0
52.142 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)))) into 0
52.155 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2))) (/ 0 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* 0 (/ 0 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
52.161 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
52.162 * [backup-simplify]: Simplify (+ 0) into 0
52.162 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
52.162 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
52.163 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
52.164 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
52.164 * [backup-simplify]: Simplify (+ 0 0) into 0
52.164 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
52.165 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
52.165 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (pow (sin (/ 0.5 phi1)) 4))) into 0
52.165 * [backup-simplify]: Simplify (+ 0) into 0
52.166 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
52.166 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
52.167 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
52.167 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
52.167 * [backup-simplify]: Simplify (+ 0 0) into 0
52.168 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
52.168 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0
52.168 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (pow (sin (/ 0.5 phi2)) 4))) into 0
52.169 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 5) 0) (* 0 (pow (sin (/ 0.5 phi1)) 5))) into 0
52.169 * [backup-simplify]: Simplify (+ 0) into 0
52.170 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
52.170 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
52.170 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
52.171 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
52.171 * [backup-simplify]: Simplify (- 0) into 0
52.172 * [backup-simplify]: Simplify (+ 0 0) into 0
52.172 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (pow (sin (/ 0.5 phi2)) 5) (pow (sin (/ 0.5 phi1)) 5)))) into 0
52.173 * [backup-simplify]: Simplify (+ 0) into 0
52.173 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
52.173 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
52.174 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
52.175 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
52.175 * [backup-simplify]: Simplify (- 0) into 0
52.175 * [backup-simplify]: Simplify (+ 0 0) into 0
52.176 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (pow (sin (/ 0.5 phi1)) 5) (* (pow (sin (/ 0.5 phi2)) 5) (cos (/ 0.5 phi1)))))) into 0
52.177 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
52.177 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
52.178 * [backup-simplify]: Simplify (+ (* R 0) (* 0 1)) into 0
52.178 * [backup-simplify]: Simplify (+ 0) into 0
52.179 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
52.179 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
52.180 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
52.180 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
52.181 * [backup-simplify]: Simplify (+ 0 0) into 0
52.181 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
52.181 * [backup-simplify]: Simplify (+ 0) into 0
52.182 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
52.182 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
52.183 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
52.183 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
52.184 * [backup-simplify]: Simplify (+ 0 0) into 0
52.184 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
52.184 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
52.185 * [backup-simplify]: Simplify (+ 0) into 0
52.185 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
52.185 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
52.186 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
52.187 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
52.187 * [backup-simplify]: Simplify (- 0) into 0
52.187 * [backup-simplify]: Simplify (+ 0 0) into 0
52.187 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
52.188 * [backup-simplify]: Simplify (+ 0) into 0
52.188 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
52.188 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
52.189 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
52.204 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
52.204 * [backup-simplify]: Simplify (- 0) into 0
52.205 * [backup-simplify]: Simplify (+ 0 0) into 0
52.205 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
52.206 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
52.206 * [backup-simplify]: Simplify (+ 0 0) into 0
52.206 * [backup-simplify]: Simplify (+ 0) into 0
52.207 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
52.207 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
52.208 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
52.208 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
52.209 * [backup-simplify]: Simplify (- 0) into 0
52.209 * [backup-simplify]: Simplify (+ 0 0) into 0
52.209 * [backup-simplify]: Simplify (+ 0) into 0
52.210 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
52.210 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
52.211 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
52.211 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
52.212 * [backup-simplify]: Simplify (+ 0 0) into 0
52.212 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
52.212 * [backup-simplify]: Simplify (+ 0) into 0
52.213 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
52.213 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
52.214 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
52.214 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
52.214 * [backup-simplify]: Simplify (+ 0 0) into 0
52.215 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
52.215 * [backup-simplify]: Simplify (+ 0) into 0
52.216 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
52.216 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
52.216 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
52.217 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
52.217 * [backup-simplify]: Simplify (- 0) into 0
52.218 * [backup-simplify]: Simplify (+ 0 0) into 0
52.218 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
52.219 * [backup-simplify]: Simplify (+ 0) into 0
52.219 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
52.219 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
52.220 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
52.221 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
52.221 * [backup-simplify]: Simplify (+ 0 0) into 0
52.221 * [backup-simplify]: Simplify (+ 0) into 0
52.222 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
52.222 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
52.223 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
52.223 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
52.224 * [backup-simplify]: Simplify (- 0) into 0
52.224 * [backup-simplify]: Simplify (+ 0 0) into 0
52.224 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
52.225 * [backup-simplify]: Simplify (+ 0) into 0
52.225 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
52.225 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
52.226 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
52.226 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
52.227 * [backup-simplify]: Simplify (- 0) into 0
52.227 * [backup-simplify]: Simplify (+ 0 0) into 0
52.228 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
52.228 * [backup-simplify]: Simplify (+ 0) into 0
52.228 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
52.229 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
52.229 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
52.230 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
52.230 * [backup-simplify]: Simplify (+ 0 0) into 0
52.231 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
52.231 * [backup-simplify]: Simplify (+ 0 0) into 0
52.231 * [backup-simplify]: Simplify (- 0) into 0
52.232 * [backup-simplify]: Simplify (+ 0 0) into 0
52.234 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (* 0 R)) into 0
52.248 * [backup-simplify]: Simplify (- (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 5) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 5)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R))))) into 0
52.249 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
52.250 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
52.250 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
52.250 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
52.251 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
52.251 * [backup-simplify]: Simplify (+ 0 0) into 0
52.251 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
52.252 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0
52.252 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 4)))) into 0
52.253 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
52.253 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
52.253 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
52.254 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
52.254 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
52.254 * [backup-simplify]: Simplify (+ 0 0) into 0
52.255 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
52.255 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi2)) 2)))) into 0
52.256 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi2)) 4)))) into 0
52.256 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 5) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 5)))) into 0
52.257 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
52.257 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
52.257 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
52.258 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
52.258 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
52.258 * [backup-simplify]: Simplify (- 0) into 0
52.259 * [backup-simplify]: Simplify (+ 0 0) into 0
52.259 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (pow (sin (/ 0.5 phi2)) 5) (pow (sin (/ 0.5 phi1)) 5))))) into 0
52.260 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
52.260 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
52.260 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
52.261 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
52.261 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
52.261 * [backup-simplify]: Simplify (- 0) into 0
52.262 * [backup-simplify]: Simplify (+ 0 0) into 0
52.262 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (pow (sin (/ 0.5 phi1)) 5) (* (pow (sin (/ 0.5 phi2)) 5) (cos (/ 0.5 phi1))))))) into 0
52.263 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
52.263 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
52.264 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (* 0 1))) into 0
52.264 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
52.265 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
52.265 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
52.265 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
52.266 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
52.266 * [backup-simplify]: Simplify (+ 0 0) into 0
52.266 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
52.267 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
52.267 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
52.267 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
52.268 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
52.268 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
52.268 * [backup-simplify]: Simplify (+ 0 0) into 0
52.269 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
52.269 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0
52.270 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
52.270 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
52.270 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
52.271 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
52.271 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
52.271 * [backup-simplify]: Simplify (- 0) into 0
52.272 * [backup-simplify]: Simplify (+ 0 0) into 0
52.272 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
52.272 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
52.273 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
52.273 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
52.274 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
52.274 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
52.274 * [backup-simplify]: Simplify (- 0) into 0
52.275 * [backup-simplify]: Simplify (+ 0 0) into 0
52.275 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
52.276 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 2)))) into 0
52.277 * [backup-simplify]: Simplify (+ 0 0) into 0
52.278 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
52.279 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
52.279 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
52.280 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
52.280 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
52.281 * [backup-simplify]: Simplify (- 0) into 0
52.281 * [backup-simplify]: Simplify (+ 0 0) into 0
52.282 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
52.282 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
52.283 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
52.283 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
52.284 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
52.284 * [backup-simplify]: Simplify (+ 0 0) into 0
52.285 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
52.286 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
52.287 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
52.287 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
52.288 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
52.288 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
52.289 * [backup-simplify]: Simplify (+ 0 0) into 0
52.289 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
52.290 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
52.291 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
52.291 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
52.292 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
52.293 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
52.293 * [backup-simplify]: Simplify (- 0) into 0
52.293 * [backup-simplify]: Simplify (+ 0 0) into 0
52.294 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into 0
52.294 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
52.295 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
52.295 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
52.295 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
52.296 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
52.296 * [backup-simplify]: Simplify (+ 0 0) into 0
52.297 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
52.297 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
52.297 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
52.298 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
52.298 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
52.298 * [backup-simplify]: Simplify (- 0) into 0
52.298 * [backup-simplify]: Simplify (+ 0 0) into 0
52.299 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
52.299 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
52.300 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
52.300 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
52.300 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
52.301 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
52.301 * [backup-simplify]: Simplify (- 0) into 0
52.301 * [backup-simplify]: Simplify (+ 0 0) into 0
52.301 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
52.302 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
52.302 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
52.303 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
52.303 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
52.303 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
52.304 * [backup-simplify]: Simplify (+ 0 0) into 0
52.304 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into 0
52.304 * [backup-simplify]: Simplify (+ 0 0) into 0
52.305 * [backup-simplify]: Simplify (- 0) into 0
52.305 * [backup-simplify]: Simplify (+ 0 0) into 0
52.306 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (+ (* 0 0) (* 0 R))) into 0
52.311 * [backup-simplify]: Simplify (- (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 5) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 5)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R))) (* 0 (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R))))) into 0
52.315 * [backup-simplify]: Simplify (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 5) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 5)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) 0) (+ (* 0 0) (* 0 (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))) into 0
52.318 * [backup-simplify]: Simplify (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 5) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 5)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) 0) (* 0 (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
52.322 * [backup-simplify]: Simplify (* (/ (* (pow (sin (/ 0.5 phi2)) 5) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 5)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 5) (pow (sin (/ 0.5 phi1)) 5)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))
52.325 * [backup-simplify]: Simplify (+ (* 3/2 0) (+ (* 0 0) (* 0 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 5) (pow (sin (/ 0.5 phi1)) 5)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))))) into 0
52.326 * [backup-simplify]: Simplify (+ 0 0) into 0
52.332 * [backup-simplify]: Simplify (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2))))))))))) 0) into (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))
52.346 * [backup-simplify]: Simplify (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)))) (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2))))) (+ (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow phi1 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (* (pow phi1 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)))) (+ (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R))))) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R)))))))))) (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2))))))))))))
52.361 * [backup-simplify]: Simplify (+ 0 (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow phi1 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (* (pow phi1 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)))) (+ (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R))))) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R)))))))))) (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2))))))))))))) into (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)))) (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2))))) (+ (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))
52.385 * [backup-simplify]: Simplify (+ 0 (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)))) (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2))))) (+ (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))) into (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow phi1 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (* (pow phi1 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)))) (+ (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R))))) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2))))))))))))
52.394 * [backup-simplify]: Simplify (+ 0 (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow phi1 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (* (pow phi1 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)))) (+ (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R))))) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2))))))))))))) into (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)))) (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2))))) (+ (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))
52.405 * [backup-simplify]: Simplify (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)))) (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2))))) (+ (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)))) (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2))))) (+ (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))) into (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2))))))))))) (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow phi1 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (* (pow phi1 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)))) (+ (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R))))) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R)))))))))) (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* (pow phi1 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (* (pow phi1 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)))) (+ (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R))))) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R))))))))))))
52.416 * [backup-simplify]: Simplify (+ 0 (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2))))))))))) (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow phi1 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (* (pow phi1 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)))) (+ (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R))))) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R)))))))))) (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* (pow phi1 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (* (pow phi1 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)))) (+ (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R))))) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R))))))))))))) into (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)))) (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2))))) (+ (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)))) (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2))))) (+ (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))))
52.438 * [backup-simplify]: Simplify (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2))))))))))) (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)))) (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2))))) (+ (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)))) (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2))))) (+ (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))))) into (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow phi1 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (* (pow phi1 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)))) (+ (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R))))) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2))))))))))) (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* (pow phi1 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (* (pow phi1 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)))) (+ (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R))))) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))))
52.457 * [backup-simplify]: Simplify (+ (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* phi1 (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (* phi1 (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow phi1 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (* (pow phi1 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)))) (+ (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R))))) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2))))))))))) (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* (pow phi1 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (* (pow phi1 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)))) (+ (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R))))) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))))) into (+ (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* phi1 phi2)))) (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* phi1 phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)))) (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2))))) (+ (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)))) (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2))))) (+ (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))))))
52.481 * [backup-simplify]: Simplify (+ 0 (+ (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* phi1 phi2)))) (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* phi1 phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)))) (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2))))) (+ (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)))) (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2))))) (+ (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))))))) into (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* (pow phi1 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (* (pow phi1 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)))) (+ (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R))))) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R)))))))))) (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow phi1 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (* (pow phi1 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)))) (+ (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R))))) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R)))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2))))))))))) (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* phi1 (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (* phi1 (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))))
52.524 * [backup-simplify]: Simplify (+ (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* phi1 (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (* phi1 (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* (pow phi1 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (* (pow phi1 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)))) (+ (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R))))) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R)))))))))) (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow phi1 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (* (pow phi1 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)))) (+ (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R))))) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R)))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2))))))))))) (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* phi1 (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (* phi1 (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))))) into (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)))) (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2))))) (+ (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) (+ (* 2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* phi1 phi2)))) (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* phi1 phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)))) (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2))))) (+ (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))))))
52.556 * [backup-simplify]: Simplify (+ 0 (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)))) (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2))))) (+ (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) (+ (* 2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* phi1 phi2)))) (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* phi1 phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)))) (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2))))) (+ (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))))))) into (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* (pow phi1 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (* (pow phi1 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)))) (+ (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R))))) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* phi1 (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (* phi1 (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2))))))))))) (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow phi1 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (* (pow phi1 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)))) (+ (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R))))) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))))))
52.575 * [backup-simplify]: Simplify (+ 0 (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* (pow phi1 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (* (pow phi1 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)))) (+ (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R))))) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* phi1 (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (* phi1 (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2))))))))))) (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow phi1 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (* (pow phi1 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)))) (+ (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R))))) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))))))) into (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)))) (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2))))) (+ (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2))))))))))) (+ (* 2 (* (/ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (- (+ (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* phi1 phi2)))) (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* phi1 phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)))) (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2))))) (+ (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))))))
52.601 * [backup-simplify]: Simplify (+ 0 (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)))) (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2))))) (+ (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2))))))))))) (+ (* 2 (* (/ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (- (+ (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* phi1 phi2)))) (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* phi1 phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)))) (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2))))) (+ (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))))))) into (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* (pow phi1 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (* (pow phi1 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)))) (+ (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R))))) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R)))))))))) (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow phi1 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (* (pow phi1 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)))) (+ (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R))))) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R)))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2))))))))))) (* 2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* phi1 (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (* phi1 (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))))))
52.605 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
52.606 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
52.606 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
52.607 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
52.607 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
52.615 * [backup-simplify]: Simplify (+ 0 0) into 0
52.616 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
52.617 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
52.618 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
52.618 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
52.619 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
52.619 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
52.620 * [backup-simplify]: Simplify (+ 0 0) into 0
52.620 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
52.621 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0
52.622 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
52.623 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
52.623 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
52.624 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
52.624 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
52.625 * [backup-simplify]: Simplify (- 0) into 0
52.625 * [backup-simplify]: Simplify (+ 0 0) into 0
52.626 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
52.627 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
52.628 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
52.628 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
52.629 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
52.629 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
52.630 * [backup-simplify]: Simplify (- 0) into 0
52.630 * [backup-simplify]: Simplify (+ 0 0) into 0
52.631 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
52.631 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 2)))) into 0
52.632 * [backup-simplify]: Simplify (+ 0 0) into 0
52.633 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
52.633 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
52.634 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
52.634 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
52.635 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
52.635 * [backup-simplify]: Simplify (- 0) into 0
52.636 * [backup-simplify]: Simplify (+ 0 0) into 0
52.637 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
52.637 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
52.638 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
52.638 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
52.639 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
52.639 * [backup-simplify]: Simplify (- 0) into 0
52.640 * [backup-simplify]: Simplify (+ 0 0) into 0
52.640 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
52.641 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
52.642 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
52.642 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
52.643 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
52.644 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
52.644 * [backup-simplify]: Simplify (+ 0 0) into 0
52.645 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
52.645 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
52.646 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
52.646 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
52.647 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
52.648 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
52.648 * [backup-simplify]: Simplify (+ 0 0) into 0
52.649 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into 0
52.650 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
52.651 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
52.651 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
52.652 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
52.652 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
52.653 * [backup-simplify]: Simplify (+ 0 0) into 0
52.653 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
52.654 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
52.655 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
52.656 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
52.656 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
52.657 * [backup-simplify]: Simplify (+ 0 0) into 0
52.657 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
52.658 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
52.659 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
52.660 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
52.660 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
52.661 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
52.661 * [backup-simplify]: Simplify (- 0) into 0
52.662 * [backup-simplify]: Simplify (+ 0 0) into 0
52.662 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
52.663 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
52.664 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
52.664 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
52.665 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
52.666 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
52.666 * [backup-simplify]: Simplify (- 0) into 0
52.667 * [backup-simplify]: Simplify (+ 0 0) into 0
52.667 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into 0
52.668 * [backup-simplify]: Simplify (+ 0 0) into 0
52.668 * [backup-simplify]: Simplify (- 0) into 0
52.668 * [backup-simplify]: Simplify (+ 0 0) into 0
52.674 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (* 0 (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
52.678 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
52.678 * [backup-simplify]: Simplify (+ 0) into 0
52.679 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
52.679 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
52.680 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
52.680 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
52.681 * [backup-simplify]: Simplify (+ 0 0) into 0
52.681 * [backup-simplify]: Simplify (+ 0) into 0
52.682 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
52.682 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
52.682 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
52.683 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
52.683 * [backup-simplify]: Simplify (+ 0 0) into 0
52.684 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
52.684 * [backup-simplify]: Simplify (+ 0) into 0
52.684 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
52.685 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
52.685 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
52.686 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
52.686 * [backup-simplify]: Simplify (- 0) into 0
52.687 * [backup-simplify]: Simplify (+ 0 0) into 0
52.687 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
52.688 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
52.688 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 3) 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
52.688 * [backup-simplify]: Simplify (+ 0) into 0
52.689 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
52.689 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
52.690 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
52.690 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
52.691 * [backup-simplify]: Simplify (- 0) into 0
52.691 * [backup-simplify]: Simplify (+ 0 0) into 0
52.691 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
52.692 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0
52.692 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 3) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (pow (cos (/ 0.5 phi1)) 3))))) into 0
52.693 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
52.694 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
52.694 * [backup-simplify]: Simplify (+ (* R 0) (* 0 1)) into 0
52.695 * [backup-simplify]: Simplify (+ 0) into 0
52.695 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
52.695 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
52.696 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
52.697 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
52.697 * [backup-simplify]: Simplify (+ 0 0) into 0
52.697 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
52.698 * [backup-simplify]: Simplify (+ 0) into 0
52.698 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
52.698 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
52.699 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
52.699 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
52.700 * [backup-simplify]: Simplify (+ 0 0) into 0
52.700 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
52.701 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
52.701 * [backup-simplify]: Simplify (+ 0) into 0
52.701 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
52.702 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
52.702 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
52.702 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
52.703 * [backup-simplify]: Simplify (- 0) into 0
52.703 * [backup-simplify]: Simplify (+ 0 0) into 0
52.703 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
52.703 * [backup-simplify]: Simplify (+ 0) into 0
52.703 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
52.704 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
52.704 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
52.704 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
52.704 * [backup-simplify]: Simplify (- 0) into 0
52.705 * [backup-simplify]: Simplify (+ 0 0) into 0
52.705 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
52.705 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
52.705 * [backup-simplify]: Simplify (+ 0 0) into 0
52.706 * [backup-simplify]: Simplify (+ 0) into 0
52.706 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
52.706 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
52.706 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
52.707 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
52.707 * [backup-simplify]: Simplify (- 0) into 0
52.707 * [backup-simplify]: Simplify (+ 0 0) into 0
52.707 * [backup-simplify]: Simplify (+ 0) into 0
52.708 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
52.708 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
52.708 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
52.709 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
52.709 * [backup-simplify]: Simplify (+ 0 0) into 0
52.709 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
52.709 * [backup-simplify]: Simplify (+ 0) into 0
52.710 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
52.710 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
52.710 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
52.710 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
52.711 * [backup-simplify]: Simplify (+ 0 0) into 0
52.711 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
52.711 * [backup-simplify]: Simplify (+ 0) into 0
52.711 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
52.712 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
52.712 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
52.712 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
52.712 * [backup-simplify]: Simplify (- 0) into 0
52.713 * [backup-simplify]: Simplify (+ 0 0) into 0
52.713 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
52.713 * [backup-simplify]: Simplify (+ 0) into 0
52.714 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
52.714 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
52.714 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
52.714 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
52.715 * [backup-simplify]: Simplify (+ 0 0) into 0
52.715 * [backup-simplify]: Simplify (+ 0) into 0
52.715 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
52.715 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
52.716 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
52.716 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
52.716 * [backup-simplify]: Simplify (- 0) into 0
52.716 * [backup-simplify]: Simplify (+ 0 0) into 0
52.717 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
52.717 * [backup-simplify]: Simplify (+ 0) into 0
52.717 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
52.717 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
52.718 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
52.718 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
52.718 * [backup-simplify]: Simplify (- 0) into 0
52.718 * [backup-simplify]: Simplify (+ 0 0) into 0
52.719 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
52.719 * [backup-simplify]: Simplify (+ 0) into 0
52.719 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
52.719 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
52.720 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
52.720 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
52.720 * [backup-simplify]: Simplify (+ 0 0) into 0
52.721 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
52.721 * [backup-simplify]: Simplify (+ 0 0) into 0
52.721 * [backup-simplify]: Simplify (- 0) into 0
52.721 * [backup-simplify]: Simplify (+ 0 0) into 0
52.722 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (* 0 R)) into 0
52.726 * [backup-simplify]: Simplify (- (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) (+ (* (/ (* (sin (/ 0.5 phi2)) (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (cos (/ 0.5 phi2)) 3) (sin (/ 0.5 phi1))))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R))))) into 0
52.727 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
52.727 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
52.728 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
52.728 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
52.729 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
52.729 * [backup-simplify]: Simplify (+ 0 0) into 0
52.729 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
52.730 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
52.730 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
52.731 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
52.732 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
52.732 * [backup-simplify]: Simplify (+ 0 0) into 0
52.733 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
52.734 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
52.735 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
52.735 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
52.736 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
52.736 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
52.737 * [backup-simplify]: Simplify (- 0) into 0
52.737 * [backup-simplify]: Simplify (+ 0 0) into 0
52.738 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
52.738 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 2)))) into 0
52.738 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 3) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
52.739 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
52.739 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
52.740 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
52.740 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
52.740 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
52.741 * [backup-simplify]: Simplify (- 0) into 0
52.741 * [backup-simplify]: Simplify (+ 0 0) into 0
52.741 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
52.742 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi2)) 2)))) into 0
52.742 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 3) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (pow (cos (/ 0.5 phi1)) 3)))))) into 0
52.743 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
52.743 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
52.750 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (* 0 1))) into 0
52.750 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
52.751 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
52.751 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
52.752 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
52.752 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
52.752 * [backup-simplify]: Simplify (+ 0 0) into 0
52.753 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
52.753 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
52.754 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
52.754 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
52.754 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
52.755 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
52.755 * [backup-simplify]: Simplify (+ 0 0) into 0
52.755 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
52.756 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0
52.756 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
52.757 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
52.757 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
52.757 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
52.758 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
52.758 * [backup-simplify]: Simplify (- 0) into 0
52.758 * [backup-simplify]: Simplify (+ 0 0) into 0
52.759 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
52.759 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
52.759 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
52.760 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
52.760 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
52.761 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
52.761 * [backup-simplify]: Simplify (- 0) into 0
52.761 * [backup-simplify]: Simplify (+ 0 0) into 0
52.762 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
52.762 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 2)))) into 0
52.762 * [backup-simplify]: Simplify (+ 0 0) into 0
52.763 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
52.763 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
52.763 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
52.764 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
52.764 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
52.764 * [backup-simplify]: Simplify (- 0) into 0
52.765 * [backup-simplify]: Simplify (+ 0 0) into 0
52.765 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
52.766 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
52.766 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
52.767 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
52.768 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
52.768 * [backup-simplify]: Simplify (+ 0 0) into 0
52.768 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
52.769 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
52.770 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
52.770 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
52.771 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
52.772 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
52.772 * [backup-simplify]: Simplify (+ 0 0) into 0
52.773 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
52.774 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
52.775 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
52.775 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
52.776 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
52.776 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
52.777 * [backup-simplify]: Simplify (- 0) into 0
52.777 * [backup-simplify]: Simplify (+ 0 0) into 0
52.778 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into 0
52.779 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
52.779 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
52.780 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
52.780 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
52.781 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
52.781 * [backup-simplify]: Simplify (+ 0 0) into 0
52.782 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
52.783 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
52.783 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
52.784 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
52.785 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
52.785 * [backup-simplify]: Simplify (- 0) into 0
52.785 * [backup-simplify]: Simplify (+ 0 0) into 0
52.786 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
52.787 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
52.788 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
52.788 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
52.789 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
52.789 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
52.790 * [backup-simplify]: Simplify (- 0) into 0
52.790 * [backup-simplify]: Simplify (+ 0 0) into 0
52.791 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
52.792 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
52.792 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
52.793 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
52.793 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
52.794 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
52.794 * [backup-simplify]: Simplify (+ 0 0) into 0
52.794 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into 0
52.795 * [backup-simplify]: Simplify (+ 0 0) into 0
52.795 * [backup-simplify]: Simplify (- 0) into 0
52.795 * [backup-simplify]: Simplify (+ 0 0) into 0
52.796 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (+ (* 0 0) (* 0 R))) into 0
52.801 * [backup-simplify]: Simplify (- (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) (+ (* (/ (* (sin (/ 0.5 phi2)) (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (cos (/ 0.5 phi2)) 3) (sin (/ 0.5 phi1))))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R))) (* 0 (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R))))) into 0
52.804 * [backup-simplify]: Simplify (+ (* (/ (* (sin (/ 0.5 phi2)) (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (cos (/ 0.5 phi2)) 3) (sin (/ 0.5 phi1))))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) 0) (+ (* 0 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
52.806 * [backup-simplify]: Simplify (+ (* (/ (* (sin (/ 0.5 phi2)) (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (cos (/ 0.5 phi2)) 3) (sin (/ 0.5 phi1))))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
52.809 * [backup-simplify]: Simplify (* (/ (* (sin (/ 0.5 phi2)) (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (cos (/ 0.5 phi2)) 3) (sin (/ 0.5 phi1))))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into (* (/ (* (pow (cos (/ 0.5 phi2)) 3) (* (pow (cos (/ 0.5 phi1)) 3) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))
52.812 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (* (/ (* (pow (cos (/ 0.5 phi2)) 3) (* (pow (cos (/ 0.5 phi1)) 3) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))) into 0
52.815 * [backup-simplify]: Simplify (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* phi1 phi2)))) (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* phi1 phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* phi1 (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (* phi1 (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))))))))
52.818 * [backup-simplify]: Simplify (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))
52.821 * [backup-simplify]: Simplify (* 1/2 (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into (* 1/2 (* (/ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))
52.822 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
52.823 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
52.823 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
52.823 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
52.824 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
52.824 * [backup-simplify]: Simplify (+ 0 0) into 0
52.824 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
52.825 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
52.826 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
52.826 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
52.827 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
52.827 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
52.828 * [backup-simplify]: Simplify (+ 0 0) into 0
52.828 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
52.829 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0
52.830 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
52.831 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
52.831 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
52.832 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
52.832 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
52.833 * [backup-simplify]: Simplify (- 0) into 0
52.833 * [backup-simplify]: Simplify (+ 0 0) into 0
52.834 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
52.835 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
52.835 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
52.836 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
52.836 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
52.837 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
52.837 * [backup-simplify]: Simplify (- 0) into 0
52.838 * [backup-simplify]: Simplify (+ 0 0) into 0
52.838 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
52.839 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 2)))) into 0
52.840 * [backup-simplify]: Simplify (+ 0 0) into 0
52.840 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
52.841 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
52.841 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
52.842 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
52.843 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
52.843 * [backup-simplify]: Simplify (- 0) into 0
52.844 * [backup-simplify]: Simplify (+ 0 0) into 0
52.844 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
52.845 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
52.845 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
52.846 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
52.847 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
52.847 * [backup-simplify]: Simplify (- 0) into 0
52.848 * [backup-simplify]: Simplify (+ 0 0) into 0
52.848 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
52.849 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
52.850 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
52.850 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
52.851 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
52.851 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
52.852 * [backup-simplify]: Simplify (+ 0 0) into 0
52.852 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
52.853 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
52.854 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
52.854 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
52.855 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
52.856 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
52.856 * [backup-simplify]: Simplify (+ 0 0) into 0
52.857 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into 0
52.858 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
52.859 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
52.859 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
52.860 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
52.860 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
52.861 * [backup-simplify]: Simplify (+ 0 0) into 0
52.862 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
52.862 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
52.863 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
52.863 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
52.864 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
52.864 * [backup-simplify]: Simplify (+ 0 0) into 0
52.865 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
52.866 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
52.875 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
52.875 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
52.876 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
52.877 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
52.877 * [backup-simplify]: Simplify (- 0) into 0
52.878 * [backup-simplify]: Simplify (+ 0 0) into 0
52.878 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
52.879 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
52.879 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
52.879 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
52.880 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
52.880 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
52.880 * [backup-simplify]: Simplify (- 0) into 0
52.881 * [backup-simplify]: Simplify (+ 0 0) into 0
52.881 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into 0
52.881 * [backup-simplify]: Simplify (+ 0 0) into 0
52.881 * [backup-simplify]: Simplify (- 0) into 0
52.882 * [backup-simplify]: Simplify (+ 0 0) into 0
52.884 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into 0
52.887 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)))) into 0
52.893 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2))) (/ 0 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* 0 (/ 0 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
52.896 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
52.896 * [backup-simplify]: Simplify (+ 0) into 0
52.897 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
52.897 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
52.898 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
52.898 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
52.898 * [backup-simplify]: Simplify (- 0) into 0
52.899 * [backup-simplify]: Simplify (+ 0 0) into 0
52.899 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
52.899 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
52.900 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 3) 0) (* 0 (pow (cos (/ 0.5 phi1)) 3))) into 0
52.900 * [backup-simplify]: Simplify (+ 0) into 0
52.901 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
52.901 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
52.902 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
52.902 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
52.903 * [backup-simplify]: Simplify (- 0) into 0
52.903 * [backup-simplify]: Simplify (+ 0 0) into 0
52.903 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
52.903 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0
52.904 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 3) 0) (* 0 (pow (cos (/ 0.5 phi2)) 3))) into 0
52.904 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 6) 0) (* 0 (pow (cos (/ 0.5 phi1)) 6))) into 0
52.905 * [backup-simplify]: Simplify (+ 0) into 0
52.905 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
52.905 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
52.906 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
52.907 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
52.907 * [backup-simplify]: Simplify (+ 0 0) into 0
52.907 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
52.908 * [backup-simplify]: Simplify (+ 0) into 0
52.908 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
52.908 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
52.909 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
52.910 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
52.910 * [backup-simplify]: Simplify (+ 0 0) into 0
52.910 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
52.911 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
52.911 * [backup-simplify]: Simplify (+ 0) into 0
52.912 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
52.912 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
52.913 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
52.913 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
52.914 * [backup-simplify]: Simplify (- 0) into 0
52.914 * [backup-simplify]: Simplify (+ 0 0) into 0
52.914 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
52.915 * [backup-simplify]: Simplify (+ 0) into 0
52.915 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
52.916 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
52.916 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
52.917 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
52.917 * [backup-simplify]: Simplify (- 0) into 0
52.918 * [backup-simplify]: Simplify (+ 0 0) into 0
52.918 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
52.919 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
52.919 * [backup-simplify]: Simplify (+ 0 0) into 0
52.919 * [backup-simplify]: Simplify (+ 0) into 0
52.920 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
52.920 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
52.921 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
52.921 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
52.922 * [backup-simplify]: Simplify (- 0) into 0
52.922 * [backup-simplify]: Simplify (+ 0 0) into 0
52.923 * [backup-simplify]: Simplify (+ 0) into 0
52.923 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
52.923 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
52.924 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
52.925 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
52.925 * [backup-simplify]: Simplify (+ 0 0) into 0
52.925 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
52.926 * [backup-simplify]: Simplify (+ 0) into 0
52.926 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
52.926 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
52.927 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
52.928 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
52.928 * [backup-simplify]: Simplify (+ 0 0) into 0
52.928 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
52.929 * [backup-simplify]: Simplify (+ 0) into 0
52.929 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
52.929 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
52.930 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
52.931 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
52.931 * [backup-simplify]: Simplify (- 0) into 0
52.931 * [backup-simplify]: Simplify (+ 0 0) into 0
52.932 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
52.932 * [backup-simplify]: Simplify (+ 0) into 0
52.933 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
52.933 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
52.934 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
52.934 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
52.934 * [backup-simplify]: Simplify (+ 0 0) into 0
52.935 * [backup-simplify]: Simplify (+ 0) into 0
52.935 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
52.936 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
52.936 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
52.937 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
52.937 * [backup-simplify]: Simplify (- 0) into 0
52.938 * [backup-simplify]: Simplify (+ 0 0) into 0
52.938 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
52.938 * [backup-simplify]: Simplify (+ 0) into 0
52.939 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
52.939 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
52.940 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
52.940 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
52.941 * [backup-simplify]: Simplify (- 0) into 0
52.941 * [backup-simplify]: Simplify (+ 0 0) into 0
52.941 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
52.942 * [backup-simplify]: Simplify (+ 0) into 0
52.942 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
52.942 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
52.943 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
52.944 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
52.944 * [backup-simplify]: Simplify (+ 0 0) into 0
52.944 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
52.945 * [backup-simplify]: Simplify (+ 0 0) into 0
52.945 * [backup-simplify]: Simplify (- 0) into 0
52.946 * [backup-simplify]: Simplify (+ 0 0) into 0
52.946 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
52.947 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
52.950 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into 0
52.952 * [backup-simplify]: Simplify (+ (* R 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into 0
52.959 * [backup-simplify]: Simplify (- (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 6) (pow (cos (/ 0.5 phi1)) 6)) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R))))) into 0
52.960 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
52.961 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
52.961 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
52.962 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
52.962 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
52.963 * [backup-simplify]: Simplify (- 0) into 0
52.963 * [backup-simplify]: Simplify (+ 0 0) into 0
52.964 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
52.964 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 2)))) into 0
52.965 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 3) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 3)))) into 0
52.966 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
52.967 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
52.967 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
52.968 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
52.969 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
52.969 * [backup-simplify]: Simplify (- 0) into 0
52.969 * [backup-simplify]: Simplify (+ 0 0) into 0
52.970 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
52.971 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi2)) 2)))) into 0
52.971 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 3) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi2)) 3)))) into 0
52.972 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 6) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 6)))) into 0
52.973 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
52.974 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
52.974 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
52.975 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
52.976 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
52.976 * [backup-simplify]: Simplify (+ 0 0) into 0
52.976 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
52.977 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
52.978 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
52.979 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
52.980 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
52.980 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
52.981 * [backup-simplify]: Simplify (+ 0 0) into 0
52.981 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
52.982 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0
52.982 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
52.983 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
52.983 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
52.983 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
52.984 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
52.984 * [backup-simplify]: Simplify (- 0) into 0
52.984 * [backup-simplify]: Simplify (+ 0 0) into 0
52.985 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
52.985 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
52.986 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
52.986 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
52.986 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
52.986 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
52.987 * [backup-simplify]: Simplify (- 0) into 0
52.987 * [backup-simplify]: Simplify (+ 0 0) into 0
52.987 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
52.988 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 2)))) into 0
52.988 * [backup-simplify]: Simplify (+ 0 0) into 0
52.989 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
52.989 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
52.989 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
52.990 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
52.990 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
52.990 * [backup-simplify]: Simplify (- 0) into 0
52.991 * [backup-simplify]: Simplify (+ 0 0) into 0
52.991 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
52.992 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
52.992 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
52.992 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
52.993 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
52.993 * [backup-simplify]: Simplify (+ 0 0) into 0
52.993 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
52.994 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
52.994 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
52.994 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
52.995 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
52.995 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
52.995 * [backup-simplify]: Simplify (+ 0 0) into 0
52.996 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
52.996 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
52.997 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
52.997 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
52.997 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
52.998 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
52.998 * [backup-simplify]: Simplify (- 0) into 0
52.998 * [backup-simplify]: Simplify (+ 0 0) into 0
52.999 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into 0
52.999 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
53.000 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
53.000 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
53.000 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
53.001 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
53.001 * [backup-simplify]: Simplify (+ 0 0) into 0
53.001 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
53.002 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
53.002 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
53.002 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
53.008 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
53.009 * [backup-simplify]: Simplify (- 0) into 0
53.009 * [backup-simplify]: Simplify (+ 0 0) into 0
53.010 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
53.010 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
53.011 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
53.011 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
53.011 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
53.012 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
53.012 * [backup-simplify]: Simplify (- 0) into 0
53.012 * [backup-simplify]: Simplify (+ 0 0) into 0
53.013 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
53.013 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
53.014 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
53.014 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
53.014 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
53.014 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
53.015 * [backup-simplify]: Simplify (+ 0 0) into 0
53.015 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into 0
53.015 * [backup-simplify]: Simplify (+ 0 0) into 0
53.016 * [backup-simplify]: Simplify (- 0) into 0
53.016 * [backup-simplify]: Simplify (+ 0 0) into 0
53.016 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
53.017 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
53.018 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into 0
53.020 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into 0
53.024 * [backup-simplify]: Simplify (- (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 6) (pow (cos (/ 0.5 phi1)) 6)) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R))) (* 0 (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R))))) into 0
53.028 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 6) (pow (cos (/ 0.5 phi1)) 6)) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) 0) (+ (* 0 0) (* 0 (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))) into 0
53.033 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 6) (pow (cos (/ 0.5 phi1)) 6)) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) 0) (* 0 (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
53.040 * [backup-simplify]: Simplify (* (/ (* (pow (cos (/ 0.5 phi2)) 6) (pow (cos (/ 0.5 phi1)) 6)) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into (* (/ (* (pow (cos (/ 0.5 phi2)) 6) (pow (cos (/ 0.5 phi1)) 6)) (* R (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))
53.046 * [backup-simplify]: Simplify (+ (* 1/2 0) (+ (* 0 0) (* 0 (* (/ (* (pow (cos (/ 0.5 phi2)) 6) (pow (cos (/ 0.5 phi1)) 6)) (* R (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))) into 0
53.048 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
53.048 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
53.049 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
53.049 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
53.050 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
53.051 * [backup-simplify]: Simplify (+ 0 0) into 0
53.051 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
53.052 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
53.053 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
53.053 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
53.054 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
53.055 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
53.055 * [backup-simplify]: Simplify (+ 0 0) into 0
53.056 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
53.057 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0
53.058 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
53.059 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
53.059 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
53.060 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
53.061 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
53.061 * [backup-simplify]: Simplify (- 0) into 0
53.061 * [backup-simplify]: Simplify (+ 0 0) into 0
53.062 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
53.063 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
53.064 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
53.064 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
53.065 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
53.065 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
53.066 * [backup-simplify]: Simplify (- 0) into 0
53.066 * [backup-simplify]: Simplify (+ 0 0) into 0
53.067 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
53.068 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 2)))) into 0
53.068 * [backup-simplify]: Simplify (+ 0 0) into 0
53.069 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
53.070 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
53.070 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
53.071 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
53.071 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
53.072 * [backup-simplify]: Simplify (- 0) into 0
53.072 * [backup-simplify]: Simplify (+ 0 0) into 0
53.073 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
53.074 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
53.074 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
53.075 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
53.076 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
53.076 * [backup-simplify]: Simplify (- 0) into 0
53.076 * [backup-simplify]: Simplify (+ 0 0) into 0
53.077 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
53.078 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
53.079 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
53.079 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
53.080 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
53.080 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
53.081 * [backup-simplify]: Simplify (+ 0 0) into 0
53.081 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
53.082 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
53.083 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
53.083 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
53.084 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
53.085 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
53.085 * [backup-simplify]: Simplify (+ 0 0) into 0
53.086 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into 0
53.087 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
53.087 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
53.088 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
53.089 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
53.089 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
53.089 * [backup-simplify]: Simplify (+ 0 0) into 0
53.090 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
53.090 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
53.091 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
53.091 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
53.091 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
53.092 * [backup-simplify]: Simplify (+ 0 0) into 0
53.092 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
53.092 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
53.093 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
53.093 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
53.093 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
53.094 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
53.094 * [backup-simplify]: Simplify (- 0) into 0
53.094 * [backup-simplify]: Simplify (+ 0 0) into 0
53.095 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
53.095 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
53.096 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
53.096 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
53.096 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
53.097 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
53.097 * [backup-simplify]: Simplify (- 0) into 0
53.097 * [backup-simplify]: Simplify (+ 0 0) into 0
53.098 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into 0
53.098 * [backup-simplify]: Simplify (+ 0 0) into 0
53.098 * [backup-simplify]: Simplify (- 0) into 0
53.098 * [backup-simplify]: Simplify (+ 0 0) into 0
53.102 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (* 0 (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
53.103 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
53.103 * [backup-simplify]: Simplify (+ 0) into 0
53.104 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
53.104 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
53.104 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
53.105 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
53.105 * [backup-simplify]: Simplify (+ 0 0) into 0
53.105 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
53.105 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
53.105 * [backup-simplify]: Simplify (+ 0) into 0
53.106 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
53.106 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
53.106 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
53.107 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
53.107 * [backup-simplify]: Simplify (- 0) into 0
53.107 * [backup-simplify]: Simplify (+ 0 0) into 0
53.107 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (pow (sin (/ 0.5 phi1)) 3))) into 0
53.107 * [backup-simplify]: Simplify (+ 0) into 0
53.108 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
53.108 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
53.108 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
53.109 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
53.109 * [backup-simplify]: Simplify (- 0) into 0
53.109 * [backup-simplify]: Simplify (+ 0 0) into 0
53.109 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 3)))) into 0
53.110 * [backup-simplify]: Simplify (+ 0) into 0
53.110 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
53.110 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
53.111 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
53.111 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
53.111 * [backup-simplify]: Simplify (+ 0 0) into 0
53.111 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
53.111 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0
53.112 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 3) 0) (* 0 (* (pow (sin (/ 0.5 phi1)) 3) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
53.112 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
53.113 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
53.113 * [backup-simplify]: Simplify (+ (* R 0) (* 0 1)) into 0
53.113 * [backup-simplify]: Simplify (+ 0) into 0
53.113 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
53.114 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
53.114 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
53.114 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
53.115 * [backup-simplify]: Simplify (+ 0 0) into 0
53.115 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
53.115 * [backup-simplify]: Simplify (+ 0) into 0
53.115 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
53.115 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
53.116 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
53.116 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
53.116 * [backup-simplify]: Simplify (+ 0 0) into 0
53.116 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
53.117 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
53.117 * [backup-simplify]: Simplify (+ 0) into 0
53.117 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
53.117 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
53.118 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
53.118 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
53.118 * [backup-simplify]: Simplify (- 0) into 0
53.119 * [backup-simplify]: Simplify (+ 0 0) into 0
53.119 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
53.119 * [backup-simplify]: Simplify (+ 0) into 0
53.119 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
53.119 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
53.120 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
53.120 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
53.120 * [backup-simplify]: Simplify (- 0) into 0
53.121 * [backup-simplify]: Simplify (+ 0 0) into 0
53.121 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
53.121 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
53.121 * [backup-simplify]: Simplify (+ 0 0) into 0
53.122 * [backup-simplify]: Simplify (+ 0) into 0
53.122 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
53.122 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
53.123 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
53.124 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
53.124 * [backup-simplify]: Simplify (- 0) into 0
53.124 * [backup-simplify]: Simplify (+ 0 0) into 0
53.125 * [backup-simplify]: Simplify (+ 0) into 0
53.125 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
53.125 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
53.126 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
53.134 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
53.135 * [backup-simplify]: Simplify (+ 0 0) into 0
53.135 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
53.136 * [backup-simplify]: Simplify (+ 0) into 0
53.136 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
53.137 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
53.137 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
53.138 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
53.138 * [backup-simplify]: Simplify (+ 0 0) into 0
53.138 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
53.138 * [backup-simplify]: Simplify (+ 0) into 0
53.139 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
53.139 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
53.139 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
53.140 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
53.140 * [backup-simplify]: Simplify (- 0) into 0
53.140 * [backup-simplify]: Simplify (+ 0 0) into 0
53.140 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
53.141 * [backup-simplify]: Simplify (+ 0) into 0
53.141 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
53.141 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
53.141 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
53.142 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
53.142 * [backup-simplify]: Simplify (+ 0 0) into 0
53.142 * [backup-simplify]: Simplify (+ 0) into 0
53.143 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
53.143 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
53.143 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
53.144 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
53.144 * [backup-simplify]: Simplify (- 0) into 0
53.144 * [backup-simplify]: Simplify (+ 0 0) into 0
53.144 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
53.144 * [backup-simplify]: Simplify (+ 0) into 0
53.145 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
53.145 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
53.145 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
53.145 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
53.146 * [backup-simplify]: Simplify (- 0) into 0
53.146 * [backup-simplify]: Simplify (+ 0 0) into 0
53.146 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
53.146 * [backup-simplify]: Simplify (+ 0) into 0
53.147 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
53.147 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
53.147 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
53.148 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
53.148 * [backup-simplify]: Simplify (+ 0 0) into 0
53.148 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
53.148 * [backup-simplify]: Simplify (+ 0 0) into 0
53.149 * [backup-simplify]: Simplify (- 0) into 0
53.149 * [backup-simplify]: Simplify (+ 0 0) into 0
53.150 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (* 0 R)) into 0
53.154 * [backup-simplify]: Simplify (- (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) (+ (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R))))) into 0
53.154 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
53.155 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
53.155 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
53.156 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
53.156 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
53.156 * [backup-simplify]: Simplify (+ 0 0) into 0
53.157 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
53.157 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0
53.157 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
53.158 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
53.158 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
53.159 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
53.159 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
53.159 * [backup-simplify]: Simplify (- 0) into 0
53.159 * [backup-simplify]: Simplify (+ 0 0) into 0
53.160 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 3)))) into 0
53.160 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
53.161 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
53.161 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
53.161 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
53.162 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
53.162 * [backup-simplify]: Simplify (- 0) into 0
53.162 * [backup-simplify]: Simplify (+ 0 0) into 0
53.163 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 3))))) into 0
53.163 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
53.164 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
53.164 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
53.164 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
53.165 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
53.165 * [backup-simplify]: Simplify (+ 0 0) into 0
53.165 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
53.166 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi2)) 2)))) into 0
53.166 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 3) 0) (+ (* 0 0) (* 0 (* (pow (sin (/ 0.5 phi1)) 3) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into 0
53.167 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
53.167 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
53.168 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (* 0 1))) into 0
53.168 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
53.169 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
53.169 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
53.169 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
53.170 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
53.170 * [backup-simplify]: Simplify (+ 0 0) into 0
53.171 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
53.172 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
53.172 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
53.173 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
53.173 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
53.174 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
53.174 * [backup-simplify]: Simplify (+ 0 0) into 0
53.175 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
53.176 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0
53.177 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
53.177 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
53.178 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
53.179 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
53.179 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
53.179 * [backup-simplify]: Simplify (- 0) into 0
53.180 * [backup-simplify]: Simplify (+ 0 0) into 0
53.180 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
53.181 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
53.182 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
53.182 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
53.182 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
53.183 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
53.183 * [backup-simplify]: Simplify (- 0) into 0
53.183 * [backup-simplify]: Simplify (+ 0 0) into 0
53.184 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
53.184 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 2)))) into 0
53.184 * [backup-simplify]: Simplify (+ 0 0) into 0
53.185 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
53.185 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
53.185 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
53.186 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
53.186 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
53.186 * [backup-simplify]: Simplify (- 0) into 0
53.187 * [backup-simplify]: Simplify (+ 0 0) into 0
53.187 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
53.188 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
53.188 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
53.188 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
53.189 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
53.189 * [backup-simplify]: Simplify (+ 0 0) into 0
53.189 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
53.190 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
53.190 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
53.190 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
53.191 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
53.191 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
53.191 * [backup-simplify]: Simplify (+ 0 0) into 0
53.192 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
53.192 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
53.193 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
53.193 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
53.193 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
53.194 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
53.194 * [backup-simplify]: Simplify (- 0) into 0
53.194 * [backup-simplify]: Simplify (+ 0 0) into 0
53.194 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into 0
53.195 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
53.195 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
53.196 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
53.196 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
53.196 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
53.197 * [backup-simplify]: Simplify (+ 0 0) into 0
53.197 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
53.198 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
53.198 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
53.198 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
53.199 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
53.199 * [backup-simplify]: Simplify (- 0) into 0
53.199 * [backup-simplify]: Simplify (+ 0 0) into 0
53.199 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
53.200 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
53.200 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
53.200 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
53.201 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
53.201 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
53.202 * [backup-simplify]: Simplify (- 0) into 0
53.202 * [backup-simplify]: Simplify (+ 0 0) into 0
53.202 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
53.203 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
53.203 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
53.203 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
53.204 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
53.204 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
53.204 * [backup-simplify]: Simplify (+ 0 0) into 0
53.205 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into 0
53.205 * [backup-simplify]: Simplify (+ 0 0) into 0
53.205 * [backup-simplify]: Simplify (- 0) into 0
53.206 * [backup-simplify]: Simplify (+ 0 0) into 0
53.207 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (+ (* 0 0) (* 0 R))) into 0
53.212 * [backup-simplify]: Simplify (- (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) (+ (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R))) (* 0 (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R))))) into 0
53.214 * [backup-simplify]: Simplify (+ (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) 0) (+ (* 0 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
53.217 * [backup-simplify]: Simplify (+ (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
53.221 * [backup-simplify]: Simplify (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into (* (/ (* (pow (sin (/ 0.5 phi2)) 3) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 3)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))
53.227 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (* (/ (* (pow (sin (/ 0.5 phi2)) 3) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 3)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))) into 0
53.233 * [backup-simplify]: Simplify (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* (pow phi1 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (* (pow phi1 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)))) (+ (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* R (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* R (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)))) (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2))))) (+ (* (sin (/ 0.5 phi1)) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (pow phi1 2)))))) (* (cos (/ 0.5 phi1)) (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow phi1 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))
53.234 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
53.235 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
53.236 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
53.236 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
53.237 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
53.237 * [backup-simplify]: Simplify (+ 0 0) into 0
53.238 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
53.239 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
53.240 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
53.240 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
53.248 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
53.250 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
53.250 * [backup-simplify]: Simplify (+ 0 0) into 0
53.251 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
53.251 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0
53.252 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
53.253 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
53.253 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
53.254 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
53.255 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
53.255 * [backup-simplify]: Simplify (- 0) into 0
53.256 * [backup-simplify]: Simplify (+ 0 0) into 0
53.256 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
53.257 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
53.258 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
53.258 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
53.259 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
53.259 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
53.260 * [backup-simplify]: Simplify (- 0) into 0
53.261 * [backup-simplify]: Simplify (+ 0 0) into 0
53.261 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
53.262 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 2)))) into 0
53.262 * [backup-simplify]: Simplify (+ 0 0) into 0
53.263 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
53.264 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
53.264 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
53.265 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
53.266 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
53.266 * [backup-simplify]: Simplify (- 0) into 0
53.266 * [backup-simplify]: Simplify (+ 0 0) into 0
53.267 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
53.268 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
53.268 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
53.269 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
53.269 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
53.270 * [backup-simplify]: Simplify (- 0) into 0
53.270 * [backup-simplify]: Simplify (+ 0 0) into 0
53.271 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
53.272 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
53.272 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
53.273 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
53.273 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
53.274 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
53.274 * [backup-simplify]: Simplify (+ 0 0) into 0
53.275 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
53.276 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
53.277 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
53.277 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
53.278 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
53.278 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
53.279 * [backup-simplify]: Simplify (+ 0 0) into 0
53.279 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into 0
53.280 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
53.281 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
53.281 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
53.282 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
53.283 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
53.283 * [backup-simplify]: Simplify (+ 0 0) into 0
53.284 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
53.285 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
53.285 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
53.286 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
53.286 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
53.287 * [backup-simplify]: Simplify (+ 0 0) into 0
53.287 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
53.288 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
53.289 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
53.289 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
53.290 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
53.290 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
53.291 * [backup-simplify]: Simplify (- 0) into 0
53.291 * [backup-simplify]: Simplify (+ 0 0) into 0
53.292 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
53.292 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
53.293 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
53.293 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
53.294 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
53.295 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
53.295 * [backup-simplify]: Simplify (- 0) into 0
53.296 * [backup-simplify]: Simplify (+ 0 0) into 0
53.296 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into 0
53.297 * [backup-simplify]: Simplify (+ 0 0) into 0
53.297 * [backup-simplify]: Simplify (- 0) into 0
53.298 * [backup-simplify]: Simplify (+ 0 0) into 0
53.302 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into 0
53.306 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)))) into 0
53.316 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2))) (/ 0 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* 0 (/ 0 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
53.319 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
53.320 * [backup-simplify]: Simplify (+ 0) into 0
53.320 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
53.320 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
53.321 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
53.321 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
53.321 * [backup-simplify]: Simplify (+ 0 0) into 0
53.322 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
53.322 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
53.322 * [backup-simplify]: Simplify (+ 0) into 0
53.322 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
53.322 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
53.323 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
53.323 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
53.323 * [backup-simplify]: Simplify (+ 0 0) into 0
53.324 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
53.324 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0
53.324 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 4) 0) (* 0 (pow (sin (/ 0.5 phi1)) 4))) into 0
53.324 * [backup-simplify]: Simplify (+ 0) into 0
53.325 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
53.325 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
53.325 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
53.326 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
53.326 * [backup-simplify]: Simplify (- 0) into 0
53.326 * [backup-simplify]: Simplify (+ 0 0) into 0
53.326 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
53.326 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)))) into 0
53.327 * [backup-simplify]: Simplify (+ 0) into 0
53.327 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
53.327 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
53.328 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
53.328 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
53.328 * [backup-simplify]: Simplify (- 0) into 0
53.328 * [backup-simplify]: Simplify (+ 0 0) into 0
53.328 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
53.329 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (* (pow (sin (/ 0.5 phi1)) 4) (* (pow (sin (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi1)) 2))))) into 0
53.329 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
53.330 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
53.330 * [backup-simplify]: Simplify (+ (* R 0) (* 0 1)) into 0
53.330 * [backup-simplify]: Simplify (+ 0) into 0
53.331 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
53.331 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
53.331 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
53.331 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
53.332 * [backup-simplify]: Simplify (+ 0 0) into 0
53.332 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
53.332 * [backup-simplify]: Simplify (+ 0) into 0
53.332 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
53.333 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
53.333 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
53.333 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
53.334 * [backup-simplify]: Simplify (+ 0 0) into 0
53.334 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
53.334 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
53.334 * [backup-simplify]: Simplify (+ 0) into 0
53.334 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
53.335 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
53.335 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
53.335 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
53.336 * [backup-simplify]: Simplify (- 0) into 0
53.336 * [backup-simplify]: Simplify (+ 0 0) into 0
53.336 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
53.336 * [backup-simplify]: Simplify (+ 0) into 0
53.337 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
53.337 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
53.337 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
53.337 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
53.338 * [backup-simplify]: Simplify (- 0) into 0
53.338 * [backup-simplify]: Simplify (+ 0 0) into 0
53.338 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
53.338 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
53.338 * [backup-simplify]: Simplify (+ 0 0) into 0
53.339 * [backup-simplify]: Simplify (+ 0) into 0
53.339 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
53.339 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
53.340 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
53.340 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
53.340 * [backup-simplify]: Simplify (- 0) into 0
53.340 * [backup-simplify]: Simplify (+ 0 0) into 0
53.341 * [backup-simplify]: Simplify (+ 0) into 0
53.341 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
53.341 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
53.342 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
53.342 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
53.342 * [backup-simplify]: Simplify (+ 0 0) into 0
53.342 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
53.343 * [backup-simplify]: Simplify (+ 0) into 0
53.343 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
53.343 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
53.343 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
53.344 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
53.344 * [backup-simplify]: Simplify (+ 0 0) into 0
53.344 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
53.344 * [backup-simplify]: Simplify (+ 0) into 0
53.345 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
53.345 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
53.345 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
53.346 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
53.346 * [backup-simplify]: Simplify (- 0) into 0
53.346 * [backup-simplify]: Simplify (+ 0 0) into 0
53.347 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
53.347 * [backup-simplify]: Simplify (+ 0) into 0
53.348 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
53.348 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
53.349 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
53.349 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
53.349 * [backup-simplify]: Simplify (+ 0 0) into 0
53.350 * [backup-simplify]: Simplify (+ 0) into 0
53.350 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
53.351 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
53.351 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
53.352 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
53.352 * [backup-simplify]: Simplify (- 0) into 0
53.353 * [backup-simplify]: Simplify (+ 0 0) into 0
53.353 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
53.353 * [backup-simplify]: Simplify (+ 0) into 0
53.354 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
53.354 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
53.355 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
53.355 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
53.356 * [backup-simplify]: Simplify (- 0) into 0
53.356 * [backup-simplify]: Simplify (+ 0 0) into 0
53.356 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
53.357 * [backup-simplify]: Simplify (+ 0) into 0
53.357 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
53.357 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
53.358 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
53.359 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
53.359 * [backup-simplify]: Simplify (+ 0 0) into 0
53.359 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
53.360 * [backup-simplify]: Simplify (+ 0 0) into 0
53.360 * [backup-simplify]: Simplify (- 0) into 0
53.360 * [backup-simplify]: Simplify (+ 0 0) into 0
53.362 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (* 0 R)) into 0
53.369 * [backup-simplify]: Simplify (- (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 4) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 4)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R))))) into 0
53.371 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
53.372 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
53.372 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
53.373 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
53.374 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
53.374 * [backup-simplify]: Simplify (+ 0 0) into 0
53.375 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
53.375 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0
53.376 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
53.377 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
53.377 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
53.378 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
53.378 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
53.378 * [backup-simplify]: Simplify (+ 0 0) into 0
53.379 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
53.379 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi2)) 2)))) into 0
53.380 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 4) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 4)))) into 0
53.386 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
53.386 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
53.387 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
53.387 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
53.388 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
53.388 * [backup-simplify]: Simplify (- 0) into 0
53.388 * [backup-simplify]: Simplify (+ 0 0) into 0
53.388 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
53.389 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4))))) into 0
53.390 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
53.390 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
53.390 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
53.391 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
53.391 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
53.391 * [backup-simplify]: Simplify (- 0) into 0
53.392 * [backup-simplify]: Simplify (+ 0 0) into 0
53.392 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
53.393 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (* (pow (sin (/ 0.5 phi1)) 4) (* (pow (sin (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi1)) 2)))))) into 0
53.393 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
53.394 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
53.394 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (* 0 1))) into 0
53.395 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
53.395 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
53.395 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
53.396 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
53.396 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
53.396 * [backup-simplify]: Simplify (+ 0 0) into 0
53.397 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
53.397 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
53.398 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
53.398 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
53.398 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
53.398 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
53.399 * [backup-simplify]: Simplify (+ 0 0) into 0
53.399 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
53.400 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0
53.400 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
53.401 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
53.401 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
53.401 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
53.401 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
53.402 * [backup-simplify]: Simplify (- 0) into 0
53.402 * [backup-simplify]: Simplify (+ 0 0) into 0
53.402 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
53.403 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
53.403 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
53.403 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
53.404 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
53.404 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
53.404 * [backup-simplify]: Simplify (- 0) into 0
53.405 * [backup-simplify]: Simplify (+ 0 0) into 0
53.405 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
53.406 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 2)))) into 0
53.406 * [backup-simplify]: Simplify (+ 0 0) into 0
53.407 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
53.408 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
53.408 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
53.409 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
53.410 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
53.410 * [backup-simplify]: Simplify (- 0) into 0
53.411 * [backup-simplify]: Simplify (+ 0 0) into 0
53.411 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
53.412 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
53.412 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
53.413 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
53.414 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
53.414 * [backup-simplify]: Simplify (+ 0 0) into 0
53.415 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
53.416 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
53.416 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
53.417 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
53.417 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
53.418 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
53.418 * [backup-simplify]: Simplify (+ 0 0) into 0
53.419 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
53.420 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
53.421 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
53.421 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
53.422 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
53.422 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
53.423 * [backup-simplify]: Simplify (- 0) into 0
53.423 * [backup-simplify]: Simplify (+ 0 0) into 0
53.424 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into 0
53.425 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
53.426 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
53.426 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
53.427 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
53.427 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
53.428 * [backup-simplify]: Simplify (+ 0 0) into 0
53.428 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
53.429 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
53.429 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
53.430 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
53.431 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
53.432 * [backup-simplify]: Simplify (- 0) into 0
53.432 * [backup-simplify]: Simplify (+ 0 0) into 0
53.433 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
53.433 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
53.434 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
53.434 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
53.435 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
53.436 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
53.436 * [backup-simplify]: Simplify (- 0) into 0
53.437 * [backup-simplify]: Simplify (+ 0 0) into 0
53.437 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
53.438 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
53.439 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
53.439 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
53.440 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
53.440 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
53.441 * [backup-simplify]: Simplify (+ 0 0) into 0
53.441 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into 0
53.442 * [backup-simplify]: Simplify (+ 0 0) into 0
53.442 * [backup-simplify]: Simplify (- 0) into 0
53.442 * [backup-simplify]: Simplify (+ 0 0) into 0
53.443 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (+ (* 0 0) (* 0 R))) into 0
53.448 * [backup-simplify]: Simplify (- (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 4) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 4)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R))) (* 0 (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R))))) into 0
53.452 * [backup-simplify]: Simplify (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 4) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 4)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) 0) (+ (* 0 0) (* 0 (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))) into 0
53.456 * [backup-simplify]: Simplify (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 4) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 4)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) 0) (* 0 (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
53.460 * [backup-simplify]: Simplify (* (/ (* (pow (sin (/ 0.5 phi2)) 4) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 4)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))
53.463 * [backup-simplify]: Simplify (+ (* 3 0) (+ (* 0 0) (* 0 (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))))) into 0
53.464 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
53.465 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
53.465 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
53.465 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
53.466 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
53.466 * [backup-simplify]: Simplify (+ 0 0) into 0
53.466 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
53.467 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
53.467 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
53.467 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
53.468 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
53.468 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
53.468 * [backup-simplify]: Simplify (+ 0 0) into 0
53.469 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
53.469 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0
53.470 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
53.470 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
53.470 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
53.471 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
53.471 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
53.472 * [backup-simplify]: Simplify (- 0) into 0
53.472 * [backup-simplify]: Simplify (+ 0 0) into 0
53.472 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
53.473 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
53.473 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
53.473 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
53.474 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
53.474 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
53.474 * [backup-simplify]: Simplify (- 0) into 0
53.475 * [backup-simplify]: Simplify (+ 0 0) into 0
53.475 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
53.475 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 2)))) into 0
53.476 * [backup-simplify]: Simplify (+ 0 0) into 0
53.476 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
53.477 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
53.477 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
53.477 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
53.478 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
53.478 * [backup-simplify]: Simplify (- 0) into 0
53.478 * [backup-simplify]: Simplify (+ 0 0) into 0
53.478 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
53.479 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
53.479 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
53.479 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
53.480 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
53.480 * [backup-simplify]: Simplify (- 0) into 0
53.480 * [backup-simplify]: Simplify (+ 0 0) into 0
53.481 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
53.481 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
53.482 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
53.482 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
53.482 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
53.483 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
53.483 * [backup-simplify]: Simplify (+ 0 0) into 0
53.483 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
53.484 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
53.484 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
53.484 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
53.485 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
53.485 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
53.485 * [backup-simplify]: Simplify (+ 0 0) into 0
53.486 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into 0
53.486 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
53.487 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
53.487 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
53.487 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
53.488 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
53.488 * [backup-simplify]: Simplify (+ 0 0) into 0
53.488 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
53.489 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
53.489 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
53.496 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
53.497 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
53.498 * [backup-simplify]: Simplify (+ 0 0) into 0
53.498 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
53.499 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
53.500 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
53.500 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
53.501 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
53.502 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
53.502 * [backup-simplify]: Simplify (- 0) into 0
53.503 * [backup-simplify]: Simplify (+ 0 0) into 0
53.503 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
53.504 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
53.505 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
53.505 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
53.506 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
53.507 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
53.507 * [backup-simplify]: Simplify (- 0) into 0
53.507 * [backup-simplify]: Simplify (+ 0 0) into 0
53.508 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into 0
53.509 * [backup-simplify]: Simplify (+ 0 0) into 0
53.509 * [backup-simplify]: Simplify (- 0) into 0
53.510 * [backup-simplify]: Simplify (+ 0 0) into 0
53.514 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into 0
53.519 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)))) into 0
53.532 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2))) (/ 0 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* 0 (/ 0 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
53.537 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
53.538 * [backup-simplify]: Simplify (+ 0) into 0
53.538 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
53.538 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
53.539 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
53.540 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
53.540 * [backup-simplify]: Simplify (+ 0 0) into 0
53.540 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
53.540 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
53.541 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 3) 0) (* 0 (pow (sin (/ 0.5 phi1)) 3))) into 0
53.541 * [backup-simplify]: Simplify (+ 0) into 0
53.542 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
53.542 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
53.543 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
53.543 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
53.544 * [backup-simplify]: Simplify (+ 0 0) into 0
53.544 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
53.544 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0
53.545 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 3) 0) (* 0 (pow (sin (/ 0.5 phi2)) 3))) into 0
53.545 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 6) 0) (* 0 (pow (sin (/ 0.5 phi1)) 6))) into 0
53.545 * [backup-simplify]: Simplify (+ 0) into 0
53.546 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
53.546 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
53.547 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
53.547 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
53.548 * [backup-simplify]: Simplify (+ 0 0) into 0
53.548 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
53.548 * [backup-simplify]: Simplify (+ 0) into 0
53.549 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
53.549 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
53.550 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
53.550 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
53.551 * [backup-simplify]: Simplify (+ 0 0) into 0
53.551 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
53.552 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
53.552 * [backup-simplify]: Simplify (+ 0) into 0
53.553 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
53.553 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
53.554 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
53.554 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
53.555 * [backup-simplify]: Simplify (- 0) into 0
53.555 * [backup-simplify]: Simplify (+ 0 0) into 0
53.555 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
53.556 * [backup-simplify]: Simplify (+ 0) into 0
53.557 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
53.557 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
53.558 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
53.558 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
53.559 * [backup-simplify]: Simplify (- 0) into 0
53.559 * [backup-simplify]: Simplify (+ 0 0) into 0
53.559 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
53.560 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
53.560 * [backup-simplify]: Simplify (+ 0 0) into 0
53.561 * [backup-simplify]: Simplify (+ 0) into 0
53.561 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
53.561 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
53.562 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
53.563 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
53.563 * [backup-simplify]: Simplify (- 0) into 0
53.563 * [backup-simplify]: Simplify (+ 0 0) into 0
53.564 * [backup-simplify]: Simplify (+ 0) into 0
53.564 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
53.565 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
53.565 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
53.566 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
53.566 * [backup-simplify]: Simplify (+ 0 0) into 0
53.566 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
53.567 * [backup-simplify]: Simplify (+ 0) into 0
53.567 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
53.567 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
53.568 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
53.569 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
53.569 * [backup-simplify]: Simplify (+ 0 0) into 0
53.569 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
53.570 * [backup-simplify]: Simplify (+ 0) into 0
53.570 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
53.571 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
53.571 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
53.572 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
53.572 * [backup-simplify]: Simplify (- 0) into 0
53.573 * [backup-simplify]: Simplify (+ 0 0) into 0
53.573 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
53.573 * [backup-simplify]: Simplify (+ 0) into 0
53.574 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
53.574 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
53.575 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
53.575 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
53.576 * [backup-simplify]: Simplify (+ 0 0) into 0
53.576 * [backup-simplify]: Simplify (+ 0) into 0
53.577 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
53.577 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
53.577 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
53.578 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
53.578 * [backup-simplify]: Simplify (- 0) into 0
53.579 * [backup-simplify]: Simplify (+ 0 0) into 0
53.579 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
53.579 * [backup-simplify]: Simplify (+ 0) into 0
53.580 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
53.580 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
53.581 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
53.581 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
53.582 * [backup-simplify]: Simplify (- 0) into 0
53.582 * [backup-simplify]: Simplify (+ 0 0) into 0
53.582 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
53.583 * [backup-simplify]: Simplify (+ 0) into 0
53.583 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
53.583 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
53.584 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
53.585 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
53.585 * [backup-simplify]: Simplify (+ 0 0) into 0
53.585 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
53.586 * [backup-simplify]: Simplify (+ 0 0) into 0
53.586 * [backup-simplify]: Simplify (- 0) into 0
53.587 * [backup-simplify]: Simplify (+ 0 0) into 0
53.587 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
53.588 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
53.590 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into 0
53.592 * [backup-simplify]: Simplify (+ (* R 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into 0
53.599 * [backup-simplify]: Simplify (- (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 6) (pow (sin (/ 0.5 phi1)) 6)) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R))))) into 0
53.600 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
53.601 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
53.601 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
53.602 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
53.603 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
53.603 * [backup-simplify]: Simplify (+ 0 0) into 0
53.604 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
53.604 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0
53.605 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 3) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 3)))) into 0
53.606 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
53.607 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
53.607 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
53.608 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
53.608 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
53.609 * [backup-simplify]: Simplify (+ 0 0) into 0
53.609 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
53.610 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi2)) 2)))) into 0
53.611 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 3) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi2)) 3)))) into 0
53.611 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 6) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 6)))) into 0
53.612 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
53.613 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
53.613 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
53.614 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
53.615 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
53.616 * [backup-simplify]: Simplify (+ 0 0) into 0
53.616 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
53.617 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
53.618 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
53.618 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
53.619 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
53.619 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
53.620 * [backup-simplify]: Simplify (+ 0 0) into 0
53.620 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
53.621 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0
53.622 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
53.623 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
53.623 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
53.624 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
53.624 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
53.625 * [backup-simplify]: Simplify (- 0) into 0
53.625 * [backup-simplify]: Simplify (+ 0 0) into 0
53.626 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
53.627 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
53.627 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
53.628 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
53.628 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
53.629 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
53.629 * [backup-simplify]: Simplify (- 0) into 0
53.630 * [backup-simplify]: Simplify (+ 0 0) into 0
53.630 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
53.631 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 2)))) into 0
53.631 * [backup-simplify]: Simplify (+ 0 0) into 0
53.632 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
53.633 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
53.633 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
53.634 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
53.634 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
53.635 * [backup-simplify]: Simplify (- 0) into 0
53.635 * [backup-simplify]: Simplify (+ 0 0) into 0
53.636 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
53.637 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
53.637 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
53.638 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
53.638 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
53.639 * [backup-simplify]: Simplify (+ 0 0) into 0
53.639 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
53.640 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
53.641 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
53.641 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
53.642 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
53.643 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
53.643 * [backup-simplify]: Simplify (+ 0 0) into 0
53.644 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
53.645 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
53.645 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
53.645 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
53.646 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
53.647 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
53.647 * [backup-simplify]: Simplify (- 0) into 0
53.647 * [backup-simplify]: Simplify (+ 0 0) into 0
53.648 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into 0
53.649 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
53.650 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
53.650 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
53.651 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
53.652 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
53.652 * [backup-simplify]: Simplify (+ 0 0) into 0
54.068 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
54.069 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
54.069 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
54.070 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
54.070 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
54.070 * [backup-simplify]: Simplify (- 0) into 0
54.071 * [backup-simplify]: Simplify (+ 0 0) into 0
54.071 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
54.071 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
54.072 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
54.072 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
54.072 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
54.073 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
54.073 * [backup-simplify]: Simplify (- 0) into 0
54.073 * [backup-simplify]: Simplify (+ 0 0) into 0
54.074 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
54.074 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
54.075 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
54.075 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
54.075 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
54.076 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
54.076 * [backup-simplify]: Simplify (+ 0 0) into 0
54.076 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into 0
54.077 * [backup-simplify]: Simplify (+ 0 0) into 0
54.077 * [backup-simplify]: Simplify (- 0) into 0
54.077 * [backup-simplify]: Simplify (+ 0 0) into 0
54.078 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
54.078 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
54.080 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into 0
54.081 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into 0
54.086 * [backup-simplify]: Simplify (- (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 6) (pow (sin (/ 0.5 phi1)) 6)) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R))) (* 0 (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R))))) into 0
54.089 * [backup-simplify]: Simplify (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 6) (pow (sin (/ 0.5 phi1)) 6)) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) 0) (+ (* 0 0) (* 0 (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))) into 0
54.093 * [backup-simplify]: Simplify (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 6) (pow (sin (/ 0.5 phi1)) 6)) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) 0) (* 0 (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
54.099 * [backup-simplify]: Simplify (* (/ (* (pow (sin (/ 0.5 phi2)) 6) (pow (sin (/ 0.5 phi1)) 6)) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into (* (/ (* (pow (sin (/ 0.5 phi2)) 6) (pow (sin (/ 0.5 phi1)) 6)) (* R (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))
54.105 * [backup-simplify]: Simplify (+ (* 1/2 0) (+ (* 0 0) (* 0 (* (/ (* (pow (sin (/ 0.5 phi2)) 6) (pow (sin (/ 0.5 phi1)) 6)) (* R (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))) into 0
54.107 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
54.107 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
54.108 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
54.108 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
54.109 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
54.109 * [backup-simplify]: Simplify (+ 0 0) into 0
54.110 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
54.111 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
54.112 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
54.112 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
54.113 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
54.113 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
54.114 * [backup-simplify]: Simplify (+ 0 0) into 0
54.114 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
54.115 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0
54.116 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
54.117 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
54.117 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
54.118 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
54.119 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
54.119 * [backup-simplify]: Simplify (- 0) into 0
54.120 * [backup-simplify]: Simplify (+ 0 0) into 0
54.120 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
54.121 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
54.122 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
54.122 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
54.123 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
54.123 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
54.124 * [backup-simplify]: Simplify (- 0) into 0
54.124 * [backup-simplify]: Simplify (+ 0 0) into 0
54.125 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
54.126 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 2)))) into 0
54.126 * [backup-simplify]: Simplify (+ 0 0) into 0
54.127 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
54.128 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
54.128 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
54.129 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
54.129 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
54.130 * [backup-simplify]: Simplify (- 0) into 0
54.130 * [backup-simplify]: Simplify (+ 0 0) into 0
54.131 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
54.132 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
54.132 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
54.132 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
54.133 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
54.133 * [backup-simplify]: Simplify (- 0) into 0
54.134 * [backup-simplify]: Simplify (+ 0 0) into 0
54.134 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
54.135 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
54.136 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
54.136 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
54.137 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
54.138 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
54.138 * [backup-simplify]: Simplify (+ 0 0) into 0
54.139 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
54.139 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
54.140 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
54.140 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
54.141 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
54.142 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
54.142 * [backup-simplify]: Simplify (+ 0 0) into 0
54.143 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into 0
54.144 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
54.145 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
54.145 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
54.146 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
54.146 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
54.147 * [backup-simplify]: Simplify (+ 0 0) into 0
54.147 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
54.148 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
54.148 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
54.149 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
54.150 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
54.150 * [backup-simplify]: Simplify (+ 0 0) into 0
54.151 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
54.152 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
54.152 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
54.153 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
54.153 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
54.154 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
54.154 * [backup-simplify]: Simplify (- 0) into 0
54.155 * [backup-simplify]: Simplify (+ 0 0) into 0
54.155 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
54.156 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
54.157 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
54.157 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
54.158 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
54.158 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
54.159 * [backup-simplify]: Simplify (- 0) into 0
54.159 * [backup-simplify]: Simplify (+ 0 0) into 0
54.160 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into 0
54.160 * [backup-simplify]: Simplify (+ 0 0) into 0
54.161 * [backup-simplify]: Simplify (- 0) into 0
54.161 * [backup-simplify]: Simplify (+ 0 0) into 0
54.165 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into 0
54.170 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)))) into 0
54.179 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2))) (/ 0 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* 0 (/ 0 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
54.182 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
54.182 * [backup-simplify]: Simplify (+ 0) into 0
54.182 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
54.183 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
54.183 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
54.183 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
54.184 * [backup-simplify]: Simplify (+ 0 0) into 0
54.184 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
54.184 * [backup-simplify]: Simplify (+ 0) into 0
54.184 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
54.184 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
54.185 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
54.185 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
54.185 * [backup-simplify]: Simplify (- 0) into 0
54.186 * [backup-simplify]: Simplify (+ 0 0) into 0
54.186 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
54.186 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0
54.186 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 4) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
54.186 * [backup-simplify]: Simplify (+ 0) into 0
54.187 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
54.187 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
54.187 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
54.188 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
54.188 * [backup-simplify]: Simplify (- 0) into 0
54.188 * [backup-simplify]: Simplify (+ 0 0) into 0
54.188 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
54.188 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
54.189 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 4) 0) (* 0 (* (pow (cos (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 2)))) into 0
54.189 * [backup-simplify]: Simplify (+ 0) into 0
54.189 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
54.189 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
54.190 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
54.190 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
54.192 * [backup-simplify]: Simplify (+ 0 0) into 0
54.193 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
54.193 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi1)) 4))))) into 0
54.194 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
54.194 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
54.195 * [backup-simplify]: Simplify (+ (* R 0) (* 0 1)) into 0
54.195 * [backup-simplify]: Simplify (+ 0) into 0
54.196 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
54.196 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
54.197 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
54.197 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
54.198 * [backup-simplify]: Simplify (+ 0 0) into 0
54.198 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
54.198 * [backup-simplify]: Simplify (+ 0) into 0
54.199 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
54.199 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
54.200 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
54.200 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
54.201 * [backup-simplify]: Simplify (+ 0 0) into 0
54.201 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
54.201 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
54.202 * [backup-simplify]: Simplify (+ 0) into 0
54.202 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
54.202 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
54.203 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
54.204 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
54.204 * [backup-simplify]: Simplify (- 0) into 0
54.204 * [backup-simplify]: Simplify (+ 0 0) into 0
54.205 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
54.205 * [backup-simplify]: Simplify (+ 0) into 0
54.206 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
54.206 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
54.207 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
54.207 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
54.208 * [backup-simplify]: Simplify (- 0) into 0
54.208 * [backup-simplify]: Simplify (+ 0 0) into 0
54.208 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
54.209 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
54.209 * [backup-simplify]: Simplify (+ 0 0) into 0
54.209 * [backup-simplify]: Simplify (+ 0) into 0
54.210 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
54.210 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
54.211 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
54.211 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
54.212 * [backup-simplify]: Simplify (- 0) into 0
54.212 * [backup-simplify]: Simplify (+ 0 0) into 0
54.213 * [backup-simplify]: Simplify (+ 0) into 0
54.213 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
54.213 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
54.214 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
54.215 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
54.215 * [backup-simplify]: Simplify (+ 0 0) into 0
54.215 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
54.216 * [backup-simplify]: Simplify (+ 0) into 0
54.216 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
54.216 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
54.217 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
54.218 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
54.218 * [backup-simplify]: Simplify (+ 0 0) into 0
54.218 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
54.219 * [backup-simplify]: Simplify (+ 0) into 0
54.219 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
54.220 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
54.220 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
54.221 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
54.221 * [backup-simplify]: Simplify (- 0) into 0
54.222 * [backup-simplify]: Simplify (+ 0 0) into 0
54.222 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
54.222 * [backup-simplify]: Simplify (+ 0) into 0
54.223 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
54.223 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
54.224 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
54.224 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
54.225 * [backup-simplify]: Simplify (+ 0 0) into 0
54.225 * [backup-simplify]: Simplify (+ 0) into 0
54.226 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
54.226 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
54.227 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
54.227 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
54.228 * [backup-simplify]: Simplify (- 0) into 0
54.228 * [backup-simplify]: Simplify (+ 0 0) into 0
54.228 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
54.229 * [backup-simplify]: Simplify (+ 0) into 0
54.230 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
54.230 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
54.230 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
54.231 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
54.231 * [backup-simplify]: Simplify (- 0) into 0
54.232 * [backup-simplify]: Simplify (+ 0 0) into 0
54.232 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
54.232 * [backup-simplify]: Simplify (+ 0) into 0
54.233 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
54.233 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
54.234 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
54.234 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
54.235 * [backup-simplify]: Simplify (+ 0 0) into 0
54.235 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
54.236 * [backup-simplify]: Simplify (+ 0 0) into 0
54.236 * [backup-simplify]: Simplify (- 0) into 0
54.236 * [backup-simplify]: Simplify (+ 0 0) into 0
54.238 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (* 0 R)) into 0
54.246 * [backup-simplify]: Simplify (- (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 4) (* (pow (cos (/ 0.5 phi1)) 4) (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R))))) into 0
54.247 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
54.248 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
54.248 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
54.249 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
54.250 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
54.250 * [backup-simplify]: Simplify (+ 0 0) into 0
54.251 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
54.251 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
54.252 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
54.252 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
54.253 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
54.254 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
54.254 * [backup-simplify]: Simplify (- 0) into 0
54.255 * [backup-simplify]: Simplify (+ 0 0) into 0
54.255 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
54.256 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi2)) 2)))) into 0
54.257 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 4) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0
54.258 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
54.258 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
54.259 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
54.259 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
54.260 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
54.260 * [backup-simplify]: Simplify (- 0) into 0
54.261 * [backup-simplify]: Simplify (+ 0 0) into 0
54.261 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
54.262 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 2)))) into 0
54.262 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 4) 0) (+ (* 0 0) (* 0 (* (pow (cos (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 2))))) into 0
54.263 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
54.263 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
54.263 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
54.264 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
54.264 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
54.264 * [backup-simplify]: Simplify (+ 0 0) into 0
54.265 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
54.266 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi1)) 4)))))) into 0
54.266 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
54.267 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
54.267 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (* 0 1))) into 0
54.268 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
54.268 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
54.268 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
54.269 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
54.269 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
54.269 * [backup-simplify]: Simplify (+ 0 0) into 0
54.270 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
54.270 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
54.270 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
54.271 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
54.271 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
54.271 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
54.272 * [backup-simplify]: Simplify (+ 0 0) into 0
54.272 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
54.273 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0
54.273 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
54.273 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
54.274 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
54.274 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
54.274 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
54.275 * [backup-simplify]: Simplify (- 0) into 0
54.275 * [backup-simplify]: Simplify (+ 0 0) into 0
54.275 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
54.276 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
54.276 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
54.276 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
54.277 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
54.277 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
54.277 * [backup-simplify]: Simplify (- 0) into 0
54.278 * [backup-simplify]: Simplify (+ 0 0) into 0
54.278 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
54.278 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 2)))) into 0
54.279 * [backup-simplify]: Simplify (+ 0 0) into 0
54.279 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
54.280 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
54.280 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
54.280 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
54.281 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
54.281 * [backup-simplify]: Simplify (- 0) into 0
54.281 * [backup-simplify]: Simplify (+ 0 0) into 0
54.282 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
54.282 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
54.282 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
54.283 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
54.283 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
54.283 * [backup-simplify]: Simplify (+ 0 0) into 0
54.284 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
54.284 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
54.285 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
54.285 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
54.285 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
54.286 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
54.286 * [backup-simplify]: Simplify (+ 0 0) into 0
54.286 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
54.287 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
54.287 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
54.287 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
54.288 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
54.288 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
54.288 * [backup-simplify]: Simplify (- 0) into 0
54.289 * [backup-simplify]: Simplify (+ 0 0) into 0
54.289 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into 0
54.290 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
54.290 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
54.290 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
54.291 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
54.291 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
54.292 * [backup-simplify]: Simplify (+ 0 0) into 0
54.292 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
54.292 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
54.293 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
54.293 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
54.293 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
54.294 * [backup-simplify]: Simplify (- 0) into 0
54.294 * [backup-simplify]: Simplify (+ 0 0) into 0
54.295 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
54.296 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
54.296 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
54.297 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
54.297 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
54.298 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
54.298 * [backup-simplify]: Simplify (- 0) into 0
54.298 * [backup-simplify]: Simplify (+ 0 0) into 0
54.299 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
54.299 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
54.300 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
54.300 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
54.300 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
54.301 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
54.301 * [backup-simplify]: Simplify (+ 0 0) into 0
54.302 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into 0
54.302 * [backup-simplify]: Simplify (+ 0 0) into 0
54.302 * [backup-simplify]: Simplify (- 0) into 0
54.302 * [backup-simplify]: Simplify (+ 0 0) into 0
54.304 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (+ (* 0 0) (* 0 R))) into 0
54.308 * [backup-simplify]: Simplify (- (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 4) (* (pow (cos (/ 0.5 phi1)) 4) (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R))) (* 0 (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R))))) into 0
54.314 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 4) (* (pow (cos (/ 0.5 phi1)) 4) (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) 0) (+ (* 0 0) (* 0 (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))) into 0
54.318 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 4) (* (pow (cos (/ 0.5 phi1)) 4) (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) 0) (* 0 (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
54.321 * [backup-simplify]: Simplify (* (/ (* (pow (cos (/ 0.5 phi2)) 4) (* (pow (cos (/ 0.5 phi1)) 4) (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 4) (* (pow (cos (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 2)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))
54.328 * [backup-simplify]: Simplify (+ (* 15/2 0) (+ (* 0 0) (* 0 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 4) (* (pow (cos (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 2)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))))) into 0
54.329 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
54.330 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
54.330 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
54.331 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
54.332 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
54.332 * [backup-simplify]: Simplify (+ 0 0) into 0
54.333 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
54.334 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
54.334 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
54.335 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
54.335 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
54.336 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
54.336 * [backup-simplify]: Simplify (+ 0 0) into 0
54.337 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
54.338 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0
54.339 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
54.340 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
54.340 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
54.341 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
54.341 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
54.342 * [backup-simplify]: Simplify (- 0) into 0
54.342 * [backup-simplify]: Simplify (+ 0 0) into 0
54.343 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
54.344 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
54.344 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
54.345 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
54.346 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
54.346 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
54.346 * [backup-simplify]: Simplify (- 0) into 0
54.347 * [backup-simplify]: Simplify (+ 0 0) into 0
54.347 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
54.348 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 2)))) into 0
54.349 * [backup-simplify]: Simplify (+ 0 0) into 0
54.349 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
54.350 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
54.350 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
54.350 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
54.351 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
54.351 * [backup-simplify]: Simplify (- 0) into 0
54.351 * [backup-simplify]: Simplify (+ 0 0) into 0
54.352 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
54.352 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
54.352 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
54.353 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
54.353 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
54.353 * [backup-simplify]: Simplify (- 0) into 0
54.354 * [backup-simplify]: Simplify (+ 0 0) into 0
54.354 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
54.354 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
54.355 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
54.355 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
54.355 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
54.356 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
54.356 * [backup-simplify]: Simplify (+ 0 0) into 0
54.356 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
54.357 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
54.357 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
54.357 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
54.358 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
54.358 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
54.359 * [backup-simplify]: Simplify (+ 0 0) into 0
54.359 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into 0
54.359 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
54.360 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
54.360 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
54.360 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
54.361 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
54.361 * [backup-simplify]: Simplify (+ 0 0) into 0
54.362 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
54.362 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
54.362 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
54.363 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
54.363 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
54.363 * [backup-simplify]: Simplify (+ 0 0) into 0
54.363 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
54.364 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
54.364 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
54.365 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
54.365 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
54.365 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
54.366 * [backup-simplify]: Simplify (- 0) into 0
54.366 * [backup-simplify]: Simplify (+ 0 0) into 0
54.366 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
54.367 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
54.367 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
54.367 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
54.368 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
54.368 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
54.368 * [backup-simplify]: Simplify (- 0) into 0
54.368 * [backup-simplify]: Simplify (+ 0 0) into 0
54.369 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into 0
54.369 * [backup-simplify]: Simplify (+ 0 0) into 0
54.369 * [backup-simplify]: Simplify (- 0) into 0
54.370 * [backup-simplify]: Simplify (+ 0 0) into 0
54.372 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into 0
54.375 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)))) into 0
54.382 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2))) (/ 0 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* 0 (/ 0 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
54.388 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
54.389 * [backup-simplify]: Simplify (+ 0) into 0
54.389 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
54.389 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
54.390 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
54.391 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
54.391 * [backup-simplify]: Simplify (+ 0 0) into 0
54.391 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
54.392 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
54.392 * [backup-simplify]: Simplify (+ 0) into 0
54.393 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
54.393 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
54.394 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
54.394 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
54.395 * [backup-simplify]: Simplify (- 0) into 0
54.395 * [backup-simplify]: Simplify (+ 0 0) into 0
54.395 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
54.396 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 4))) into 0
54.396 * [backup-simplify]: Simplify (+ 0) into 0
54.397 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
54.397 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
54.398 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
54.398 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
54.399 * [backup-simplify]: Simplify (- 0) into 0
54.399 * [backup-simplify]: Simplify (+ 0 0) into 0
54.399 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
54.400 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 4)))) into 0
54.401 * [backup-simplify]: Simplify (+ 0) into 0
54.401 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
54.402 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
54.402 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
54.403 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
54.403 * [backup-simplify]: Simplify (+ 0 0) into 0
54.404 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
54.404 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0
54.405 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 4) 0) (* 0 (* (pow (sin (/ 0.5 phi1)) 4) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))))) into 0
54.405 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
54.406 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
54.406 * [backup-simplify]: Simplify (+ (* R 0) (* 0 1)) into 0
54.406 * [backup-simplify]: Simplify (+ 0) into 0
54.407 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
54.407 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
54.407 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
54.408 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
54.408 * [backup-simplify]: Simplify (+ 0 0) into 0
54.408 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
54.408 * [backup-simplify]: Simplify (+ 0) into 0
54.409 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
54.409 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
54.409 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
54.409 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
54.410 * [backup-simplify]: Simplify (+ 0 0) into 0
54.410 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
54.410 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
54.410 * [backup-simplify]: Simplify (+ 0) into 0
54.411 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
54.411 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
54.411 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
54.412 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
54.412 * [backup-simplify]: Simplify (- 0) into 0
54.412 * [backup-simplify]: Simplify (+ 0 0) into 0
54.412 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
54.412 * [backup-simplify]: Simplify (+ 0) into 0
54.413 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
54.413 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
54.413 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
54.414 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
54.414 * [backup-simplify]: Simplify (- 0) into 0
54.414 * [backup-simplify]: Simplify (+ 0 0) into 0
54.414 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
54.414 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
54.415 * [backup-simplify]: Simplify (+ 0 0) into 0
54.415 * [backup-simplify]: Simplify (+ 0) into 0
54.415 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
54.415 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
54.416 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
54.416 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
54.416 * [backup-simplify]: Simplify (- 0) into 0
54.417 * [backup-simplify]: Simplify (+ 0 0) into 0
54.417 * [backup-simplify]: Simplify (+ 0) into 0
54.417 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
54.417 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
54.418 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
54.418 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
54.418 * [backup-simplify]: Simplify (+ 0 0) into 0
54.418 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
54.419 * [backup-simplify]: Simplify (+ 0) into 0
54.419 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
54.419 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
54.419 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
54.420 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
54.420 * [backup-simplify]: Simplify (+ 0 0) into 0
54.420 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
54.420 * [backup-simplify]: Simplify (+ 0) into 0
54.421 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
54.421 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
54.421 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
54.422 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
54.422 * [backup-simplify]: Simplify (- 0) into 0
54.422 * [backup-simplify]: Simplify (+ 0 0) into 0
54.422 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
54.422 * [backup-simplify]: Simplify (+ 0) into 0
54.424 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
54.425 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
54.425 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
54.425 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
54.426 * [backup-simplify]: Simplify (+ 0 0) into 0
54.426 * [backup-simplify]: Simplify (+ 0) into 0
54.426 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
54.426 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
54.427 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
54.427 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
54.427 * [backup-simplify]: Simplify (- 0) into 0
54.427 * [backup-simplify]: Simplify (+ 0 0) into 0
54.428 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
54.428 * [backup-simplify]: Simplify (+ 0) into 0
54.428 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
54.428 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
54.429 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
54.429 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
54.429 * [backup-simplify]: Simplify (- 0) into 0
54.429 * [backup-simplify]: Simplify (+ 0 0) into 0
54.430 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
54.430 * [backup-simplify]: Simplify (+ 0) into 0
54.430 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
54.430 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
54.431 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
54.431 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
54.431 * [backup-simplify]: Simplify (+ 0 0) into 0
54.432 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
54.432 * [backup-simplify]: Simplify (+ 0 0) into 0
54.432 * [backup-simplify]: Simplify (- 0) into 0
54.432 * [backup-simplify]: Simplify (+ 0 0) into 0
54.433 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (* 0 R)) into 0
54.437 * [backup-simplify]: Simplify (- (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R))))) into 0
54.438 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
54.439 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
54.439 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
54.440 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
54.441 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
54.441 * [backup-simplify]: Simplify (+ 0 0) into 0
54.441 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
54.442 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0
54.442 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
54.443 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
54.443 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
54.444 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
54.444 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
54.444 * [backup-simplify]: Simplify (- 0) into 0
54.444 * [backup-simplify]: Simplify (+ 0 0) into 0
54.445 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
54.445 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 4)))) into 0
54.446 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
54.446 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
54.446 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
54.447 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
54.447 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
54.447 * [backup-simplify]: Simplify (- 0) into 0
54.448 * [backup-simplify]: Simplify (+ 0 0) into 0
54.448 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
54.448 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 4))))) into 0
54.449 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
54.449 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
54.450 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
54.450 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
54.450 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
54.451 * [backup-simplify]: Simplify (+ 0 0) into 0
54.451 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
54.451 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi2)) 2)))) into 0
54.452 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 4) 0) (+ (* 0 0) (* 0 (* (pow (sin (/ 0.5 phi1)) 4) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))))) into 0
54.453 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
54.453 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
54.453 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (* 0 1))) into 0
54.454 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
54.454 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
54.455 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
54.455 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
54.455 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
54.456 * [backup-simplify]: Simplify (+ 0 0) into 0
54.456 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
54.456 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
54.457 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
54.457 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
54.457 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
54.458 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
54.458 * [backup-simplify]: Simplify (+ 0 0) into 0
54.458 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
54.459 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0
54.459 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
54.460 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
54.460 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
54.461 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
54.461 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
54.461 * [backup-simplify]: Simplify (- 0) into 0
54.462 * [backup-simplify]: Simplify (+ 0 0) into 0
54.462 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
54.462 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
54.463 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
54.463 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
54.463 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
54.464 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
54.464 * [backup-simplify]: Simplify (- 0) into 0
54.464 * [backup-simplify]: Simplify (+ 0 0) into 0
54.465 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
54.465 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 2)))) into 0
54.465 * [backup-simplify]: Simplify (+ 0 0) into 0
54.466 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
54.466 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
54.466 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
54.467 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
54.467 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
54.467 * [backup-simplify]: Simplify (- 0) into 0
54.468 * [backup-simplify]: Simplify (+ 0 0) into 0
54.468 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
54.469 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
54.469 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
54.469 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
54.469 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
54.470 * [backup-simplify]: Simplify (+ 0 0) into 0
54.470 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
54.471 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
54.471 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
54.471 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
54.472 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
54.472 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
54.472 * [backup-simplify]: Simplify (+ 0 0) into 0
54.473 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
54.473 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
54.474 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
54.474 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
54.474 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
54.474 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
54.475 * [backup-simplify]: Simplify (- 0) into 0
54.475 * [backup-simplify]: Simplify (+ 0 0) into 0
54.475 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into 0
54.476 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
54.476 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
54.477 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
54.477 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
54.477 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
54.478 * [backup-simplify]: Simplify (+ 0 0) into 0
54.479 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
54.479 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
54.480 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
54.480 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
54.481 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
54.481 * [backup-simplify]: Simplify (- 0) into 0
54.482 * [backup-simplify]: Simplify (+ 0 0) into 0
54.482 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
54.483 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
54.484 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
54.484 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
54.485 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
54.485 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
54.486 * [backup-simplify]: Simplify (- 0) into 0
54.486 * [backup-simplify]: Simplify (+ 0 0) into 0
54.487 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
54.488 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
54.488 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
54.489 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
54.489 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
54.490 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
54.490 * [backup-simplify]: Simplify (+ 0 0) into 0
54.491 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into 0
54.492 * [backup-simplify]: Simplify (+ 0 0) into 0
54.492 * [backup-simplify]: Simplify (- 0) into 0
54.492 * [backup-simplify]: Simplify (+ 0 0) into 0
54.495 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (+ (* 0 0) (* 0 R))) into 0
54.505 * [backup-simplify]: Simplify (- (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R))) (* 0 (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R))))) into 0
54.513 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) 0) (+ (* 0 0) (* 0 (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))) into 0
54.518 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) 0) (* 0 (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
54.522 * [backup-simplify]: Simplify (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into (* (/ (* (pow (sin (/ 0.5 phi2)) 4) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 4)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))
54.526 * [backup-simplify]: Simplify (+ (* 9/2 0) (+ (* 0 0) (* 0 (* (/ (* (pow (sin (/ 0.5 phi2)) 4) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 4)))) (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 3))))))) into 0
54.529 * [backup-simplify]: Simplify (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* phi1 phi2)))) (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* phi1 phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* phi1 (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (* phi1 (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))))))))
54.532 * [backup-simplify]: Simplify (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))
54.535 * [backup-simplify]: Simplify (* 1/2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into (* 1/2 (* (/ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))
54.543 * [backup-simplify]: Simplify (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* phi1 (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (* phi1 (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))))) (* 1/2 (* (/ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* phi1 phi2)))) (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* phi1 phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))))) (* 1/2 (* (/ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))
54.550 * [backup-simplify]: Simplify (+ 0 (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* phi1 phi2)))) (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* phi1 phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))))) (* 1/2 (* (/ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))) into (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* phi1 (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (* phi1 (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))))) (* 1/2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))
54.557 * [backup-simplify]: Simplify (+ 0 (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* phi1 (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (* phi1 (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))))) (* 1/2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))) into (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* phi1 phi2)))) (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* phi1 phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))))) (* 1/2 (* (/ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))
54.569 * [backup-simplify]: Simplify (+ 0 (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* phi1 phi2)))) (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* phi1 phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))))) (* 1/2 (* (/ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))) into (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* phi1 (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (* phi1 (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))))) (* 1/2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))
54.582 * [backup-simplify]: Simplify (+ 0 (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* phi1 (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (* phi1 (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))))) (* 1/2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))) into (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* phi1 phi2)))) (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* phi1 phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))))) (* 1/2 (* (/ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))
54.601 * [backup-simplify]: Simplify (+ (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)))) (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2))))) (+ (* (sin (/ 0.5 phi1)) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (pow phi1 2)))))) (* (cos (/ 0.5 phi1)) (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow phi1 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* phi1 phi2)))) (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* phi1 phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))))) (* 1/2 (* (/ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))) into (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* phi1 (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (* phi1 (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))))) (+ (* 1/2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* (pow phi1 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (* (pow phi1 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)))) (+ (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* R (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* R (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))
54.620 * [backup-simplify]: Simplify (+ 0 (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* phi1 (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (* phi1 (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))))) (+ (* 1/2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* (pow phi1 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (* (pow phi1 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)))) (+ (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* R (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* R (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))) into (+ (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)))) (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2))))) (+ (* (sin (/ 0.5 phi1)) (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow phi1 2)))))) (* (cos (/ 0.5 phi1)) (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (pow phi1 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* phi1 phi2)))) (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* phi1 phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))))) (* 1/2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))))
54.630 * [backup-simplify]: Simplify (+ 0 (+ (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)))) (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2))))) (+ (* (sin (/ 0.5 phi1)) (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow phi1 2)))))) (* (cos (/ 0.5 phi1)) (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (pow phi1 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* phi1 phi2)))) (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* phi1 phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))))) (* 1/2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))))) into (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* phi1 (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (* phi1 (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))))) (+ (* 1/2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* (pow phi1 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (* (pow phi1 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)))) (+ (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* R (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* R (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))
54.645 * [backup-simplify]: Simplify (+ (* 1/2 (* (/ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* phi1 (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (* phi1 (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))))) (+ (* 1/2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* (pow phi1 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (* (pow phi1 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)))) (+ (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* R (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* R (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))) into (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* phi1 phi2)))) (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* phi1 phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))))) (+ (* 1/2 (* (/ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)))) (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2))))) (+ (* (sin (/ 0.5 phi1)) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (pow phi1 2)))))) (* (cos (/ 0.5 phi1)) (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow phi1 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))))
54.681 * [backup-simplify]: Simplify (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* phi1 (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (* phi1 (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))))) (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* phi1 phi2)))) (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* phi1 phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))))) (+ (* 1/2 (* (/ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)))) (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2))))) (+ (* (sin (/ 0.5 phi1)) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (pow phi1 2)))))) (* (cos (/ 0.5 phi1)) (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow phi1 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))))) into (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* phi1 (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (* phi1 (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))))) (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* phi1 phi2)))) (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* phi1 phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))))) (+ (* 1/2 (* (/ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* (pow phi1 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (* (pow phi1 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)))) (+ (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* R (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* R (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))))
54.702 * [backup-simplify]: Simplify (+ 0 (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* phi1 (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (* phi1 (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))))) (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* phi1 phi2)))) (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* phi1 phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))))) (+ (* 1/2 (* (/ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* (pow phi1 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (* (pow phi1 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)))) (+ (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* R (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* R (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))))) into (+ (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)))) (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2))))) (+ (* (sin (/ 0.5 phi1)) (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow phi1 2)))))) (* (cos (/ 0.5 phi1)) (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (pow phi1 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (+ (* 1/2 (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* phi1 phi2)))) (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* phi1 phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))))) (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* phi1 (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (* phi1 (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))))) (* 1/2 (* (/ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))))))
54.727 * [backup-simplify]: Simplify (- (+ (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)))) (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2))))) (+ (* (sin (/ 0.5 phi1)) (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow phi1 2)))))) (* (cos (/ 0.5 phi1)) (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (pow phi1 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (+ (* 1/2 (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* phi1 phi2)))) (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* phi1 phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))))) (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* phi1 (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (* phi1 (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))))) (* 1/2 (* (/ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))))))) into (- (+ (* 1/2 (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* phi1 (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (* phi1 (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))))) (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* phi1 phi2)))) (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* phi1 phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))))) (+ (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* (pow phi1 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (* (pow phi1 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)))) (+ (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* R (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* R (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* 1/2 (* (/ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))))))
54.803 * [backup-simplify]: Simplify (+ (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* (pow phi1 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (* (pow phi1 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)))) (+ (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R))))) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R)))))))))) (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow phi1 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (* (pow phi1 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)))) (+ (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R))))) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R)))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 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phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2))))))))))) (* 2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* phi1 (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (* phi1 (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))))) (- (+ (* 1/2 (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* phi1 (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (* phi1 (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))))) (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* phi1 phi2)))) (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* phi1 phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))))) (+ (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* (pow phi1 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (* (pow phi1 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)))) (+ (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* R (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* R (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* 1/2 (* (/ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))))))) into (- (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)))) (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2))))) (+ (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) (+ (* 2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* phi1 phi2)))) (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* phi1 phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)))) (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2))))) (+ (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2))))))))))))))) (+ (* 1/2 (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)))) (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2))))) (+ (* (sin (/ 0.5 phi1)) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (pow phi1 2)))))) (* (cos (/ 0.5 phi1)) (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow phi1 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* phi1 (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (* phi1 (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))))) (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* phi1 phi2)))) (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* phi1 phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))))))))))
54.805 * [taylor]: Taking taylor expansion of (- (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)))) (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2))))) (+ (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) (+ (* 2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* phi1 phi2)))) (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* phi1 phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)))) (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2))))) (+ (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2))))))))))))))) (+ (* 1/2 (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)))) (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2))))) (+ (* (sin (/ 0.5 phi1)) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (pow phi1 2)))))) (* (cos (/ 0.5 phi1)) (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow phi1 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* phi1 (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (* phi1 (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))))) (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* phi1 phi2)))) (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* phi1 phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))))))))))))) in phi1
54.805 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)))) (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2))))) (+ (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) (+ (* 2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* phi1 phi2)))) (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* phi1 phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)))) (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2))))) (+ (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2))))))))))))))) in phi1
54.806 * [taylor]: Taking taylor expansion of (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)))) (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2))))) (+ (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) in phi1
54.806 * [taylor]: Taking taylor expansion of 1/2 in phi1
54.806 * [backup-simplify]: Simplify 1/2 into 1/2
54.806 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)))) (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2))))) (+ (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) in phi1
54.806 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in phi1
54.806 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in phi1
54.806 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in phi1
54.806 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in phi1
54.806 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in phi1
54.806 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1
54.806 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
54.806 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
54.806 * [taylor]: Taking taylor expansion of 0.5 in phi1
54.806 * [backup-simplify]: Simplify 0.5 into 0.5
54.806 * [taylor]: Taking taylor expansion of phi2 in phi1
54.806 * [backup-simplify]: Simplify phi2 into phi2
54.806 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
54.806 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
54.806 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
54.807 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
54.807 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
54.807 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
54.807 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1
54.807 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
54.807 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
54.807 * [taylor]: Taking taylor expansion of 0.5 in phi1
54.807 * [backup-simplify]: Simplify 0.5 into 0.5
54.807 * [taylor]: Taking taylor expansion of phi1 in phi1
54.807 * [backup-simplify]: Simplify 0 into 0
54.807 * [backup-simplify]: Simplify 1 into 1
54.808 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
54.808 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
54.808 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in phi1
54.808 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1
54.808 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
54.808 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
54.808 * [taylor]: Taking taylor expansion of 0.5 in phi1
54.808 * [backup-simplify]: Simplify 0.5 into 0.5
54.808 * [taylor]: Taking taylor expansion of phi2 in phi1
54.808 * [backup-simplify]: Simplify phi2 into phi2
54.808 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
54.808 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
54.808 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
54.808 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
54.808 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
54.809 * [backup-simplify]: Simplify (- 0) into 0
54.809 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
54.809 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1
54.809 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
54.809 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
54.809 * [taylor]: Taking taylor expansion of 0.5 in phi1
54.809 * [backup-simplify]: Simplify 0.5 into 0.5
54.809 * [taylor]: Taking taylor expansion of phi1 in phi1
54.809 * [backup-simplify]: Simplify 0 into 0
54.809 * [backup-simplify]: Simplify 1 into 1
54.810 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
54.810 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
54.810 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in phi1
54.810 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in phi1
54.810 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
54.810 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
54.810 * [taylor]: Taking taylor expansion of 0.5 in phi1
54.810 * [backup-simplify]: Simplify 0.5 into 0.5
54.810 * [taylor]: Taking taylor expansion of phi2 in phi1
54.810 * [backup-simplify]: Simplify phi2 into phi2
54.810 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
54.810 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
54.810 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
54.810 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in phi1
54.810 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
54.810 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
54.810 * [taylor]: Taking taylor expansion of 0.5 in phi1
54.810 * [backup-simplify]: Simplify 0.5 into 0.5
54.810 * [taylor]: Taking taylor expansion of phi1 in phi1
54.810 * [backup-simplify]: Simplify 0 into 0
54.810 * [backup-simplify]: Simplify 1 into 1
54.811 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
54.811 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
54.811 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in phi1
54.811 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
54.811 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
54.811 * [taylor]: Taking taylor expansion of 0.5 in phi1
54.811 * [backup-simplify]: Simplify 0.5 into 0.5
54.811 * [taylor]: Taking taylor expansion of phi2 in phi1
54.811 * [backup-simplify]: Simplify phi2 into phi2
54.811 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
54.811 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
54.811 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
54.811 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
54.811 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
54.811 * [taylor]: Taking taylor expansion of 0.5 in phi1
54.811 * [backup-simplify]: Simplify 0.5 into 0.5
54.812 * [taylor]: Taking taylor expansion of phi1 in phi1
54.812 * [backup-simplify]: Simplify 0 into 0
54.812 * [backup-simplify]: Simplify 1 into 1
54.812 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
54.812 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
54.812 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in phi1
54.812 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
54.812 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
54.812 * [taylor]: Taking taylor expansion of 0.5 in phi1
54.812 * [backup-simplify]: Simplify 0.5 into 0.5
54.812 * [taylor]: Taking taylor expansion of phi2 in phi1
54.812 * [backup-simplify]: Simplify phi2 into phi2
54.812 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
54.812 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
54.813 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
54.813 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in phi1
54.813 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
54.813 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
54.813 * [taylor]: Taking taylor expansion of 0.5 in phi1
54.813 * [backup-simplify]: Simplify 0.5 into 0.5
54.813 * [taylor]: Taking taylor expansion of phi1 in phi1
54.813 * [backup-simplify]: Simplify 0 into 0
54.813 * [backup-simplify]: Simplify 1 into 1
54.813 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
54.813 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
54.813 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in phi1
54.813 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
54.813 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
54.813 * [taylor]: Taking taylor expansion of 0.5 in phi1
54.813 * [backup-simplify]: Simplify 0.5 into 0.5
54.813 * [taylor]: Taking taylor expansion of phi2 in phi1
54.813 * [backup-simplify]: Simplify phi2 into phi2
54.813 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
54.814 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
54.814 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
54.814 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
54.814 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
54.814 * [taylor]: Taking taylor expansion of 0.5 in phi1
54.814 * [backup-simplify]: Simplify 0.5 into 0.5
54.814 * [taylor]: Taking taylor expansion of phi1 in phi1
54.814 * [backup-simplify]: Simplify 0 into 0
54.814 * [backup-simplify]: Simplify 1 into 1
54.814 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
54.814 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
54.815 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
54.815 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
54.815 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
54.815 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
54.815 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
54.816 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
54.816 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
54.817 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
54.817 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
54.817 * [backup-simplify]: Simplify (- 0) into 0
54.817 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
54.817 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
54.817 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
54.818 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
54.818 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
54.818 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
54.818 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
54.818 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
54.818 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
54.819 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
54.819 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
54.819 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
54.819 * [backup-simplify]: Simplify (- 0) into 0
54.819 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
54.819 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
54.820 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
54.820 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
54.821 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))
54.822 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
54.824 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
54.825 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
54.827 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
54.828 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
54.828 * [backup-simplify]: Simplify (+ 0) into 0
54.829 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
54.829 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
54.830 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
54.830 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
54.830 * [backup-simplify]: Simplify (+ 0 0) into 0
54.831 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
54.831 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
54.831 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
54.832 * [backup-simplify]: Simplify (+ 0) into 0
54.832 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
54.832 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
54.833 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
54.834 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
54.834 * [backup-simplify]: Simplify (- 0) into 0
54.834 * [backup-simplify]: Simplify (+ 0 0) into 0
54.835 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
54.835 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
54.835 * [backup-simplify]: Simplify (+ 0 0) into 0
54.836 * [backup-simplify]: Simplify (+ 0) into 0
54.836 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
54.836 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
54.837 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
54.837 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
54.838 * [backup-simplify]: Simplify (+ 0 0) into 0
54.838 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
54.838 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
54.839 * [backup-simplify]: Simplify (+ 0) into 0
54.839 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
54.839 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
54.840 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
54.840 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
54.841 * [backup-simplify]: Simplify (- 0) into 0
54.841 * [backup-simplify]: Simplify (+ 0 0) into 0
54.842 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
54.842 * [backup-simplify]: Simplify (+ 0) into 0
54.843 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
54.843 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
54.844 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
54.844 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
54.845 * [backup-simplify]: Simplify (- 0) into 0
54.845 * [backup-simplify]: Simplify (+ 0 0) into 0
54.845 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
54.845 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
54.846 * [backup-simplify]: Simplify (+ 0) into 0
54.846 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
54.846 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
54.847 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
54.848 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
54.848 * [backup-simplify]: Simplify (+ 0 0) into 0
54.848 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
54.849 * [backup-simplify]: Simplify (+ 0 0) into 0
54.849 * [backup-simplify]: Simplify (- 0) into 0
54.849 * [backup-simplify]: Simplify (+ 0 0) into 0
54.853 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
54.856 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
54.856 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)))) (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2))))) (+ (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) in phi1
54.856 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in phi1
54.856 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1
54.856 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
54.856 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
54.856 * [taylor]: Taking taylor expansion of 0.5 in phi1
54.856 * [backup-simplify]: Simplify 0.5 into 0.5
54.856 * [taylor]: Taking taylor expansion of phi2 in phi1
54.856 * [backup-simplify]: Simplify phi2 into phi2
54.856 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
54.856 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
54.856 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
54.856 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
54.856 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
54.857 * [backup-simplify]: Simplify (- 0) into 0
54.857 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
54.857 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1
54.857 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
54.857 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
54.857 * [taylor]: Taking taylor expansion of 0.5 in phi1
54.857 * [backup-simplify]: Simplify 0.5 into 0.5
54.857 * [taylor]: Taking taylor expansion of phi1 in phi1
54.857 * [backup-simplify]: Simplify 0 into 0
54.857 * [backup-simplify]: Simplify 1 into 1
54.858 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
54.858 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
54.858 * [taylor]: Taking taylor expansion of (- (+ (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)))) (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2))))) (+ (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in phi1
54.858 * [taylor]: Taking taylor expansion of (+ (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)))) (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2))))) in phi1
54.858 * [taylor]: Taking taylor expansion of (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)))) in phi1
54.858 * [taylor]: Taking taylor expansion of R in phi1
54.858 * [backup-simplify]: Simplify R into R
54.858 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2))) in phi1
54.858 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1
54.858 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
54.858 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
54.858 * [taylor]: Taking taylor expansion of 0.5 in phi1
54.858 * [backup-simplify]: Simplify 0.5 into 0.5
54.858 * [taylor]: Taking taylor expansion of phi1 in phi1
54.858 * [backup-simplify]: Simplify 0 into 0
54.858 * [backup-simplify]: Simplify 1 into 1
54.859 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
54.859 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
54.859 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)) in phi1
54.859 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1
54.859 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
54.859 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
54.859 * [taylor]: Taking taylor expansion of 0.5 in phi1
54.859 * [backup-simplify]: Simplify 0.5 into 0.5
54.859 * [taylor]: Taking taylor expansion of phi2 in phi1
54.859 * [backup-simplify]: Simplify phi2 into phi2
54.859 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
54.859 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
54.859 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
54.860 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
54.860 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
54.860 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
54.860 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1
54.860 * [taylor]: Taking taylor expansion of phi1 in phi1
54.860 * [backup-simplify]: Simplify 0 into 0
54.860 * [backup-simplify]: Simplify 1 into 1
54.860 * [taylor]: Taking taylor expansion of (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2)))) in phi1
54.860 * [taylor]: Taking taylor expansion of R in phi1
54.860 * [backup-simplify]: Simplify R into R
54.860 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2))) in phi1
54.860 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1
54.860 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
54.860 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
54.860 * [taylor]: Taking taylor expansion of 0.5 in phi1
54.860 * [backup-simplify]: Simplify 0.5 into 0.5
54.860 * [taylor]: Taking taylor expansion of phi1 in phi1
54.860 * [backup-simplify]: Simplify 0 into 0
54.860 * [backup-simplify]: Simplify 1 into 1
54.861 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
54.861 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
54.861 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2)) in phi1
54.861 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1
54.861 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
54.861 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
54.861 * [taylor]: Taking taylor expansion of 0.5 in phi1
54.861 * [backup-simplify]: Simplify 0.5 into 0.5
54.861 * [taylor]: Taking taylor expansion of phi2 in phi1
54.861 * [backup-simplify]: Simplify phi2 into phi2
54.861 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
54.861 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
54.861 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
54.861 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
54.862 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
54.862 * [backup-simplify]: Simplify (- 0) into 0
54.862 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
54.862 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1
54.862 * [taylor]: Taking taylor expansion of phi1 in phi1
54.862 * [backup-simplify]: Simplify 0 into 0
54.862 * [backup-simplify]: Simplify 1 into 1
54.862 * [taylor]: Taking taylor expansion of (+ (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in phi1
54.862 * [taylor]: Taking taylor expansion of (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) in phi1
54.862 * [taylor]: Taking taylor expansion of R in phi1
54.862 * [backup-simplify]: Simplify R into R
54.862 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) in phi1
54.862 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
54.862 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
54.862 * [taylor]: Taking taylor expansion of 0.5 in phi1
54.863 * [backup-simplify]: Simplify 0.5 into 0.5
54.863 * [taylor]: Taking taylor expansion of phi2 in phi1
54.863 * [backup-simplify]: Simplify phi2 into phi2
54.863 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
54.863 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
54.863 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
54.863 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in phi1
54.863 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
54.863 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
54.863 * [taylor]: Taking taylor expansion of 0.5 in phi1
54.863 * [backup-simplify]: Simplify 0.5 into 0.5
54.863 * [taylor]: Taking taylor expansion of phi1 in phi1
54.863 * [backup-simplify]: Simplify 0 into 0
54.863 * [backup-simplify]: Simplify 1 into 1
54.864 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
54.864 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
54.864 * [taylor]: Taking taylor expansion of (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in phi1
54.864 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1
54.864 * [taylor]: Taking taylor expansion of phi1 in phi1
54.864 * [backup-simplify]: Simplify 0 into 0
54.864 * [backup-simplify]: Simplify 1 into 1
54.864 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in phi1
54.864 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
54.864 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
54.864 * [taylor]: Taking taylor expansion of 0.5 in phi1
54.864 * [backup-simplify]: Simplify 0.5 into 0.5
54.864 * [taylor]: Taking taylor expansion of phi2 in phi1
54.864 * [backup-simplify]: Simplify phi2 into phi2
54.864 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
54.864 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
54.864 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
54.864 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
54.864 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
54.864 * [taylor]: Taking taylor expansion of 0.5 in phi1
54.864 * [backup-simplify]: Simplify 0.5 into 0.5
54.864 * [taylor]: Taking taylor expansion of phi1 in phi1
54.864 * [backup-simplify]: Simplify 0 into 0
54.864 * [backup-simplify]: Simplify 1 into 1
54.865 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
54.865 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
54.865 * [taylor]: Taking taylor expansion of (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in phi1
54.865 * [taylor]: Taking taylor expansion of R in phi1
54.865 * [backup-simplify]: Simplify R into R
54.865 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in phi1
54.865 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
54.865 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
54.865 * [taylor]: Taking taylor expansion of 0.5 in phi1
54.865 * [backup-simplify]: Simplify 0.5 into 0.5
54.865 * [taylor]: Taking taylor expansion of phi2 in phi1
54.865 * [backup-simplify]: Simplify phi2 into phi2
54.865 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
54.865 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
54.866 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
54.866 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in phi1
54.866 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
54.866 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
54.866 * [taylor]: Taking taylor expansion of 0.5 in phi1
54.866 * [backup-simplify]: Simplify 0.5 into 0.5
54.866 * [taylor]: Taking taylor expansion of phi1 in phi1
54.866 * [backup-simplify]: Simplify 0 into 0
54.866 * [backup-simplify]: Simplify 1 into 1
54.866 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
54.866 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
54.866 * [taylor]: Taking taylor expansion of (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in phi1
54.866 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1
54.866 * [taylor]: Taking taylor expansion of phi1 in phi1
54.866 * [backup-simplify]: Simplify 0 into 0
54.866 * [backup-simplify]: Simplify 1 into 1
54.867 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in phi1
54.867 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
54.867 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
54.867 * [taylor]: Taking taylor expansion of 0.5 in phi1
54.867 * [backup-simplify]: Simplify 0.5 into 0.5
54.867 * [taylor]: Taking taylor expansion of phi2 in phi1
54.867 * [backup-simplify]: Simplify phi2 into phi2
54.867 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
54.867 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
54.867 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
54.867 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
54.867 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
54.867 * [taylor]: Taking taylor expansion of 0.5 in phi1
54.867 * [backup-simplify]: Simplify 0.5 into 0.5
54.867 * [taylor]: Taking taylor expansion of phi1 in phi1
54.867 * [backup-simplify]: Simplify 0 into 0
54.867 * [backup-simplify]: Simplify 1 into 1
54.868 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
54.868 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
54.868 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
54.868 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
54.868 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
54.869 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
54.869 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
54.869 * [backup-simplify]: Simplify (* 1 1) into 1
54.869 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) 1) into (pow (sin (/ 0.5 phi2)) 2)
54.870 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
54.870 * [backup-simplify]: Simplify (* R (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))) into (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R))
54.870 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
54.870 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
54.871 * [backup-simplify]: Simplify (* 1 1) into 1
54.871 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) 1) into (pow (cos (/ 0.5 phi2)) 2)
54.871 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
54.872 * [backup-simplify]: Simplify (* R (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))
54.873 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) into (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R)))
54.873 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
54.873 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
54.873 * [backup-simplify]: Simplify (- 0) into 0
54.873 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
54.874 * [backup-simplify]: Simplify (* 1 1) into 1
54.874 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
54.874 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
54.874 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
54.874 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
54.874 * [backup-simplify]: Simplify (* 1 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
54.875 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
54.875 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
54.875 * [backup-simplify]: Simplify (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R))))
54.876 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
54.876 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
54.876 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
54.876 * [backup-simplify]: Simplify (* 1 1) into 1
54.876 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
54.876 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
54.877 * [backup-simplify]: Simplify (- 0) into 0
54.877 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
54.877 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
54.877 * [backup-simplify]: Simplify (* 1 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
54.878 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
54.878 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
54.878 * [backup-simplify]: Simplify (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R))))
54.879 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R)))) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R))))) into (+ (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R)))) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R)))))
54.880 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R)))) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R)))))) into (- (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))))
54.883 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (- (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))))) into (- (+ (* R (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))) (* R (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))) (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))))
54.885 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))) (* R (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))) (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))))) into (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (+ (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R)))) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R)))))))
54.885 * [taylor]: Taking taylor expansion of (+ (* 2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* phi1 phi2)))) (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* phi1 phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)))) (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2))))) (+ (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2)))))))))))))) in phi1
54.886 * [taylor]: Taking taylor expansion of (* 2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* phi1 phi2)))) (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* phi1 phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) in phi1
54.886 * [taylor]: Taking taylor expansion of 2 in phi1
54.886 * [backup-simplify]: Simplify 2 into 2
54.886 * [taylor]: Taking taylor expansion of (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* phi1 phi2)))) (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* phi1 phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) in phi1
54.886 * [taylor]: Taking taylor expansion of (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* phi1 phi2)))) (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* phi1 phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))))))) in phi1
54.886 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in phi1
54.886 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
54.886 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
54.886 * [taylor]: Taking taylor expansion of 0.5 in phi1
54.886 * [backup-simplify]: Simplify 0.5 into 0.5
54.886 * [taylor]: Taking taylor expansion of phi2 in phi1
54.886 * [backup-simplify]: Simplify phi2 into phi2
54.886 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
54.886 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
54.886 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
54.887 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in phi1
54.887 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
54.887 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
54.887 * [taylor]: Taking taylor expansion of 0.5 in phi1
54.887 * [backup-simplify]: Simplify 0.5 into 0.5
54.887 * [taylor]: Taking taylor expansion of phi1 in phi1
54.887 * [backup-simplify]: Simplify 0 into 0
54.887 * [backup-simplify]: Simplify 1 into 1
54.887 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
54.887 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
54.888 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in phi1
54.888 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
54.888 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
54.888 * [taylor]: Taking taylor expansion of 0.5 in phi1
54.888 * [backup-simplify]: Simplify 0.5 into 0.5
54.888 * [taylor]: Taking taylor expansion of phi2 in phi1
54.888 * [backup-simplify]: Simplify phi2 into phi2
54.888 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
54.888 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
54.888 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
54.888 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
54.888 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
54.888 * [taylor]: Taking taylor expansion of 0.5 in phi1
54.888 * [backup-simplify]: Simplify 0.5 into 0.5
54.888 * [taylor]: Taking taylor expansion of phi1 in phi1
54.888 * [backup-simplify]: Simplify 0 into 0
54.888 * [backup-simplify]: Simplify 1 into 1
54.889 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
54.889 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
54.889 * [taylor]: Taking taylor expansion of (- (+ (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* phi1 phi2)))) (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* phi1 phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))) in phi1
54.889 * [taylor]: Taking taylor expansion of (+ (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* phi1 phi2)))) (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* phi1 phi2))))) in phi1
54.889 * [taylor]: Taking taylor expansion of (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* phi1 phi2)))) in phi1
54.889 * [taylor]: Taking taylor expansion of R in phi1
54.889 * [backup-simplify]: Simplify R into R
54.889 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* phi1 phi2))) in phi1
54.889 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1
54.889 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
54.889 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
54.889 * [taylor]: Taking taylor expansion of 0.5 in phi1
54.889 * [backup-simplify]: Simplify 0.5 into 0.5
54.889 * [taylor]: Taking taylor expansion of phi1 in phi1
54.889 * [backup-simplify]: Simplify 0 into 0
54.889 * [backup-simplify]: Simplify 1 into 1
54.890 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
54.890 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
54.890 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (* phi1 phi2)) in phi1
54.890 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1
54.890 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
54.890 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
54.890 * [taylor]: Taking taylor expansion of 0.5 in phi1
54.890 * [backup-simplify]: Simplify 0.5 into 0.5
54.890 * [taylor]: Taking taylor expansion of phi2 in phi1
54.890 * [backup-simplify]: Simplify phi2 into phi2
54.890 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
54.890 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
54.890 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
54.890 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
54.891 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
54.891 * [backup-simplify]: Simplify (- 0) into 0
54.891 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
54.891 * [taylor]: Taking taylor expansion of (* phi1 phi2) in phi1
54.891 * [taylor]: Taking taylor expansion of phi1 in phi1
54.891 * [backup-simplify]: Simplify 0 into 0
54.891 * [backup-simplify]: Simplify 1 into 1
54.891 * [taylor]: Taking taylor expansion of phi2 in phi1
54.891 * [backup-simplify]: Simplify phi2 into phi2
54.891 * [taylor]: Taking taylor expansion of (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* phi1 phi2)))) in phi1
54.891 * [taylor]: Taking taylor expansion of R in phi1
54.891 * [backup-simplify]: Simplify R into R
54.891 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* phi1 phi2))) in phi1
54.891 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1
54.891 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
54.891 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
54.892 * [taylor]: Taking taylor expansion of 0.5 in phi1
54.892 * [backup-simplify]: Simplify 0.5 into 0.5
54.892 * [taylor]: Taking taylor expansion of phi1 in phi1
54.892 * [backup-simplify]: Simplify 0 into 0
54.892 * [backup-simplify]: Simplify 1 into 1
54.892 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
54.892 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
54.892 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (* phi1 phi2)) in phi1
54.892 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1
54.892 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
54.892 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
54.892 * [taylor]: Taking taylor expansion of 0.5 in phi1
54.892 * [backup-simplify]: Simplify 0.5 into 0.5
54.892 * [taylor]: Taking taylor expansion of phi2 in phi1
54.892 * [backup-simplify]: Simplify phi2 into phi2
54.893 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
54.893 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
54.893 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
54.893 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
54.893 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
54.893 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
54.893 * [taylor]: Taking taylor expansion of (* phi1 phi2) in phi1
54.893 * [taylor]: Taking taylor expansion of phi1 in phi1
54.893 * [backup-simplify]: Simplify 0 into 0
54.893 * [backup-simplify]: Simplify 1 into 1
54.893 * [taylor]: Taking taylor expansion of phi2 in phi1
54.893 * [backup-simplify]: Simplify phi2 into phi2
54.893 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))))) in phi1
54.893 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) in phi1
54.893 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
54.893 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
54.893 * [taylor]: Taking taylor expansion of 0.5 in phi1
54.893 * [backup-simplify]: Simplify 0.5 into 0.5
54.893 * [taylor]: Taking taylor expansion of phi2 in phi1
54.894 * [backup-simplify]: Simplify phi2 into phi2
54.894 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
54.894 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
54.894 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
54.894 * [taylor]: Taking taylor expansion of (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))) in phi1
54.894 * [taylor]: Taking taylor expansion of R in phi1
54.894 * [backup-simplify]: Simplify R into R
54.894 * [taylor]: Taking taylor expansion of (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))) in phi1
54.894 * [taylor]: Taking taylor expansion of phi1 in phi1
54.894 * [backup-simplify]: Simplify 0 into 0
54.894 * [backup-simplify]: Simplify 1 into 1
54.894 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))) in phi1
54.894 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
54.894 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
54.894 * [taylor]: Taking taylor expansion of 0.5 in phi1
54.894 * [backup-simplify]: Simplify 0.5 into 0.5
54.894 * [taylor]: Taking taylor expansion of phi1 in phi1
54.894 * [backup-simplify]: Simplify 0 into 0
54.894 * [backup-simplify]: Simplify 1 into 1
54.895 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
54.895 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
54.895 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)) in phi1
54.895 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
54.895 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
54.895 * [taylor]: Taking taylor expansion of 0.5 in phi1
54.895 * [backup-simplify]: Simplify 0.5 into 0.5
54.895 * [taylor]: Taking taylor expansion of phi2 in phi1
54.895 * [backup-simplify]: Simplify phi2 into phi2
54.895 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
54.895 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
54.895 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
54.895 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) phi2) in phi1
54.895 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
54.895 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
54.895 * [taylor]: Taking taylor expansion of 0.5 in phi1
54.895 * [backup-simplify]: Simplify 0.5 into 0.5
54.895 * [taylor]: Taking taylor expansion of phi1 in phi1
54.895 * [backup-simplify]: Simplify 0 into 0
54.896 * [backup-simplify]: Simplify 1 into 1
54.896 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
54.896 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
54.896 * [taylor]: Taking taylor expansion of phi2 in phi1
54.896 * [backup-simplify]: Simplify phi2 into phi2
54.896 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) in phi1
54.896 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
54.896 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
54.896 * [taylor]: Taking taylor expansion of 0.5 in phi1
54.896 * [backup-simplify]: Simplify 0.5 into 0.5
54.896 * [taylor]: Taking taylor expansion of phi2 in phi1
54.896 * [backup-simplify]: Simplify phi2 into phi2
54.896 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
54.897 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
54.897 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
54.897 * [taylor]: Taking taylor expansion of (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))) in phi1
54.897 * [taylor]: Taking taylor expansion of R in phi1
54.897 * [backup-simplify]: Simplify R into R
54.897 * [taylor]: Taking taylor expansion of (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))) in phi1
54.897 * [taylor]: Taking taylor expansion of phi1 in phi1
54.897 * [backup-simplify]: Simplify 0 into 0
54.897 * [backup-simplify]: Simplify 1 into 1
54.897 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))) in phi1
54.897 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
54.897 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
54.897 * [taylor]: Taking taylor expansion of 0.5 in phi1
54.897 * [backup-simplify]: Simplify 0.5 into 0.5
54.897 * [taylor]: Taking taylor expansion of phi1 in phi1
54.897 * [backup-simplify]: Simplify 0 into 0
54.897 * [backup-simplify]: Simplify 1 into 1
54.898 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
54.898 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
54.898 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)) in phi1
54.898 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
54.898 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
54.898 * [taylor]: Taking taylor expansion of 0.5 in phi1
54.898 * [backup-simplify]: Simplify 0.5 into 0.5
54.898 * [taylor]: Taking taylor expansion of phi2 in phi1
54.898 * [backup-simplify]: Simplify phi2 into phi2
54.898 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
54.898 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
54.898 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
54.898 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) phi2) in phi1
54.898 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
54.898 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
54.898 * [taylor]: Taking taylor expansion of 0.5 in phi1
54.898 * [backup-simplify]: Simplify 0.5 into 0.5
54.898 * [taylor]: Taking taylor expansion of phi1 in phi1
54.898 * [backup-simplify]: Simplify 0 into 0
54.898 * [backup-simplify]: Simplify 1 into 1
54.899 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
54.899 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
54.899 * [taylor]: Taking taylor expansion of phi2 in phi1
54.899 * [backup-simplify]: Simplify phi2 into phi2
54.899 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
54.899 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
54.900 * [backup-simplify]: Simplify (- 0) into 0
54.900 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
54.900 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
54.900 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
54.900 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
54.900 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
54.900 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
54.901 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
54.901 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
54.901 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
54.901 * [backup-simplify]: Simplify (* 0 phi2) into 0
54.901 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) 0) into 0
54.902 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) 0) into 0
54.902 * [backup-simplify]: Simplify (* R 0) into 0
54.902 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
54.902 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
54.902 * [backup-simplify]: Simplify (* 0 phi2) into 0
54.902 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) 0) into 0
54.903 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) 0) into 0
54.903 * [backup-simplify]: Simplify (* R 0) into 0
54.903 * [backup-simplify]: Simplify (+ 0 0) into 0
54.904 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
54.904 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
54.904 * [backup-simplify]: Simplify (- 0) into 0
54.904 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
54.904 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
54.904 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
54.905 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
54.905 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) phi2) into (* (sin (/ 0.5 phi1)) phi2)
54.905 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))
54.905 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) phi2)))
54.906 * [backup-simplify]: Simplify (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) phi2)))) into 0
54.906 * [backup-simplify]: Simplify (* R 0) into 0
54.906 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
54.906 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
54.906 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
54.906 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
54.906 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
54.906 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
54.907 * [backup-simplify]: Simplify (- 0) into 0
54.907 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
54.907 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) phi2) into (* (sin (/ 0.5 phi1)) phi2)
54.907 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))
54.907 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) phi2)))
54.908 * [backup-simplify]: Simplify (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) phi2)))) into 0
54.908 * [backup-simplify]: Simplify (* R 0) into 0
54.908 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
54.908 * [backup-simplify]: Simplify (+ 0 0) into 0
54.909 * [backup-simplify]: Simplify (- 0) into 0
54.909 * [backup-simplify]: Simplify (+ 0 0) into 0
54.910 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi2)) into phi2
54.910 * [backup-simplify]: Simplify (+ 0) into 0
54.910 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
54.911 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
54.911 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
54.912 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
54.912 * [backup-simplify]: Simplify (- 0) into 0
54.913 * [backup-simplify]: Simplify (+ 0 0) into 0
54.913 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
54.913 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) phi2) (* 0 0)) into (* (pow (cos (/ 0.5 phi2)) 2) phi2)
54.914 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
54.914 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) phi2)) (* 0 0)) into (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) phi2))
54.915 * [backup-simplify]: Simplify (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) phi2))) (* 0 0)) into (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) phi2)))
54.915 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi2)) into phi2
54.915 * [backup-simplify]: Simplify (+ 0) into 0
54.916 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
54.916 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
54.916 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
54.916 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
54.917 * [backup-simplify]: Simplify (+ 0 0) into 0
54.917 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
54.917 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) phi2) (* 0 0)) into (* (pow (sin (/ 0.5 phi2)) 2) phi2)
54.917 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
54.918 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) phi2)) (* 0 0)) into (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) phi2))
54.918 * [backup-simplify]: Simplify (+ (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) phi2))) (* 0 0)) into (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) phi2)))
54.919 * [backup-simplify]: Simplify (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) phi2))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) phi2)))) into (+ (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) phi2))) (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) phi2))))
54.919 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 phi2)) into 0
54.919 * [backup-simplify]: Simplify (+ 0) into 0
54.920 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
54.920 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
54.920 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
54.920 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
54.921 * [backup-simplify]: Simplify (+ 0 0) into 0
54.921 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) phi2))) into 0
54.921 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))) into 0
54.921 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))
54.922 * [backup-simplify]: Simplify (+ (* R (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))) (* 0 0)) into (* R (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) phi2))))
54.922 * [backup-simplify]: Simplify (+ 0) into 0
54.922 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
54.923 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
54.923 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
54.923 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
54.923 * [backup-simplify]: Simplify (- 0) into 0
54.924 * [backup-simplify]: Simplify (+ 0 0) into 0
54.924 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (* R (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) phi2))))) (* 0 0)) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R phi2)))))
54.924 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 phi2)) into 0
54.925 * [backup-simplify]: Simplify (+ 0) into 0
54.925 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
54.925 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
54.925 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
54.926 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
54.926 * [backup-simplify]: Simplify (- 0) into 0
54.926 * [backup-simplify]: Simplify (+ 0 0) into 0
54.926 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) phi2))) into 0
54.927 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))) into 0
54.927 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) phi2))))) into (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))
54.927 * [backup-simplify]: Simplify (+ (* R (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))) (* 0 0)) into (* R (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) phi2))))
54.928 * [backup-simplify]: Simplify (+ 0) into 0
54.928 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
54.928 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
54.929 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
54.929 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
54.929 * [backup-simplify]: Simplify (+ 0 0) into 0
54.930 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (* R (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) phi2))))) (* 0 0)) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R phi2)))))
54.930 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R phi2))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R phi2)))))) into (+ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R phi2))))) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R phi2))))))
54.931 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R phi2))))) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R phi2))))))) into (- (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))
54.932 * [backup-simplify]: Simplify (+ (+ (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) phi2))) (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) phi2)))) (- (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))) into (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))
54.934 * [backup-simplify]: Simplify (/ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))) into (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) phi2))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) phi2)))) (+ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R phi2))))) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R phi2))))))))
54.934 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in phi1
54.934 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in phi1
54.934 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in phi1
54.934 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in phi1
54.934 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in phi1
54.934 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1
54.934 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
54.934 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
54.934 * [taylor]: Taking taylor expansion of 0.5 in phi1
54.934 * [backup-simplify]: Simplify 0.5 into 0.5
54.934 * [taylor]: Taking taylor expansion of phi2 in phi1
54.934 * [backup-simplify]: Simplify phi2 into phi2
54.934 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
54.934 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
54.934 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
54.934 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
54.934 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
54.934 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
54.934 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1
54.934 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
54.934 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
54.934 * [taylor]: Taking taylor expansion of 0.5 in phi1
54.935 * [backup-simplify]: Simplify 0.5 into 0.5
54.935 * [taylor]: Taking taylor expansion of phi1 in phi1
54.935 * [backup-simplify]: Simplify 0 into 0
54.935 * [backup-simplify]: Simplify 1 into 1
54.935 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
54.935 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
54.935 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in phi1
54.935 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1
54.935 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
54.935 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
54.935 * [taylor]: Taking taylor expansion of 0.5 in phi1
54.935 * [backup-simplify]: Simplify 0.5 into 0.5
54.935 * [taylor]: Taking taylor expansion of phi2 in phi1
54.935 * [backup-simplify]: Simplify phi2 into phi2
54.935 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
54.935 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
54.935 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
54.935 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
54.935 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
54.936 * [backup-simplify]: Simplify (- 0) into 0
54.936 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
54.936 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1
54.936 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
54.936 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
54.936 * [taylor]: Taking taylor expansion of 0.5 in phi1
54.936 * [backup-simplify]: Simplify 0.5 into 0.5
54.936 * [taylor]: Taking taylor expansion of phi1 in phi1
54.936 * [backup-simplify]: Simplify 0 into 0
54.936 * [backup-simplify]: Simplify 1 into 1
54.936 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
54.936 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
54.936 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in phi1
54.936 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in phi1
54.936 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
54.936 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
54.936 * [taylor]: Taking taylor expansion of 0.5 in phi1
54.936 * [backup-simplify]: Simplify 0.5 into 0.5
54.936 * [taylor]: Taking taylor expansion of phi2 in phi1
54.936 * [backup-simplify]: Simplify phi2 into phi2
54.936 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
54.937 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
54.937 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
54.937 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in phi1
54.937 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
54.937 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
54.937 * [taylor]: Taking taylor expansion of 0.5 in phi1
54.937 * [backup-simplify]: Simplify 0.5 into 0.5
54.937 * [taylor]: Taking taylor expansion of phi1 in phi1
54.937 * [backup-simplify]: Simplify 0 into 0
54.937 * [backup-simplify]: Simplify 1 into 1
54.937 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
54.937 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
54.937 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in phi1
54.937 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
54.937 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
54.937 * [taylor]: Taking taylor expansion of 0.5 in phi1
54.937 * [backup-simplify]: Simplify 0.5 into 0.5
54.937 * [taylor]: Taking taylor expansion of phi2 in phi1
54.937 * [backup-simplify]: Simplify phi2 into phi2
54.937 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
54.937 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
54.937 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
54.937 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
54.937 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
54.937 * [taylor]: Taking taylor expansion of 0.5 in phi1
54.937 * [backup-simplify]: Simplify 0.5 into 0.5
54.937 * [taylor]: Taking taylor expansion of phi1 in phi1
54.937 * [backup-simplify]: Simplify 0 into 0
54.938 * [backup-simplify]: Simplify 1 into 1
54.938 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
54.938 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
54.938 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in phi1
54.938 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
54.938 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
54.938 * [taylor]: Taking taylor expansion of 0.5 in phi1
54.938 * [backup-simplify]: Simplify 0.5 into 0.5
54.938 * [taylor]: Taking taylor expansion of phi2 in phi1
54.938 * [backup-simplify]: Simplify phi2 into phi2
54.938 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
54.938 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
54.938 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
54.938 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in phi1
54.938 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
54.938 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
54.938 * [taylor]: Taking taylor expansion of 0.5 in phi1
54.938 * [backup-simplify]: Simplify 0.5 into 0.5
54.938 * [taylor]: Taking taylor expansion of phi1 in phi1
54.938 * [backup-simplify]: Simplify 0 into 0
54.938 * [backup-simplify]: Simplify 1 into 1
54.939 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
54.939 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
54.939 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in phi1
54.939 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
54.939 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
54.939 * [taylor]: Taking taylor expansion of 0.5 in phi1
54.939 * [backup-simplify]: Simplify 0.5 into 0.5
54.939 * [taylor]: Taking taylor expansion of phi2 in phi1
54.939 * [backup-simplify]: Simplify phi2 into phi2
54.939 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
54.939 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
54.939 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
54.939 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
54.939 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
54.939 * [taylor]: Taking taylor expansion of 0.5 in phi1
54.939 * [backup-simplify]: Simplify 0.5 into 0.5
54.939 * [taylor]: Taking taylor expansion of phi1 in phi1
54.939 * [backup-simplify]: Simplify 0 into 0
54.939 * [backup-simplify]: Simplify 1 into 1
54.939 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
54.939 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
54.940 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
54.940 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
54.940 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
54.940 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
54.940 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
54.940 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
54.941 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
54.941 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
54.941 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
54.941 * [backup-simplify]: Simplify (- 0) into 0
54.942 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
54.942 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
54.942 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
54.942 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
54.942 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
54.942 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
54.943 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
54.943 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
54.943 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
54.943 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
54.943 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
54.943 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
54.944 * [backup-simplify]: Simplify (- 0) into 0
54.944 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
54.944 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
54.944 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
54.945 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
54.945 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))
54.946 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
54.948 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
54.950 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
54.951 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
54.951 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
54.954 * [backup-simplify]: Simplify (+ 0) into 0
54.954 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
54.954 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
54.955 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
54.955 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
54.955 * [backup-simplify]: Simplify (+ 0 0) into 0
54.955 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
54.956 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
54.956 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
54.956 * [backup-simplify]: Simplify (+ 0) into 0
54.956 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
54.957 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
54.957 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
54.957 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
54.958 * [backup-simplify]: Simplify (- 0) into 0
54.958 * [backup-simplify]: Simplify (+ 0 0) into 0
54.958 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
54.958 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
54.958 * [backup-simplify]: Simplify (+ 0 0) into 0
54.959 * [backup-simplify]: Simplify (+ 0) into 0
54.959 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
54.959 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
54.960 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
54.960 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
54.960 * [backup-simplify]: Simplify (+ 0 0) into 0
54.960 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
54.960 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
54.961 * [backup-simplify]: Simplify (+ 0) into 0
54.961 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
54.961 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
54.962 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
54.962 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
54.962 * [backup-simplify]: Simplify (- 0) into 0
54.962 * [backup-simplify]: Simplify (+ 0 0) into 0
54.963 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
54.963 * [backup-simplify]: Simplify (+ 0) into 0
54.963 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
54.963 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
54.964 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
54.964 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
54.964 * [backup-simplify]: Simplify (- 0) into 0
54.964 * [backup-simplify]: Simplify (+ 0 0) into 0
54.965 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
54.965 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
54.965 * [backup-simplify]: Simplify (+ 0) into 0
54.965 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
54.965 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
54.966 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
54.966 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
54.966 * [backup-simplify]: Simplify (+ 0 0) into 0
54.967 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
54.967 * [backup-simplify]: Simplify (+ 0 0) into 0
54.967 * [backup-simplify]: Simplify (- 0) into 0
54.967 * [backup-simplify]: Simplify (+ 0 0) into 0
54.969 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
54.970 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
54.970 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)))) (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2))))) (+ (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2))))))))))))) in phi1
54.971 * [taylor]: Taking taylor expansion of (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)))) (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2))))) (+ (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) in phi1
54.971 * [taylor]: Taking taylor expansion of 1/2 in phi1
54.971 * [backup-simplify]: Simplify 1/2 into 1/2
54.971 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)))) (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2))))) (+ (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) in phi1
54.971 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in phi1
54.971 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in phi1
54.971 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in phi1
54.971 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in phi1
54.971 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in phi1
54.971 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1
54.971 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
54.971 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
54.971 * [taylor]: Taking taylor expansion of 0.5 in phi1
54.971 * [backup-simplify]: Simplify 0.5 into 0.5
54.971 * [taylor]: Taking taylor expansion of phi2 in phi1
54.971 * [backup-simplify]: Simplify phi2 into phi2
54.971 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
54.971 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
54.971 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
54.971 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
54.971 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
54.971 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
54.971 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1
54.971 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
54.971 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
54.971 * [taylor]: Taking taylor expansion of 0.5 in phi1
54.971 * [backup-simplify]: Simplify 0.5 into 0.5
54.971 * [taylor]: Taking taylor expansion of phi1 in phi1
54.972 * [backup-simplify]: Simplify 0 into 0
54.972 * [backup-simplify]: Simplify 1 into 1
54.972 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
54.972 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
54.972 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in phi1
54.972 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1
54.972 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
54.972 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
54.972 * [taylor]: Taking taylor expansion of 0.5 in phi1
54.972 * [backup-simplify]: Simplify 0.5 into 0.5
54.972 * [taylor]: Taking taylor expansion of phi2 in phi1
54.972 * [backup-simplify]: Simplify phi2 into phi2
54.972 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
54.972 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
54.972 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
54.972 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
54.972 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
54.973 * [backup-simplify]: Simplify (- 0) into 0
54.973 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
54.973 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1
54.973 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
54.973 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
54.973 * [taylor]: Taking taylor expansion of 0.5 in phi1
54.973 * [backup-simplify]: Simplify 0.5 into 0.5
54.973 * [taylor]: Taking taylor expansion of phi1 in phi1
54.973 * [backup-simplify]: Simplify 0 into 0
54.973 * [backup-simplify]: Simplify 1 into 1
54.973 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
54.973 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
54.973 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in phi1
54.973 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in phi1
54.973 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
54.973 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
54.973 * [taylor]: Taking taylor expansion of 0.5 in phi1
54.973 * [backup-simplify]: Simplify 0.5 into 0.5
54.973 * [taylor]: Taking taylor expansion of phi2 in phi1
54.973 * [backup-simplify]: Simplify phi2 into phi2
54.973 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
54.974 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
54.974 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
54.974 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in phi1
54.974 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
54.974 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
54.974 * [taylor]: Taking taylor expansion of 0.5 in phi1
54.974 * [backup-simplify]: Simplify 0.5 into 0.5
54.974 * [taylor]: Taking taylor expansion of phi1 in phi1
54.974 * [backup-simplify]: Simplify 0 into 0
54.974 * [backup-simplify]: Simplify 1 into 1
54.974 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
54.974 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
54.974 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in phi1
54.974 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
54.974 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
54.974 * [taylor]: Taking taylor expansion of 0.5 in phi1
54.974 * [backup-simplify]: Simplify 0.5 into 0.5
54.974 * [taylor]: Taking taylor expansion of phi2 in phi1
54.974 * [backup-simplify]: Simplify phi2 into phi2
54.974 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
54.974 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
54.974 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
54.974 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
54.974 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
54.974 * [taylor]: Taking taylor expansion of 0.5 in phi1
54.974 * [backup-simplify]: Simplify 0.5 into 0.5
54.974 * [taylor]: Taking taylor expansion of phi1 in phi1
54.974 * [backup-simplify]: Simplify 0 into 0
54.974 * [backup-simplify]: Simplify 1 into 1
54.975 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
54.975 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
54.975 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in phi1
54.975 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
54.975 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
54.975 * [taylor]: Taking taylor expansion of 0.5 in phi1
54.975 * [backup-simplify]: Simplify 0.5 into 0.5
54.975 * [taylor]: Taking taylor expansion of phi2 in phi1
54.975 * [backup-simplify]: Simplify phi2 into phi2
54.975 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
54.975 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
54.975 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
54.975 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in phi1
54.975 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
54.975 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
54.975 * [taylor]: Taking taylor expansion of 0.5 in phi1
54.975 * [backup-simplify]: Simplify 0.5 into 0.5
54.975 * [taylor]: Taking taylor expansion of phi1 in phi1
54.975 * [backup-simplify]: Simplify 0 into 0
54.975 * [backup-simplify]: Simplify 1 into 1
54.976 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
54.976 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
54.976 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in phi1
54.976 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
54.976 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
54.976 * [taylor]: Taking taylor expansion of 0.5 in phi1
54.976 * [backup-simplify]: Simplify 0.5 into 0.5
54.976 * [taylor]: Taking taylor expansion of phi2 in phi1
54.976 * [backup-simplify]: Simplify phi2 into phi2
54.976 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
54.976 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
54.976 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
54.976 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
54.976 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
54.976 * [taylor]: Taking taylor expansion of 0.5 in phi1
54.976 * [backup-simplify]: Simplify 0.5 into 0.5
54.976 * [taylor]: Taking taylor expansion of phi1 in phi1
54.976 * [backup-simplify]: Simplify 0 into 0
54.976 * [backup-simplify]: Simplify 1 into 1
54.976 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
54.976 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
54.976 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
54.977 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
54.977 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
54.977 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
54.977 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
54.977 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
54.978 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
54.978 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
54.978 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
54.979 * [backup-simplify]: Simplify (- 0) into 0
54.979 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
54.979 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
54.979 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
54.979 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
54.979 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
54.979 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
54.980 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
54.980 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
54.980 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
54.980 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
54.980 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
54.980 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
54.981 * [backup-simplify]: Simplify (- 0) into 0
54.981 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
54.981 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
54.981 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
54.982 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
54.982 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))
54.983 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
54.985 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
54.987 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
54.989 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
54.989 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
54.990 * [backup-simplify]: Simplify (+ 0) into 0
54.991 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
54.991 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
54.992 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
54.992 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
54.993 * [backup-simplify]: Simplify (+ 0 0) into 0
54.993 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
54.993 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
54.993 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
54.994 * [backup-simplify]: Simplify (+ 0) into 0
54.994 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
54.995 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
54.995 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
54.996 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
54.996 * [backup-simplify]: Simplify (- 0) into 0
54.997 * [backup-simplify]: Simplify (+ 0 0) into 0
54.997 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
54.997 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
54.998 * [backup-simplify]: Simplify (+ 0 0) into 0
54.998 * [backup-simplify]: Simplify (+ 0) into 0
54.999 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
54.999 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
54.999 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
55.000 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
55.000 * [backup-simplify]: Simplify (+ 0 0) into 0
55.001 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
55.001 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
55.001 * [backup-simplify]: Simplify (+ 0) into 0
55.002 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
55.002 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
55.003 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
55.003 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
55.004 * [backup-simplify]: Simplify (- 0) into 0
55.004 * [backup-simplify]: Simplify (+ 0 0) into 0
55.004 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
55.005 * [backup-simplify]: Simplify (+ 0) into 0
55.005 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
55.005 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
55.006 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
55.007 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
55.007 * [backup-simplify]: Simplify (- 0) into 0
55.008 * [backup-simplify]: Simplify (+ 0 0) into 0
55.008 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
55.008 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
55.008 * [backup-simplify]: Simplify (+ 0) into 0
55.009 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
55.009 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
55.010 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
55.010 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
55.011 * [backup-simplify]: Simplify (+ 0 0) into 0
55.011 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
55.011 * [backup-simplify]: Simplify (+ 0 0) into 0
55.012 * [backup-simplify]: Simplify (- 0) into 0
55.012 * [backup-simplify]: Simplify (+ 0 0) into 0
55.017 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
55.019 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
55.019 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)))) (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2))))) (+ (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) in phi1
55.019 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in phi1
55.019 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1
55.019 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
55.019 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
55.019 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.019 * [backup-simplify]: Simplify 0.5 into 0.5
55.019 * [taylor]: Taking taylor expansion of phi2 in phi1
55.019 * [backup-simplify]: Simplify phi2 into phi2
55.019 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
55.019 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
55.019 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
55.019 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
55.019 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
55.020 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
55.020 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1
55.020 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
55.020 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
55.020 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.020 * [backup-simplify]: Simplify 0.5 into 0.5
55.020 * [taylor]: Taking taylor expansion of phi1 in phi1
55.020 * [backup-simplify]: Simplify 0 into 0
55.020 * [backup-simplify]: Simplify 1 into 1
55.020 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
55.021 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
55.021 * [taylor]: Taking taylor expansion of (- (+ (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)))) (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2))))) (+ (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in phi1
55.021 * [taylor]: Taking taylor expansion of (+ (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)))) (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2))))) in phi1
55.021 * [taylor]: Taking taylor expansion of (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)))) in phi1
55.021 * [taylor]: Taking taylor expansion of R in phi1
55.021 * [backup-simplify]: Simplify R into R
55.021 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2))) in phi1
55.021 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1
55.021 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
55.021 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
55.021 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.021 * [backup-simplify]: Simplify 0.5 into 0.5
55.021 * [taylor]: Taking taylor expansion of phi1 in phi1
55.021 * [backup-simplify]: Simplify 0 into 0
55.021 * [backup-simplify]: Simplify 1 into 1
55.021 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
55.022 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
55.022 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)) in phi1
55.022 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1
55.022 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
55.022 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
55.022 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.022 * [backup-simplify]: Simplify 0.5 into 0.5
55.022 * [taylor]: Taking taylor expansion of phi2 in phi1
55.022 * [backup-simplify]: Simplify phi2 into phi2
55.022 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
55.022 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
55.022 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
55.022 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
55.022 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
55.022 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
55.022 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1
55.023 * [taylor]: Taking taylor expansion of phi1 in phi1
55.023 * [backup-simplify]: Simplify 0 into 0
55.023 * [backup-simplify]: Simplify 1 into 1
55.023 * [taylor]: Taking taylor expansion of (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2)))) in phi1
55.023 * [taylor]: Taking taylor expansion of R in phi1
55.023 * [backup-simplify]: Simplify R into R
55.023 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2))) in phi1
55.023 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1
55.023 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
55.023 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
55.023 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.023 * [backup-simplify]: Simplify 0.5 into 0.5
55.023 * [taylor]: Taking taylor expansion of phi1 in phi1
55.023 * [backup-simplify]: Simplify 0 into 0
55.023 * [backup-simplify]: Simplify 1 into 1
55.023 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
55.024 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
55.024 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2)) in phi1
55.024 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1
55.024 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
55.024 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
55.024 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.024 * [backup-simplify]: Simplify 0.5 into 0.5
55.024 * [taylor]: Taking taylor expansion of phi2 in phi1
55.024 * [backup-simplify]: Simplify phi2 into phi2
55.024 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
55.024 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
55.024 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
55.024 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
55.024 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
55.025 * [backup-simplify]: Simplify (- 0) into 0
55.025 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
55.025 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1
55.025 * [taylor]: Taking taylor expansion of phi1 in phi1
55.025 * [backup-simplify]: Simplify 0 into 0
55.025 * [backup-simplify]: Simplify 1 into 1
55.025 * [taylor]: Taking taylor expansion of (+ (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in phi1
55.025 * [taylor]: Taking taylor expansion of (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) in phi1
55.025 * [taylor]: Taking taylor expansion of R in phi1
55.025 * [backup-simplify]: Simplify R into R
55.025 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) in phi1
55.025 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
55.025 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
55.025 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.025 * [backup-simplify]: Simplify 0.5 into 0.5
55.025 * [taylor]: Taking taylor expansion of phi2 in phi1
55.025 * [backup-simplify]: Simplify phi2 into phi2
55.025 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
55.025 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
55.026 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
55.026 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in phi1
55.026 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
55.026 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
55.026 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.026 * [backup-simplify]: Simplify 0.5 into 0.5
55.026 * [taylor]: Taking taylor expansion of phi1 in phi1
55.026 * [backup-simplify]: Simplify 0 into 0
55.026 * [backup-simplify]: Simplify 1 into 1
55.026 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
55.026 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
55.026 * [taylor]: Taking taylor expansion of (* (pow phi1 2) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in phi1
55.026 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1
55.026 * [taylor]: Taking taylor expansion of phi1 in phi1
55.026 * [backup-simplify]: Simplify 0 into 0
55.027 * [backup-simplify]: Simplify 1 into 1
55.027 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in phi1
55.027 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
55.027 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
55.027 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.027 * [backup-simplify]: Simplify 0.5 into 0.5
55.027 * [taylor]: Taking taylor expansion of phi2 in phi1
55.027 * [backup-simplify]: Simplify phi2 into phi2
55.027 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
55.027 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
55.027 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
55.027 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
55.027 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
55.027 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.027 * [backup-simplify]: Simplify 0.5 into 0.5
55.027 * [taylor]: Taking taylor expansion of phi1 in phi1
55.027 * [backup-simplify]: Simplify 0 into 0
55.027 * [backup-simplify]: Simplify 1 into 1
55.028 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
55.028 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
55.028 * [taylor]: Taking taylor expansion of (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in phi1
55.028 * [taylor]: Taking taylor expansion of R in phi1
55.028 * [backup-simplify]: Simplify R into R
55.028 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in phi1
55.028 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
55.028 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
55.028 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.028 * [backup-simplify]: Simplify 0.5 into 0.5
55.028 * [taylor]: Taking taylor expansion of phi2 in phi1
55.028 * [backup-simplify]: Simplify phi2 into phi2
55.028 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
55.028 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
55.028 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
55.028 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in phi1
55.028 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
55.028 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
55.028 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.028 * [backup-simplify]: Simplify 0.5 into 0.5
55.028 * [taylor]: Taking taylor expansion of phi1 in phi1
55.029 * [backup-simplify]: Simplify 0 into 0
55.029 * [backup-simplify]: Simplify 1 into 1
55.029 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
55.029 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
55.029 * [taylor]: Taking taylor expansion of (* (pow phi1 2) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in phi1
55.029 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1
55.029 * [taylor]: Taking taylor expansion of phi1 in phi1
55.029 * [backup-simplify]: Simplify 0 into 0
55.029 * [backup-simplify]: Simplify 1 into 1
55.029 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in phi1
55.029 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
55.029 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
55.029 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.029 * [backup-simplify]: Simplify 0.5 into 0.5
55.029 * [taylor]: Taking taylor expansion of phi2 in phi1
55.030 * [backup-simplify]: Simplify phi2 into phi2
55.030 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
55.030 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
55.030 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
55.030 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
55.030 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
55.030 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.030 * [backup-simplify]: Simplify 0.5 into 0.5
55.030 * [taylor]: Taking taylor expansion of phi1 in phi1
55.030 * [backup-simplify]: Simplify 0 into 0
55.030 * [backup-simplify]: Simplify 1 into 1
55.030 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
55.031 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
55.031 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
55.031 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
55.031 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
55.031 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
55.032 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
55.032 * [backup-simplify]: Simplify (* 1 1) into 1
55.032 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) 1) into (pow (sin (/ 0.5 phi2)) 2)
55.033 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
55.033 * [backup-simplify]: Simplify (* R (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))) into (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R))
55.033 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
55.033 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
55.034 * [backup-simplify]: Simplify (* 1 1) into 1
55.034 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) 1) into (pow (cos (/ 0.5 phi2)) 2)
55.034 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
55.035 * [backup-simplify]: Simplify (* R (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))
55.036 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) into (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R)))
55.036 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
55.036 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
55.036 * [backup-simplify]: Simplify (- 0) into 0
55.036 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
55.037 * [backup-simplify]: Simplify (* 1 1) into 1
55.037 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
55.037 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
55.037 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
55.037 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
55.037 * [backup-simplify]: Simplify (* 1 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
55.038 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
55.038 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
55.038 * [backup-simplify]: Simplify (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R))))
55.039 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
55.039 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
55.039 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
55.039 * [backup-simplify]: Simplify (* 1 1) into 1
55.039 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
55.039 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
55.040 * [backup-simplify]: Simplify (- 0) into 0
55.040 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
55.040 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
55.040 * [backup-simplify]: Simplify (* 1 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
55.041 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
55.041 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
55.041 * [backup-simplify]: Simplify (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R))))
55.042 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R)))) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R))))) into (+ (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R)))) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R)))))
55.042 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R)))) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R)))))) into (- (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))))
55.044 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (- (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))))) into (- (+ (* R (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))) (* R (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))) (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))))
55.045 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))) (* R (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))) (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))))) into (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (+ (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R)))) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R)))))))
55.045 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2)))))))))))) in phi1
55.045 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) in phi1
55.045 * [taylor]: Taking taylor expansion of 1/2 in phi1
55.045 * [backup-simplify]: Simplify 1/2 into 1/2
55.045 * [taylor]: Taking taylor expansion of (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) in phi1
55.045 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) in phi1
55.045 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in phi1
55.045 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1
55.045 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
55.045 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
55.045 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.045 * [backup-simplify]: Simplify 0.5 into 0.5
55.045 * [taylor]: Taking taylor expansion of phi2 in phi1
55.045 * [backup-simplify]: Simplify phi2 into phi2
55.045 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
55.045 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
55.046 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
55.046 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
55.046 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
55.046 * [backup-simplify]: Simplify (- 0) into 0
55.046 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
55.046 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1
55.046 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
55.046 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
55.046 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.046 * [backup-simplify]: Simplify 0.5 into 0.5
55.046 * [taylor]: Taking taylor expansion of phi1 in phi1
55.046 * [backup-simplify]: Simplify 0 into 0
55.046 * [backup-simplify]: Simplify 1 into 1
55.047 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
55.047 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
55.047 * [taylor]: Taking taylor expansion of (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2)))))))) in phi1
55.047 * [taylor]: Taking taylor expansion of (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) in phi1
55.047 * [taylor]: Taking taylor expansion of (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) in phi1
55.047 * [taylor]: Taking taylor expansion of R in phi1
55.047 * [backup-simplify]: Simplify R into R
55.047 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2))) in phi1
55.047 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1
55.047 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
55.047 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
55.047 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.047 * [backup-simplify]: Simplify 0.5 into 0.5
55.047 * [taylor]: Taking taylor expansion of phi2 in phi1
55.047 * [backup-simplify]: Simplify phi2 into phi2
55.047 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
55.047 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
55.047 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
55.047 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
55.047 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
55.047 * [backup-simplify]: Simplify (- 0) into 0
55.048 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
55.048 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)) in phi1
55.048 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1
55.048 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
55.048 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
55.048 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.048 * [backup-simplify]: Simplify 0.5 into 0.5
55.048 * [taylor]: Taking taylor expansion of phi1 in phi1
55.048 * [backup-simplify]: Simplify 0 into 0
55.048 * [backup-simplify]: Simplify 1 into 1
55.048 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
55.048 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
55.048 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1
55.048 * [taylor]: Taking taylor expansion of phi2 in phi1
55.048 * [backup-simplify]: Simplify phi2 into phi2
55.048 * [taylor]: Taking taylor expansion of (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2)))) in phi1
55.048 * [taylor]: Taking taylor expansion of R in phi1
55.048 * [backup-simplify]: Simplify R into R
55.048 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))) in phi1
55.048 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1
55.048 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
55.048 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
55.048 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.048 * [backup-simplify]: Simplify 0.5 into 0.5
55.048 * [taylor]: Taking taylor expansion of phi2 in phi1
55.048 * [backup-simplify]: Simplify phi2 into phi2
55.048 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
55.048 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
55.048 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
55.048 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
55.049 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
55.049 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
55.049 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2)) in phi1
55.049 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1
55.049 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
55.049 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
55.049 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.049 * [backup-simplify]: Simplify 0.5 into 0.5
55.049 * [taylor]: Taking taylor expansion of phi1 in phi1
55.049 * [backup-simplify]: Simplify 0 into 0
55.049 * [backup-simplify]: Simplify 1 into 1
55.049 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
55.049 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
55.049 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1
55.049 * [taylor]: Taking taylor expansion of phi2 in phi1
55.049 * [backup-simplify]: Simplify phi2 into phi2
55.049 * [taylor]: Taking taylor expansion of (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))) in phi1
55.049 * [taylor]: Taking taylor expansion of (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) in phi1
55.049 * [taylor]: Taking taylor expansion of R in phi1
55.049 * [backup-simplify]: Simplify R into R
55.049 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2))))) in phi1
55.049 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
55.049 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
55.049 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.049 * [backup-simplify]: Simplify 0.5 into 0.5
55.049 * [taylor]: Taking taylor expansion of phi2 in phi1
55.049 * [backup-simplify]: Simplify phi2 into phi2
55.049 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
55.050 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
55.050 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
55.050 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))) in phi1
55.050 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
55.050 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
55.050 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.050 * [backup-simplify]: Simplify 0.5 into 0.5
55.050 * [taylor]: Taking taylor expansion of phi1 in phi1
55.050 * [backup-simplify]: Simplify 0 into 0
55.050 * [backup-simplify]: Simplify 1 into 1
55.050 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
55.050 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
55.050 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2))) in phi1
55.050 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
55.050 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
55.050 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.050 * [backup-simplify]: Simplify 0.5 into 0.5
55.050 * [taylor]: Taking taylor expansion of phi2 in phi1
55.050 * [backup-simplify]: Simplify phi2 into phi2
55.050 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
55.050 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
55.050 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
55.050 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (pow phi2 2)) in phi1
55.050 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
55.050 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
55.050 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.050 * [backup-simplify]: Simplify 0.5 into 0.5
55.050 * [taylor]: Taking taylor expansion of phi1 in phi1
55.050 * [backup-simplify]: Simplify 0 into 0
55.050 * [backup-simplify]: Simplify 1 into 1
55.051 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
55.051 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
55.051 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1
55.051 * [taylor]: Taking taylor expansion of phi2 in phi1
55.051 * [backup-simplify]: Simplify phi2 into phi2
55.051 * [taylor]: Taking taylor expansion of (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2)))))) in phi1
55.051 * [taylor]: Taking taylor expansion of R in phi1
55.051 * [backup-simplify]: Simplify R into R
55.051 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))) in phi1
55.051 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
55.051 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
55.051 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.051 * [backup-simplify]: Simplify 0.5 into 0.5
55.051 * [taylor]: Taking taylor expansion of phi2 in phi1
55.051 * [backup-simplify]: Simplify phi2 into phi2
55.051 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
55.051 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
55.051 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
55.051 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2)))) in phi1
55.051 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
55.051 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
55.051 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.051 * [backup-simplify]: Simplify 0.5 into 0.5
55.051 * [taylor]: Taking taylor expansion of phi1 in phi1
55.051 * [backup-simplify]: Simplify 0 into 0
55.051 * [backup-simplify]: Simplify 1 into 1
55.052 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
55.052 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
55.052 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))) in phi1
55.052 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
55.052 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
55.052 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.052 * [backup-simplify]: Simplify 0.5 into 0.5
55.052 * [taylor]: Taking taylor expansion of phi2 in phi1
55.052 * [backup-simplify]: Simplify phi2 into phi2
55.052 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
55.052 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
55.052 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
55.052 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (pow phi2 2)) in phi1
55.052 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
55.052 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
55.052 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.052 * [backup-simplify]: Simplify 0.5 into 0.5
55.052 * [taylor]: Taking taylor expansion of phi1 in phi1
55.052 * [backup-simplify]: Simplify 0 into 0
55.052 * [backup-simplify]: Simplify 1 into 1
55.053 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
55.053 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
55.053 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1
55.053 * [taylor]: Taking taylor expansion of phi2 in phi1
55.053 * [backup-simplify]: Simplify phi2 into phi2
55.053 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
55.053 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
55.053 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
55.053 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
55.053 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
55.053 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
55.054 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2))
55.054 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2))) into (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))
55.054 * [backup-simplify]: Simplify (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) into (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))
55.054 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
55.054 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
55.054 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
55.055 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))
55.055 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))) into (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2)))
55.055 * [backup-simplify]: Simplify (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2)))) into (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2))))
55.056 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) into (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2)))))
55.056 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
55.056 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
55.056 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
55.056 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
55.056 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
55.056 * [backup-simplify]: Simplify (- 0) into 0
55.056 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
55.057 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
55.057 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (pow phi2 2)) into (* (cos (/ 0.5 phi1)) (pow phi2 2))
55.057 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2))) into (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))
55.057 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))) into (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))
55.057 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))) into (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2)))))
55.058 * [backup-simplify]: Simplify (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2)))))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2))))))
55.058 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
55.058 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
55.058 * [backup-simplify]: Simplify (- 0) into 0
55.058 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
55.058 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
55.058 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
55.058 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
55.058 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
55.058 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (pow phi2 2)) into (* (sin (/ 0.5 phi1)) (pow phi2 2))
55.059 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2)))
55.059 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2))))
55.059 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2))))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))
55.059 * [backup-simplify]: Simplify (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2))))))
55.060 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2))))))) into (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2)))))))
55.061 * [backup-simplify]: Simplify (- (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2)))))))) into (- (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))
55.064 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (- (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) into (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))
55.068 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) into (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2)))))))))
55.068 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in phi1
55.068 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in phi1
55.068 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in phi1
55.069 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in phi1
55.069 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in phi1
55.069 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1
55.069 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
55.069 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
55.069 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.069 * [backup-simplify]: Simplify 0.5 into 0.5
55.069 * [taylor]: Taking taylor expansion of phi2 in phi1
55.069 * [backup-simplify]: Simplify phi2 into phi2
55.069 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
55.069 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
55.069 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
55.069 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
55.069 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
55.069 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
55.069 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1
55.069 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
55.070 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
55.070 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.070 * [backup-simplify]: Simplify 0.5 into 0.5
55.070 * [taylor]: Taking taylor expansion of phi1 in phi1
55.070 * [backup-simplify]: Simplify 0 into 0
55.070 * [backup-simplify]: Simplify 1 into 1
55.070 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
55.070 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
55.070 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in phi1
55.070 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1
55.071 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
55.071 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
55.071 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.071 * [backup-simplify]: Simplify 0.5 into 0.5
55.071 * [taylor]: Taking taylor expansion of phi2 in phi1
55.071 * [backup-simplify]: Simplify phi2 into phi2
55.071 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
55.071 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
55.071 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
55.071 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
55.071 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
55.072 * [backup-simplify]: Simplify (- 0) into 0
55.072 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
55.072 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1
55.072 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
55.072 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
55.072 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.072 * [backup-simplify]: Simplify 0.5 into 0.5
55.072 * [taylor]: Taking taylor expansion of phi1 in phi1
55.072 * [backup-simplify]: Simplify 0 into 0
55.072 * [backup-simplify]: Simplify 1 into 1
55.072 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
55.072 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
55.073 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in phi1
55.073 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in phi1
55.073 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
55.073 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
55.073 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.073 * [backup-simplify]: Simplify 0.5 into 0.5
55.073 * [taylor]: Taking taylor expansion of phi2 in phi1
55.073 * [backup-simplify]: Simplify phi2 into phi2
55.073 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
55.073 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
55.073 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
55.073 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in phi1
55.073 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
55.073 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
55.073 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.073 * [backup-simplify]: Simplify 0.5 into 0.5
55.073 * [taylor]: Taking taylor expansion of phi1 in phi1
55.073 * [backup-simplify]: Simplify 0 into 0
55.073 * [backup-simplify]: Simplify 1 into 1
55.074 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
55.074 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
55.074 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in phi1
55.074 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
55.074 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
55.074 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.074 * [backup-simplify]: Simplify 0.5 into 0.5
55.074 * [taylor]: Taking taylor expansion of phi2 in phi1
55.074 * [backup-simplify]: Simplify phi2 into phi2
55.074 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
55.074 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
55.074 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
55.074 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
55.074 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
55.074 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.074 * [backup-simplify]: Simplify 0.5 into 0.5
55.074 * [taylor]: Taking taylor expansion of phi1 in phi1
55.074 * [backup-simplify]: Simplify 0 into 0
55.075 * [backup-simplify]: Simplify 1 into 1
55.075 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
55.075 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
55.075 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in phi1
55.075 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
55.075 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
55.075 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.075 * [backup-simplify]: Simplify 0.5 into 0.5
55.075 * [taylor]: Taking taylor expansion of phi2 in phi1
55.075 * [backup-simplify]: Simplify phi2 into phi2
55.075 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
55.075 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
55.076 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
55.076 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in phi1
55.076 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
55.076 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
55.076 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.076 * [backup-simplify]: Simplify 0.5 into 0.5
55.076 * [taylor]: Taking taylor expansion of phi1 in phi1
55.076 * [backup-simplify]: Simplify 0 into 0
55.076 * [backup-simplify]: Simplify 1 into 1
55.076 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
55.076 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
55.076 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in phi1
55.076 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
55.076 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
55.077 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.077 * [backup-simplify]: Simplify 0.5 into 0.5
55.077 * [taylor]: Taking taylor expansion of phi2 in phi1
55.077 * [backup-simplify]: Simplify phi2 into phi2
55.077 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
55.077 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
55.077 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
55.077 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
55.077 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
55.077 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.077 * [backup-simplify]: Simplify 0.5 into 0.5
55.077 * [taylor]: Taking taylor expansion of phi1 in phi1
55.077 * [backup-simplify]: Simplify 0 into 0
55.077 * [backup-simplify]: Simplify 1 into 1
55.078 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
55.078 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
55.078 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
55.078 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
55.078 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
55.079 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
55.079 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
55.079 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
55.080 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
55.080 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
55.080 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
55.080 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
55.080 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
55.080 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
55.081 * [backup-simplify]: Simplify (- 0) into 0
55.081 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
55.081 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
55.081 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
55.082 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
55.082 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
55.082 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
55.083 * [backup-simplify]: Simplify (- 0) into 0
55.083 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
55.083 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
55.083 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
55.083 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
55.083 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
55.083 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
55.084 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
55.084 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))
55.085 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
55.087 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
55.089 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
55.091 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
55.092 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
55.092 * [backup-simplify]: Simplify (+ 0) into 0
55.093 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
55.093 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
55.094 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
55.094 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
55.094 * [backup-simplify]: Simplify (+ 0 0) into 0
55.095 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
55.095 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
55.095 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
55.096 * [backup-simplify]: Simplify (+ 0) into 0
55.096 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
55.096 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
55.097 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
55.097 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
55.098 * [backup-simplify]: Simplify (- 0) into 0
55.098 * [backup-simplify]: Simplify (+ 0 0) into 0
55.098 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
55.099 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
55.099 * [backup-simplify]: Simplify (+ 0 0) into 0
55.099 * [backup-simplify]: Simplify (+ 0) into 0
55.100 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
55.100 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
55.103 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
55.104 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
55.105 * [backup-simplify]: Simplify (- 0) into 0
55.105 * [backup-simplify]: Simplify (+ 0 0) into 0
55.105 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
55.105 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
55.106 * [backup-simplify]: Simplify (+ 0) into 0
55.106 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
55.107 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
55.107 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
55.108 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
55.108 * [backup-simplify]: Simplify (+ 0 0) into 0
55.109 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
55.109 * [backup-simplify]: Simplify (+ 0) into 0
55.110 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
55.110 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
55.110 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
55.111 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
55.111 * [backup-simplify]: Simplify (+ 0 0) into 0
55.111 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
55.112 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
55.112 * [backup-simplify]: Simplify (+ 0) into 0
55.113 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
55.113 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
55.114 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
55.114 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
55.115 * [backup-simplify]: Simplify (- 0) into 0
55.115 * [backup-simplify]: Simplify (+ 0 0) into 0
55.115 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
55.116 * [backup-simplify]: Simplify (+ 0 0) into 0
55.116 * [backup-simplify]: Simplify (- 0) into 0
55.116 * [backup-simplify]: Simplify (+ 0 0) into 0
55.120 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
55.122 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
55.123 * [taylor]: Taking taylor expansion of (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2))))))))))) in phi1
55.123 * [taylor]: Taking taylor expansion of 1/2 in phi1
55.123 * [backup-simplify]: Simplify 1/2 into 1/2
55.123 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2)))))))))) in phi1
55.123 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in phi1
55.123 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in phi1
55.123 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in phi1
55.123 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in phi1
55.123 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in phi1
55.123 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1
55.123 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
55.123 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
55.123 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.123 * [backup-simplify]: Simplify 0.5 into 0.5
55.123 * [taylor]: Taking taylor expansion of phi2 in phi1
55.123 * [backup-simplify]: Simplify phi2 into phi2
55.123 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
55.123 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
55.124 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
55.124 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
55.124 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
55.124 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
55.124 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1
55.124 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
55.124 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
55.124 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.124 * [backup-simplify]: Simplify 0.5 into 0.5
55.124 * [taylor]: Taking taylor expansion of phi1 in phi1
55.124 * [backup-simplify]: Simplify 0 into 0
55.124 * [backup-simplify]: Simplify 1 into 1
55.125 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
55.125 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
55.125 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in phi1
55.125 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1
55.125 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
55.125 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
55.125 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.125 * [backup-simplify]: Simplify 0.5 into 0.5
55.125 * [taylor]: Taking taylor expansion of phi2 in phi1
55.125 * [backup-simplify]: Simplify phi2 into phi2
55.125 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
55.125 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
55.125 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
55.126 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
55.126 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
55.126 * [backup-simplify]: Simplify (- 0) into 0
55.126 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
55.126 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1
55.126 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
55.126 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
55.126 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.126 * [backup-simplify]: Simplify 0.5 into 0.5
55.126 * [taylor]: Taking taylor expansion of phi1 in phi1
55.126 * [backup-simplify]: Simplify 0 into 0
55.126 * [backup-simplify]: Simplify 1 into 1
55.127 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
55.127 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
55.127 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in phi1
55.127 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in phi1
55.127 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
55.127 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
55.127 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.127 * [backup-simplify]: Simplify 0.5 into 0.5
55.127 * [taylor]: Taking taylor expansion of phi2 in phi1
55.127 * [backup-simplify]: Simplify phi2 into phi2
55.127 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
55.128 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
55.128 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
55.128 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in phi1
55.128 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
55.128 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
55.128 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.128 * [backup-simplify]: Simplify 0.5 into 0.5
55.128 * [taylor]: Taking taylor expansion of phi1 in phi1
55.128 * [backup-simplify]: Simplify 0 into 0
55.128 * [backup-simplify]: Simplify 1 into 1
55.128 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
55.128 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
55.128 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in phi1
55.128 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
55.128 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
55.129 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.129 * [backup-simplify]: Simplify 0.5 into 0.5
55.129 * [taylor]: Taking taylor expansion of phi2 in phi1
55.129 * [backup-simplify]: Simplify phi2 into phi2
55.129 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
55.129 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
55.129 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
55.129 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
55.129 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
55.129 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.129 * [backup-simplify]: Simplify 0.5 into 0.5
55.129 * [taylor]: Taking taylor expansion of phi1 in phi1
55.129 * [backup-simplify]: Simplify 0 into 0
55.129 * [backup-simplify]: Simplify 1 into 1
55.130 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
55.130 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
55.130 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in phi1
55.130 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
55.130 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
55.130 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.130 * [backup-simplify]: Simplify 0.5 into 0.5
55.130 * [taylor]: Taking taylor expansion of phi2 in phi1
55.130 * [backup-simplify]: Simplify phi2 into phi2
55.130 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
55.130 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
55.130 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
55.130 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in phi1
55.130 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
55.130 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
55.130 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.130 * [backup-simplify]: Simplify 0.5 into 0.5
55.130 * [taylor]: Taking taylor expansion of phi1 in phi1
55.130 * [backup-simplify]: Simplify 0 into 0
55.130 * [backup-simplify]: Simplify 1 into 1
55.131 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
55.131 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
55.131 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in phi1
55.131 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
55.131 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
55.131 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.131 * [backup-simplify]: Simplify 0.5 into 0.5
55.131 * [taylor]: Taking taylor expansion of phi2 in phi1
55.131 * [backup-simplify]: Simplify phi2 into phi2
55.131 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
55.131 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
55.131 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
55.131 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
55.131 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
55.131 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.131 * [backup-simplify]: Simplify 0.5 into 0.5
55.132 * [taylor]: Taking taylor expansion of phi1 in phi1
55.132 * [backup-simplify]: Simplify 0 into 0
55.132 * [backup-simplify]: Simplify 1 into 1
55.132 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
55.132 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
55.132 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
55.133 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
55.133 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
55.133 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
55.133 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
55.134 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
55.134 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
55.135 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
55.135 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
55.135 * [backup-simplify]: Simplify (- 0) into 0
55.135 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
55.135 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
55.135 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
55.136 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
55.136 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
55.136 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
55.136 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
55.136 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
55.136 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
55.137 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
55.137 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
55.137 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
55.137 * [backup-simplify]: Simplify (- 0) into 0
55.137 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
55.137 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
55.138 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
55.138 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
55.139 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))
55.140 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
55.142 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
55.144 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
55.146 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
55.146 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
55.147 * [backup-simplify]: Simplify (+ 0) into 0
55.147 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
55.147 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
55.148 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
55.149 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
55.149 * [backup-simplify]: Simplify (+ 0 0) into 0
55.149 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
55.150 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
55.150 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
55.150 * [backup-simplify]: Simplify (+ 0) into 0
55.151 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
55.151 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
55.152 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
55.152 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
55.153 * [backup-simplify]: Simplify (- 0) into 0
55.153 * [backup-simplify]: Simplify (+ 0 0) into 0
55.153 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
55.154 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
55.154 * [backup-simplify]: Simplify (+ 0 0) into 0
55.154 * [backup-simplify]: Simplify (+ 0) into 0
55.155 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
55.155 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
55.156 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
55.156 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
55.157 * [backup-simplify]: Simplify (+ 0 0) into 0
55.157 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
55.157 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
55.157 * [backup-simplify]: Simplify (+ 0) into 0
55.158 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
55.158 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
55.159 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
55.159 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
55.160 * [backup-simplify]: Simplify (- 0) into 0
55.160 * [backup-simplify]: Simplify (+ 0 0) into 0
55.161 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
55.161 * [backup-simplify]: Simplify (+ 0) into 0
55.161 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
55.162 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
55.162 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
55.163 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
55.163 * [backup-simplify]: Simplify (- 0) into 0
55.164 * [backup-simplify]: Simplify (+ 0 0) into 0
55.164 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
55.164 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
55.165 * [backup-simplify]: Simplify (+ 0) into 0
55.165 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
55.165 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
55.166 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
55.166 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
55.167 * [backup-simplify]: Simplify (+ 0 0) into 0
55.167 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
55.168 * [backup-simplify]: Simplify (+ 0 0) into 0
55.168 * [backup-simplify]: Simplify (- 0) into 0
55.168 * [backup-simplify]: Simplify (+ 0 0) into 0
55.173 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
55.175 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
55.175 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2))))))))) in phi1
55.175 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in phi1
55.175 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1
55.175 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
55.175 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
55.175 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.175 * [backup-simplify]: Simplify 0.5 into 0.5
55.175 * [taylor]: Taking taylor expansion of phi2 in phi1
55.175 * [backup-simplify]: Simplify phi2 into phi2
55.176 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
55.176 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
55.176 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
55.176 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
55.176 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
55.176 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
55.176 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1
55.176 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
55.176 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
55.176 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.176 * [backup-simplify]: Simplify 0.5 into 0.5
55.176 * [taylor]: Taking taylor expansion of phi1 in phi1
55.176 * [backup-simplify]: Simplify 0 into 0
55.176 * [backup-simplify]: Simplify 1 into 1
55.177 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
55.177 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
55.177 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2)))))))) in phi1
55.177 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) in phi1
55.177 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) in phi1
55.177 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1
55.177 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
55.177 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
55.177 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.177 * [backup-simplify]: Simplify 0.5 into 0.5
55.177 * [taylor]: Taking taylor expansion of phi1 in phi1
55.177 * [backup-simplify]: Simplify 0 into 0
55.178 * [backup-simplify]: Simplify 1 into 1
55.178 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
55.178 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
55.178 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2))) in phi1
55.178 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1
55.178 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
55.178 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
55.178 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.178 * [backup-simplify]: Simplify 0.5 into 0.5
55.178 * [taylor]: Taking taylor expansion of phi2 in phi1
55.178 * [backup-simplify]: Simplify phi2 into phi2
55.178 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
55.178 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
55.179 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
55.179 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
55.179 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
55.179 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
55.179 * [taylor]: Taking taylor expansion of (* R (pow phi2 2)) in phi1
55.179 * [taylor]: Taking taylor expansion of R in phi1
55.179 * [backup-simplify]: Simplify R into R
55.179 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1
55.179 * [taylor]: Taking taylor expansion of phi2 in phi1
55.179 * [backup-simplify]: Simplify phi2 into phi2
55.179 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) in phi1
55.179 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1
55.179 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
55.179 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
55.179 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.179 * [backup-simplify]: Simplify 0.5 into 0.5
55.179 * [taylor]: Taking taylor expansion of phi1 in phi1
55.179 * [backup-simplify]: Simplify 0 into 0
55.179 * [backup-simplify]: Simplify 1 into 1
55.180 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
55.180 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
55.180 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))) in phi1
55.180 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1
55.180 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
55.180 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
55.180 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.180 * [backup-simplify]: Simplify 0.5 into 0.5
55.180 * [taylor]: Taking taylor expansion of phi2 in phi1
55.180 * [backup-simplify]: Simplify phi2 into phi2
55.180 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
55.180 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
55.180 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
55.181 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
55.181 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
55.181 * [backup-simplify]: Simplify (- 0) into 0
55.181 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
55.181 * [taylor]: Taking taylor expansion of (* R (pow phi2 2)) in phi1
55.181 * [taylor]: Taking taylor expansion of R in phi1
55.181 * [backup-simplify]: Simplify R into R
55.181 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1
55.181 * [taylor]: Taking taylor expansion of phi2 in phi1
55.181 * [backup-simplify]: Simplify phi2 into phi2
55.181 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2))))))) in phi1
55.181 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) in phi1
55.182 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
55.182 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
55.182 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.182 * [backup-simplify]: Simplify 0.5 into 0.5
55.182 * [taylor]: Taking taylor expansion of phi1 in phi1
55.182 * [backup-simplify]: Simplify 0 into 0
55.182 * [backup-simplify]: Simplify 1 into 1
55.182 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
55.182 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
55.182 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2))))) in phi1
55.182 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
55.182 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
55.182 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.182 * [backup-simplify]: Simplify 0.5 into 0.5
55.182 * [taylor]: Taking taylor expansion of phi2 in phi1
55.182 * [backup-simplify]: Simplify phi2 into phi2
55.183 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
55.183 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
55.183 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
55.183 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))) in phi1
55.183 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
55.183 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
55.183 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.183 * [backup-simplify]: Simplify 0.5 into 0.5
55.183 * [taylor]: Taking taylor expansion of phi1 in phi1
55.183 * [backup-simplify]: Simplify 0 into 0
55.183 * [backup-simplify]: Simplify 1 into 1
55.183 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
55.184 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
55.184 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* R (pow phi2 2))) in phi1
55.184 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
55.184 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
55.184 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.184 * [backup-simplify]: Simplify 0.5 into 0.5
55.184 * [taylor]: Taking taylor expansion of phi2 in phi1
55.184 * [backup-simplify]: Simplify phi2 into phi2
55.184 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
55.184 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
55.184 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
55.184 * [taylor]: Taking taylor expansion of (* R (pow phi2 2)) in phi1
55.184 * [taylor]: Taking taylor expansion of R in phi1
55.184 * [backup-simplify]: Simplify R into R
55.184 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1
55.184 * [taylor]: Taking taylor expansion of phi2 in phi1
55.184 * [backup-simplify]: Simplify phi2 into phi2
55.184 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2)))))) in phi1
55.184 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
55.184 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
55.184 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.184 * [backup-simplify]: Simplify 0.5 into 0.5
55.184 * [taylor]: Taking taylor expansion of phi1 in phi1
55.184 * [backup-simplify]: Simplify 0 into 0
55.184 * [backup-simplify]: Simplify 1 into 1
55.185 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
55.185 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
55.185 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2))))) in phi1
55.185 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
55.185 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
55.185 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.185 * [backup-simplify]: Simplify 0.5 into 0.5
55.185 * [taylor]: Taking taylor expansion of phi2 in phi1
55.185 * [backup-simplify]: Simplify phi2 into phi2
55.185 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
55.185 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
55.185 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
55.185 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2)))) in phi1
55.186 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
55.186 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
55.186 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.186 * [backup-simplify]: Simplify 0.5 into 0.5
55.186 * [taylor]: Taking taylor expansion of phi1 in phi1
55.186 * [backup-simplify]: Simplify 0 into 0
55.186 * [backup-simplify]: Simplify 1 into 1
55.186 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
55.186 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
55.186 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* R (pow phi2 2))) in phi1
55.187 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
55.187 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
55.187 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.187 * [backup-simplify]: Simplify 0.5 into 0.5
55.187 * [taylor]: Taking taylor expansion of phi2 in phi1
55.187 * [backup-simplify]: Simplify phi2 into phi2
55.187 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
55.187 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
55.187 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
55.187 * [taylor]: Taking taylor expansion of (* R (pow phi2 2)) in phi1
55.187 * [taylor]: Taking taylor expansion of R in phi1
55.187 * [backup-simplify]: Simplify R into R
55.187 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1
55.187 * [taylor]: Taking taylor expansion of phi2 in phi1
55.187 * [backup-simplify]: Simplify phi2 into phi2
55.187 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
55.187 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
55.188 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
55.188 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
55.188 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
55.188 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
55.188 * [backup-simplify]: Simplify (* R (pow phi2 2)) into (* R (pow phi2 2))
55.189 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2))) into (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))
55.189 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) into (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))
55.189 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
55.190 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
55.190 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
55.190 * [backup-simplify]: Simplify (* R (pow phi2 2)) into (* R (pow phi2 2))
55.190 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))) into (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2)))
55.191 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) into (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2))))
55.192 * [backup-simplify]: Simplify (+ (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2))))) into (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2)))))
55.192 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
55.192 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
55.192 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
55.192 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
55.192 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
55.193 * [backup-simplify]: Simplify (- 0) into 0
55.193 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
55.193 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
55.193 * [backup-simplify]: Simplify (* R (pow phi2 2)) into (* R (pow phi2 2))
55.194 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* R (pow phi2 2))) into (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))
55.194 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))) into (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))
55.194 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))) into (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2)))))
55.195 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2)))))) into (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2))))))
55.195 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
55.195 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
55.196 * [backup-simplify]: Simplify (- 0) into 0
55.196 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
55.196 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
55.196 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
55.196 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
55.196 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
55.196 * [backup-simplify]: Simplify (* R (pow phi2 2)) into (* R (pow phi2 2))
55.197 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* R (pow phi2 2))) into (* (sin (/ 0.5 phi2)) (* R (pow phi2 2)))
55.197 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2)))) into (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2))))
55.197 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2))))) into (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))
55.198 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) into (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))
55.199 * [backup-simplify]: Simplify (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))) into (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2)))))))
55.201 * [backup-simplify]: Simplify (- (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2)))))))) into (- (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2))))))))
55.205 * [backup-simplify]: Simplify (+ (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (- (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2))))))))) into (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2))))))))
55.208 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2))))))))) into (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2)))))))))
55.208 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)))) (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2))))) (+ (* (sin (/ 0.5 phi1)) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (pow phi1 2)))))) (* (cos (/ 0.5 phi1)) (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow phi1 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* phi1 (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (* phi1 (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))))) (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* phi1 phi2)))) (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* phi1 phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))))))))) in phi1
55.209 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) in phi1
55.209 * [taylor]: Taking taylor expansion of 1/2 in phi1
55.209 * [backup-simplify]: Simplify 1/2 into 1/2
55.209 * [taylor]: Taking taylor expansion of (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) in phi1
55.209 * [taylor]: Taking taylor expansion of (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) in phi1
55.209 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in phi1
55.209 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
55.209 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
55.209 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.209 * [backup-simplify]: Simplify 0.5 into 0.5
55.209 * [taylor]: Taking taylor expansion of phi2 in phi1
55.209 * [backup-simplify]: Simplify phi2 into phi2
55.209 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
55.209 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
55.210 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
55.210 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in phi1
55.210 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
55.210 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
55.210 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.210 * [backup-simplify]: Simplify 0.5 into 0.5
55.210 * [taylor]: Taking taylor expansion of phi1 in phi1
55.210 * [backup-simplify]: Simplify 0 into 0
55.210 * [backup-simplify]: Simplify 1 into 1
55.210 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
55.211 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
55.211 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in phi1
55.211 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
55.211 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
55.211 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.211 * [backup-simplify]: Simplify 0.5 into 0.5
55.211 * [taylor]: Taking taylor expansion of phi2 in phi1
55.211 * [backup-simplify]: Simplify phi2 into phi2
55.211 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
55.211 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
55.211 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
55.211 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
55.211 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
55.211 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.211 * [backup-simplify]: Simplify 0.5 into 0.5
55.211 * [taylor]: Taking taylor expansion of phi1 in phi1
55.211 * [backup-simplify]: Simplify 0 into 0
55.211 * [backup-simplify]: Simplify 1 into 1
55.212 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
55.212 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
55.212 * [taylor]: Taking taylor expansion of (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2)))))))) in phi1
55.212 * [taylor]: Taking taylor expansion of (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) in phi1
55.212 * [taylor]: Taking taylor expansion of (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) in phi1
55.212 * [taylor]: Taking taylor expansion of R in phi1
55.212 * [backup-simplify]: Simplify R into R
55.212 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2))) in phi1
55.212 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1
55.212 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
55.212 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
55.212 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.212 * [backup-simplify]: Simplify 0.5 into 0.5
55.212 * [taylor]: Taking taylor expansion of phi2 in phi1
55.212 * [backup-simplify]: Simplify phi2 into phi2
55.212 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
55.212 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
55.212 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
55.212 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
55.213 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
55.213 * [backup-simplify]: Simplify (- 0) into 0
55.213 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
55.213 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)) in phi1
55.213 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1
55.213 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
55.213 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
55.213 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.213 * [backup-simplify]: Simplify 0.5 into 0.5
55.213 * [taylor]: Taking taylor expansion of phi1 in phi1
55.213 * [backup-simplify]: Simplify 0 into 0
55.213 * [backup-simplify]: Simplify 1 into 1
55.214 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
55.214 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
55.214 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1
55.214 * [taylor]: Taking taylor expansion of phi2 in phi1
55.214 * [backup-simplify]: Simplify phi2 into phi2
55.214 * [taylor]: Taking taylor expansion of (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2)))) in phi1
55.214 * [taylor]: Taking taylor expansion of R in phi1
55.214 * [backup-simplify]: Simplify R into R
55.214 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))) in phi1
55.214 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1
55.214 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
55.214 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
55.214 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.214 * [backup-simplify]: Simplify 0.5 into 0.5
55.214 * [taylor]: Taking taylor expansion of phi2 in phi1
55.214 * [backup-simplify]: Simplify phi2 into phi2
55.214 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
55.214 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
55.215 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
55.215 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
55.215 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
55.215 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
55.215 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2)) in phi1
55.215 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1
55.215 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
55.215 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
55.215 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.215 * [backup-simplify]: Simplify 0.5 into 0.5
55.215 * [taylor]: Taking taylor expansion of phi1 in phi1
55.215 * [backup-simplify]: Simplify 0 into 0
55.215 * [backup-simplify]: Simplify 1 into 1
55.216 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
55.216 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
55.216 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1
55.216 * [taylor]: Taking taylor expansion of phi2 in phi1
55.216 * [backup-simplify]: Simplify phi2 into phi2
55.216 * [taylor]: Taking taylor expansion of (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))) in phi1
55.216 * [taylor]: Taking taylor expansion of (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) in phi1
55.216 * [taylor]: Taking taylor expansion of R in phi1
55.216 * [backup-simplify]: Simplify R into R
55.216 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2))))) in phi1
55.216 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
55.216 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
55.216 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.216 * [backup-simplify]: Simplify 0.5 into 0.5
55.216 * [taylor]: Taking taylor expansion of phi2 in phi1
55.216 * [backup-simplify]: Simplify phi2 into phi2
55.216 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
55.216 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
55.216 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
55.216 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))) in phi1
55.216 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
55.216 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
55.216 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.216 * [backup-simplify]: Simplify 0.5 into 0.5
55.216 * [taylor]: Taking taylor expansion of phi1 in phi1
55.216 * [backup-simplify]: Simplify 0 into 0
55.216 * [backup-simplify]: Simplify 1 into 1
55.217 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
55.217 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
55.217 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2))) in phi1
55.217 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
55.217 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
55.217 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.217 * [backup-simplify]: Simplify 0.5 into 0.5
55.217 * [taylor]: Taking taylor expansion of phi2 in phi1
55.217 * [backup-simplify]: Simplify phi2 into phi2
55.217 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
55.217 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
55.217 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
55.218 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (pow phi2 2)) in phi1
55.218 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
55.218 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
55.218 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.218 * [backup-simplify]: Simplify 0.5 into 0.5
55.218 * [taylor]: Taking taylor expansion of phi1 in phi1
55.218 * [backup-simplify]: Simplify 0 into 0
55.218 * [backup-simplify]: Simplify 1 into 1
55.218 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
55.218 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
55.218 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1
55.218 * [taylor]: Taking taylor expansion of phi2 in phi1
55.218 * [backup-simplify]: Simplify phi2 into phi2
55.218 * [taylor]: Taking taylor expansion of (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2)))))) in phi1
55.218 * [taylor]: Taking taylor expansion of R in phi1
55.218 * [backup-simplify]: Simplify R into R
55.218 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))) in phi1
55.218 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
55.218 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
55.219 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.219 * [backup-simplify]: Simplify 0.5 into 0.5
55.219 * [taylor]: Taking taylor expansion of phi2 in phi1
55.219 * [backup-simplify]: Simplify phi2 into phi2
55.219 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
55.219 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
55.219 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
55.219 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2)))) in phi1
55.219 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
55.219 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
55.219 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.219 * [backup-simplify]: Simplify 0.5 into 0.5
55.219 * [taylor]: Taking taylor expansion of phi1 in phi1
55.219 * [backup-simplify]: Simplify 0 into 0
55.219 * [backup-simplify]: Simplify 1 into 1
55.219 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
55.220 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
55.220 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))) in phi1
55.220 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
55.220 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
55.220 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.220 * [backup-simplify]: Simplify 0.5 into 0.5
55.220 * [taylor]: Taking taylor expansion of phi2 in phi1
55.220 * [backup-simplify]: Simplify phi2 into phi2
55.220 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
55.220 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
55.220 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
55.220 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (pow phi2 2)) in phi1
55.220 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
55.220 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
55.220 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.220 * [backup-simplify]: Simplify 0.5 into 0.5
55.220 * [taylor]: Taking taylor expansion of phi1 in phi1
55.220 * [backup-simplify]: Simplify 0 into 0
55.220 * [backup-simplify]: Simplify 1 into 1
55.221 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
55.221 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
55.221 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1
55.221 * [taylor]: Taking taylor expansion of phi2 in phi1
55.221 * [backup-simplify]: Simplify phi2 into phi2
55.221 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
55.221 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
55.221 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
55.221 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
55.221 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
55.222 * [backup-simplify]: Simplify (- 0) into 0
55.222 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
55.222 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
55.222 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
55.223 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
55.223 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
55.223 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
55.223 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
55.223 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2))
55.224 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2))) into (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))
55.224 * [backup-simplify]: Simplify (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) into (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))
55.224 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
55.225 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
55.225 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
55.225 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))
55.226 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))) into (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2)))
55.226 * [backup-simplify]: Simplify (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2)))) into (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2))))
55.227 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) into (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2)))))
55.228 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
55.228 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
55.228 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
55.228 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
55.228 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
55.229 * [backup-simplify]: Simplify (- 0) into 0
55.229 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
55.229 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
55.229 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (pow phi2 2)) into (* (cos (/ 0.5 phi1)) (pow phi2 2))
55.229 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2))) into (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))
55.230 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))) into (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))
55.230 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))) into (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2)))))
55.231 * [backup-simplify]: Simplify (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2)))))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2))))))
55.231 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
55.231 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
55.231 * [backup-simplify]: Simplify (- 0) into 0
55.231 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
55.231 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
55.232 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
55.232 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
55.232 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
55.232 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (pow phi2 2)) into (* (sin (/ 0.5 phi1)) (pow phi2 2))
55.232 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2)))
55.233 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2))))
55.233 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2))))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))
55.233 * [backup-simplify]: Simplify (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2))))))
55.234 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2))))))) into (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2)))))))
55.235 * [backup-simplify]: Simplify (- (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2)))))))) into (- (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))
55.237 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (- (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) into (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))
55.239 * [backup-simplify]: Simplify (/ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) into (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2)))))))))
55.239 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in phi1
55.239 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in phi1
55.239 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in phi1
55.239 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in phi1
55.239 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in phi1
55.239 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1
55.239 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
55.239 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
55.239 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.239 * [backup-simplify]: Simplify 0.5 into 0.5
55.239 * [taylor]: Taking taylor expansion of phi2 in phi1
55.239 * [backup-simplify]: Simplify phi2 into phi2
55.239 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
55.239 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
55.239 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
55.240 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
55.240 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
55.240 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
55.240 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1
55.240 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
55.240 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
55.240 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.240 * [backup-simplify]: Simplify 0.5 into 0.5
55.240 * [taylor]: Taking taylor expansion of phi1 in phi1
55.240 * [backup-simplify]: Simplify 0 into 0
55.240 * [backup-simplify]: Simplify 1 into 1
55.240 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
55.240 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
55.240 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in phi1
55.240 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1
55.240 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
55.240 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
55.240 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.240 * [backup-simplify]: Simplify 0.5 into 0.5
55.240 * [taylor]: Taking taylor expansion of phi2 in phi1
55.240 * [backup-simplify]: Simplify phi2 into phi2
55.241 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
55.241 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
55.241 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
55.241 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
55.241 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
55.241 * [backup-simplify]: Simplify (- 0) into 0
55.241 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
55.241 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1
55.241 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
55.241 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
55.241 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.241 * [backup-simplify]: Simplify 0.5 into 0.5
55.241 * [taylor]: Taking taylor expansion of phi1 in phi1
55.241 * [backup-simplify]: Simplify 0 into 0
55.241 * [backup-simplify]: Simplify 1 into 1
55.242 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
55.242 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
55.242 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in phi1
55.242 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in phi1
55.242 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
55.242 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
55.242 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.242 * [backup-simplify]: Simplify 0.5 into 0.5
55.242 * [taylor]: Taking taylor expansion of phi2 in phi1
55.242 * [backup-simplify]: Simplify phi2 into phi2
55.242 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
55.242 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
55.242 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
55.242 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in phi1
55.242 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
55.242 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
55.242 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.242 * [backup-simplify]: Simplify 0.5 into 0.5
55.242 * [taylor]: Taking taylor expansion of phi1 in phi1
55.242 * [backup-simplify]: Simplify 0 into 0
55.242 * [backup-simplify]: Simplify 1 into 1
55.242 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
55.242 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
55.242 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in phi1
55.242 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
55.243 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
55.243 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.243 * [backup-simplify]: Simplify 0.5 into 0.5
55.243 * [taylor]: Taking taylor expansion of phi2 in phi1
55.243 * [backup-simplify]: Simplify phi2 into phi2
55.243 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
55.243 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
55.243 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
55.243 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
55.243 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
55.243 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.243 * [backup-simplify]: Simplify 0.5 into 0.5
55.243 * [taylor]: Taking taylor expansion of phi1 in phi1
55.243 * [backup-simplify]: Simplify 0 into 0
55.243 * [backup-simplify]: Simplify 1 into 1
55.243 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
55.243 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
55.243 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in phi1
55.243 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
55.243 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
55.243 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.243 * [backup-simplify]: Simplify 0.5 into 0.5
55.243 * [taylor]: Taking taylor expansion of phi2 in phi1
55.243 * [backup-simplify]: Simplify phi2 into phi2
55.243 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
55.243 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
55.243 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
55.243 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in phi1
55.244 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
55.244 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
55.244 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.244 * [backup-simplify]: Simplify 0.5 into 0.5
55.244 * [taylor]: Taking taylor expansion of phi1 in phi1
55.244 * [backup-simplify]: Simplify 0 into 0
55.244 * [backup-simplify]: Simplify 1 into 1
55.244 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
55.244 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
55.244 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in phi1
55.244 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
55.244 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
55.244 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.244 * [backup-simplify]: Simplify 0.5 into 0.5
55.244 * [taylor]: Taking taylor expansion of phi2 in phi1
55.244 * [backup-simplify]: Simplify phi2 into phi2
55.244 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
55.244 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
55.244 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
55.244 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
55.244 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
55.244 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.244 * [backup-simplify]: Simplify 0.5 into 0.5
55.244 * [taylor]: Taking taylor expansion of phi1 in phi1
55.244 * [backup-simplify]: Simplify 0 into 0
55.244 * [backup-simplify]: Simplify 1 into 1
55.245 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
55.245 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
55.245 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
55.245 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
55.245 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
55.245 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
55.245 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
55.246 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
55.246 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
55.246 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
55.246 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
55.246 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
55.246 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
55.246 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
55.247 * [backup-simplify]: Simplify (- 0) into 0
55.247 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
55.247 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
55.247 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
55.247 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
55.247 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
55.247 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
55.247 * [backup-simplify]: Simplify (- 0) into 0
55.248 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
55.248 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
55.248 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
55.248 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
55.248 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
55.248 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
55.248 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
55.248 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))
55.249 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
55.250 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
55.251 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
55.252 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
55.252 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
55.252 * [backup-simplify]: Simplify (+ 0) into 0
55.253 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
55.253 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
55.253 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
55.254 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
55.254 * [backup-simplify]: Simplify (+ 0 0) into 0
55.254 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
55.254 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
55.254 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
55.255 * [backup-simplify]: Simplify (+ 0) into 0
55.255 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
55.255 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
55.256 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
55.256 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
55.256 * [backup-simplify]: Simplify (- 0) into 0
55.256 * [backup-simplify]: Simplify (+ 0 0) into 0
55.256 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
55.257 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
55.257 * [backup-simplify]: Simplify (+ 0 0) into 0
55.257 * [backup-simplify]: Simplify (+ 0) into 0
55.257 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
55.258 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
55.258 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
55.258 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
55.259 * [backup-simplify]: Simplify (- 0) into 0
55.259 * [backup-simplify]: Simplify (+ 0 0) into 0
55.259 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
55.259 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
55.259 * [backup-simplify]: Simplify (+ 0) into 0
55.260 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
55.260 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
55.260 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
55.260 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
55.261 * [backup-simplify]: Simplify (+ 0 0) into 0
55.261 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
55.264 * [backup-simplify]: Simplify (+ 0) into 0
55.264 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
55.265 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
55.265 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
55.266 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
55.266 * [backup-simplify]: Simplify (+ 0 0) into 0
55.267 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
55.267 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
55.267 * [backup-simplify]: Simplify (+ 0) into 0
55.268 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
55.268 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
55.269 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
55.269 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
55.270 * [backup-simplify]: Simplify (- 0) into 0
55.270 * [backup-simplify]: Simplify (+ 0 0) into 0
55.270 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
55.271 * [backup-simplify]: Simplify (+ 0 0) into 0
55.271 * [backup-simplify]: Simplify (- 0) into 0
55.271 * [backup-simplify]: Simplify (+ 0 0) into 0
55.276 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
55.278 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
55.278 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)))) (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2))))) (+ (* (sin (/ 0.5 phi1)) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (pow phi1 2)))))) (* (cos (/ 0.5 phi1)) (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow phi1 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* phi1 (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (* phi1 (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))))) (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* phi1 phi2)))) (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* phi1 phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))))))))))) in phi1
55.278 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) in phi1
55.278 * [taylor]: Taking taylor expansion of 1/2 in phi1
55.279 * [backup-simplify]: Simplify 1/2 into 1/2
55.279 * [taylor]: Taking taylor expansion of (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) in phi1
55.279 * [taylor]: Taking taylor expansion of (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) in phi1
55.279 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in phi1
55.279 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
55.279 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
55.279 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.279 * [backup-simplify]: Simplify 0.5 into 0.5
55.279 * [taylor]: Taking taylor expansion of phi2 in phi1
55.279 * [backup-simplify]: Simplify phi2 into phi2
55.279 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
55.279 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
55.279 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
55.279 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in phi1
55.279 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
55.279 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
55.279 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.279 * [backup-simplify]: Simplify 0.5 into 0.5
55.279 * [taylor]: Taking taylor expansion of phi1 in phi1
55.279 * [backup-simplify]: Simplify 0 into 0
55.279 * [backup-simplify]: Simplify 1 into 1
55.280 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
55.280 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
55.280 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in phi1
55.280 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
55.280 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
55.280 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.280 * [backup-simplify]: Simplify 0.5 into 0.5
55.280 * [taylor]: Taking taylor expansion of phi2 in phi1
55.280 * [backup-simplify]: Simplify phi2 into phi2
55.280 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
55.281 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
55.281 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
55.281 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
55.281 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
55.281 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.281 * [backup-simplify]: Simplify 0.5 into 0.5
55.281 * [taylor]: Taking taylor expansion of phi1 in phi1
55.281 * [backup-simplify]: Simplify 0 into 0
55.281 * [backup-simplify]: Simplify 1 into 1
55.281 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
55.281 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
55.281 * [taylor]: Taking taylor expansion of (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2)))))))) in phi1
55.282 * [taylor]: Taking taylor expansion of (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) in phi1
55.282 * [taylor]: Taking taylor expansion of (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) in phi1
55.282 * [taylor]: Taking taylor expansion of R in phi1
55.282 * [backup-simplify]: Simplify R into R
55.282 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2))) in phi1
55.282 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1
55.282 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
55.282 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
55.282 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.282 * [backup-simplify]: Simplify 0.5 into 0.5
55.282 * [taylor]: Taking taylor expansion of phi2 in phi1
55.282 * [backup-simplify]: Simplify phi2 into phi2
55.282 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
55.282 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
55.282 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
55.282 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
55.282 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
55.283 * [backup-simplify]: Simplify (- 0) into 0
55.283 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
55.283 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)) in phi1
55.283 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1
55.283 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
55.283 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
55.283 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.283 * [backup-simplify]: Simplify 0.5 into 0.5
55.283 * [taylor]: Taking taylor expansion of phi1 in phi1
55.283 * [backup-simplify]: Simplify 0 into 0
55.283 * [backup-simplify]: Simplify 1 into 1
55.284 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
55.284 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
55.284 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1
55.284 * [taylor]: Taking taylor expansion of phi2 in phi1
55.284 * [backup-simplify]: Simplify phi2 into phi2
55.284 * [taylor]: Taking taylor expansion of (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2)))) in phi1
55.284 * [taylor]: Taking taylor expansion of R in phi1
55.284 * [backup-simplify]: Simplify R into R
55.284 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))) in phi1
55.284 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1
55.284 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
55.284 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
55.284 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.284 * [backup-simplify]: Simplify 0.5 into 0.5
55.284 * [taylor]: Taking taylor expansion of phi2 in phi1
55.284 * [backup-simplify]: Simplify phi2 into phi2
55.284 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
55.284 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
55.284 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
55.284 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
55.285 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
55.285 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
55.285 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2)) in phi1
55.285 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1
55.285 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
55.285 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
55.285 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.285 * [backup-simplify]: Simplify 0.5 into 0.5
55.285 * [taylor]: Taking taylor expansion of phi1 in phi1
55.285 * [backup-simplify]: Simplify 0 into 0
55.285 * [backup-simplify]: Simplify 1 into 1
55.286 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
55.286 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
55.286 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1
55.286 * [taylor]: Taking taylor expansion of phi2 in phi1
55.286 * [backup-simplify]: Simplify phi2 into phi2
55.286 * [taylor]: Taking taylor expansion of (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))) in phi1
55.286 * [taylor]: Taking taylor expansion of (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) in phi1
55.286 * [taylor]: Taking taylor expansion of R in phi1
55.286 * [backup-simplify]: Simplify R into R
55.286 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2))))) in phi1
55.286 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
55.286 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
55.286 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.286 * [backup-simplify]: Simplify 0.5 into 0.5
55.286 * [taylor]: Taking taylor expansion of phi2 in phi1
55.286 * [backup-simplify]: Simplify phi2 into phi2
55.286 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
55.286 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
55.287 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
55.287 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))) in phi1
55.287 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
55.287 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
55.287 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.287 * [backup-simplify]: Simplify 0.5 into 0.5
55.287 * [taylor]: Taking taylor expansion of phi1 in phi1
55.287 * [backup-simplify]: Simplify 0 into 0
55.287 * [backup-simplify]: Simplify 1 into 1
55.287 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
55.287 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
55.287 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2))) in phi1
55.287 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
55.287 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
55.288 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.288 * [backup-simplify]: Simplify 0.5 into 0.5
55.288 * [taylor]: Taking taylor expansion of phi2 in phi1
55.288 * [backup-simplify]: Simplify phi2 into phi2
55.288 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
55.288 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
55.288 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
55.288 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (pow phi2 2)) in phi1
55.288 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
55.288 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
55.288 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.288 * [backup-simplify]: Simplify 0.5 into 0.5
55.288 * [taylor]: Taking taylor expansion of phi1 in phi1
55.288 * [backup-simplify]: Simplify 0 into 0
55.288 * [backup-simplify]: Simplify 1 into 1
55.289 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
55.289 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
55.289 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1
55.289 * [taylor]: Taking taylor expansion of phi2 in phi1
55.289 * [backup-simplify]: Simplify phi2 into phi2
55.289 * [taylor]: Taking taylor expansion of (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2)))))) in phi1
55.289 * [taylor]: Taking taylor expansion of R in phi1
55.289 * [backup-simplify]: Simplify R into R
55.289 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))) in phi1
55.289 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
55.289 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
55.289 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.289 * [backup-simplify]: Simplify 0.5 into 0.5
55.289 * [taylor]: Taking taylor expansion of phi2 in phi1
55.289 * [backup-simplify]: Simplify phi2 into phi2
55.289 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
55.289 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
55.289 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
55.289 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2)))) in phi1
55.289 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
55.289 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
55.289 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.289 * [backup-simplify]: Simplify 0.5 into 0.5
55.289 * [taylor]: Taking taylor expansion of phi1 in phi1
55.289 * [backup-simplify]: Simplify 0 into 0
55.290 * [backup-simplify]: Simplify 1 into 1
55.290 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
55.290 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
55.290 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))) in phi1
55.290 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
55.290 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
55.290 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.290 * [backup-simplify]: Simplify 0.5 into 0.5
55.290 * [taylor]: Taking taylor expansion of phi2 in phi1
55.290 * [backup-simplify]: Simplify phi2 into phi2
55.290 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
55.290 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
55.291 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
55.291 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (pow phi2 2)) in phi1
55.291 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
55.291 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
55.291 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.291 * [backup-simplify]: Simplify 0.5 into 0.5
55.291 * [taylor]: Taking taylor expansion of phi1 in phi1
55.291 * [backup-simplify]: Simplify 0 into 0
55.291 * [backup-simplify]: Simplify 1 into 1
55.291 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
55.291 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
55.291 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1
55.291 * [taylor]: Taking taylor expansion of phi2 in phi1
55.291 * [backup-simplify]: Simplify phi2 into phi2
55.292 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
55.292 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
55.292 * [backup-simplify]: Simplify (- 0) into 0
55.292 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
55.292 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
55.292 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
55.293 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
55.293 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
55.293 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
55.293 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
55.293 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
55.294 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
55.294 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
55.294 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2))
55.294 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2))) into (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))
55.295 * [backup-simplify]: Simplify (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) into (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))
55.295 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
55.295 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
55.295 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
55.296 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))
55.296 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))) into (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2)))
55.297 * [backup-simplify]: Simplify (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2)))) into (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2))))
55.298 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) into (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2)))))
55.298 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
55.298 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
55.298 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
55.298 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
55.299 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
55.299 * [backup-simplify]: Simplify (- 0) into 0
55.299 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
55.299 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
55.300 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (pow phi2 2)) into (* (cos (/ 0.5 phi1)) (pow phi2 2))
55.300 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2))) into (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))
55.300 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))) into (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))
55.301 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))) into (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2)))))
55.301 * [backup-simplify]: Simplify (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2)))))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2))))))
55.301 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
55.301 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
55.302 * [backup-simplify]: Simplify (- 0) into 0
55.302 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
55.302 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
55.302 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
55.302 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
55.302 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
55.303 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (pow phi2 2)) into (* (sin (/ 0.5 phi1)) (pow phi2 2))
55.303 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2)))
55.303 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2))))
55.304 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2))))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))
55.304 * [backup-simplify]: Simplify (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2))))))
55.306 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2))))))) into (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2)))))))
55.307 * [backup-simplify]: Simplify (- (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2)))))))) into (- (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))
55.311 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (- (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) into (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))
55.315 * [backup-simplify]: Simplify (/ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (pow phi2 2)))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (pow phi2 2))))) (+ (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (pow phi2 2)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (pow phi2 2))))))))) into (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R (pow phi2 2)))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R (pow phi2 2))))) (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R (pow phi2 2)))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R (pow phi2 2)))))))))
55.315 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in phi1
55.315 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in phi1
55.315 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in phi1
55.315 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in phi1
55.315 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in phi1
55.315 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1
55.315 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
55.315 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
55.315 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.315 * [backup-simplify]: Simplify 0.5 into 0.5
55.315 * [taylor]: Taking taylor expansion of phi2 in phi1
55.316 * [backup-simplify]: Simplify phi2 into phi2
55.316 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
55.316 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
55.316 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
55.316 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
55.316 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
55.316 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
55.316 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1
55.316 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
55.316 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
55.316 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.316 * [backup-simplify]: Simplify 0.5 into 0.5
55.316 * [taylor]: Taking taylor expansion of phi1 in phi1
55.316 * [backup-simplify]: Simplify 0 into 0
55.316 * [backup-simplify]: Simplify 1 into 1
55.317 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
55.317 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
55.317 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in phi1
55.317 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1
55.317 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
55.317 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
55.317 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.317 * [backup-simplify]: Simplify 0.5 into 0.5
55.317 * [taylor]: Taking taylor expansion of phi2 in phi1
55.318 * [backup-simplify]: Simplify phi2 into phi2
55.318 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
55.318 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
55.318 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
55.318 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
55.318 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
55.318 * [backup-simplify]: Simplify (- 0) into 0
55.319 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
55.319 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1
55.319 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
55.319 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
55.319 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.319 * [backup-simplify]: Simplify 0.5 into 0.5
55.319 * [taylor]: Taking taylor expansion of phi1 in phi1
55.319 * [backup-simplify]: Simplify 0 into 0
55.319 * [backup-simplify]: Simplify 1 into 1
55.319 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
55.319 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
55.319 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in phi1
55.319 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in phi1
55.320 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
55.320 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
55.320 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.320 * [backup-simplify]: Simplify 0.5 into 0.5
55.320 * [taylor]: Taking taylor expansion of phi2 in phi1
55.320 * [backup-simplify]: Simplify phi2 into phi2
55.320 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
55.320 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
55.320 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
55.320 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in phi1
55.320 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
55.320 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
55.320 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.320 * [backup-simplify]: Simplify 0.5 into 0.5
55.320 * [taylor]: Taking taylor expansion of phi1 in phi1
55.320 * [backup-simplify]: Simplify 0 into 0
55.320 * [backup-simplify]: Simplify 1 into 1
55.321 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
55.321 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
55.321 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in phi1
55.321 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
55.321 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
55.321 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.321 * [backup-simplify]: Simplify 0.5 into 0.5
55.321 * [taylor]: Taking taylor expansion of phi2 in phi1
55.321 * [backup-simplify]: Simplify phi2 into phi2
55.321 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
55.321 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
55.321 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
55.321 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
55.321 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
55.321 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.321 * [backup-simplify]: Simplify 0.5 into 0.5
55.321 * [taylor]: Taking taylor expansion of phi1 in phi1
55.321 * [backup-simplify]: Simplify 0 into 0
55.321 * [backup-simplify]: Simplify 1 into 1
55.322 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
55.322 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
55.322 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in phi1
55.322 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
55.322 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
55.322 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.322 * [backup-simplify]: Simplify 0.5 into 0.5
55.322 * [taylor]: Taking taylor expansion of phi2 in phi1
55.322 * [backup-simplify]: Simplify phi2 into phi2
55.322 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
55.322 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
55.322 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
55.322 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in phi1
55.322 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
55.322 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
55.322 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.322 * [backup-simplify]: Simplify 0.5 into 0.5
55.322 * [taylor]: Taking taylor expansion of phi1 in phi1
55.322 * [backup-simplify]: Simplify 0 into 0
55.322 * [backup-simplify]: Simplify 1 into 1
55.322 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
55.323 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
55.323 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in phi1
55.323 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
55.323 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
55.323 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.323 * [backup-simplify]: Simplify 0.5 into 0.5
55.323 * [taylor]: Taking taylor expansion of phi2 in phi1
55.323 * [backup-simplify]: Simplify phi2 into phi2
55.323 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
55.323 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
55.323 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
55.323 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
55.323 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
55.323 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.323 * [backup-simplify]: Simplify 0.5 into 0.5
55.323 * [taylor]: Taking taylor expansion of phi1 in phi1
55.323 * [backup-simplify]: Simplify 0 into 0
55.323 * [backup-simplify]: Simplify 1 into 1
55.323 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
55.323 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
55.323 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
55.324 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
55.324 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
55.324 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
55.324 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
55.324 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
55.325 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
55.325 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
55.325 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
55.325 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
55.325 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
55.325 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
55.325 * [backup-simplify]: Simplify (- 0) into 0
55.325 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
55.325 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
55.325 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
55.326 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
55.326 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
55.326 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
55.326 * [backup-simplify]: Simplify (- 0) into 0
55.326 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
55.326 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
55.326 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
55.326 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
55.326 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
55.327 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
55.327 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
55.327 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))
55.328 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
55.329 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
55.330 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
55.330 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
55.331 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
55.331 * [backup-simplify]: Simplify (+ 0) into 0
55.331 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
55.331 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
55.332 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
55.332 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
55.333 * [backup-simplify]: Simplify (+ 0 0) into 0
55.333 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
55.333 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
55.333 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
55.333 * [backup-simplify]: Simplify (+ 0) into 0
55.334 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
55.334 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
55.334 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
55.334 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
55.335 * [backup-simplify]: Simplify (- 0) into 0
55.335 * [backup-simplify]: Simplify (+ 0 0) into 0
55.335 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
55.335 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
55.335 * [backup-simplify]: Simplify (+ 0 0) into 0
55.336 * [backup-simplify]: Simplify (+ 0) into 0
55.336 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
55.336 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
55.337 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
55.337 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
55.337 * [backup-simplify]: Simplify (- 0) into 0
55.337 * [backup-simplify]: Simplify (+ 0 0) into 0
55.337 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
55.338 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
55.338 * [backup-simplify]: Simplify (+ 0) into 0
55.338 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
55.338 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
55.339 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
55.339 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
55.339 * [backup-simplify]: Simplify (+ 0 0) into 0
55.339 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
55.340 * [backup-simplify]: Simplify (+ 0) into 0
55.340 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
55.340 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
55.341 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
55.341 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
55.341 * [backup-simplify]: Simplify (+ 0 0) into 0
55.341 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
55.341 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
55.342 * [backup-simplify]: Simplify (+ 0) into 0
55.342 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
55.342 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
55.343 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
55.343 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
55.343 * [backup-simplify]: Simplify (- 0) into 0
55.343 * [backup-simplify]: Simplify (+ 0 0) into 0
55.344 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
55.344 * [backup-simplify]: Simplify (+ 0 0) into 0
55.344 * [backup-simplify]: Simplify (- 0) into 0
55.344 * [backup-simplify]: Simplify (+ 0 0) into 0
55.347 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
55.348 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
55.348 * [taylor]: Taking taylor expansion of (+ (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)))) (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2))))) (+ (* (sin (/ 0.5 phi1)) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (pow phi1 2)))))) (* (cos (/ 0.5 phi1)) (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow phi1 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* phi1 (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (* phi1 (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))))) (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* phi1 phi2)))) (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* phi1 phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))))))) in phi1
55.348 * [taylor]: Taking taylor expansion of (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)))) (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2))))) (+ (* (sin (/ 0.5 phi1)) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (pow phi1 2)))))) (* (cos (/ 0.5 phi1)) (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow phi1 2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) in phi1
55.348 * [taylor]: Taking taylor expansion of (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)))) (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2))))) (+ (* (sin (/ 0.5 phi1)) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (pow phi1 2)))))) (* (cos (/ 0.5 phi1)) (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow phi1 2))))))))) in phi1
55.348 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in phi1
55.348 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
55.348 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
55.348 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.348 * [backup-simplify]: Simplify 0.5 into 0.5
55.348 * [taylor]: Taking taylor expansion of phi2 in phi1
55.348 * [backup-simplify]: Simplify phi2 into phi2
55.348 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
55.348 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
55.348 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
55.348 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in phi1
55.348 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
55.348 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
55.348 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.348 * [backup-simplify]: Simplify 0.5 into 0.5
55.348 * [taylor]: Taking taylor expansion of phi1 in phi1
55.348 * [backup-simplify]: Simplify 0 into 0
55.348 * [backup-simplify]: Simplify 1 into 1
55.349 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
55.349 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
55.349 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in phi1
55.349 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
55.349 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
55.349 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.349 * [backup-simplify]: Simplify 0.5 into 0.5
55.349 * [taylor]: Taking taylor expansion of phi2 in phi1
55.349 * [backup-simplify]: Simplify phi2 into phi2
55.349 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
55.349 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
55.349 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
55.349 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
55.349 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
55.349 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.349 * [backup-simplify]: Simplify 0.5 into 0.5
55.349 * [taylor]: Taking taylor expansion of phi1 in phi1
55.349 * [backup-simplify]: Simplify 0 into 0
55.349 * [backup-simplify]: Simplify 1 into 1
55.350 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
55.350 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
55.350 * [taylor]: Taking taylor expansion of (- (+ (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)))) (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2))))) (+ (* (sin (/ 0.5 phi1)) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (pow phi1 2)))))) (* (cos (/ 0.5 phi1)) (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow phi1 2)))))))) in phi1
55.350 * [taylor]: Taking taylor expansion of (+ (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)))) (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2))))) in phi1
55.350 * [taylor]: Taking taylor expansion of (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)))) in phi1
55.350 * [taylor]: Taking taylor expansion of R in phi1
55.350 * [backup-simplify]: Simplify R into R
55.350 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2))) in phi1
55.350 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1
55.350 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
55.350 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
55.350 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.350 * [backup-simplify]: Simplify 0.5 into 0.5
55.350 * [taylor]: Taking taylor expansion of phi1 in phi1
55.350 * [backup-simplify]: Simplify 0 into 0
55.350 * [backup-simplify]: Simplify 1 into 1
55.351 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
55.351 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
55.351 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow phi1 2)) in phi1
55.351 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1
55.351 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
55.351 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
55.351 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.351 * [backup-simplify]: Simplify 0.5 into 0.5
55.351 * [taylor]: Taking taylor expansion of phi2 in phi1
55.351 * [backup-simplify]: Simplify phi2 into phi2
55.351 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
55.351 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
55.351 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
55.351 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
55.351 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
55.352 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
55.352 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1
55.352 * [taylor]: Taking taylor expansion of phi1 in phi1
55.352 * [backup-simplify]: Simplify 0 into 0
55.352 * [backup-simplify]: Simplify 1 into 1
55.352 * [taylor]: Taking taylor expansion of (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2)))) in phi1
55.352 * [taylor]: Taking taylor expansion of R in phi1
55.352 * [backup-simplify]: Simplify R into R
55.352 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2))) in phi1
55.352 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1
55.352 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
55.352 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
55.352 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.352 * [backup-simplify]: Simplify 0.5 into 0.5
55.352 * [taylor]: Taking taylor expansion of phi1 in phi1
55.352 * [backup-simplify]: Simplify 0 into 0
55.352 * [backup-simplify]: Simplify 1 into 1
55.352 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
55.353 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
55.353 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow phi1 2)) in phi1
55.353 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1
55.353 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
55.353 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
55.353 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.353 * [backup-simplify]: Simplify 0.5 into 0.5
55.353 * [taylor]: Taking taylor expansion of phi2 in phi1
55.353 * [backup-simplify]: Simplify phi2 into phi2
55.353 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
55.353 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
55.353 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
55.353 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
55.353 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
55.354 * [backup-simplify]: Simplify (- 0) into 0
55.354 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
55.354 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1
55.354 * [taylor]: Taking taylor expansion of phi1 in phi1
55.354 * [backup-simplify]: Simplify 0 into 0
55.354 * [backup-simplify]: Simplify 1 into 1
55.354 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 0.5 phi1)) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (pow phi1 2)))))) (* (cos (/ 0.5 phi1)) (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow phi1 2))))))) in phi1
55.354 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (pow phi1 2)))))) in phi1
55.354 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
55.354 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
55.354 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.354 * [backup-simplify]: Simplify 0.5 into 0.5
55.354 * [taylor]: Taking taylor expansion of phi1 in phi1
55.354 * [backup-simplify]: Simplify 0 into 0
55.354 * [backup-simplify]: Simplify 1 into 1
55.355 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
55.355 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
55.355 * [taylor]: Taking taylor expansion of (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (pow phi1 2))))) in phi1
55.355 * [taylor]: Taking taylor expansion of R in phi1
55.355 * [backup-simplify]: Simplify R into R
55.355 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (pow phi1 2)))) in phi1
55.355 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
55.355 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
55.355 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.355 * [backup-simplify]: Simplify 0.5 into 0.5
55.355 * [taylor]: Taking taylor expansion of phi2 in phi1
55.355 * [backup-simplify]: Simplify phi2 into phi2
55.355 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
55.355 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
55.355 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
55.355 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (pow phi1 2))) in phi1
55.355 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
55.356 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
55.356 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.356 * [backup-simplify]: Simplify 0.5 into 0.5
55.356 * [taylor]: Taking taylor expansion of phi1 in phi1
55.356 * [backup-simplify]: Simplify 0 into 0
55.356 * [backup-simplify]: Simplify 1 into 1
55.356 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
55.356 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
55.356 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (pow phi1 2)) in phi1
55.356 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
55.356 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
55.356 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.356 * [backup-simplify]: Simplify 0.5 into 0.5
55.356 * [taylor]: Taking taylor expansion of phi2 in phi1
55.356 * [backup-simplify]: Simplify phi2 into phi2
55.357 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
55.357 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
55.357 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
55.357 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1
55.357 * [taylor]: Taking taylor expansion of phi1 in phi1
55.357 * [backup-simplify]: Simplify 0 into 0
55.357 * [backup-simplify]: Simplify 1 into 1
55.357 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow phi1 2)))))) in phi1
55.357 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
55.357 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
55.357 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.357 * [backup-simplify]: Simplify 0.5 into 0.5
55.357 * [taylor]: Taking taylor expansion of phi1 in phi1
55.357 * [backup-simplify]: Simplify 0 into 0
55.357 * [backup-simplify]: Simplify 1 into 1
55.358 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
55.358 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
55.358 * [taylor]: Taking taylor expansion of (* R (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow phi1 2))))) in phi1
55.358 * [taylor]: Taking taylor expansion of R in phi1
55.358 * [backup-simplify]: Simplify R into R
55.358 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow phi1 2)))) in phi1
55.358 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
55.358 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
55.358 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.358 * [backup-simplify]: Simplify 0.5 into 0.5
55.358 * [taylor]: Taking taylor expansion of phi2 in phi1
55.358 * [backup-simplify]: Simplify phi2 into phi2
55.358 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
55.358 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
55.358 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
55.358 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow phi1 2))) in phi1
55.358 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
55.358 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
55.358 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.358 * [backup-simplify]: Simplify 0.5 into 0.5
55.358 * [taylor]: Taking taylor expansion of phi1 in phi1
55.358 * [backup-simplify]: Simplify 0 into 0
55.358 * [backup-simplify]: Simplify 1 into 1
55.359 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
55.359 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
55.359 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (pow phi1 2)) in phi1
55.359 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
55.359 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
55.359 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.359 * [backup-simplify]: Simplify 0.5 into 0.5
55.359 * [taylor]: Taking taylor expansion of phi2 in phi1
55.359 * [backup-simplify]: Simplify phi2 into phi2
55.359 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
55.359 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
55.359 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
55.359 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1
55.360 * [taylor]: Taking taylor expansion of phi1 in phi1
55.360 * [backup-simplify]: Simplify 0 into 0
55.360 * [backup-simplify]: Simplify 1 into 1
55.360 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
55.360 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
55.360 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
55.360 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
55.360 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
55.361 * [backup-simplify]: Simplify (- 0) into 0
55.361 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
55.361 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
55.361 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
55.361 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
55.362 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
55.362 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
55.362 * [backup-simplify]: Simplify (* 1 1) into 1
55.362 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) 1) into (pow (sin (/ 0.5 phi2)) 2)
55.363 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
55.363 * [backup-simplify]: Simplify (* R (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))) into (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R))
55.363 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
55.364 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
55.364 * [backup-simplify]: Simplify (* 1 1) into 1
55.364 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) 1) into (pow (cos (/ 0.5 phi2)) 2)
55.364 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
55.365 * [backup-simplify]: Simplify (* R (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))
55.366 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) into (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R)))
55.366 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
55.366 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
55.367 * [backup-simplify]: Simplify (- 0) into 0
55.367 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
55.367 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
55.367 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
55.367 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
55.367 * [backup-simplify]: Simplify (* 1 1) into 1
55.367 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
55.368 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (sin (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
55.368 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
55.368 * [backup-simplify]: Simplify (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R)))
55.369 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R)))) into (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))
55.369 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
55.369 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
55.369 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
55.369 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
55.369 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
55.370 * [backup-simplify]: Simplify (- 0) into 0
55.370 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
55.370 * [backup-simplify]: Simplify (* 1 1) into 1
55.370 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
55.371 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (cos (/ 0.5 phi2))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
55.371 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
55.371 * [backup-simplify]: Simplify (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R)))
55.372 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R)))) into (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))
55.372 * [backup-simplify]: Simplify (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))))
55.374 * [backup-simplify]: Simplify (- (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))))) into (- (+ (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R)))) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R))))))
55.376 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (- (+ (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R)))) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R))))))) into (- (+ (* R (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))) (* R (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))) (+ (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R)))) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R))))))
55.379 * [backup-simplify]: Simplify (/ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (- (+ (* R (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))) (* R (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))) (+ (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R)))) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R))))))) into (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))))))
55.379 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in phi1
55.379 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in phi1
55.379 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in phi1
55.379 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in phi1
55.379 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in phi1
55.379 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1
55.379 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
55.379 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
55.379 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.379 * [backup-simplify]: Simplify 0.5 into 0.5
55.379 * [taylor]: Taking taylor expansion of phi2 in phi1
55.380 * [backup-simplify]: Simplify phi2 into phi2
55.380 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
55.380 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
55.380 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
55.380 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
55.380 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
55.380 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
55.380 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1
55.380 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
55.380 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
55.380 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.380 * [backup-simplify]: Simplify 0.5 into 0.5
55.380 * [taylor]: Taking taylor expansion of phi1 in phi1
55.380 * [backup-simplify]: Simplify 0 into 0
55.380 * [backup-simplify]: Simplify 1 into 1
55.381 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
55.381 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
55.381 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in phi1
55.381 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1
55.381 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
55.381 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
55.381 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.381 * [backup-simplify]: Simplify 0.5 into 0.5
55.381 * [taylor]: Taking taylor expansion of phi2 in phi1
55.381 * [backup-simplify]: Simplify phi2 into phi2
55.381 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
55.381 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
55.382 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
55.382 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
55.382 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
55.382 * [backup-simplify]: Simplify (- 0) into 0
55.382 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
55.382 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1
55.382 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
55.382 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
55.382 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.382 * [backup-simplify]: Simplify 0.5 into 0.5
55.382 * [taylor]: Taking taylor expansion of phi1 in phi1
55.382 * [backup-simplify]: Simplify 0 into 0
55.382 * [backup-simplify]: Simplify 1 into 1
55.382 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
55.383 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
55.383 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in phi1
55.383 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in phi1
55.383 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
55.383 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
55.383 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.383 * [backup-simplify]: Simplify 0.5 into 0.5
55.383 * [taylor]: Taking taylor expansion of phi2 in phi1
55.383 * [backup-simplify]: Simplify phi2 into phi2
55.383 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
55.383 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
55.383 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
55.383 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in phi1
55.383 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
55.383 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
55.383 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.383 * [backup-simplify]: Simplify 0.5 into 0.5
55.383 * [taylor]: Taking taylor expansion of phi1 in phi1
55.383 * [backup-simplify]: Simplify 0 into 0
55.383 * [backup-simplify]: Simplify 1 into 1
55.383 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
55.383 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
55.383 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in phi1
55.383 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
55.383 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
55.383 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.383 * [backup-simplify]: Simplify 0.5 into 0.5
55.383 * [taylor]: Taking taylor expansion of phi2 in phi1
55.383 * [backup-simplify]: Simplify phi2 into phi2
55.383 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
55.384 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
55.384 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
55.384 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
55.384 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
55.384 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.384 * [backup-simplify]: Simplify 0.5 into 0.5
55.384 * [taylor]: Taking taylor expansion of phi1 in phi1
55.384 * [backup-simplify]: Simplify 0 into 0
55.384 * [backup-simplify]: Simplify 1 into 1
55.384 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
55.384 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
55.384 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in phi1
55.384 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
55.384 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
55.384 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.384 * [backup-simplify]: Simplify 0.5 into 0.5
55.384 * [taylor]: Taking taylor expansion of phi2 in phi1
55.384 * [backup-simplify]: Simplify phi2 into phi2
55.384 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
55.384 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
55.384 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
55.384 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in phi1
55.384 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
55.384 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
55.384 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.384 * [backup-simplify]: Simplify 0.5 into 0.5
55.384 * [taylor]: Taking taylor expansion of phi1 in phi1
55.384 * [backup-simplify]: Simplify 0 into 0
55.384 * [backup-simplify]: Simplify 1 into 1
55.385 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
55.385 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
55.385 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in phi1
55.385 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
55.385 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
55.385 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.385 * [backup-simplify]: Simplify 0.5 into 0.5
55.385 * [taylor]: Taking taylor expansion of phi2 in phi1
55.385 * [backup-simplify]: Simplify phi2 into phi2
55.385 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
55.385 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
55.385 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
55.385 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
55.385 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
55.385 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.385 * [backup-simplify]: Simplify 0.5 into 0.5
55.385 * [taylor]: Taking taylor expansion of phi1 in phi1
55.385 * [backup-simplify]: Simplify 0 into 0
55.385 * [backup-simplify]: Simplify 1 into 1
55.386 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
55.386 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
55.386 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
55.386 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
55.386 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
55.386 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
55.386 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
55.386 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
55.387 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
55.387 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
55.387 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
55.387 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
55.387 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
55.387 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
55.387 * [backup-simplify]: Simplify (- 0) into 0
55.388 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
55.388 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
55.388 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
55.388 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
55.388 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
55.388 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
55.388 * [backup-simplify]: Simplify (- 0) into 0
55.388 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
55.388 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
55.389 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
55.389 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
55.389 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
55.389 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
55.389 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
55.389 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))
55.390 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
55.391 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
55.392 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
55.393 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
55.393 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
55.393 * [backup-simplify]: Simplify (+ 0) into 0
55.394 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
55.394 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
55.394 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
55.395 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
55.395 * [backup-simplify]: Simplify (+ 0 0) into 0
55.395 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
55.395 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
55.395 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
55.396 * [backup-simplify]: Simplify (+ 0) into 0
55.396 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
55.396 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
55.397 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
55.397 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
55.397 * [backup-simplify]: Simplify (- 0) into 0
55.397 * [backup-simplify]: Simplify (+ 0 0) into 0
55.398 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
55.398 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
55.398 * [backup-simplify]: Simplify (+ 0 0) into 0
55.398 * [backup-simplify]: Simplify (+ 0) into 0
55.399 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
55.399 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
55.399 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
55.399 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
55.400 * [backup-simplify]: Simplify (- 0) into 0
55.400 * [backup-simplify]: Simplify (+ 0 0) into 0
55.400 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
55.400 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
55.400 * [backup-simplify]: Simplify (+ 0) into 0
55.401 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
55.401 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
55.401 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
55.402 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
55.402 * [backup-simplify]: Simplify (+ 0 0) into 0
55.402 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
55.402 * [backup-simplify]: Simplify (+ 0) into 0
55.403 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
55.403 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
55.403 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
55.403 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
55.404 * [backup-simplify]: Simplify (+ 0 0) into 0
55.404 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
55.404 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
55.404 * [backup-simplify]: Simplify (+ 0) into 0
55.404 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
55.405 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
55.405 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
55.405 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
55.406 * [backup-simplify]: Simplify (- 0) into 0
55.406 * [backup-simplify]: Simplify (+ 0 0) into 0
55.406 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
55.408 * [backup-simplify]: Simplify (+ 0 0) into 0
55.409 * [backup-simplify]: Simplify (- 0) into 0
55.409 * [backup-simplify]: Simplify (+ 0 0) into 0
55.411 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
55.412 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
55.412 * [taylor]: Taking taylor expansion of (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* phi1 (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (* phi1 (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))))) (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* phi1 phi2)))) (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* phi1 phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))))))))) in phi1
55.412 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* phi1 (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (* phi1 (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))))) in phi1
55.412 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in phi1
55.412 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in phi1
55.412 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in phi1
55.412 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in phi1
55.412 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in phi1
55.412 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1
55.412 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
55.412 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
55.412 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.412 * [backup-simplify]: Simplify 0.5 into 0.5
55.412 * [taylor]: Taking taylor expansion of phi2 in phi1
55.412 * [backup-simplify]: Simplify phi2 into phi2
55.413 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
55.413 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
55.413 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
55.413 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
55.413 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
55.413 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
55.413 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1
55.413 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
55.413 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
55.413 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.413 * [backup-simplify]: Simplify 0.5 into 0.5
55.413 * [taylor]: Taking taylor expansion of phi1 in phi1
55.413 * [backup-simplify]: Simplify 0 into 0
55.413 * [backup-simplify]: Simplify 1 into 1
55.413 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
55.413 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
55.413 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in phi1
55.414 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1
55.414 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
55.414 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
55.414 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.414 * [backup-simplify]: Simplify 0.5 into 0.5
55.414 * [taylor]: Taking taylor expansion of phi2 in phi1
55.414 * [backup-simplify]: Simplify phi2 into phi2
55.414 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
55.414 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
55.414 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
55.414 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
55.414 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
55.415 * [backup-simplify]: Simplify (- 0) into 0
55.415 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
55.415 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1
55.415 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
55.415 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
55.415 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.415 * [backup-simplify]: Simplify 0.5 into 0.5
55.415 * [taylor]: Taking taylor expansion of phi1 in phi1
55.415 * [backup-simplify]: Simplify 0 into 0
55.415 * [backup-simplify]: Simplify 1 into 1
55.415 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
55.415 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
55.415 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in phi1
55.416 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in phi1
55.416 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
55.416 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
55.416 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.416 * [backup-simplify]: Simplify 0.5 into 0.5
55.416 * [taylor]: Taking taylor expansion of phi2 in phi1
55.416 * [backup-simplify]: Simplify phi2 into phi2
55.416 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
55.416 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
55.416 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
55.416 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in phi1
55.416 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
55.416 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
55.416 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.416 * [backup-simplify]: Simplify 0.5 into 0.5
55.416 * [taylor]: Taking taylor expansion of phi1 in phi1
55.416 * [backup-simplify]: Simplify 0 into 0
55.416 * [backup-simplify]: Simplify 1 into 1
55.417 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
55.417 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
55.417 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in phi1
55.417 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
55.417 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
55.417 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.417 * [backup-simplify]: Simplify 0.5 into 0.5
55.417 * [taylor]: Taking taylor expansion of phi2 in phi1
55.417 * [backup-simplify]: Simplify phi2 into phi2
55.417 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
55.417 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
55.417 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
55.417 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
55.417 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
55.417 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.417 * [backup-simplify]: Simplify 0.5 into 0.5
55.417 * [taylor]: Taking taylor expansion of phi1 in phi1
55.417 * [backup-simplify]: Simplify 0 into 0
55.417 * [backup-simplify]: Simplify 1 into 1
55.418 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
55.418 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
55.418 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in phi1
55.418 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
55.418 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
55.418 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.418 * [backup-simplify]: Simplify 0.5 into 0.5
55.418 * [taylor]: Taking taylor expansion of phi2 in phi1
55.418 * [backup-simplify]: Simplify phi2 into phi2
55.418 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
55.418 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
55.418 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
55.418 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in phi1
55.418 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
55.418 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
55.418 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.419 * [backup-simplify]: Simplify 0.5 into 0.5
55.419 * [taylor]: Taking taylor expansion of phi1 in phi1
55.419 * [backup-simplify]: Simplify 0 into 0
55.419 * [backup-simplify]: Simplify 1 into 1
55.419 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
55.419 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
55.419 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in phi1
55.419 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
55.419 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
55.419 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.419 * [backup-simplify]: Simplify 0.5 into 0.5
55.419 * [taylor]: Taking taylor expansion of phi2 in phi1
55.419 * [backup-simplify]: Simplify phi2 into phi2
55.419 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
55.419 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
55.420 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
55.420 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
55.420 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
55.420 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.420 * [backup-simplify]: Simplify 0.5 into 0.5
55.420 * [taylor]: Taking taylor expansion of phi1 in phi1
55.420 * [backup-simplify]: Simplify 0 into 0
55.420 * [backup-simplify]: Simplify 1 into 1
55.420 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
55.420 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
55.420 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
55.421 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
55.421 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
55.421 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
55.421 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
55.422 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
55.422 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
55.423 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
55.423 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
55.423 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
55.423 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
55.423 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
55.424 * [backup-simplify]: Simplify (- 0) into 0
55.424 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
55.424 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
55.424 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
55.424 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
55.425 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
55.425 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
55.425 * [backup-simplify]: Simplify (- 0) into 0
55.425 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
55.425 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
55.425 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
55.426 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
55.426 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
55.426 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
55.426 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
55.427 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))
55.428 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
55.430 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
55.431 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
55.432 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
55.432 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
55.432 * [backup-simplify]: Simplify (+ 0) into 0
55.433 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
55.433 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
55.433 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
55.434 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
55.434 * [backup-simplify]: Simplify (+ 0 0) into 0
55.434 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
55.434 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
55.434 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
55.435 * [backup-simplify]: Simplify (+ 0) into 0
55.435 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
55.435 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
55.436 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
55.436 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
55.436 * [backup-simplify]: Simplify (- 0) into 0
55.436 * [backup-simplify]: Simplify (+ 0 0) into 0
55.436 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
55.437 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
55.437 * [backup-simplify]: Simplify (+ 0 0) into 0
55.437 * [backup-simplify]: Simplify (+ 0) into 0
55.437 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
55.438 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
55.438 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
55.438 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
55.438 * [backup-simplify]: Simplify (- 0) into 0
55.439 * [backup-simplify]: Simplify (+ 0 0) into 0
55.439 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
55.439 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
55.439 * [backup-simplify]: Simplify (+ 0) into 0
55.440 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
55.440 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
55.440 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
55.440 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
55.441 * [backup-simplify]: Simplify (+ 0 0) into 0
55.441 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
55.441 * [backup-simplify]: Simplify (+ 0) into 0
55.441 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
55.442 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
55.442 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
55.442 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
55.442 * [backup-simplify]: Simplify (+ 0 0) into 0
55.443 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
55.443 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
55.443 * [backup-simplify]: Simplify (+ 0) into 0
55.443 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
55.443 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
55.444 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
55.444 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
55.444 * [backup-simplify]: Simplify (- 0) into 0
55.445 * [backup-simplify]: Simplify (+ 0 0) into 0
55.445 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
55.445 * [backup-simplify]: Simplify (+ 0 0) into 0
55.445 * [backup-simplify]: Simplify (- 0) into 0
55.445 * [backup-simplify]: Simplify (+ 0 0) into 0
55.448 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
55.449 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
55.449 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* phi1 (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (* phi1 (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))))))) in phi1
55.449 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in phi1
55.449 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1
55.449 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
55.449 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
55.449 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.449 * [backup-simplify]: Simplify 0.5 into 0.5
55.449 * [taylor]: Taking taylor expansion of phi2 in phi1
55.449 * [backup-simplify]: Simplify phi2 into phi2
55.449 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
55.449 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
55.449 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
55.449 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
55.449 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
55.449 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
55.449 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1
55.449 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
55.449 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
55.449 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.449 * [backup-simplify]: Simplify 0.5 into 0.5
55.449 * [taylor]: Taking taylor expansion of phi1 in phi1
55.450 * [backup-simplify]: Simplify 0 into 0
55.450 * [backup-simplify]: Simplify 1 into 1
55.450 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
55.450 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
55.450 * [taylor]: Taking taylor expansion of (- (+ (* phi1 (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (* phi1 (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))) in phi1
55.450 * [taylor]: Taking taylor expansion of (+ (* phi1 (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (* phi1 (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))))) in phi1
55.450 * [taylor]: Taking taylor expansion of (* phi1 (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) in phi1
55.450 * [taylor]: Taking taylor expansion of phi1 in phi1
55.450 * [backup-simplify]: Simplify 0 into 0
55.450 * [backup-simplify]: Simplify 1 into 1
55.450 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2))) in phi1
55.450 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1
55.450 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
55.450 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
55.450 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.450 * [backup-simplify]: Simplify 0.5 into 0.5
55.450 * [taylor]: Taking taylor expansion of phi1 in phi1
55.450 * [backup-simplify]: Simplify 0 into 0
55.450 * [backup-simplify]: Simplify 1 into 1
55.451 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
55.451 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
55.451 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)) in phi1
55.451 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1
55.451 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
55.451 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
55.451 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.451 * [backup-simplify]: Simplify 0.5 into 0.5
55.451 * [taylor]: Taking taylor expansion of phi2 in phi1
55.451 * [backup-simplify]: Simplify phi2 into phi2
55.451 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
55.451 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
55.451 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
55.451 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
55.451 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
55.451 * [backup-simplify]: Simplify (- 0) into 0
55.451 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
55.451 * [taylor]: Taking taylor expansion of (* R phi2) in phi1
55.451 * [taylor]: Taking taylor expansion of R in phi1
55.451 * [backup-simplify]: Simplify R into R
55.451 * [taylor]: Taking taylor expansion of phi2 in phi1
55.451 * [backup-simplify]: Simplify phi2 into phi2
55.451 * [taylor]: Taking taylor expansion of (* phi1 (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2)))) in phi1
55.451 * [taylor]: Taking taylor expansion of phi1 in phi1
55.452 * [backup-simplify]: Simplify 0 into 0
55.452 * [backup-simplify]: Simplify 1 into 1
55.452 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))) in phi1
55.452 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1
55.452 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
55.452 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
55.452 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.452 * [backup-simplify]: Simplify 0.5 into 0.5
55.452 * [taylor]: Taking taylor expansion of phi1 in phi1
55.452 * [backup-simplify]: Simplify 0 into 0
55.452 * [backup-simplify]: Simplify 1 into 1
55.452 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
55.452 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
55.452 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2)) in phi1
55.452 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1
55.452 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
55.452 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
55.452 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.452 * [backup-simplify]: Simplify 0.5 into 0.5
55.452 * [taylor]: Taking taylor expansion of phi2 in phi1
55.452 * [backup-simplify]: Simplify phi2 into phi2
55.452 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
55.452 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
55.452 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
55.452 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
55.452 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
55.452 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
55.453 * [taylor]: Taking taylor expansion of (* R phi2) in phi1
55.453 * [taylor]: Taking taylor expansion of R in phi1
55.453 * [backup-simplify]: Simplify R into R
55.453 * [taylor]: Taking taylor expansion of phi2 in phi1
55.453 * [backup-simplify]: Simplify phi2 into phi2
55.453 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))))) in phi1
55.453 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) in phi1
55.453 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
55.453 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
55.453 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.453 * [backup-simplify]: Simplify 0.5 into 0.5
55.453 * [taylor]: Taking taylor expansion of phi2 in phi1
55.453 * [backup-simplify]: Simplify phi2 into phi2
55.453 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
55.453 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
55.453 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
55.453 * [taylor]: Taking taylor expansion of (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))) in phi1
55.453 * [taylor]: Taking taylor expansion of R in phi1
55.453 * [backup-simplify]: Simplify R into R
55.453 * [taylor]: Taking taylor expansion of (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))) in phi1
55.453 * [taylor]: Taking taylor expansion of phi1 in phi1
55.453 * [backup-simplify]: Simplify 0 into 0
55.453 * [backup-simplify]: Simplify 1 into 1
55.453 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))) in phi1
55.453 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
55.453 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
55.453 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.453 * [backup-simplify]: Simplify 0.5 into 0.5
55.453 * [taylor]: Taking taylor expansion of phi1 in phi1
55.453 * [backup-simplify]: Simplify 0 into 0
55.453 * [backup-simplify]: Simplify 1 into 1
55.453 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
55.453 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
55.454 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)) in phi1
55.454 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
55.454 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
55.454 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.454 * [backup-simplify]: Simplify 0.5 into 0.5
55.454 * [taylor]: Taking taylor expansion of phi2 in phi1
55.454 * [backup-simplify]: Simplify phi2 into phi2
55.454 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
55.454 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
55.454 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
55.454 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) phi2) in phi1
55.454 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
55.454 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
55.454 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.454 * [backup-simplify]: Simplify 0.5 into 0.5
55.454 * [taylor]: Taking taylor expansion of phi1 in phi1
55.454 * [backup-simplify]: Simplify 0 into 0
55.454 * [backup-simplify]: Simplify 1 into 1
55.454 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
55.454 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
55.454 * [taylor]: Taking taylor expansion of phi2 in phi1
55.454 * [backup-simplify]: Simplify phi2 into phi2
55.454 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) in phi1
55.454 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
55.454 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
55.454 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.454 * [backup-simplify]: Simplify 0.5 into 0.5
55.454 * [taylor]: Taking taylor expansion of phi2 in phi1
55.454 * [backup-simplify]: Simplify phi2 into phi2
55.454 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
55.455 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
55.455 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
55.455 * [taylor]: Taking taylor expansion of (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))) in phi1
55.455 * [taylor]: Taking taylor expansion of R in phi1
55.455 * [backup-simplify]: Simplify R into R
55.455 * [taylor]: Taking taylor expansion of (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))) in phi1
55.455 * [taylor]: Taking taylor expansion of phi1 in phi1
55.455 * [backup-simplify]: Simplify 0 into 0
55.455 * [backup-simplify]: Simplify 1 into 1
55.455 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))) in phi1
55.455 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
55.455 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
55.455 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.455 * [backup-simplify]: Simplify 0.5 into 0.5
55.455 * [taylor]: Taking taylor expansion of phi1 in phi1
55.455 * [backup-simplify]: Simplify 0 into 0
55.455 * [backup-simplify]: Simplify 1 into 1
55.455 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
55.455 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
55.455 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)) in phi1
55.455 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
55.455 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
55.455 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.455 * [backup-simplify]: Simplify 0.5 into 0.5
55.455 * [taylor]: Taking taylor expansion of phi2 in phi1
55.455 * [backup-simplify]: Simplify phi2 into phi2
55.455 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
55.455 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
55.455 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
55.455 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) phi2) in phi1
55.456 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
55.456 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
55.456 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.456 * [backup-simplify]: Simplify 0.5 into 0.5
55.456 * [taylor]: Taking taylor expansion of phi1 in phi1
55.456 * [backup-simplify]: Simplify 0 into 0
55.456 * [backup-simplify]: Simplify 1 into 1
55.456 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
55.456 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
55.456 * [taylor]: Taking taylor expansion of phi2 in phi1
55.456 * [backup-simplify]: Simplify phi2 into phi2
55.456 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
55.456 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
55.457 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
55.457 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
55.457 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
55.457 * [backup-simplify]: Simplify (* R phi2) into (* R phi2)
55.457 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)) into (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2))
55.457 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2))) into (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) phi2)))
55.457 * [backup-simplify]: Simplify (* 0 (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) phi2)))) into 0
55.458 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
55.458 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
55.458 * [backup-simplify]: Simplify (* R phi2) into (* R phi2)
55.458 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2)) into (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))
55.458 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))) into (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) phi2)))
55.458 * [backup-simplify]: Simplify (* 0 (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) phi2)))) into 0
55.459 * [backup-simplify]: Simplify (+ 0 0) into 0
55.459 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
55.459 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
55.459 * [backup-simplify]: Simplify (- 0) into 0
55.459 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
55.460 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
55.460 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
55.460 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
55.460 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) phi2) into (* (sin (/ 0.5 phi1)) phi2)
55.460 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))
55.460 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) phi2)))
55.460 * [backup-simplify]: Simplify (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) phi2)))) into 0
55.460 * [backup-simplify]: Simplify (* R 0) into 0
55.460 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
55.460 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
55.460 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
55.460 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
55.461 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
55.461 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
55.461 * [backup-simplify]: Simplify (- 0) into 0
55.461 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
55.461 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) phi2) into (* (sin (/ 0.5 phi1)) phi2)
55.462 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))
55.462 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) phi2)))
55.462 * [backup-simplify]: Simplify (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) phi2)))) into 0
55.462 * [backup-simplify]: Simplify (* R 0) into 0
55.462 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
55.463 * [backup-simplify]: Simplify (+ 0 0) into 0
55.463 * [backup-simplify]: Simplify (- 0) into 0
55.464 * [backup-simplify]: Simplify (+ 0 0) into 0
55.464 * [backup-simplify]: Simplify (+ (* R 0) (* 0 phi2)) into 0
55.464 * [backup-simplify]: Simplify (+ 0) into 0
55.465 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
55.465 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
55.466 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
55.466 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
55.467 * [backup-simplify]: Simplify (- 0) into 0
55.467 * [backup-simplify]: Simplify (+ 0 0) into 0
55.467 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
55.468 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (* R phi2))) into 0
55.468 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
55.468 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) into 0
55.469 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) phi2))))) into (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))
55.469 * [backup-simplify]: Simplify (+ (* R 0) (* 0 phi2)) into 0
55.470 * [backup-simplify]: Simplify (+ 0) into 0
55.470 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
55.470 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
55.471 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
55.472 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
55.472 * [backup-simplify]: Simplify (+ 0 0) into 0
55.472 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
55.473 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (* R phi2))) into 0
55.473 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
55.473 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2)))) into 0
55.474 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) phi2))))) into (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2)))
55.475 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2))) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2)))) into (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2))))
55.476 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 phi2)) into 0
55.476 * [backup-simplify]: Simplify (+ 0) into 0
55.477 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
55.477 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
55.477 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
55.478 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
55.478 * [backup-simplify]: Simplify (+ 0 0) into 0
55.478 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) phi2))) into 0
55.478 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))) into 0
55.479 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))
55.479 * [backup-simplify]: Simplify (+ (* R (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))) (* 0 0)) into (* R (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) phi2))))
55.479 * [backup-simplify]: Simplify (+ 0) into 0
55.480 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
55.480 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
55.480 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
55.481 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
55.481 * [backup-simplify]: Simplify (- 0) into 0
55.481 * [backup-simplify]: Simplify (+ 0 0) into 0
55.482 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (* R (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) phi2))))) (* 0 0)) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R phi2)))))
55.482 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 phi2)) into 0
55.482 * [backup-simplify]: Simplify (+ 0) into 0
55.482 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
55.482 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
55.483 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
55.483 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
55.483 * [backup-simplify]: Simplify (- 0) into 0
55.484 * [backup-simplify]: Simplify (+ 0 0) into 0
55.484 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) phi2))) into 0
55.484 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))) into 0
55.484 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) phi2))))) into (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))
55.485 * [backup-simplify]: Simplify (+ (* R (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))) (* 0 0)) into (* R (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) phi2))))
55.485 * [backup-simplify]: Simplify (+ 0) into 0
55.485 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
55.485 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
55.486 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
55.486 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
55.486 * [backup-simplify]: Simplify (+ 0 0) into 0
55.487 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (* R (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) phi2))))) (* 0 0)) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R phi2)))))
55.487 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R phi2))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R phi2)))))) into (+ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R phi2))))) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R phi2))))))
55.488 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R phi2))))) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R phi2))))))) into (- (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))
55.489 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (- (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))) into (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) phi2))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) phi2)))) (+ (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))) (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))
55.491 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) phi2))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) phi2)))) (+ (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))) (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))) into (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (+ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R phi2))))) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R phi2))))))))
55.491 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* phi1 phi2)))) (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* phi1 phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))))) in phi1
55.491 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in phi1
55.491 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in phi1
55.491 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in phi1
55.491 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in phi1
55.491 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in phi1
55.491 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1
55.491 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
55.491 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
55.491 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.491 * [backup-simplify]: Simplify 0.5 into 0.5
55.491 * [taylor]: Taking taylor expansion of phi2 in phi1
55.491 * [backup-simplify]: Simplify phi2 into phi2
55.491 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
55.492 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
55.492 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
55.492 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
55.492 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
55.492 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
55.492 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1
55.492 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
55.492 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
55.492 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.492 * [backup-simplify]: Simplify 0.5 into 0.5
55.492 * [taylor]: Taking taylor expansion of phi1 in phi1
55.492 * [backup-simplify]: Simplify 0 into 0
55.492 * [backup-simplify]: Simplify 1 into 1
55.492 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
55.492 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
55.492 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in phi1
55.492 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1
55.492 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
55.492 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
55.492 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.492 * [backup-simplify]: Simplify 0.5 into 0.5
55.493 * [taylor]: Taking taylor expansion of phi2 in phi1
55.493 * [backup-simplify]: Simplify phi2 into phi2
55.493 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
55.493 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
55.493 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
55.493 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
55.493 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
55.493 * [backup-simplify]: Simplify (- 0) into 0
55.493 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
55.493 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1
55.493 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
55.493 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
55.493 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.493 * [backup-simplify]: Simplify 0.5 into 0.5
55.493 * [taylor]: Taking taylor expansion of phi1 in phi1
55.493 * [backup-simplify]: Simplify 0 into 0
55.493 * [backup-simplify]: Simplify 1 into 1
55.494 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
55.494 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
55.494 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in phi1
55.494 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in phi1
55.494 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
55.494 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
55.494 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.494 * [backup-simplify]: Simplify 0.5 into 0.5
55.494 * [taylor]: Taking taylor expansion of phi2 in phi1
55.494 * [backup-simplify]: Simplify phi2 into phi2
55.494 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
55.494 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
55.494 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
55.494 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in phi1
55.494 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
55.494 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
55.494 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.494 * [backup-simplify]: Simplify 0.5 into 0.5
55.494 * [taylor]: Taking taylor expansion of phi1 in phi1
55.494 * [backup-simplify]: Simplify 0 into 0
55.494 * [backup-simplify]: Simplify 1 into 1
55.494 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
55.494 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
55.494 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in phi1
55.495 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
55.495 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
55.495 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.495 * [backup-simplify]: Simplify 0.5 into 0.5
55.495 * [taylor]: Taking taylor expansion of phi2 in phi1
55.495 * [backup-simplify]: Simplify phi2 into phi2
55.495 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
55.495 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
55.495 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
55.495 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
55.495 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
55.495 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.495 * [backup-simplify]: Simplify 0.5 into 0.5
55.495 * [taylor]: Taking taylor expansion of phi1 in phi1
55.495 * [backup-simplify]: Simplify 0 into 0
55.495 * [backup-simplify]: Simplify 1 into 1
55.495 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
55.495 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
55.495 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in phi1
55.495 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
55.495 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
55.495 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.495 * [backup-simplify]: Simplify 0.5 into 0.5
55.495 * [taylor]: Taking taylor expansion of phi2 in phi1
55.495 * [backup-simplify]: Simplify phi2 into phi2
55.495 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
55.495 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
55.496 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
55.496 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in phi1
55.496 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
55.496 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
55.496 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.496 * [backup-simplify]: Simplify 0.5 into 0.5
55.496 * [taylor]: Taking taylor expansion of phi1 in phi1
55.496 * [backup-simplify]: Simplify 0 into 0
55.496 * [backup-simplify]: Simplify 1 into 1
55.496 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
55.496 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
55.496 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in phi1
55.496 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
55.496 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
55.496 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.496 * [backup-simplify]: Simplify 0.5 into 0.5
55.496 * [taylor]: Taking taylor expansion of phi2 in phi1
55.496 * [backup-simplify]: Simplify phi2 into phi2
55.496 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
55.496 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
55.496 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
55.496 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
55.496 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
55.497 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.497 * [backup-simplify]: Simplify 0.5 into 0.5
55.497 * [taylor]: Taking taylor expansion of phi1 in phi1
55.497 * [backup-simplify]: Simplify 0 into 0
55.497 * [backup-simplify]: Simplify 1 into 1
55.497 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
55.497 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
55.497 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
55.497 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
55.497 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
55.497 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
55.498 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
55.498 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
55.498 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
55.498 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
55.498 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
55.499 * [backup-simplify]: Simplify (- 0) into 0
55.499 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
55.499 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
55.499 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
55.499 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
55.499 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
55.499 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
55.499 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
55.499 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
55.499 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
55.499 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
55.499 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
55.500 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
55.500 * [backup-simplify]: Simplify (- 0) into 0
55.500 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
55.500 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
55.500 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
55.500 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
55.501 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))
55.501 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
55.502 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
55.503 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
55.504 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
55.504 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
55.505 * [backup-simplify]: Simplify (+ 0) into 0
55.505 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
55.505 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
55.506 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
55.506 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
55.506 * [backup-simplify]: Simplify (+ 0 0) into 0
55.507 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
55.507 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
55.507 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
55.508 * [backup-simplify]: Simplify (+ 0) into 0
55.508 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
55.508 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
55.509 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
55.510 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
55.510 * [backup-simplify]: Simplify (- 0) into 0
55.510 * [backup-simplify]: Simplify (+ 0 0) into 0
55.511 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
55.511 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
55.511 * [backup-simplify]: Simplify (+ 0 0) into 0
55.512 * [backup-simplify]: Simplify (+ 0) into 0
55.512 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
55.512 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
55.513 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
55.514 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
55.514 * [backup-simplify]: Simplify (+ 0 0) into 0
55.514 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
55.515 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
55.515 * [backup-simplify]: Simplify (+ 0) into 0
55.516 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
55.516 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
55.517 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
55.517 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
55.517 * [backup-simplify]: Simplify (- 0) into 0
55.518 * [backup-simplify]: Simplify (+ 0 0) into 0
55.518 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
55.519 * [backup-simplify]: Simplify (+ 0) into 0
55.519 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
55.519 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
55.520 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
55.520 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
55.521 * [backup-simplify]: Simplify (- 0) into 0
55.521 * [backup-simplify]: Simplify (+ 0 0) into 0
55.521 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
55.522 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
55.522 * [backup-simplify]: Simplify (+ 0) into 0
55.523 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
55.523 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
55.524 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
55.524 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
55.524 * [backup-simplify]: Simplify (+ 0 0) into 0
55.525 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
55.525 * [backup-simplify]: Simplify (+ 0 0) into 0
55.526 * [backup-simplify]: Simplify (- 0) into 0
55.526 * [backup-simplify]: Simplify (+ 0 0) into 0
55.530 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
55.532 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
55.532 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* phi1 phi2)))) (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* phi1 phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))))))) in phi1
55.532 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in phi1
55.532 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1
55.532 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
55.532 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
55.532 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.532 * [backup-simplify]: Simplify 0.5 into 0.5
55.533 * [taylor]: Taking taylor expansion of phi2 in phi1
55.533 * [backup-simplify]: Simplify phi2 into phi2
55.533 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
55.533 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
55.533 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
55.533 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
55.533 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
55.536 * [backup-simplify]: Simplify (- 0) into 0
55.536 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
55.536 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1
55.536 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
55.536 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
55.536 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.536 * [backup-simplify]: Simplify 0.5 into 0.5
55.536 * [taylor]: Taking taylor expansion of phi1 in phi1
55.536 * [backup-simplify]: Simplify 0 into 0
55.536 * [backup-simplify]: Simplify 1 into 1
55.537 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
55.537 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
55.537 * [taylor]: Taking taylor expansion of (- (+ (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* phi1 phi2)))) (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* phi1 phi2))))) (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))) in phi1
55.537 * [taylor]: Taking taylor expansion of (+ (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* phi1 phi2)))) (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* phi1 phi2))))) in phi1
55.537 * [taylor]: Taking taylor expansion of (* R (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* phi1 phi2)))) in phi1
55.537 * [taylor]: Taking taylor expansion of R in phi1
55.537 * [backup-simplify]: Simplify R into R
55.537 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* phi1 phi2))) in phi1
55.538 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1
55.538 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
55.538 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
55.538 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.538 * [backup-simplify]: Simplify 0.5 into 0.5
55.538 * [taylor]: Taking taylor expansion of phi1 in phi1
55.538 * [backup-simplify]: Simplify 0 into 0
55.538 * [backup-simplify]: Simplify 1 into 1
55.538 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
55.538 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
55.538 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (* phi1 phi2)) in phi1
55.538 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1
55.538 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
55.538 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
55.538 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.538 * [backup-simplify]: Simplify 0.5 into 0.5
55.539 * [taylor]: Taking taylor expansion of phi2 in phi1
55.539 * [backup-simplify]: Simplify phi2 into phi2
55.539 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
55.539 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
55.539 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
55.539 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
55.539 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
55.539 * [backup-simplify]: Simplify (- 0) into 0
55.540 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
55.540 * [taylor]: Taking taylor expansion of (* phi1 phi2) in phi1
55.540 * [taylor]: Taking taylor expansion of phi1 in phi1
55.540 * [backup-simplify]: Simplify 0 into 0
55.540 * [backup-simplify]: Simplify 1 into 1
55.540 * [taylor]: Taking taylor expansion of phi2 in phi1
55.540 * [backup-simplify]: Simplify phi2 into phi2
55.540 * [taylor]: Taking taylor expansion of (* R (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* phi1 phi2)))) in phi1
55.540 * [taylor]: Taking taylor expansion of R in phi1
55.540 * [backup-simplify]: Simplify R into R
55.540 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* phi1 phi2))) in phi1
55.540 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1
55.540 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
55.540 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
55.540 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.540 * [backup-simplify]: Simplify 0.5 into 0.5
55.540 * [taylor]: Taking taylor expansion of phi1 in phi1
55.540 * [backup-simplify]: Simplify 0 into 0
55.540 * [backup-simplify]: Simplify 1 into 1
55.541 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
55.541 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
55.541 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (* phi1 phi2)) in phi1
55.541 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1
55.541 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
55.541 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
55.541 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.541 * [backup-simplify]: Simplify 0.5 into 0.5
55.541 * [taylor]: Taking taylor expansion of phi2 in phi1
55.541 * [backup-simplify]: Simplify phi2 into phi2
55.541 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
55.541 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
55.541 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
55.541 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
55.541 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
55.541 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
55.542 * [taylor]: Taking taylor expansion of (* phi1 phi2) in phi1
55.542 * [taylor]: Taking taylor expansion of phi1 in phi1
55.542 * [backup-simplify]: Simplify 0 into 0
55.542 * [backup-simplify]: Simplify 1 into 1
55.542 * [taylor]: Taking taylor expansion of phi2 in phi1
55.542 * [backup-simplify]: Simplify phi2 into phi2
55.542 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))))) in phi1
55.542 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) in phi1
55.542 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
55.542 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
55.542 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.542 * [backup-simplify]: Simplify 0.5 into 0.5
55.542 * [taylor]: Taking taylor expansion of phi2 in phi1
55.542 * [backup-simplify]: Simplify phi2 into phi2
55.542 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
55.542 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
55.542 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
55.542 * [taylor]: Taking taylor expansion of (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))) in phi1
55.542 * [taylor]: Taking taylor expansion of R in phi1
55.542 * [backup-simplify]: Simplify R into R
55.542 * [taylor]: Taking taylor expansion of (* phi1 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))) in phi1
55.542 * [taylor]: Taking taylor expansion of phi1 in phi1
55.542 * [backup-simplify]: Simplify 0 into 0
55.542 * [backup-simplify]: Simplify 1 into 1
55.542 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))) in phi1
55.542 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
55.542 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
55.543 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.543 * [backup-simplify]: Simplify 0.5 into 0.5
55.543 * [taylor]: Taking taylor expansion of phi1 in phi1
55.543 * [backup-simplify]: Simplify 0 into 0
55.543 * [backup-simplify]: Simplify 1 into 1
55.543 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
55.543 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
55.543 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)) in phi1
55.543 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
55.543 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
55.543 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.543 * [backup-simplify]: Simplify 0.5 into 0.5
55.543 * [taylor]: Taking taylor expansion of phi2 in phi1
55.543 * [backup-simplify]: Simplify phi2 into phi2
55.543 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
55.544 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
55.544 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
55.544 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) phi2) in phi1
55.544 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
55.544 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
55.544 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.544 * [backup-simplify]: Simplify 0.5 into 0.5
55.544 * [taylor]: Taking taylor expansion of phi1 in phi1
55.544 * [backup-simplify]: Simplify 0 into 0
55.544 * [backup-simplify]: Simplify 1 into 1
55.544 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
55.544 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
55.544 * [taylor]: Taking taylor expansion of phi2 in phi1
55.545 * [backup-simplify]: Simplify phi2 into phi2
55.545 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) in phi1
55.545 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
55.545 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
55.545 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.545 * [backup-simplify]: Simplify 0.5 into 0.5
55.545 * [taylor]: Taking taylor expansion of phi2 in phi1
55.545 * [backup-simplify]: Simplify phi2 into phi2
55.545 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
55.545 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
55.545 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
55.545 * [taylor]: Taking taylor expansion of (* R (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))) in phi1
55.545 * [taylor]: Taking taylor expansion of R in phi1
55.545 * [backup-simplify]: Simplify R into R
55.545 * [taylor]: Taking taylor expansion of (* phi1 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))) in phi1
55.545 * [taylor]: Taking taylor expansion of phi1 in phi1
55.545 * [backup-simplify]: Simplify 0 into 0
55.545 * [backup-simplify]: Simplify 1 into 1
55.545 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))) in phi1
55.545 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
55.545 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
55.545 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.545 * [backup-simplify]: Simplify 0.5 into 0.5
55.545 * [taylor]: Taking taylor expansion of phi1 in phi1
55.545 * [backup-simplify]: Simplify 0 into 0
55.545 * [backup-simplify]: Simplify 1 into 1
55.546 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
55.546 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
55.546 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)) in phi1
55.546 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
55.546 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
55.546 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.546 * [backup-simplify]: Simplify 0.5 into 0.5
55.546 * [taylor]: Taking taylor expansion of phi2 in phi1
55.546 * [backup-simplify]: Simplify phi2 into phi2
55.546 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
55.547 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
55.547 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
55.547 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) phi2) in phi1
55.547 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
55.547 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
55.547 * [taylor]: Taking taylor expansion of 0.5 in phi1
55.547 * [backup-simplify]: Simplify 0.5 into 0.5
55.547 * [taylor]: Taking taylor expansion of phi1 in phi1
55.547 * [backup-simplify]: Simplify 0 into 0
55.547 * [backup-simplify]: Simplify 1 into 1
55.548 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
55.548 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
55.548 * [taylor]: Taking taylor expansion of phi2 in phi1
55.548 * [backup-simplify]: Simplify phi2 into phi2
55.548 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
55.548 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
55.548 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
55.549 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
55.549 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
55.549 * [backup-simplify]: Simplify (* 0 phi2) into 0
55.549 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) 0) into 0
55.549 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) 0) into 0
55.549 * [backup-simplify]: Simplify (* R 0) into 0
55.549 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
55.550 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
55.550 * [backup-simplify]: Simplify (* 0 phi2) into 0
55.550 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) 0) into 0
55.550 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) 0) into 0
55.550 * [backup-simplify]: Simplify (* R 0) into 0
55.551 * [backup-simplify]: Simplify (+ 0 0) into 0
55.551 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
55.551 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
55.551 * [backup-simplify]: Simplify (- 0) into 0
55.551 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
55.551 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
55.552 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
55.552 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
55.552 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) phi2) into (* (sin (/ 0.5 phi1)) phi2)
55.552 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))
55.552 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) phi2)))
55.553 * [backup-simplify]: Simplify (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) phi2)))) into 0
55.553 * [backup-simplify]: Simplify (* R 0) into 0
55.553 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
55.553 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
55.553 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
55.553 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
55.553 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
55.553 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
55.554 * [backup-simplify]: Simplify (- 0) into 0
55.554 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
55.554 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) phi2) into (* (sin (/ 0.5 phi1)) phi2)
55.554 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))
55.554 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) phi2)))
55.555 * [backup-simplify]: Simplify (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) phi2)))) into 0
55.555 * [backup-simplify]: Simplify (* R 0) into 0
55.555 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
55.555 * [backup-simplify]: Simplify (+ 0 0) into 0
55.556 * [backup-simplify]: Simplify (- 0) into 0
55.556 * [backup-simplify]: Simplify (+ 0 0) into 0
55.557 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi2)) into phi2
55.557 * [backup-simplify]: Simplify (+ 0) into 0
55.557 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
55.558 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
55.558 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
55.558 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
55.559 * [backup-simplify]: Simplify (- 0) into 0
55.559 * [backup-simplify]: Simplify (+ 0 0) into 0
55.559 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
55.559 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) phi2) (* 0 0)) into (* (pow (cos (/ 0.5 phi2)) 2) phi2)
55.559 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
55.560 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) phi2)) (* 0 0)) into (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) phi2))
55.560 * [backup-simplify]: Simplify (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) phi2))) (* 0 0)) into (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) phi2)))
55.561 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi2)) into phi2
55.561 * [backup-simplify]: Simplify (+ 0) into 0
55.561 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
55.561 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
55.562 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
55.562 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
55.563 * [backup-simplify]: Simplify (+ 0 0) into 0
55.563 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
55.563 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) phi2) (* 0 0)) into (* (pow (sin (/ 0.5 phi2)) 2) phi2)
55.563 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
55.564 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) phi2)) (* 0 0)) into (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) phi2))
55.564 * [backup-simplify]: Simplify (+ (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) phi2))) (* 0 0)) into (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) phi2)))
55.565 * [backup-simplify]: Simplify (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) phi2))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) phi2)))) into (+ (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) phi2))) (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) phi2))))
55.565 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 phi2)) into 0
55.565 * [backup-simplify]: Simplify (+ 0) into 0
55.566 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
55.566 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
55.567 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
55.567 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
55.567 * [backup-simplify]: Simplify (+ 0 0) into 0
55.567 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) phi2))) into 0
55.567 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))) into 0
55.568 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))
55.568 * [backup-simplify]: Simplify (+ (* R (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))) (* 0 0)) into (* R (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) phi2))))
55.569 * [backup-simplify]: Simplify (+ 0) into 0
55.569 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
55.569 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
55.569 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
55.570 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
55.570 * [backup-simplify]: Simplify (- 0) into 0
55.570 * [backup-simplify]: Simplify (+ 0 0) into 0
55.571 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (* R (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) phi2))))) (* 0 0)) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R phi2)))))
55.571 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 phi2)) into 0
55.571 * [backup-simplify]: Simplify (+ 0) into 0
55.572 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
55.572 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
55.572 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
55.572 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
55.573 * [backup-simplify]: Simplify (- 0) into 0
55.573 * [backup-simplify]: Simplify (+ 0 0) into 0
55.573 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) phi2))) into 0
55.573 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))) into 0
55.574 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) phi2))))) into (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))
55.574 * [backup-simplify]: Simplify (+ (* R (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))) (* 0 0)) into (* R (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) phi2))))
55.574 * [backup-simplify]: Simplify (+ 0) into 0
55.575 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
55.575 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
55.575 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
55.575 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
55.576 * [backup-simplify]: Simplify (+ 0 0) into 0
55.576 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (* R (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) phi2))))) (* 0 0)) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R phi2)))))
55.577 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R phi2))))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R phi2)))))) into (+ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R phi2))))) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R phi2))))))
55.577 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R phi2))))) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R phi2))))))) into (- (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))
55.579 * [backup-simplify]: Simplify (+ (+ (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) phi2))) (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) phi2)))) (- (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))) into (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))
55.580 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))) into (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) phi2))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) phi2)))) (+ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R phi2))))) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R phi2))))))))
55.581 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
55.581 * [backup-simplify]: Simplify (+ 0) into 0
55.581 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
55.582 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
55.582 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
55.582 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
55.583 * [backup-simplify]: Simplify (- 0) into 0
55.583 * [backup-simplify]: Simplify (+ 0 0) into 0
55.583 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
55.583 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
55.584 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
55.584 * [backup-simplify]: Simplify (+ 0) into 0
55.584 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
55.584 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
55.585 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
55.585 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
55.585 * [backup-simplify]: Simplify (+ 0 0) into 0
55.586 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
55.586 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 1)) into 0
55.586 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
55.586 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0
55.587 * [backup-simplify]: Simplify (+ (* R 0) (* 0 (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) into 0
55.587 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
55.587 * [backup-simplify]: Simplify (+ 0) into 0
55.588 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
55.588 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
55.588 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
55.589 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
55.589 * [backup-simplify]: Simplify (- 0) into 0
55.589 * [backup-simplify]: Simplify (+ 0 0) into 0
55.589 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
55.590 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 1)) into 0
55.590 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
55.591 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0
55.591 * [backup-simplify]: Simplify (+ (* R 0) (* 0 (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))) into 0
55.592 * [backup-simplify]: Simplify (+ 0 0) into 0
55.592 * [backup-simplify]: Simplify (+ 0) into 0
55.593 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
55.593 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
55.594 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
55.594 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
55.595 * [backup-simplify]: Simplify (+ 0 0) into 0
55.595 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
55.596 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
55.596 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
55.596 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
55.597 * [backup-simplify]: Simplify (+ 0) into 0
55.597 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
55.598 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
55.598 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
55.599 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
55.599 * [backup-simplify]: Simplify (- 0) into 0
55.600 * [backup-simplify]: Simplify (+ 0 0) into 0
55.600 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
55.600 * [backup-simplify]: Simplify (+ (* R 0) (* 0 (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into 0
55.601 * [backup-simplify]: Simplify (+ 0) into 0
55.601 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
55.602 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
55.602 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
55.603 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
55.603 * [backup-simplify]: Simplify (- 0) into 0
55.604 * [backup-simplify]: Simplify (+ 0 0) into 0
55.604 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
55.604 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
55.605 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
55.605 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
55.606 * [backup-simplify]: Simplify (+ 0) into 0
55.606 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
55.607 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
55.608 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
55.608 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
55.608 * [backup-simplify]: Simplify (+ 0 0) into 0
55.609 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
55.609 * [backup-simplify]: Simplify (+ (* R 0) (* 0 (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into 0
55.610 * [backup-simplify]: Simplify (+ 0 0) into 0
55.610 * [backup-simplify]: Simplify (- 0) into 0
55.610 * [backup-simplify]: Simplify (+ 0 0) into 0
55.618 * [backup-simplify]: Simplify (- (/ 0 (- (+ (* R (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))) (* R (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))) (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))))) (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (+ (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R)))) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R))))))) (/ 0 (- (+ (* R (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))) (* R (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))) (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))))))))) into 0
55.622 * [backup-simplify]: Simplify (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) 0) (* 0 (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (+ (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R)))) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R))))))))) into 0
55.624 * [backup-simplify]: Simplify (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (+ (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R)))) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R)))))))) into (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))) (* R (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))) (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))))))
55.627 * [backup-simplify]: Simplify (+ (* 1/2 0) (* 0 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))) (* R (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))) (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))))))))) into 0
55.630 * [backup-simplify]: Simplify (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) phi2))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) phi2)))) (+ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R phi2))))) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R phi2)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))
55.633 * [backup-simplify]: Simplify (* 2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into (* 2 (* (/ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) phi2))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) phi2)))) (+ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R phi2))))) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R phi2)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))
55.633 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
55.633 * [backup-simplify]: Simplify (+ 0) into 0
55.634 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
55.634 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
55.634 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
55.635 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
55.635 * [backup-simplify]: Simplify (+ 0 0) into 0
55.635 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
55.635 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
55.636 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
55.636 * [backup-simplify]: Simplify (+ 0) into 0
55.636 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
55.636 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
55.637 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
55.637 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
55.637 * [backup-simplify]: Simplify (+ 0 0) into 0
55.637 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
55.638 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 1)) into 0
55.638 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
55.638 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0
55.638 * [backup-simplify]: Simplify (+ (* R 0) (* 0 (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) into 0
55.639 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
55.639 * [backup-simplify]: Simplify (+ 0) into 0
55.639 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
55.640 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
55.640 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
55.640 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
55.641 * [backup-simplify]: Simplify (- 0) into 0
55.641 * [backup-simplify]: Simplify (+ 0 0) into 0
55.641 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
55.641 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 1)) into 0
55.641 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
55.642 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0
55.642 * [backup-simplify]: Simplify (+ (* R 0) (* 0 (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))) into 0
55.642 * [backup-simplify]: Simplify (+ 0 0) into 0
55.642 * [backup-simplify]: Simplify (+ 0) into 0
55.643 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
55.643 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
55.643 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
55.644 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
55.644 * [backup-simplify]: Simplify (+ 0 0) into 0
55.644 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
55.644 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
55.645 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
55.645 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
55.645 * [backup-simplify]: Simplify (+ 0) into 0
55.645 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
55.646 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
55.646 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
55.646 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
55.647 * [backup-simplify]: Simplify (- 0) into 0
55.647 * [backup-simplify]: Simplify (+ 0 0) into 0
55.647 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
55.647 * [backup-simplify]: Simplify (+ (* R 0) (* 0 (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into 0
55.647 * [backup-simplify]: Simplify (+ 0) into 0
55.648 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
55.648 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
55.648 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
55.649 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
55.649 * [backup-simplify]: Simplify (- 0) into 0
55.649 * [backup-simplify]: Simplify (+ 0 0) into 0
55.650 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
55.650 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
55.651 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
55.651 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
55.652 * [backup-simplify]: Simplify (+ 0) into 0
55.652 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
55.652 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
55.653 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
55.654 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
55.654 * [backup-simplify]: Simplify (+ 0 0) into 0
55.654 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
55.655 * [backup-simplify]: Simplify (+ (* R 0) (* 0 (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into 0
55.655 * [backup-simplify]: Simplify (+ 0 0) into 0
55.656 * [backup-simplify]: Simplify (- 0) into 0
55.656 * [backup-simplify]: Simplify (+ 0 0) into 0
55.664 * [backup-simplify]: Simplify (- (/ 0 (- (+ (* R (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))) (* R (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))) (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))))) (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (+ (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R)))) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R))))))) (/ 0 (- (+ (* R (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))) (* R (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))) (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))))))))) into 0
55.671 * [backup-simplify]: Simplify (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) 0) (* 0 (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (+ (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R)))) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R))))))))) into 0
55.673 * [backup-simplify]: Simplify (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (+ (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R)))) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R)))))))) into (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))) (* R (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))) (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))))))
55.676 * [backup-simplify]: Simplify (+ (* 1/2 0) (* 0 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))) (* R (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))) (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))))))))) into 0
55.677 * [backup-simplify]: Simplify (+ 0 0) into 0
55.679 * [backup-simplify]: Simplify (+ (* 2 (* (/ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) phi2))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) phi2)))) (+ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R phi2))))) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R phi2)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) 0) into (* 2 (* (/ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))
55.682 * [backup-simplify]: Simplify (+ 0 (* 2 (* (/ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into (* 2 (* (/ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) phi2))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) phi2)))) (+ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R phi2))))) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R phi2)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))
55.683 * [backup-simplify]: Simplify (+ 0) into 0
55.683 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
55.683 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
55.684 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
55.684 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
55.684 * [backup-simplify]: Simplify (- 0) into 0
55.684 * [backup-simplify]: Simplify (+ 0 0) into 0
55.685 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
55.685 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
55.685 * [backup-simplify]: Simplify (+ 0) into 0
55.685 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
55.685 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
55.686 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
55.686 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
55.686 * [backup-simplify]: Simplify (+ 0 0) into 0
55.687 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
55.687 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
55.687 * [backup-simplify]: Simplify (+ 0) into 0
55.688 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
55.688 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
55.688 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
55.688 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
55.689 * [backup-simplify]: Simplify (+ 0 0) into 0
55.689 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
55.689 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 1)) into 0
55.689 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
55.690 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0
55.690 * [backup-simplify]: Simplify (+ (* R 0) (* 0 (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) into 0
55.690 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
55.690 * [backup-simplify]: Simplify (+ 0) into 0
55.691 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
55.691 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
55.691 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
55.692 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
55.692 * [backup-simplify]: Simplify (- 0) into 0
55.692 * [backup-simplify]: Simplify (+ 0 0) into 0
55.692 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
55.693 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 1)) into 0
55.693 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
55.693 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0
55.693 * [backup-simplify]: Simplify (+ (* R 0) (* 0 (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))) into 0
55.693 * [backup-simplify]: Simplify (+ 0 0) into 0
55.694 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
55.694 * [backup-simplify]: Simplify (+ 0) into 0
55.694 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
55.695 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
55.695 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
55.695 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
55.696 * [backup-simplify]: Simplify (+ 0 0) into 0
55.696 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
55.696 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
55.696 * [backup-simplify]: Simplify (+ 0) into 0
55.697 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
55.697 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
55.697 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
55.697 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
55.698 * [backup-simplify]: Simplify (- 0) into 0
55.698 * [backup-simplify]: Simplify (+ 0 0) into 0
55.698 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
55.699 * [backup-simplify]: Simplify (+ (* R 0) (* 0 (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
55.699 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R))))) into 0
55.700 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
55.700 * [backup-simplify]: Simplify (+ 0) into 0
55.701 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
55.701 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
55.702 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
55.702 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
55.703 * [backup-simplify]: Simplify (- 0) into 0
55.703 * [backup-simplify]: Simplify (+ 0 0) into 0
55.704 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
55.704 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
55.704 * [backup-simplify]: Simplify (+ 0) into 0
55.705 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
55.705 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
55.706 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
55.706 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
55.706 * [backup-simplify]: Simplify (+ 0 0) into 0
55.707 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
55.707 * [backup-simplify]: Simplify (+ (* R 0) (* 0 (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
55.708 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R))))) into 0
55.708 * [backup-simplify]: Simplify (+ 0 0) into 0
55.709 * [backup-simplify]: Simplify (- 0) into 0
55.709 * [backup-simplify]: Simplify (+ 0 0) into 0
55.717 * [backup-simplify]: Simplify (- (/ 0 (- (+ (* R (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))) (* R (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))) (+ (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R)))) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R))))))) (+ (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))))) (/ 0 (- (+ (* R (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))) (* R (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))) (+ (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R)))) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R)))))))))) into 0
55.722 * [backup-simplify]: Simplify (+ (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) (* R (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))))) 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
55.727 * [backup-simplify]: Simplify (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (+ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R phi2))))) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R phi2))))))))) into (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) phi2))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) phi2)))) (+ (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))) (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))
55.732 * [backup-simplify]: Simplify (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) phi2))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) phi2)))) (+ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R phi2))))) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R phi2))))))))) into (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))))
55.742 * [backup-simplify]: Simplify (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) phi2))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) phi2)))) (+ (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))) (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))))) into (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) phi2))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) phi2)))) (+ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R phi2))))) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R phi2)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (+ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R phi2))))) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R phi2)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))
55.753 * [backup-simplify]: Simplify (+ 0 (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) phi2))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) phi2)))) (+ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R phi2))))) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R phi2)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (+ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R phi2))))) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R phi2)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))))))) (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) phi2))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) phi2)))) (+ (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))) (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))
55.766 * [backup-simplify]: Simplify (+ 0 (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))))))) (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) phi2))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) phi2)))) (+ (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))) (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) phi2))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) phi2)))) (+ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R phi2))))) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R phi2)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (+ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R phi2))))) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R phi2)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))
55.778 * [backup-simplify]: Simplify (+ 0 (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) phi2))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) phi2)))) (+ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R phi2))))) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R phi2)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (+ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R phi2))))) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R phi2)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))))))) (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) phi2))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) phi2)))) (+ (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))) (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))
55.791 * [backup-simplify]: Simplify (- (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))))))) (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) phi2))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) phi2)))) (+ (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))) (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into (- (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) phi2))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) phi2)))) (+ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R phi2))))) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R phi2)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (+ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R phi2))))) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R phi2)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))
55.801 * [backup-simplify]: Simplify (+ (* 2 (* (/ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) phi2))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) phi2)))) (+ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R phi2))))) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R phi2)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (- (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) phi2))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) phi2)))) (+ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R phi2))))) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R phi2)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (+ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* R phi2))))) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* R phi2)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))) into (- (* 2 (* (/ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))))))) (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) phi2))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) phi2)))) (+ (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))) (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))
55.803 * [taylor]: Taking taylor expansion of (- (* 2 (* (/ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))))))) (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) phi2))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) phi2)))) (+ (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))) (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) in phi2
55.803 * [taylor]: Taking taylor expansion of (* 2 (* (/ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) in phi2
55.803 * [taylor]: Taking taylor expansion of 2 in phi2
55.804 * [backup-simplify]: Simplify 2 into 2
55.804 * [taylor]: Taking taylor expansion of (* (/ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) in phi2
55.804 * [taylor]: Taking taylor expansion of (/ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))) in phi2
55.804 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in phi2
55.804 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
55.804 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
55.804 * [taylor]: Taking taylor expansion of 0.5 in phi2
55.804 * [backup-simplify]: Simplify 0.5 into 0.5
55.804 * [taylor]: Taking taylor expansion of phi2 in phi2
55.804 * [backup-simplify]: Simplify 0 into 0
55.804 * [backup-simplify]: Simplify 1 into 1
55.804 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
55.804 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
55.804 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in phi2
55.804 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
55.804 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
55.804 * [taylor]: Taking taylor expansion of 0.5 in phi2
55.804 * [backup-simplify]: Simplify 0.5 into 0.5
55.804 * [taylor]: Taking taylor expansion of phi1 in phi2
55.804 * [backup-simplify]: Simplify phi1 into phi1
55.805 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
55.805 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
55.805 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
55.805 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in phi2
55.805 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
55.805 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
55.805 * [taylor]: Taking taylor expansion of 0.5 in phi2
55.805 * [backup-simplify]: Simplify 0.5 into 0.5
55.805 * [taylor]: Taking taylor expansion of phi2 in phi2
55.805 * [backup-simplify]: Simplify 0 into 0
55.805 * [backup-simplify]: Simplify 1 into 1
55.805 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
55.805 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
55.805 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
55.805 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
55.805 * [taylor]: Taking taylor expansion of 0.5 in phi2
55.805 * [backup-simplify]: Simplify 0.5 into 0.5
55.805 * [taylor]: Taking taylor expansion of phi1 in phi2
55.805 * [backup-simplify]: Simplify phi1 into phi1
55.805 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
55.805 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
55.805 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
55.805 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))))) in phi2
55.805 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) in phi2
55.805 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))) in phi2
55.806 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi2
55.806 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
55.806 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
55.806 * [taylor]: Taking taylor expansion of 0.5 in phi2
55.806 * [backup-simplify]: Simplify 0.5 into 0.5
55.806 * [taylor]: Taking taylor expansion of phi1 in phi2
55.806 * [backup-simplify]: Simplify phi1 into phi1
55.806 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
55.806 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
55.806 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
55.806 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
55.806 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
55.806 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
55.806 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2)) in phi2
55.806 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi2
55.806 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
55.806 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
55.806 * [taylor]: Taking taylor expansion of 0.5 in phi2
55.806 * [backup-simplify]: Simplify 0.5 into 0.5
55.806 * [taylor]: Taking taylor expansion of phi2 in phi2
55.806 * [backup-simplify]: Simplify 0 into 0
55.806 * [backup-simplify]: Simplify 1 into 1
55.806 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
55.806 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
55.807 * [taylor]: Taking taylor expansion of (* R phi2) in phi2
55.807 * [taylor]: Taking taylor expansion of R in phi2
55.807 * [backup-simplify]: Simplify R into R
55.807 * [taylor]: Taking taylor expansion of phi2 in phi2
55.807 * [backup-simplify]: Simplify 0 into 0
55.807 * [backup-simplify]: Simplify 1 into 1
55.807 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2))) in phi2
55.807 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi2
55.807 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
55.807 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
55.807 * [taylor]: Taking taylor expansion of 0.5 in phi2
55.807 * [backup-simplify]: Simplify 0.5 into 0.5
55.807 * [taylor]: Taking taylor expansion of phi1 in phi2
55.807 * [backup-simplify]: Simplify phi1 into phi1
55.807 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
55.807 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
55.807 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
55.807 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
55.807 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
55.807 * [backup-simplify]: Simplify (- 0) into 0
55.807 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
55.807 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)) in phi2
55.807 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi2
55.807 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
55.807 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
55.807 * [taylor]: Taking taylor expansion of 0.5 in phi2
55.807 * [backup-simplify]: Simplify 0.5 into 0.5
55.807 * [taylor]: Taking taylor expansion of phi2 in phi2
55.807 * [backup-simplify]: Simplify 0 into 0
55.807 * [backup-simplify]: Simplify 1 into 1
55.808 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
55.808 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
55.808 * [taylor]: Taking taylor expansion of (* R phi2) in phi2
55.808 * [taylor]: Taking taylor expansion of R in phi2
55.808 * [backup-simplify]: Simplify R into R
55.808 * [taylor]: Taking taylor expansion of phi2 in phi2
55.808 * [backup-simplify]: Simplify 0 into 0
55.808 * [backup-simplify]: Simplify 1 into 1
55.808 * [taylor]: Taking taylor expansion of (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) in phi2
55.808 * [taylor]: Taking taylor expansion of (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))) in phi2
55.808 * [taylor]: Taking taylor expansion of R in phi2
55.808 * [backup-simplify]: Simplify R into R
55.808 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))) in phi2
55.808 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
55.808 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
55.808 * [taylor]: Taking taylor expansion of 0.5 in phi2
55.808 * [backup-simplify]: Simplify 0.5 into 0.5
55.808 * [taylor]: Taking taylor expansion of phi2 in phi2
55.808 * [backup-simplify]: Simplify 0 into 0
55.808 * [backup-simplify]: Simplify 1 into 1
55.808 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
55.809 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
55.809 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))) in phi2
55.809 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
55.809 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
55.809 * [taylor]: Taking taylor expansion of 0.5 in phi2
55.809 * [backup-simplify]: Simplify 0.5 into 0.5
55.809 * [taylor]: Taking taylor expansion of phi1 in phi2
55.809 * [backup-simplify]: Simplify phi1 into phi1
55.809 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
55.809 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
55.809 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
55.809 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)) in phi2
55.809 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
55.809 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
55.809 * [taylor]: Taking taylor expansion of 0.5 in phi2
55.809 * [backup-simplify]: Simplify 0.5 into 0.5
55.809 * [taylor]: Taking taylor expansion of phi2 in phi2
55.809 * [backup-simplify]: Simplify 0 into 0
55.809 * [backup-simplify]: Simplify 1 into 1
55.809 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
55.809 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
55.809 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) phi2) in phi2
55.809 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
55.809 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
55.809 * [taylor]: Taking taylor expansion of 0.5 in phi2
55.809 * [backup-simplify]: Simplify 0.5 into 0.5
55.809 * [taylor]: Taking taylor expansion of phi1 in phi2
55.809 * [backup-simplify]: Simplify phi1 into phi1
55.809 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
55.809 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
55.810 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
55.810 * [taylor]: Taking taylor expansion of phi2 in phi2
55.810 * [backup-simplify]: Simplify 0 into 0
55.810 * [backup-simplify]: Simplify 1 into 1
55.810 * [taylor]: Taking taylor expansion of (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))) in phi2
55.810 * [taylor]: Taking taylor expansion of R in phi2
55.810 * [backup-simplify]: Simplify R into R
55.810 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))) in phi2
55.810 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
55.810 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
55.810 * [taylor]: Taking taylor expansion of 0.5 in phi2
55.810 * [backup-simplify]: Simplify 0.5 into 0.5
55.810 * [taylor]: Taking taylor expansion of phi2 in phi2
55.810 * [backup-simplify]: Simplify 0 into 0
55.810 * [backup-simplify]: Simplify 1 into 1
55.810 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
55.810 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
55.810 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))) in phi2
55.810 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
55.810 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
55.810 * [taylor]: Taking taylor expansion of 0.5 in phi2
55.810 * [backup-simplify]: Simplify 0.5 into 0.5
55.810 * [taylor]: Taking taylor expansion of phi1 in phi2
55.810 * [backup-simplify]: Simplify phi1 into phi1
55.810 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
55.810 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
55.810 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
55.810 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)) in phi2
55.810 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
55.810 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
55.810 * [taylor]: Taking taylor expansion of 0.5 in phi2
55.810 * [backup-simplify]: Simplify 0.5 into 0.5
55.811 * [taylor]: Taking taylor expansion of phi2 in phi2
55.811 * [backup-simplify]: Simplify 0 into 0
55.811 * [backup-simplify]: Simplify 1 into 1
55.811 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
55.811 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
55.811 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) phi2) in phi2
55.811 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
55.811 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
55.811 * [taylor]: Taking taylor expansion of 0.5 in phi2
55.811 * [backup-simplify]: Simplify 0.5 into 0.5
55.811 * [taylor]: Taking taylor expansion of phi1 in phi2
55.811 * [backup-simplify]: Simplify phi1 into phi1
55.811 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
55.811 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
55.811 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
55.811 * [taylor]: Taking taylor expansion of phi2 in phi2
55.811 * [backup-simplify]: Simplify 0 into 0
55.811 * [backup-simplify]: Simplify 1 into 1
55.811 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
55.811 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
55.811 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
55.811 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
55.812 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
55.812 * [backup-simplify]: Simplify (- 0) into 0
55.812 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
55.812 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
55.812 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
55.812 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
55.812 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
55.812 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
55.812 * [backup-simplify]: Simplify (* R 0) into 0
55.813 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) 0) into 0
55.813 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) 0) into 0
55.813 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
55.813 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
55.813 * [backup-simplify]: Simplify (* R 0) into 0
55.813 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) 0) into 0
55.813 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) 0) into 0
55.813 * [backup-simplify]: Simplify (+ 0 0) into 0
55.814 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
55.814 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
55.814 * [backup-simplify]: Simplify (- 0) into 0
55.814 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
55.814 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
55.814 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
55.814 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
55.814 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
55.814 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
55.814 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
55.814 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
55.814 * [backup-simplify]: Simplify (* R 0) into 0
55.814 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
55.814 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
55.815 * [backup-simplify]: Simplify (- 0) into 0
55.815 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
55.815 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
55.815 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
55.815 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
55.815 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
55.815 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
55.815 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
55.815 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
55.815 * [backup-simplify]: Simplify (* R 0) into 0
55.816 * [backup-simplify]: Simplify (+ 0 0) into 0
55.816 * [backup-simplify]: Simplify (- 0) into 0
55.816 * [backup-simplify]: Simplify (+ 0 0) into 0
55.816 * [backup-simplify]: Simplify (+ (* R 1) (* 0 0)) into R
55.816 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
55.817 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) R) (* 0 0)) into (* (pow (sin (/ 0.5 phi2)) 2) R)
55.817 * [backup-simplify]: Simplify (+ 0) into 0
55.817 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
55.817 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
55.818 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
55.818 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
55.818 * [backup-simplify]: Simplify (+ 0 0) into 0
55.819 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
55.819 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)) (* 0 0)) into (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R))
55.819 * [backup-simplify]: Simplify (+ (* R 1) (* 0 0)) into R
55.819 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
55.820 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) R) (* 0 0)) into (* (pow (cos (/ 0.5 phi2)) 2) R)
55.820 * [backup-simplify]: Simplify (+ 0) into 0
55.820 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
55.821 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
55.821 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
55.821 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
55.822 * [backup-simplify]: Simplify (- 0) into 0
55.822 * [backup-simplify]: Simplify (+ 0 0) into 0
55.822 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
55.823 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R)) (* 0 0)) into (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))
55.824 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) into (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R)))
55.825 * [backup-simplify]: Simplify (+ 0) into 0
55.825 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
55.825 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
55.826 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
55.827 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
55.827 * [backup-simplify]: Simplify (+ 0 0) into 0
55.827 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 1) (* 0 0)) into (sin (/ 0.5 phi1))
55.828 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) (* 0 0)) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
55.829 * [backup-simplify]: Simplify (+ 0) into 0
55.829 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
55.829 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
55.830 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
55.831 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
55.831 * [backup-simplify]: Simplify (- 0) into 0
55.831 * [backup-simplify]: Simplify (+ 0 0) into 0
55.832 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) (* 0 0)) into (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
55.833 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* 0 0)) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
55.834 * [backup-simplify]: Simplify (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) (* 0 0)) into (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))
55.835 * [backup-simplify]: Simplify (+ 0) into 0
55.835 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
55.835 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
55.836 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
55.837 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
55.837 * [backup-simplify]: Simplify (+ 0 0) into 0
55.837 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 1) (* 0 0)) into (sin (/ 0.5 phi1))
55.838 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) (* 0 0)) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
55.838 * [backup-simplify]: Simplify (+ 0) into 0
55.839 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
55.839 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
55.840 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
55.840 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
55.841 * [backup-simplify]: Simplify (- 0) into 0
55.841 * [backup-simplify]: Simplify (+ 0 0) into 0
55.842 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) (* 0 0)) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
55.843 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* 0 0)) into (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
55.844 * [backup-simplify]: Simplify (+ (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) (* 0 0)) into (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))
55.845 * [backup-simplify]: Simplify (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
55.846 * [backup-simplify]: Simplify (- (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R)))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R))))))
55.848 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (- (+ (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R)))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R))))))) into (- (+ (* R (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))) (* R (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))) (+ (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R)))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R))))))
55.851 * [backup-simplify]: Simplify (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* R (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))) (* R (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))) (+ (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R)))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R))))))) into (/ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
55.851 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in phi2
55.851 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in phi2
55.851 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in phi2
55.851 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in phi2
55.851 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in phi2
55.851 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi2
55.851 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
55.851 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
55.851 * [taylor]: Taking taylor expansion of 0.5 in phi2
55.851 * [backup-simplify]: Simplify 0.5 into 0.5
55.851 * [taylor]: Taking taylor expansion of phi2 in phi2
55.851 * [backup-simplify]: Simplify 0 into 0
55.851 * [backup-simplify]: Simplify 1 into 1
55.852 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
55.852 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
55.852 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi2
55.852 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
55.852 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
55.852 * [taylor]: Taking taylor expansion of 0.5 in phi2
55.852 * [backup-simplify]: Simplify 0.5 into 0.5
55.852 * [taylor]: Taking taylor expansion of phi1 in phi2
55.852 * [backup-simplify]: Simplify phi1 into phi1
55.852 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
55.852 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
55.853 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
55.853 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
55.853 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
55.853 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
55.853 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in phi2
55.853 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi2
55.853 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
55.853 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
55.853 * [taylor]: Taking taylor expansion of 0.5 in phi2
55.853 * [backup-simplify]: Simplify 0.5 into 0.5
55.853 * [taylor]: Taking taylor expansion of phi2 in phi2
55.853 * [backup-simplify]: Simplify 0 into 0
55.853 * [backup-simplify]: Simplify 1 into 1
55.854 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
55.854 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
55.854 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi2
55.854 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
55.854 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
55.854 * [taylor]: Taking taylor expansion of 0.5 in phi2
55.854 * [backup-simplify]: Simplify 0.5 into 0.5
55.854 * [taylor]: Taking taylor expansion of phi1 in phi2
55.854 * [backup-simplify]: Simplify phi1 into phi1
55.854 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
55.854 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
55.854 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
55.854 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
55.854 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
55.855 * [backup-simplify]: Simplify (- 0) into 0
55.855 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
55.855 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in phi2
55.855 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in phi2
55.855 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
55.855 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
55.855 * [taylor]: Taking taylor expansion of 0.5 in phi2
55.855 * [backup-simplify]: Simplify 0.5 into 0.5
55.855 * [taylor]: Taking taylor expansion of phi2 in phi2
55.855 * [backup-simplify]: Simplify 0 into 0
55.855 * [backup-simplify]: Simplify 1 into 1
55.856 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
55.856 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
55.856 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in phi2
55.856 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
55.856 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
55.856 * [taylor]: Taking taylor expansion of 0.5 in phi2
55.856 * [backup-simplify]: Simplify 0.5 into 0.5
55.856 * [taylor]: Taking taylor expansion of phi1 in phi2
55.856 * [backup-simplify]: Simplify phi1 into phi1
55.856 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
55.856 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
55.856 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
55.856 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in phi2
55.857 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
55.857 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
55.857 * [taylor]: Taking taylor expansion of 0.5 in phi2
55.857 * [backup-simplify]: Simplify 0.5 into 0.5
55.857 * [taylor]: Taking taylor expansion of phi2 in phi2
55.857 * [backup-simplify]: Simplify 0 into 0
55.857 * [backup-simplify]: Simplify 1 into 1
55.857 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
55.857 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
55.857 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
55.857 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
55.857 * [taylor]: Taking taylor expansion of 0.5 in phi2
55.857 * [backup-simplify]: Simplify 0.5 into 0.5
55.857 * [taylor]: Taking taylor expansion of phi1 in phi2
55.857 * [backup-simplify]: Simplify phi1 into phi1
55.857 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
55.858 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
55.858 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
55.858 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in phi2
55.858 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
55.858 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
55.858 * [taylor]: Taking taylor expansion of 0.5 in phi2
55.858 * [backup-simplify]: Simplify 0.5 into 0.5
55.858 * [taylor]: Taking taylor expansion of phi2 in phi2
55.858 * [backup-simplify]: Simplify 0 into 0
55.858 * [backup-simplify]: Simplify 1 into 1
55.858 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
55.858 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
55.859 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in phi2
55.859 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
55.859 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
55.859 * [taylor]: Taking taylor expansion of 0.5 in phi2
55.859 * [backup-simplify]: Simplify 0.5 into 0.5
55.859 * [taylor]: Taking taylor expansion of phi1 in phi2
55.859 * [backup-simplify]: Simplify phi1 into phi1
55.859 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
55.859 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
55.859 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
55.859 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in phi2
55.859 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
55.859 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
55.859 * [taylor]: Taking taylor expansion of 0.5 in phi2
55.859 * [backup-simplify]: Simplify 0.5 into 0.5
55.859 * [taylor]: Taking taylor expansion of phi2 in phi2
55.859 * [backup-simplify]: Simplify 0 into 0
55.859 * [backup-simplify]: Simplify 1 into 1
55.860 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
55.860 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
55.860 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
55.860 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
55.860 * [taylor]: Taking taylor expansion of 0.5 in phi2
55.860 * [backup-simplify]: Simplify 0.5 into 0.5
55.860 * [taylor]: Taking taylor expansion of phi1 in phi2
55.860 * [backup-simplify]: Simplify phi1 into phi1
55.860 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
55.860 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
55.860 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
55.860 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
55.861 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
55.861 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
55.861 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
55.861 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
55.862 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
55.862 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
55.863 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
55.863 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
55.863 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
55.863 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
55.863 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
55.863 * [backup-simplify]: Simplify (- 0) into 0
55.864 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
55.864 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
55.864 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
55.864 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
55.864 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
55.864 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
55.865 * [backup-simplify]: Simplify (- 0) into 0
55.865 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
55.865 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
55.865 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
55.865 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
55.865 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
55.866 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
55.866 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
55.867 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))
55.868 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
55.869 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
55.871 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
55.873 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
55.874 * [backup-simplify]: Simplify (+ 0) into 0
55.875 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
55.875 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
55.876 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
55.876 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
55.877 * [backup-simplify]: Simplify (+ 0 0) into 0
55.877 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
55.877 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
55.877 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
55.878 * [backup-simplify]: Simplify (+ 0) into 0
55.878 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
55.879 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
55.879 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
55.880 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
55.880 * [backup-simplify]: Simplify (- 0) into 0
55.881 * [backup-simplify]: Simplify (+ 0 0) into 0
55.881 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
55.881 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
55.881 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
55.882 * [backup-simplify]: Simplify (+ 0 0) into 0
55.882 * [backup-simplify]: Simplify (+ 0) into 0
55.882 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
55.882 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
55.883 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
55.883 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
55.883 * [backup-simplify]: Simplify (- 0) into 0
55.884 * [backup-simplify]: Simplify (+ 0 0) into 0
55.884 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
55.884 * [backup-simplify]: Simplify (+ 0) into 0
55.884 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
55.884 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
55.885 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
55.885 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
55.885 * [backup-simplify]: Simplify (+ 0 0) into 0
55.886 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
55.886 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
55.886 * [backup-simplify]: Simplify (+ 0) into 0
55.886 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
55.886 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
55.887 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
55.887 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
55.887 * [backup-simplify]: Simplify (+ 0 0) into 0
55.888 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
55.888 * [backup-simplify]: Simplify (+ 0) into 0
55.888 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
55.888 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
55.889 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
55.889 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
55.889 * [backup-simplify]: Simplify (- 0) into 0
55.890 * [backup-simplify]: Simplify (+ 0 0) into 0
55.890 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
55.890 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
55.890 * [backup-simplify]: Simplify (+ 0 0) into 0
55.890 * [backup-simplify]: Simplify (- 0) into 0
55.891 * [backup-simplify]: Simplify (+ 0 0) into 0
55.893 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
55.894 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
55.894 * [taylor]: Taking taylor expansion of (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))))))) (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) phi2))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) phi2)))) (+ (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))) (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) in phi2
55.894 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))))))) in phi2
55.894 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in phi2
55.894 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in phi2
55.894 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in phi2
55.894 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in phi2
55.894 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in phi2
55.894 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi2
55.894 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
55.894 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
55.894 * [taylor]: Taking taylor expansion of 0.5 in phi2
55.894 * [backup-simplify]: Simplify 0.5 into 0.5
55.894 * [taylor]: Taking taylor expansion of phi2 in phi2
55.894 * [backup-simplify]: Simplify 0 into 0
55.894 * [backup-simplify]: Simplify 1 into 1
55.895 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
55.895 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
55.895 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi2
55.895 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
55.895 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
55.895 * [taylor]: Taking taylor expansion of 0.5 in phi2
55.895 * [backup-simplify]: Simplify 0.5 into 0.5
55.895 * [taylor]: Taking taylor expansion of phi1 in phi2
55.895 * [backup-simplify]: Simplify phi1 into phi1
55.895 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
55.895 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
55.895 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
55.895 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
55.895 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
55.895 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
55.895 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in phi2
55.895 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi2
55.895 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
55.895 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
55.895 * [taylor]: Taking taylor expansion of 0.5 in phi2
55.895 * [backup-simplify]: Simplify 0.5 into 0.5
55.895 * [taylor]: Taking taylor expansion of phi2 in phi2
55.895 * [backup-simplify]: Simplify 0 into 0
55.895 * [backup-simplify]: Simplify 1 into 1
55.896 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
55.896 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
55.896 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi2
55.896 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
55.896 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
55.896 * [taylor]: Taking taylor expansion of 0.5 in phi2
55.896 * [backup-simplify]: Simplify 0.5 into 0.5
55.896 * [taylor]: Taking taylor expansion of phi1 in phi2
55.896 * [backup-simplify]: Simplify phi1 into phi1
55.896 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
55.896 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
55.896 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
55.896 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
55.896 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
55.896 * [backup-simplify]: Simplify (- 0) into 0
55.896 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
55.896 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in phi2
55.896 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in phi2
55.896 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
55.897 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
55.897 * [taylor]: Taking taylor expansion of 0.5 in phi2
55.897 * [backup-simplify]: Simplify 0.5 into 0.5
55.897 * [taylor]: Taking taylor expansion of phi2 in phi2
55.897 * [backup-simplify]: Simplify 0 into 0
55.897 * [backup-simplify]: Simplify 1 into 1
55.897 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
55.897 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
55.897 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in phi2
55.897 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
55.897 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
55.897 * [taylor]: Taking taylor expansion of 0.5 in phi2
55.897 * [backup-simplify]: Simplify 0.5 into 0.5
55.897 * [taylor]: Taking taylor expansion of phi1 in phi2
55.897 * [backup-simplify]: Simplify phi1 into phi1
55.897 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
55.897 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
55.897 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
55.897 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in phi2
55.897 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
55.897 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
55.897 * [taylor]: Taking taylor expansion of 0.5 in phi2
55.897 * [backup-simplify]: Simplify 0.5 into 0.5
55.897 * [taylor]: Taking taylor expansion of phi2 in phi2
55.897 * [backup-simplify]: Simplify 0 into 0
55.897 * [backup-simplify]: Simplify 1 into 1
55.898 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
55.898 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
55.898 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
55.898 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
55.898 * [taylor]: Taking taylor expansion of 0.5 in phi2
55.898 * [backup-simplify]: Simplify 0.5 into 0.5
55.898 * [taylor]: Taking taylor expansion of phi1 in phi2
55.898 * [backup-simplify]: Simplify phi1 into phi1
55.898 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
55.898 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
55.898 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
55.898 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in phi2
55.898 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
55.898 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
55.898 * [taylor]: Taking taylor expansion of 0.5 in phi2
55.898 * [backup-simplify]: Simplify 0.5 into 0.5
55.898 * [taylor]: Taking taylor expansion of phi2 in phi2
55.898 * [backup-simplify]: Simplify 0 into 0
55.898 * [backup-simplify]: Simplify 1 into 1
55.898 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
55.898 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
55.898 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in phi2
55.899 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
55.899 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
55.899 * [taylor]: Taking taylor expansion of 0.5 in phi2
55.899 * [backup-simplify]: Simplify 0.5 into 0.5
55.899 * [taylor]: Taking taylor expansion of phi1 in phi2
55.899 * [backup-simplify]: Simplify phi1 into phi1
55.899 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
55.899 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
55.899 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
55.899 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in phi2
55.899 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
55.899 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
55.899 * [taylor]: Taking taylor expansion of 0.5 in phi2
55.899 * [backup-simplify]: Simplify 0.5 into 0.5
55.899 * [taylor]: Taking taylor expansion of phi2 in phi2
55.899 * [backup-simplify]: Simplify 0 into 0
55.899 * [backup-simplify]: Simplify 1 into 1
55.899 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
55.899 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
55.899 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
55.899 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
55.899 * [taylor]: Taking taylor expansion of 0.5 in phi2
55.899 * [backup-simplify]: Simplify 0.5 into 0.5
55.899 * [taylor]: Taking taylor expansion of phi1 in phi2
55.899 * [backup-simplify]: Simplify phi1 into phi1
55.899 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
55.899 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
55.899 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
55.900 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
55.900 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
55.900 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
55.900 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
55.900 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
55.900 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
55.901 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
55.901 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
55.901 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
55.901 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
55.901 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
55.901 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
55.901 * [backup-simplify]: Simplify (- 0) into 0
55.901 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
55.901 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
55.902 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
55.902 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
55.902 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
55.902 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
55.902 * [backup-simplify]: Simplify (- 0) into 0
55.902 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
55.902 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
55.902 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
55.902 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
55.902 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
55.903 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
55.903 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
55.903 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))
55.904 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
55.905 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
55.906 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
55.908 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
55.908 * [backup-simplify]: Simplify (+ 0) into 0
55.909 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
55.909 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
55.910 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
55.911 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
55.911 * [backup-simplify]: Simplify (+ 0 0) into 0
55.911 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
55.911 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
55.912 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
55.912 * [backup-simplify]: Simplify (+ 0) into 0
55.913 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
55.913 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
55.914 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
55.914 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
55.915 * [backup-simplify]: Simplify (- 0) into 0
55.915 * [backup-simplify]: Simplify (+ 0 0) into 0
55.915 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
55.915 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
55.916 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
55.916 * [backup-simplify]: Simplify (+ 0 0) into 0
55.917 * [backup-simplify]: Simplify (+ 0) into 0
55.917 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
55.918 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
55.918 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
55.919 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
55.919 * [backup-simplify]: Simplify (- 0) into 0
55.920 * [backup-simplify]: Simplify (+ 0 0) into 0
55.920 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
55.920 * [backup-simplify]: Simplify (+ 0) into 0
55.921 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
55.921 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
55.922 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
55.922 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
55.922 * [backup-simplify]: Simplify (+ 0 0) into 0
55.923 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
55.923 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
55.923 * [backup-simplify]: Simplify (+ 0) into 0
55.924 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
55.924 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
55.925 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
55.925 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
55.926 * [backup-simplify]: Simplify (+ 0 0) into 0
55.926 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
55.926 * [backup-simplify]: Simplify (+ 0) into 0
55.927 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
55.927 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
55.928 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
55.928 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
55.929 * [backup-simplify]: Simplify (- 0) into 0
55.929 * [backup-simplify]: Simplify (+ 0 0) into 0
55.929 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
55.930 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
55.930 * [backup-simplify]: Simplify (+ 0 0) into 0
55.930 * [backup-simplify]: Simplify (- 0) into 0
55.931 * [backup-simplify]: Simplify (+ 0 0) into 0
55.935 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
55.937 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
55.937 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))) in phi2
55.937 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in phi2
55.937 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi2
55.937 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
55.937 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
55.937 * [taylor]: Taking taylor expansion of 0.5 in phi2
55.937 * [backup-simplify]: Simplify 0.5 into 0.5
55.937 * [taylor]: Taking taylor expansion of phi2 in phi2
55.937 * [backup-simplify]: Simplify 0 into 0
55.937 * [backup-simplify]: Simplify 1 into 1
55.938 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
55.938 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
55.938 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi2
55.938 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
55.938 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
55.938 * [taylor]: Taking taylor expansion of 0.5 in phi2
55.938 * [backup-simplify]: Simplify 0.5 into 0.5
55.938 * [taylor]: Taking taylor expansion of phi1 in phi2
55.938 * [backup-simplify]: Simplify phi1 into phi1
55.938 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
55.938 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
55.938 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
55.939 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
55.939 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
55.939 * [backup-simplify]: Simplify (- 0) into 0
55.939 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
55.940 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))))) in phi2
55.940 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)))) in phi2
55.940 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2))) in phi2
55.940 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi2
55.940 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
55.940 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
55.940 * [taylor]: Taking taylor expansion of 0.5 in phi2
55.940 * [backup-simplify]: Simplify 0.5 into 0.5
55.940 * [taylor]: Taking taylor expansion of phi1 in phi2
55.940 * [backup-simplify]: Simplify phi1 into phi1
55.940 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
55.940 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
55.940 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
55.940 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
55.940 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
55.940 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
55.941 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (* R phi2)) in phi2
55.941 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi2
55.941 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
55.941 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
55.941 * [taylor]: Taking taylor expansion of 0.5 in phi2
55.941 * [backup-simplify]: Simplify 0.5 into 0.5
55.941 * [taylor]: Taking taylor expansion of phi2 in phi2
55.941 * [backup-simplify]: Simplify 0 into 0
55.941 * [backup-simplify]: Simplify 1 into 1
55.941 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
55.941 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
55.941 * [taylor]: Taking taylor expansion of (* R phi2) in phi2
55.941 * [taylor]: Taking taylor expansion of R in phi2
55.942 * [backup-simplify]: Simplify R into R
55.942 * [taylor]: Taking taylor expansion of phi2 in phi2
55.942 * [backup-simplify]: Simplify 0 into 0
55.942 * [backup-simplify]: Simplify 1 into 1
55.942 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2))) in phi2
55.942 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi2
55.942 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
55.942 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
55.942 * [taylor]: Taking taylor expansion of 0.5 in phi2
55.942 * [backup-simplify]: Simplify 0.5 into 0.5
55.942 * [taylor]: Taking taylor expansion of phi1 in phi2
55.942 * [backup-simplify]: Simplify phi1 into phi1
55.942 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
55.942 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
55.942 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
55.942 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
55.942 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
55.943 * [backup-simplify]: Simplify (- 0) into 0
55.943 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
55.943 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (* R phi2)) in phi2
55.943 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi2
55.943 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
55.943 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
55.943 * [taylor]: Taking taylor expansion of 0.5 in phi2
55.943 * [backup-simplify]: Simplify 0.5 into 0.5
55.943 * [taylor]: Taking taylor expansion of phi2 in phi2
55.943 * [backup-simplify]: Simplify 0 into 0
55.943 * [backup-simplify]: Simplify 1 into 1
55.944 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
55.944 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
55.944 * [taylor]: Taking taylor expansion of (* R phi2) in phi2
55.944 * [taylor]: Taking taylor expansion of R in phi2
55.944 * [backup-simplify]: Simplify R into R
55.944 * [taylor]: Taking taylor expansion of phi2 in phi2
55.944 * [backup-simplify]: Simplify 0 into 0
55.944 * [backup-simplify]: Simplify 1 into 1
55.944 * [taylor]: Taking taylor expansion of (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) in phi2
55.944 * [taylor]: Taking taylor expansion of (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))) in phi2
55.944 * [taylor]: Taking taylor expansion of R in phi2
55.944 * [backup-simplify]: Simplify R into R
55.944 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))) in phi2
55.944 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
55.944 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
55.944 * [taylor]: Taking taylor expansion of 0.5 in phi2
55.944 * [backup-simplify]: Simplify 0.5 into 0.5
55.944 * [taylor]: Taking taylor expansion of phi2 in phi2
55.944 * [backup-simplify]: Simplify 0 into 0
55.944 * [backup-simplify]: Simplify 1 into 1
55.945 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
55.945 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
55.945 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))) in phi2
55.945 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
55.945 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
55.945 * [taylor]: Taking taylor expansion of 0.5 in phi2
55.945 * [backup-simplify]: Simplify 0.5 into 0.5
55.945 * [taylor]: Taking taylor expansion of phi1 in phi2
55.945 * [backup-simplify]: Simplify phi1 into phi1
55.945 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
55.945 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
55.945 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
55.945 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)) in phi2
55.945 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
55.945 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
55.945 * [taylor]: Taking taylor expansion of 0.5 in phi2
55.946 * [backup-simplify]: Simplify 0.5 into 0.5
55.946 * [taylor]: Taking taylor expansion of phi2 in phi2
55.946 * [backup-simplify]: Simplify 0 into 0
55.946 * [backup-simplify]: Simplify 1 into 1
55.946 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
55.946 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
55.946 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) phi2) in phi2
55.946 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
55.946 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
55.946 * [taylor]: Taking taylor expansion of 0.5 in phi2
55.946 * [backup-simplify]: Simplify 0.5 into 0.5
55.946 * [taylor]: Taking taylor expansion of phi1 in phi2
55.946 * [backup-simplify]: Simplify phi1 into phi1
55.946 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
55.947 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
55.947 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
55.947 * [taylor]: Taking taylor expansion of phi2 in phi2
55.947 * [backup-simplify]: Simplify 0 into 0
55.947 * [backup-simplify]: Simplify 1 into 1
55.947 * [taylor]: Taking taylor expansion of (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))) in phi2
55.947 * [taylor]: Taking taylor expansion of R in phi2
55.947 * [backup-simplify]: Simplify R into R
55.947 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))) in phi2
55.947 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
55.947 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
55.947 * [taylor]: Taking taylor expansion of 0.5 in phi2
55.947 * [backup-simplify]: Simplify 0.5 into 0.5
55.947 * [taylor]: Taking taylor expansion of phi2 in phi2
55.947 * [backup-simplify]: Simplify 0 into 0
55.947 * [backup-simplify]: Simplify 1 into 1
55.948 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
55.948 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
55.948 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))) in phi2
55.948 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
55.948 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
55.948 * [taylor]: Taking taylor expansion of 0.5 in phi2
55.948 * [backup-simplify]: Simplify 0.5 into 0.5
55.948 * [taylor]: Taking taylor expansion of phi1 in phi2
55.948 * [backup-simplify]: Simplify phi1 into phi1
55.948 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
55.948 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
55.948 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
55.948 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)) in phi2
55.948 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
55.948 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
55.948 * [taylor]: Taking taylor expansion of 0.5 in phi2
55.948 * [backup-simplify]: Simplify 0.5 into 0.5
55.948 * [taylor]: Taking taylor expansion of phi2 in phi2
55.948 * [backup-simplify]: Simplify 0 into 0
55.948 * [backup-simplify]: Simplify 1 into 1
55.949 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
55.949 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
55.949 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) phi2) in phi2
55.949 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
55.949 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
55.949 * [taylor]: Taking taylor expansion of 0.5 in phi2
55.949 * [backup-simplify]: Simplify 0.5 into 0.5
55.949 * [taylor]: Taking taylor expansion of phi1 in phi2
55.949 * [backup-simplify]: Simplify phi1 into phi1
55.949 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
55.949 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
55.949 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
55.949 * [taylor]: Taking taylor expansion of phi2 in phi2
55.949 * [backup-simplify]: Simplify 0 into 0
55.950 * [backup-simplify]: Simplify 1 into 1
55.950 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
55.950 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
55.950 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
55.950 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
55.951 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
55.951 * [backup-simplify]: Simplify (* R 0) into 0
55.951 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) 0) into 0
55.951 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) 0) into 0
55.951 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
55.951 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
55.951 * [backup-simplify]: Simplify (* R 0) into 0
55.952 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) 0) into 0
55.952 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) 0) into 0
55.955 * [backup-simplify]: Simplify (+ 0 0) into 0
55.955 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
55.955 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
55.956 * [backup-simplify]: Simplify (- 0) into 0
55.956 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
55.956 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
55.956 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
55.957 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
55.957 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
55.957 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
55.957 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
55.957 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
55.957 * [backup-simplify]: Simplify (* R 0) into 0
55.957 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
55.957 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
55.958 * [backup-simplify]: Simplify (- 0) into 0
55.958 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
55.958 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
55.958 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
55.958 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
55.958 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
55.958 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
55.958 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
55.959 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
55.959 * [backup-simplify]: Simplify (* R 0) into 0
55.959 * [backup-simplify]: Simplify (+ 0 0) into 0
55.959 * [backup-simplify]: Simplify (- 0) into 0
55.960 * [backup-simplify]: Simplify (+ 0 0) into 0
55.960 * [backup-simplify]: Simplify (+ (* R 1) (* 0 0)) into R
55.960 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
55.961 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) R) (* 0 0)) into (* (pow (sin (/ 0.5 phi2)) 2) R)
55.961 * [backup-simplify]: Simplify (+ 0) into 0
55.962 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
55.962 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
55.963 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
55.964 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
55.964 * [backup-simplify]: Simplify (+ 0 0) into 0
55.965 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
55.965 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)) (* 0 0)) into (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R))
55.966 * [backup-simplify]: Simplify (+ (* R 1) (* 0 0)) into R
55.966 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
55.966 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) R) (* 0 0)) into (* (pow (cos (/ 0.5 phi2)) 2) R)
55.967 * [backup-simplify]: Simplify (+ 0) into 0
55.967 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
55.967 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
55.968 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
55.968 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
55.968 * [backup-simplify]: Simplify (- 0) into 0
55.968 * [backup-simplify]: Simplify (+ 0 0) into 0
55.969 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
55.969 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R)) (* 0 0)) into (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))
55.970 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) into (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R)))
55.970 * [backup-simplify]: Simplify (+ 0) into 0
55.970 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
55.970 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
55.971 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
55.971 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
55.971 * [backup-simplify]: Simplify (+ 0 0) into 0
55.972 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 1) (* 0 0)) into (sin (/ 0.5 phi1))
55.972 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) (* 0 0)) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
55.972 * [backup-simplify]: Simplify (+ 0) into 0
55.973 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
55.973 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
55.973 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
55.973 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
55.974 * [backup-simplify]: Simplify (- 0) into 0
55.974 * [backup-simplify]: Simplify (+ 0 0) into 0
55.974 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) (* 0 0)) into (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
55.975 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* 0 0)) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
55.975 * [backup-simplify]: Simplify (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) (* 0 0)) into (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))
55.975 * [backup-simplify]: Simplify (+ 0) into 0
55.976 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
55.976 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
55.976 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
55.977 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
55.977 * [backup-simplify]: Simplify (+ 0 0) into 0
55.977 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 1) (* 0 0)) into (sin (/ 0.5 phi1))
55.977 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) (* 0 0)) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
55.978 * [backup-simplify]: Simplify (+ 0) into 0
55.978 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
55.978 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
55.979 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
55.979 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
55.979 * [backup-simplify]: Simplify (- 0) into 0
55.979 * [backup-simplify]: Simplify (+ 0 0) into 0
55.980 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) (* 0 0)) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
55.980 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* 0 0)) into (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
55.981 * [backup-simplify]: Simplify (+ (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) (* 0 0)) into (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))
55.981 * [backup-simplify]: Simplify (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
55.982 * [backup-simplify]: Simplify (- (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R)))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R))))))
55.983 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (- (+ (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R)))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R))))))) into (- (+ (* R (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))) (* R (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))) (+ (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R)))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R))))))
55.984 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))) (* R (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))) (+ (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R)))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R))))))) into (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
55.984 * [taylor]: Taking taylor expansion of (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) phi2))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) phi2)))) (+ (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))) (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) in phi2
55.984 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) phi2))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) phi2)))) (+ (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))) (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))))) in phi2
55.984 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in phi2
55.984 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi2
55.984 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
55.984 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
55.984 * [taylor]: Taking taylor expansion of 0.5 in phi2
55.984 * [backup-simplify]: Simplify 0.5 into 0.5
55.984 * [taylor]: Taking taylor expansion of phi2 in phi2
55.985 * [backup-simplify]: Simplify 0 into 0
55.985 * [backup-simplify]: Simplify 1 into 1
55.985 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
55.985 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
55.985 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi2
55.985 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
55.985 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
55.985 * [taylor]: Taking taylor expansion of 0.5 in phi2
55.985 * [backup-simplify]: Simplify 0.5 into 0.5
55.985 * [taylor]: Taking taylor expansion of phi1 in phi2
55.985 * [backup-simplify]: Simplify phi1 into phi1
55.985 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
55.985 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
55.985 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
55.985 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
55.985 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
55.985 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
55.985 * [taylor]: Taking taylor expansion of (- (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) phi2))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) phi2)))) (+ (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))) (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))))) in phi2
55.986 * [taylor]: Taking taylor expansion of (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) phi2))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) phi2)))) in phi2
55.986 * [taylor]: Taking taylor expansion of (* R (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) phi2))) in phi2
55.986 * [taylor]: Taking taylor expansion of R in phi2
55.986 * [backup-simplify]: Simplify R into R
55.986 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) phi2)) in phi2
55.986 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi2
55.986 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
55.986 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
55.986 * [taylor]: Taking taylor expansion of 0.5 in phi2
55.986 * [backup-simplify]: Simplify 0.5 into 0.5
55.986 * [taylor]: Taking taylor expansion of phi2 in phi2
55.986 * [backup-simplify]: Simplify 0 into 0
55.986 * [backup-simplify]: Simplify 1 into 1
55.986 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
55.986 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
55.986 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) phi2) in phi2
55.986 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi2
55.986 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
55.986 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
55.986 * [taylor]: Taking taylor expansion of 0.5 in phi2
55.986 * [backup-simplify]: Simplify 0.5 into 0.5
55.986 * [taylor]: Taking taylor expansion of phi1 in phi2
55.986 * [backup-simplify]: Simplify phi1 into phi1
55.986 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
55.986 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
55.986 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
55.986 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
55.986 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
55.987 * [backup-simplify]: Simplify (- 0) into 0
55.987 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
55.987 * [taylor]: Taking taylor expansion of phi2 in phi2
55.987 * [backup-simplify]: Simplify 0 into 0
55.987 * [backup-simplify]: Simplify 1 into 1
55.987 * [taylor]: Taking taylor expansion of (* R (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) phi2))) in phi2
55.987 * [taylor]: Taking taylor expansion of R in phi2
55.987 * [backup-simplify]: Simplify R into R
55.987 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (sin (/ 0.5 phi1)) 2) phi2)) in phi2
55.987 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi2
55.987 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
55.987 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
55.987 * [taylor]: Taking taylor expansion of 0.5 in phi2
55.987 * [backup-simplify]: Simplify 0.5 into 0.5
55.987 * [taylor]: Taking taylor expansion of phi2 in phi2
55.987 * [backup-simplify]: Simplify 0 into 0
55.987 * [backup-simplify]: Simplify 1 into 1
55.987 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
55.987 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
55.987 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) phi2) in phi2
55.987 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi2
55.987 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
55.987 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
55.988 * [taylor]: Taking taylor expansion of 0.5 in phi2
55.988 * [backup-simplify]: Simplify 0.5 into 0.5
55.988 * [taylor]: Taking taylor expansion of phi1 in phi2
55.988 * [backup-simplify]: Simplify phi1 into phi1
55.988 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
55.988 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
55.988 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
55.988 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
55.988 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
55.988 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
55.988 * [taylor]: Taking taylor expansion of phi2 in phi2
55.988 * [backup-simplify]: Simplify 0 into 0
55.988 * [backup-simplify]: Simplify 1 into 1
55.988 * [taylor]: Taking taylor expansion of (+ (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))) (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))))) in phi2
55.988 * [taylor]: Taking taylor expansion of (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))) in phi2
55.988 * [taylor]: Taking taylor expansion of R in phi2
55.988 * [backup-simplify]: Simplify R into R
55.988 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))) in phi2
55.988 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
55.988 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
55.988 * [taylor]: Taking taylor expansion of 0.5 in phi2
55.988 * [backup-simplify]: Simplify 0.5 into 0.5
55.988 * [taylor]: Taking taylor expansion of phi2 in phi2
55.988 * [backup-simplify]: Simplify 0 into 0
55.988 * [backup-simplify]: Simplify 1 into 1
55.988 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
55.989 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
55.989 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))) in phi2
55.989 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
55.989 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
55.989 * [taylor]: Taking taylor expansion of 0.5 in phi2
55.989 * [backup-simplify]: Simplify 0.5 into 0.5
55.989 * [taylor]: Taking taylor expansion of phi1 in phi2
55.989 * [backup-simplify]: Simplify phi1 into phi1
55.989 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
55.989 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
55.989 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
55.989 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)) in phi2
55.989 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
55.989 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
55.989 * [taylor]: Taking taylor expansion of 0.5 in phi2
55.989 * [backup-simplify]: Simplify 0.5 into 0.5
55.989 * [taylor]: Taking taylor expansion of phi2 in phi2
55.989 * [backup-simplify]: Simplify 0 into 0
55.989 * [backup-simplify]: Simplify 1 into 1
55.989 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
55.989 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
55.990 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) phi2) in phi2
55.990 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
55.990 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
55.990 * [taylor]: Taking taylor expansion of 0.5 in phi2
55.990 * [backup-simplify]: Simplify 0.5 into 0.5
55.990 * [taylor]: Taking taylor expansion of phi1 in phi2
55.990 * [backup-simplify]: Simplify phi1 into phi1
55.990 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
55.990 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
55.990 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
55.990 * [taylor]: Taking taylor expansion of phi2 in phi2
55.990 * [backup-simplify]: Simplify 0 into 0
55.990 * [backup-simplify]: Simplify 1 into 1
55.990 * [taylor]: Taking taylor expansion of (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))))) in phi2
55.990 * [taylor]: Taking taylor expansion of R in phi2
55.990 * [backup-simplify]: Simplify R into R
55.990 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)))) in phi2
55.990 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
55.990 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
55.990 * [taylor]: Taking taylor expansion of 0.5 in phi2
55.990 * [backup-simplify]: Simplify 0.5 into 0.5
55.990 * [taylor]: Taking taylor expansion of phi2 in phi2
55.990 * [backup-simplify]: Simplify 0 into 0
55.990 * [backup-simplify]: Simplify 1 into 1
55.990 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
55.990 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
55.990 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2))) in phi2
55.990 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
55.990 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
55.990 * [taylor]: Taking taylor expansion of 0.5 in phi2
55.990 * [backup-simplify]: Simplify 0.5 into 0.5
55.990 * [taylor]: Taking taylor expansion of phi1 in phi2
55.990 * [backup-simplify]: Simplify phi1 into phi1
55.991 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
55.991 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
55.991 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
55.991 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) phi2)) in phi2
55.991 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
55.991 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
55.991 * [taylor]: Taking taylor expansion of 0.5 in phi2
55.991 * [backup-simplify]: Simplify 0.5 into 0.5
55.991 * [taylor]: Taking taylor expansion of phi2 in phi2
55.991 * [backup-simplify]: Simplify 0 into 0
55.991 * [backup-simplify]: Simplify 1 into 1
55.991 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
55.991 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
55.991 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) phi2) in phi2
55.991 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
55.991 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
55.991 * [taylor]: Taking taylor expansion of 0.5 in phi2
55.991 * [backup-simplify]: Simplify 0.5 into 0.5
55.991 * [taylor]: Taking taylor expansion of phi1 in phi2
55.991 * [backup-simplify]: Simplify phi1 into phi1
55.991 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
55.991 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
55.991 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
55.991 * [taylor]: Taking taylor expansion of phi2 in phi2
55.991 * [backup-simplify]: Simplify 0 into 0
55.991 * [backup-simplify]: Simplify 1 into 1
55.992 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
55.992 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
55.992 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
55.992 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
55.992 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
55.992 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) 0) into 0
55.992 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) 0) into 0
55.992 * [backup-simplify]: Simplify (* R 0) into 0
55.992 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
55.992 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
55.993 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) 0) into 0
55.993 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) 0) into 0
55.993 * [backup-simplify]: Simplify (* R 0) into 0
55.993 * [backup-simplify]: Simplify (+ 0 0) into 0
55.993 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
55.993 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
55.993 * [backup-simplify]: Simplify (- 0) into 0
55.994 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
55.994 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
55.994 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
55.994 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
55.994 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
55.994 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
55.994 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
55.994 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
55.994 * [backup-simplify]: Simplify (* R 0) into 0
55.994 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
55.995 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
55.995 * [backup-simplify]: Simplify (- 0) into 0
55.995 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
55.995 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
55.995 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
55.995 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
55.996 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
55.996 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
55.996 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
55.996 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
55.996 * [backup-simplify]: Simplify (* R 0) into 0
55.996 * [backup-simplify]: Simplify (+ 0 0) into 0
55.997 * [backup-simplify]: Simplify (- 0) into 0
55.997 * [backup-simplify]: Simplify (+ 0 0) into 0
55.997 * [backup-simplify]: Simplify (+ 0) into 0
55.998 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
55.998 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
55.999 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
55.999 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
56.000 * [backup-simplify]: Simplify (- 0) into 0
56.000 * [backup-simplify]: Simplify (+ 0 0) into 0
56.000 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
56.001 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 1) (* 0 0)) into (pow (cos (/ 0.5 phi1)) 2)
56.001 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
56.002 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (* 0 0)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
56.003 * [backup-simplify]: Simplify (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (* 0 0)) into (* R (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
56.003 * [backup-simplify]: Simplify (+ 0) into 0
56.003 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
56.004 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
56.004 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
56.005 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
56.005 * [backup-simplify]: Simplify (+ 0 0) into 0
56.005 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
56.006 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 1) (* 0 0)) into (pow (sin (/ 0.5 phi1)) 2)
56.006 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
56.007 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* 0 0)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
56.008 * [backup-simplify]: Simplify (+ (* R (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))) (* 0 0)) into (* R (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))
56.009 * [backup-simplify]: Simplify (+ (* R (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (* R (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) into (+ (* R (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))) (* R (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))))
56.009 * [backup-simplify]: Simplify (+ 0) into 0
56.010 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
56.010 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
56.011 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
56.011 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
56.012 * [backup-simplify]: Simplify (+ 0 0) into 0
56.012 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 1) (* 0 0)) into (sin (/ 0.5 phi1))
56.013 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) (* 0 0)) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
56.013 * [backup-simplify]: Simplify (+ 0) into 0
56.013 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
56.014 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
56.014 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
56.015 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
56.015 * [backup-simplify]: Simplify (- 0) into 0
56.016 * [backup-simplify]: Simplify (+ 0 0) into 0
56.016 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) (* 0 0)) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
56.017 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* 0 0)) into (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
56.018 * [backup-simplify]: Simplify (+ (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) (* 0 0)) into (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))
56.018 * [backup-simplify]: Simplify (+ 0) into 0
56.018 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
56.018 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
56.019 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
56.019 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
56.019 * [backup-simplify]: Simplify (+ 0 0) into 0
56.020 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 1) (* 0 0)) into (sin (/ 0.5 phi1))
56.020 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) (* 0 0)) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
56.020 * [backup-simplify]: Simplify (+ 0) into 0
56.020 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
56.021 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
56.021 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
56.021 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
56.022 * [backup-simplify]: Simplify (- 0) into 0
56.022 * [backup-simplify]: Simplify (+ 0 0) into 0
56.022 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) (* 0 0)) into (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
56.023 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* 0 0)) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
56.023 * [backup-simplify]: Simplify (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) (* 0 0)) into (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))
56.024 * [backup-simplify]: Simplify (+ (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
56.024 * [backup-simplify]: Simplify (- (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R)))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R))))))
56.025 * [backup-simplify]: Simplify (+ (+ (* R (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))) (* R (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))) (- (+ (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R)))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R))))))) into (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (+ (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R)))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R))))))
56.027 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (+ (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R)))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R))))))) into (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))) (* R (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))) (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
56.027 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in phi2
56.027 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in phi2
56.027 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in phi2
56.027 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in phi2
56.027 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in phi2
56.027 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi2
56.027 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
56.027 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
56.027 * [taylor]: Taking taylor expansion of 0.5 in phi2
56.027 * [backup-simplify]: Simplify 0.5 into 0.5
56.027 * [taylor]: Taking taylor expansion of phi2 in phi2
56.027 * [backup-simplify]: Simplify 0 into 0
56.027 * [backup-simplify]: Simplify 1 into 1
56.027 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
56.027 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
56.028 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi2
56.028 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
56.028 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
56.028 * [taylor]: Taking taylor expansion of 0.5 in phi2
56.028 * [backup-simplify]: Simplify 0.5 into 0.5
56.028 * [taylor]: Taking taylor expansion of phi1 in phi2
56.028 * [backup-simplify]: Simplify phi1 into phi1
56.028 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
56.028 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
56.028 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
56.028 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
56.028 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
56.028 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
56.028 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in phi2
56.028 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi2
56.028 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
56.028 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
56.028 * [taylor]: Taking taylor expansion of 0.5 in phi2
56.028 * [backup-simplify]: Simplify 0.5 into 0.5
56.028 * [taylor]: Taking taylor expansion of phi2 in phi2
56.028 * [backup-simplify]: Simplify 0 into 0
56.028 * [backup-simplify]: Simplify 1 into 1
56.028 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
56.028 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
56.029 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi2
56.029 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
56.029 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
56.029 * [taylor]: Taking taylor expansion of 0.5 in phi2
56.029 * [backup-simplify]: Simplify 0.5 into 0.5
56.029 * [taylor]: Taking taylor expansion of phi1 in phi2
56.029 * [backup-simplify]: Simplify phi1 into phi1
56.029 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
56.029 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
56.029 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
56.029 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
56.029 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
56.029 * [backup-simplify]: Simplify (- 0) into 0
56.029 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
56.029 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in phi2
56.029 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in phi2
56.029 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
56.029 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
56.029 * [taylor]: Taking taylor expansion of 0.5 in phi2
56.029 * [backup-simplify]: Simplify 0.5 into 0.5
56.029 * [taylor]: Taking taylor expansion of phi2 in phi2
56.029 * [backup-simplify]: Simplify 0 into 0
56.029 * [backup-simplify]: Simplify 1 into 1
56.030 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
56.030 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
56.030 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in phi2
56.030 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
56.030 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
56.030 * [taylor]: Taking taylor expansion of 0.5 in phi2
56.030 * [backup-simplify]: Simplify 0.5 into 0.5
56.030 * [taylor]: Taking taylor expansion of phi1 in phi2
56.030 * [backup-simplify]: Simplify phi1 into phi1
56.030 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
56.030 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
56.030 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
56.030 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in phi2
56.030 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
56.030 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
56.030 * [taylor]: Taking taylor expansion of 0.5 in phi2
56.030 * [backup-simplify]: Simplify 0.5 into 0.5
56.030 * [taylor]: Taking taylor expansion of phi2 in phi2
56.030 * [backup-simplify]: Simplify 0 into 0
56.030 * [backup-simplify]: Simplify 1 into 1
56.030 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
56.030 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
56.031 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
56.031 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
56.031 * [taylor]: Taking taylor expansion of 0.5 in phi2
56.031 * [backup-simplify]: Simplify 0.5 into 0.5
56.031 * [taylor]: Taking taylor expansion of phi1 in phi2
56.031 * [backup-simplify]: Simplify phi1 into phi1
56.031 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
56.031 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
56.031 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
56.031 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in phi2
56.031 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
56.031 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
56.031 * [taylor]: Taking taylor expansion of 0.5 in phi2
56.031 * [backup-simplify]: Simplify 0.5 into 0.5
56.031 * [taylor]: Taking taylor expansion of phi2 in phi2
56.031 * [backup-simplify]: Simplify 0 into 0
56.031 * [backup-simplify]: Simplify 1 into 1
56.031 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
56.031 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
56.031 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in phi2
56.031 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
56.031 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
56.031 * [taylor]: Taking taylor expansion of 0.5 in phi2
56.031 * [backup-simplify]: Simplify 0.5 into 0.5
56.031 * [taylor]: Taking taylor expansion of phi1 in phi2
56.031 * [backup-simplify]: Simplify phi1 into phi1
56.031 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
56.031 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
56.031 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
56.031 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in phi2
56.032 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
56.032 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
56.032 * [taylor]: Taking taylor expansion of 0.5 in phi2
56.032 * [backup-simplify]: Simplify 0.5 into 0.5
56.032 * [taylor]: Taking taylor expansion of phi2 in phi2
56.032 * [backup-simplify]: Simplify 0 into 0
56.032 * [backup-simplify]: Simplify 1 into 1
56.032 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
56.032 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
56.032 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
56.032 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
56.032 * [taylor]: Taking taylor expansion of 0.5 in phi2
56.032 * [backup-simplify]: Simplify 0.5 into 0.5
56.032 * [taylor]: Taking taylor expansion of phi1 in phi2
56.032 * [backup-simplify]: Simplify phi1 into phi1
56.032 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
56.032 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
56.032 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
56.032 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
56.032 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
56.033 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
56.033 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
56.033 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
56.033 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
56.033 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
56.034 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
56.034 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
56.034 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
56.034 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
56.034 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
56.034 * [backup-simplify]: Simplify (- 0) into 0
56.034 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
56.034 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
56.034 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
56.035 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
56.035 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
56.035 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
56.035 * [backup-simplify]: Simplify (- 0) into 0
56.035 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
56.035 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
56.035 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
56.035 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
56.035 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
56.035 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
56.036 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
56.036 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))
56.036 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
56.037 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
56.038 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
56.040 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
56.040 * [backup-simplify]: Simplify (+ 0) into 0
56.040 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
56.040 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
56.041 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
56.041 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
56.041 * [backup-simplify]: Simplify (+ 0 0) into 0
56.041 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
56.041 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
56.042 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
56.042 * [backup-simplify]: Simplify (+ 0) into 0
56.042 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
56.042 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
56.043 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
56.043 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
56.043 * [backup-simplify]: Simplify (- 0) into 0
56.044 * [backup-simplify]: Simplify (+ 0 0) into 0
56.044 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
56.044 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
56.044 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
56.044 * [backup-simplify]: Simplify (+ 0 0) into 0
56.045 * [backup-simplify]: Simplify (+ 0) into 0
56.045 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
56.045 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
56.045 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
56.046 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
56.046 * [backup-simplify]: Simplify (- 0) into 0
56.046 * [backup-simplify]: Simplify (+ 0 0) into 0
56.046 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
56.047 * [backup-simplify]: Simplify (+ 0) into 0
56.047 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
56.047 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
56.047 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
56.048 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
56.048 * [backup-simplify]: Simplify (+ 0 0) into 0
56.048 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
56.048 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
56.048 * [backup-simplify]: Simplify (+ 0) into 0
56.049 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
56.049 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
56.049 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
56.050 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
56.050 * [backup-simplify]: Simplify (+ 0 0) into 0
56.050 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
56.050 * [backup-simplify]: Simplify (+ 0) into 0
56.051 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
56.051 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
56.051 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
56.051 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
56.052 * [backup-simplify]: Simplify (- 0) into 0
56.052 * [backup-simplify]: Simplify (+ 0 0) into 0
56.052 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
56.052 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
56.052 * [backup-simplify]: Simplify (+ 0 0) into 0
56.053 * [backup-simplify]: Simplify (- 0) into 0
56.053 * [backup-simplify]: Simplify (+ 0 0) into 0
56.055 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
56.056 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
56.058 * [backup-simplify]: Simplify (* (/ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into (* (/ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (- (+ (* R (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))) (* R (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))) (+ (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R)))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))
56.061 * [backup-simplify]: Simplify (* 2 (* (/ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (- (+ (* R (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))) (* R (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))) (+ (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R)))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into (* 2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))
56.063 * [backup-simplify]: Simplify (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))) (* R (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))) (+ (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R)))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R))))))))
56.066 * [backup-simplify]: Simplify (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))) (* R (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))) (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (+ (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R)))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R))))))))
56.073 * [backup-simplify]: Simplify (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))) (* R (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))) (+ (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R)))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R)))))))) (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (+ (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R)))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R))))))))) into (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))) (* R (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))) (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))
56.078 * [backup-simplify]: Simplify (- (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))) (* R (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))) (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into (- (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))) (* R (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))) (+ (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R)))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R)))))))) (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (+ (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R)))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R))))))))))
56.087 * [backup-simplify]: Simplify (+ (* 2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (- (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))) (* R (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))) (+ (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R)))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R)))))))) (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (+ (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R)))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R))))))))))) into (- (* 2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* R (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))) (* R (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))) (+ (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R)))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))) (* R (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))) (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))
56.087 * [taylor]: Taking taylor expansion of (- (* 2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* R (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))) (* R (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))) (+ (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R)))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))) (* R (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))) (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) in R
56.087 * [taylor]: Taking taylor expansion of (* 2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* R (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))) (* R (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))) (+ (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R)))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) in R
56.087 * [taylor]: Taking taylor expansion of 2 in R
56.087 * [backup-simplify]: Simplify 2 into 2
56.087 * [taylor]: Taking taylor expansion of (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* R (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))) (* R (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))) (+ (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R)))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) in R
56.087 * [taylor]: Taking taylor expansion of (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* R (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))) (* R (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))) (+ (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R)))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R))))))) in R
56.087 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in R
56.087 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in R
56.087 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
56.087 * [taylor]: Taking taylor expansion of 0.5 in R
56.087 * [backup-simplify]: Simplify 0.5 into 0.5
56.087 * [taylor]: Taking taylor expansion of phi2 in R
56.087 * [backup-simplify]: Simplify phi2 into phi2
56.088 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
56.088 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
56.088 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
56.088 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in R
56.088 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in R
56.088 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
56.088 * [taylor]: Taking taylor expansion of 0.5 in R
56.088 * [backup-simplify]: Simplify 0.5 into 0.5
56.088 * [taylor]: Taking taylor expansion of phi1 in R
56.088 * [backup-simplify]: Simplify phi1 into phi1
56.088 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
56.088 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
56.088 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
56.088 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in R
56.088 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in R
56.088 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
56.088 * [taylor]: Taking taylor expansion of 0.5 in R
56.088 * [backup-simplify]: Simplify 0.5 into 0.5
56.088 * [taylor]: Taking taylor expansion of phi2 in R
56.088 * [backup-simplify]: Simplify phi2 into phi2
56.088 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
56.088 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
56.088 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
56.088 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in R
56.088 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
56.088 * [taylor]: Taking taylor expansion of 0.5 in R
56.088 * [backup-simplify]: Simplify 0.5 into 0.5
56.088 * [taylor]: Taking taylor expansion of phi1 in R
56.088 * [backup-simplify]: Simplify phi1 into phi1
56.088 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
56.088 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
56.088 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
56.088 * [taylor]: Taking taylor expansion of (- (+ (* R (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))) (* R (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))) (+ (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R)))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R)))))) in R
56.088 * [taylor]: Taking taylor expansion of (+ (* R (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))) (* R (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))) in R
56.088 * [taylor]: Taking taylor expansion of (* R (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))) in R
56.088 * [taylor]: Taking taylor expansion of R in R
56.089 * [backup-simplify]: Simplify 0 into 0
56.089 * [backup-simplify]: Simplify 1 into 1
56.089 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in R
56.089 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in R
56.089 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in R
56.089 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
56.089 * [taylor]: Taking taylor expansion of 0.5 in R
56.089 * [backup-simplify]: Simplify 0.5 into 0.5
56.089 * [taylor]: Taking taylor expansion of phi2 in R
56.089 * [backup-simplify]: Simplify phi2 into phi2
56.089 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
56.089 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
56.089 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
56.089 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
56.089 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
56.089 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
56.089 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in R
56.089 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in R
56.089 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
56.089 * [taylor]: Taking taylor expansion of 0.5 in R
56.089 * [backup-simplify]: Simplify 0.5 into 0.5
56.089 * [taylor]: Taking taylor expansion of phi1 in R
56.089 * [backup-simplify]: Simplify phi1 into phi1
56.089 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
56.089 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
56.089 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
56.089 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
56.089 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
56.090 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
56.090 * [taylor]: Taking taylor expansion of (* R (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in R
56.090 * [taylor]: Taking taylor expansion of R in R
56.090 * [backup-simplify]: Simplify 0 into 0
56.090 * [backup-simplify]: Simplify 1 into 1
56.090 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in R
56.090 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in R
56.090 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in R
56.090 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
56.090 * [taylor]: Taking taylor expansion of 0.5 in R
56.090 * [backup-simplify]: Simplify 0.5 into 0.5
56.090 * [taylor]: Taking taylor expansion of phi2 in R
56.090 * [backup-simplify]: Simplify phi2 into phi2
56.090 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
56.090 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
56.090 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
56.091 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
56.091 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
56.091 * [backup-simplify]: Simplify (- 0) into 0
56.091 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
56.091 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in R
56.092 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in R
56.092 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
56.092 * [taylor]: Taking taylor expansion of 0.5 in R
56.092 * [backup-simplify]: Simplify 0.5 into 0.5
56.092 * [taylor]: Taking taylor expansion of phi1 in R
56.092 * [backup-simplify]: Simplify phi1 into phi1
56.092 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
56.092 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
56.092 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
56.092 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
56.092 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
56.093 * [backup-simplify]: Simplify (- 0) into 0
56.093 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
56.093 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R)))) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R))))) in R
56.093 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R)))) in R
56.093 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in R
56.093 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
56.093 * [taylor]: Taking taylor expansion of 0.5 in R
56.093 * [backup-simplify]: Simplify 0.5 into 0.5
56.093 * [taylor]: Taking taylor expansion of phi1 in R
56.093 * [backup-simplify]: Simplify phi1 into phi1
56.093 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
56.093 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
56.093 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
56.093 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R))) in R
56.093 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in R
56.093 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
56.093 * [taylor]: Taking taylor expansion of 0.5 in R
56.093 * [backup-simplify]: Simplify 0.5 into 0.5
56.093 * [taylor]: Taking taylor expansion of phi2 in R
56.093 * [backup-simplify]: Simplify phi2 into phi2
56.093 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
56.094 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
56.094 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
56.094 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) R)) in R
56.094 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in R
56.094 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
56.094 * [taylor]: Taking taylor expansion of 0.5 in R
56.094 * [backup-simplify]: Simplify 0.5 into 0.5
56.094 * [taylor]: Taking taylor expansion of phi1 in R
56.094 * [backup-simplify]: Simplify phi1 into phi1
56.094 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
56.094 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
56.094 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
56.094 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) R) in R
56.094 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in R
56.094 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
56.094 * [taylor]: Taking taylor expansion of 0.5 in R
56.094 * [backup-simplify]: Simplify 0.5 into 0.5
56.094 * [taylor]: Taking taylor expansion of phi2 in R
56.094 * [backup-simplify]: Simplify phi2 into phi2
56.094 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
56.094 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
56.095 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
56.095 * [taylor]: Taking taylor expansion of R in R
56.095 * [backup-simplify]: Simplify 0 into 0
56.095 * [backup-simplify]: Simplify 1 into 1
56.095 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R)))) in R
56.095 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in R
56.095 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
56.095 * [taylor]: Taking taylor expansion of 0.5 in R
56.095 * [backup-simplify]: Simplify 0.5 into 0.5
56.095 * [taylor]: Taking taylor expansion of phi1 in R
56.095 * [backup-simplify]: Simplify phi1 into phi1
56.095 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
56.095 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
56.095 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
56.095 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R))) in R
56.095 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in R
56.095 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
56.095 * [taylor]: Taking taylor expansion of 0.5 in R
56.095 * [backup-simplify]: Simplify 0.5 into 0.5
56.095 * [taylor]: Taking taylor expansion of phi2 in R
56.095 * [backup-simplify]: Simplify phi2 into phi2
56.095 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
56.095 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
56.096 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
56.096 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) R)) in R
56.096 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in R
56.096 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
56.096 * [taylor]: Taking taylor expansion of 0.5 in R
56.096 * [backup-simplify]: Simplify 0.5 into 0.5
56.096 * [taylor]: Taking taylor expansion of phi1 in R
56.096 * [backup-simplify]: Simplify phi1 into phi1
56.096 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
56.096 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
56.096 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
56.096 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) R) in R
56.096 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in R
56.096 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
56.096 * [taylor]: Taking taylor expansion of 0.5 in R
56.096 * [backup-simplify]: Simplify 0.5 into 0.5
56.096 * [taylor]: Taking taylor expansion of phi2 in R
56.096 * [backup-simplify]: Simplify phi2 into phi2
56.096 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
56.096 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
56.096 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
56.097 * [taylor]: Taking taylor expansion of R in R
56.097 * [backup-simplify]: Simplify 0 into 0
56.097 * [backup-simplify]: Simplify 1 into 1
56.097 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
56.097 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
56.097 * [backup-simplify]: Simplify (- 0) into 0
56.097 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
56.098 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
56.098 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
56.098 * [backup-simplify]: Simplify (- 0) into 0
56.098 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
56.098 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
56.098 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
56.098 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
56.099 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
56.099 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
56.099 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
56.099 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
56.099 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
56.100 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
56.100 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
56.100 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
56.100 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
56.101 * [backup-simplify]: Simplify (* 0 (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))) into 0
56.101 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
56.101 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
56.101 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
56.102 * [backup-simplify]: Simplify (* 0 (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into 0
56.102 * [backup-simplify]: Simplify (+ 0 0) into 0
56.102 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
56.102 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
56.103 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
56.103 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
56.103 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
56.103 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
56.103 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
56.103 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
56.103 * [backup-simplify]: Simplify (- 0) into 0
56.104 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
56.104 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
56.104 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
56.104 * [backup-simplify]: Simplify (- 0) into 0
56.104 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
56.104 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
56.105 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
56.105 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
56.105 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
56.105 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
56.105 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
56.105 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
56.105 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
56.105 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
56.106 * [backup-simplify]: Simplify (- 0) into 0
56.106 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
56.106 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
56.106 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
56.106 * [backup-simplify]: Simplify (- 0) into 0
56.107 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
56.107 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
56.107 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
56.107 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
56.107 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
56.107 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
56.107 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
56.107 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
56.108 * [backup-simplify]: Simplify (+ 0 0) into 0
56.108 * [backup-simplify]: Simplify (- 0) into 0
56.109 * [backup-simplify]: Simplify (+ 0 0) into 0
56.109 * [backup-simplify]: Simplify (+ 0) into 0
56.110 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
56.110 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
56.111 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
56.111 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
56.111 * [backup-simplify]: Simplify (+ 0 0) into 0
56.112 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
56.112 * [backup-simplify]: Simplify (+ 0) into 0
56.113 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
56.113 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
56.114 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
56.114 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
56.115 * [backup-simplify]: Simplify (+ 0 0) into 0
56.115 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
56.115 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
56.116 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
56.117 * [backup-simplify]: Simplify (+ 0) into 0
56.117 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
56.117 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
56.118 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
56.119 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
56.119 * [backup-simplify]: Simplify (- 0) into 0
56.120 * [backup-simplify]: Simplify (+ 0 0) into 0
56.120 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
56.120 * [backup-simplify]: Simplify (+ 0) into 0
56.121 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
56.121 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
56.122 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
56.122 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
56.123 * [backup-simplify]: Simplify (- 0) into 0
56.123 * [backup-simplify]: Simplify (+ 0 0) into 0
56.123 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
56.124 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
56.124 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
56.125 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
56.126 * [backup-simplify]: Simplify (+ 0) into 0
56.126 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
56.126 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
56.126 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
56.127 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
56.127 * [backup-simplify]: Simplify (- 0) into 0
56.127 * [backup-simplify]: Simplify (+ 0 0) into 0
56.127 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 1) (* 0 0)) into (cos (/ 0.5 phi2))
56.128 * [backup-simplify]: Simplify (+ 0) into 0
56.128 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
56.128 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
56.129 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
56.129 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
56.129 * [backup-simplify]: Simplify (- 0) into 0
56.129 * [backup-simplify]: Simplify (+ 0 0) into 0
56.130 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* 0 0)) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
56.130 * [backup-simplify]: Simplify (+ 0) into 0
56.130 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
56.130 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
56.131 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
56.131 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
56.131 * [backup-simplify]: Simplify (+ 0 0) into 0
56.132 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) (* 0 0)) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
56.132 * [backup-simplify]: Simplify (+ 0) into 0
56.132 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
56.132 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
56.133 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
56.133 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
56.133 * [backup-simplify]: Simplify (+ 0 0) into 0
56.134 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* 0 0)) into (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
56.134 * [backup-simplify]: Simplify (+ 0) into 0
56.135 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
56.135 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
56.135 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
56.136 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
56.136 * [backup-simplify]: Simplify (+ 0 0) into 0
56.136 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 1) (* 0 0)) into (sin (/ 0.5 phi2))
56.137 * [backup-simplify]: Simplify (+ 0) into 0
56.137 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
56.137 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
56.138 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
56.138 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
56.138 * [backup-simplify]: Simplify (- 0) into 0
56.138 * [backup-simplify]: Simplify (+ 0 0) into 0
56.139 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) (sin (/ 0.5 phi2))) (* 0 0)) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
56.139 * [backup-simplify]: Simplify (+ 0) into 0
56.139 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
56.139 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
56.140 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
56.140 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
56.141 * [backup-simplify]: Simplify (- 0) into 0
56.141 * [backup-simplify]: Simplify (+ 0 0) into 0
56.141 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) (* 0 0)) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
56.141 * [backup-simplify]: Simplify (+ 0) into 0
56.142 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
56.142 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
56.142 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
56.143 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
56.143 * [backup-simplify]: Simplify (+ 0 0) into 0
56.143 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* 0 0)) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
56.144 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))
56.144 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into (- (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
56.145 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
56.146 * [backup-simplify]: Simplify (/ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
56.146 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in R
56.146 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in R
56.146 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in R
56.146 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in R
56.146 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in R
56.146 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in R
56.146 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in R
56.146 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
56.146 * [taylor]: Taking taylor expansion of 0.5 in R
56.146 * [backup-simplify]: Simplify 0.5 into 0.5
56.146 * [taylor]: Taking taylor expansion of phi2 in R
56.147 * [backup-simplify]: Simplify phi2 into phi2
56.147 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
56.147 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
56.147 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
56.147 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
56.147 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
56.147 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
56.147 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in R
56.147 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in R
56.147 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
56.147 * [taylor]: Taking taylor expansion of 0.5 in R
56.147 * [backup-simplify]: Simplify 0.5 into 0.5
56.147 * [taylor]: Taking taylor expansion of phi1 in R
56.147 * [backup-simplify]: Simplify phi1 into phi1
56.147 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
56.147 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
56.147 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
56.147 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
56.147 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
56.147 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
56.147 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in R
56.147 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in R
56.147 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in R
56.147 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
56.147 * [taylor]: Taking taylor expansion of 0.5 in R
56.147 * [backup-simplify]: Simplify 0.5 into 0.5
56.147 * [taylor]: Taking taylor expansion of phi2 in R
56.147 * [backup-simplify]: Simplify phi2 into phi2
56.147 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
56.148 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
56.148 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
56.148 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
56.148 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
56.148 * [backup-simplify]: Simplify (- 0) into 0
56.148 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
56.148 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in R
56.148 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in R
56.148 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
56.148 * [taylor]: Taking taylor expansion of 0.5 in R
56.148 * [backup-simplify]: Simplify 0.5 into 0.5
56.148 * [taylor]: Taking taylor expansion of phi1 in R
56.148 * [backup-simplify]: Simplify phi1 into phi1
56.148 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
56.148 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
56.148 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
56.148 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
56.148 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
56.149 * [backup-simplify]: Simplify (- 0) into 0
56.149 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
56.149 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in R
56.149 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in R
56.149 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in R
56.149 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
56.149 * [taylor]: Taking taylor expansion of 0.5 in R
56.149 * [backup-simplify]: Simplify 0.5 into 0.5
56.149 * [taylor]: Taking taylor expansion of phi2 in R
56.149 * [backup-simplify]: Simplify phi2 into phi2
56.149 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
56.149 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
56.149 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
56.149 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in R
56.149 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in R
56.149 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
56.149 * [taylor]: Taking taylor expansion of 0.5 in R
56.149 * [backup-simplify]: Simplify 0.5 into 0.5
56.149 * [taylor]: Taking taylor expansion of phi1 in R
56.149 * [backup-simplify]: Simplify phi1 into phi1
56.149 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
56.149 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
56.149 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
56.149 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in R
56.149 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in R
56.149 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
56.149 * [taylor]: Taking taylor expansion of 0.5 in R
56.149 * [backup-simplify]: Simplify 0.5 into 0.5
56.149 * [taylor]: Taking taylor expansion of phi2 in R
56.149 * [backup-simplify]: Simplify phi2 into phi2
56.150 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
56.150 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
56.150 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
56.150 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in R
56.150 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
56.150 * [taylor]: Taking taylor expansion of 0.5 in R
56.150 * [backup-simplify]: Simplify 0.5 into 0.5
56.150 * [taylor]: Taking taylor expansion of phi1 in R
56.150 * [backup-simplify]: Simplify phi1 into phi1
56.150 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
56.150 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
56.150 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
56.150 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in R
56.150 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in R
56.150 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
56.150 * [taylor]: Taking taylor expansion of 0.5 in R
56.150 * [backup-simplify]: Simplify 0.5 into 0.5
56.150 * [taylor]: Taking taylor expansion of phi2 in R
56.150 * [backup-simplify]: Simplify phi2 into phi2
56.150 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
56.150 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
56.150 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
56.150 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in R
56.150 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in R
56.150 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
56.150 * [taylor]: Taking taylor expansion of 0.5 in R
56.150 * [backup-simplify]: Simplify 0.5 into 0.5
56.150 * [taylor]: Taking taylor expansion of phi1 in R
56.150 * [backup-simplify]: Simplify phi1 into phi1
56.150 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
56.151 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
56.151 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
56.151 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in R
56.151 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in R
56.151 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
56.151 * [taylor]: Taking taylor expansion of 0.5 in R
56.151 * [backup-simplify]: Simplify 0.5 into 0.5
56.151 * [taylor]: Taking taylor expansion of phi2 in R
56.151 * [backup-simplify]: Simplify phi2 into phi2
56.151 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
56.151 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
56.151 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
56.151 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in R
56.151 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
56.151 * [taylor]: Taking taylor expansion of 0.5 in R
56.151 * [backup-simplify]: Simplify 0.5 into 0.5
56.151 * [taylor]: Taking taylor expansion of phi1 in R
56.151 * [backup-simplify]: Simplify phi1 into phi1
56.151 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
56.151 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
56.151 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
56.151 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
56.151 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
56.151 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
56.152 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
56.152 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
56.152 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
56.152 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
56.152 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
56.152 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
56.153 * [backup-simplify]: Simplify (- 0) into 0
56.153 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
56.153 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
56.153 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
56.153 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
56.153 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
56.153 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
56.153 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
56.153 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
56.153 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
56.154 * [backup-simplify]: Simplify (- 0) into 0
56.154 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
56.154 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
56.154 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
56.155 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
56.155 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
56.155 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
56.155 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
56.155 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
56.155 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
56.156 * [backup-simplify]: Simplify (- 0) into 0
56.156 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
56.156 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
56.156 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
56.156 * [backup-simplify]: Simplify (- 0) into 0
56.156 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
56.156 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
56.157 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
56.157 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
56.157 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
56.157 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
56.157 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
56.158 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))
56.159 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
56.161 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
56.163 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
56.165 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
56.166 * [backup-simplify]: Simplify (+ 0) into 0
56.166 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
56.166 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
56.167 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
56.167 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
56.168 * [backup-simplify]: Simplify (+ 0 0) into 0
56.168 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
56.168 * [backup-simplify]: Simplify (+ 0) into 0
56.169 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
56.169 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
56.170 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
56.170 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
56.171 * [backup-simplify]: Simplify (+ 0 0) into 0
56.171 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
56.172 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
56.172 * [backup-simplify]: Simplify (+ 0) into 0
56.173 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
56.173 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
56.173 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
56.174 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
56.174 * [backup-simplify]: Simplify (- 0) into 0
56.175 * [backup-simplify]: Simplify (+ 0 0) into 0
56.175 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
56.175 * [backup-simplify]: Simplify (+ 0) into 0
56.176 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
56.176 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
56.177 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
56.177 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
56.178 * [backup-simplify]: Simplify (- 0) into 0
56.178 * [backup-simplify]: Simplify (+ 0 0) into 0
56.178 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
56.179 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
56.179 * [backup-simplify]: Simplify (+ 0 0) into 0
56.179 * [backup-simplify]: Simplify (+ 0) into 0
56.180 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
56.180 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
56.181 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
56.181 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
56.182 * [backup-simplify]: Simplify (- 0) into 0
56.182 * [backup-simplify]: Simplify (+ 0 0) into 0
56.183 * [backup-simplify]: Simplify (+ 0) into 0
56.183 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
56.183 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
56.184 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
56.185 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
56.185 * [backup-simplify]: Simplify (+ 0 0) into 0
56.185 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
56.186 * [backup-simplify]: Simplify (+ 0) into 0
56.186 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
56.186 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
56.187 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
56.188 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
56.188 * [backup-simplify]: Simplify (+ 0 0) into 0
56.188 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
56.189 * [backup-simplify]: Simplify (+ 0) into 0
56.189 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
56.189 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
56.190 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
56.191 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
56.191 * [backup-simplify]: Simplify (- 0) into 0
56.191 * [backup-simplify]: Simplify (+ 0 0) into 0
56.192 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
56.192 * [backup-simplify]: Simplify (+ 0) into 0
56.193 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
56.193 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
56.193 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
56.194 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
56.194 * [backup-simplify]: Simplify (+ 0 0) into 0
56.195 * [backup-simplify]: Simplify (+ 0) into 0
56.195 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
56.195 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
56.196 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
56.196 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
56.197 * [backup-simplify]: Simplify (- 0) into 0
56.197 * [backup-simplify]: Simplify (+ 0 0) into 0
56.197 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
56.198 * [backup-simplify]: Simplify (+ 0) into 0
56.198 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
56.199 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
56.199 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
56.200 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
56.200 * [backup-simplify]: Simplify (- 0) into 0
56.201 * [backup-simplify]: Simplify (+ 0 0) into 0
56.201 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
56.201 * [backup-simplify]: Simplify (+ 0) into 0
56.202 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
56.202 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
56.203 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
56.203 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
56.204 * [backup-simplify]: Simplify (+ 0 0) into 0
56.204 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
56.204 * [backup-simplify]: Simplify (+ 0 0) into 0
56.205 * [backup-simplify]: Simplify (- 0) into 0
56.205 * [backup-simplify]: Simplify (+ 0 0) into 0
56.209 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
56.211 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
56.211 * [taylor]: Taking taylor expansion of (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))) (* R (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))) (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) in R
56.211 * [taylor]: Taking taylor expansion of (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))) (* R (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))) (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) in R
56.211 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* R (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))) (* R (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))) (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in R
56.212 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in R
56.212 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in R
56.212 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in R
56.212 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
56.212 * [taylor]: Taking taylor expansion of 0.5 in R
56.212 * [backup-simplify]: Simplify 0.5 into 0.5
56.212 * [taylor]: Taking taylor expansion of phi2 in R
56.212 * [backup-simplify]: Simplify phi2 into phi2
56.212 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
56.212 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
56.212 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
56.212 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
56.212 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
56.212 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
56.212 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in R
56.212 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in R
56.212 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
56.212 * [taylor]: Taking taylor expansion of 0.5 in R
56.213 * [backup-simplify]: Simplify 0.5 into 0.5
56.213 * [taylor]: Taking taylor expansion of phi1 in R
56.213 * [backup-simplify]: Simplify phi1 into phi1
56.213 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
56.213 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
56.213 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
56.213 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
56.213 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
56.213 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
56.213 * [taylor]: Taking taylor expansion of (- (+ (* R (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))) (* R (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))) (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in R
56.213 * [taylor]: Taking taylor expansion of (+ (* R (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))) (* R (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))) in R
56.213 * [taylor]: Taking taylor expansion of (* R (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))) in R
56.213 * [taylor]: Taking taylor expansion of R in R
56.213 * [backup-simplify]: Simplify 0 into 0
56.213 * [backup-simplify]: Simplify 1 into 1
56.213 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in R
56.213 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in R
56.213 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in R
56.213 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
56.213 * [taylor]: Taking taylor expansion of 0.5 in R
56.213 * [backup-simplify]: Simplify 0.5 into 0.5
56.214 * [taylor]: Taking taylor expansion of phi2 in R
56.214 * [backup-simplify]: Simplify phi2 into phi2
56.214 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
56.214 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
56.214 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
56.214 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
56.214 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
56.214 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
56.214 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in R
56.214 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in R
56.214 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
56.214 * [taylor]: Taking taylor expansion of 0.5 in R
56.214 * [backup-simplify]: Simplify 0.5 into 0.5
56.214 * [taylor]: Taking taylor expansion of phi1 in R
56.214 * [backup-simplify]: Simplify phi1 into phi1
56.214 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
56.214 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
56.214 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
56.214 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
56.214 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
56.214 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
56.214 * [taylor]: Taking taylor expansion of (* R (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in R
56.214 * [taylor]: Taking taylor expansion of R in R
56.214 * [backup-simplify]: Simplify 0 into 0
56.214 * [backup-simplify]: Simplify 1 into 1
56.215 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in R
56.215 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in R
56.215 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in R
56.215 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
56.215 * [taylor]: Taking taylor expansion of 0.5 in R
56.215 * [backup-simplify]: Simplify 0.5 into 0.5
56.215 * [taylor]: Taking taylor expansion of phi2 in R
56.215 * [backup-simplify]: Simplify phi2 into phi2
56.215 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
56.215 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
56.215 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
56.215 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
56.215 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
56.217 * [backup-simplify]: Simplify (- 0) into 0
56.217 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
56.218 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in R
56.218 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in R
56.218 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
56.218 * [taylor]: Taking taylor expansion of 0.5 in R
56.218 * [backup-simplify]: Simplify 0.5 into 0.5
56.218 * [taylor]: Taking taylor expansion of phi1 in R
56.218 * [backup-simplify]: Simplify phi1 into phi1
56.218 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
56.218 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
56.218 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
56.218 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
56.218 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
56.218 * [backup-simplify]: Simplify (- 0) into 0
56.218 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
56.218 * [taylor]: Taking taylor expansion of (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in R
56.218 * [taylor]: Taking taylor expansion of (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in R
56.218 * [taylor]: Taking taylor expansion of R in R
56.218 * [backup-simplify]: Simplify 0 into 0
56.218 * [backup-simplify]: Simplify 1 into 1
56.218 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in R
56.218 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in R
56.218 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
56.219 * [taylor]: Taking taylor expansion of 0.5 in R
56.219 * [backup-simplify]: Simplify 0.5 into 0.5
56.219 * [taylor]: Taking taylor expansion of phi2 in R
56.219 * [backup-simplify]: Simplify phi2 into phi2
56.219 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
56.219 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
56.219 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
56.219 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in R
56.219 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in R
56.219 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
56.219 * [taylor]: Taking taylor expansion of 0.5 in R
56.219 * [backup-simplify]: Simplify 0.5 into 0.5
56.219 * [taylor]: Taking taylor expansion of phi1 in R
56.219 * [backup-simplify]: Simplify phi1 into phi1
56.219 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
56.219 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
56.219 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
56.219 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in R
56.219 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in R
56.219 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
56.219 * [taylor]: Taking taylor expansion of 0.5 in R
56.219 * [backup-simplify]: Simplify 0.5 into 0.5
56.219 * [taylor]: Taking taylor expansion of phi2 in R
56.219 * [backup-simplify]: Simplify phi2 into phi2
56.219 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
56.219 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
56.219 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
56.219 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in R
56.219 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
56.219 * [taylor]: Taking taylor expansion of 0.5 in R
56.219 * [backup-simplify]: Simplify 0.5 into 0.5
56.219 * [taylor]: Taking taylor expansion of phi1 in R
56.219 * [backup-simplify]: Simplify phi1 into phi1
56.219 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
56.219 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
56.219 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
56.219 * [taylor]: Taking taylor expansion of (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in R
56.220 * [taylor]: Taking taylor expansion of R in R
56.220 * [backup-simplify]: Simplify 0 into 0
56.220 * [backup-simplify]: Simplify 1 into 1
56.220 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in R
56.220 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in R
56.220 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
56.220 * [taylor]: Taking taylor expansion of 0.5 in R
56.220 * [backup-simplify]: Simplify 0.5 into 0.5
56.220 * [taylor]: Taking taylor expansion of phi2 in R
56.220 * [backup-simplify]: Simplify phi2 into phi2
56.220 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
56.220 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
56.220 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
56.220 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in R
56.220 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in R
56.220 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
56.220 * [taylor]: Taking taylor expansion of 0.5 in R
56.220 * [backup-simplify]: Simplify 0.5 into 0.5
56.220 * [taylor]: Taking taylor expansion of phi1 in R
56.220 * [backup-simplify]: Simplify phi1 into phi1
56.220 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
56.220 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
56.220 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
56.220 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in R
56.220 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in R
56.220 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
56.220 * [taylor]: Taking taylor expansion of 0.5 in R
56.220 * [backup-simplify]: Simplify 0.5 into 0.5
56.220 * [taylor]: Taking taylor expansion of phi2 in R
56.220 * [backup-simplify]: Simplify phi2 into phi2
56.220 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
56.220 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
56.220 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
56.220 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in R
56.220 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
56.220 * [taylor]: Taking taylor expansion of 0.5 in R
56.220 * [backup-simplify]: Simplify 0.5 into 0.5
56.220 * [taylor]: Taking taylor expansion of phi1 in R
56.220 * [backup-simplify]: Simplify phi1 into phi1
56.220 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
56.221 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
56.221 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
56.221 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
56.221 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
56.221 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
56.221 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
56.221 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
56.221 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
56.222 * [backup-simplify]: Simplify (* 0 (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))) into 0
56.222 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
56.222 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
56.222 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
56.222 * [backup-simplify]: Simplify (* 0 (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into 0
56.222 * [backup-simplify]: Simplify (+ 0 0) into 0
56.223 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
56.223 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
56.223 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
56.223 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
56.223 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
56.223 * [backup-simplify]: Simplify (- 0) into 0
56.223 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
56.223 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
56.223 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
56.223 * [backup-simplify]: Simplify (- 0) into 0
56.224 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
56.224 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
56.224 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
56.224 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
56.224 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
56.224 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
56.224 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
56.224 * [backup-simplify]: Simplify (* 0 (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
56.224 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
56.224 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
56.225 * [backup-simplify]: Simplify (- 0) into 0
56.225 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
56.225 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
56.225 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
56.225 * [backup-simplify]: Simplify (- 0) into 0
56.225 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
56.225 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
56.225 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
56.225 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
56.225 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
56.226 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
56.226 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
56.226 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
56.226 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
56.226 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
56.226 * [backup-simplify]: Simplify (* 0 (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
56.226 * [backup-simplify]: Simplify (+ 0 0) into 0
56.227 * [backup-simplify]: Simplify (- 0) into 0
56.227 * [backup-simplify]: Simplify (+ 0 0) into 0
56.227 * [backup-simplify]: Simplify (+ 0) into 0
56.227 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
56.227 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
56.228 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
56.228 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
56.228 * [backup-simplify]: Simplify (+ 0 0) into 0
56.229 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
56.229 * [backup-simplify]: Simplify (+ 0) into 0
56.229 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
56.229 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
56.230 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
56.230 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
56.230 * [backup-simplify]: Simplify (+ 0 0) into 0
56.230 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
56.231 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
56.231 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
56.231 * [backup-simplify]: Simplify (+ 0) into 0
56.232 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
56.232 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
56.232 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
56.232 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
56.233 * [backup-simplify]: Simplify (- 0) into 0
56.233 * [backup-simplify]: Simplify (+ 0 0) into 0
56.233 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
56.233 * [backup-simplify]: Simplify (+ 0) into 0
56.234 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
56.234 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
56.234 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
56.234 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
56.235 * [backup-simplify]: Simplify (- 0) into 0
56.235 * [backup-simplify]: Simplify (+ 0 0) into 0
56.235 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
56.235 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
56.236 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
56.236 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
56.236 * [backup-simplify]: Simplify (+ 0) into 0
56.237 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
56.237 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
56.237 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
56.238 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
56.238 * [backup-simplify]: Simplify (+ 0 0) into 0
56.238 * [backup-simplify]: Simplify (+ 0) into 0
56.238 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
56.238 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
56.239 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
56.239 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
56.239 * [backup-simplify]: Simplify (- 0) into 0
56.240 * [backup-simplify]: Simplify (+ 0 0) into 0
56.240 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
56.240 * [backup-simplify]: Simplify (+ 0) into 0
56.240 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
56.240 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
56.241 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
56.241 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
56.241 * [backup-simplify]: Simplify (- 0) into 0
56.242 * [backup-simplify]: Simplify (+ 0 0) into 0
56.242 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
56.242 * [backup-simplify]: Simplify (+ 0) into 0
56.242 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
56.242 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
56.243 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
56.243 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
56.243 * [backup-simplify]: Simplify (+ 0 0) into 0
56.244 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
56.244 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
56.244 * [backup-simplify]: Simplify (+ 0) into 0
56.245 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
56.245 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
56.245 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
56.246 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
56.246 * [backup-simplify]: Simplify (+ 0 0) into 0
56.246 * [backup-simplify]: Simplify (+ 0) into 0
56.247 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
56.247 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
56.248 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
56.248 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
56.249 * [backup-simplify]: Simplify (+ 0 0) into 0
56.249 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
56.249 * [backup-simplify]: Simplify (+ 0) into 0
56.250 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
56.250 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
56.251 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
56.251 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
56.252 * [backup-simplify]: Simplify (- 0) into 0
56.252 * [backup-simplify]: Simplify (+ 0 0) into 0
56.252 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
56.253 * [backup-simplify]: Simplify (+ 0) into 0
56.253 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
56.254 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
56.254 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
56.255 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
56.255 * [backup-simplify]: Simplify (- 0) into 0
56.256 * [backup-simplify]: Simplify (+ 0 0) into 0
56.256 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
56.257 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
56.258 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))
56.258 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into (- (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
56.260 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
56.263 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
56.263 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in R
56.263 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in R
56.263 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in R
56.263 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in R
56.263 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in R
56.263 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in R
56.263 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in R
56.263 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
56.263 * [taylor]: Taking taylor expansion of 0.5 in R
56.263 * [backup-simplify]: Simplify 0.5 into 0.5
56.263 * [taylor]: Taking taylor expansion of phi2 in R
56.263 * [backup-simplify]: Simplify phi2 into phi2
56.263 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
56.263 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
56.263 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
56.264 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
56.264 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
56.264 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
56.264 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in R
56.264 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in R
56.264 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
56.264 * [taylor]: Taking taylor expansion of 0.5 in R
56.264 * [backup-simplify]: Simplify 0.5 into 0.5
56.264 * [taylor]: Taking taylor expansion of phi1 in R
56.264 * [backup-simplify]: Simplify phi1 into phi1
56.264 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
56.264 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
56.264 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
56.264 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
56.264 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
56.265 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
56.265 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in R
56.265 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in R
56.265 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in R
56.265 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
56.265 * [taylor]: Taking taylor expansion of 0.5 in R
56.265 * [backup-simplify]: Simplify 0.5 into 0.5
56.265 * [taylor]: Taking taylor expansion of phi2 in R
56.265 * [backup-simplify]: Simplify phi2 into phi2
56.265 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
56.265 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
56.265 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
56.265 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
56.265 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
56.266 * [backup-simplify]: Simplify (- 0) into 0
56.266 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
56.266 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in R
56.266 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in R
56.266 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
56.266 * [taylor]: Taking taylor expansion of 0.5 in R
56.266 * [backup-simplify]: Simplify 0.5 into 0.5
56.266 * [taylor]: Taking taylor expansion of phi1 in R
56.266 * [backup-simplify]: Simplify phi1 into phi1
56.266 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
56.266 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
56.266 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
56.266 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
56.266 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
56.266 * [backup-simplify]: Simplify (- 0) into 0
56.266 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
56.267 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in R
56.267 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in R
56.267 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in R
56.267 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
56.267 * [taylor]: Taking taylor expansion of 0.5 in R
56.267 * [backup-simplify]: Simplify 0.5 into 0.5
56.267 * [taylor]: Taking taylor expansion of phi2 in R
56.267 * [backup-simplify]: Simplify phi2 into phi2
56.267 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
56.267 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
56.267 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
56.267 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in R
56.267 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in R
56.267 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
56.267 * [taylor]: Taking taylor expansion of 0.5 in R
56.267 * [backup-simplify]: Simplify 0.5 into 0.5
56.267 * [taylor]: Taking taylor expansion of phi1 in R
56.267 * [backup-simplify]: Simplify phi1 into phi1
56.267 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
56.267 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
56.267 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
56.267 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in R
56.267 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in R
56.267 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
56.267 * [taylor]: Taking taylor expansion of 0.5 in R
56.267 * [backup-simplify]: Simplify 0.5 into 0.5
56.267 * [taylor]: Taking taylor expansion of phi2 in R
56.267 * [backup-simplify]: Simplify phi2 into phi2
56.267 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
56.267 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
56.267 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
56.267 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in R
56.267 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
56.267 * [taylor]: Taking taylor expansion of 0.5 in R
56.267 * [backup-simplify]: Simplify 0.5 into 0.5
56.267 * [taylor]: Taking taylor expansion of phi1 in R
56.267 * [backup-simplify]: Simplify phi1 into phi1
56.268 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
56.268 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
56.268 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
56.268 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in R
56.268 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in R
56.268 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
56.268 * [taylor]: Taking taylor expansion of 0.5 in R
56.268 * [backup-simplify]: Simplify 0.5 into 0.5
56.268 * [taylor]: Taking taylor expansion of phi2 in R
56.268 * [backup-simplify]: Simplify phi2 into phi2
56.268 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
56.268 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
56.268 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
56.268 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in R
56.268 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in R
56.268 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
56.268 * [taylor]: Taking taylor expansion of 0.5 in R
56.268 * [backup-simplify]: Simplify 0.5 into 0.5
56.268 * [taylor]: Taking taylor expansion of phi1 in R
56.268 * [backup-simplify]: Simplify phi1 into phi1
56.268 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
56.268 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
56.268 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
56.268 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in R
56.268 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in R
56.268 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
56.268 * [taylor]: Taking taylor expansion of 0.5 in R
56.268 * [backup-simplify]: Simplify 0.5 into 0.5
56.268 * [taylor]: Taking taylor expansion of phi2 in R
56.268 * [backup-simplify]: Simplify phi2 into phi2
56.268 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
56.268 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
56.268 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
56.268 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in R
56.268 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
56.268 * [taylor]: Taking taylor expansion of 0.5 in R
56.269 * [backup-simplify]: Simplify 0.5 into 0.5
56.269 * [taylor]: Taking taylor expansion of phi1 in R
56.269 * [backup-simplify]: Simplify phi1 into phi1
56.269 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
56.269 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
56.269 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
56.269 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
56.269 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
56.269 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
56.269 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
56.269 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
56.269 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
56.270 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
56.270 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
56.270 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
56.270 * [backup-simplify]: Simplify (- 0) into 0
56.270 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
56.271 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
56.271 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
56.271 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
56.271 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
56.271 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
56.271 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
56.271 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
56.271 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
56.271 * [backup-simplify]: Simplify (- 0) into 0
56.271 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
56.271 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
56.272 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
56.272 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
56.272 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
56.272 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
56.272 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
56.272 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
56.272 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
56.272 * [backup-simplify]: Simplify (- 0) into 0
56.272 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
56.272 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
56.272 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
56.273 * [backup-simplify]: Simplify (- 0) into 0
56.273 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
56.273 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
56.273 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
56.273 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
56.273 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
56.273 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
56.273 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
56.274 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))
56.274 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
56.275 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
56.276 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
56.277 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
56.278 * [backup-simplify]: Simplify (+ 0) into 0
56.278 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
56.278 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
56.279 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
56.279 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
56.279 * [backup-simplify]: Simplify (+ 0 0) into 0
56.279 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
56.279 * [backup-simplify]: Simplify (+ 0) into 0
56.280 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
56.280 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
56.280 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
56.281 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
56.281 * [backup-simplify]: Simplify (+ 0 0) into 0
56.281 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
56.281 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
56.281 * [backup-simplify]: Simplify (+ 0) into 0
56.282 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
56.282 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
56.282 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
56.283 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
56.283 * [backup-simplify]: Simplify (- 0) into 0
56.283 * [backup-simplify]: Simplify (+ 0 0) into 0
56.283 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
56.283 * [backup-simplify]: Simplify (+ 0) into 0
56.284 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
56.284 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
56.284 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
56.285 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
56.285 * [backup-simplify]: Simplify (- 0) into 0
56.285 * [backup-simplify]: Simplify (+ 0 0) into 0
56.285 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
56.285 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
56.286 * [backup-simplify]: Simplify (+ 0 0) into 0
56.286 * [backup-simplify]: Simplify (+ 0) into 0
56.286 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
56.286 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
56.287 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
56.287 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
56.287 * [backup-simplify]: Simplify (- 0) into 0
56.287 * [backup-simplify]: Simplify (+ 0 0) into 0
56.288 * [backup-simplify]: Simplify (+ 0) into 0
56.288 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
56.288 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
56.289 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
56.289 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
56.289 * [backup-simplify]: Simplify (+ 0 0) into 0
56.289 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
56.289 * [backup-simplify]: Simplify (+ 0) into 0
56.290 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
56.290 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
56.290 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
56.291 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
56.291 * [backup-simplify]: Simplify (+ 0 0) into 0
56.291 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
56.291 * [backup-simplify]: Simplify (+ 0) into 0
56.292 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
56.292 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
56.292 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
56.292 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
56.293 * [backup-simplify]: Simplify (- 0) into 0
56.293 * [backup-simplify]: Simplify (+ 0 0) into 0
56.293 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
56.293 * [backup-simplify]: Simplify (+ 0) into 0
56.294 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
56.294 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
56.294 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
56.294 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
56.295 * [backup-simplify]: Simplify (+ 0 0) into 0
56.295 * [backup-simplify]: Simplify (+ 0) into 0
56.295 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
56.295 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
56.296 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
56.296 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
56.296 * [backup-simplify]: Simplify (- 0) into 0
56.297 * [backup-simplify]: Simplify (+ 0 0) into 0
56.297 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
56.297 * [backup-simplify]: Simplify (+ 0) into 0
56.297 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
56.297 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
56.298 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
56.298 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
56.299 * [backup-simplify]: Simplify (- 0) into 0
56.299 * [backup-simplify]: Simplify (+ 0 0) into 0
56.299 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
56.299 * [backup-simplify]: Simplify (+ 0) into 0
56.300 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
56.300 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
56.300 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
56.301 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
56.301 * [backup-simplify]: Simplify (+ 0 0) into 0
56.301 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
56.302 * [backup-simplify]: Simplify (+ 0 0) into 0
56.302 * [backup-simplify]: Simplify (- 0) into 0
56.302 * [backup-simplify]: Simplify (+ 0 0) into 0
56.304 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
56.306 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
56.306 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) in R
56.306 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in R
56.306 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in R
56.306 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in R
56.306 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in R
56.306 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in R
56.306 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in R
56.306 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in R
56.306 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
56.306 * [taylor]: Taking taylor expansion of 0.5 in R
56.306 * [backup-simplify]: Simplify 0.5 into 0.5
56.306 * [taylor]: Taking taylor expansion of phi2 in R
56.306 * [backup-simplify]: Simplify phi2 into phi2
56.306 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
56.306 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
56.306 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
56.306 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
56.306 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
56.306 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
56.306 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in R
56.306 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in R
56.306 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
56.306 * [taylor]: Taking taylor expansion of 0.5 in R
56.306 * [backup-simplify]: Simplify 0.5 into 0.5
56.306 * [taylor]: Taking taylor expansion of phi1 in R
56.307 * [backup-simplify]: Simplify phi1 into phi1
56.307 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
56.307 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
56.307 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
56.307 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
56.307 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
56.307 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
56.307 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in R
56.307 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in R
56.307 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in R
56.307 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
56.307 * [taylor]: Taking taylor expansion of 0.5 in R
56.307 * [backup-simplify]: Simplify 0.5 into 0.5
56.307 * [taylor]: Taking taylor expansion of phi2 in R
56.307 * [backup-simplify]: Simplify phi2 into phi2
56.307 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
56.307 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
56.307 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
56.307 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
56.307 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
56.308 * [backup-simplify]: Simplify (- 0) into 0
56.308 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
56.308 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in R
56.308 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in R
56.308 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
56.308 * [taylor]: Taking taylor expansion of 0.5 in R
56.308 * [backup-simplify]: Simplify 0.5 into 0.5
56.308 * [taylor]: Taking taylor expansion of phi1 in R
56.308 * [backup-simplify]: Simplify phi1 into phi1
56.308 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
56.308 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
56.308 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
56.308 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
56.308 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
56.308 * [backup-simplify]: Simplify (- 0) into 0
56.308 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
56.308 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in R
56.308 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in R
56.309 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in R
56.309 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
56.309 * [taylor]: Taking taylor expansion of 0.5 in R
56.309 * [backup-simplify]: Simplify 0.5 into 0.5
56.309 * [taylor]: Taking taylor expansion of phi2 in R
56.309 * [backup-simplify]: Simplify phi2 into phi2
56.309 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
56.309 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
56.309 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
56.309 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in R
56.309 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in R
56.309 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
56.309 * [taylor]: Taking taylor expansion of 0.5 in R
56.309 * [backup-simplify]: Simplify 0.5 into 0.5
56.309 * [taylor]: Taking taylor expansion of phi1 in R
56.309 * [backup-simplify]: Simplify phi1 into phi1
56.309 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
56.309 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
56.309 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
56.309 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in R
56.309 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in R
56.309 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
56.309 * [taylor]: Taking taylor expansion of 0.5 in R
56.309 * [backup-simplify]: Simplify 0.5 into 0.5
56.309 * [taylor]: Taking taylor expansion of phi2 in R
56.309 * [backup-simplify]: Simplify phi2 into phi2
56.309 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
56.309 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
56.309 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
56.309 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in R
56.309 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
56.309 * [taylor]: Taking taylor expansion of 0.5 in R
56.309 * [backup-simplify]: Simplify 0.5 into 0.5
56.309 * [taylor]: Taking taylor expansion of phi1 in R
56.309 * [backup-simplify]: Simplify phi1 into phi1
56.309 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
56.309 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
56.310 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
56.310 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in R
56.310 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in R
56.310 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
56.310 * [taylor]: Taking taylor expansion of 0.5 in R
56.310 * [backup-simplify]: Simplify 0.5 into 0.5
56.310 * [taylor]: Taking taylor expansion of phi2 in R
56.310 * [backup-simplify]: Simplify phi2 into phi2
56.310 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
56.310 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
56.310 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
56.310 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in R
56.310 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in R
56.310 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
56.310 * [taylor]: Taking taylor expansion of 0.5 in R
56.310 * [backup-simplify]: Simplify 0.5 into 0.5
56.310 * [taylor]: Taking taylor expansion of phi1 in R
56.310 * [backup-simplify]: Simplify phi1 into phi1
56.310 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
56.310 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
56.310 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
56.310 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in R
56.310 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in R
56.310 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
56.310 * [taylor]: Taking taylor expansion of 0.5 in R
56.310 * [backup-simplify]: Simplify 0.5 into 0.5
56.310 * [taylor]: Taking taylor expansion of phi2 in R
56.310 * [backup-simplify]: Simplify phi2 into phi2
56.310 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
56.310 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
56.310 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
56.310 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in R
56.310 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
56.310 * [taylor]: Taking taylor expansion of 0.5 in R
56.310 * [backup-simplify]: Simplify 0.5 into 0.5
56.310 * [taylor]: Taking taylor expansion of phi1 in R
56.310 * [backup-simplify]: Simplify phi1 into phi1
56.310 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
56.310 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
56.311 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
56.311 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
56.311 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
56.311 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
56.311 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
56.311 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
56.312 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
56.312 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
56.312 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
56.312 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
56.312 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
56.312 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
56.312 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
56.312 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
56.312 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
56.312 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
56.313 * [backup-simplify]: Simplify (- 0) into 0
56.313 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
56.313 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
56.313 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
56.313 * [backup-simplify]: Simplify (- 0) into 0
56.313 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
56.313 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
56.314 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
56.314 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
56.314 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
56.314 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
56.314 * [backup-simplify]: Simplify (- 0) into 0
56.314 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
56.314 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
56.314 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
56.314 * [backup-simplify]: Simplify (- 0) into 0
56.315 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
56.315 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
56.315 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
56.315 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
56.315 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
56.315 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
56.315 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
56.315 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
56.315 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
56.315 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
56.316 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))
56.316 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
56.317 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
56.318 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
56.319 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
56.320 * [backup-simplify]: Simplify (+ 0) into 0
56.320 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
56.320 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
56.320 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
56.321 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
56.321 * [backup-simplify]: Simplify (+ 0 0) into 0
56.321 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
56.321 * [backup-simplify]: Simplify (+ 0) into 0
56.322 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
56.322 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
56.322 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
56.322 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
56.323 * [backup-simplify]: Simplify (+ 0 0) into 0
56.323 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
56.323 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
56.323 * [backup-simplify]: Simplify (+ 0) into 0
56.324 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
56.324 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
56.324 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
56.324 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
56.325 * [backup-simplify]: Simplify (- 0) into 0
56.325 * [backup-simplify]: Simplify (+ 0 0) into 0
56.325 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
56.325 * [backup-simplify]: Simplify (+ 0) into 0
56.326 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
56.326 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
56.326 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
56.326 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
56.329 * [backup-simplify]: Simplify (- 0) into 0
56.329 * [backup-simplify]: Simplify (+ 0 0) into 0
56.329 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
56.329 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
56.330 * [backup-simplify]: Simplify (+ 0 0) into 0
56.330 * [backup-simplify]: Simplify (+ 0) into 0
56.330 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
56.330 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
56.331 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
56.331 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
56.331 * [backup-simplify]: Simplify (- 0) into 0
56.331 * [backup-simplify]: Simplify (+ 0 0) into 0
56.332 * [backup-simplify]: Simplify (+ 0) into 0
56.332 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
56.332 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
56.333 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
56.333 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
56.333 * [backup-simplify]: Simplify (- 0) into 0
56.333 * [backup-simplify]: Simplify (+ 0 0) into 0
56.333 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
56.334 * [backup-simplify]: Simplify (+ 0) into 0
56.334 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
56.334 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
56.335 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
56.335 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
56.335 * [backup-simplify]: Simplify (+ 0 0) into 0
56.335 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
56.336 * [backup-simplify]: Simplify (+ 0) into 0
56.336 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
56.336 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
56.337 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
56.337 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
56.337 * [backup-simplify]: Simplify (+ 0 0) into 0
56.337 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
56.338 * [backup-simplify]: Simplify (+ 0) into 0
56.338 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
56.338 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
56.338 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
56.339 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
56.339 * [backup-simplify]: Simplify (+ 0 0) into 0
56.339 * [backup-simplify]: Simplify (+ 0) into 0
56.340 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
56.340 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
56.340 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
56.340 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
56.341 * [backup-simplify]: Simplify (+ 0 0) into 0
56.341 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
56.341 * [backup-simplify]: Simplify (+ 0) into 0
56.341 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
56.341 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
56.342 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
56.343 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
56.343 * [backup-simplify]: Simplify (- 0) into 0
56.343 * [backup-simplify]: Simplify (+ 0 0) into 0
56.344 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
56.344 * [backup-simplify]: Simplify (+ 0) into 0
56.345 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
56.345 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
56.346 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
56.346 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
56.346 * [backup-simplify]: Simplify (- 0) into 0
56.347 * [backup-simplify]: Simplify (+ 0 0) into 0
56.347 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
56.348 * [backup-simplify]: Simplify (+ 0 0) into 0
56.348 * [backup-simplify]: Simplify (- 0) into 0
56.348 * [backup-simplify]: Simplify (+ 0 0) into 0
56.352 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
56.354 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
56.355 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in R
56.355 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in R
56.355 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in R
56.355 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in R
56.355 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
56.355 * [taylor]: Taking taylor expansion of 0.5 in R
56.355 * [backup-simplify]: Simplify 0.5 into 0.5
56.355 * [taylor]: Taking taylor expansion of phi2 in R
56.355 * [backup-simplify]: Simplify phi2 into phi2
56.355 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
56.355 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
56.355 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
56.355 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
56.355 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
56.356 * [backup-simplify]: Simplify (- 0) into 0
56.356 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
56.356 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in R
56.356 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in R
56.356 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
56.356 * [taylor]: Taking taylor expansion of 0.5 in R
56.356 * [backup-simplify]: Simplify 0.5 into 0.5
56.356 * [taylor]: Taking taylor expansion of phi1 in R
56.356 * [backup-simplify]: Simplify phi1 into phi1
56.356 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
56.356 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
56.356 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
56.356 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
56.357 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
56.357 * [backup-simplify]: Simplify (- 0) into 0
56.357 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
56.357 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in R
56.357 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R))) in R
56.357 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) R)) in R
56.357 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in R
56.357 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in R
56.357 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
56.357 * [taylor]: Taking taylor expansion of 0.5 in R
56.357 * [backup-simplify]: Simplify 0.5 into 0.5
56.357 * [taylor]: Taking taylor expansion of phi1 in R
56.357 * [backup-simplify]: Simplify phi1 into phi1
56.358 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
56.358 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
56.358 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
56.358 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
56.358 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
56.358 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
56.358 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) R) in R
56.358 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in R
56.358 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in R
56.358 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
56.358 * [taylor]: Taking taylor expansion of 0.5 in R
56.358 * [backup-simplify]: Simplify 0.5 into 0.5
56.358 * [taylor]: Taking taylor expansion of phi2 in R
56.358 * [backup-simplify]: Simplify phi2 into phi2
56.358 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
56.358 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
56.359 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
56.359 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
56.359 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
56.359 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
56.359 * [taylor]: Taking taylor expansion of R in R
56.359 * [backup-simplify]: Simplify 0 into 0
56.359 * [backup-simplify]: Simplify 1 into 1
56.359 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) R)) in R
56.359 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in R
56.359 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in R
56.359 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
56.359 * [taylor]: Taking taylor expansion of 0.5 in R
56.359 * [backup-simplify]: Simplify 0.5 into 0.5
56.359 * [taylor]: Taking taylor expansion of phi1 in R
56.359 * [backup-simplify]: Simplify phi1 into phi1
56.359 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
56.359 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
56.359 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
56.360 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
56.360 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
56.360 * [backup-simplify]: Simplify (- 0) into 0
56.360 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
56.360 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) R) in R
56.360 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in R
56.360 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in R
56.360 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
56.360 * [taylor]: Taking taylor expansion of 0.5 in R
56.360 * [backup-simplify]: Simplify 0.5 into 0.5
56.360 * [taylor]: Taking taylor expansion of phi2 in R
56.360 * [backup-simplify]: Simplify phi2 into phi2
56.361 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
56.361 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
56.361 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
56.361 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
56.361 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
56.362 * [backup-simplify]: Simplify (- 0) into 0
56.362 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
56.362 * [taylor]: Taking taylor expansion of R in R
56.362 * [backup-simplify]: Simplify 0 into 0
56.362 * [backup-simplify]: Simplify 1 into 1
56.362 * [taylor]: Taking taylor expansion of (+ (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in R
56.362 * [taylor]: Taking taylor expansion of (* R (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in R
56.362 * [taylor]: Taking taylor expansion of R in R
56.362 * [backup-simplify]: Simplify 0 into 0
56.362 * [backup-simplify]: Simplify 1 into 1
56.362 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in R
56.362 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in R
56.362 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
56.362 * [taylor]: Taking taylor expansion of 0.5 in R
56.362 * [backup-simplify]: Simplify 0.5 into 0.5
56.362 * [taylor]: Taking taylor expansion of phi2 in R
56.362 * [backup-simplify]: Simplify phi2 into phi2
56.362 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
56.362 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
56.362 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
56.362 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in R
56.363 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in R
56.363 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
56.363 * [taylor]: Taking taylor expansion of 0.5 in R
56.363 * [backup-simplify]: Simplify 0.5 into 0.5
56.363 * [taylor]: Taking taylor expansion of phi1 in R
56.363 * [backup-simplify]: Simplify phi1 into phi1
56.363 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
56.363 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
56.363 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
56.363 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in R
56.363 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in R
56.363 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
56.363 * [taylor]: Taking taylor expansion of 0.5 in R
56.363 * [backup-simplify]: Simplify 0.5 into 0.5
56.363 * [taylor]: Taking taylor expansion of phi2 in R
56.363 * [backup-simplify]: Simplify phi2 into phi2
56.363 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
56.363 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
56.363 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
56.363 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in R
56.363 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
56.363 * [taylor]: Taking taylor expansion of 0.5 in R
56.363 * [backup-simplify]: Simplify 0.5 into 0.5
56.363 * [taylor]: Taking taylor expansion of phi1 in R
56.363 * [backup-simplify]: Simplify phi1 into phi1
56.364 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
56.364 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
56.364 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
56.364 * [taylor]: Taking taylor expansion of (* R (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in R
56.364 * [taylor]: Taking taylor expansion of R in R
56.364 * [backup-simplify]: Simplify 0 into 0
56.364 * [backup-simplify]: Simplify 1 into 1
56.364 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in R
56.364 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in R
56.364 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
56.364 * [taylor]: Taking taylor expansion of 0.5 in R
56.364 * [backup-simplify]: Simplify 0.5 into 0.5
56.364 * [taylor]: Taking taylor expansion of phi2 in R
56.364 * [backup-simplify]: Simplify phi2 into phi2
56.364 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
56.364 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
56.364 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
56.364 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in R
56.364 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in R
56.364 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
56.364 * [taylor]: Taking taylor expansion of 0.5 in R
56.364 * [backup-simplify]: Simplify 0.5 into 0.5
56.365 * [taylor]: Taking taylor expansion of phi1 in R
56.365 * [backup-simplify]: Simplify phi1 into phi1
56.365 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
56.365 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
56.365 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
56.365 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in R
56.365 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in R
56.365 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
56.365 * [taylor]: Taking taylor expansion of 0.5 in R
56.365 * [backup-simplify]: Simplify 0.5 into 0.5
56.365 * [taylor]: Taking taylor expansion of phi2 in R
56.365 * [backup-simplify]: Simplify phi2 into phi2
56.365 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
56.365 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
56.365 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
56.365 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in R
56.365 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
56.365 * [taylor]: Taking taylor expansion of 0.5 in R
56.365 * [backup-simplify]: Simplify 0.5 into 0.5
56.365 * [taylor]: Taking taylor expansion of phi1 in R
56.365 * [backup-simplify]: Simplify phi1 into phi1
56.365 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
56.366 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
56.366 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
56.366 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
56.366 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
56.366 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
56.367 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
56.367 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
56.367 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) 0) into 0
56.367 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) 0) into 0
56.367 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
56.368 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
56.368 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) 0) into 0
56.368 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) 0) into 0
56.369 * [backup-simplify]: Simplify (+ 0 0) into 0
56.369 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
56.369 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
56.369 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
56.369 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
56.369 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
56.369 * [backup-simplify]: Simplify (- 0) into 0
56.370 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
56.370 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
56.370 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
56.370 * [backup-simplify]: Simplify (- 0) into 0
56.370 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
56.370 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
56.371 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
56.371 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
56.371 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
56.371 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
56.371 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
56.372 * [backup-simplify]: Simplify (* 0 (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
56.372 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
56.372 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
56.372 * [backup-simplify]: Simplify (- 0) into 0
56.373 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
56.373 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
56.373 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
56.373 * [backup-simplify]: Simplify (- 0) into 0
56.373 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
56.373 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
56.374 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
56.374 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
56.374 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
56.374 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
56.374 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
56.374 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
56.374 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
56.375 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
56.375 * [backup-simplify]: Simplify (* 0 (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
56.376 * [backup-simplify]: Simplify (+ 0 0) into 0
56.376 * [backup-simplify]: Simplify (- 0) into 0
56.376 * [backup-simplify]: Simplify (+ 0 0) into 0
56.377 * [backup-simplify]: Simplify (+ 0) into 0
56.377 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
56.377 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
56.378 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
56.379 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
56.379 * [backup-simplify]: Simplify (+ 0 0) into 0
56.379 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
56.380 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 1) (* 0 0)) into (pow (sin (/ 0.5 phi2)) 2)
56.380 * [backup-simplify]: Simplify (+ 0) into 0
56.381 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
56.381 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
56.382 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
56.382 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
56.383 * [backup-simplify]: Simplify (+ 0 0) into 0
56.383 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
56.384 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* 0 0)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
56.384 * [backup-simplify]: Simplify (+ 0) into 0
56.384 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
56.385 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
56.385 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
56.386 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
56.386 * [backup-simplify]: Simplify (- 0) into 0
56.387 * [backup-simplify]: Simplify (+ 0 0) into 0
56.387 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
56.387 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 1) (* 0 0)) into (pow (cos (/ 0.5 phi2)) 2)
56.388 * [backup-simplify]: Simplify (+ 0) into 0
56.388 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
56.389 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
56.389 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
56.390 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
56.390 * [backup-simplify]: Simplify (- 0) into 0
56.390 * [backup-simplify]: Simplify (+ 0 0) into 0
56.391 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
56.392 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* 0 0)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
56.392 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
56.393 * [backup-simplify]: Simplify (+ 0) into 0
56.393 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
56.394 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
56.394 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
56.395 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
56.395 * [backup-simplify]: Simplify (+ 0 0) into 0
56.396 * [backup-simplify]: Simplify (+ 0) into 0
56.396 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
56.397 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
56.397 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
56.398 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
56.398 * [backup-simplify]: Simplify (- 0) into 0
56.399 * [backup-simplify]: Simplify (+ 0 0) into 0
56.399 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
56.399 * [backup-simplify]: Simplify (+ 0) into 0
56.400 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
56.400 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
56.401 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
56.401 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
56.401 * [backup-simplify]: Simplify (- 0) into 0
56.402 * [backup-simplify]: Simplify (+ 0 0) into 0
56.402 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
56.403 * [backup-simplify]: Simplify (+ 0) into 0
56.403 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
56.403 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
56.404 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
56.405 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
56.405 * [backup-simplify]: Simplify (+ 0 0) into 0
56.405 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
56.406 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
56.407 * [backup-simplify]: Simplify (+ 0) into 0
56.407 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
56.407 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
56.408 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
56.408 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
56.409 * [backup-simplify]: Simplify (+ 0 0) into 0
56.409 * [backup-simplify]: Simplify (+ 0) into 0
56.410 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
56.410 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
56.411 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
56.411 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
56.412 * [backup-simplify]: Simplify (+ 0 0) into 0
56.412 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
56.412 * [backup-simplify]: Simplify (+ 0) into 0
56.413 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
56.413 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
56.414 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
56.414 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
56.414 * [backup-simplify]: Simplify (- 0) into 0
56.415 * [backup-simplify]: Simplify (+ 0 0) into 0
56.415 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
56.416 * [backup-simplify]: Simplify (+ 0) into 0
56.416 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
56.416 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
56.417 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
56.418 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
56.418 * [backup-simplify]: Simplify (- 0) into 0
56.419 * [backup-simplify]: Simplify (+ 0 0) into 0
56.419 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
56.420 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
56.421 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))
56.422 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into (- (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
56.424 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
56.426 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
56.428 * [backup-simplify]: Simplify (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))
56.430 * [backup-simplify]: Simplify (* 2 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into (* 2 (* (/ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))
56.432 * [backup-simplify]: Simplify (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
56.435 * [backup-simplify]: Simplify (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
56.439 * [backup-simplify]: Simplify (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))
56.444 * [backup-simplify]: Simplify (- (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into (- (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))
56.452 * [backup-simplify]: Simplify (+ (* 2 (* (/ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (- (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into (- (* 2 (* (/ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))
56.460 * [backup-simplify]: Simplify (- (* 2 (* (/ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into (- (* 2 (* (/ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))
56.464 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
56.464 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
56.464 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
56.465 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
56.465 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
56.465 * [backup-simplify]: Simplify (+ 0 0) into 0
56.466 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
56.466 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
56.467 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
56.467 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
56.467 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
56.468 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
56.468 * [backup-simplify]: Simplify (+ 0 0) into 0
56.468 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
56.469 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0
56.469 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
56.470 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
56.470 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
56.470 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
56.471 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
56.471 * [backup-simplify]: Simplify (- 0) into 0
56.471 * [backup-simplify]: Simplify (+ 0 0) into 0
56.471 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
56.472 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
56.473 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
56.473 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
56.473 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
56.473 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
56.474 * [backup-simplify]: Simplify (- 0) into 0
56.474 * [backup-simplify]: Simplify (+ 0 0) into 0
56.474 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
56.475 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 2)))) into 0
56.475 * [backup-simplify]: Simplify (+ 0 0) into 0
56.476 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
56.476 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
56.476 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
56.477 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
56.477 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
56.477 * [backup-simplify]: Simplify (- 0) into 0
56.477 * [backup-simplify]: Simplify (+ 0 0) into 0
56.478 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
56.478 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
56.478 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
56.479 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
56.479 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
56.479 * [backup-simplify]: Simplify (+ 0 0) into 0
56.480 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
56.480 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
56.481 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
56.481 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
56.481 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
56.482 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
56.482 * [backup-simplify]: Simplify (+ 0 0) into 0
56.482 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
56.483 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
56.483 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
56.483 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
56.484 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
56.484 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
56.484 * [backup-simplify]: Simplify (- 0) into 0
56.485 * [backup-simplify]: Simplify (+ 0 0) into 0
56.485 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into 0
56.485 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
56.486 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
56.486 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
56.486 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
56.487 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
56.487 * [backup-simplify]: Simplify (+ 0 0) into 0
56.488 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
56.488 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
56.488 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
56.489 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
56.489 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
56.489 * [backup-simplify]: Simplify (- 0) into 0
56.489 * [backup-simplify]: Simplify (+ 0 0) into 0
56.490 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
56.490 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
56.491 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
56.491 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
56.491 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
56.492 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
56.492 * [backup-simplify]: Simplify (- 0) into 0
56.492 * [backup-simplify]: Simplify (+ 0 0) into 0
56.492 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
56.493 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
56.493 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
56.493 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
56.494 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
56.494 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
56.494 * [backup-simplify]: Simplify (+ 0 0) into 0
56.495 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into 0
56.495 * [backup-simplify]: Simplify (+ 0 0) into 0
56.495 * [backup-simplify]: Simplify (- 0) into 0
56.496 * [backup-simplify]: Simplify (+ 0 0) into 0
56.499 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (* 0 (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
56.500 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
56.501 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
56.501 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
56.501 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
56.502 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
56.502 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
56.502 * [backup-simplify]: Simplify (+ 0 0) into 0
56.503 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
56.503 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
56.504 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
56.504 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
56.504 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
56.505 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
56.505 * [backup-simplify]: Simplify (+ 0 0) into 0
56.505 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
56.506 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0
56.506 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
56.507 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (* 0 1))) into 0
56.507 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) R) (/ 0 R)) (* 0 (/ 0 R)))) into 0
56.508 * [backup-simplify]: Simplify (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) R) 0) (+ (* 0 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
56.510 * [backup-simplify]: Simplify (+ (* 1/2 0) (+ (* 0 0) (* 0 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))) into 0
56.511 * [backup-simplify]: Simplify (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 1 (* R (pow phi2 2)))) into (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 1 (* R (pow phi2 2))))
56.513 * [backup-simplify]: Simplify (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 1 (* R (pow phi2 2))))) into (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 1 (* R (pow phi2 2)))))
56.513 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
56.514 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
56.514 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
56.514 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
56.515 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
56.515 * [backup-simplify]: Simplify (+ 0 0) into 0
56.515 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
56.516 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
56.516 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
56.516 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
56.517 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
56.517 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
56.517 * [backup-simplify]: Simplify (+ 0 0) into 0
56.518 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
56.518 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0
56.519 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
56.519 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
56.519 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
56.520 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
56.520 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
56.521 * [backup-simplify]: Simplify (- 0) into 0
56.521 * [backup-simplify]: Simplify (+ 0 0) into 0
56.521 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
56.522 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
56.522 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
56.522 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
56.523 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
56.523 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
56.523 * [backup-simplify]: Simplify (- 0) into 0
56.524 * [backup-simplify]: Simplify (+ 0 0) into 0
56.524 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
56.525 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 2)))) into 0
56.525 * [backup-simplify]: Simplify (+ 0 0) into 0
56.525 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
56.526 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
56.526 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
56.526 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
56.527 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
56.527 * [backup-simplify]: Simplify (- 0) into 0
56.527 * [backup-simplify]: Simplify (+ 0 0) into 0
56.528 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
56.528 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
56.528 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
56.529 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
56.529 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
56.529 * [backup-simplify]: Simplify (+ 0 0) into 0
56.530 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
56.530 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
56.531 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
56.531 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
56.531 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
56.531 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
56.532 * [backup-simplify]: Simplify (+ 0 0) into 0
56.532 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
56.533 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
56.533 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
56.533 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
56.534 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
56.535 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
56.535 * [backup-simplify]: Simplify (- 0) into 0
56.535 * [backup-simplify]: Simplify (+ 0 0) into 0
56.536 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into 0
56.537 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
56.538 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
56.538 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
56.538 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
56.539 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
56.539 * [backup-simplify]: Simplify (+ 0 0) into 0
56.539 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
56.540 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
56.540 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
56.540 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
56.541 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
56.541 * [backup-simplify]: Simplify (- 0) into 0
56.541 * [backup-simplify]: Simplify (+ 0 0) into 0
56.542 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
56.542 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
56.543 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
56.543 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
56.543 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
56.544 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
56.544 * [backup-simplify]: Simplify (- 0) into 0
56.544 * [backup-simplify]: Simplify (+ 0 0) into 0
56.545 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
56.545 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
56.546 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
56.546 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
56.546 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
56.547 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
56.547 * [backup-simplify]: Simplify (+ 0 0) into 0
56.547 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into 0
56.547 * [backup-simplify]: Simplify (+ 0 0) into 0
56.548 * [backup-simplify]: Simplify (- 0) into 0
56.550 * [backup-simplify]: Simplify (+ 0 0) into 0
56.552 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into 0
56.554 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)))) into 0
56.561 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)))) (* 0 (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)))))) into 0
56.563 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
56.564 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
56.565 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
56.565 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
56.565 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
56.566 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
56.566 * [backup-simplify]: Simplify (+ 0 0) into 0
56.566 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
56.567 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0
56.568 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
56.569 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
56.569 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
56.570 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
56.570 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
56.571 * [backup-simplify]: Simplify (+ 0 0) into 0
56.571 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
56.572 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi2)) 2)))) into 0
56.573 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 3) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 3)))) into 0
56.574 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
56.575 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
56.575 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
56.576 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
56.576 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
56.577 * [backup-simplify]: Simplify (- 0) into 0
56.577 * [backup-simplify]: Simplify (+ 0 0) into 0
56.578 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (pow (sin (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3))))) into 0
56.579 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
56.579 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
56.580 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
56.580 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
56.581 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
56.581 * [backup-simplify]: Simplify (- 0) into 0
56.582 * [backup-simplify]: Simplify (+ 0 0) into 0
56.583 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (pow (sin (/ 0.5 phi1)) 3) (* (pow (sin (/ 0.5 phi2)) 3) (cos (/ 0.5 phi1))))))) into 0
56.584 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
56.584 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (* 0 1))) into 0
56.585 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 3) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 3)))) R) (/ 0 R)) (* 0 (/ 0 R)))) into 0
56.590 * [backup-simplify]: Simplify (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 3) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 3)))) R) 0) (+ (* 0 0) (* 0 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
56.596 * [backup-simplify]: Simplify (+ (* 3/2 0) (+ (* 0 0) (* 0 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))) into 0
56.597 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
56.598 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
56.598 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
56.599 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
56.600 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
56.600 * [backup-simplify]: Simplify (+ 0 0) into 0
56.601 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
56.602 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
56.602 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
56.603 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
56.603 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
56.604 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
56.604 * [backup-simplify]: Simplify (+ 0 0) into 0
56.605 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
56.606 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0
56.607 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
56.607 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
56.608 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
56.608 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
56.609 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
56.609 * [backup-simplify]: Simplify (- 0) into 0
56.610 * [backup-simplify]: Simplify (+ 0 0) into 0
56.611 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
56.611 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
56.612 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
56.612 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
56.613 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
56.614 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
56.614 * [backup-simplify]: Simplify (- 0) into 0
56.614 * [backup-simplify]: Simplify (+ 0 0) into 0
56.615 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
56.616 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 2)))) into 0
56.616 * [backup-simplify]: Simplify (+ 0 0) into 0
56.617 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
56.618 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
56.618 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
56.619 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
56.619 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
56.620 * [backup-simplify]: Simplify (- 0) into 0
56.620 * [backup-simplify]: Simplify (+ 0 0) into 0
56.621 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
56.622 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
56.622 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
56.623 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
56.623 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
56.624 * [backup-simplify]: Simplify (+ 0 0) into 0
56.624 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
56.625 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
56.626 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
56.626 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
56.626 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
56.627 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
56.627 * [backup-simplify]: Simplify (+ 0 0) into 0
56.627 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
56.628 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
56.628 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
56.628 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
56.629 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
56.629 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
56.629 * [backup-simplify]: Simplify (- 0) into 0
56.630 * [backup-simplify]: Simplify (+ 0 0) into 0
56.630 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into 0
56.631 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
56.631 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
56.631 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
56.632 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
56.632 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
56.632 * [backup-simplify]: Simplify (+ 0 0) into 0
56.633 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
56.634 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
56.634 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
56.634 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
56.634 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
56.635 * [backup-simplify]: Simplify (- 0) into 0
56.635 * [backup-simplify]: Simplify (+ 0 0) into 0
56.635 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
56.636 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
56.636 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
56.636 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
56.637 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
56.637 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
56.637 * [backup-simplify]: Simplify (- 0) into 0
56.638 * [backup-simplify]: Simplify (+ 0 0) into 0
56.638 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
56.638 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
56.639 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
56.639 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
56.639 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
56.640 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
56.640 * [backup-simplify]: Simplify (+ 0 0) into 0
56.641 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into 0
56.641 * [backup-simplify]: Simplify (+ 0 0) into 0
56.641 * [backup-simplify]: Simplify (- 0) into 0
56.641 * [backup-simplify]: Simplify (+ 0 0) into 0
56.643 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into 0
56.646 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)))) into 0
56.652 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)))) (* 0 (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)))))) into 0
56.657 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
56.658 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
56.659 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
56.659 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
56.660 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
56.660 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
56.661 * [backup-simplify]: Simplify (+ 0 0) into 0
56.662 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
56.662 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
56.663 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
56.663 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
56.664 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
56.664 * [backup-simplify]: Simplify (- 0) into 0
56.665 * [backup-simplify]: Simplify (+ 0 0) into 0
56.665 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
56.666 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi2)) 2)))) into 0
56.669 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 3) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
56.670 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
56.670 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
56.671 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
56.671 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
56.672 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
56.672 * [backup-simplify]: Simplify (- 0) into 0
56.673 * [backup-simplify]: Simplify (+ 0 0) into 0
56.673 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
56.674 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 2)))) into 0
56.675 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 3) 0) (+ (* 0 0) (* 0 (* (pow (cos (/ 0.5 phi2)) 3) (sin (/ 0.5 phi1)))))) into 0
56.676 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
56.676 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
56.676 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
56.677 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
56.678 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
56.678 * [backup-simplify]: Simplify (+ 0 0) into 0
56.679 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (pow (cos (/ 0.5 phi2)) 3) (pow (cos (/ 0.5 phi1)) 3)))))) into 0
56.680 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
56.681 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (* 0 1))) into 0
56.682 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 3) (* (pow (cos (/ 0.5 phi1)) 3) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (/ 0 R)) (* 0 (/ 0 R)))) into 0
56.687 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 3) (* (pow (cos (/ 0.5 phi1)) 3) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) 0) (+ (* 0 0) (* 0 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
56.693 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (* (/ (* (sin (/ 0.5 phi2)) (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (cos (/ 0.5 phi2)) 3) (sin (/ 0.5 phi1))))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))) into 0
56.695 * [backup-simplify]: Simplify (* (/ 1 (* (pow phi1 2) R)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into (* (/ 1 (* R (pow phi1 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))
56.698 * [backup-simplify]: Simplify (* 1/2 (* (/ 1 (* R (pow phi1 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into (* 1/2 (* (/ 1 (* R (pow phi1 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))
56.699 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
56.700 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
56.700 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
56.701 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
56.701 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
56.702 * [backup-simplify]: Simplify (+ 0 0) into 0
56.702 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
56.703 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
56.704 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
56.704 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
56.705 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
56.705 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
56.706 * [backup-simplify]: Simplify (+ 0 0) into 0
56.706 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
56.707 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0
56.708 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
56.709 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
56.709 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
56.710 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
56.710 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
56.711 * [backup-simplify]: Simplify (- 0) into 0
56.711 * [backup-simplify]: Simplify (+ 0 0) into 0
56.711 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
56.712 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
56.713 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
56.713 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
56.714 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
56.715 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
56.715 * [backup-simplify]: Simplify (- 0) into 0
56.715 * [backup-simplify]: Simplify (+ 0 0) into 0
56.716 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
56.717 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 2)))) into 0
56.717 * [backup-simplify]: Simplify (+ 0 0) into 0
56.718 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
56.719 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
56.719 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
56.720 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
56.720 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
56.721 * [backup-simplify]: Simplify (- 0) into 0
56.721 * [backup-simplify]: Simplify (+ 0 0) into 0
56.722 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
56.723 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
56.723 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
56.724 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
56.724 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
56.725 * [backup-simplify]: Simplify (+ 0 0) into 0
56.725 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
56.726 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
56.727 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
56.727 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
56.728 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
56.729 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
56.729 * [backup-simplify]: Simplify (+ 0 0) into 0
56.730 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
56.730 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
56.731 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
56.731 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
56.732 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
56.733 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
56.733 * [backup-simplify]: Simplify (- 0) into 0
56.734 * [backup-simplify]: Simplify (+ 0 0) into 0
56.734 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into 0
56.735 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
56.736 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
56.736 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
56.737 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
56.737 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
56.738 * [backup-simplify]: Simplify (+ 0 0) into 0
56.738 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
56.739 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
56.739 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
56.740 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
56.741 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
56.741 * [backup-simplify]: Simplify (- 0) into 0
56.742 * [backup-simplify]: Simplify (+ 0 0) into 0
56.742 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
56.743 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
56.744 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
56.745 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
56.745 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
56.746 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
56.746 * [backup-simplify]: Simplify (- 0) into 0
56.747 * [backup-simplify]: Simplify (+ 0 0) into 0
56.747 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
56.748 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
56.749 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
56.749 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
56.750 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
56.750 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
56.750 * [backup-simplify]: Simplify (+ 0 0) into 0
56.751 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into 0
56.751 * [backup-simplify]: Simplify (+ 0 0) into 0
56.751 * [backup-simplify]: Simplify (- 0) into 0
56.752 * [backup-simplify]: Simplify (+ 0 0) into 0
56.754 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into 0
56.756 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)))) into 0
56.762 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)))) (* 0 (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)))))) into 0
56.765 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
56.766 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
56.766 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
56.766 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
56.767 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
56.767 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
56.767 * [backup-simplify]: Simplify (+ 0 0) into 0
56.768 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
56.768 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0
56.769 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
56.769 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
56.769 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
56.770 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
56.770 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
56.770 * [backup-simplify]: Simplify (- 0) into 0
56.771 * [backup-simplify]: Simplify (+ 0 0) into 0
56.771 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 3)))) into 0
56.771 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
56.772 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
56.772 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
56.772 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
56.773 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
56.773 * [backup-simplify]: Simplify (- 0) into 0
56.773 * [backup-simplify]: Simplify (+ 0 0) into 0
56.774 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 3))))) into 0
56.774 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
56.775 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
56.775 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
56.775 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
56.776 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
56.776 * [backup-simplify]: Simplify (+ 0 0) into 0
56.776 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
56.777 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi2)) 2)))) into 0
56.777 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 3) 0) (+ (* 0 0) (* 0 (* (pow (sin (/ 0.5 phi1)) 3) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into 0
56.778 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
56.778 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (* 0 1))) into 0
56.779 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)))) R) (/ 0 R)) (* 0 (/ 0 R)))) into 0
56.782 * [backup-simplify]: Simplify (+ (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi1)) 3)))) R) 0) (+ (* 0 0) (* 0 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
56.788 * [backup-simplify]: Simplify (+ (* 1/2 0) (+ (* 0 0) (* 0 (* (/ (* (pow (sin (/ 0.5 phi2)) 3) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi1)) 3)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))) into 0
56.789 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
56.790 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
56.790 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
56.791 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
56.791 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
56.792 * [backup-simplify]: Simplify (+ 0 0) into 0
56.792 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
56.793 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
56.794 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
56.794 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
56.797 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
56.798 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
56.799 * [backup-simplify]: Simplify (+ 0 0) into 0
56.799 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
56.800 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0
56.801 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
56.802 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
56.802 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
56.803 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
56.803 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
56.804 * [backup-simplify]: Simplify (- 0) into 0
56.804 * [backup-simplify]: Simplify (+ 0 0) into 0
56.804 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
56.805 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
56.806 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
56.806 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
56.807 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
56.807 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
56.808 * [backup-simplify]: Simplify (- 0) into 0
56.808 * [backup-simplify]: Simplify (+ 0 0) into 0
56.808 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
56.809 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 2)))) into 0
56.810 * [backup-simplify]: Simplify (+ 0 0) into 0
56.810 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
56.811 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
56.811 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
56.812 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
56.812 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
56.813 * [backup-simplify]: Simplify (- 0) into 0
56.813 * [backup-simplify]: Simplify (+ 0 0) into 0
56.814 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
56.814 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
56.815 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
56.815 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
56.816 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
56.816 * [backup-simplify]: Simplify (+ 0 0) into 0
56.817 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
56.817 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
56.818 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
56.818 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
56.819 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
56.820 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
56.820 * [backup-simplify]: Simplify (+ 0 0) into 0
56.821 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
56.822 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
56.823 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
56.823 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
56.824 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
56.824 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
56.824 * [backup-simplify]: Simplify (- 0) into 0
56.825 * [backup-simplify]: Simplify (+ 0 0) into 0
56.826 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into 0
56.826 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
56.827 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
56.828 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
56.828 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
56.829 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
56.829 * [backup-simplify]: Simplify (+ 0 0) into 0
56.830 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
56.831 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
56.831 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
56.832 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
56.832 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
56.833 * [backup-simplify]: Simplify (- 0) into 0
56.833 * [backup-simplify]: Simplify (+ 0 0) into 0
56.834 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
56.835 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
56.835 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
56.836 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
56.836 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
56.837 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
56.837 * [backup-simplify]: Simplify (- 0) into 0
56.838 * [backup-simplify]: Simplify (+ 0 0) into 0
56.838 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
56.839 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
56.840 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
56.840 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
56.841 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
56.842 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
56.843 * [backup-simplify]: Simplify (+ 0 0) into 0
56.844 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into 0
56.844 * [backup-simplify]: Simplify (+ 0 0) into 0
56.845 * [backup-simplify]: Simplify (- 0) into 0
56.845 * [backup-simplify]: Simplify (+ 0 0) into 0
56.852 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (* 0 (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
56.855 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
56.856 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
56.857 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
56.857 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
56.858 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
56.859 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
56.859 * [backup-simplify]: Simplify (- 0) into 0
56.860 * [backup-simplify]: Simplify (+ 0 0) into 0
56.860 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
56.861 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
56.862 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
56.862 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
56.863 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
56.864 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
56.864 * [backup-simplify]: Simplify (- 0) into 0
56.864 * [backup-simplify]: Simplify (+ 0 0) into 0
56.865 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
56.866 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 2)))) into 0
56.866 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
56.866 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (* 0 1))) into 0
56.867 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) R) (/ 0 R)) (* 0 (/ 0 R)))) into 0
56.870 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) R) 0) (+ (* 0 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
56.873 * [backup-simplify]: Simplify (+ (* 1/2 0) (+ (* 0 0) (* 0 (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))) into 0
56.874 * [backup-simplify]: Simplify (+ 0 0) into 0
56.876 * [backup-simplify]: Simplify (+ (* 1/2 (* (/ 1 (* R (pow phi1 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) 0) into (* 1/2 (* (/ 1 (* (pow phi1 2) R)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))
56.878 * [backup-simplify]: Simplify (+ 0 (* 1/2 (* (/ 1 (* (pow phi1 2) R)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into (* 1/2 (* (/ 1 (* R (pow phi1 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))
56.879 * [backup-simplify]: Simplify (+ 0 (* 1/2 (* (/ 1 (* R (pow phi1 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into (* 1/2 (* (/ 1 (* (pow phi1 2) R)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))
56.882 * [backup-simplify]: Simplify (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 1 (* R (pow phi2 2))))) (* 1/2 (* (/ 1 (* (pow phi1 2) R)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 1 (* R (pow phi2 2))))) (* 1/2 (* (/ 1 (* R (pow phi1 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))
56.884 * [backup-simplify]: Simplify (+ 0 (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 1 (* R (pow phi2 2))))) (* 1/2 (* (/ 1 (* R (pow phi1 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))) into (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 1 (* R (pow phi2 2))))) (* 1/2 (* (/ 1 (* R (pow phi1 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))
56.885 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
56.885 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
56.886 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
56.886 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
56.886 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
56.887 * [backup-simplify]: Simplify (+ 0 0) into 0
56.887 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
56.887 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
56.888 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
56.888 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
56.888 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
56.889 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
56.889 * [backup-simplify]: Simplify (+ 0 0) into 0
56.889 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
56.890 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0
56.890 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
56.891 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
56.891 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
56.891 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
56.892 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
56.892 * [backup-simplify]: Simplify (- 0) into 0
56.892 * [backup-simplify]: Simplify (+ 0 0) into 0
56.893 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
56.893 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
56.894 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
56.894 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
56.894 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
56.894 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
56.895 * [backup-simplify]: Simplify (- 0) into 0
56.895 * [backup-simplify]: Simplify (+ 0 0) into 0
56.895 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
56.896 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 2)))) into 0
56.896 * [backup-simplify]: Simplify (+ 0 0) into 0
56.896 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
56.897 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
56.897 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
56.897 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
56.898 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
56.898 * [backup-simplify]: Simplify (- 0) into 0
56.898 * [backup-simplify]: Simplify (+ 0 0) into 0
56.899 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
56.899 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
56.899 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
56.900 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
56.900 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
56.900 * [backup-simplify]: Simplify (+ 0 0) into 0
56.901 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
56.901 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
56.902 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
56.902 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
56.902 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
56.903 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
56.903 * [backup-simplify]: Simplify (+ 0 0) into 0
56.903 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
56.904 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
56.904 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
56.904 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
56.905 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
56.905 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
56.905 * [backup-simplify]: Simplify (- 0) into 0
56.905 * [backup-simplify]: Simplify (+ 0 0) into 0
56.906 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into 0
56.906 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
56.907 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
56.907 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
56.907 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
56.908 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
56.908 * [backup-simplify]: Simplify (+ 0 0) into 0
56.908 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
56.909 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
56.909 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
56.910 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
56.910 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
56.911 * [backup-simplify]: Simplify (- 0) into 0
56.911 * [backup-simplify]: Simplify (+ 0 0) into 0
56.911 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
56.912 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
56.913 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
56.913 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
56.914 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
56.915 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
56.915 * [backup-simplify]: Simplify (- 0) into 0
56.916 * [backup-simplify]: Simplify (+ 0 0) into 0
56.916 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
56.917 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
56.918 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
56.918 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
56.919 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
56.919 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
56.920 * [backup-simplify]: Simplify (+ 0 0) into 0
56.921 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into 0
56.921 * [backup-simplify]: Simplify (+ 0 0) into 0
56.921 * [backup-simplify]: Simplify (- 0) into 0
56.922 * [backup-simplify]: Simplify (+ 0 0) into 0
56.928 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into 0
56.934 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)))) into 0
56.947 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)))) (* 0 (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)))))) into 0
56.953 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
56.954 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
56.955 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
56.955 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
56.956 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
56.956 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
56.957 * [backup-simplify]: Simplify (+ 0 0) into 0
56.957 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
56.958 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0
56.959 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
56.960 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
56.960 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
56.961 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
56.961 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
56.962 * [backup-simplify]: Simplify (+ 0 0) into 0
56.962 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
56.963 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi2)) 2)))) into 0
56.964 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 4) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 4)))) into 0
56.965 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
56.966 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (* 0 1))) into 0
56.966 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)) R) (/ 0 R)) (* 0 (/ 0 R)))) into 0
56.971 * [backup-simplify]: Simplify (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)) R) 0) (+ (* 0 0) (* 0 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
56.977 * [backup-simplify]: Simplify (+ (* 1/2 0) (+ (* 0 0) (* 0 (* (/ (* (pow (sin (/ 0.5 phi2)) 4) (pow (sin (/ 0.5 phi1)) 4)) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))) into 0
56.979 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
56.979 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
56.980 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
56.980 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
56.981 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
56.981 * [backup-simplify]: Simplify (+ 0 0) into 0
56.982 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
56.983 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
56.983 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
56.984 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
56.984 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
56.985 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
56.985 * [backup-simplify]: Simplify (+ 0 0) into 0
56.986 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
56.987 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0
56.988 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
56.988 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
56.989 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
56.990 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
56.990 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
56.990 * [backup-simplify]: Simplify (- 0) into 0
56.991 * [backup-simplify]: Simplify (+ 0 0) into 0
56.991 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
56.992 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
56.993 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
56.993 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
56.994 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
56.995 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
56.995 * [backup-simplify]: Simplify (- 0) into 0
56.995 * [backup-simplify]: Simplify (+ 0 0) into 0
56.996 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
56.997 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 2)))) into 0
56.997 * [backup-simplify]: Simplify (+ 0 0) into 0
56.998 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
56.999 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
56.999 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
57.000 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
57.000 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
57.001 * [backup-simplify]: Simplify (- 0) into 0
57.001 * [backup-simplify]: Simplify (+ 0 0) into 0
57.002 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
57.003 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
57.003 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
57.004 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
57.004 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
57.005 * [backup-simplify]: Simplify (+ 0 0) into 0
57.005 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
57.006 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
57.007 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
57.007 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
57.008 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
57.008 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
57.009 * [backup-simplify]: Simplify (+ 0 0) into 0
57.009 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
57.010 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
57.011 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
57.011 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
57.012 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
57.012 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
57.013 * [backup-simplify]: Simplify (- 0) into 0
57.013 * [backup-simplify]: Simplify (+ 0 0) into 0
57.014 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into 0
57.015 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
57.015 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
57.016 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
57.016 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
57.017 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
57.017 * [backup-simplify]: Simplify (+ 0 0) into 0
57.018 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
57.019 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
57.019 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
57.020 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
57.020 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
57.021 * [backup-simplify]: Simplify (- 0) into 0
57.021 * [backup-simplify]: Simplify (+ 0 0) into 0
57.022 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
57.023 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
57.023 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
57.023 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
57.024 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
57.025 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
57.025 * [backup-simplify]: Simplify (- 0) into 0
57.026 * [backup-simplify]: Simplify (+ 0 0) into 0
57.026 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
57.027 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
57.028 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
57.028 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
57.029 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
57.029 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
57.030 * [backup-simplify]: Simplify (+ 0 0) into 0
57.031 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into 0
57.031 * [backup-simplify]: Simplify (+ 0 0) into 0
57.031 * [backup-simplify]: Simplify (- 0) into 0
57.032 * [backup-simplify]: Simplify (+ 0 0) into 0
57.038 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (* 0 (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
57.041 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
57.042 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
57.043 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
57.043 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
57.044 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
57.045 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
57.045 * [backup-simplify]: Simplify (+ 0 0) into 0
57.046 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
57.047 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
57.047 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
57.048 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
57.048 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
57.049 * [backup-simplify]: Simplify (- 0) into 0
57.049 * [backup-simplify]: Simplify (+ 0 0) into 0
57.050 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
57.050 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
57.051 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
57.051 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
57.052 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
57.053 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
57.053 * [backup-simplify]: Simplify (- 0) into 0
57.054 * [backup-simplify]: Simplify (+ 0 0) into 0
57.054 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
57.055 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
57.056 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
57.056 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
57.057 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
57.057 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
57.057 * [backup-simplify]: Simplify (+ 0 0) into 0
57.058 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into 0
57.059 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
57.060 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (* 0 1))) into 0
57.060 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (/ 0 R)) (* 0 (/ 0 R)))) into 0
57.063 * [backup-simplify]: Simplify (+ (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) 0) (+ (* 0 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
57.067 * [backup-simplify]: Simplify (+ (* 1/2 0) (+ (* 0 0) (* 0 (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))) into 0
57.068 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
57.069 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
57.069 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
57.070 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
57.070 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
57.070 * [backup-simplify]: Simplify (+ 0 0) into 0
57.071 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
57.071 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
57.071 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
57.072 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
57.072 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
57.072 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
57.073 * [backup-simplify]: Simplify (+ 0 0) into 0
57.073 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
57.073 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0
57.074 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
57.074 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
57.075 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
57.075 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
57.075 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
57.076 * [backup-simplify]: Simplify (- 0) into 0
57.076 * [backup-simplify]: Simplify (+ 0 0) into 0
57.078 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
57.078 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
57.079 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
57.079 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
57.079 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
57.080 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
57.080 * [backup-simplify]: Simplify (- 0) into 0
57.080 * [backup-simplify]: Simplify (+ 0 0) into 0
57.080 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
57.081 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 2)))) into 0
57.081 * [backup-simplify]: Simplify (+ 0 0) into 0
57.082 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
57.082 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
57.082 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
57.083 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
57.083 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
57.083 * [backup-simplify]: Simplify (- 0) into 0
57.084 * [backup-simplify]: Simplify (+ 0 0) into 0
57.084 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
57.084 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
57.085 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
57.085 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
57.085 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
57.086 * [backup-simplify]: Simplify (+ 0 0) into 0
57.086 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
57.086 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
57.087 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
57.087 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
57.087 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
57.088 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
57.088 * [backup-simplify]: Simplify (+ 0 0) into 0
57.088 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
57.089 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
57.089 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
57.089 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
57.090 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
57.090 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
57.091 * [backup-simplify]: Simplify (- 0) into 0
57.091 * [backup-simplify]: Simplify (+ 0 0) into 0
57.091 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into 0
57.092 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
57.092 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
57.092 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
57.093 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
57.093 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
57.093 * [backup-simplify]: Simplify (+ 0 0) into 0
57.094 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
57.094 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
57.094 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
57.095 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
57.095 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
57.095 * [backup-simplify]: Simplify (- 0) into 0
57.096 * [backup-simplify]: Simplify (+ 0 0) into 0
57.096 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
57.096 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
57.097 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
57.097 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
57.098 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
57.098 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
57.099 * [backup-simplify]: Simplify (- 0) into 0
57.099 * [backup-simplify]: Simplify (+ 0 0) into 0
57.100 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
57.101 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
57.101 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
57.102 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
57.102 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
57.103 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
57.103 * [backup-simplify]: Simplify (+ 0 0) into 0
57.104 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into 0
57.104 * [backup-simplify]: Simplify (+ 0 0) into 0
57.105 * [backup-simplify]: Simplify (- 0) into 0
57.105 * [backup-simplify]: Simplify (+ 0 0) into 0
57.112 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (* 0 (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
57.115 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
57.116 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
57.117 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
57.117 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
57.118 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
57.119 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
57.119 * [backup-simplify]: Simplify (+ 0 0) into 0
57.120 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
57.121 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
57.121 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
57.122 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
57.122 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
57.123 * [backup-simplify]: Simplify (+ 0 0) into 0
57.123 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
57.124 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
57.125 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
57.125 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
57.126 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
57.126 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
57.126 * [backup-simplify]: Simplify (- 0) into 0
57.127 * [backup-simplify]: Simplify (+ 0 0) into 0
57.127 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
57.128 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
57.129 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
57.129 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
57.130 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
57.130 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
57.131 * [backup-simplify]: Simplify (- 0) into 0
57.131 * [backup-simplify]: Simplify (+ 0 0) into 0
57.132 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into 0
57.133 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
57.133 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (* 0 1))) into 0
57.134 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (/ 0 R)) (* 0 (/ 0 R)))) into 0
57.137 * [backup-simplify]: Simplify (+ (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) 0) (+ (* 0 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
57.141 * [backup-simplify]: Simplify (+ (* 1/2 0) (+ (* 0 0) (* 0 (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))) into 0
57.142 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
57.142 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
57.143 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
57.143 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
57.144 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
57.144 * [backup-simplify]: Simplify (+ 0 0) into 0
57.145 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
57.146 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
57.146 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
57.147 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
57.147 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
57.148 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
57.148 * [backup-simplify]: Simplify (+ 0 0) into 0
57.149 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
57.150 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0
57.150 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
57.151 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
57.151 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
57.152 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
57.153 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
57.153 * [backup-simplify]: Simplify (- 0) into 0
57.153 * [backup-simplify]: Simplify (+ 0 0) into 0
57.154 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
57.155 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
57.155 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
57.155 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
57.156 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
57.157 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
57.157 * [backup-simplify]: Simplify (- 0) into 0
57.157 * [backup-simplify]: Simplify (+ 0 0) into 0
57.158 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
57.159 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 2)))) into 0
57.159 * [backup-simplify]: Simplify (+ 0 0) into 0
57.160 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
57.161 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
57.161 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
57.162 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
57.162 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
57.163 * [backup-simplify]: Simplify (- 0) into 0
57.163 * [backup-simplify]: Simplify (+ 0 0) into 0
57.164 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
57.164 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
57.165 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
57.165 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
57.166 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
57.166 * [backup-simplify]: Simplify (+ 0 0) into 0
57.167 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
57.168 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
57.168 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
57.169 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
57.169 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
57.170 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
57.170 * [backup-simplify]: Simplify (+ 0 0) into 0
57.171 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
57.172 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
57.172 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
57.173 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
57.173 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
57.174 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
57.174 * [backup-simplify]: Simplify (- 0) into 0
57.175 * [backup-simplify]: Simplify (+ 0 0) into 0
57.175 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into 0
57.176 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
57.177 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
57.177 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
57.178 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
57.178 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
57.179 * [backup-simplify]: Simplify (+ 0 0) into 0
57.180 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
57.180 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
57.181 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
57.181 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
57.182 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
57.182 * [backup-simplify]: Simplify (- 0) into 0
57.183 * [backup-simplify]: Simplify (+ 0 0) into 0
57.183 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
57.184 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
57.185 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
57.185 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
57.186 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
57.187 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
57.187 * [backup-simplify]: Simplify (- 0) into 0
57.187 * [backup-simplify]: Simplify (+ 0 0) into 0
57.188 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
57.189 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
57.190 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
57.190 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
57.190 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
57.191 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
57.191 * [backup-simplify]: Simplify (+ 0 0) into 0
57.192 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into 0
57.192 * [backup-simplify]: Simplify (+ 0 0) into 0
57.193 * [backup-simplify]: Simplify (- 0) into 0
57.193 * [backup-simplify]: Simplify (+ 0 0) into 0
57.197 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into 0
57.202 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)))) into 0
57.214 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)))) (* 0 (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)))))) into 0
57.221 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
57.222 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
57.223 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
57.223 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
57.224 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
57.225 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
57.225 * [backup-simplify]: Simplify (- 0) into 0
57.225 * [backup-simplify]: Simplify (+ 0 0) into 0
57.226 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
57.227 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 2)))) into 0
57.228 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
57.228 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
57.229 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
57.230 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
57.230 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
57.231 * [backup-simplify]: Simplify (- 0) into 0
57.231 * [backup-simplify]: Simplify (+ 0 0) into 0
57.232 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
57.233 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi2)) 2)))) into 0
57.234 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 4) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 4)))) into 0
57.235 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
57.235 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (* 0 1))) into 0
57.236 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi1)) 4)) R) (/ 0 R)) (* 0 (/ 0 R)))) into 0
57.241 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi1)) 4)) R) 0) (+ (* 0 0) (* 0 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
57.247 * [backup-simplify]: Simplify (+ (* 1/2 0) (+ (* 0 0) (* 0 (* (/ (* (pow (cos (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi1)) 4)) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))) into 0
57.249 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
57.249 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
57.250 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
57.250 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
57.251 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
57.251 * [backup-simplify]: Simplify (+ 0 0) into 0
57.252 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
57.253 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
57.254 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
57.254 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
57.255 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
57.256 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
57.256 * [backup-simplify]: Simplify (+ 0 0) into 0
57.257 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
57.257 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0
57.258 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
57.258 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
57.259 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
57.259 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
57.259 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
57.260 * [backup-simplify]: Simplify (- 0) into 0
57.260 * [backup-simplify]: Simplify (+ 0 0) into 0
57.260 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
57.261 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
57.261 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
57.261 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
57.262 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
57.262 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
57.262 * [backup-simplify]: Simplify (- 0) into 0
57.263 * [backup-simplify]: Simplify (+ 0 0) into 0
57.263 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
57.263 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 2)))) into 0
57.264 * [backup-simplify]: Simplify (+ 0 0) into 0
57.264 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
57.265 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
57.265 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
57.265 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
57.266 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
57.266 * [backup-simplify]: Simplify (- 0) into 0
57.266 * [backup-simplify]: Simplify (+ 0 0) into 0
57.267 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
57.267 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
57.267 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
57.268 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
57.268 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
57.268 * [backup-simplify]: Simplify (+ 0 0) into 0
57.269 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
57.269 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
57.269 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
57.270 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
57.270 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
57.270 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
57.271 * [backup-simplify]: Simplify (+ 0 0) into 0
57.271 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
57.272 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
57.272 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
57.272 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
57.273 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
57.273 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
57.273 * [backup-simplify]: Simplify (- 0) into 0
57.273 * [backup-simplify]: Simplify (+ 0 0) into 0
57.274 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into 0
57.274 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
57.275 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
57.275 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
57.275 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
57.276 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
57.276 * [backup-simplify]: Simplify (+ 0 0) into 0
57.277 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
57.277 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
57.277 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
57.278 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
57.278 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
57.278 * [backup-simplify]: Simplify (- 0) into 0
57.278 * [backup-simplify]: Simplify (+ 0 0) into 0
57.279 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
57.279 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
57.280 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
57.280 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
57.280 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
57.281 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
57.281 * [backup-simplify]: Simplify (- 0) into 0
57.281 * [backup-simplify]: Simplify (+ 0 0) into 0
57.282 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
57.282 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
57.283 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
57.283 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
57.283 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
57.284 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
57.284 * [backup-simplify]: Simplify (+ 0 0) into 0
57.284 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into 0
57.284 * [backup-simplify]: Simplify (+ 0 0) into 0
57.285 * [backup-simplify]: Simplify (- 0) into 0
57.285 * [backup-simplify]: Simplify (+ 0 0) into 0
57.287 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into 0
57.290 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)))) into 0
57.302 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2) (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)))) (* 0 (/ 0 (* (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) 2)))))) into 0
57.308 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
57.309 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
57.310 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
57.310 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
57.311 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
57.312 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
57.312 * [backup-simplify]: Simplify (+ 0 0) into 0
57.313 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
57.313 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
57.314 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
57.314 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
57.315 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
57.316 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
57.316 * [backup-simplify]: Simplify (- 0) into 0
57.317 * [backup-simplify]: Simplify (+ 0 0) into 0
57.317 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
57.318 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0
57.319 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
57.320 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
57.320 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
57.321 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
57.321 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
57.322 * [backup-simplify]: Simplify (- 0) into 0
57.322 * [backup-simplify]: Simplify (+ 0 0) into 0
57.323 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
57.324 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))))) into 0
57.325 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
57.325 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
57.325 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
57.326 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
57.327 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
57.327 * [backup-simplify]: Simplify (+ 0 0) into 0
57.328 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
57.329 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))))) into 0
57.330 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
57.331 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (* 0 1))) into 0
57.332 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) R) (/ 0 R)) (* 0 (/ 0 R)))) into 0
57.337 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) R) 0) (+ (* 0 0) (* 0 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
57.343 * [backup-simplify]: Simplify (+ (* 3 0) (+ (* 0 0) (* 0 (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) (* R (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))) into 0
57.345 * [backup-simplify]: Simplify (* (/ 1 (* phi1 (* R phi2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into (* (/ 1 (* R (* phi1 phi2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))
57.347 * [backup-simplify]: Simplify (+ 0 (* (/ 1 (* R (* phi1 phi2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into (* (/ 1 (* phi1 (* R phi2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))
57.348 * [backup-simplify]: Simplify (+ 0 (* (/ 1 (* phi1 (* R phi2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into (* (/ 1 (* R (* phi1 phi2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))
57.349 * [backup-simplify]: Simplify (+ 0 (* (/ 1 (* R (* phi1 phi2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into (* (/ 1 (* phi1 (* R phi2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))
57.350 * [backup-simplify]: Simplify (+ 0 (* (/ 1 (* phi1 (* R phi2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into (* (/ 1 (* R (* phi1 phi2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))
57.351 * [backup-simplify]: Simplify (+ 0 (* (/ 1 (* R (* phi1 phi2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into (* (/ 1 (* phi1 (* R phi2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))
57.352 * [backup-simplify]: Simplify (- (* (/ 1 (* phi1 (* R phi2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into (- (* (/ 1 (* R (* phi1 phi2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))
57.358 * [backup-simplify]: Simplify (+ (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 1 (* R (pow phi2 2))))) (* 1/2 (* (/ 1 (* R (pow phi1 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) (- (* (/ 1 (* R (* phi1 phi2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into (- (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 1 (* R (pow phi2 2))))) (* 1/2 (* (/ 1 (* R (pow phi1 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) (* (/ 1 (* phi1 (* R phi2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))
57.358 * [taylor]: Taking taylor expansion of (- (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 1 (* R (pow phi2 2))))) (* 1/2 (* (/ 1 (* R (pow phi1 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) (* (/ 1 (* phi1 (* R phi2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) in phi1
57.358 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 1 (* R (pow phi2 2))))) (* 1/2 (* (/ 1 (* R (pow phi1 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) in phi1
57.358 * [taylor]: Taking taylor expansion of (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 1 (* R (pow phi2 2))))) in phi1
57.358 * [taylor]: Taking taylor expansion of 1/2 in phi1
57.358 * [backup-simplify]: Simplify 1/2 into 1/2
57.358 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 1 (* R (pow phi2 2)))) in phi1
57.358 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in phi1
57.358 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in phi1
57.358 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in phi1
57.358 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in phi1
57.358 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in phi1
57.358 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1
57.358 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
57.358 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
57.358 * [taylor]: Taking taylor expansion of 0.5 in phi1
57.358 * [backup-simplify]: Simplify 0.5 into 0.5
57.358 * [taylor]: Taking taylor expansion of phi2 in phi1
57.358 * [backup-simplify]: Simplify phi2 into phi2
57.358 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
57.358 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
57.358 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
57.358 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
57.359 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
57.359 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
57.359 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1
57.359 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
57.359 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
57.359 * [taylor]: Taking taylor expansion of 0.5 in phi1
57.359 * [backup-simplify]: Simplify 0.5 into 0.5
57.359 * [taylor]: Taking taylor expansion of phi1 in phi1
57.359 * [backup-simplify]: Simplify 0 into 0
57.359 * [backup-simplify]: Simplify 1 into 1
57.359 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
57.359 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
57.359 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in phi1
57.359 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1
57.359 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
57.359 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
57.359 * [taylor]: Taking taylor expansion of 0.5 in phi1
57.359 * [backup-simplify]: Simplify 0.5 into 0.5
57.359 * [taylor]: Taking taylor expansion of phi2 in phi1
57.359 * [backup-simplify]: Simplify phi2 into phi2
57.360 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
57.360 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
57.360 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
57.360 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
57.360 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
57.360 * [backup-simplify]: Simplify (- 0) into 0
57.360 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
57.360 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1
57.360 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
57.360 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
57.360 * [taylor]: Taking taylor expansion of 0.5 in phi1
57.360 * [backup-simplify]: Simplify 0.5 into 0.5
57.360 * [taylor]: Taking taylor expansion of phi1 in phi1
57.360 * [backup-simplify]: Simplify 0 into 0
57.360 * [backup-simplify]: Simplify 1 into 1
57.361 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
57.361 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
57.361 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in phi1
57.361 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in phi1
57.361 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
57.361 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
57.361 * [taylor]: Taking taylor expansion of 0.5 in phi1
57.361 * [backup-simplify]: Simplify 0.5 into 0.5
57.361 * [taylor]: Taking taylor expansion of phi2 in phi1
57.361 * [backup-simplify]: Simplify phi2 into phi2
57.361 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
57.361 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
57.361 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
57.361 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in phi1
57.361 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
57.361 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
57.361 * [taylor]: Taking taylor expansion of 0.5 in phi1
57.361 * [backup-simplify]: Simplify 0.5 into 0.5
57.361 * [taylor]: Taking taylor expansion of phi1 in phi1
57.361 * [backup-simplify]: Simplify 0 into 0
57.361 * [backup-simplify]: Simplify 1 into 1
57.361 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
57.361 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
57.361 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in phi1
57.361 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
57.361 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
57.362 * [taylor]: Taking taylor expansion of 0.5 in phi1
57.362 * [backup-simplify]: Simplify 0.5 into 0.5
57.362 * [taylor]: Taking taylor expansion of phi2 in phi1
57.362 * [backup-simplify]: Simplify phi2 into phi2
57.362 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
57.362 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
57.362 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
57.362 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
57.362 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
57.362 * [taylor]: Taking taylor expansion of 0.5 in phi1
57.362 * [backup-simplify]: Simplify 0.5 into 0.5
57.362 * [taylor]: Taking taylor expansion of phi1 in phi1
57.362 * [backup-simplify]: Simplify 0 into 0
57.362 * [backup-simplify]: Simplify 1 into 1
57.362 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
57.362 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
57.362 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in phi1
57.362 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
57.362 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
57.362 * [taylor]: Taking taylor expansion of 0.5 in phi1
57.362 * [backup-simplify]: Simplify 0.5 into 0.5
57.362 * [taylor]: Taking taylor expansion of phi2 in phi1
57.362 * [backup-simplify]: Simplify phi2 into phi2
57.362 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
57.362 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
57.362 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
57.362 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in phi1
57.362 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
57.362 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
57.363 * [taylor]: Taking taylor expansion of 0.5 in phi1
57.363 * [backup-simplify]: Simplify 0.5 into 0.5
57.363 * [taylor]: Taking taylor expansion of phi1 in phi1
57.363 * [backup-simplify]: Simplify 0 into 0
57.363 * [backup-simplify]: Simplify 1 into 1
57.363 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
57.363 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
57.363 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in phi1
57.363 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
57.363 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
57.363 * [taylor]: Taking taylor expansion of 0.5 in phi1
57.363 * [backup-simplify]: Simplify 0.5 into 0.5
57.363 * [taylor]: Taking taylor expansion of phi2 in phi1
57.363 * [backup-simplify]: Simplify phi2 into phi2
57.363 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
57.363 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
57.363 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
57.363 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
57.363 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
57.363 * [taylor]: Taking taylor expansion of 0.5 in phi1
57.363 * [backup-simplify]: Simplify 0.5 into 0.5
57.363 * [taylor]: Taking taylor expansion of phi1 in phi1
57.363 * [backup-simplify]: Simplify 0 into 0
57.363 * [backup-simplify]: Simplify 1 into 1
57.364 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
57.364 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
57.364 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
57.364 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
57.364 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
57.364 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
57.364 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
57.364 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
57.365 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
57.365 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
57.365 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
57.365 * [backup-simplify]: Simplify (- 0) into 0
57.365 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
57.365 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
57.366 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
57.366 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
57.366 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
57.366 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
57.366 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
57.366 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
57.366 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
57.366 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
57.366 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
57.366 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
57.367 * [backup-simplify]: Simplify (- 0) into 0
57.367 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
57.367 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
57.367 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
57.367 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
57.368 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))
57.368 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
57.369 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
57.370 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
57.371 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
57.371 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
57.371 * [backup-simplify]: Simplify (+ 0) into 0
57.372 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
57.372 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
57.372 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
57.373 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
57.373 * [backup-simplify]: Simplify (+ 0 0) into 0
57.373 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
57.373 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
57.373 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
57.374 * [backup-simplify]: Simplify (+ 0) into 0
57.374 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
57.375 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
57.375 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
57.376 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
57.376 * [backup-simplify]: Simplify (- 0) into 0
57.377 * [backup-simplify]: Simplify (+ 0 0) into 0
57.377 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
57.377 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
57.378 * [backup-simplify]: Simplify (+ 0 0) into 0
57.378 * [backup-simplify]: Simplify (+ 0) into 0
57.379 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
57.379 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
57.380 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
57.380 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
57.380 * [backup-simplify]: Simplify (+ 0 0) into 0
57.381 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
57.381 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
57.381 * [backup-simplify]: Simplify (+ 0) into 0
57.382 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
57.382 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
57.383 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
57.383 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
57.384 * [backup-simplify]: Simplify (- 0) into 0
57.384 * [backup-simplify]: Simplify (+ 0 0) into 0
57.384 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
57.385 * [backup-simplify]: Simplify (+ 0) into 0
57.385 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
57.385 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
57.386 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
57.387 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
57.387 * [backup-simplify]: Simplify (- 0) into 0
57.387 * [backup-simplify]: Simplify (+ 0 0) into 0
57.388 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
57.388 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
57.388 * [backup-simplify]: Simplify (+ 0) into 0
57.389 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
57.389 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
57.390 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
57.390 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
57.391 * [backup-simplify]: Simplify (+ 0 0) into 0
57.391 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
57.391 * [backup-simplify]: Simplify (+ 0 0) into 0
57.392 * [backup-simplify]: Simplify (- 0) into 0
57.392 * [backup-simplify]: Simplify (+ 0 0) into 0
57.396 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
57.398 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
57.398 * [taylor]: Taking taylor expansion of (/ 1 (* R (pow phi2 2))) in phi1
57.398 * [taylor]: Taking taylor expansion of (* R (pow phi2 2)) in phi1
57.398 * [taylor]: Taking taylor expansion of R in phi1
57.398 * [backup-simplify]: Simplify R into R
57.398 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1
57.398 * [taylor]: Taking taylor expansion of phi2 in phi1
57.398 * [backup-simplify]: Simplify phi2 into phi2
57.398 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
57.399 * [backup-simplify]: Simplify (* R (pow phi2 2)) into (* R (pow phi2 2))
57.399 * [backup-simplify]: Simplify (/ 1 (* R (pow phi2 2))) into (/ 1 (* R (pow phi2 2)))
57.399 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ 1 (* R (pow phi1 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) in phi1
57.399 * [taylor]: Taking taylor expansion of 1/2 in phi1
57.399 * [backup-simplify]: Simplify 1/2 into 1/2
57.399 * [taylor]: Taking taylor expansion of (* (/ 1 (* R (pow phi1 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) in phi1
57.399 * [taylor]: Taking taylor expansion of (/ 1 (* R (pow phi1 2))) in phi1
57.399 * [taylor]: Taking taylor expansion of (* R (pow phi1 2)) in phi1
57.399 * [taylor]: Taking taylor expansion of R in phi1
57.399 * [backup-simplify]: Simplify R into R
57.399 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1
57.399 * [taylor]: Taking taylor expansion of phi1 in phi1
57.399 * [backup-simplify]: Simplify 0 into 0
57.399 * [backup-simplify]: Simplify 1 into 1
57.400 * [backup-simplify]: Simplify (* 1 1) into 1
57.400 * [backup-simplify]: Simplify (* R 1) into R
57.400 * [backup-simplify]: Simplify (/ 1 R) into (/ 1 R)
57.400 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in phi1
57.400 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in phi1
57.400 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in phi1
57.400 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in phi1
57.400 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in phi1
57.400 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1
57.400 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
57.400 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
57.400 * [taylor]: Taking taylor expansion of 0.5 in phi1
57.400 * [backup-simplify]: Simplify 0.5 into 0.5
57.400 * [taylor]: Taking taylor expansion of phi2 in phi1
57.400 * [backup-simplify]: Simplify phi2 into phi2
57.400 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
57.401 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
57.401 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
57.401 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
57.401 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
57.401 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
57.401 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1
57.401 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
57.401 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
57.401 * [taylor]: Taking taylor expansion of 0.5 in phi1
57.401 * [backup-simplify]: Simplify 0.5 into 0.5
57.401 * [taylor]: Taking taylor expansion of phi1 in phi1
57.401 * [backup-simplify]: Simplify 0 into 0
57.401 * [backup-simplify]: Simplify 1 into 1
57.402 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
57.402 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
57.402 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in phi1
57.402 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1
57.402 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
57.402 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
57.402 * [taylor]: Taking taylor expansion of 0.5 in phi1
57.402 * [backup-simplify]: Simplify 0.5 into 0.5
57.402 * [taylor]: Taking taylor expansion of phi2 in phi1
57.402 * [backup-simplify]: Simplify phi2 into phi2
57.402 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
57.402 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
57.402 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
57.403 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
57.403 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
57.403 * [backup-simplify]: Simplify (- 0) into 0
57.403 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
57.403 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1
57.403 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
57.403 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
57.403 * [taylor]: Taking taylor expansion of 0.5 in phi1
57.403 * [backup-simplify]: Simplify 0.5 into 0.5
57.403 * [taylor]: Taking taylor expansion of phi1 in phi1
57.403 * [backup-simplify]: Simplify 0 into 0
57.403 * [backup-simplify]: Simplify 1 into 1
57.404 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
57.404 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
57.404 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in phi1
57.404 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in phi1
57.404 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
57.404 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
57.404 * [taylor]: Taking taylor expansion of 0.5 in phi1
57.404 * [backup-simplify]: Simplify 0.5 into 0.5
57.404 * [taylor]: Taking taylor expansion of phi2 in phi1
57.404 * [backup-simplify]: Simplify phi2 into phi2
57.404 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
57.404 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
57.404 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
57.404 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in phi1
57.404 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
57.404 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
57.405 * [taylor]: Taking taylor expansion of 0.5 in phi1
57.405 * [backup-simplify]: Simplify 0.5 into 0.5
57.405 * [taylor]: Taking taylor expansion of phi1 in phi1
57.405 * [backup-simplify]: Simplify 0 into 0
57.405 * [backup-simplify]: Simplify 1 into 1
57.405 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
57.405 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
57.405 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in phi1
57.405 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
57.405 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
57.405 * [taylor]: Taking taylor expansion of 0.5 in phi1
57.405 * [backup-simplify]: Simplify 0.5 into 0.5
57.405 * [taylor]: Taking taylor expansion of phi2 in phi1
57.405 * [backup-simplify]: Simplify phi2 into phi2
57.405 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
57.405 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
57.406 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
57.406 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
57.406 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
57.406 * [taylor]: Taking taylor expansion of 0.5 in phi1
57.406 * [backup-simplify]: Simplify 0.5 into 0.5
57.406 * [taylor]: Taking taylor expansion of phi1 in phi1
57.406 * [backup-simplify]: Simplify 0 into 0
57.406 * [backup-simplify]: Simplify 1 into 1
57.406 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
57.406 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
57.406 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in phi1
57.406 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
57.406 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
57.406 * [taylor]: Taking taylor expansion of 0.5 in phi1
57.406 * [backup-simplify]: Simplify 0.5 into 0.5
57.406 * [taylor]: Taking taylor expansion of phi2 in phi1
57.406 * [backup-simplify]: Simplify phi2 into phi2
57.406 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
57.406 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
57.406 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
57.406 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in phi1
57.406 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
57.406 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
57.406 * [taylor]: Taking taylor expansion of 0.5 in phi1
57.406 * [backup-simplify]: Simplify 0.5 into 0.5
57.406 * [taylor]: Taking taylor expansion of phi1 in phi1
57.406 * [backup-simplify]: Simplify 0 into 0
57.406 * [backup-simplify]: Simplify 1 into 1
57.407 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
57.407 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
57.407 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in phi1
57.407 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
57.407 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
57.407 * [taylor]: Taking taylor expansion of 0.5 in phi1
57.407 * [backup-simplify]: Simplify 0.5 into 0.5
57.407 * [taylor]: Taking taylor expansion of phi2 in phi1
57.407 * [backup-simplify]: Simplify phi2 into phi2
57.407 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
57.407 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
57.407 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
57.407 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
57.407 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
57.407 * [taylor]: Taking taylor expansion of 0.5 in phi1
57.407 * [backup-simplify]: Simplify 0.5 into 0.5
57.407 * [taylor]: Taking taylor expansion of phi1 in phi1
57.407 * [backup-simplify]: Simplify 0 into 0
57.407 * [backup-simplify]: Simplify 1 into 1
57.407 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
57.408 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
57.408 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
57.408 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
57.408 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
57.408 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
57.408 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
57.408 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
57.409 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
57.409 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
57.409 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
57.409 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
57.409 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
57.409 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
57.409 * [backup-simplify]: Simplify (- 0) into 0
57.409 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
57.410 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
57.410 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
57.410 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
57.410 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
57.410 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
57.410 * [backup-simplify]: Simplify (- 0) into 0
57.410 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
57.410 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
57.410 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
57.411 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
57.411 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
57.411 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
57.411 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
57.411 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))
57.412 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
57.413 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
57.414 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
57.415 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
57.415 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
57.416 * [backup-simplify]: Simplify (+ 0) into 0
57.416 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
57.416 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
57.417 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
57.417 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
57.417 * [backup-simplify]: Simplify (+ 0 0) into 0
57.418 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
57.418 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
57.418 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
57.418 * [backup-simplify]: Simplify (+ 0) into 0
57.418 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
57.419 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
57.419 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
57.419 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
57.420 * [backup-simplify]: Simplify (- 0) into 0
57.420 * [backup-simplify]: Simplify (+ 0 0) into 0
57.420 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
57.420 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
57.420 * [backup-simplify]: Simplify (+ 0 0) into 0
57.421 * [backup-simplify]: Simplify (+ 0) into 0
57.421 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
57.421 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
57.422 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
57.422 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
57.422 * [backup-simplify]: Simplify (- 0) into 0
57.422 * [backup-simplify]: Simplify (+ 0 0) into 0
57.423 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
57.423 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
57.423 * [backup-simplify]: Simplify (+ 0) into 0
57.423 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
57.423 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
57.424 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
57.424 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
57.424 * [backup-simplify]: Simplify (+ 0 0) into 0
57.425 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
57.425 * [backup-simplify]: Simplify (+ 0) into 0
57.425 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
57.425 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
57.426 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
57.426 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
57.426 * [backup-simplify]: Simplify (+ 0 0) into 0
57.426 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
57.427 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
57.427 * [backup-simplify]: Simplify (+ 0) into 0
57.427 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
57.427 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
57.428 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
57.428 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
57.428 * [backup-simplify]: Simplify (- 0) into 0
57.428 * [backup-simplify]: Simplify (+ 0 0) into 0
57.429 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
57.429 * [backup-simplify]: Simplify (+ 0 0) into 0
57.429 * [backup-simplify]: Simplify (- 0) into 0
57.429 * [backup-simplify]: Simplify (+ 0 0) into 0
57.431 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
57.432 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
57.433 * [taylor]: Taking taylor expansion of (* (/ 1 (* phi1 (* R phi2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) in phi1
57.433 * [taylor]: Taking taylor expansion of (/ 1 (* phi1 (* R phi2))) in phi1
57.433 * [taylor]: Taking taylor expansion of (* phi1 (* R phi2)) in phi1
57.433 * [taylor]: Taking taylor expansion of phi1 in phi1
57.433 * [backup-simplify]: Simplify 0 into 0
57.433 * [backup-simplify]: Simplify 1 into 1
57.433 * [taylor]: Taking taylor expansion of (* R phi2) in phi1
57.433 * [taylor]: Taking taylor expansion of R in phi1
57.433 * [backup-simplify]: Simplify R into R
57.433 * [taylor]: Taking taylor expansion of phi2 in phi1
57.433 * [backup-simplify]: Simplify phi2 into phi2
57.433 * [backup-simplify]: Simplify (* R phi2) into (* R phi2)
57.433 * [backup-simplify]: Simplify (* 0 (* R phi2)) into 0
57.433 * [backup-simplify]: Simplify (+ (* R 0) (* 0 phi2)) into 0
57.433 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* R phi2))) into (* R phi2)
57.434 * [backup-simplify]: Simplify (/ 1 (* R phi2)) into (/ 1 (* R phi2))
57.434 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in phi1
57.434 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in phi1
57.434 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in phi1
57.434 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in phi1
57.434 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in phi1
57.434 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1
57.434 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
57.434 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
57.434 * [taylor]: Taking taylor expansion of 0.5 in phi1
57.434 * [backup-simplify]: Simplify 0.5 into 0.5
57.434 * [taylor]: Taking taylor expansion of phi2 in phi1
57.434 * [backup-simplify]: Simplify phi2 into phi2
57.434 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
57.434 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
57.434 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
57.435 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
57.435 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
57.435 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
57.435 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1
57.435 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
57.435 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
57.435 * [taylor]: Taking taylor expansion of 0.5 in phi1
57.435 * [backup-simplify]: Simplify 0.5 into 0.5
57.435 * [taylor]: Taking taylor expansion of phi1 in phi1
57.435 * [backup-simplify]: Simplify 0 into 0
57.435 * [backup-simplify]: Simplify 1 into 1
57.436 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
57.436 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
57.436 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in phi1
57.436 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1
57.436 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
57.436 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
57.436 * [taylor]: Taking taylor expansion of 0.5 in phi1
57.436 * [backup-simplify]: Simplify 0.5 into 0.5
57.436 * [taylor]: Taking taylor expansion of phi2 in phi1
57.436 * [backup-simplify]: Simplify phi2 into phi2
57.436 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
57.436 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
57.436 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
57.437 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
57.437 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
57.437 * [backup-simplify]: Simplify (- 0) into 0
57.437 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
57.437 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1
57.437 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
57.437 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
57.437 * [taylor]: Taking taylor expansion of 0.5 in phi1
57.437 * [backup-simplify]: Simplify 0.5 into 0.5
57.438 * [taylor]: Taking taylor expansion of phi1 in phi1
57.438 * [backup-simplify]: Simplify 0 into 0
57.438 * [backup-simplify]: Simplify 1 into 1
57.438 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
57.438 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
57.438 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in phi1
57.438 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in phi1
57.438 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
57.438 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
57.438 * [taylor]: Taking taylor expansion of 0.5 in phi1
57.438 * [backup-simplify]: Simplify 0.5 into 0.5
57.438 * [taylor]: Taking taylor expansion of phi2 in phi1
57.438 * [backup-simplify]: Simplify phi2 into phi2
57.439 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
57.439 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
57.439 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
57.439 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in phi1
57.439 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
57.439 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
57.439 * [taylor]: Taking taylor expansion of 0.5 in phi1
57.439 * [backup-simplify]: Simplify 0.5 into 0.5
57.439 * [taylor]: Taking taylor expansion of phi1 in phi1
57.439 * [backup-simplify]: Simplify 0 into 0
57.439 * [backup-simplify]: Simplify 1 into 1
57.440 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
57.440 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
57.440 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in phi1
57.440 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
57.440 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
57.440 * [taylor]: Taking taylor expansion of 0.5 in phi1
57.440 * [backup-simplify]: Simplify 0.5 into 0.5
57.440 * [taylor]: Taking taylor expansion of phi2 in phi1
57.440 * [backup-simplify]: Simplify phi2 into phi2
57.440 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
57.440 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
57.440 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
57.440 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
57.440 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
57.440 * [taylor]: Taking taylor expansion of 0.5 in phi1
57.440 * [backup-simplify]: Simplify 0.5 into 0.5
57.440 * [taylor]: Taking taylor expansion of phi1 in phi1
57.440 * [backup-simplify]: Simplify 0 into 0
57.440 * [backup-simplify]: Simplify 1 into 1
57.441 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
57.441 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
57.441 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in phi1
57.441 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
57.441 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
57.441 * [taylor]: Taking taylor expansion of 0.5 in phi1
57.441 * [backup-simplify]: Simplify 0.5 into 0.5
57.441 * [taylor]: Taking taylor expansion of phi2 in phi1
57.441 * [backup-simplify]: Simplify phi2 into phi2
57.441 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
57.441 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
57.442 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
57.442 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in phi1
57.442 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
57.442 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
57.442 * [taylor]: Taking taylor expansion of 0.5 in phi1
57.442 * [backup-simplify]: Simplify 0.5 into 0.5
57.442 * [taylor]: Taking taylor expansion of phi1 in phi1
57.442 * [backup-simplify]: Simplify 0 into 0
57.442 * [backup-simplify]: Simplify 1 into 1
57.443 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
57.443 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
57.443 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in phi1
57.443 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
57.443 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
57.443 * [taylor]: Taking taylor expansion of 0.5 in phi1
57.443 * [backup-simplify]: Simplify 0.5 into 0.5
57.443 * [taylor]: Taking taylor expansion of phi2 in phi1
57.443 * [backup-simplify]: Simplify phi2 into phi2
57.443 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
57.443 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
57.444 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
57.444 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
57.444 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
57.444 * [taylor]: Taking taylor expansion of 0.5 in phi1
57.444 * [backup-simplify]: Simplify 0.5 into 0.5
57.444 * [taylor]: Taking taylor expansion of phi1 in phi1
57.444 * [backup-simplify]: Simplify 0 into 0
57.444 * [backup-simplify]: Simplify 1 into 1
57.444 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
57.445 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
57.445 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
57.445 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
57.445 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
57.446 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
57.446 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
57.446 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
57.447 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
57.447 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
57.447 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
57.447 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
57.448 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
57.448 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
57.448 * [backup-simplify]: Simplify (- 0) into 0
57.448 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
57.449 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
57.449 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
57.449 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
57.449 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
57.449 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
57.450 * [backup-simplify]: Simplify (- 0) into 0
57.450 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
57.450 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
57.450 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
57.450 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
57.450 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
57.451 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
57.451 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
57.452 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))
57.453 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
57.455 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
57.457 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
57.459 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
57.459 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
57.460 * [backup-simplify]: Simplify (+ 0) into 0
57.460 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
57.460 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
57.461 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
57.462 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
57.462 * [backup-simplify]: Simplify (+ 0 0) into 0
57.462 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
57.463 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
57.463 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
57.463 * [backup-simplify]: Simplify (+ 0) into 0
57.464 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
57.464 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
57.465 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
57.465 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
57.466 * [backup-simplify]: Simplify (- 0) into 0
57.466 * [backup-simplify]: Simplify (+ 0 0) into 0
57.466 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
57.467 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
57.467 * [backup-simplify]: Simplify (+ 0 0) into 0
57.467 * [backup-simplify]: Simplify (+ 0) into 0
57.468 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
57.468 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
57.469 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
57.470 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
57.470 * [backup-simplify]: Simplify (- 0) into 0
57.470 * [backup-simplify]: Simplify (+ 0 0) into 0
57.471 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
57.471 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
57.471 * [backup-simplify]: Simplify (+ 0) into 0
57.472 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
57.472 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
57.473 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
57.473 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
57.474 * [backup-simplify]: Simplify (+ 0 0) into 0
57.474 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
57.474 * [backup-simplify]: Simplify (+ 0) into 0
57.474 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
57.474 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
57.475 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
57.475 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
57.475 * [backup-simplify]: Simplify (+ 0 0) into 0
57.476 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
57.476 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
57.476 * [backup-simplify]: Simplify (+ 0) into 0
57.476 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
57.476 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
57.477 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
57.477 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
57.477 * [backup-simplify]: Simplify (- 0) into 0
57.478 * [backup-simplify]: Simplify (+ 0 0) into 0
57.478 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
57.478 * [backup-simplify]: Simplify (+ 0 0) into 0
57.478 * [backup-simplify]: Simplify (- 0) into 0
57.478 * [backup-simplify]: Simplify (+ 0 0) into 0
57.480 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
57.482 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
57.482 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
57.482 * [backup-simplify]: Simplify (+ (* R 0) (* 0 1)) into 0
57.482 * [backup-simplify]: Simplify (- (+ (* (/ 1 R) (/ 0 R)))) into 0
57.484 * [backup-simplify]: Simplify (+ (* (/ 1 R) 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
57.485 * [backup-simplify]: Simplify (* (/ 1 R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 1 R))
57.488 * [backup-simplify]: Simplify (+ (* 1/2 0) (* 0 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 1 R)))) into 0
57.488 * [backup-simplify]: Simplify (+ 0 0) into 0
57.489 * [backup-simplify]: Simplify (* (/ 1 (* R phi2)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 1 (* R phi2)))
57.490 * [backup-simplify]: Simplify (- (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 1 (* R phi2)))) into (- (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 1 (* R phi2))))
57.491 * [backup-simplify]: Simplify (+ 0 (- (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 1 (* R phi2))))) into (- (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 1 (* R phi2))))
57.492 * [taylor]: Taking taylor expansion of (- (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 1 (* R phi2)))) in phi2
57.492 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 1 (* R phi2))) in phi2
57.492 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in phi2
57.492 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in phi2
57.492 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in phi2
57.492 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in phi2
57.492 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in phi2
57.492 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi2
57.492 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
57.492 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
57.492 * [taylor]: Taking taylor expansion of 0.5 in phi2
57.492 * [backup-simplify]: Simplify 0.5 into 0.5
57.492 * [taylor]: Taking taylor expansion of phi2 in phi2
57.492 * [backup-simplify]: Simplify 0 into 0
57.492 * [backup-simplify]: Simplify 1 into 1
57.492 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
57.492 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
57.492 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi2
57.492 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
57.492 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
57.492 * [taylor]: Taking taylor expansion of 0.5 in phi2
57.492 * [backup-simplify]: Simplify 0.5 into 0.5
57.492 * [taylor]: Taking taylor expansion of phi1 in phi2
57.492 * [backup-simplify]: Simplify phi1 into phi1
57.492 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
57.493 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
57.493 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
57.493 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
57.493 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
57.493 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
57.493 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in phi2
57.493 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi2
57.493 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
57.493 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
57.493 * [taylor]: Taking taylor expansion of 0.5 in phi2
57.493 * [backup-simplify]: Simplify 0.5 into 0.5
57.493 * [taylor]: Taking taylor expansion of phi2 in phi2
57.493 * [backup-simplify]: Simplify 0 into 0
57.493 * [backup-simplify]: Simplify 1 into 1
57.493 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
57.493 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
57.493 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi2
57.493 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
57.493 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
57.493 * [taylor]: Taking taylor expansion of 0.5 in phi2
57.493 * [backup-simplify]: Simplify 0.5 into 0.5
57.493 * [taylor]: Taking taylor expansion of phi1 in phi2
57.493 * [backup-simplify]: Simplify phi1 into phi1
57.493 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
57.493 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
57.494 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
57.494 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
57.494 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
57.494 * [backup-simplify]: Simplify (- 0) into 0
57.494 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
57.494 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in phi2
57.494 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in phi2
57.494 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
57.494 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
57.494 * [taylor]: Taking taylor expansion of 0.5 in phi2
57.494 * [backup-simplify]: Simplify 0.5 into 0.5
57.494 * [taylor]: Taking taylor expansion of phi2 in phi2
57.494 * [backup-simplify]: Simplify 0 into 0
57.494 * [backup-simplify]: Simplify 1 into 1
57.494 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
57.494 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
57.495 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in phi2
57.495 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
57.495 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
57.495 * [taylor]: Taking taylor expansion of 0.5 in phi2
57.495 * [backup-simplify]: Simplify 0.5 into 0.5
57.495 * [taylor]: Taking taylor expansion of phi1 in phi2
57.495 * [backup-simplify]: Simplify phi1 into phi1
57.495 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
57.495 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
57.495 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
57.495 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in phi2
57.495 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
57.495 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
57.495 * [taylor]: Taking taylor expansion of 0.5 in phi2
57.495 * [backup-simplify]: Simplify 0.5 into 0.5
57.495 * [taylor]: Taking taylor expansion of phi2 in phi2
57.495 * [backup-simplify]: Simplify 0 into 0
57.495 * [backup-simplify]: Simplify 1 into 1
57.495 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
57.495 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
57.495 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
57.495 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
57.495 * [taylor]: Taking taylor expansion of 0.5 in phi2
57.495 * [backup-simplify]: Simplify 0.5 into 0.5
57.495 * [taylor]: Taking taylor expansion of phi1 in phi2
57.495 * [backup-simplify]: Simplify phi1 into phi1
57.495 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
57.495 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
57.495 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
57.496 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in phi2
57.496 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
57.496 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
57.496 * [taylor]: Taking taylor expansion of 0.5 in phi2
57.496 * [backup-simplify]: Simplify 0.5 into 0.5
57.496 * [taylor]: Taking taylor expansion of phi2 in phi2
57.496 * [backup-simplify]: Simplify 0 into 0
57.496 * [backup-simplify]: Simplify 1 into 1
57.496 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
57.496 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
57.496 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in phi2
57.496 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
57.496 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
57.496 * [taylor]: Taking taylor expansion of 0.5 in phi2
57.496 * [backup-simplify]: Simplify 0.5 into 0.5
57.496 * [taylor]: Taking taylor expansion of phi1 in phi2
57.496 * [backup-simplify]: Simplify phi1 into phi1
57.496 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
57.496 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
57.496 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
57.496 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in phi2
57.496 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
57.496 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
57.496 * [taylor]: Taking taylor expansion of 0.5 in phi2
57.496 * [backup-simplify]: Simplify 0.5 into 0.5
57.496 * [taylor]: Taking taylor expansion of phi2 in phi2
57.496 * [backup-simplify]: Simplify 0 into 0
57.496 * [backup-simplify]: Simplify 1 into 1
57.497 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
57.497 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
57.497 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
57.497 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
57.497 * [taylor]: Taking taylor expansion of 0.5 in phi2
57.497 * [backup-simplify]: Simplify 0.5 into 0.5
57.497 * [taylor]: Taking taylor expansion of phi1 in phi2
57.497 * [backup-simplify]: Simplify phi1 into phi1
57.497 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
57.497 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
57.497 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
57.497 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
57.497 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
57.497 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
57.497 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
57.498 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
57.498 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
57.498 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
57.498 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
57.498 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
57.498 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
57.498 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
57.499 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
57.499 * [backup-simplify]: Simplify (- 0) into 0
57.499 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
57.499 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
57.499 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
57.499 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
57.499 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
57.499 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
57.500 * [backup-simplify]: Simplify (- 0) into 0
57.500 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
57.500 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
57.500 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
57.500 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
57.500 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
57.500 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
57.500 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
57.501 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))
57.501 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
57.502 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
57.503 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
57.504 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
57.504 * [backup-simplify]: Simplify (+ 0) into 0
57.505 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
57.505 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
57.505 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
57.506 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
57.506 * [backup-simplify]: Simplify (+ 0 0) into 0
57.506 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
57.506 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
57.506 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
57.507 * [backup-simplify]: Simplify (+ 0) into 0
57.507 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
57.507 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
57.508 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
57.508 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
57.508 * [backup-simplify]: Simplify (- 0) into 0
57.508 * [backup-simplify]: Simplify (+ 0 0) into 0
57.508 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
57.508 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
57.509 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
57.509 * [backup-simplify]: Simplify (+ 0 0) into 0
57.509 * [backup-simplify]: Simplify (+ 0) into 0
57.510 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
57.510 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
57.510 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
57.510 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
57.511 * [backup-simplify]: Simplify (- 0) into 0
57.511 * [backup-simplify]: Simplify (+ 0 0) into 0
57.511 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
57.511 * [backup-simplify]: Simplify (+ 0) into 0
57.511 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
57.512 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
57.512 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
57.512 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
57.513 * [backup-simplify]: Simplify (+ 0 0) into 0
57.513 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
57.513 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
57.513 * [backup-simplify]: Simplify (+ 0) into 0
57.514 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
57.514 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
57.514 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
57.514 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
57.515 * [backup-simplify]: Simplify (+ 0 0) into 0
57.515 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
57.515 * [backup-simplify]: Simplify (+ 0) into 0
57.515 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
57.515 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
57.516 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
57.516 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
57.516 * [backup-simplify]: Simplify (- 0) into 0
57.517 * [backup-simplify]: Simplify (+ 0 0) into 0
57.517 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
57.517 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
57.517 * [backup-simplify]: Simplify (+ 0 0) into 0
57.517 * [backup-simplify]: Simplify (- 0) into 0
57.518 * [backup-simplify]: Simplify (+ 0 0) into 0
57.520 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
57.521 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
57.521 * [taylor]: Taking taylor expansion of (/ 1 (* R phi2)) in phi2
57.521 * [taylor]: Taking taylor expansion of (* R phi2) in phi2
57.521 * [taylor]: Taking taylor expansion of R in phi2
57.521 * [backup-simplify]: Simplify R into R
57.521 * [taylor]: Taking taylor expansion of phi2 in phi2
57.521 * [backup-simplify]: Simplify 0 into 0
57.521 * [backup-simplify]: Simplify 1 into 1
57.521 * [backup-simplify]: Simplify (* R 0) into 0
57.522 * [backup-simplify]: Simplify (+ (* R 1) (* 0 0)) into R
57.522 * [backup-simplify]: Simplify (/ 1 R) into (/ 1 R)
57.523 * [backup-simplify]: Simplify (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 1 R)) into (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 1 R))
57.524 * [backup-simplify]: Simplify (- (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 1 R))) into (- (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 1 R)))
57.524 * [taylor]: Taking taylor expansion of (- (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 1 R))) in R
57.524 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (/ 1 R)) in R
57.524 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in R
57.524 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in R
57.524 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in R
57.524 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in R
57.524 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in R
57.524 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in R
57.524 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in R
57.524 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
57.524 * [taylor]: Taking taylor expansion of 0.5 in R
57.524 * [backup-simplify]: Simplify 0.5 into 0.5
57.524 * [taylor]: Taking taylor expansion of phi2 in R
57.524 * [backup-simplify]: Simplify phi2 into phi2
57.524 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
57.525 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
57.525 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
57.525 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
57.525 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
57.525 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
57.525 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in R
57.525 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in R
57.525 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
57.525 * [taylor]: Taking taylor expansion of 0.5 in R
57.525 * [backup-simplify]: Simplify 0.5 into 0.5
57.525 * [taylor]: Taking taylor expansion of phi1 in R
57.525 * [backup-simplify]: Simplify phi1 into phi1
57.525 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
57.525 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
57.525 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
57.525 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
57.525 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
57.525 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
57.525 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in R
57.525 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in R
57.525 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in R
57.525 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
57.525 * [taylor]: Taking taylor expansion of 0.5 in R
57.525 * [backup-simplify]: Simplify 0.5 into 0.5
57.525 * [taylor]: Taking taylor expansion of phi2 in R
57.525 * [backup-simplify]: Simplify phi2 into phi2
57.526 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
57.526 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
57.526 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
57.526 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
57.526 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
57.527 * [backup-simplify]: Simplify (- 0) into 0
57.527 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
57.527 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in R
57.527 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in R
57.527 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
57.527 * [taylor]: Taking taylor expansion of 0.5 in R
57.527 * [backup-simplify]: Simplify 0.5 into 0.5
57.527 * [taylor]: Taking taylor expansion of phi1 in R
57.527 * [backup-simplify]: Simplify phi1 into phi1
57.527 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
57.527 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
57.527 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
57.527 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
57.527 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
57.528 * [backup-simplify]: Simplify (- 0) into 0
57.528 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
57.528 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in R
57.528 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in R
57.528 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in R
57.528 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
57.528 * [taylor]: Taking taylor expansion of 0.5 in R
57.528 * [backup-simplify]: Simplify 0.5 into 0.5
57.528 * [taylor]: Taking taylor expansion of phi2 in R
57.528 * [backup-simplify]: Simplify phi2 into phi2
57.528 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
57.528 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
57.528 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
57.528 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in R
57.528 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in R
57.529 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
57.529 * [taylor]: Taking taylor expansion of 0.5 in R
57.529 * [backup-simplify]: Simplify 0.5 into 0.5
57.529 * [taylor]: Taking taylor expansion of phi1 in R
57.529 * [backup-simplify]: Simplify phi1 into phi1
57.529 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
57.529 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
57.529 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
57.529 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in R
57.529 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in R
57.529 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
57.529 * [taylor]: Taking taylor expansion of 0.5 in R
57.529 * [backup-simplify]: Simplify 0.5 into 0.5
57.529 * [taylor]: Taking taylor expansion of phi2 in R
57.529 * [backup-simplify]: Simplify phi2 into phi2
57.529 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
57.529 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
57.529 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
57.529 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in R
57.529 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
57.529 * [taylor]: Taking taylor expansion of 0.5 in R
57.529 * [backup-simplify]: Simplify 0.5 into 0.5
57.529 * [taylor]: Taking taylor expansion of phi1 in R
57.530 * [backup-simplify]: Simplify phi1 into phi1
57.530 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
57.530 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
57.530 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
57.530 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in R
57.530 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in R
57.530 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
57.530 * [taylor]: Taking taylor expansion of 0.5 in R
57.530 * [backup-simplify]: Simplify 0.5 into 0.5
57.530 * [taylor]: Taking taylor expansion of phi2 in R
57.530 * [backup-simplify]: Simplify phi2 into phi2
57.530 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
57.530 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
57.530 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
57.530 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in R
57.530 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in R
57.530 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
57.530 * [taylor]: Taking taylor expansion of 0.5 in R
57.530 * [backup-simplify]: Simplify 0.5 into 0.5
57.530 * [taylor]: Taking taylor expansion of phi1 in R
57.530 * [backup-simplify]: Simplify phi1 into phi1
57.530 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
57.531 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
57.531 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
57.531 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in R
57.531 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in R
57.531 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
57.531 * [taylor]: Taking taylor expansion of 0.5 in R
57.531 * [backup-simplify]: Simplify 0.5 into 0.5
57.531 * [taylor]: Taking taylor expansion of phi2 in R
57.531 * [backup-simplify]: Simplify phi2 into phi2
57.531 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
57.531 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
57.531 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
57.531 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in R
57.531 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
57.531 * [taylor]: Taking taylor expansion of 0.5 in R
57.531 * [backup-simplify]: Simplify 0.5 into 0.5
57.531 * [taylor]: Taking taylor expansion of phi1 in R
57.531 * [backup-simplify]: Simplify phi1 into phi1
57.531 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
57.531 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
57.532 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
57.532 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
57.532 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
57.532 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
57.532 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
57.533 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
57.533 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
57.534 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
57.534 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
57.534 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
57.535 * [backup-simplify]: Simplify (- 0) into 0
57.535 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
57.535 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
57.535 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
57.535 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
57.535 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
57.535 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
57.535 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
57.535 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
57.536 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
57.536 * [backup-simplify]: Simplify (- 0) into 0
57.536 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
57.536 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
57.537 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
57.537 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
57.537 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
57.537 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
57.537 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
57.537 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
57.537 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
57.538 * [backup-simplify]: Simplify (- 0) into 0
57.538 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
57.538 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
57.538 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
57.539 * [backup-simplify]: Simplify (- 0) into 0
57.539 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
57.539 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
57.539 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
57.539 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
57.539 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
57.540 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
57.540 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
57.541 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))
57.542 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
57.543 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
57.545 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
57.547 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
57.548 * [backup-simplify]: Simplify (+ 0) into 0
57.549 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
57.549 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
57.550 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
57.550 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
57.551 * [backup-simplify]: Simplify (+ 0 0) into 0
57.551 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
57.551 * [backup-simplify]: Simplify (+ 0) into 0
57.552 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
57.552 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
57.553 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
57.553 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
57.554 * [backup-simplify]: Simplify (+ 0 0) into 0
57.554 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
57.554 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
57.555 * [backup-simplify]: Simplify (+ 0) into 0
57.555 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
57.555 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
57.556 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
57.557 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
57.557 * [backup-simplify]: Simplify (- 0) into 0
57.557 * [backup-simplify]: Simplify (+ 0 0) into 0
57.558 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
57.558 * [backup-simplify]: Simplify (+ 0) into 0
57.559 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
57.559 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
57.560 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
57.560 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
57.560 * [backup-simplify]: Simplify (- 0) into 0
57.561 * [backup-simplify]: Simplify (+ 0 0) into 0
57.561 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
57.561 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
57.562 * [backup-simplify]: Simplify (+ 0 0) into 0
57.562 * [backup-simplify]: Simplify (+ 0) into 0
57.563 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
57.563 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
57.564 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
57.564 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
57.565 * [backup-simplify]: Simplify (- 0) into 0
57.565 * [backup-simplify]: Simplify (+ 0 0) into 0
57.565 * [backup-simplify]: Simplify (+ 0) into 0
57.566 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
57.566 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
57.567 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
57.567 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
57.568 * [backup-simplify]: Simplify (+ 0 0) into 0
57.568 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
57.569 * [backup-simplify]: Simplify (+ 0) into 0
57.569 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
57.569 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
57.570 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
57.571 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
57.571 * [backup-simplify]: Simplify (+ 0 0) into 0
57.571 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
57.572 * [backup-simplify]: Simplify (+ 0) into 0
57.572 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
57.572 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
57.573 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
57.574 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
57.574 * [backup-simplify]: Simplify (- 0) into 0
57.575 * [backup-simplify]: Simplify (+ 0 0) into 0
57.575 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
57.575 * [backup-simplify]: Simplify (+ 0) into 0
57.576 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
57.576 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
57.577 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
57.578 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
57.578 * [backup-simplify]: Simplify (+ 0 0) into 0
57.578 * [backup-simplify]: Simplify (+ 0) into 0
57.579 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
57.579 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
57.580 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
57.581 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
57.581 * [backup-simplify]: Simplify (- 0) into 0
57.581 * [backup-simplify]: Simplify (+ 0 0) into 0
57.582 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
57.582 * [backup-simplify]: Simplify (+ 0) into 0
57.583 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
57.583 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
57.584 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
57.584 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
57.585 * [backup-simplify]: Simplify (- 0) into 0
57.585 * [backup-simplify]: Simplify (+ 0 0) into 0
57.585 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
57.586 * [backup-simplify]: Simplify (+ 0) into 0
57.586 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
57.587 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
57.587 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
57.588 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
57.588 * [backup-simplify]: Simplify (+ 0 0) into 0
57.589 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
57.589 * [backup-simplify]: Simplify (+ 0 0) into 0
57.589 * [backup-simplify]: Simplify (- 0) into 0
57.590 * [backup-simplify]: Simplify (+ 0 0) into 0
57.594 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
57.597 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
57.597 * [taylor]: Taking taylor expansion of (/ 1 R) in R
57.597 * [taylor]: Taking taylor expansion of R in R
57.597 * [backup-simplify]: Simplify 0 into 0
57.597 * [backup-simplify]: Simplify 1 into 1
57.598 * [backup-simplify]: Simplify (/ 1 1) into 1
57.601 * [backup-simplify]: Simplify (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) 1) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
57.603 * [backup-simplify]: Simplify (- (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into (- (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))
57.605 * [backup-simplify]: Simplify (- (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into (- (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))
57.606 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
57.607 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
57.607 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
57.608 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
57.609 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
57.609 * [backup-simplify]: Simplify (+ 0 0) into 0
57.610 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
57.611 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
57.611 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
57.612 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
57.613 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
57.613 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
57.614 * [backup-simplify]: Simplify (+ 0 0) into 0
57.614 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
57.615 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0
57.616 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
57.617 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
57.617 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
57.618 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
57.619 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
57.619 * [backup-simplify]: Simplify (- 0) into 0
57.620 * [backup-simplify]: Simplify (+ 0 0) into 0
57.620 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
57.621 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
57.622 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
57.622 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
57.623 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
57.624 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
57.624 * [backup-simplify]: Simplify (- 0) into 0
57.624 * [backup-simplify]: Simplify (+ 0 0) into 0
57.625 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
57.626 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 2)))) into 0
57.626 * [backup-simplify]: Simplify (+ 0 0) into 0
57.627 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
57.628 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
57.628 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
57.632 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
57.632 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
57.633 * [backup-simplify]: Simplify (- 0) into 0
57.633 * [backup-simplify]: Simplify (+ 0 0) into 0
57.634 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
57.635 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
57.635 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
57.636 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
57.637 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
57.637 * [backup-simplify]: Simplify (- 0) into 0
57.637 * [backup-simplify]: Simplify (+ 0 0) into 0
57.638 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
57.639 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
57.640 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
57.640 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
57.641 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
57.641 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
57.642 * [backup-simplify]: Simplify (+ 0 0) into 0
57.642 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
57.643 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
57.644 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
57.644 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
57.645 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
57.645 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
57.646 * [backup-simplify]: Simplify (+ 0 0) into 0
57.646 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into 0
57.647 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
57.647 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
57.647 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
57.648 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
57.648 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
57.648 * [backup-simplify]: Simplify (+ 0 0) into 0
57.649 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
57.649 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
57.649 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
57.650 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
57.650 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
57.650 * [backup-simplify]: Simplify (+ 0 0) into 0
57.651 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
57.651 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
57.652 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
57.652 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
57.652 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
57.653 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
57.653 * [backup-simplify]: Simplify (- 0) into 0
57.653 * [backup-simplify]: Simplify (+ 0 0) into 0
57.653 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
57.654 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
57.654 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
57.655 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
57.655 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
57.655 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
57.656 * [backup-simplify]: Simplify (- 0) into 0
57.656 * [backup-simplify]: Simplify (+ 0 0) into 0
57.656 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into 0
57.657 * [backup-simplify]: Simplify (+ 0 0) into 0
57.657 * [backup-simplify]: Simplify (- 0) into 0
57.657 * [backup-simplify]: Simplify (+ 0 0) into 0
57.660 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (* 0 (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
57.662 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
57.662 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
57.663 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
57.663 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
57.663 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
57.663 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
57.664 * [backup-simplify]: Simplify (+ 0 0) into 0
57.664 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
57.665 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
57.665 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
57.665 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
57.666 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
57.666 * [backup-simplify]: Simplify (- 0) into 0
57.666 * [backup-simplify]: Simplify (+ 0 0) into 0
57.666 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
57.667 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
57.667 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
57.668 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
57.668 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
57.668 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
57.669 * [backup-simplify]: Simplify (- 0) into 0
57.669 * [backup-simplify]: Simplify (+ 0 0) into 0
57.669 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
57.670 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
57.670 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
57.670 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
57.671 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
57.671 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
57.671 * [backup-simplify]: Simplify (+ 0 0) into 0
57.672 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into 0
57.672 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (+ (* 0 1) (* 0 0)))) into 0
57.673 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (/ 0 R)) (* 0 (/ 0 R)))) into 0
57.675 * [backup-simplify]: Simplify (+ (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) 0) (+ (* 0 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
57.676 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
57.677 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
57.677 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
57.678 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
57.679 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
57.679 * [backup-simplify]: Simplify (+ 0 0) into 0
57.680 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
57.681 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
57.682 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
57.682 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
57.683 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
57.683 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
57.684 * [backup-simplify]: Simplify (+ 0 0) into 0
57.684 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
57.685 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0
57.686 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
57.687 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
57.687 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
57.688 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
57.689 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
57.689 * [backup-simplify]: Simplify (- 0) into 0
57.689 * [backup-simplify]: Simplify (+ 0 0) into 0
57.690 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
57.691 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
57.692 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
57.692 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
57.693 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
57.693 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
57.694 * [backup-simplify]: Simplify (- 0) into 0
57.694 * [backup-simplify]: Simplify (+ 0 0) into 0
57.695 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
57.695 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 2)))) into 0
57.696 * [backup-simplify]: Simplify (+ 0 0) into 0
57.697 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
57.698 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
57.698 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
57.699 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
57.699 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
57.700 * [backup-simplify]: Simplify (- 0) into 0
57.700 * [backup-simplify]: Simplify (+ 0 0) into 0
57.701 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
57.702 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
57.702 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
57.703 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
57.703 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
57.704 * [backup-simplify]: Simplify (- 0) into 0
57.704 * [backup-simplify]: Simplify (+ 0 0) into 0
57.705 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
57.706 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
57.706 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
57.707 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
57.708 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
57.708 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
57.709 * [backup-simplify]: Simplify (+ 0 0) into 0
57.709 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
57.710 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
57.711 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
57.711 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
57.712 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
57.713 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
57.713 * [backup-simplify]: Simplify (+ 0 0) into 0
57.714 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into 0
57.715 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
57.716 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
57.716 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
57.717 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
57.717 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
57.718 * [backup-simplify]: Simplify (+ 0 0) into 0
57.719 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
57.719 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
57.720 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
57.720 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
57.721 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
57.721 * [backup-simplify]: Simplify (+ 0 0) into 0
57.722 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
57.723 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
57.724 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
57.724 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
57.725 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
57.725 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
57.726 * [backup-simplify]: Simplify (- 0) into 0
57.726 * [backup-simplify]: Simplify (+ 0 0) into 0
57.727 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
57.728 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
57.729 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
57.729 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
57.730 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
57.730 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
57.731 * [backup-simplify]: Simplify (- 0) into 0
57.731 * [backup-simplify]: Simplify (+ 0 0) into 0
57.732 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into 0
57.732 * [backup-simplify]: Simplify (+ 0 0) into 0
57.733 * [backup-simplify]: Simplify (- 0) into 0
57.733 * [backup-simplify]: Simplify (+ 0 0) into 0
57.736 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (* 0 (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
57.738 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
57.738 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
57.739 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
57.739 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
57.739 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
57.740 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
57.740 * [backup-simplify]: Simplify (+ 0 0) into 0
57.741 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
57.741 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
57.741 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
57.742 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
57.742 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
57.742 * [backup-simplify]: Simplify (+ 0 0) into 0
57.742 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
57.743 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
57.743 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
57.744 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
57.744 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
57.744 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
57.745 * [backup-simplify]: Simplify (- 0) into 0
57.745 * [backup-simplify]: Simplify (+ 0 0) into 0
57.745 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
57.746 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
57.746 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
57.746 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
57.747 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
57.747 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
57.747 * [backup-simplify]: Simplify (- 0) into 0
57.748 * [backup-simplify]: Simplify (+ 0 0) into 0
57.748 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into 0
57.749 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (+ (* 0 1) (* 0 0)))) into 0
57.749 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (/ 0 R)) (* 0 (/ 0 R)))) into 0
57.750 * [backup-simplify]: Simplify (+ (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) 0) (+ (* 0 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
57.752 * [backup-simplify]: Simplify (+ 0 0) into 0
57.753 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
57.754 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
57.754 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
57.754 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
57.755 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
57.755 * [backup-simplify]: Simplify (+ 0 0) into 0
57.755 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
57.756 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
57.756 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
57.756 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
57.757 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
57.757 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
57.758 * [backup-simplify]: Simplify (+ 0 0) into 0
57.758 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
57.759 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0
57.759 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
57.760 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
57.760 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
57.760 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
57.760 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
57.761 * [backup-simplify]: Simplify (- 0) into 0
57.761 * [backup-simplify]: Simplify (+ 0 0) into 0
57.761 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
57.762 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
57.762 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
57.762 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
57.763 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
57.763 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
57.764 * [backup-simplify]: Simplify (- 0) into 0
57.764 * [backup-simplify]: Simplify (+ 0 0) into 0
57.764 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
57.765 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 2)))) into 0
57.765 * [backup-simplify]: Simplify (+ 0 0) into 0
57.766 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
57.766 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
57.767 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
57.768 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
57.768 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
57.769 * [backup-simplify]: Simplify (- 0) into 0
57.769 * [backup-simplify]: Simplify (+ 0 0) into 0
57.770 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
57.771 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
57.771 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
57.772 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
57.773 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
57.773 * [backup-simplify]: Simplify (- 0) into 0
57.773 * [backup-simplify]: Simplify (+ 0 0) into 0
57.774 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
57.775 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
57.776 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
57.776 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
57.777 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
57.778 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
57.778 * [backup-simplify]: Simplify (+ 0 0) into 0
57.779 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
57.780 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
57.781 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
57.781 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
57.782 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
57.783 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
57.783 * [backup-simplify]: Simplify (+ 0 0) into 0
57.784 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into 0
57.785 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
57.786 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
57.786 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
57.787 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
57.788 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
57.788 * [backup-simplify]: Simplify (+ 0 0) into 0
57.789 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
57.790 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
57.790 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
57.791 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
57.791 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
57.792 * [backup-simplify]: Simplify (+ 0 0) into 0
57.792 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
57.793 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
57.794 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
57.794 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
57.795 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
57.795 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
57.796 * [backup-simplify]: Simplify (- 0) into 0
57.796 * [backup-simplify]: Simplify (+ 0 0) into 0
57.797 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
57.798 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
57.798 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
57.799 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
57.800 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
57.800 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
57.801 * [backup-simplify]: Simplify (- 0) into 0
57.801 * [backup-simplify]: Simplify (+ 0 0) into 0
57.802 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into 0
57.802 * [backup-simplify]: Simplify (+ 0 0) into 0
57.803 * [backup-simplify]: Simplify (- 0) into 0
57.803 * [backup-simplify]: Simplify (+ 0 0) into 0
57.809 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (* 0 (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
57.812 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
57.813 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
57.814 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
57.814 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
57.815 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
57.816 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
57.816 * [backup-simplify]: Simplify (+ 0 0) into 0
57.817 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
57.818 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
57.818 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
57.819 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
57.820 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
57.820 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
57.821 * [backup-simplify]: Simplify (+ 0 0) into 0
57.821 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
57.822 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0
57.823 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (+ (* 0 1) (* 0 0)))) into 0
57.823 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) R) (/ 0 R)) (* 0 (/ 0 R)))) into 0
57.826 * [backup-simplify]: Simplify (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) R) 0) (+ (* 0 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
57.827 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
57.828 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
57.828 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
57.829 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
57.830 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
57.830 * [backup-simplify]: Simplify (+ 0 0) into 0
57.830 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
57.831 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
57.831 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
57.831 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
57.832 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
57.832 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
57.832 * [backup-simplify]: Simplify (+ 0 0) into 0
57.833 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
57.833 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0
57.834 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
57.834 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
57.834 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
57.835 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
57.835 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
57.835 * [backup-simplify]: Simplify (- 0) into 0
57.836 * [backup-simplify]: Simplify (+ 0 0) into 0
57.836 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
57.837 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
57.837 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
57.837 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
57.838 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
57.838 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
57.838 * [backup-simplify]: Simplify (- 0) into 0
57.838 * [backup-simplify]: Simplify (+ 0 0) into 0
57.839 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
57.839 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 2)))) into 0
57.839 * [backup-simplify]: Simplify (+ 0 0) into 0
57.840 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
57.841 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
57.841 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
57.841 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
57.842 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
57.842 * [backup-simplify]: Simplify (- 0) into 0
57.842 * [backup-simplify]: Simplify (+ 0 0) into 0
57.843 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
57.843 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
57.843 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
57.844 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
57.844 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
57.844 * [backup-simplify]: Simplify (- 0) into 0
57.844 * [backup-simplify]: Simplify (+ 0 0) into 0
57.845 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
57.845 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
57.846 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
57.846 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
57.846 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
57.847 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
57.847 * [backup-simplify]: Simplify (+ 0 0) into 0
57.847 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
57.848 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
57.848 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
57.848 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
57.849 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
57.849 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
57.849 * [backup-simplify]: Simplify (+ 0 0) into 0
57.850 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into 0
57.850 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
57.851 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
57.851 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
57.851 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
57.852 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
57.852 * [backup-simplify]: Simplify (+ 0 0) into 0
57.852 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
57.853 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
57.853 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
57.854 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
57.854 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
57.854 * [backup-simplify]: Simplify (+ 0 0) into 0
57.854 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
57.855 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
57.855 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
57.856 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
57.856 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
57.856 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
57.857 * [backup-simplify]: Simplify (- 0) into 0
57.857 * [backup-simplify]: Simplify (+ 0 0) into 0
57.857 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
57.858 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
57.859 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
57.859 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
57.860 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
57.860 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
57.861 * [backup-simplify]: Simplify (- 0) into 0
57.861 * [backup-simplify]: Simplify (+ 0 0) into 0
57.862 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into 0
57.862 * [backup-simplify]: Simplify (+ 0 0) into 0
57.863 * [backup-simplify]: Simplify (- 0) into 0
57.863 * [backup-simplify]: Simplify (+ 0 0) into 0
57.869 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (* 0 (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
57.872 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
57.873 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
57.874 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
57.875 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
57.876 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
57.876 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
57.877 * [backup-simplify]: Simplify (- 0) into 0
57.877 * [backup-simplify]: Simplify (+ 0 0) into 0
57.880 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
57.881 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
57.882 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
57.882 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
57.883 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
57.883 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
57.884 * [backup-simplify]: Simplify (- 0) into 0
57.884 * [backup-simplify]: Simplify (+ 0 0) into 0
57.885 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
57.886 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 2)))) into 0
57.887 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (+ (* 0 1) (* 0 0)))) into 0
57.887 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) R) (/ 0 R)) (* 0 (/ 0 R)))) into 0
57.890 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) R) 0) (+ (* 0 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into 0
57.891 * [backup-simplify]: Simplify (+ 0 0) into 0
57.891 * [backup-simplify]: Simplify (- 0) into 0
57.892 * [backup-simplify]: Simplify (+ 0 0) into 0
57.892 * [taylor]: Taking taylor expansion of 0 in phi1
57.892 * [backup-simplify]: Simplify 0 into 0
57.892 * [backup-simplify]: Simplify (- (+ (* (/ 1 R) (/ 0 R)) (* 0 (/ 0 R)))) into 0
57.893 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
57.894 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
57.894 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
57.895 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
57.895 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
57.896 * [backup-simplify]: Simplify (+ 0 0) into 0
57.896 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
57.897 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
57.898 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
57.898 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
57.898 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
57.899 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
57.899 * [backup-simplify]: Simplify (+ 0 0) into 0
57.899 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
57.900 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0
57.900 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
57.901 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
57.901 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
57.901 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
57.902 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
57.902 * [backup-simplify]: Simplify (- 0) into 0
57.902 * [backup-simplify]: Simplify (+ 0 0) into 0
57.902 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
57.903 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
57.903 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
57.903 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
57.904 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
57.904 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
57.904 * [backup-simplify]: Simplify (- 0) into 0
57.905 * [backup-simplify]: Simplify (+ 0 0) into 0
57.905 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
57.906 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 2)))) into 0
57.906 * [backup-simplify]: Simplify (+ 0 0) into 0
57.906 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
57.907 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
57.907 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
57.907 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
57.908 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
57.908 * [backup-simplify]: Simplify (- 0) into 0
57.908 * [backup-simplify]: Simplify (+ 0 0) into 0
57.909 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
57.909 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
57.909 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
57.910 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
57.910 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
57.910 * [backup-simplify]: Simplify (- 0) into 0
57.910 * [backup-simplify]: Simplify (+ 0 0) into 0
57.911 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
57.911 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
57.912 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
57.912 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
57.912 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
57.913 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
57.913 * [backup-simplify]: Simplify (+ 0 0) into 0
57.913 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
57.914 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
57.914 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
57.914 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
57.915 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
57.915 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
57.916 * [backup-simplify]: Simplify (+ 0 0) into 0
57.916 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into 0
57.916 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
57.917 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
57.917 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
57.917 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
57.918 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
57.918 * [backup-simplify]: Simplify (+ 0 0) into 0
57.919 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
57.919 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
57.919 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
57.920 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
57.920 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
57.920 * [backup-simplify]: Simplify (+ 0 0) into 0
57.921 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
57.921 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
57.922 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
57.922 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
57.923 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
57.923 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
57.924 * [backup-simplify]: Simplify (- 0) into 0
57.924 * [backup-simplify]: Simplify (+ 0 0) into 0
57.925 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
57.926 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
57.927 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
57.927 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
57.928 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
57.928 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
57.929 * [backup-simplify]: Simplify (- 0) into 0
57.929 * [backup-simplify]: Simplify (+ 0 0) into 0
57.930 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into 0
57.930 * [backup-simplify]: Simplify (+ 0 0) into 0
57.931 * [backup-simplify]: Simplify (- 0) into 0
57.931 * [backup-simplify]: Simplify (+ 0 0) into 0
57.934 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (sqrt (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into 0
57.936 * [backup-simplify]: Simplify (+ (* (sqrt (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) 0) (+ (* 0 0) (* 0 (/ 1 R)))) into 0
57.937 * [taylor]: Taking taylor expansion of 0 in phi1
57.937 * [backup-simplify]: Simplify 0 into 0
57.937 * [taylor]: Taking taylor expansion of 0 in phi2
57.937 * [backup-simplify]: Simplify 0 into 0
57.937 * [taylor]: Taking taylor expansion of 0 in phi2
57.937 * [backup-simplify]: Simplify 0 into 0
57.937 * [taylor]: Taking taylor expansion of 0 in phi2
57.937 * [backup-simplify]: Simplify 0 into 0
57.937 * [backup-simplify]: Simplify (+ 0) into 0
57.938 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
57.938 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
57.939 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
57.939 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
57.940 * [backup-simplify]: Simplify (+ 0 0) into 0
57.940 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
57.940 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
57.941 * [backup-simplify]: Simplify (+ 0) into 0
57.941 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
57.942 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
57.942 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
57.943 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
57.943 * [backup-simplify]: Simplify (- 0) into 0
57.943 * [backup-simplify]: Simplify (+ 0 0) into 0
57.944 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
57.944 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (/ 0 R)))) into 0
57.947 * [backup-simplify]: Simplify (+ (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
57.948 * [backup-simplify]: Simplify (+ 0) into 0
57.949 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
57.949 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
57.950 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
57.950 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
57.951 * [backup-simplify]: Simplify (- 0) into 0
57.951 * [backup-simplify]: Simplify (+ 0 0) into 0
57.951 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
57.952 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
57.952 * [backup-simplify]: Simplify (+ 0) into 0
57.953 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
57.953 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
57.954 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
57.954 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
57.955 * [backup-simplify]: Simplify (+ 0 0) into 0
57.955 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
57.956 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (/ 0 R)))) into 0
57.958 * [backup-simplify]: Simplify (+ (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
57.959 * [backup-simplify]: Simplify (+ 0 0) into 0
57.959 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
57.959 * [backup-simplify]: Simplify (+ 0) into 0
57.960 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
57.960 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
57.961 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
57.961 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
57.962 * [backup-simplify]: Simplify (- 0) into 0
57.962 * [backup-simplify]: Simplify (+ 0 0) into 0
57.962 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
57.963 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
57.963 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) R) (/ 0 R)))) into 0
57.966 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) R) 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
57.966 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
57.966 * [backup-simplify]: Simplify (+ 0) into 0
57.967 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
57.967 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
57.968 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
57.969 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
57.969 * [backup-simplify]: Simplify (+ 0 0) into 0
57.969 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
57.970 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
57.970 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) R) (/ 0 R)))) into 0
57.972 * [backup-simplify]: Simplify (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) R) 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
57.973 * [backup-simplify]: Simplify (+ 0 0) into 0
57.973 * [backup-simplify]: Simplify (- 0) into 0
57.974 * [backup-simplify]: Simplify (+ 0 0) into 0
57.974 * [taylor]: Taking taylor expansion of 0 in phi2
57.974 * [backup-simplify]: Simplify 0 into 0
57.974 * [backup-simplify]: Simplify (- (+ (* (/ 1 R) (/ 0 R)))) into 0
57.976 * [backup-simplify]: Simplify (+ (* (sqrt (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) 0) (* 0 (/ 1 R))) into 0
57.976 * [taylor]: Taking taylor expansion of 0 in phi2
57.976 * [backup-simplify]: Simplify 0 into 0
57.978 * [backup-simplify]: Simplify (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))
57.981 * [backup-simplify]: Simplify (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))
57.986 * [backup-simplify]: Simplify (+ (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into (+ (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))
57.989 * [backup-simplify]: Simplify (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))
57.991 * [backup-simplify]: Simplify (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))
57.996 * [backup-simplify]: Simplify (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))
58.002 * [backup-simplify]: Simplify (- (+ (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) into (- (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))
58.008 * [backup-simplify]: Simplify (+ (+ (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (- (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))) into (- (+ (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))))
58.008 * [taylor]: Taking taylor expansion of (- (+ (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))) in R
58.008 * [taylor]: Taking taylor expansion of (+ (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) in R
58.008 * [taylor]: Taking taylor expansion of (* (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) in R
58.008 * [taylor]: Taking taylor expansion of (/ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) in R
58.008 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in R
58.008 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in R
58.008 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
58.008 * [taylor]: Taking taylor expansion of 0.5 in R
58.008 * [backup-simplify]: Simplify 0.5 into 0.5
58.008 * [taylor]: Taking taylor expansion of phi2 in R
58.008 * [backup-simplify]: Simplify phi2 into phi2
58.008 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
58.008 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
58.008 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
58.008 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in R
58.008 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in R
58.008 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
58.008 * [taylor]: Taking taylor expansion of 0.5 in R
58.008 * [backup-simplify]: Simplify 0.5 into 0.5
58.008 * [taylor]: Taking taylor expansion of phi1 in R
58.008 * [backup-simplify]: Simplify phi1 into phi1
58.008 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
58.008 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
58.008 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
58.009 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in R
58.009 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in R
58.009 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
58.009 * [taylor]: Taking taylor expansion of 0.5 in R
58.009 * [backup-simplify]: Simplify 0.5 into 0.5
58.009 * [taylor]: Taking taylor expansion of phi2 in R
58.009 * [backup-simplify]: Simplify phi2 into phi2
58.009 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
58.009 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
58.009 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
58.009 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in R
58.009 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
58.009 * [taylor]: Taking taylor expansion of 0.5 in R
58.009 * [backup-simplify]: Simplify 0.5 into 0.5
58.009 * [taylor]: Taking taylor expansion of phi1 in R
58.009 * [backup-simplify]: Simplify phi1 into phi1
58.009 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
58.009 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
58.009 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
58.009 * [taylor]: Taking taylor expansion of R in R
58.009 * [backup-simplify]: Simplify 0 into 0
58.009 * [backup-simplify]: Simplify 1 into 1
58.009 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
58.009 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
58.010 * [backup-simplify]: Simplify (- 0) into 0
58.010 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
58.010 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
58.010 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
58.010 * [backup-simplify]: Simplify (- 0) into 0
58.010 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
58.010 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
58.010 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
58.010 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
58.010 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
58.010 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
58.010 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
58.011 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
58.011 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
58.011 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
58.011 * [backup-simplify]: Simplify (/ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) 1) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
58.011 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in R
58.011 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in R
58.011 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in R
58.011 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in R
58.011 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in R
58.011 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in R
58.011 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in R
58.011 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
58.011 * [taylor]: Taking taylor expansion of 0.5 in R
58.011 * [backup-simplify]: Simplify 0.5 into 0.5
58.011 * [taylor]: Taking taylor expansion of phi2 in R
58.011 * [backup-simplify]: Simplify phi2 into phi2
58.011 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
58.011 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
58.011 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
58.012 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
58.012 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
58.012 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
58.012 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in R
58.012 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in R
58.012 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
58.012 * [taylor]: Taking taylor expansion of 0.5 in R
58.012 * [backup-simplify]: Simplify 0.5 into 0.5
58.012 * [taylor]: Taking taylor expansion of phi1 in R
58.012 * [backup-simplify]: Simplify phi1 into phi1
58.012 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
58.012 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
58.012 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
58.012 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
58.012 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
58.012 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
58.012 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in R
58.012 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in R
58.012 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in R
58.012 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
58.012 * [taylor]: Taking taylor expansion of 0.5 in R
58.012 * [backup-simplify]: Simplify 0.5 into 0.5
58.012 * [taylor]: Taking taylor expansion of phi2 in R
58.012 * [backup-simplify]: Simplify phi2 into phi2
58.012 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
58.012 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
58.012 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
58.012 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
58.012 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
58.013 * [backup-simplify]: Simplify (- 0) into 0
58.013 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
58.013 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in R
58.013 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in R
58.013 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
58.013 * [taylor]: Taking taylor expansion of 0.5 in R
58.013 * [backup-simplify]: Simplify 0.5 into 0.5
58.013 * [taylor]: Taking taylor expansion of phi1 in R
58.013 * [backup-simplify]: Simplify phi1 into phi1
58.013 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
58.013 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
58.013 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
58.013 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
58.013 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
58.013 * [backup-simplify]: Simplify (- 0) into 0
58.014 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
58.014 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in R
58.014 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in R
58.014 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in R
58.014 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
58.014 * [taylor]: Taking taylor expansion of 0.5 in R
58.014 * [backup-simplify]: Simplify 0.5 into 0.5
58.014 * [taylor]: Taking taylor expansion of phi2 in R
58.014 * [backup-simplify]: Simplify phi2 into phi2
58.014 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
58.014 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
58.014 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
58.014 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in R
58.014 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in R
58.014 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
58.014 * [taylor]: Taking taylor expansion of 0.5 in R
58.014 * [backup-simplify]: Simplify 0.5 into 0.5
58.014 * [taylor]: Taking taylor expansion of phi1 in R
58.014 * [backup-simplify]: Simplify phi1 into phi1
58.014 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
58.014 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
58.014 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
58.014 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in R
58.014 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in R
58.014 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
58.014 * [taylor]: Taking taylor expansion of 0.5 in R
58.014 * [backup-simplify]: Simplify 0.5 into 0.5
58.014 * [taylor]: Taking taylor expansion of phi2 in R
58.014 * [backup-simplify]: Simplify phi2 into phi2
58.014 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
58.014 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
58.014 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
58.014 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in R
58.014 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
58.014 * [taylor]: Taking taylor expansion of 0.5 in R
58.014 * [backup-simplify]: Simplify 0.5 into 0.5
58.014 * [taylor]: Taking taylor expansion of phi1 in R
58.014 * [backup-simplify]: Simplify phi1 into phi1
58.015 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
58.015 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
58.015 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
58.015 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in R
58.015 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in R
58.015 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
58.015 * [taylor]: Taking taylor expansion of 0.5 in R
58.015 * [backup-simplify]: Simplify 0.5 into 0.5
58.015 * [taylor]: Taking taylor expansion of phi2 in R
58.015 * [backup-simplify]: Simplify phi2 into phi2
58.015 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
58.015 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
58.015 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
58.015 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in R
58.015 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in R
58.015 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
58.015 * [taylor]: Taking taylor expansion of 0.5 in R
58.015 * [backup-simplify]: Simplify 0.5 into 0.5
58.015 * [taylor]: Taking taylor expansion of phi1 in R
58.015 * [backup-simplify]: Simplify phi1 into phi1
58.015 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
58.015 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
58.015 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
58.015 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in R
58.015 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in R
58.015 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
58.015 * [taylor]: Taking taylor expansion of 0.5 in R
58.015 * [backup-simplify]: Simplify 0.5 into 0.5
58.015 * [taylor]: Taking taylor expansion of phi2 in R
58.015 * [backup-simplify]: Simplify phi2 into phi2
58.015 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
58.015 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
58.015 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
58.015 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in R
58.015 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
58.015 * [taylor]: Taking taylor expansion of 0.5 in R
58.015 * [backup-simplify]: Simplify 0.5 into 0.5
58.015 * [taylor]: Taking taylor expansion of phi1 in R
58.015 * [backup-simplify]: Simplify phi1 into phi1
58.016 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
58.016 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
58.016 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
58.016 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
58.016 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
58.016 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
58.016 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
58.016 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
58.016 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
58.017 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
58.017 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
58.017 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
58.017 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
58.017 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
58.017 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
58.017 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
58.017 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
58.017 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
58.020 * [backup-simplify]: Simplify (- 0) into 0
58.020 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
58.020 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
58.020 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
58.020 * [backup-simplify]: Simplify (- 0) into 0
58.020 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
58.020 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
58.021 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
58.021 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
58.021 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
58.021 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
58.021 * [backup-simplify]: Simplify (- 0) into 0
58.021 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
58.021 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
58.021 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
58.022 * [backup-simplify]: Simplify (- 0) into 0
58.022 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
58.022 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
58.022 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
58.022 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
58.022 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
58.022 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
58.022 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
58.022 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
58.022 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
58.022 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
58.023 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))
58.023 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
58.024 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
58.025 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
58.026 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
58.027 * [backup-simplify]: Simplify (+ 0) into 0
58.027 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
58.027 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
58.028 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.028 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
58.028 * [backup-simplify]: Simplify (+ 0 0) into 0
58.028 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
58.028 * [backup-simplify]: Simplify (+ 0) into 0
58.029 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
58.029 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
58.029 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.030 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
58.030 * [backup-simplify]: Simplify (+ 0 0) into 0
58.030 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
58.030 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
58.030 * [backup-simplify]: Simplify (+ 0) into 0
58.031 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
58.031 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
58.031 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.032 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
58.032 * [backup-simplify]: Simplify (- 0) into 0
58.032 * [backup-simplify]: Simplify (+ 0 0) into 0
58.032 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
58.032 * [backup-simplify]: Simplify (+ 0) into 0
58.033 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
58.033 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
58.033 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.034 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
58.034 * [backup-simplify]: Simplify (- 0) into 0
58.034 * [backup-simplify]: Simplify (+ 0 0) into 0
58.034 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
58.034 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
58.035 * [backup-simplify]: Simplify (+ 0 0) into 0
58.035 * [backup-simplify]: Simplify (+ 0) into 0
58.035 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
58.035 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
58.036 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.036 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
58.036 * [backup-simplify]: Simplify (- 0) into 0
58.036 * [backup-simplify]: Simplify (+ 0 0) into 0
58.037 * [backup-simplify]: Simplify (+ 0) into 0
58.037 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
58.037 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
58.038 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.038 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
58.038 * [backup-simplify]: Simplify (- 0) into 0
58.038 * [backup-simplify]: Simplify (+ 0 0) into 0
58.038 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
58.039 * [backup-simplify]: Simplify (+ 0) into 0
58.039 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
58.039 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
58.040 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.040 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
58.040 * [backup-simplify]: Simplify (+ 0 0) into 0
58.040 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
58.040 * [backup-simplify]: Simplify (+ 0) into 0
58.041 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
58.041 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
58.042 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.042 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
58.042 * [backup-simplify]: Simplify (+ 0 0) into 0
58.042 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
58.043 * [backup-simplify]: Simplify (+ 0) into 0
58.043 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
58.043 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
58.043 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.044 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
58.044 * [backup-simplify]: Simplify (+ 0 0) into 0
58.044 * [backup-simplify]: Simplify (+ 0) into 0
58.044 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
58.045 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
58.045 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.045 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
58.046 * [backup-simplify]: Simplify (+ 0 0) into 0
58.046 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
58.046 * [backup-simplify]: Simplify (+ 0) into 0
58.046 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
58.046 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
58.047 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.047 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
58.047 * [backup-simplify]: Simplify (- 0) into 0
58.047 * [backup-simplify]: Simplify (+ 0 0) into 0
58.048 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
58.048 * [backup-simplify]: Simplify (+ 0) into 0
58.048 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
58.048 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
58.049 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.049 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
58.049 * [backup-simplify]: Simplify (- 0) into 0
58.050 * [backup-simplify]: Simplify (+ 0 0) into 0
58.050 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
58.050 * [backup-simplify]: Simplify (+ 0 0) into 0
58.050 * [backup-simplify]: Simplify (- 0) into 0
58.050 * [backup-simplify]: Simplify (+ 0 0) into 0
58.052 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
58.054 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
58.054 * [taylor]: Taking taylor expansion of (* (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) in R
58.054 * [taylor]: Taking taylor expansion of (/ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) R) in R
58.054 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in R
58.054 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in R
58.054 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
58.054 * [taylor]: Taking taylor expansion of 0.5 in R
58.054 * [backup-simplify]: Simplify 0.5 into 0.5
58.054 * [taylor]: Taking taylor expansion of phi2 in R
58.054 * [backup-simplify]: Simplify phi2 into phi2
58.054 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
58.054 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
58.054 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
58.054 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in R
58.054 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in R
58.054 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
58.054 * [taylor]: Taking taylor expansion of 0.5 in R
58.054 * [backup-simplify]: Simplify 0.5 into 0.5
58.054 * [taylor]: Taking taylor expansion of phi1 in R
58.054 * [backup-simplify]: Simplify phi1 into phi1
58.054 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
58.054 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
58.054 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
58.054 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in R
58.054 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in R
58.054 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
58.054 * [taylor]: Taking taylor expansion of 0.5 in R
58.054 * [backup-simplify]: Simplify 0.5 into 0.5
58.054 * [taylor]: Taking taylor expansion of phi2 in R
58.054 * [backup-simplify]: Simplify phi2 into phi2
58.054 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
58.054 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
58.054 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
58.054 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in R
58.054 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
58.054 * [taylor]: Taking taylor expansion of 0.5 in R
58.055 * [backup-simplify]: Simplify 0.5 into 0.5
58.055 * [taylor]: Taking taylor expansion of phi1 in R
58.055 * [backup-simplify]: Simplify phi1 into phi1
58.055 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
58.055 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
58.055 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
58.055 * [taylor]: Taking taylor expansion of R in R
58.055 * [backup-simplify]: Simplify 0 into 0
58.055 * [backup-simplify]: Simplify 1 into 1
58.055 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
58.055 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
58.055 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
58.055 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
58.055 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
58.055 * [backup-simplify]: Simplify (- 0) into 0
58.055 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
58.056 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
58.056 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
58.056 * [backup-simplify]: Simplify (- 0) into 0
58.056 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
58.056 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
58.056 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
58.056 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
58.056 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
58.056 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
58.056 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
58.057 * [backup-simplify]: Simplify (/ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) 1) into (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
58.057 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in R
58.057 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in R
58.057 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in R
58.057 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in R
58.057 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in R
58.057 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in R
58.057 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in R
58.057 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
58.057 * [taylor]: Taking taylor expansion of 0.5 in R
58.057 * [backup-simplify]: Simplify 0.5 into 0.5
58.057 * [taylor]: Taking taylor expansion of phi2 in R
58.057 * [backup-simplify]: Simplify phi2 into phi2
58.057 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
58.057 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
58.057 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
58.057 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
58.057 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
58.057 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
58.057 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in R
58.057 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in R
58.057 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
58.057 * [taylor]: Taking taylor expansion of 0.5 in R
58.057 * [backup-simplify]: Simplify 0.5 into 0.5
58.057 * [taylor]: Taking taylor expansion of phi1 in R
58.057 * [backup-simplify]: Simplify phi1 into phi1
58.057 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
58.057 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
58.058 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
58.058 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
58.058 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
58.058 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
58.058 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in R
58.058 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in R
58.058 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in R
58.058 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
58.058 * [taylor]: Taking taylor expansion of 0.5 in R
58.058 * [backup-simplify]: Simplify 0.5 into 0.5
58.058 * [taylor]: Taking taylor expansion of phi2 in R
58.058 * [backup-simplify]: Simplify phi2 into phi2
58.058 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
58.058 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
58.058 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
58.058 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
58.058 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
58.058 * [backup-simplify]: Simplify (- 0) into 0
58.058 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
58.058 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in R
58.059 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in R
58.059 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
58.059 * [taylor]: Taking taylor expansion of 0.5 in R
58.059 * [backup-simplify]: Simplify 0.5 into 0.5
58.059 * [taylor]: Taking taylor expansion of phi1 in R
58.059 * [backup-simplify]: Simplify phi1 into phi1
58.059 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
58.059 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
58.059 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
58.059 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
58.059 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
58.059 * [backup-simplify]: Simplify (- 0) into 0
58.059 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
58.059 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in R
58.059 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in R
58.059 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in R
58.059 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
58.059 * [taylor]: Taking taylor expansion of 0.5 in R
58.059 * [backup-simplify]: Simplify 0.5 into 0.5
58.059 * [taylor]: Taking taylor expansion of phi2 in R
58.059 * [backup-simplify]: Simplify phi2 into phi2
58.059 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
58.059 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
58.059 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
58.060 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in R
58.060 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in R
58.060 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
58.060 * [taylor]: Taking taylor expansion of 0.5 in R
58.060 * [backup-simplify]: Simplify 0.5 into 0.5
58.060 * [taylor]: Taking taylor expansion of phi1 in R
58.060 * [backup-simplify]: Simplify phi1 into phi1
58.060 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
58.060 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
58.060 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
58.060 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in R
58.060 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in R
58.060 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
58.060 * [taylor]: Taking taylor expansion of 0.5 in R
58.060 * [backup-simplify]: Simplify 0.5 into 0.5
58.060 * [taylor]: Taking taylor expansion of phi2 in R
58.060 * [backup-simplify]: Simplify phi2 into phi2
58.060 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
58.060 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
58.060 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
58.060 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in R
58.060 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
58.060 * [taylor]: Taking taylor expansion of 0.5 in R
58.060 * [backup-simplify]: Simplify 0.5 into 0.5
58.060 * [taylor]: Taking taylor expansion of phi1 in R
58.060 * [backup-simplify]: Simplify phi1 into phi1
58.060 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
58.060 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
58.060 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
58.060 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in R
58.060 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in R
58.060 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
58.060 * [taylor]: Taking taylor expansion of 0.5 in R
58.060 * [backup-simplify]: Simplify 0.5 into 0.5
58.060 * [taylor]: Taking taylor expansion of phi2 in R
58.060 * [backup-simplify]: Simplify phi2 into phi2
58.060 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
58.060 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
58.061 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
58.061 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in R
58.061 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in R
58.061 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
58.061 * [taylor]: Taking taylor expansion of 0.5 in R
58.061 * [backup-simplify]: Simplify 0.5 into 0.5
58.061 * [taylor]: Taking taylor expansion of phi1 in R
58.061 * [backup-simplify]: Simplify phi1 into phi1
58.061 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
58.061 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
58.061 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
58.061 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in R
58.061 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in R
58.061 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
58.061 * [taylor]: Taking taylor expansion of 0.5 in R
58.061 * [backup-simplify]: Simplify 0.5 into 0.5
58.061 * [taylor]: Taking taylor expansion of phi2 in R
58.061 * [backup-simplify]: Simplify phi2 into phi2
58.061 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
58.061 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
58.061 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
58.061 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in R
58.061 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
58.061 * [taylor]: Taking taylor expansion of 0.5 in R
58.061 * [backup-simplify]: Simplify 0.5 into 0.5
58.061 * [taylor]: Taking taylor expansion of phi1 in R
58.061 * [backup-simplify]: Simplify phi1 into phi1
58.061 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
58.061 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
58.061 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
58.061 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
58.061 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
58.062 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
58.062 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
58.062 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
58.062 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
58.063 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
58.063 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
58.063 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
58.063 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
58.063 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
58.063 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
58.063 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
58.063 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
58.063 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
58.063 * [backup-simplify]: Simplify (- 0) into 0
58.063 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
58.063 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
58.064 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
58.064 * [backup-simplify]: Simplify (- 0) into 0
58.064 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
58.064 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
58.064 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
58.064 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
58.064 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
58.064 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
58.065 * [backup-simplify]: Simplify (- 0) into 0
58.065 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
58.065 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
58.065 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
58.065 * [backup-simplify]: Simplify (- 0) into 0
58.065 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
58.065 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
58.065 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
58.065 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
58.065 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
58.065 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
58.065 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
58.066 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
58.066 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
58.066 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
58.066 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))
58.067 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) into (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
58.068 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
58.069 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
58.070 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
58.070 * [backup-simplify]: Simplify (+ 0) into 0
58.070 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
58.070 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
58.071 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.071 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
58.071 * [backup-simplify]: Simplify (+ 0 0) into 0
58.072 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
58.072 * [backup-simplify]: Simplify (+ 0) into 0
58.072 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
58.072 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
58.073 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.073 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
58.073 * [backup-simplify]: Simplify (+ 0 0) into 0
58.073 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
58.074 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
58.074 * [backup-simplify]: Simplify (+ 0) into 0
58.074 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
58.074 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
58.075 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.075 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
58.075 * [backup-simplify]: Simplify (- 0) into 0
58.075 * [backup-simplify]: Simplify (+ 0 0) into 0
58.076 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
58.076 * [backup-simplify]: Simplify (+ 0) into 0
58.076 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
58.076 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
58.077 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.077 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
58.077 * [backup-simplify]: Simplify (- 0) into 0
58.077 * [backup-simplify]: Simplify (+ 0 0) into 0
58.078 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
58.078 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
58.078 * [backup-simplify]: Simplify (+ 0 0) into 0
58.078 * [backup-simplify]: Simplify (+ 0) into 0
58.079 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
58.079 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
58.079 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.079 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
58.080 * [backup-simplify]: Simplify (- 0) into 0
58.080 * [backup-simplify]: Simplify (+ 0 0) into 0
58.080 * [backup-simplify]: Simplify (+ 0) into 0
58.080 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
58.081 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
58.081 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.081 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
58.082 * [backup-simplify]: Simplify (- 0) into 0
58.082 * [backup-simplify]: Simplify (+ 0 0) into 0
58.082 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
58.082 * [backup-simplify]: Simplify (+ 0) into 0
58.083 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
58.083 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
58.083 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.083 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
58.084 * [backup-simplify]: Simplify (+ 0 0) into 0
58.084 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
58.084 * [backup-simplify]: Simplify (+ 0) into 0
58.084 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
58.084 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
58.085 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.085 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
58.085 * [backup-simplify]: Simplify (+ 0 0) into 0
58.086 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
58.086 * [backup-simplify]: Simplify (+ 0) into 0
58.086 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
58.086 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
58.087 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.087 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
58.087 * [backup-simplify]: Simplify (+ 0 0) into 0
58.088 * [backup-simplify]: Simplify (+ 0) into 0
58.088 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
58.088 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
58.088 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.089 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
58.089 * [backup-simplify]: Simplify (+ 0 0) into 0
58.089 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
58.089 * [backup-simplify]: Simplify (+ 0) into 0
58.090 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
58.090 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
58.090 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.090 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
58.091 * [backup-simplify]: Simplify (- 0) into 0
58.091 * [backup-simplify]: Simplify (+ 0 0) into 0
58.091 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
58.092 * [backup-simplify]: Simplify (+ 0) into 0
58.092 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
58.092 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
58.092 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.093 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
58.093 * [backup-simplify]: Simplify (- 0) into 0
58.093 * [backup-simplify]: Simplify (+ 0 0) into 0
58.093 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
58.094 * [backup-simplify]: Simplify (+ 0 0) into 0
58.094 * [backup-simplify]: Simplify (- 0) into 0
58.094 * [backup-simplify]: Simplify (+ 0 0) into 0
58.096 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
58.097 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
58.097 * [taylor]: Taking taylor expansion of (+ (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) in R
58.097 * [taylor]: Taking taylor expansion of (* (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) in R
58.097 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) R) in R
58.097 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in R
58.097 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in R
58.097 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in R
58.097 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
58.097 * [taylor]: Taking taylor expansion of 0.5 in R
58.097 * [backup-simplify]: Simplify 0.5 into 0.5
58.097 * [taylor]: Taking taylor expansion of phi2 in R
58.098 * [backup-simplify]: Simplify phi2 into phi2
58.098 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
58.098 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
58.098 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
58.098 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
58.098 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
58.098 * [backup-simplify]: Simplify (- 0) into 0
58.098 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
58.098 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in R
58.098 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in R
58.098 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
58.098 * [taylor]: Taking taylor expansion of 0.5 in R
58.098 * [backup-simplify]: Simplify 0.5 into 0.5
58.098 * [taylor]: Taking taylor expansion of phi1 in R
58.098 * [backup-simplify]: Simplify phi1 into phi1
58.098 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
58.098 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
58.098 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
58.098 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
58.099 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
58.099 * [backup-simplify]: Simplify (- 0) into 0
58.099 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
58.099 * [taylor]: Taking taylor expansion of R in R
58.099 * [backup-simplify]: Simplify 0 into 0
58.099 * [backup-simplify]: Simplify 1 into 1
58.099 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
58.099 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
58.099 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
58.100 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) 1) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
58.100 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in R
58.100 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in R
58.100 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in R
58.100 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in R
58.100 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in R
58.100 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in R
58.100 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in R
58.100 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
58.100 * [taylor]: Taking taylor expansion of 0.5 in R
58.100 * [backup-simplify]: Simplify 0.5 into 0.5
58.100 * [taylor]: Taking taylor expansion of phi2 in R
58.100 * [backup-simplify]: Simplify phi2 into phi2
58.100 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
58.100 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
58.100 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
58.100 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
58.100 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
58.100 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
58.100 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in R
58.100 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in R
58.100 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
58.100 * [taylor]: Taking taylor expansion of 0.5 in R
58.100 * [backup-simplify]: Simplify 0.5 into 0.5
58.100 * [taylor]: Taking taylor expansion of phi1 in R
58.100 * [backup-simplify]: Simplify phi1 into phi1
58.100 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
58.100 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
58.100 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
58.100 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
58.101 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
58.101 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
58.101 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in R
58.101 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in R
58.101 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in R
58.101 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
58.101 * [taylor]: Taking taylor expansion of 0.5 in R
58.101 * [backup-simplify]: Simplify 0.5 into 0.5
58.101 * [taylor]: Taking taylor expansion of phi2 in R
58.101 * [backup-simplify]: Simplify phi2 into phi2
58.101 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
58.101 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
58.101 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
58.101 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
58.101 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
58.101 * [backup-simplify]: Simplify (- 0) into 0
58.101 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
58.101 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in R
58.101 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in R
58.101 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
58.101 * [taylor]: Taking taylor expansion of 0.5 in R
58.101 * [backup-simplify]: Simplify 0.5 into 0.5
58.101 * [taylor]: Taking taylor expansion of phi1 in R
58.101 * [backup-simplify]: Simplify phi1 into phi1
58.102 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
58.102 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
58.102 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
58.102 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
58.102 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
58.102 * [backup-simplify]: Simplify (- 0) into 0
58.102 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
58.102 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in R
58.102 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in R
58.102 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in R
58.102 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
58.102 * [taylor]: Taking taylor expansion of 0.5 in R
58.102 * [backup-simplify]: Simplify 0.5 into 0.5
58.102 * [taylor]: Taking taylor expansion of phi2 in R
58.102 * [backup-simplify]: Simplify phi2 into phi2
58.102 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
58.102 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
58.102 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
58.102 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in R
58.102 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in R
58.102 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
58.102 * [taylor]: Taking taylor expansion of 0.5 in R
58.102 * [backup-simplify]: Simplify 0.5 into 0.5
58.102 * [taylor]: Taking taylor expansion of phi1 in R
58.102 * [backup-simplify]: Simplify phi1 into phi1
58.103 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
58.103 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
58.103 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
58.103 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in R
58.103 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in R
58.103 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
58.103 * [taylor]: Taking taylor expansion of 0.5 in R
58.103 * [backup-simplify]: Simplify 0.5 into 0.5
58.103 * [taylor]: Taking taylor expansion of phi2 in R
58.103 * [backup-simplify]: Simplify phi2 into phi2
58.103 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
58.103 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
58.103 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
58.103 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in R
58.103 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
58.103 * [taylor]: Taking taylor expansion of 0.5 in R
58.103 * [backup-simplify]: Simplify 0.5 into 0.5
58.103 * [taylor]: Taking taylor expansion of phi1 in R
58.103 * [backup-simplify]: Simplify phi1 into phi1
58.103 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
58.103 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
58.103 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
58.103 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in R
58.103 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in R
58.103 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
58.103 * [taylor]: Taking taylor expansion of 0.5 in R
58.103 * [backup-simplify]: Simplify 0.5 into 0.5
58.103 * [taylor]: Taking taylor expansion of phi2 in R
58.103 * [backup-simplify]: Simplify phi2 into phi2
58.103 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
58.103 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
58.103 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
58.103 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in R
58.103 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in R
58.103 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
58.103 * [taylor]: Taking taylor expansion of 0.5 in R
58.103 * [backup-simplify]: Simplify 0.5 into 0.5
58.103 * [taylor]: Taking taylor expansion of phi1 in R
58.104 * [backup-simplify]: Simplify phi1 into phi1
58.104 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
58.104 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
58.104 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
58.104 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in R
58.104 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in R
58.104 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
58.104 * [taylor]: Taking taylor expansion of 0.5 in R
58.104 * [backup-simplify]: Simplify 0.5 into 0.5
58.104 * [taylor]: Taking taylor expansion of phi2 in R
58.104 * [backup-simplify]: Simplify phi2 into phi2
58.104 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
58.104 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
58.104 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
58.104 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in R
58.104 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
58.104 * [taylor]: Taking taylor expansion of 0.5 in R
58.104 * [backup-simplify]: Simplify 0.5 into 0.5
58.104 * [taylor]: Taking taylor expansion of phi1 in R
58.104 * [backup-simplify]: Simplify phi1 into phi1
58.104 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
58.104 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
58.104 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
58.104 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
58.104 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
58.105 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
58.105 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
58.105 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
58.105 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
58.105 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
58.105 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
58.106 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
58.106 * [backup-simplify]: Simplify (- 0) into 0
58.106 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
58.106 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
58.106 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
58.106 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
58.106 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
58.106 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
58.106 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
58.106 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
58.106 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
58.107 * [backup-simplify]: Simplify (- 0) into 0
58.107 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
58.107 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
58.107 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
58.107 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
58.107 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
58.107 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
58.107 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
58.108 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
58.108 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
58.108 * [backup-simplify]: Simplify (- 0) into 0
58.108 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
58.108 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
58.108 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
58.108 * [backup-simplify]: Simplify (- 0) into 0
58.108 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
58.109 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
58.109 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
58.109 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
58.109 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
58.109 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
58.109 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
58.109 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))
58.110 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
58.111 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
58.112 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
58.113 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
58.113 * [backup-simplify]: Simplify (+ 0) into 0
58.114 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
58.114 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
58.114 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.114 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
58.115 * [backup-simplify]: Simplify (+ 0 0) into 0
58.115 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
58.115 * [backup-simplify]: Simplify (+ 0) into 0
58.115 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
58.115 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
58.116 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.116 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
58.116 * [backup-simplify]: Simplify (+ 0 0) into 0
58.117 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
58.117 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
58.117 * [backup-simplify]: Simplify (+ 0) into 0
58.117 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
58.118 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
58.118 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.120 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
58.121 * [backup-simplify]: Simplify (- 0) into 0
58.121 * [backup-simplify]: Simplify (+ 0 0) into 0
58.121 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
58.121 * [backup-simplify]: Simplify (+ 0) into 0
58.122 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
58.122 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
58.122 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.123 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
58.123 * [backup-simplify]: Simplify (- 0) into 0
58.123 * [backup-simplify]: Simplify (+ 0 0) into 0
58.123 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
58.123 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
58.124 * [backup-simplify]: Simplify (+ 0 0) into 0
58.124 * [backup-simplify]: Simplify (+ 0) into 0
58.124 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
58.124 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
58.125 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.125 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
58.125 * [backup-simplify]: Simplify (- 0) into 0
58.126 * [backup-simplify]: Simplify (+ 0 0) into 0
58.126 * [backup-simplify]: Simplify (+ 0) into 0
58.126 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
58.126 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
58.127 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.127 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
58.127 * [backup-simplify]: Simplify (+ 0 0) into 0
58.128 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
58.128 * [backup-simplify]: Simplify (+ 0) into 0
58.128 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
58.128 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
58.129 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.129 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
58.129 * [backup-simplify]: Simplify (+ 0 0) into 0
58.129 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
58.130 * [backup-simplify]: Simplify (+ 0) into 0
58.130 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
58.130 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
58.131 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.131 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
58.131 * [backup-simplify]: Simplify (- 0) into 0
58.131 * [backup-simplify]: Simplify (+ 0 0) into 0
58.132 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
58.132 * [backup-simplify]: Simplify (+ 0) into 0
58.132 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
58.132 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
58.133 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.133 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
58.133 * [backup-simplify]: Simplify (+ 0 0) into 0
58.134 * [backup-simplify]: Simplify (+ 0) into 0
58.134 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
58.134 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
58.134 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.135 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
58.135 * [backup-simplify]: Simplify (- 0) into 0
58.135 * [backup-simplify]: Simplify (+ 0 0) into 0
58.135 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
58.136 * [backup-simplify]: Simplify (+ 0) into 0
58.136 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
58.136 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
58.136 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.137 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
58.137 * [backup-simplify]: Simplify (- 0) into 0
58.137 * [backup-simplify]: Simplify (+ 0 0) into 0
58.137 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
58.138 * [backup-simplify]: Simplify (+ 0) into 0
58.138 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
58.138 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
58.139 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.140 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
58.140 * [backup-simplify]: Simplify (+ 0 0) into 0
58.141 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
58.141 * [backup-simplify]: Simplify (+ 0 0) into 0
58.141 * [backup-simplify]: Simplify (- 0) into 0
58.142 * [backup-simplify]: Simplify (+ 0 0) into 0
58.146 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
58.148 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
58.148 * [taylor]: Taking taylor expansion of (* (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) in R
58.148 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) R) in R
58.148 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in R
58.148 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in R
58.149 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in R
58.149 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
58.149 * [taylor]: Taking taylor expansion of 0.5 in R
58.149 * [backup-simplify]: Simplify 0.5 into 0.5
58.149 * [taylor]: Taking taylor expansion of phi2 in R
58.149 * [backup-simplify]: Simplify phi2 into phi2
58.149 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
58.149 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
58.149 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
58.149 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
58.149 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
58.149 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
58.149 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in R
58.149 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in R
58.149 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
58.149 * [taylor]: Taking taylor expansion of 0.5 in R
58.149 * [backup-simplify]: Simplify 0.5 into 0.5
58.149 * [taylor]: Taking taylor expansion of phi1 in R
58.150 * [backup-simplify]: Simplify phi1 into phi1
58.150 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
58.150 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
58.150 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
58.150 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
58.150 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
58.151 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
58.151 * [taylor]: Taking taylor expansion of R in R
58.151 * [backup-simplify]: Simplify 0 into 0
58.151 * [backup-simplify]: Simplify 1 into 1
58.151 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
58.151 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
58.152 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
58.152 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) 1) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
58.152 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) in R
58.152 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) in R
58.152 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))) in R
58.152 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) in R
58.152 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) in R
58.152 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in R
58.152 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in R
58.153 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
58.153 * [taylor]: Taking taylor expansion of 0.5 in R
58.153 * [backup-simplify]: Simplify 0.5 into 0.5
58.153 * [taylor]: Taking taylor expansion of phi2 in R
58.153 * [backup-simplify]: Simplify phi2 into phi2
58.153 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
58.153 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
58.153 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
58.153 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
58.153 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
58.153 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
58.153 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in R
58.153 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in R
58.153 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
58.153 * [taylor]: Taking taylor expansion of 0.5 in R
58.153 * [backup-simplify]: Simplify 0.5 into 0.5
58.153 * [taylor]: Taking taylor expansion of phi1 in R
58.154 * [backup-simplify]: Simplify phi1 into phi1
58.154 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
58.154 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
58.154 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
58.154 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
58.154 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
58.154 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
58.154 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) in R
58.154 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in R
58.154 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in R
58.154 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
58.154 * [taylor]: Taking taylor expansion of 0.5 in R
58.154 * [backup-simplify]: Simplify 0.5 into 0.5
58.154 * [taylor]: Taking taylor expansion of phi2 in R
58.154 * [backup-simplify]: Simplify phi2 into phi2
58.154 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
58.154 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
58.154 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
58.154 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
58.154 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
58.155 * [backup-simplify]: Simplify (- 0) into 0
58.155 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
58.155 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in R
58.155 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in R
58.155 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
58.155 * [taylor]: Taking taylor expansion of 0.5 in R
58.155 * [backup-simplify]: Simplify 0.5 into 0.5
58.155 * [taylor]: Taking taylor expansion of phi1 in R
58.155 * [backup-simplify]: Simplify phi1 into phi1
58.155 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
58.155 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
58.155 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
58.155 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
58.155 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
58.156 * [backup-simplify]: Simplify (- 0) into 0
58.156 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
58.156 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) in R
58.156 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) in R
58.156 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in R
58.156 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
58.156 * [taylor]: Taking taylor expansion of 0.5 in R
58.156 * [backup-simplify]: Simplify 0.5 into 0.5
58.156 * [taylor]: Taking taylor expansion of phi2 in R
58.156 * [backup-simplify]: Simplify phi2 into phi2
58.156 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
58.156 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
58.156 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
58.156 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) in R
58.156 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in R
58.156 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
58.156 * [taylor]: Taking taylor expansion of 0.5 in R
58.156 * [backup-simplify]: Simplify 0.5 into 0.5
58.156 * [taylor]: Taking taylor expansion of phi1 in R
58.156 * [backup-simplify]: Simplify phi1 into phi1
58.156 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
58.156 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
58.156 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
58.156 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) in R
58.156 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in R
58.156 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
58.156 * [taylor]: Taking taylor expansion of 0.5 in R
58.156 * [backup-simplify]: Simplify 0.5 into 0.5
58.156 * [taylor]: Taking taylor expansion of phi2 in R
58.156 * [backup-simplify]: Simplify phi2 into phi2
58.156 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
58.156 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
58.156 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
58.156 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in R
58.156 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
58.157 * [taylor]: Taking taylor expansion of 0.5 in R
58.157 * [backup-simplify]: Simplify 0.5 into 0.5
58.157 * [taylor]: Taking taylor expansion of phi1 in R
58.157 * [backup-simplify]: Simplify phi1 into phi1
58.157 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
58.157 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
58.157 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
58.157 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) in R
58.157 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in R
58.157 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
58.157 * [taylor]: Taking taylor expansion of 0.5 in R
58.157 * [backup-simplify]: Simplify 0.5 into 0.5
58.157 * [taylor]: Taking taylor expansion of phi2 in R
58.157 * [backup-simplify]: Simplify phi2 into phi2
58.157 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
58.157 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
58.157 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
58.157 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) in R
58.157 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in R
58.157 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
58.157 * [taylor]: Taking taylor expansion of 0.5 in R
58.157 * [backup-simplify]: Simplify 0.5 into 0.5
58.157 * [taylor]: Taking taylor expansion of phi1 in R
58.157 * [backup-simplify]: Simplify phi1 into phi1
58.157 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
58.157 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
58.157 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
58.157 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) in R
58.157 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in R
58.157 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R
58.157 * [taylor]: Taking taylor expansion of 0.5 in R
58.157 * [backup-simplify]: Simplify 0.5 into 0.5
58.157 * [taylor]: Taking taylor expansion of phi2 in R
58.157 * [backup-simplify]: Simplify phi2 into phi2
58.157 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
58.157 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
58.157 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
58.157 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in R
58.158 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R
58.158 * [taylor]: Taking taylor expansion of 0.5 in R
58.158 * [backup-simplify]: Simplify 0.5 into 0.5
58.158 * [taylor]: Taking taylor expansion of phi1 in R
58.158 * [backup-simplify]: Simplify phi1 into phi1
58.158 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
58.158 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
58.158 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
58.158 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
58.158 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
58.158 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))
58.158 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
58.158 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
58.159 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))
58.159 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) into (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
58.159 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
58.159 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
58.159 * [backup-simplify]: Simplify (- 0) into 0
58.159 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
58.160 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
58.160 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
58.160 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
58.160 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
58.160 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
58.160 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
58.160 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
58.160 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
58.160 * [backup-simplify]: Simplify (- 0) into 0
58.160 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
58.160 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))
58.160 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))
58.161 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))
58.161 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
58.161 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
58.161 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
58.161 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
58.161 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
58.161 * [backup-simplify]: Simplify (- 0) into 0
58.161 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
58.161 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
58.161 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
58.162 * [backup-simplify]: Simplify (- 0) into 0
58.162 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
58.162 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
58.162 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
58.162 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
58.162 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))) into (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))
58.162 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))) into (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))
58.162 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))
58.163 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))
58.163 * [backup-simplify]: Simplify (- (+ (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))))) into (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
58.164 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (- (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))
58.165 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))
58.166 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))
58.166 * [backup-simplify]: Simplify (+ 0) into 0
58.167 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
58.167 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
58.167 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.168 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
58.168 * [backup-simplify]: Simplify (+ 0 0) into 0
58.168 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
58.168 * [backup-simplify]: Simplify (+ 0) into 0
58.169 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
58.169 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
58.169 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.169 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
58.170 * [backup-simplify]: Simplify (+ 0 0) into 0
58.170 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
58.170 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0
58.170 * [backup-simplify]: Simplify (+ 0) into 0
58.171 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
58.171 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
58.171 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.171 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
58.172 * [backup-simplify]: Simplify (- 0) into 0
58.172 * [backup-simplify]: Simplify (+ 0 0) into 0
58.172 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
58.172 * [backup-simplify]: Simplify (+ 0) into 0
58.173 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
58.173 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
58.173 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.173 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
58.174 * [backup-simplify]: Simplify (- 0) into 0
58.174 * [backup-simplify]: Simplify (+ 0 0) into 0
58.174 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
58.174 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0
58.174 * [backup-simplify]: Simplify (+ 0 0) into 0
58.175 * [backup-simplify]: Simplify (+ 0) into 0
58.175 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
58.175 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
58.176 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.176 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
58.176 * [backup-simplify]: Simplify (- 0) into 0
58.176 * [backup-simplify]: Simplify (+ 0 0) into 0
58.177 * [backup-simplify]: Simplify (+ 0) into 0
58.177 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
58.177 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
58.177 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.178 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
58.178 * [backup-simplify]: Simplify (+ 0 0) into 0
58.178 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
58.178 * [backup-simplify]: Simplify (+ 0) into 0
58.179 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
58.179 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
58.179 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.179 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
58.180 * [backup-simplify]: Simplify (+ 0 0) into 0
58.180 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) into 0
58.180 * [backup-simplify]: Simplify (+ 0) into 0
58.180 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
58.181 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
58.181 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.181 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
58.182 * [backup-simplify]: Simplify (- 0) into 0
58.182 * [backup-simplify]: Simplify (+ 0 0) into 0
58.182 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))) into 0
58.182 * [backup-simplify]: Simplify (+ 0) into 0
58.183 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
58.183 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
58.183 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.183 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
58.184 * [backup-simplify]: Simplify (+ 0 0) into 0
58.184 * [backup-simplify]: Simplify (+ 0) into 0
58.184 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
58.184 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
58.185 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.185 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
58.185 * [backup-simplify]: Simplify (- 0) into 0
58.186 * [backup-simplify]: Simplify (+ 0 0) into 0
58.186 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
58.186 * [backup-simplify]: Simplify (+ 0) into 0
58.187 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
58.187 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
58.188 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.188 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
58.188 * [backup-simplify]: Simplify (- 0) into 0
58.189 * [backup-simplify]: Simplify (+ 0 0) into 0
58.189 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) into 0
58.190 * [backup-simplify]: Simplify (+ 0) into 0
58.190 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
58.190 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
58.191 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.192 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
58.192 * [backup-simplify]: Simplify (+ 0 0) into 0
58.192 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1)))))) into 0
58.193 * [backup-simplify]: Simplify (+ 0 0) into 0
58.193 * [backup-simplify]: Simplify (- 0) into 0
58.193 * [backup-simplify]: Simplify (+ 0 0) into 0
58.197 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
58.199 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into 0
58.202 * [backup-simplify]: Simplify (* (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into (* (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))
58.204 * [backup-simplify]: Simplify (* (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into (* (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))
58.209 * [backup-simplify]: Simplify (+ (* (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) into (+ (* (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))))
58.212 * [backup-simplify]: Simplify (* (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))
58.214 * [backup-simplify]: Simplify (* (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) into (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))
58.219 * [backup-simplify]: Simplify (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)))) into (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))) (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))))
58.224 * [backup-simplify]: Simplify (- (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))) (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))))) into (- (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))) (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))))
58.236 * [backup-simplify]: Simplify (+ (+ (* (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (- (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))) (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))))) into (- (+ (* (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))) (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))))
58.247 * [backup-simplify]: Simplify (- (+ (* (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))) (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (cos (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))))) into (- (+ (* (* (sin (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1)))))))))) (* (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))))) (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2))) (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi1)) 2)) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2))) (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi1))))) (* (sin (/ 0.5 phi2)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (sin (/ 0.5 phi1))))))))) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi1)) 2)))))
58.288 * [backup-simplify]: Simplify (+ (* (- (+ (* (* (sin (/ 0.5 (/ 1 phi2))) (* (sin (/ 0.5 (/ 1 phi1))) (* (cos (/ 0.5 (/ 1 phi2))) (cos (/ 0.5 (/ 1 phi1)))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 (/ 1 phi2))) 2) (pow (sin (/ 0.5 (/ 1 phi1))) 2)) (* (pow (cos (/ 0.5 (/ 1 phi2))) 2) (pow (cos (/ 0.5 (/ 1 phi1))) 2))) (+ (* (cos (/ 0.5 (/ 1 phi2))) (* (sin (/ 0.5 (/ 1 phi1))) (* (sin (/ 0.5 (/ 1 phi2))) (cos (/ 0.5 (/ 1 phi1)))))) (* (sin (/ 0.5 (/ 1 phi2))) (* (cos (/ 0.5 (/ 1 phi1))) (* (cos (/ 0.5 (/ 1 phi2))) (sin (/ 0.5 (/ 1 phi1))))))))))) (* (* (cos (/ 0.5 (/ 1 phi2))) (* (sin (/ 0.5 (/ 1 phi1))) (* (sin (/ 0.5 (/ 1 phi2))) (cos (/ 0.5 (/ 1 phi1)))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 (/ 1 phi2))) 2) (pow (sin (/ 0.5 (/ 1 phi1))) 2)) (* (pow (cos (/ 0.5 (/ 1 phi2))) 2) (pow (cos (/ 0.5 (/ 1 phi1))) 2))) (+ (* (cos (/ 0.5 (/ 1 phi2))) (* (sin (/ 0.5 (/ 1 phi1))) (* (sin (/ 0.5 (/ 1 phi2))) (cos (/ 0.5 (/ 1 phi1)))))) (* (sin (/ 0.5 (/ 1 phi2))) (* (cos (/ 0.5 (/ 1 phi1))) (* (cos (/ 0.5 (/ 1 phi2))) (sin (/ 0.5 (/ 1 phi1)))))))))))) (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 (/ 1 phi2))) 2) (pow (sin (/ 0.5 (/ 1 phi1))) 2)) (* (pow (cos (/ 0.5 (/ 1 phi2))) 2) (pow (cos (/ 0.5 (/ 1 phi1))) 2))) (+ (* (cos (/ 0.5 (/ 1 phi2))) (* (sin (/ 0.5 (/ 1 phi1))) (* (sin (/ 0.5 (/ 1 phi2))) (cos (/ 0.5 (/ 1 phi1)))))) (* (sin (/ 0.5 (/ 1 phi2))) (* (cos (/ 0.5 (/ 1 phi1))) (* (cos (/ 0.5 (/ 1 phi2))) (sin (/ 0.5 (/ 1 phi1)))))))))) (* (pow (sin (/ 0.5 (/ 1 phi2))) 2) (pow (sin (/ 0.5 (/ 1 phi1))) 2))) (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 (/ 1 phi2))) 2) (pow (sin (/ 0.5 (/ 1 phi1))) 2)) (* (pow (cos (/ 0.5 (/ 1 phi2))) 2) (pow (cos (/ 0.5 (/ 1 phi1))) 2))) (+ (* (cos (/ 0.5 (/ 1 phi2))) (* (sin (/ 0.5 (/ 1 phi1))) (* (sin (/ 0.5 (/ 1 phi2))) (cos (/ 0.5 (/ 1 phi1)))))) (* (sin (/ 0.5 (/ 1 phi2))) (* (cos (/ 0.5 (/ 1 phi1))) (* (cos (/ 0.5 (/ 1 phi2))) (sin (/ 0.5 (/ 1 phi1)))))))))) (* (pow (cos (/ 0.5 (/ 1 phi2))) 2) (pow (cos (/ 0.5 (/ 1 phi1))) 2))))) (* (/ 1 (/ 1 R)) (* 1 (* 1 (* (/ 1 (/ 1 lambda2)) 1))))) (+ (* (- (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 (/ 1 phi2))) 2) (pow (sin (/ 0.5 (/ 1 phi1))) 2)) (* (pow (cos (/ 0.5 (/ 1 phi2))) 2) (pow (cos (/ 0.5 (/ 1 phi1))) 2))) (+ (* (cos (/ 0.5 (/ 1 phi2))) (* (sin (/ 0.5 (/ 1 phi1))) (* (sin (/ 0.5 (/ 1 phi2))) (cos (/ 0.5 (/ 1 phi1)))))) (* (sin (/ 0.5 (/ 1 phi2))) (* (cos (/ 0.5 (/ 1 phi1))) (* (cos (/ 0.5 (/ 1 phi2))) (sin (/ 0.5 (/ 1 phi1))))))))))) (* (/ 1 (/ 1 R)) (* (/ 1 (/ 1 phi2)) (* (/ 1 (/ 1 phi1)) (* 1 (/ 1 lambda1)))))) (* (- (* 2 (* (/ (* (cos (/ 0.5 (/ 1 phi2))) (* (sin (/ 0.5 (/ 1 phi1))) (* (sin (/ 0.5 (/ 1 phi2))) (cos (/ 0.5 (/ 1 phi1)))))) (- (+ (* (pow (sin (/ 0.5 (/ 1 phi2))) 2) (pow (sin (/ 0.5 (/ 1 phi1))) 2)) (* (pow (cos (/ 0.5 (/ 1 phi2))) 2) (pow (cos (/ 0.5 (/ 1 phi1))) 2))) (+ (* (sin (/ 0.5 (/ 1 phi2))) (* (cos (/ 0.5 (/ 1 phi1))) (* (cos (/ 0.5 (/ 1 phi2))) (sin (/ 0.5 (/ 1 phi1)))))) (* (cos (/ 0.5 (/ 1 phi2))) (* (cos (/ 0.5 (/ 1 phi1))) (* (sin (/ 0.5 (/ 1 phi2))) (sin (/ 0.5 (/ 1 phi1))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 (/ 1 phi2))) 2) (pow (sin (/ 0.5 (/ 1 phi1))) 2)) (* (pow (cos (/ 0.5 (/ 1 phi2))) 2) (pow (cos (/ 0.5 (/ 1 phi1))) 2))) (+ (* (sin (/ 0.5 (/ 1 phi2))) (* (sin (/ 0.5 (/ 1 phi1))) (* (cos (/ 0.5 (/ 1 phi2))) (cos (/ 0.5 (/ 1 phi1)))))) (* (cos (/ 0.5 (/ 1 phi2))) (* (cos (/ 0.5 (/ 1 phi1))) (* (sin (/ 0.5 (/ 1 phi2))) (sin (/ 0.5 (/ 1 phi1)))))))))))) (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 (/ 1 phi2))) 2) (pow (sin (/ 0.5 (/ 1 phi1))) 2)) (* (pow (cos (/ 0.5 (/ 1 phi2))) 2) (pow (cos (/ 0.5 (/ 1 phi1))) 2))) (+ (* (cos (/ 0.5 (/ 1 phi2))) (* (sin (/ 0.5 (/ 1 phi1))) (* (sin (/ 0.5 (/ 1 phi2))) (cos (/ 0.5 (/ 1 phi1)))))) (* (sin (/ 0.5 (/ 1 phi2))) (* (cos (/ 0.5 (/ 1 phi1))) (* (cos (/ 0.5 (/ 1 phi2))) (sin (/ 0.5 (/ 1 phi1)))))))))) (/ (* (pow (sin (/ 0.5 (/ 1 phi2))) 2) (pow (sin (/ 0.5 (/ 1 phi1))) 2)) (- (+ (* (pow (sin (/ 0.5 (/ 1 phi2))) 2) (pow (sin (/ 0.5 (/ 1 phi1))) 2)) (* (pow (cos (/ 0.5 (/ 1 phi2))) 2) (pow (cos (/ 0.5 (/ 1 phi1))) 2))) (+ (* (sin (/ 0.5 (/ 1 phi2))) (* (cos (/ 0.5 (/ 1 phi1))) (* (cos (/ 0.5 (/ 1 phi2))) (sin (/ 0.5 (/ 1 phi1)))))) (* (cos (/ 0.5 (/ 1 phi2))) (* (cos (/ 0.5 (/ 1 phi1))) (* (sin (/ 0.5 (/ 1 phi2))) (sin (/ 0.5 (/ 1 phi1)))))))))) (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 (/ 1 phi2))) 2) (pow (sin (/ 0.5 (/ 1 phi1))) 2)) (* (pow (cos (/ 0.5 (/ 1 phi2))) 2) (pow (cos (/ 0.5 (/ 1 phi1))) 2))) (+ (* (sin (/ 0.5 (/ 1 phi2))) (* (sin (/ 0.5 (/ 1 phi1))) (* (cos (/ 0.5 (/ 1 phi2))) (cos (/ 0.5 (/ 1 phi1)))))) (* (cos (/ 0.5 (/ 1 phi2))) (* (cos (/ 0.5 (/ 1 phi1))) (* (sin (/ 0.5 (/ 1 phi2))) (sin (/ 0.5 (/ 1 phi1)))))))))) (/ (* (pow (cos (/ 0.5 (/ 1 phi2))) 2) (pow (cos (/ 0.5 (/ 1 phi1))) 2)) (- (+ (* (pow (sin (/ 0.5 (/ 1 phi2))) 2) (pow (sin (/ 0.5 (/ 1 phi1))) 2)) (* (pow (cos (/ 0.5 (/ 1 phi2))) 2) (pow (cos (/ 0.5 (/ 1 phi1))) 2))) (+ (* (sin (/ 0.5 (/ 1 phi2))) (* (cos (/ 0.5 (/ 1 phi1))) (* (cos (/ 0.5 (/ 1 phi2))) (sin (/ 0.5 (/ 1 phi1)))))) (* (cos (/ 0.5 (/ 1 phi2))) (* (cos (/ 0.5 (/ 1 phi1))) (* (sin (/ 0.5 (/ 1 phi2))) (sin (/ 0.5 (/ 1 phi1)))))))))))) (* (/ 1 (/ 1 R)) (* (/ 1 (/ 1 phi2)) (* (/ 1 (/ 1 phi1)) (* (/ 1 (/ 1 lambda2)) (pow (/ 1 lambda1) 2)))))))) into (- (+ (* 2 (* (/ (* (cos (* 0.5 phi1)) (* R (* (cos (* 0.5 phi2)) (* phi1 (* (sin (* 0.5 phi1)) (* lambda2 (* (sin (* 0.5 phi2)) phi2))))))) (* (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (* 2 (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))))) (pow lambda1 2))) (sqrt (/ 1 (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))))))))) (* 2 (* (* (cos (* 0.5 phi1)) (* (cos (* 0.5 phi2)) (* R (* (sin (* 0.5 phi1)) (* lambda2 (sin (* 0.5 phi2))))))) (sqrt (/ 1 (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))))))))) (+ (* (/ (* (pow (sin (* 0.5 phi1)) 2) (* R (* phi1 (* lambda2 (* (pow (sin (* 0.5 phi2)) 2) phi2))))) (* (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (* 2 (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))))) (pow lambda1 2))) (sqrt (/ 1 (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))))))) (+ (* (/ (* (pow (cos (* 0.5 phi1)) 2) (* R (* (pow (cos (* 0.5 phi2)) 2) (* phi1 (* lambda2 phi2))))) (* (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (* 2 (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))))) (pow lambda1 2))) (sqrt (/ 1 (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))))))) (+ (* (* R (* lambda2 (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)))) (sqrt (/ 1 (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))))))) (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))))))) (/ (* phi1 (* R phi2)) lambda1)) (* (* R (* lambda2 (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2)))) (sqrt (/ 1 (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))))))))))))
58.290 * [backup-simplify]: Simplify (* (hypot (* (- (/ 1 (- lambda1)) (/ 1 (- lambda2))) (fma (cos (* (/ 1 (- phi1)) 0.5)) (cos (* (/ 1 (- phi2)) 0.5)) (- (* (sin (* (/ 1 (- phi1)) 0.5)) (sin (* (/ 1 (- phi2)) 0.5)))))) (- (/ 1 (- phi1)) (/ 1 (- phi2)))) (/ 1 (- R))) into (* -1 (/ (hypot (* (fma (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (/ 1 lambda2) (/ 1 lambda1))) (- (/ 1 phi2) (/ 1 phi1))) R))
58.290 * [approximate]: Taking taylor expansion of (* -1 (/ (hypot (* (fma (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (/ 1 lambda2) (/ 1 lambda1))) (- (/ 1 phi2) (/ 1 phi1))) R)) in (lambda1 lambda2 phi1 phi2 R) around 0
58.290 * [taylor]: Taking taylor expansion of (* -1 (/ (hypot (* (fma (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (/ 1 lambda2) (/ 1 lambda1))) (- (/ 1 phi2) (/ 1 phi1))) R)) in R
58.290 * [taylor]: Taking taylor expansion of -1 in R
58.290 * [backup-simplify]: Simplify -1 into -1
58.290 * [taylor]: Taking taylor expansion of (/ (hypot (* (fma (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (/ 1 lambda2) (/ 1 lambda1))) (- (/ 1 phi2) (/ 1 phi1))) R) in R
58.290 * [taylor]: Taking taylor expansion of (hypot (* (fma (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (/ 1 lambda2) (/ 1 lambda1))) (- (/ 1 phi2) (/ 1 phi1))) in R
58.291 * [taylor]: Rewrote expression to (sqrt (+ (* (* (fma (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (/ 1 lambda2) (/ 1 lambda1))) (* (fma (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (/ 1 lambda2) (/ 1 lambda1)))) (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1)))))
58.291 * [taylor]: Taking taylor expansion of (+ (* (* (fma (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (/ 1 lambda2) (/ 1 lambda1))) (* (fma (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (/ 1 lambda2) (/ 1 lambda1)))) (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1)))) in R
58.291 * [taylor]: Taking taylor expansion of (* (* (fma (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (/ 1 lambda2) (/ 1 lambda1))) (* (fma (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (/ 1 lambda2) (/ 1 lambda1)))) in R
58.291 * [taylor]: Taking taylor expansion of (* (fma (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (/ 1 lambda2) (/ 1 lambda1))) in R
58.291 * [taylor]: Taking taylor expansion of (fma (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in R
58.291 * [taylor]: Rewrote expression to (+ (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))
58.291 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))) in R
58.291 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in R
58.291 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R
58.291 * [taylor]: Taking taylor expansion of -0.5 in R
58.291 * [backup-simplify]: Simplify -0.5 into -0.5
58.291 * [taylor]: Taking taylor expansion of phi1 in R
58.291 * [backup-simplify]: Simplify phi1 into phi1
58.291 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
58.291 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
58.291 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
58.291 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in R
58.291 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R
58.291 * [taylor]: Taking taylor expansion of -0.5 in R
58.292 * [backup-simplify]: Simplify -0.5 into -0.5
58.292 * [taylor]: Taking taylor expansion of phi2 in R
58.292 * [backup-simplify]: Simplify phi2 into phi2
58.292 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
58.292 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
58.292 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
58.292 * [taylor]: Taking taylor expansion of (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in R
58.292 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in R
58.292 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in R
58.292 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R
58.292 * [taylor]: Taking taylor expansion of -0.5 in R
58.292 * [backup-simplify]: Simplify -0.5 into -0.5
58.292 * [taylor]: Taking taylor expansion of phi2 in R
58.292 * [backup-simplify]: Simplify phi2 into phi2
58.292 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
58.292 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
58.292 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
58.292 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in R
58.292 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R
58.292 * [taylor]: Taking taylor expansion of -0.5 in R
58.292 * [backup-simplify]: Simplify -0.5 into -0.5
58.292 * [taylor]: Taking taylor expansion of phi1 in R
58.292 * [backup-simplify]: Simplify phi1 into phi1
58.293 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
58.293 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
58.293 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
58.293 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in R
58.293 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in R
58.293 * [taylor]: Taking taylor expansion of lambda2 in R
58.293 * [backup-simplify]: Simplify lambda2 into lambda2
58.293 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
58.293 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in R
58.293 * [taylor]: Taking taylor expansion of lambda1 in R
58.293 * [backup-simplify]: Simplify lambda1 into lambda1
58.293 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1)
58.293 * [taylor]: Taking taylor expansion of (* (fma (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (/ 1 lambda2) (/ 1 lambda1))) in R
58.293 * [taylor]: Taking taylor expansion of (fma (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in R
58.293 * [taylor]: Rewrote expression to (+ (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))
58.293 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))) in R
58.293 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in R
58.293 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R
58.293 * [taylor]: Taking taylor expansion of -0.5 in R
58.293 * [backup-simplify]: Simplify -0.5 into -0.5
58.293 * [taylor]: Taking taylor expansion of phi1 in R
58.293 * [backup-simplify]: Simplify phi1 into phi1
58.294 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
58.294 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
58.294 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
58.294 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in R
58.294 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R
58.294 * [taylor]: Taking taylor expansion of -0.5 in R
58.294 * [backup-simplify]: Simplify -0.5 into -0.5
58.294 * [taylor]: Taking taylor expansion of phi2 in R
58.294 * [backup-simplify]: Simplify phi2 into phi2
58.294 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
58.294 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
58.294 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
58.294 * [taylor]: Taking taylor expansion of (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in R
58.294 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in R
58.294 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in R
58.294 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R
58.294 * [taylor]: Taking taylor expansion of -0.5 in R
58.294 * [backup-simplify]: Simplify -0.5 into -0.5
58.294 * [taylor]: Taking taylor expansion of phi2 in R
58.294 * [backup-simplify]: Simplify phi2 into phi2
58.294 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
58.295 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
58.295 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
58.295 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in R
58.295 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R
58.295 * [taylor]: Taking taylor expansion of -0.5 in R
58.295 * [backup-simplify]: Simplify -0.5 into -0.5
58.295 * [taylor]: Taking taylor expansion of phi1 in R
58.295 * [backup-simplify]: Simplify phi1 into phi1
58.295 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
58.295 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
58.295 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
58.295 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in R
58.295 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in R
58.295 * [taylor]: Taking taylor expansion of lambda2 in R
58.295 * [backup-simplify]: Simplify lambda2 into lambda2
58.295 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
58.295 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in R
58.295 * [taylor]: Taking taylor expansion of lambda1 in R
58.295 * [backup-simplify]: Simplify lambda1 into lambda1
58.295 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1)
58.295 * [taylor]: Taking taylor expansion of (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1))) in R
58.295 * [taylor]: Taking taylor expansion of (- (/ 1 phi2) (/ 1 phi1)) in R
58.295 * [taylor]: Taking taylor expansion of (/ 1 phi2) in R
58.296 * [taylor]: Taking taylor expansion of phi2 in R
58.296 * [backup-simplify]: Simplify phi2 into phi2
58.296 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
58.296 * [taylor]: Taking taylor expansion of (/ 1 phi1) in R
58.296 * [taylor]: Taking taylor expansion of phi1 in R
58.296 * [backup-simplify]: Simplify phi1 into phi1
58.296 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
58.296 * [taylor]: Taking taylor expansion of (- (/ 1 phi2) (/ 1 phi1)) in R
58.296 * [taylor]: Taking taylor expansion of (/ 1 phi2) in R
58.296 * [taylor]: Taking taylor expansion of phi2 in R
58.296 * [backup-simplify]: Simplify phi2 into phi2
58.296 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
58.296 * [taylor]: Taking taylor expansion of (/ 1 phi1) in R
58.296 * [taylor]: Taking taylor expansion of phi1 in R
58.296 * [backup-simplify]: Simplify phi1 into phi1
58.296 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
58.296 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
58.296 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
58.297 * [backup-simplify]: Simplify (- 0) into 0
58.297 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
58.297 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
58.297 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
58.298 * [backup-simplify]: Simplify (- 0) into 0
58.298 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
58.298 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))) into (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))
58.298 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
58.298 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
58.298 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
58.299 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
58.299 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
58.299 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
58.299 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))
58.299 * [backup-simplify]: Simplify (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) into (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))
58.300 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))
58.300 * [backup-simplify]: Simplify (- (/ 1 lambda1)) into (- (/ 1 lambda1))
58.300 * [backup-simplify]: Simplify (+ (/ 1 lambda2) (- (/ 1 lambda1))) into (- (/ 1 lambda2) (/ 1 lambda1))
58.300 * [backup-simplify]: Simplify (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) (- (/ 1 lambda2) (/ 1 lambda1))) into (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) (- (/ 1 lambda2) (/ 1 lambda1)))
58.300 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
58.301 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
58.301 * [backup-simplify]: Simplify (- 0) into 0
58.301 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
58.301 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
58.301 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
58.302 * [backup-simplify]: Simplify (- 0) into 0
58.302 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
58.302 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))) into (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))
58.302 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
58.302 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
58.302 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
58.303 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
58.303 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
58.303 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
58.303 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))
58.303 * [backup-simplify]: Simplify (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) into (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))
58.304 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))
58.304 * [backup-simplify]: Simplify (- (/ 1 lambda1)) into (- (/ 1 lambda1))
58.304 * [backup-simplify]: Simplify (+ (/ 1 lambda2) (- (/ 1 lambda1))) into (- (/ 1 lambda2) (/ 1 lambda1))
58.304 * [backup-simplify]: Simplify (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) (- (/ 1 lambda2) (/ 1 lambda1))) into (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) (- (/ 1 lambda2) (/ 1 lambda1)))
58.305 * [backup-simplify]: Simplify (* (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) (- (/ 1 lambda2) (/ 1 lambda1))) (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) (- (/ 1 lambda2) (/ 1 lambda1)))) into (* (pow (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) 2) (pow (- (/ 1 lambda2) (/ 1 lambda1)) 2))
58.305 * [backup-simplify]: Simplify (- (/ 1 phi1)) into (- (/ 1 phi1))
58.306 * [backup-simplify]: Simplify (+ (/ 1 phi2) (- (/ 1 phi1))) into (- (/ 1 phi2) (/ 1 phi1))
58.306 * [backup-simplify]: Simplify (- (/ 1 phi1)) into (- (/ 1 phi1))
58.306 * [backup-simplify]: Simplify (+ (/ 1 phi2) (- (/ 1 phi1))) into (- (/ 1 phi2) (/ 1 phi1))
58.306 * [backup-simplify]: Simplify (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1))) into (pow (- (/ 1 phi2) (/ 1 phi1)) 2)
58.308 * [backup-simplify]: Simplify (+ (* (pow (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) 2) (pow (- (/ 1 lambda2) (/ 1 lambda1)) 2)) (pow (- (/ 1 phi2) (/ 1 phi1)) 2)) into (- (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (* 2 (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* lambda2 lambda1))) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (* 2 (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* lambda2 lambda1))) (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2))))))))) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* lambda1 lambda2))) (+ (* 2 (/ 1 (* phi1 phi2))) (+ (* 2 (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* lambda2 lambda1))) (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)))))))))
58.322 * [backup-simplify]: Simplify (sqrt (- (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (* 2 (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* lambda2 lambda1))) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (* 2 (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* lambda2 lambda1))) (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2))))))))) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* lambda1 lambda2))) (+ (* 2 (/ 1 (* phi1 phi2))) (+ (* 2 (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* lambda2 lambda1))) (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)))))))))) into (sqrt (- (+ (* 4 (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* lambda2 lambda1))) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)))))))) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ 1 (* phi1 phi2))) (+ (* 2 (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* lambda2 lambda1))) (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (+ (* 2 (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* lambda2 lambda1))) (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2))))))))))
58.322 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)))) into 0
58.322 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda1) (/ 0 lambda1)))) into 0
58.323 * [backup-simplify]: Simplify (- 0) into 0
58.323 * [backup-simplify]: Simplify (+ 0 0) into 0
58.324 * [backup-simplify]: Simplify (+ 0) into 0
58.324 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
58.324 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
58.324 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.325 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
58.325 * [backup-simplify]: Simplify (- 0) into 0
58.325 * [backup-simplify]: Simplify (+ 0 0) into 0
58.325 * [backup-simplify]: Simplify (+ 0) into 0
58.326 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
58.326 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
58.326 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.327 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
58.327 * [backup-simplify]: Simplify (- 0) into 0
58.327 * [backup-simplify]: Simplify (+ 0 0) into 0
58.327 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
58.327 * [backup-simplify]: Simplify (+ 0) into 0
58.328 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
58.328 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
58.328 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.329 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
58.329 * [backup-simplify]: Simplify (+ 0 0) into 0
58.329 * [backup-simplify]: Simplify (+ 0) into 0
58.329 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
58.329 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
58.330 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.330 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
58.330 * [backup-simplify]: Simplify (+ 0 0) into 0
58.331 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
58.331 * [backup-simplify]: Simplify (- 0) into 0
58.331 * [backup-simplify]: Simplify (+ 0 0) into 0
58.331 * [backup-simplify]: Simplify (+ (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) 0) (* 0 (- (/ 1 lambda2) (/ 1 lambda1)))) into 0
58.331 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)))) into 0
58.331 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda1) (/ 0 lambda1)))) into 0
58.332 * [backup-simplify]: Simplify (- 0) into 0
58.332 * [backup-simplify]: Simplify (+ 0 0) into 0
58.332 * [backup-simplify]: Simplify (+ 0) into 0
58.332 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
58.333 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
58.333 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.333 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
58.334 * [backup-simplify]: Simplify (- 0) into 0
58.334 * [backup-simplify]: Simplify (+ 0 0) into 0
58.334 * [backup-simplify]: Simplify (+ 0) into 0
58.334 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
58.334 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
58.335 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.335 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
58.335 * [backup-simplify]: Simplify (- 0) into 0
58.336 * [backup-simplify]: Simplify (+ 0 0) into 0
58.336 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
58.336 * [backup-simplify]: Simplify (+ 0) into 0
58.336 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
58.337 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
58.337 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.337 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
58.338 * [backup-simplify]: Simplify (+ 0 0) into 0
58.338 * [backup-simplify]: Simplify (+ 0) into 0
58.338 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
58.338 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
58.339 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.339 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
58.339 * [backup-simplify]: Simplify (+ 0 0) into 0
58.339 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
58.340 * [backup-simplify]: Simplify (- 0) into 0
58.340 * [backup-simplify]: Simplify (+ 0 0) into 0
58.340 * [backup-simplify]: Simplify (+ (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) 0) (* 0 (- (/ 1 lambda2) (/ 1 lambda1)))) into 0
58.341 * [backup-simplify]: Simplify (+ (* (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) (- (/ 1 lambda2) (/ 1 lambda1))) 0) (* 0 (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) (- (/ 1 lambda2) (/ 1 lambda1))))) into 0
58.341 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
58.341 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
58.341 * [backup-simplify]: Simplify (- 0) into 0
58.341 * [backup-simplify]: Simplify (+ 0 0) into 0
58.341 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
58.341 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
58.342 * [backup-simplify]: Simplify (- 0) into 0
58.342 * [backup-simplify]: Simplify (+ 0 0) into 0
58.342 * [backup-simplify]: Simplify (+ (* (- (/ 1 phi2) (/ 1 phi1)) 0) (* 0 (- (/ 1 phi2) (/ 1 phi1)))) into 0
58.342 * [backup-simplify]: Simplify (+ 0 0) into 0
58.349 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (- (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (* 2 (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* lambda2 lambda1))) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (* 2 (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* lambda2 lambda1))) (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2))))))))) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* lambda1 lambda2))) (+ (* 2 (/ 1 (* phi1 phi2))) (+ (* 2 (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* lambda2 lambda1))) (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)))))))))))) into 0
58.349 * [taylor]: Taking taylor expansion of R in R
58.350 * [backup-simplify]: Simplify 0 into 0
58.350 * [backup-simplify]: Simplify 1 into 1
58.356 * [backup-simplify]: Simplify (/ (sqrt (- (+ (* 4 (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* lambda2 lambda1))) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)))))))) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ 1 (* phi1 phi2))) (+ (* 2 (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* lambda2 lambda1))) (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (+ (* 2 (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* lambda2 lambda1))) (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)))))))))) 1) into (sqrt (- (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (* 4 (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* lambda2 lambda1))) (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)))))))) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (+ (* 2 (/ 1 (* phi1 phi2))) (+ (* 2 (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* lambda2 lambda1))) (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (* 2 (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* lambda2 lambda1)))))))))))
58.356 * [taylor]: Taking taylor expansion of (* -1 (/ (hypot (* (fma (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (/ 1 lambda2) (/ 1 lambda1))) (- (/ 1 phi2) (/ 1 phi1))) R)) in phi2
58.356 * [taylor]: Taking taylor expansion of -1 in phi2
58.356 * [backup-simplify]: Simplify -1 into -1
58.356 * [taylor]: Taking taylor expansion of (/ (hypot (* (fma (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (/ 1 lambda2) (/ 1 lambda1))) (- (/ 1 phi2) (/ 1 phi1))) R) in phi2
58.356 * [taylor]: Taking taylor expansion of (hypot (* (fma (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (/ 1 lambda2) (/ 1 lambda1))) (- (/ 1 phi2) (/ 1 phi1))) in phi2
58.356 * [taylor]: Rewrote expression to (sqrt (+ (* (* (fma (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (/ 1 lambda2) (/ 1 lambda1))) (* (fma (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (/ 1 lambda2) (/ 1 lambda1)))) (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1)))))
58.356 * [taylor]: Taking taylor expansion of (+ (* (* (fma (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (/ 1 lambda2) (/ 1 lambda1))) (* (fma (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (/ 1 lambda2) (/ 1 lambda1)))) (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1)))) in phi2
58.356 * [taylor]: Taking taylor expansion of (* (* (fma (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (/ 1 lambda2) (/ 1 lambda1))) (* (fma (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (/ 1 lambda2) (/ 1 lambda1)))) in phi2
58.357 * [taylor]: Taking taylor expansion of (* (fma (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (/ 1 lambda2) (/ 1 lambda1))) in phi2
58.357 * [taylor]: Taking taylor expansion of (fma (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in phi2
58.357 * [taylor]: Rewrote expression to (+ (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))
58.357 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))) in phi2
58.357 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
58.357 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
58.357 * [taylor]: Taking taylor expansion of -0.5 in phi2
58.357 * [backup-simplify]: Simplify -0.5 into -0.5
58.357 * [taylor]: Taking taylor expansion of phi1 in phi2
58.357 * [backup-simplify]: Simplify phi1 into phi1
58.357 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
58.357 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
58.357 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
58.357 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
58.357 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
58.357 * [taylor]: Taking taylor expansion of -0.5 in phi2
58.357 * [backup-simplify]: Simplify -0.5 into -0.5
58.357 * [taylor]: Taking taylor expansion of phi2 in phi2
58.357 * [backup-simplify]: Simplify 0 into 0
58.357 * [backup-simplify]: Simplify 1 into 1
58.357 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
58.358 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
58.358 * [taylor]: Taking taylor expansion of (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in phi2
58.358 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi2
58.358 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
58.358 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
58.358 * [taylor]: Taking taylor expansion of -0.5 in phi2
58.358 * [backup-simplify]: Simplify -0.5 into -0.5
58.358 * [taylor]: Taking taylor expansion of phi2 in phi2
58.358 * [backup-simplify]: Simplify 0 into 0
58.358 * [backup-simplify]: Simplify 1 into 1
58.358 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
58.358 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
58.358 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
58.358 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
58.358 * [taylor]: Taking taylor expansion of -0.5 in phi2
58.358 * [backup-simplify]: Simplify -0.5 into -0.5
58.358 * [taylor]: Taking taylor expansion of phi1 in phi2
58.358 * [backup-simplify]: Simplify phi1 into phi1
58.358 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
58.358 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
58.358 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
58.358 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in phi2
58.358 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in phi2
58.358 * [taylor]: Taking taylor expansion of lambda2 in phi2
58.358 * [backup-simplify]: Simplify lambda2 into lambda2
58.358 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
58.358 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in phi2
58.358 * [taylor]: Taking taylor expansion of lambda1 in phi2
58.358 * [backup-simplify]: Simplify lambda1 into lambda1
58.358 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1)
58.359 * [taylor]: Taking taylor expansion of (* (fma (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (/ 1 lambda2) (/ 1 lambda1))) in phi2
58.359 * [taylor]: Taking taylor expansion of (fma (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in phi2
58.359 * [taylor]: Rewrote expression to (+ (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))
58.359 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))) in phi2
58.359 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
58.359 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
58.359 * [taylor]: Taking taylor expansion of -0.5 in phi2
58.359 * [backup-simplify]: Simplify -0.5 into -0.5
58.359 * [taylor]: Taking taylor expansion of phi1 in phi2
58.359 * [backup-simplify]: Simplify phi1 into phi1
58.359 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
58.359 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
58.359 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
58.359 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
58.359 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
58.359 * [taylor]: Taking taylor expansion of -0.5 in phi2
58.359 * [backup-simplify]: Simplify -0.5 into -0.5
58.359 * [taylor]: Taking taylor expansion of phi2 in phi2
58.359 * [backup-simplify]: Simplify 0 into 0
58.359 * [backup-simplify]: Simplify 1 into 1
58.359 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
58.359 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
58.359 * [taylor]: Taking taylor expansion of (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in phi2
58.359 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi2
58.359 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
58.359 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
58.359 * [taylor]: Taking taylor expansion of -0.5 in phi2
58.359 * [backup-simplify]: Simplify -0.5 into -0.5
58.359 * [taylor]: Taking taylor expansion of phi2 in phi2
58.360 * [backup-simplify]: Simplify 0 into 0
58.360 * [backup-simplify]: Simplify 1 into 1
58.360 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
58.360 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
58.360 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
58.360 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
58.360 * [taylor]: Taking taylor expansion of -0.5 in phi2
58.360 * [backup-simplify]: Simplify -0.5 into -0.5
58.360 * [taylor]: Taking taylor expansion of phi1 in phi2
58.360 * [backup-simplify]: Simplify phi1 into phi1
58.360 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
58.360 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
58.360 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
58.360 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in phi2
58.360 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in phi2
58.360 * [taylor]: Taking taylor expansion of lambda2 in phi2
58.360 * [backup-simplify]: Simplify lambda2 into lambda2
58.360 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
58.360 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in phi2
58.360 * [taylor]: Taking taylor expansion of lambda1 in phi2
58.360 * [backup-simplify]: Simplify lambda1 into lambda1
58.360 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1)
58.360 * [taylor]: Taking taylor expansion of (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1))) in phi2
58.360 * [taylor]: Taking taylor expansion of (- (/ 1 phi2) (/ 1 phi1)) in phi2
58.360 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
58.360 * [taylor]: Taking taylor expansion of phi2 in phi2
58.360 * [backup-simplify]: Simplify 0 into 0
58.360 * [backup-simplify]: Simplify 1 into 1
58.361 * [backup-simplify]: Simplify (/ 1 1) into 1
58.361 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
58.361 * [taylor]: Taking taylor expansion of phi1 in phi2
58.361 * [backup-simplify]: Simplify phi1 into phi1
58.361 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
58.361 * [taylor]: Taking taylor expansion of (- (/ 1 phi2) (/ 1 phi1)) in phi2
58.361 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
58.361 * [taylor]: Taking taylor expansion of phi2 in phi2
58.361 * [backup-simplify]: Simplify 0 into 0
58.361 * [backup-simplify]: Simplify 1 into 1
58.361 * [backup-simplify]: Simplify (/ 1 1) into 1
58.361 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
58.361 * [taylor]: Taking taylor expansion of phi1 in phi2
58.361 * [backup-simplify]: Simplify phi1 into phi1
58.361 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
58.361 * [backup-simplify]: Simplify (+ 1 0) into 1
58.362 * [backup-simplify]: Simplify (+ 1 0) into 1
58.362 * [backup-simplify]: Simplify (* 1 1) into 1
58.362 * [backup-simplify]: Simplify (+ 0 1) into 1
58.362 * [backup-simplify]: Simplify (sqrt 1) into 1
58.363 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
58.363 * [backup-simplify]: Simplify (- (/ 1 phi1)) into (- (/ 1 phi1))
58.363 * [backup-simplify]: Simplify (+ 0 (- (/ 1 phi1))) into (- (/ 1 phi1))
58.363 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
58.364 * [backup-simplify]: Simplify (- (/ 1 phi1)) into (- (/ 1 phi1))
58.364 * [backup-simplify]: Simplify (+ 0 (- (/ 1 phi1))) into (- (/ 1 phi1))
58.364 * [backup-simplify]: Simplify (+ (* 1 (- (/ 1 phi1))) (* (- (/ 1 phi1)) 1)) into (- (* 2 (/ 1 phi1)))
58.364 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi1)))) into (- (* 2 (/ 1 phi1)))
58.364 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi1))) (* 2 (sqrt 1))) into (/ -1 phi1)
58.364 * [taylor]: Taking taylor expansion of R in phi2
58.364 * [backup-simplify]: Simplify R into R
58.364 * [backup-simplify]: Simplify (/ 1 R) into (/ 1 R)
58.364 * [taylor]: Taking taylor expansion of (* -1 (/ (hypot (* (fma (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (/ 1 lambda2) (/ 1 lambda1))) (- (/ 1 phi2) (/ 1 phi1))) R)) in phi1
58.364 * [taylor]: Taking taylor expansion of -1 in phi1
58.364 * [backup-simplify]: Simplify -1 into -1
58.364 * [taylor]: Taking taylor expansion of (/ (hypot (* (fma (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (/ 1 lambda2) (/ 1 lambda1))) (- (/ 1 phi2) (/ 1 phi1))) R) in phi1
58.364 * [taylor]: Taking taylor expansion of (hypot (* (fma (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (/ 1 lambda2) (/ 1 lambda1))) (- (/ 1 phi2) (/ 1 phi1))) in phi1
58.364 * [taylor]: Rewrote expression to (sqrt (+ (* (* (fma (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (/ 1 lambda2) (/ 1 lambda1))) (* (fma (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (/ 1 lambda2) (/ 1 lambda1)))) (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1)))))
58.364 * [taylor]: Taking taylor expansion of (+ (* (* (fma (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (/ 1 lambda2) (/ 1 lambda1))) (* (fma (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (/ 1 lambda2) (/ 1 lambda1)))) (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1)))) in phi1
58.364 * [taylor]: Taking taylor expansion of (* (* (fma (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (/ 1 lambda2) (/ 1 lambda1))) (* (fma (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (/ 1 lambda2) (/ 1 lambda1)))) in phi1
58.365 * [taylor]: Taking taylor expansion of (* (fma (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (/ 1 lambda2) (/ 1 lambda1))) in phi1
58.365 * [taylor]: Taking taylor expansion of (fma (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in phi1
58.365 * [taylor]: Rewrote expression to (+ (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))
58.365 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))) in phi1
58.365 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
58.365 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
58.365 * [taylor]: Taking taylor expansion of -0.5 in phi1
58.365 * [backup-simplify]: Simplify -0.5 into -0.5
58.365 * [taylor]: Taking taylor expansion of phi1 in phi1
58.365 * [backup-simplify]: Simplify 0 into 0
58.365 * [backup-simplify]: Simplify 1 into 1
58.365 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
58.365 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
58.365 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
58.365 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
58.365 * [taylor]: Taking taylor expansion of -0.5 in phi1
58.365 * [backup-simplify]: Simplify -0.5 into -0.5
58.365 * [taylor]: Taking taylor expansion of phi2 in phi1
58.365 * [backup-simplify]: Simplify phi2 into phi2
58.365 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
58.365 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
58.365 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
58.365 * [taylor]: Taking taylor expansion of (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in phi1
58.365 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi1
58.365 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
58.366 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
58.366 * [taylor]: Taking taylor expansion of -0.5 in phi1
58.366 * [backup-simplify]: Simplify -0.5 into -0.5
58.366 * [taylor]: Taking taylor expansion of phi2 in phi1
58.366 * [backup-simplify]: Simplify phi2 into phi2
58.366 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
58.366 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
58.366 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
58.366 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
58.366 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
58.366 * [taylor]: Taking taylor expansion of -0.5 in phi1
58.366 * [backup-simplify]: Simplify -0.5 into -0.5
58.366 * [taylor]: Taking taylor expansion of phi1 in phi1
58.366 * [backup-simplify]: Simplify 0 into 0
58.366 * [backup-simplify]: Simplify 1 into 1
58.366 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
58.366 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
58.366 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in phi1
58.366 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in phi1
58.366 * [taylor]: Taking taylor expansion of lambda2 in phi1
58.366 * [backup-simplify]: Simplify lambda2 into lambda2
58.366 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
58.366 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in phi1
58.366 * [taylor]: Taking taylor expansion of lambda1 in phi1
58.366 * [backup-simplify]: Simplify lambda1 into lambda1
58.366 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1)
58.366 * [taylor]: Taking taylor expansion of (* (fma (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (/ 1 lambda2) (/ 1 lambda1))) in phi1
58.366 * [taylor]: Taking taylor expansion of (fma (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in phi1
58.367 * [taylor]: Rewrote expression to (+ (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))
58.367 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))) in phi1
58.367 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
58.367 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
58.367 * [taylor]: Taking taylor expansion of -0.5 in phi1
58.367 * [backup-simplify]: Simplify -0.5 into -0.5
58.367 * [taylor]: Taking taylor expansion of phi1 in phi1
58.367 * [backup-simplify]: Simplify 0 into 0
58.367 * [backup-simplify]: Simplify 1 into 1
58.367 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
58.367 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
58.367 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
58.367 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
58.367 * [taylor]: Taking taylor expansion of -0.5 in phi1
58.367 * [backup-simplify]: Simplify -0.5 into -0.5
58.367 * [taylor]: Taking taylor expansion of phi2 in phi1
58.367 * [backup-simplify]: Simplify phi2 into phi2
58.367 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
58.367 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
58.367 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
58.367 * [taylor]: Taking taylor expansion of (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in phi1
58.367 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi1
58.367 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
58.367 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
58.367 * [taylor]: Taking taylor expansion of -0.5 in phi1
58.367 * [backup-simplify]: Simplify -0.5 into -0.5
58.367 * [taylor]: Taking taylor expansion of phi2 in phi1
58.367 * [backup-simplify]: Simplify phi2 into phi2
58.367 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
58.367 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
58.368 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
58.368 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
58.368 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
58.368 * [taylor]: Taking taylor expansion of -0.5 in phi1
58.368 * [backup-simplify]: Simplify -0.5 into -0.5
58.368 * [taylor]: Taking taylor expansion of phi1 in phi1
58.368 * [backup-simplify]: Simplify 0 into 0
58.368 * [backup-simplify]: Simplify 1 into 1
58.368 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
58.368 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
58.368 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in phi1
58.368 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in phi1
58.368 * [taylor]: Taking taylor expansion of lambda2 in phi1
58.368 * [backup-simplify]: Simplify lambda2 into lambda2
58.368 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
58.368 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in phi1
58.368 * [taylor]: Taking taylor expansion of lambda1 in phi1
58.368 * [backup-simplify]: Simplify lambda1 into lambda1
58.368 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1)
58.368 * [taylor]: Taking taylor expansion of (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1))) in phi1
58.368 * [taylor]: Taking taylor expansion of (- (/ 1 phi2) (/ 1 phi1)) in phi1
58.368 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
58.368 * [taylor]: Taking taylor expansion of phi2 in phi1
58.368 * [backup-simplify]: Simplify phi2 into phi2
58.368 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
58.368 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
58.368 * [taylor]: Taking taylor expansion of phi1 in phi1
58.368 * [backup-simplify]: Simplify 0 into 0
58.368 * [backup-simplify]: Simplify 1 into 1
58.369 * [backup-simplify]: Simplify (/ 1 1) into 1
58.369 * [taylor]: Taking taylor expansion of (- (/ 1 phi2) (/ 1 phi1)) in phi1
58.369 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
58.369 * [taylor]: Taking taylor expansion of phi2 in phi1
58.369 * [backup-simplify]: Simplify phi2 into phi2
58.369 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
58.369 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
58.369 * [taylor]: Taking taylor expansion of phi1 in phi1
58.369 * [backup-simplify]: Simplify 0 into 0
58.369 * [backup-simplify]: Simplify 1 into 1
58.369 * [backup-simplify]: Simplify (/ 1 1) into 1
58.369 * [backup-simplify]: Simplify (- 1) into -1
58.370 * [backup-simplify]: Simplify (+ 0 -1) into -1
58.370 * [backup-simplify]: Simplify (- 1) into -1
58.370 * [backup-simplify]: Simplify (+ 0 -1) into -1
58.370 * [backup-simplify]: Simplify (* -1 -1) into 1
58.370 * [backup-simplify]: Simplify (+ 0 1) into 1
58.371 * [backup-simplify]: Simplify (sqrt 1) into 1
58.371 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
58.371 * [backup-simplify]: Simplify (- 0) into 0
58.371 * [backup-simplify]: Simplify (+ (/ 1 phi2) 0) into (/ 1 phi2)
58.372 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
58.372 * [backup-simplify]: Simplify (- 0) into 0
58.372 * [backup-simplify]: Simplify (+ (/ 1 phi2) 0) into (/ 1 phi2)
58.372 * [backup-simplify]: Simplify (+ (* -1 (/ 1 phi2)) (* (/ 1 phi2) -1)) into (- (* 2 (/ 1 phi2)))
58.372 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2)))
58.373 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi2))) (* 2 (sqrt 1))) into (/ -1 phi2)
58.373 * [taylor]: Taking taylor expansion of R in phi1
58.373 * [backup-simplify]: Simplify R into R
58.373 * [backup-simplify]: Simplify (/ 1 R) into (/ 1 R)
58.373 * [taylor]: Taking taylor expansion of (* -1 (/ (hypot (* (fma (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (/ 1 lambda2) (/ 1 lambda1))) (- (/ 1 phi2) (/ 1 phi1))) R)) in lambda2
58.373 * [taylor]: Taking taylor expansion of -1 in lambda2
58.373 * [backup-simplify]: Simplify -1 into -1
58.373 * [taylor]: Taking taylor expansion of (/ (hypot (* (fma (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (/ 1 lambda2) (/ 1 lambda1))) (- (/ 1 phi2) (/ 1 phi1))) R) in lambda2
58.373 * [taylor]: Taking taylor expansion of (hypot (* (fma (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (/ 1 lambda2) (/ 1 lambda1))) (- (/ 1 phi2) (/ 1 phi1))) in lambda2
58.373 * [taylor]: Rewrote expression to (sqrt (+ (* (* (fma (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (/ 1 lambda2) (/ 1 lambda1))) (* (fma (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (/ 1 lambda2) (/ 1 lambda1)))) (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1)))))
58.373 * [taylor]: Taking taylor expansion of (+ (* (* (fma (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (/ 1 lambda2) (/ 1 lambda1))) (* (fma (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (/ 1 lambda2) (/ 1 lambda1)))) (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1)))) in lambda2
58.373 * [taylor]: Taking taylor expansion of (* (* (fma (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (/ 1 lambda2) (/ 1 lambda1))) (* (fma (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (/ 1 lambda2) (/ 1 lambda1)))) in lambda2
58.373 * [taylor]: Taking taylor expansion of (* (fma (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (/ 1 lambda2) (/ 1 lambda1))) in lambda2
58.373 * [taylor]: Taking taylor expansion of (fma (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in lambda2
58.373 * [taylor]: Rewrote expression to (+ (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))
58.373 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))) in lambda2
58.373 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
58.373 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
58.374 * [taylor]: Taking taylor expansion of -0.5 in lambda2
58.374 * [backup-simplify]: Simplify -0.5 into -0.5
58.374 * [taylor]: Taking taylor expansion of phi1 in lambda2
58.374 * [backup-simplify]: Simplify phi1 into phi1
58.374 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
58.374 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
58.374 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
58.374 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
58.374 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
58.374 * [taylor]: Taking taylor expansion of -0.5 in lambda2
58.374 * [backup-simplify]: Simplify -0.5 into -0.5
58.374 * [taylor]: Taking taylor expansion of phi2 in lambda2
58.374 * [backup-simplify]: Simplify phi2 into phi2
58.374 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
58.374 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
58.374 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
58.374 * [taylor]: Taking taylor expansion of (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in lambda2
58.374 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in lambda2
58.374 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
58.374 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
58.374 * [taylor]: Taking taylor expansion of -0.5 in lambda2
58.374 * [backup-simplify]: Simplify -0.5 into -0.5
58.374 * [taylor]: Taking taylor expansion of phi2 in lambda2
58.374 * [backup-simplify]: Simplify phi2 into phi2
58.374 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
58.374 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
58.374 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
58.374 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
58.374 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
58.374 * [taylor]: Taking taylor expansion of -0.5 in lambda2
58.374 * [backup-simplify]: Simplify -0.5 into -0.5
58.374 * [taylor]: Taking taylor expansion of phi1 in lambda2
58.374 * [backup-simplify]: Simplify phi1 into phi1
58.374 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
58.374 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
58.374 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
58.374 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in lambda2
58.375 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda2
58.375 * [taylor]: Taking taylor expansion of lambda2 in lambda2
58.375 * [backup-simplify]: Simplify 0 into 0
58.375 * [backup-simplify]: Simplify 1 into 1
58.375 * [backup-simplify]: Simplify (/ 1 1) into 1
58.375 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda2
58.375 * [taylor]: Taking taylor expansion of lambda1 in lambda2
58.375 * [backup-simplify]: Simplify lambda1 into lambda1
58.375 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1)
58.375 * [taylor]: Taking taylor expansion of (* (fma (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (/ 1 lambda2) (/ 1 lambda1))) in lambda2
58.375 * [taylor]: Taking taylor expansion of (fma (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in lambda2
58.375 * [taylor]: Rewrote expression to (+ (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))
58.375 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))) in lambda2
58.375 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
58.375 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
58.375 * [taylor]: Taking taylor expansion of -0.5 in lambda2
58.375 * [backup-simplify]: Simplify -0.5 into -0.5
58.375 * [taylor]: Taking taylor expansion of phi1 in lambda2
58.375 * [backup-simplify]: Simplify phi1 into phi1
58.375 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
58.375 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
58.375 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
58.375 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
58.375 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
58.375 * [taylor]: Taking taylor expansion of -0.5 in lambda2
58.375 * [backup-simplify]: Simplify -0.5 into -0.5
58.375 * [taylor]: Taking taylor expansion of phi2 in lambda2
58.375 * [backup-simplify]: Simplify phi2 into phi2
58.375 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
58.376 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
58.376 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
58.376 * [taylor]: Taking taylor expansion of (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in lambda2
58.376 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in lambda2
58.376 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
58.376 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
58.376 * [taylor]: Taking taylor expansion of -0.5 in lambda2
58.376 * [backup-simplify]: Simplify -0.5 into -0.5
58.376 * [taylor]: Taking taylor expansion of phi2 in lambda2
58.376 * [backup-simplify]: Simplify phi2 into phi2
58.376 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
58.376 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
58.376 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
58.376 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
58.376 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
58.376 * [taylor]: Taking taylor expansion of -0.5 in lambda2
58.376 * [backup-simplify]: Simplify -0.5 into -0.5
58.376 * [taylor]: Taking taylor expansion of phi1 in lambda2
58.376 * [backup-simplify]: Simplify phi1 into phi1
58.376 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
58.376 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
58.376 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
58.376 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in lambda2
58.376 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda2
58.376 * [taylor]: Taking taylor expansion of lambda2 in lambda2
58.376 * [backup-simplify]: Simplify 0 into 0
58.376 * [backup-simplify]: Simplify 1 into 1
58.376 * [backup-simplify]: Simplify (/ 1 1) into 1
58.376 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda2
58.376 * [taylor]: Taking taylor expansion of lambda1 in lambda2
58.376 * [backup-simplify]: Simplify lambda1 into lambda1
58.377 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1)
58.377 * [taylor]: Taking taylor expansion of (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1))) in lambda2
58.377 * [taylor]: Taking taylor expansion of (- (/ 1 phi2) (/ 1 phi1)) in lambda2
58.377 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
58.377 * [taylor]: Taking taylor expansion of phi2 in lambda2
58.377 * [backup-simplify]: Simplify phi2 into phi2
58.377 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
58.377 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
58.377 * [taylor]: Taking taylor expansion of phi1 in lambda2
58.377 * [backup-simplify]: Simplify phi1 into phi1
58.377 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
58.377 * [taylor]: Taking taylor expansion of (- (/ 1 phi2) (/ 1 phi1)) in lambda2
58.377 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
58.377 * [taylor]: Taking taylor expansion of phi2 in lambda2
58.377 * [backup-simplify]: Simplify phi2 into phi2
58.377 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
58.377 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
58.377 * [taylor]: Taking taylor expansion of phi1 in lambda2
58.377 * [backup-simplify]: Simplify phi1 into phi1
58.377 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
58.377 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
58.377 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
58.377 * [backup-simplify]: Simplify (- 0) into 0
58.377 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
58.377 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
58.377 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
58.378 * [backup-simplify]: Simplify (- 0) into 0
58.378 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
58.378 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))) into (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))
58.378 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
58.378 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
58.378 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
58.378 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
58.378 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
58.378 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
58.378 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))
58.378 * [backup-simplify]: Simplify (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) into (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))
58.379 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))
58.379 * [backup-simplify]: Simplify (+ 1 0) into 1
58.379 * [backup-simplify]: Simplify (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) 1) into (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))
58.379 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
58.379 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
58.379 * [backup-simplify]: Simplify (- 0) into 0
58.380 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
58.380 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
58.380 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
58.380 * [backup-simplify]: Simplify (- 0) into 0
58.380 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
58.380 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))) into (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))
58.380 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
58.380 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
58.380 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
58.380 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
58.380 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
58.380 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
58.381 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))
58.381 * [backup-simplify]: Simplify (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) into (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))
58.381 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))
58.381 * [backup-simplify]: Simplify (+ 1 0) into 1
58.381 * [backup-simplify]: Simplify (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) 1) into (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))
58.382 * [backup-simplify]: Simplify (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (pow (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) 2)
58.382 * [backup-simplify]: Simplify (+ (pow (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) 2) 0) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
58.383 * [backup-simplify]: Simplify (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))
58.384 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
58.384 * [backup-simplify]: Simplify (- (/ 1 lambda1)) into (- (/ 1 lambda1))
58.384 * [backup-simplify]: Simplify (+ 0 (- (/ 1 lambda1))) into (- (/ 1 lambda1))
58.384 * [backup-simplify]: Simplify (+ 0) into 0
58.384 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
58.384 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
58.385 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.385 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
58.387 * [backup-simplify]: Simplify (- 0) into 0
58.388 * [backup-simplify]: Simplify (+ 0 0) into 0
58.388 * [backup-simplify]: Simplify (+ 0) into 0
58.389 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
58.389 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
58.390 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.390 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
58.391 * [backup-simplify]: Simplify (- 0) into 0
58.391 * [backup-simplify]: Simplify (+ 0 0) into 0
58.391 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
58.392 * [backup-simplify]: Simplify (+ 0) into 0
58.392 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
58.392 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
58.393 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.393 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
58.394 * [backup-simplify]: Simplify (+ 0 0) into 0
58.394 * [backup-simplify]: Simplify (+ 0) into 0
58.395 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
58.395 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
58.396 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.396 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
58.397 * [backup-simplify]: Simplify (+ 0 0) into 0
58.397 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
58.397 * [backup-simplify]: Simplify (- 0) into 0
58.398 * [backup-simplify]: Simplify (+ 0 0) into 0
58.399 * [backup-simplify]: Simplify (+ (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) (- (/ 1 lambda1))) (* 0 1)) into (- (/ (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) lambda1) (/ (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) lambda1))
58.399 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
58.399 * [backup-simplify]: Simplify (- (/ 1 lambda1)) into (- (/ 1 lambda1))
58.400 * [backup-simplify]: Simplify (+ 0 (- (/ 1 lambda1))) into (- (/ 1 lambda1))
58.400 * [backup-simplify]: Simplify (+ 0) into 0
58.401 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
58.401 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
58.401 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.402 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
58.402 * [backup-simplify]: Simplify (- 0) into 0
58.403 * [backup-simplify]: Simplify (+ 0 0) into 0
58.403 * [backup-simplify]: Simplify (+ 0) into 0
58.404 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
58.404 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
58.405 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.405 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
58.406 * [backup-simplify]: Simplify (- 0) into 0
58.406 * [backup-simplify]: Simplify (+ 0 0) into 0
58.406 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
58.407 * [backup-simplify]: Simplify (+ 0) into 0
58.407 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
58.407 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
58.408 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.409 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
58.409 * [backup-simplify]: Simplify (+ 0 0) into 0
58.409 * [backup-simplify]: Simplify (+ 0) into 0
58.410 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
58.410 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
58.410 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.411 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
58.411 * [backup-simplify]: Simplify (+ 0 0) into 0
58.411 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
58.411 * [backup-simplify]: Simplify (- 0) into 0
58.411 * [backup-simplify]: Simplify (+ 0 0) into 0
58.412 * [backup-simplify]: Simplify (+ (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) (- (/ 1 lambda1))) (* 0 1)) into (- (/ (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) lambda1) (/ (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) lambda1))
58.413 * [backup-simplify]: Simplify (+ (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) (- (/ (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) lambda1) (/ (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) lambda1))) (* (- (/ (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) lambda1) (/ (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) lambda1)) (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into (- (+ (* 2 (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) lambda1)) (* 2 (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) lambda1))) (+ (* 2 (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) lambda1)) (* 2 (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) lambda1))))
58.415 * [backup-simplify]: Simplify (+ (- (+ (* 2 (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) lambda1)) (* 2 (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) lambda1))) (+ (* 2 (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) lambda1)) (* 2 (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) lambda1)))) 0) into (- (+ (* 2 (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) lambda1)) (* 2 (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) lambda1))) (+ (* 2 (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) lambda1)) (* 2 (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) lambda1))))
58.417 * [backup-simplify]: Simplify (/ (- (+ (* 2 (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) lambda1)) (* 2 (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) lambda1))) (+ (* 2 (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) lambda1)) (* 2 (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) lambda1)))) (* 2 (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) into (* 1/2 (* (- (+ (* 2 (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) lambda1)) (* 2 (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) lambda1))) (+ (* 2 (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) lambda1)) (* 2 (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) lambda1)))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))))
58.417 * [taylor]: Taking taylor expansion of R in lambda2
58.417 * [backup-simplify]: Simplify R into R
58.418 * [backup-simplify]: Simplify (/ (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) R) into (* (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (/ 1 R))
58.418 * [taylor]: Taking taylor expansion of (* -1 (/ (hypot (* (fma (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (/ 1 lambda2) (/ 1 lambda1))) (- (/ 1 phi2) (/ 1 phi1))) R)) in lambda1
58.418 * [taylor]: Taking taylor expansion of -1 in lambda1
58.418 * [backup-simplify]: Simplify -1 into -1
58.418 * [taylor]: Taking taylor expansion of (/ (hypot (* (fma (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (/ 1 lambda2) (/ 1 lambda1))) (- (/ 1 phi2) (/ 1 phi1))) R) in lambda1
58.418 * [taylor]: Taking taylor expansion of (hypot (* (fma (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (/ 1 lambda2) (/ 1 lambda1))) (- (/ 1 phi2) (/ 1 phi1))) in lambda1
58.418 * [taylor]: Rewrote expression to (sqrt (+ (* (* (fma (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (/ 1 lambda2) (/ 1 lambda1))) (* (fma (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (/ 1 lambda2) (/ 1 lambda1)))) (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1)))))
58.418 * [taylor]: Taking taylor expansion of (+ (* (* (fma (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (/ 1 lambda2) (/ 1 lambda1))) (* (fma (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (/ 1 lambda2) (/ 1 lambda1)))) (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1)))) in lambda1
58.418 * [taylor]: Taking taylor expansion of (* (* (fma (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (/ 1 lambda2) (/ 1 lambda1))) (* (fma (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (/ 1 lambda2) (/ 1 lambda1)))) in lambda1
58.418 * [taylor]: Taking taylor expansion of (* (fma (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (/ 1 lambda2) (/ 1 lambda1))) in lambda1
58.418 * [taylor]: Taking taylor expansion of (fma (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in lambda1
58.419 * [taylor]: Rewrote expression to (+ (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))
58.419 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))) in lambda1
58.419 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1
58.419 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1
58.419 * [taylor]: Taking taylor expansion of -0.5 in lambda1
58.419 * [backup-simplify]: Simplify -0.5 into -0.5
58.419 * [taylor]: Taking taylor expansion of phi1 in lambda1
58.419 * [backup-simplify]: Simplify phi1 into phi1
58.419 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
58.419 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
58.419 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
58.419 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1
58.419 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1
58.419 * [taylor]: Taking taylor expansion of -0.5 in lambda1
58.419 * [backup-simplify]: Simplify -0.5 into -0.5
58.419 * [taylor]: Taking taylor expansion of phi2 in lambda1
58.419 * [backup-simplify]: Simplify phi2 into phi2
58.419 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
58.419 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
58.419 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
58.419 * [taylor]: Taking taylor expansion of (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in lambda1
58.419 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in lambda1
58.419 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1
58.419 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1
58.419 * [taylor]: Taking taylor expansion of -0.5 in lambda1
58.419 * [backup-simplify]: Simplify -0.5 into -0.5
58.419 * [taylor]: Taking taylor expansion of phi2 in lambda1
58.419 * [backup-simplify]: Simplify phi2 into phi2
58.419 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
58.419 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
58.419 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
58.419 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1
58.419 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1
58.419 * [taylor]: Taking taylor expansion of -0.5 in lambda1
58.420 * [backup-simplify]: Simplify -0.5 into -0.5
58.420 * [taylor]: Taking taylor expansion of phi1 in lambda1
58.420 * [backup-simplify]: Simplify phi1 into phi1
58.420 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
58.420 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
58.420 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
58.420 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in lambda1
58.420 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda1
58.420 * [taylor]: Taking taylor expansion of lambda2 in lambda1
58.420 * [backup-simplify]: Simplify lambda2 into lambda2
58.420 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
58.420 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1
58.420 * [taylor]: Taking taylor expansion of lambda1 in lambda1
58.420 * [backup-simplify]: Simplify 0 into 0
58.420 * [backup-simplify]: Simplify 1 into 1
58.420 * [backup-simplify]: Simplify (/ 1 1) into 1
58.420 * [taylor]: Taking taylor expansion of (* (fma (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (/ 1 lambda2) (/ 1 lambda1))) in lambda1
58.420 * [taylor]: Taking taylor expansion of (fma (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in lambda1
58.420 * [taylor]: Rewrote expression to (+ (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))
58.420 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))) in lambda1
58.420 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1
58.420 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1
58.421 * [taylor]: Taking taylor expansion of -0.5 in lambda1
58.421 * [backup-simplify]: Simplify -0.5 into -0.5
58.421 * [taylor]: Taking taylor expansion of phi1 in lambda1
58.421 * [backup-simplify]: Simplify phi1 into phi1
58.421 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
58.421 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
58.421 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
58.421 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1
58.421 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1
58.421 * [taylor]: Taking taylor expansion of -0.5 in lambda1
58.421 * [backup-simplify]: Simplify -0.5 into -0.5
58.421 * [taylor]: Taking taylor expansion of phi2 in lambda1
58.421 * [backup-simplify]: Simplify phi2 into phi2
58.421 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
58.421 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
58.421 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
58.421 * [taylor]: Taking taylor expansion of (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in lambda1
58.421 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in lambda1
58.421 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1
58.421 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1
58.421 * [taylor]: Taking taylor expansion of -0.5 in lambda1
58.421 * [backup-simplify]: Simplify -0.5 into -0.5
58.421 * [taylor]: Taking taylor expansion of phi2 in lambda1
58.421 * [backup-simplify]: Simplify phi2 into phi2
58.421 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
58.421 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
58.421 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
58.421 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1
58.421 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1
58.421 * [taylor]: Taking taylor expansion of -0.5 in lambda1
58.421 * [backup-simplify]: Simplify -0.5 into -0.5
58.421 * [taylor]: Taking taylor expansion of phi1 in lambda1
58.421 * [backup-simplify]: Simplify phi1 into phi1
58.421 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
58.421 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
58.422 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
58.422 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in lambda1
58.422 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda1
58.422 * [taylor]: Taking taylor expansion of lambda2 in lambda1
58.422 * [backup-simplify]: Simplify lambda2 into lambda2
58.422 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
58.422 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1
58.422 * [taylor]: Taking taylor expansion of lambda1 in lambda1
58.422 * [backup-simplify]: Simplify 0 into 0
58.422 * [backup-simplify]: Simplify 1 into 1
58.422 * [backup-simplify]: Simplify (/ 1 1) into 1
58.422 * [taylor]: Taking taylor expansion of (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1))) in lambda1
58.422 * [taylor]: Taking taylor expansion of (- (/ 1 phi2) (/ 1 phi1)) in lambda1
58.422 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
58.422 * [taylor]: Taking taylor expansion of phi2 in lambda1
58.422 * [backup-simplify]: Simplify phi2 into phi2
58.422 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
58.422 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
58.422 * [taylor]: Taking taylor expansion of phi1 in lambda1
58.422 * [backup-simplify]: Simplify phi1 into phi1
58.422 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
58.422 * [taylor]: Taking taylor expansion of (- (/ 1 phi2) (/ 1 phi1)) in lambda1
58.422 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
58.422 * [taylor]: Taking taylor expansion of phi2 in lambda1
58.422 * [backup-simplify]: Simplify phi2 into phi2
58.422 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
58.422 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
58.422 * [taylor]: Taking taylor expansion of phi1 in lambda1
58.422 * [backup-simplify]: Simplify phi1 into phi1
58.422 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
58.422 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
58.423 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
58.423 * [backup-simplify]: Simplify (- 0) into 0
58.423 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
58.423 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
58.423 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
58.423 * [backup-simplify]: Simplify (- 0) into 0
58.424 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
58.424 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))) into (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))
58.424 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
58.424 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
58.424 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
58.424 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
58.424 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
58.424 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
58.424 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))
58.424 * [backup-simplify]: Simplify (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) into (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))
58.424 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))
58.425 * [backup-simplify]: Simplify (- 1) into -1
58.425 * [backup-simplify]: Simplify (+ 0 -1) into -1
58.425 * [backup-simplify]: Simplify (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) -1) into (* -1 (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))
58.425 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
58.425 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
58.426 * [backup-simplify]: Simplify (- 0) into 0
58.426 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
58.426 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
58.426 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
58.426 * [backup-simplify]: Simplify (- 0) into 0
58.426 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
58.426 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))) into (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))
58.426 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
58.426 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
58.426 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
58.426 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
58.426 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
58.426 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
58.427 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))
58.427 * [backup-simplify]: Simplify (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) into (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))
58.427 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))
58.427 * [backup-simplify]: Simplify (- 1) into -1
58.427 * [backup-simplify]: Simplify (+ 0 -1) into -1
58.428 * [backup-simplify]: Simplify (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) -1) into (* -1 (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))
58.428 * [backup-simplify]: Simplify (* (* -1 (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* -1 (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into (pow (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) 2)
58.428 * [backup-simplify]: Simplify (+ (pow (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) 2) 0) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
58.429 * [backup-simplify]: Simplify (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))
58.430 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
58.430 * [backup-simplify]: Simplify (- 0) into 0
58.430 * [backup-simplify]: Simplify (+ (/ 1 lambda2) 0) into (/ 1 lambda2)
58.430 * [backup-simplify]: Simplify (+ 0) into 0
58.431 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
58.431 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
58.431 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.432 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
58.432 * [backup-simplify]: Simplify (- 0) into 0
58.432 * [backup-simplify]: Simplify (+ 0 0) into 0
58.432 * [backup-simplify]: Simplify (+ 0) into 0
58.433 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
58.433 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
58.433 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.433 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
58.434 * [backup-simplify]: Simplify (- 0) into 0
58.434 * [backup-simplify]: Simplify (+ 0 0) into 0
58.434 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
58.435 * [backup-simplify]: Simplify (+ 0) into 0
58.435 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
58.435 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
58.435 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.436 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
58.436 * [backup-simplify]: Simplify (+ 0 0) into 0
58.436 * [backup-simplify]: Simplify (+ 0) into 0
58.437 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
58.437 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
58.437 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.437 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
58.438 * [backup-simplify]: Simplify (+ 0 0) into 0
58.438 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
58.438 * [backup-simplify]: Simplify (- 0) into 0
58.438 * [backup-simplify]: Simplify (+ 0 0) into 0
58.439 * [backup-simplify]: Simplify (+ (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) (/ 1 lambda2)) (* 0 -1)) into (- (/ (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) lambda2) (/ (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) lambda2))
58.439 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
58.439 * [backup-simplify]: Simplify (- 0) into 0
58.439 * [backup-simplify]: Simplify (+ (/ 1 lambda2) 0) into (/ 1 lambda2)
58.440 * [backup-simplify]: Simplify (+ 0) into 0
58.440 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
58.440 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
58.441 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.441 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
58.441 * [backup-simplify]: Simplify (- 0) into 0
58.441 * [backup-simplify]: Simplify (+ 0 0) into 0
58.442 * [backup-simplify]: Simplify (+ 0) into 0
58.442 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
58.442 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
58.442 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.443 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
58.443 * [backup-simplify]: Simplify (- 0) into 0
58.443 * [backup-simplify]: Simplify (+ 0 0) into 0
58.443 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
58.444 * [backup-simplify]: Simplify (+ 0) into 0
58.444 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
58.444 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
58.444 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.445 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
58.445 * [backup-simplify]: Simplify (+ 0 0) into 0
58.445 * [backup-simplify]: Simplify (+ 0) into 0
58.445 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
58.446 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
58.446 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.446 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
58.447 * [backup-simplify]: Simplify (+ 0 0) into 0
58.447 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
58.447 * [backup-simplify]: Simplify (- 0) into 0
58.447 * [backup-simplify]: Simplify (+ 0 0) into 0
58.448 * [backup-simplify]: Simplify (+ (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) (/ 1 lambda2)) (* 0 -1)) into (- (/ (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) lambda2) (/ (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) lambda2))
58.449 * [backup-simplify]: Simplify (+ (* (* -1 (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (/ (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) lambda2) (/ (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) lambda2))) (* (- (/ (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) lambda2) (/ (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) lambda2)) (* -1 (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))))) into (- (+ (* 2 (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) lambda2)) (* 2 (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) lambda2))) (+ (* 2 (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) lambda2)) (* 2 (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) lambda2))))
58.451 * [backup-simplify]: Simplify (+ (- (+ (* 2 (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) lambda2)) (* 2 (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) lambda2))) (+ (* 2 (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) lambda2)) (* 2 (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) lambda2)))) 0) into (- (+ (* 2 (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) lambda2)) (* 2 (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) lambda2))) (+ (* 2 (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) lambda2)) (* 2 (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) lambda2))))
58.456 * [backup-simplify]: Simplify (/ (- (+ (* 2 (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) lambda2)) (* 2 (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) lambda2))) (+ (* 2 (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) lambda2)) (* 2 (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) lambda2)))) (* 2 (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) into (* 1/2 (* (- (+ (* 2 (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) lambda2)) (* 2 (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) lambda2))) (+ (* 2 (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) lambda2)) (* 2 (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) lambda2)))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))))
58.456 * [taylor]: Taking taylor expansion of R in lambda1
58.456 * [backup-simplify]: Simplify R into R
58.458 * [backup-simplify]: Simplify (/ (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) R) into (* (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (/ 1 R))
58.458 * [taylor]: Taking taylor expansion of (* -1 (/ (hypot (* (fma (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (/ 1 lambda2) (/ 1 lambda1))) (- (/ 1 phi2) (/ 1 phi1))) R)) in lambda1
58.458 * [taylor]: Taking taylor expansion of -1 in lambda1
58.458 * [backup-simplify]: Simplify -1 into -1
58.458 * [taylor]: Taking taylor expansion of (/ (hypot (* (fma (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (/ 1 lambda2) (/ 1 lambda1))) (- (/ 1 phi2) (/ 1 phi1))) R) in lambda1
58.458 * [taylor]: Taking taylor expansion of (hypot (* (fma (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (/ 1 lambda2) (/ 1 lambda1))) (- (/ 1 phi2) (/ 1 phi1))) in lambda1
58.459 * [taylor]: Rewrote expression to (sqrt (+ (* (* (fma (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (/ 1 lambda2) (/ 1 lambda1))) (* (fma (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (/ 1 lambda2) (/ 1 lambda1)))) (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1)))))
58.459 * [taylor]: Taking taylor expansion of (+ (* (* (fma (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (/ 1 lambda2) (/ 1 lambda1))) (* (fma (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (/ 1 lambda2) (/ 1 lambda1)))) (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1)))) in lambda1
58.459 * [taylor]: Taking taylor expansion of (* (* (fma (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (/ 1 lambda2) (/ 1 lambda1))) (* (fma (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (/ 1 lambda2) (/ 1 lambda1)))) in lambda1
58.459 * [taylor]: Taking taylor expansion of (* (fma (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (/ 1 lambda2) (/ 1 lambda1))) in lambda1
58.459 * [taylor]: Taking taylor expansion of (fma (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in lambda1
58.459 * [taylor]: Rewrote expression to (+ (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))
58.459 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))) in lambda1
58.459 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1
58.459 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1
58.459 * [taylor]: Taking taylor expansion of -0.5 in lambda1
58.459 * [backup-simplify]: Simplify -0.5 into -0.5
58.459 * [taylor]: Taking taylor expansion of phi1 in lambda1
58.459 * [backup-simplify]: Simplify phi1 into phi1
58.459 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
58.459 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
58.459 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
58.459 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1
58.459 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1
58.459 * [taylor]: Taking taylor expansion of -0.5 in lambda1
58.459 * [backup-simplify]: Simplify -0.5 into -0.5
58.460 * [taylor]: Taking taylor expansion of phi2 in lambda1
58.460 * [backup-simplify]: Simplify phi2 into phi2
58.460 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
58.460 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
58.460 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
58.460 * [taylor]: Taking taylor expansion of (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in lambda1
58.460 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in lambda1
58.460 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1
58.460 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1
58.460 * [taylor]: Taking taylor expansion of -0.5 in lambda1
58.460 * [backup-simplify]: Simplify -0.5 into -0.5
58.460 * [taylor]: Taking taylor expansion of phi2 in lambda1
58.460 * [backup-simplify]: Simplify phi2 into phi2
58.460 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
58.460 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
58.460 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
58.460 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1
58.460 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1
58.460 * [taylor]: Taking taylor expansion of -0.5 in lambda1
58.460 * [backup-simplify]: Simplify -0.5 into -0.5
58.460 * [taylor]: Taking taylor expansion of phi1 in lambda1
58.460 * [backup-simplify]: Simplify phi1 into phi1
58.461 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
58.461 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
58.461 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
58.461 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in lambda1
58.461 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda1
58.461 * [taylor]: Taking taylor expansion of lambda2 in lambda1
58.461 * [backup-simplify]: Simplify lambda2 into lambda2
58.461 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
58.461 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1
58.461 * [taylor]: Taking taylor expansion of lambda1 in lambda1
58.461 * [backup-simplify]: Simplify 0 into 0
58.461 * [backup-simplify]: Simplify 1 into 1
58.462 * [backup-simplify]: Simplify (/ 1 1) into 1
58.462 * [taylor]: Taking taylor expansion of (* (fma (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (/ 1 lambda2) (/ 1 lambda1))) in lambda1
58.462 * [taylor]: Taking taylor expansion of (fma (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in lambda1
58.462 * [taylor]: Rewrote expression to (+ (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))
58.462 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))) in lambda1
58.462 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1
58.462 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1
58.462 * [taylor]: Taking taylor expansion of -0.5 in lambda1
58.462 * [backup-simplify]: Simplify -0.5 into -0.5
58.462 * [taylor]: Taking taylor expansion of phi1 in lambda1
58.462 * [backup-simplify]: Simplify phi1 into phi1
58.462 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
58.462 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
58.462 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
58.462 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1
58.462 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1
58.462 * [taylor]: Taking taylor expansion of -0.5 in lambda1
58.462 * [backup-simplify]: Simplify -0.5 into -0.5
58.462 * [taylor]: Taking taylor expansion of phi2 in lambda1
58.462 * [backup-simplify]: Simplify phi2 into phi2
58.463 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
58.463 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
58.463 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
58.463 * [taylor]: Taking taylor expansion of (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in lambda1
58.463 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in lambda1
58.463 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1
58.463 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1
58.463 * [taylor]: Taking taylor expansion of -0.5 in lambda1
58.463 * [backup-simplify]: Simplify -0.5 into -0.5
58.463 * [taylor]: Taking taylor expansion of phi2 in lambda1
58.463 * [backup-simplify]: Simplify phi2 into phi2
58.463 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
58.463 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
58.463 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
58.463 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1
58.463 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1
58.463 * [taylor]: Taking taylor expansion of -0.5 in lambda1
58.463 * [backup-simplify]: Simplify -0.5 into -0.5
58.463 * [taylor]: Taking taylor expansion of phi1 in lambda1
58.463 * [backup-simplify]: Simplify phi1 into phi1
58.463 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
58.464 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
58.464 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
58.464 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in lambda1
58.464 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda1
58.464 * [taylor]: Taking taylor expansion of lambda2 in lambda1
58.464 * [backup-simplify]: Simplify lambda2 into lambda2
58.464 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
58.464 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1
58.464 * [taylor]: Taking taylor expansion of lambda1 in lambda1
58.464 * [backup-simplify]: Simplify 0 into 0
58.464 * [backup-simplify]: Simplify 1 into 1
58.464 * [backup-simplify]: Simplify (/ 1 1) into 1
58.464 * [taylor]: Taking taylor expansion of (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1))) in lambda1
58.464 * [taylor]: Taking taylor expansion of (- (/ 1 phi2) (/ 1 phi1)) in lambda1
58.464 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
58.464 * [taylor]: Taking taylor expansion of phi2 in lambda1
58.464 * [backup-simplify]: Simplify phi2 into phi2
58.464 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
58.465 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
58.465 * [taylor]: Taking taylor expansion of phi1 in lambda1
58.465 * [backup-simplify]: Simplify phi1 into phi1
58.465 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
58.465 * [taylor]: Taking taylor expansion of (- (/ 1 phi2) (/ 1 phi1)) in lambda1
58.465 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
58.465 * [taylor]: Taking taylor expansion of phi2 in lambda1
58.465 * [backup-simplify]: Simplify phi2 into phi2
58.465 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
58.465 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
58.465 * [taylor]: Taking taylor expansion of phi1 in lambda1
58.465 * [backup-simplify]: Simplify phi1 into phi1
58.465 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
58.465 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
58.465 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
58.465 * [backup-simplify]: Simplify (- 0) into 0
58.466 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
58.466 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
58.466 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
58.466 * [backup-simplify]: Simplify (- 0) into 0
58.466 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
58.466 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))) into (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))
58.467 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
58.467 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
58.467 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
58.467 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
58.467 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
58.467 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
58.467 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))
58.467 * [backup-simplify]: Simplify (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) into (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))
58.468 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))
58.468 * [backup-simplify]: Simplify (- 1) into -1
58.469 * [backup-simplify]: Simplify (+ 0 -1) into -1
58.469 * [backup-simplify]: Simplify (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) -1) into (* -1 (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))
58.469 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
58.470 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
58.470 * [backup-simplify]: Simplify (- 0) into 0
58.470 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
58.470 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
58.470 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
58.471 * [backup-simplify]: Simplify (- 0) into 0
58.471 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
58.471 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))) into (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))
58.471 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
58.471 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
58.471 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
58.471 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
58.472 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
58.472 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
58.472 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))
58.472 * [backup-simplify]: Simplify (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) into (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))
58.472 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))
58.473 * [backup-simplify]: Simplify (- 1) into -1
58.473 * [backup-simplify]: Simplify (+ 0 -1) into -1
58.474 * [backup-simplify]: Simplify (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) -1) into (* -1 (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))
58.475 * [backup-simplify]: Simplify (* (* -1 (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* -1 (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into (pow (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) 2)
58.475 * [backup-simplify]: Simplify (+ (pow (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) 2) 0) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
58.477 * [backup-simplify]: Simplify (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))
58.478 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
58.479 * [backup-simplify]: Simplify (- 0) into 0
58.479 * [backup-simplify]: Simplify (+ (/ 1 lambda2) 0) into (/ 1 lambda2)
58.479 * [backup-simplify]: Simplify (+ 0) into 0
58.480 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
58.480 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
58.481 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.481 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
58.482 * [backup-simplify]: Simplify (- 0) into 0
58.482 * [backup-simplify]: Simplify (+ 0 0) into 0
58.482 * [backup-simplify]: Simplify (+ 0) into 0
58.483 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
58.483 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
58.484 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.484 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
58.485 * [backup-simplify]: Simplify (- 0) into 0
58.485 * [backup-simplify]: Simplify (+ 0 0) into 0
58.485 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
58.486 * [backup-simplify]: Simplify (+ 0) into 0
58.486 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
58.486 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
58.487 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.488 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
58.488 * [backup-simplify]: Simplify (+ 0 0) into 0
58.488 * [backup-simplify]: Simplify (+ 0) into 0
58.489 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
58.489 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
58.490 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.490 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
58.490 * [backup-simplify]: Simplify (+ 0 0) into 0
58.491 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
58.491 * [backup-simplify]: Simplify (- 0) into 0
58.491 * [backup-simplify]: Simplify (+ 0 0) into 0
58.492 * [backup-simplify]: Simplify (+ (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) (/ 1 lambda2)) (* 0 -1)) into (- (/ (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) lambda2) (/ (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) lambda2))
58.493 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
58.493 * [backup-simplify]: Simplify (- 0) into 0
58.494 * [backup-simplify]: Simplify (+ (/ 1 lambda2) 0) into (/ 1 lambda2)
58.494 * [backup-simplify]: Simplify (+ 0) into 0
58.494 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
58.495 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
58.495 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.496 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
58.496 * [backup-simplify]: Simplify (- 0) into 0
58.497 * [backup-simplify]: Simplify (+ 0 0) into 0
58.497 * [backup-simplify]: Simplify (+ 0) into 0
58.497 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
58.498 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
58.498 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.499 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
58.500 * [backup-simplify]: Simplify (- 0) into 0
58.500 * [backup-simplify]: Simplify (+ 0 0) into 0
58.501 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
58.501 * [backup-simplify]: Simplify (+ 0) into 0
58.502 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
58.502 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
58.503 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.503 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
58.504 * [backup-simplify]: Simplify (+ 0 0) into 0
58.504 * [backup-simplify]: Simplify (+ 0) into 0
58.505 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
58.505 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
58.506 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.506 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
58.507 * [backup-simplify]: Simplify (+ 0 0) into 0
58.507 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
58.507 * [backup-simplify]: Simplify (- 0) into 0
58.507 * [backup-simplify]: Simplify (+ 0 0) into 0
58.508 * [backup-simplify]: Simplify (+ (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) (/ 1 lambda2)) (* 0 -1)) into (- (/ (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) lambda2) (/ (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) lambda2))
58.510 * [backup-simplify]: Simplify (+ (* (* -1 (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (/ (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) lambda2) (/ (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) lambda2))) (* (- (/ (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) lambda2) (/ (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) lambda2)) (* -1 (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))))) into (- (+ (* 2 (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) lambda2)) (* 2 (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) lambda2))) (+ (* 2 (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) lambda2)) (* 2 (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) lambda2))))
58.514 * [backup-simplify]: Simplify (+ (- (+ (* 2 (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) lambda2)) (* 2 (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) lambda2))) (+ (* 2 (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) lambda2)) (* 2 (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) lambda2)))) 0) into (- (+ (* 2 (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) lambda2)) (* 2 (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) lambda2))) (+ (* 2 (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) lambda2)) (* 2 (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) lambda2))))
58.518 * [backup-simplify]: Simplify (/ (- (+ (* 2 (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) lambda2)) (* 2 (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) lambda2))) (+ (* 2 (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) lambda2)) (* 2 (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) lambda2)))) (* 2 (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) into (* 1/2 (* (- (+ (* 2 (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) lambda2)) (* 2 (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) lambda2))) (+ (* 2 (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) lambda2)) (* 2 (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) lambda2)))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))))
58.518 * [taylor]: Taking taylor expansion of R in lambda1
58.518 * [backup-simplify]: Simplify R into R
58.520 * [backup-simplify]: Simplify (/ (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) R) into (* (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (/ 1 R))
58.522 * [backup-simplify]: Simplify (* -1 (* (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (/ 1 R))) into (* -1 (* (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (/ 1 R)))
58.523 * [taylor]: Taking taylor expansion of (* -1 (* (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (/ 1 R))) in lambda2
58.523 * [taylor]: Taking taylor expansion of -1 in lambda2
58.523 * [backup-simplify]: Simplify -1 into -1
58.523 * [taylor]: Taking taylor expansion of (* (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (/ 1 R)) in lambda2
58.523 * [taylor]: Taking taylor expansion of (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) in lambda2
58.523 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in lambda2
58.523 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in lambda2
58.523 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2
58.523 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2
58.523 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
58.523 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
58.523 * [taylor]: Taking taylor expansion of -0.5 in lambda2
58.523 * [backup-simplify]: Simplify -0.5 into -0.5
58.523 * [taylor]: Taking taylor expansion of phi2 in lambda2
58.523 * [backup-simplify]: Simplify phi2 into phi2
58.523 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
58.523 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
58.523 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
58.524 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
58.524 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
58.527 * [backup-simplify]: Simplify (- 0) into 0
58.527 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
58.527 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2
58.527 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
58.527 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
58.527 * [taylor]: Taking taylor expansion of -0.5 in lambda2
58.527 * [backup-simplify]: Simplify -0.5 into -0.5
58.527 * [taylor]: Taking taylor expansion of phi1 in lambda2
58.527 * [backup-simplify]: Simplify phi1 into phi1
58.527 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
58.528 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
58.528 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
58.528 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
58.528 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
58.528 * [backup-simplify]: Simplify (- 0) into 0
58.528 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
58.528 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2
58.529 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2
58.529 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
58.529 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
58.529 * [taylor]: Taking taylor expansion of -0.5 in lambda2
58.529 * [backup-simplify]: Simplify -0.5 into -0.5
58.529 * [taylor]: Taking taylor expansion of phi2 in lambda2
58.529 * [backup-simplify]: Simplify phi2 into phi2
58.529 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
58.529 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
58.529 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
58.529 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
58.529 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
58.529 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
58.529 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2
58.529 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
58.529 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
58.529 * [taylor]: Taking taylor expansion of -0.5 in lambda2
58.529 * [backup-simplify]: Simplify -0.5 into -0.5
58.529 * [taylor]: Taking taylor expansion of phi1 in lambda2
58.529 * [backup-simplify]: Simplify phi1 into phi1
58.530 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
58.530 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
58.530 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
58.530 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
58.530 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
58.530 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
58.530 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in lambda2
58.530 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
58.530 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
58.530 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
58.530 * [taylor]: Taking taylor expansion of -0.5 in lambda2
58.530 * [backup-simplify]: Simplify -0.5 into -0.5
58.530 * [taylor]: Taking taylor expansion of phi2 in lambda2
58.530 * [backup-simplify]: Simplify phi2 into phi2
58.530 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
58.530 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
58.531 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
58.531 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
58.531 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
58.531 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
58.531 * [taylor]: Taking taylor expansion of -0.5 in lambda2
58.531 * [backup-simplify]: Simplify -0.5 into -0.5
58.531 * [taylor]: Taking taylor expansion of phi2 in lambda2
58.531 * [backup-simplify]: Simplify phi2 into phi2
58.531 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
58.531 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
58.531 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
58.531 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
58.531 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
58.531 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
58.531 * [taylor]: Taking taylor expansion of -0.5 in lambda2
58.531 * [backup-simplify]: Simplify -0.5 into -0.5
58.531 * [taylor]: Taking taylor expansion of phi1 in lambda2
58.531 * [backup-simplify]: Simplify phi1 into phi1
58.531 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
58.531 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
58.531 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
58.531 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
58.532 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
58.532 * [taylor]: Taking taylor expansion of -0.5 in lambda2
58.532 * [backup-simplify]: Simplify -0.5 into -0.5
58.532 * [taylor]: Taking taylor expansion of phi1 in lambda2
58.532 * [backup-simplify]: Simplify phi1 into phi1
58.532 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
58.532 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
58.532 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
58.532 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
58.532 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
58.532 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
58.532 * [taylor]: Taking taylor expansion of -0.5 in lambda2
58.532 * [backup-simplify]: Simplify -0.5 into -0.5
58.532 * [taylor]: Taking taylor expansion of phi2 in lambda2
58.532 * [backup-simplify]: Simplify phi2 into phi2
58.532 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
58.532 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
58.532 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
58.532 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
58.532 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
58.532 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
58.532 * [taylor]: Taking taylor expansion of -0.5 in lambda2
58.532 * [backup-simplify]: Simplify -0.5 into -0.5
58.532 * [taylor]: Taking taylor expansion of phi2 in lambda2
58.533 * [backup-simplify]: Simplify phi2 into phi2
58.533 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
58.533 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
58.533 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
58.533 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
58.533 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
58.533 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
58.533 * [taylor]: Taking taylor expansion of -0.5 in lambda2
58.533 * [backup-simplify]: Simplify -0.5 into -0.5
58.533 * [taylor]: Taking taylor expansion of phi1 in lambda2
58.533 * [backup-simplify]: Simplify phi1 into phi1
58.533 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
58.533 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
58.533 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
58.533 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
58.533 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
58.533 * [taylor]: Taking taylor expansion of -0.5 in lambda2
58.533 * [backup-simplify]: Simplify -0.5 into -0.5
58.533 * [taylor]: Taking taylor expansion of phi1 in lambda2
58.533 * [backup-simplify]: Simplify phi1 into phi1
58.533 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
58.534 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
58.534 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
58.534 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
58.534 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
58.534 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
58.535 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
58.535 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
58.535 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
58.536 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
58.536 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
58.536 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
58.536 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
58.536 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
58.536 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
58.537 * [backup-simplify]: Simplify (- 0) into 0
58.537 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
58.537 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
58.537 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
58.538 * [backup-simplify]: Simplify (- 0) into 0
58.538 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
58.538 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
58.538 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
58.538 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
58.538 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
58.538 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
58.539 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
58.539 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
58.539 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
58.539 * [backup-simplify]: Simplify (- 0) into 0
58.539 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
58.540 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
58.540 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
58.540 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
58.540 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
58.540 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
58.540 * [backup-simplify]: Simplify (- 0) into 0
58.540 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
58.541 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
58.541 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
58.541 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
58.541 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
58.541 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
58.542 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
58.542 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
58.544 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
58.546 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
58.547 * [backup-simplify]: Simplify (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))
58.548 * [backup-simplify]: Simplify (+ 0) into 0
58.549 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
58.549 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
58.550 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.550 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
58.550 * [backup-simplify]: Simplify (- 0) into 0
58.551 * [backup-simplify]: Simplify (+ 0 0) into 0
58.551 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
58.551 * [backup-simplify]: Simplify (+ 0) into 0
58.552 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
58.552 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
58.553 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.553 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
58.553 * [backup-simplify]: Simplify (- 0) into 0
58.554 * [backup-simplify]: Simplify (+ 0 0) into 0
58.554 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
58.554 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
58.555 * [backup-simplify]: Simplify (+ 0) into 0
58.555 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
58.555 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
58.556 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.557 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
58.557 * [backup-simplify]: Simplify (+ 0 0) into 0
58.557 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
58.558 * [backup-simplify]: Simplify (+ 0) into 0
58.558 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
58.558 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
58.559 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.559 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
58.560 * [backup-simplify]: Simplify (+ 0 0) into 0
58.560 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
58.560 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
58.561 * [backup-simplify]: Simplify (+ 0 0) into 0
58.561 * [backup-simplify]: Simplify (+ 0) into 0
58.562 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
58.562 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
58.563 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.563 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
58.564 * [backup-simplify]: Simplify (+ 0 0) into 0
58.564 * [backup-simplify]: Simplify (+ 0) into 0
58.564 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
58.565 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
58.565 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.566 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
58.566 * [backup-simplify]: Simplify (- 0) into 0
58.567 * [backup-simplify]: Simplify (+ 0 0) into 0
58.567 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
58.567 * [backup-simplify]: Simplify (+ 0) into 0
58.568 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
58.568 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
58.569 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.569 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
58.570 * [backup-simplify]: Simplify (- 0) into 0
58.570 * [backup-simplify]: Simplify (+ 0 0) into 0
58.570 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
58.571 * [backup-simplify]: Simplify (+ 0) into 0
58.571 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
58.571 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
58.572 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.573 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
58.573 * [backup-simplify]: Simplify (+ 0 0) into 0
58.573 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
58.574 * [backup-simplify]: Simplify (+ 0) into 0
58.574 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
58.575 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
58.575 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.576 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
58.576 * [backup-simplify]: Simplify (+ 0 0) into 0
58.577 * [backup-simplify]: Simplify (+ 0) into 0
58.577 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
58.577 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
58.578 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.578 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
58.579 * [backup-simplify]: Simplify (- 0) into 0
58.579 * [backup-simplify]: Simplify (+ 0 0) into 0
58.579 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
58.580 * [backup-simplify]: Simplify (+ 0) into 0
58.580 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
58.581 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
58.581 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.582 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
58.582 * [backup-simplify]: Simplify (+ 0 0) into 0
58.582 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
58.583 * [backup-simplify]: Simplify (+ 0) into 0
58.583 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
58.583 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
58.584 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.585 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
58.585 * [backup-simplify]: Simplify (- 0) into 0
58.585 * [backup-simplify]: Simplify (+ 0 0) into 0
58.586 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
58.586 * [backup-simplify]: Simplify (+ 0 0) into 0
58.587 * [backup-simplify]: Simplify (- 0) into 0
58.587 * [backup-simplify]: Simplify (+ 0 0) into 0
58.589 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) into 0
58.589 * [taylor]: Taking taylor expansion of (/ 1 R) in lambda2
58.589 * [taylor]: Taking taylor expansion of R in lambda2
58.589 * [backup-simplify]: Simplify R into R
58.589 * [backup-simplify]: Simplify (/ 1 R) into (/ 1 R)
58.597 * [backup-simplify]: Simplify (- (/ (* 1/2 (* (- (+ (* 2 (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) lambda2)) (* 2 (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) lambda2))) (+ (* 2 (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) lambda2)) (* 2 (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) lambda2)))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) R) (+ (* (* (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (/ 1 R)) (/ 0 R)))) into (- (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R lambda2)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* lambda2 R)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* lambda2 R)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))))
58.609 * [backup-simplify]: Simplify (+ (* -1 (- (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R lambda2)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* lambda2 R)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* lambda2 R)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))))) (* 0 (* (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (/ 1 R)))) into (- (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* lambda2 R)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* lambda2 R)))) (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R lambda2)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))))
58.609 * [taylor]: Taking taylor expansion of (- (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* lambda2 R)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* lambda2 R)))) (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R lambda2)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))))) in lambda2
58.609 * [taylor]: Taking taylor expansion of (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* lambda2 R)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* lambda2 R)))) in lambda2
58.610 * [taylor]: Taking taylor expansion of (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* lambda2 R)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) in lambda2
58.610 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* lambda2 R)) in lambda2
58.610 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2
58.610 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2
58.610 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
58.610 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
58.610 * [taylor]: Taking taylor expansion of -0.5 in lambda2
58.610 * [backup-simplify]: Simplify -0.5 into -0.5
58.610 * [taylor]: Taking taylor expansion of phi2 in lambda2
58.610 * [backup-simplify]: Simplify phi2 into phi2
58.610 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
58.610 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
58.610 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
58.610 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
58.610 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
58.611 * [backup-simplify]: Simplify (- 0) into 0
58.611 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
58.611 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2
58.611 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
58.611 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
58.611 * [taylor]: Taking taylor expansion of -0.5 in lambda2
58.611 * [backup-simplify]: Simplify -0.5 into -0.5
58.611 * [taylor]: Taking taylor expansion of phi1 in lambda2
58.611 * [backup-simplify]: Simplify phi1 into phi1
58.611 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
58.611 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
58.611 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
58.612 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
58.612 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
58.612 * [backup-simplify]: Simplify (- 0) into 0
58.612 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
58.612 * [taylor]: Taking taylor expansion of (* lambda2 R) in lambda2
58.612 * [taylor]: Taking taylor expansion of lambda2 in lambda2
58.612 * [backup-simplify]: Simplify 0 into 0
58.612 * [backup-simplify]: Simplify 1 into 1
58.612 * [taylor]: Taking taylor expansion of R in lambda2
58.612 * [backup-simplify]: Simplify R into R
58.613 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
58.613 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
58.613 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
58.613 * [backup-simplify]: Simplify (* 0 R) into 0
58.614 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 R)) into R
58.614 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) into (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R)
58.614 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) in lambda2
58.614 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) in lambda2
58.614 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in lambda2
58.614 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in lambda2
58.614 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2
58.614 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2
58.614 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
58.614 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
58.614 * [taylor]: Taking taylor expansion of -0.5 in lambda2
58.615 * [backup-simplify]: Simplify -0.5 into -0.5
58.615 * [taylor]: Taking taylor expansion of phi2 in lambda2
58.615 * [backup-simplify]: Simplify phi2 into phi2
58.615 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
58.615 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
58.615 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
58.615 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
58.615 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
58.615 * [backup-simplify]: Simplify (- 0) into 0
58.616 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
58.616 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2
58.616 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
58.616 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
58.616 * [taylor]: Taking taylor expansion of -0.5 in lambda2
58.616 * [backup-simplify]: Simplify -0.5 into -0.5
58.616 * [taylor]: Taking taylor expansion of phi1 in lambda2
58.616 * [backup-simplify]: Simplify phi1 into phi1
58.616 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
58.616 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
58.616 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
58.616 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
58.616 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
58.617 * [backup-simplify]: Simplify (- 0) into 0
58.617 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
58.617 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2
58.617 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2
58.617 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
58.617 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
58.617 * [taylor]: Taking taylor expansion of -0.5 in lambda2
58.617 * [backup-simplify]: Simplify -0.5 into -0.5
58.617 * [taylor]: Taking taylor expansion of phi2 in lambda2
58.617 * [backup-simplify]: Simplify phi2 into phi2
58.617 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
58.617 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
58.617 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
58.617 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
58.618 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
58.618 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
58.618 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2
58.618 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
58.618 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
58.618 * [taylor]: Taking taylor expansion of -0.5 in lambda2
58.618 * [backup-simplify]: Simplify -0.5 into -0.5
58.618 * [taylor]: Taking taylor expansion of phi1 in lambda2
58.618 * [backup-simplify]: Simplify phi1 into phi1
58.618 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
58.618 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
58.618 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
58.618 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
58.618 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
58.618 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
58.618 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in lambda2
58.619 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
58.619 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
58.619 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
58.619 * [taylor]: Taking taylor expansion of -0.5 in lambda2
58.619 * [backup-simplify]: Simplify -0.5 into -0.5
58.619 * [taylor]: Taking taylor expansion of phi2 in lambda2
58.619 * [backup-simplify]: Simplify phi2 into phi2
58.619 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
58.619 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
58.619 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
58.619 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
58.619 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
58.619 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
58.619 * [taylor]: Taking taylor expansion of -0.5 in lambda2
58.619 * [backup-simplify]: Simplify -0.5 into -0.5
58.619 * [taylor]: Taking taylor expansion of phi2 in lambda2
58.619 * [backup-simplify]: Simplify phi2 into phi2
58.619 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
58.619 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
58.619 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
58.619 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
58.619 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
58.620 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
58.620 * [taylor]: Taking taylor expansion of -0.5 in lambda2
58.620 * [backup-simplify]: Simplify -0.5 into -0.5
58.620 * [taylor]: Taking taylor expansion of phi1 in lambda2
58.620 * [backup-simplify]: Simplify phi1 into phi1
58.620 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
58.620 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
58.620 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
58.620 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
58.620 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
58.620 * [taylor]: Taking taylor expansion of -0.5 in lambda2
58.620 * [backup-simplify]: Simplify -0.5 into -0.5
58.620 * [taylor]: Taking taylor expansion of phi1 in lambda2
58.620 * [backup-simplify]: Simplify phi1 into phi1
58.620 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
58.620 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
58.620 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
58.620 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
58.620 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
58.620 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
58.620 * [taylor]: Taking taylor expansion of -0.5 in lambda2
58.620 * [backup-simplify]: Simplify -0.5 into -0.5
58.621 * [taylor]: Taking taylor expansion of phi2 in lambda2
58.621 * [backup-simplify]: Simplify phi2 into phi2
58.621 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
58.621 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
58.621 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
58.621 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
58.621 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
58.621 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
58.621 * [taylor]: Taking taylor expansion of -0.5 in lambda2
58.621 * [backup-simplify]: Simplify -0.5 into -0.5
58.621 * [taylor]: Taking taylor expansion of phi2 in lambda2
58.621 * [backup-simplify]: Simplify phi2 into phi2
58.621 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
58.621 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
58.621 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
58.621 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
58.621 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
58.621 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
58.621 * [taylor]: Taking taylor expansion of -0.5 in lambda2
58.621 * [backup-simplify]: Simplify -0.5 into -0.5
58.621 * [taylor]: Taking taylor expansion of phi1 in lambda2
58.621 * [backup-simplify]: Simplify phi1 into phi1
58.621 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
58.622 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
58.622 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
58.622 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
58.622 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
58.622 * [taylor]: Taking taylor expansion of -0.5 in lambda2
58.622 * [backup-simplify]: Simplify -0.5 into -0.5
58.622 * [taylor]: Taking taylor expansion of phi1 in lambda2
58.622 * [backup-simplify]: Simplify phi1 into phi1
58.622 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
58.622 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
58.622 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
58.622 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
58.622 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
58.623 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
58.623 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
58.623 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
58.624 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
58.624 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
58.625 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
58.625 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
58.625 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
58.625 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
58.625 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
58.626 * [backup-simplify]: Simplify (- 0) into 0
58.626 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
58.626 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
58.626 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
58.626 * [backup-simplify]: Simplify (- 0) into 0
58.627 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
58.627 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
58.627 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
58.627 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
58.627 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
58.627 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
58.628 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
58.628 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
58.628 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
58.628 * [backup-simplify]: Simplify (- 0) into 0
58.629 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
58.629 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
58.629 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
58.629 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
58.629 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
58.629 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
58.630 * [backup-simplify]: Simplify (- 0) into 0
58.630 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
58.630 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
58.630 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
58.630 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
58.630 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
58.630 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
58.631 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
58.632 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
58.632 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
58.634 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
58.635 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))
58.636 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))
58.637 * [backup-simplify]: Simplify (+ 0) into 0
58.637 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
58.637 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
58.638 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.638 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
58.639 * [backup-simplify]: Simplify (- 0) into 0
58.639 * [backup-simplify]: Simplify (+ 0 0) into 0
58.639 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
58.639 * [backup-simplify]: Simplify (+ 0) into 0
58.640 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
58.640 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
58.640 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.640 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
58.641 * [backup-simplify]: Simplify (- 0) into 0
58.641 * [backup-simplify]: Simplify (+ 0 0) into 0
58.641 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
58.641 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
58.642 * [backup-simplify]: Simplify (+ 0) into 0
58.642 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
58.642 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
58.642 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.643 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
58.643 * [backup-simplify]: Simplify (+ 0 0) into 0
58.643 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
58.643 * [backup-simplify]: Simplify (+ 0) into 0
58.644 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
58.644 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
58.644 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.645 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
58.645 * [backup-simplify]: Simplify (+ 0 0) into 0
58.645 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
58.645 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
58.645 * [backup-simplify]: Simplify (+ 0 0) into 0
58.646 * [backup-simplify]: Simplify (+ 0) into 0
58.646 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
58.646 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
58.646 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.647 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
58.647 * [backup-simplify]: Simplify (+ 0 0) into 0
58.647 * [backup-simplify]: Simplify (+ 0) into 0
58.648 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
58.648 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
58.648 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.649 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
58.649 * [backup-simplify]: Simplify (- 0) into 0
58.649 * [backup-simplify]: Simplify (+ 0 0) into 0
58.649 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
58.649 * [backup-simplify]: Simplify (+ 0) into 0
58.650 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
58.650 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
58.650 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.651 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
58.651 * [backup-simplify]: Simplify (- 0) into 0
58.651 * [backup-simplify]: Simplify (+ 0 0) into 0
58.651 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
58.651 * [backup-simplify]: Simplify (+ 0) into 0
58.652 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
58.652 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
58.652 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.653 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
58.653 * [backup-simplify]: Simplify (+ 0 0) into 0
58.653 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
58.653 * [backup-simplify]: Simplify (+ 0) into 0
58.654 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
58.654 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
58.655 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.655 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
58.656 * [backup-simplify]: Simplify (+ 0 0) into 0
58.656 * [backup-simplify]: Simplify (+ 0) into 0
58.657 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
58.657 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
58.658 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.658 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
58.658 * [backup-simplify]: Simplify (- 0) into 0
58.659 * [backup-simplify]: Simplify (+ 0 0) into 0
58.659 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
58.659 * [backup-simplify]: Simplify (+ 0) into 0
58.660 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
58.660 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
58.661 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.661 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
58.662 * [backup-simplify]: Simplify (+ 0 0) into 0
58.662 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
58.662 * [backup-simplify]: Simplify (+ 0) into 0
58.663 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
58.663 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
58.664 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.664 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
58.665 * [backup-simplify]: Simplify (- 0) into 0
58.665 * [backup-simplify]: Simplify (+ 0 0) into 0
58.665 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
58.666 * [backup-simplify]: Simplify (+ 0 0) into 0
58.666 * [backup-simplify]: Simplify (- 0) into 0
58.666 * [backup-simplify]: Simplify (+ 0 0) into 0
58.670 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0
58.673 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0
58.673 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* lambda2 R))) in lambda2
58.673 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) in lambda2
58.673 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) in lambda2
58.673 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in lambda2
58.673 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in lambda2
58.673 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2
58.673 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2
58.673 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
58.673 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
58.673 * [taylor]: Taking taylor expansion of -0.5 in lambda2
58.673 * [backup-simplify]: Simplify -0.5 into -0.5
58.673 * [taylor]: Taking taylor expansion of phi2 in lambda2
58.673 * [backup-simplify]: Simplify phi2 into phi2
58.673 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
58.673 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
58.673 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
58.674 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
58.674 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
58.674 * [backup-simplify]: Simplify (- 0) into 0
58.674 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
58.674 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2
58.674 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
58.674 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
58.674 * [taylor]: Taking taylor expansion of -0.5 in lambda2
58.675 * [backup-simplify]: Simplify -0.5 into -0.5
58.675 * [taylor]: Taking taylor expansion of phi1 in lambda2
58.675 * [backup-simplify]: Simplify phi1 into phi1
58.675 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
58.675 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
58.675 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
58.675 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
58.675 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
58.675 * [backup-simplify]: Simplify (- 0) into 0
58.676 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
58.676 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2
58.676 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2
58.676 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
58.676 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
58.676 * [taylor]: Taking taylor expansion of -0.5 in lambda2
58.676 * [backup-simplify]: Simplify -0.5 into -0.5
58.676 * [taylor]: Taking taylor expansion of phi2 in lambda2
58.676 * [backup-simplify]: Simplify phi2 into phi2
58.676 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
58.676 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
58.676 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
58.676 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
58.676 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
58.676 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
58.676 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2
58.676 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
58.676 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
58.676 * [taylor]: Taking taylor expansion of -0.5 in lambda2
58.677 * [backup-simplify]: Simplify -0.5 into -0.5
58.677 * [taylor]: Taking taylor expansion of phi1 in lambda2
58.677 * [backup-simplify]: Simplify phi1 into phi1
58.677 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
58.677 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
58.677 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
58.677 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
58.677 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
58.677 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
58.677 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in lambda2
58.677 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
58.677 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
58.677 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
58.677 * [taylor]: Taking taylor expansion of -0.5 in lambda2
58.677 * [backup-simplify]: Simplify -0.5 into -0.5
58.677 * [taylor]: Taking taylor expansion of phi2 in lambda2
58.677 * [backup-simplify]: Simplify phi2 into phi2
58.677 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
58.678 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
58.678 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
58.678 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
58.678 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
58.678 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
58.678 * [taylor]: Taking taylor expansion of -0.5 in lambda2
58.678 * [backup-simplify]: Simplify -0.5 into -0.5
58.678 * [taylor]: Taking taylor expansion of phi2 in lambda2
58.678 * [backup-simplify]: Simplify phi2 into phi2
58.678 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
58.678 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
58.678 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
58.678 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
58.678 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
58.678 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
58.678 * [taylor]: Taking taylor expansion of -0.5 in lambda2
58.678 * [backup-simplify]: Simplify -0.5 into -0.5
58.678 * [taylor]: Taking taylor expansion of phi1 in lambda2
58.678 * [backup-simplify]: Simplify phi1 into phi1
58.678 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
58.678 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
58.679 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
58.679 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
58.679 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
58.679 * [taylor]: Taking taylor expansion of -0.5 in lambda2
58.679 * [backup-simplify]: Simplify -0.5 into -0.5
58.679 * [taylor]: Taking taylor expansion of phi1 in lambda2
58.679 * [backup-simplify]: Simplify phi1 into phi1
58.679 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
58.679 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
58.679 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
58.679 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
58.679 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
58.679 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
58.679 * [taylor]: Taking taylor expansion of -0.5 in lambda2
58.679 * [backup-simplify]: Simplify -0.5 into -0.5
58.679 * [taylor]: Taking taylor expansion of phi2 in lambda2
58.679 * [backup-simplify]: Simplify phi2 into phi2
58.679 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
58.679 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
58.679 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
58.679 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
58.680 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
58.680 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
58.680 * [taylor]: Taking taylor expansion of -0.5 in lambda2
58.680 * [backup-simplify]: Simplify -0.5 into -0.5
58.680 * [taylor]: Taking taylor expansion of phi2 in lambda2
58.680 * [backup-simplify]: Simplify phi2 into phi2
58.680 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
58.680 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
58.680 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
58.680 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
58.680 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
58.680 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
58.680 * [taylor]: Taking taylor expansion of -0.5 in lambda2
58.680 * [backup-simplify]: Simplify -0.5 into -0.5
58.680 * [taylor]: Taking taylor expansion of phi1 in lambda2
58.680 * [backup-simplify]: Simplify phi1 into phi1
58.680 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
58.680 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
58.680 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
58.680 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
58.680 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
58.680 * [taylor]: Taking taylor expansion of -0.5 in lambda2
58.680 * [backup-simplify]: Simplify -0.5 into -0.5
58.681 * [taylor]: Taking taylor expansion of phi1 in lambda2
58.681 * [backup-simplify]: Simplify phi1 into phi1
58.681 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
58.681 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
58.681 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
58.681 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
58.681 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
58.682 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
58.682 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
58.682 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
58.682 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
58.683 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
58.683 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
58.683 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
58.683 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
58.683 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
58.684 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
58.684 * [backup-simplify]: Simplify (- 0) into 0
58.684 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
58.684 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
58.684 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
58.685 * [backup-simplify]: Simplify (- 0) into 0
58.685 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
58.685 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
58.685 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
58.686 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
58.686 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
58.686 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
58.686 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
58.686 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
58.687 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
58.690 * [backup-simplify]: Simplify (- 0) into 0
58.690 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
58.690 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
58.690 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
58.690 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
58.690 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
58.691 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
58.691 * [backup-simplify]: Simplify (- 0) into 0
58.691 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
58.691 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
58.691 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
58.692 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
58.692 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
58.692 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
58.692 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
58.693 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
58.694 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
58.696 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
58.698 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))
58.700 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))
58.700 * [backup-simplify]: Simplify (+ 0) into 0
58.701 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
58.701 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
58.702 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.702 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
58.703 * [backup-simplify]: Simplify (- 0) into 0
58.703 * [backup-simplify]: Simplify (+ 0 0) into 0
58.703 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
58.703 * [backup-simplify]: Simplify (+ 0) into 0
58.704 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
58.704 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
58.705 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.705 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
58.706 * [backup-simplify]: Simplify (- 0) into 0
58.706 * [backup-simplify]: Simplify (+ 0 0) into 0
58.706 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
58.707 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
58.707 * [backup-simplify]: Simplify (+ 0) into 0
58.708 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
58.708 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
58.709 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.709 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
58.710 * [backup-simplify]: Simplify (+ 0 0) into 0
58.710 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
58.710 * [backup-simplify]: Simplify (+ 0) into 0
58.711 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
58.711 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
58.712 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.712 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
58.713 * [backup-simplify]: Simplify (+ 0 0) into 0
58.713 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
58.713 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
58.714 * [backup-simplify]: Simplify (+ 0 0) into 0
58.714 * [backup-simplify]: Simplify (+ 0) into 0
58.714 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
58.714 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
58.715 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.715 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
58.715 * [backup-simplify]: Simplify (+ 0 0) into 0
58.716 * [backup-simplify]: Simplify (+ 0) into 0
58.716 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
58.716 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
58.716 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.717 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
58.717 * [backup-simplify]: Simplify (- 0) into 0
58.717 * [backup-simplify]: Simplify (+ 0 0) into 0
58.717 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
58.717 * [backup-simplify]: Simplify (+ 0) into 0
58.718 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
58.718 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
58.718 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.719 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
58.719 * [backup-simplify]: Simplify (- 0) into 0
58.719 * [backup-simplify]: Simplify (+ 0 0) into 0
58.719 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
58.720 * [backup-simplify]: Simplify (+ 0) into 0
58.720 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
58.720 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
58.720 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.721 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
58.721 * [backup-simplify]: Simplify (+ 0 0) into 0
58.721 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
58.721 * [backup-simplify]: Simplify (+ 0) into 0
58.722 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
58.722 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
58.722 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.723 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
58.723 * [backup-simplify]: Simplify (+ 0 0) into 0
58.723 * [backup-simplify]: Simplify (+ 0) into 0
58.723 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
58.723 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
58.724 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.724 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
58.724 * [backup-simplify]: Simplify (- 0) into 0
58.725 * [backup-simplify]: Simplify (+ 0 0) into 0
58.725 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
58.725 * [backup-simplify]: Simplify (+ 0) into 0
58.725 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
58.725 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
58.726 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.726 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
58.726 * [backup-simplify]: Simplify (+ 0 0) into 0
58.727 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
58.727 * [backup-simplify]: Simplify (+ 0) into 0
58.727 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
58.727 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
58.728 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.728 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
58.728 * [backup-simplify]: Simplify (- 0) into 0
58.728 * [backup-simplify]: Simplify (+ 0 0) into 0
58.729 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
58.729 * [backup-simplify]: Simplify (+ 0 0) into 0
58.729 * [backup-simplify]: Simplify (- 0) into 0
58.729 * [backup-simplify]: Simplify (+ 0 0) into 0
58.731 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0
58.732 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0
58.732 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* lambda2 R)) in lambda2
58.732 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2
58.733 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2
58.733 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
58.733 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
58.733 * [taylor]: Taking taylor expansion of -0.5 in lambda2
58.733 * [backup-simplify]: Simplify -0.5 into -0.5
58.733 * [taylor]: Taking taylor expansion of phi2 in lambda2
58.733 * [backup-simplify]: Simplify phi2 into phi2
58.733 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
58.733 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
58.733 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
58.733 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
58.733 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
58.733 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
58.733 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2
58.733 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
58.733 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
58.733 * [taylor]: Taking taylor expansion of -0.5 in lambda2
58.733 * [backup-simplify]: Simplify -0.5 into -0.5
58.733 * [taylor]: Taking taylor expansion of phi1 in lambda2
58.733 * [backup-simplify]: Simplify phi1 into phi1
58.733 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
58.733 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
58.733 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
58.733 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
58.733 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
58.733 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
58.733 * [taylor]: Taking taylor expansion of (* lambda2 R) in lambda2
58.733 * [taylor]: Taking taylor expansion of lambda2 in lambda2
58.733 * [backup-simplify]: Simplify 0 into 0
58.733 * [backup-simplify]: Simplify 1 into 1
58.733 * [taylor]: Taking taylor expansion of R in lambda2
58.734 * [backup-simplify]: Simplify R into R
58.734 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
58.734 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
58.734 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
58.734 * [backup-simplify]: Simplify (* 0 R) into 0
58.734 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 R)) into R
58.734 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R) into (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R)
58.735 * [taylor]: Taking taylor expansion of (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R lambda2)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) in lambda2
58.735 * [taylor]: Taking taylor expansion of 2 in lambda2
58.735 * [backup-simplify]: Simplify 2 into 2
58.735 * [taylor]: Taking taylor expansion of (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R lambda2)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) in lambda2
58.735 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R lambda2)) in lambda2
58.735 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
58.735 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
58.735 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
58.735 * [taylor]: Taking taylor expansion of -0.5 in lambda2
58.735 * [backup-simplify]: Simplify -0.5 into -0.5
58.735 * [taylor]: Taking taylor expansion of phi2 in lambda2
58.735 * [backup-simplify]: Simplify phi2 into phi2
58.735 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
58.735 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
58.735 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
58.735 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
58.735 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
58.735 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
58.735 * [taylor]: Taking taylor expansion of -0.5 in lambda2
58.735 * [backup-simplify]: Simplify -0.5 into -0.5
58.735 * [taylor]: Taking taylor expansion of phi2 in lambda2
58.735 * [backup-simplify]: Simplify phi2 into phi2
58.735 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
58.735 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
58.735 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
58.735 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
58.735 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
58.735 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
58.735 * [taylor]: Taking taylor expansion of -0.5 in lambda2
58.736 * [backup-simplify]: Simplify -0.5 into -0.5
58.736 * [taylor]: Taking taylor expansion of phi1 in lambda2
58.736 * [backup-simplify]: Simplify phi1 into phi1
58.736 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
58.736 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
58.736 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
58.736 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
58.736 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
58.736 * [taylor]: Taking taylor expansion of -0.5 in lambda2
58.736 * [backup-simplify]: Simplify -0.5 into -0.5
58.736 * [taylor]: Taking taylor expansion of phi1 in lambda2
58.736 * [backup-simplify]: Simplify phi1 into phi1
58.736 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
58.736 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
58.736 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
58.736 * [taylor]: Taking taylor expansion of (* R lambda2) in lambda2
58.736 * [taylor]: Taking taylor expansion of R in lambda2
58.736 * [backup-simplify]: Simplify R into R
58.736 * [taylor]: Taking taylor expansion of lambda2 in lambda2
58.736 * [backup-simplify]: Simplify 0 into 0
58.736 * [backup-simplify]: Simplify 1 into 1
58.736 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
58.736 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
58.736 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
58.736 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
58.736 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
58.737 * [backup-simplify]: Simplify (- 0) into 0
58.737 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
58.737 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
58.737 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
58.737 * [backup-simplify]: Simplify (- 0) into 0
58.737 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
58.737 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
58.737 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
58.737 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
58.737 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
58.738 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
58.738 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
58.738 * [backup-simplify]: Simplify (* R 0) into 0
58.738 * [backup-simplify]: Simplify (+ (* R 1) (* 0 0)) into R
58.738 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) into (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R)
58.738 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) in lambda2
58.738 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) in lambda2
58.738 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in lambda2
58.738 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in lambda2
58.738 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2
58.738 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2
58.738 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
58.739 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
58.739 * [taylor]: Taking taylor expansion of -0.5 in lambda2
58.739 * [backup-simplify]: Simplify -0.5 into -0.5
58.739 * [taylor]: Taking taylor expansion of phi2 in lambda2
58.739 * [backup-simplify]: Simplify phi2 into phi2
58.739 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
58.739 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
58.739 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
58.739 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
58.739 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
58.739 * [backup-simplify]: Simplify (- 0) into 0
58.739 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
58.739 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2
58.739 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
58.739 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
58.739 * [taylor]: Taking taylor expansion of -0.5 in lambda2
58.739 * [backup-simplify]: Simplify -0.5 into -0.5
58.739 * [taylor]: Taking taylor expansion of phi1 in lambda2
58.739 * [backup-simplify]: Simplify phi1 into phi1
58.739 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
58.739 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
58.739 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
58.740 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
58.740 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
58.740 * [backup-simplify]: Simplify (- 0) into 0
58.740 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
58.740 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2
58.740 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2
58.740 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
58.740 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
58.740 * [taylor]: Taking taylor expansion of -0.5 in lambda2
58.740 * [backup-simplify]: Simplify -0.5 into -0.5
58.740 * [taylor]: Taking taylor expansion of phi2 in lambda2
58.740 * [backup-simplify]: Simplify phi2 into phi2
58.740 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
58.740 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
58.740 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
58.740 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
58.740 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
58.740 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
58.740 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2
58.740 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
58.740 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
58.740 * [taylor]: Taking taylor expansion of -0.5 in lambda2
58.740 * [backup-simplify]: Simplify -0.5 into -0.5
58.741 * [taylor]: Taking taylor expansion of phi1 in lambda2
58.741 * [backup-simplify]: Simplify phi1 into phi1
58.741 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
58.741 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
58.741 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
58.741 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
58.741 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
58.741 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
58.741 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in lambda2
58.741 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
58.741 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
58.741 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
58.741 * [taylor]: Taking taylor expansion of -0.5 in lambda2
58.741 * [backup-simplify]: Simplify -0.5 into -0.5
58.741 * [taylor]: Taking taylor expansion of phi2 in lambda2
58.741 * [backup-simplify]: Simplify phi2 into phi2
58.741 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
58.741 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
58.741 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
58.741 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
58.741 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
58.741 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
58.741 * [taylor]: Taking taylor expansion of -0.5 in lambda2
58.741 * [backup-simplify]: Simplify -0.5 into -0.5
58.741 * [taylor]: Taking taylor expansion of phi2 in lambda2
58.741 * [backup-simplify]: Simplify phi2 into phi2
58.741 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
58.741 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
58.741 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
58.742 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
58.742 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
58.742 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
58.742 * [taylor]: Taking taylor expansion of -0.5 in lambda2
58.742 * [backup-simplify]: Simplify -0.5 into -0.5
58.742 * [taylor]: Taking taylor expansion of phi1 in lambda2
58.742 * [backup-simplify]: Simplify phi1 into phi1
58.742 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
58.742 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
58.742 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
58.742 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
58.742 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
58.742 * [taylor]: Taking taylor expansion of -0.5 in lambda2
58.742 * [backup-simplify]: Simplify -0.5 into -0.5
58.742 * [taylor]: Taking taylor expansion of phi1 in lambda2
58.742 * [backup-simplify]: Simplify phi1 into phi1
58.742 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
58.742 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
58.742 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
58.742 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
58.742 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
58.742 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
58.742 * [taylor]: Taking taylor expansion of -0.5 in lambda2
58.743 * [backup-simplify]: Simplify -0.5 into -0.5
58.743 * [taylor]: Taking taylor expansion of phi2 in lambda2
58.743 * [backup-simplify]: Simplify phi2 into phi2
58.743 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
58.743 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
58.743 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
58.743 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
58.743 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
58.743 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
58.743 * [taylor]: Taking taylor expansion of -0.5 in lambda2
58.743 * [backup-simplify]: Simplify -0.5 into -0.5
58.743 * [taylor]: Taking taylor expansion of phi2 in lambda2
58.743 * [backup-simplify]: Simplify phi2 into phi2
58.743 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
58.743 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
58.743 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
58.743 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
58.743 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
58.743 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
58.743 * [taylor]: Taking taylor expansion of -0.5 in lambda2
58.743 * [backup-simplify]: Simplify -0.5 into -0.5
58.743 * [taylor]: Taking taylor expansion of phi1 in lambda2
58.744 * [backup-simplify]: Simplify phi1 into phi1
58.744 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
58.744 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
58.744 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
58.744 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
58.744 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
58.744 * [taylor]: Taking taylor expansion of -0.5 in lambda2
58.744 * [backup-simplify]: Simplify -0.5 into -0.5
58.744 * [taylor]: Taking taylor expansion of phi1 in lambda2
58.744 * [backup-simplify]: Simplify phi1 into phi1
58.744 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
58.744 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
58.744 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
58.744 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
58.745 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
58.745 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
58.745 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
58.745 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
58.746 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
58.746 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
58.747 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
58.747 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
58.747 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
58.747 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
58.747 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
58.748 * [backup-simplify]: Simplify (- 0) into 0
58.748 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
58.748 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
58.748 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
58.748 * [backup-simplify]: Simplify (- 0) into 0
58.748 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
58.748 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
58.749 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
58.749 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
58.749 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
58.749 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
58.749 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
58.750 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
58.750 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
58.750 * [backup-simplify]: Simplify (- 0) into 0
58.750 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
58.750 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
58.750 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
58.750 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
58.751 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
58.751 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
58.751 * [backup-simplify]: Simplify (- 0) into 0
58.751 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
58.751 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
58.751 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
58.751 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
58.752 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
58.752 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
58.752 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
58.753 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
58.754 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
58.756 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
58.758 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))
58.759 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))
58.760 * [backup-simplify]: Simplify (+ 0) into 0
58.761 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
58.761 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
58.762 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.762 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
58.763 * [backup-simplify]: Simplify (- 0) into 0
58.763 * [backup-simplify]: Simplify (+ 0 0) into 0
58.763 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
58.764 * [backup-simplify]: Simplify (+ 0) into 0
58.764 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
58.764 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
58.765 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.765 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
58.766 * [backup-simplify]: Simplify (- 0) into 0
58.766 * [backup-simplify]: Simplify (+ 0 0) into 0
58.766 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
58.767 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
58.767 * [backup-simplify]: Simplify (+ 0) into 0
58.768 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
58.768 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
58.769 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.769 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
58.770 * [backup-simplify]: Simplify (+ 0 0) into 0
58.770 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
58.770 * [backup-simplify]: Simplify (+ 0) into 0
58.771 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
58.771 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
58.772 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.772 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
58.772 * [backup-simplify]: Simplify (+ 0 0) into 0
58.773 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
58.773 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
58.773 * [backup-simplify]: Simplify (+ 0 0) into 0
58.774 * [backup-simplify]: Simplify (+ 0) into 0
58.774 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
58.774 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
58.775 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.776 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
58.776 * [backup-simplify]: Simplify (+ 0 0) into 0
58.776 * [backup-simplify]: Simplify (+ 0) into 0
58.777 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
58.777 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
58.778 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.778 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
58.779 * [backup-simplify]: Simplify (- 0) into 0
58.779 * [backup-simplify]: Simplify (+ 0 0) into 0
58.779 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
58.780 * [backup-simplify]: Simplify (+ 0) into 0
58.780 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
58.780 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
58.781 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.782 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
58.782 * [backup-simplify]: Simplify (- 0) into 0
58.782 * [backup-simplify]: Simplify (+ 0 0) into 0
58.782 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
58.783 * [backup-simplify]: Simplify (+ 0) into 0
58.783 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
58.783 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
58.784 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.785 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
58.785 * [backup-simplify]: Simplify (+ 0 0) into 0
58.786 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
58.786 * [backup-simplify]: Simplify (+ 0) into 0
58.787 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
58.787 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
58.788 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.788 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
58.788 * [backup-simplify]: Simplify (+ 0 0) into 0
58.789 * [backup-simplify]: Simplify (+ 0) into 0
58.789 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
58.790 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
58.790 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.791 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
58.791 * [backup-simplify]: Simplify (- 0) into 0
58.792 * [backup-simplify]: Simplify (+ 0 0) into 0
58.792 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
58.792 * [backup-simplify]: Simplify (+ 0) into 0
58.793 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
58.793 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
58.794 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.794 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
58.795 * [backup-simplify]: Simplify (+ 0 0) into 0
58.795 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
58.795 * [backup-simplify]: Simplify (+ 0) into 0
58.796 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
58.796 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
58.797 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.797 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
58.797 * [backup-simplify]: Simplify (- 0) into 0
58.798 * [backup-simplify]: Simplify (+ 0 0) into 0
58.798 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
58.799 * [backup-simplify]: Simplify (+ 0 0) into 0
58.799 * [backup-simplify]: Simplify (- 0) into 0
58.799 * [backup-simplify]: Simplify (+ 0 0) into 0
58.803 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0
58.806 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0
58.808 * [backup-simplify]: Simplify (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) into (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))
58.811 * [backup-simplify]: Simplify (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R)) into (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))
58.816 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))))
58.818 * [backup-simplify]: Simplify (* (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) into (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))
58.821 * [backup-simplify]: Simplify (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))))
58.824 * [backup-simplify]: Simplify (- (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))))) into (- (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))))
58.833 * [backup-simplify]: Simplify (+ (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (- (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))))) into (- (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R)) (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))))
58.833 * [taylor]: Taking taylor expansion of (- (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R)) (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))))) in phi1
58.833 * [taylor]: Taking taylor expansion of (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R)) (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) in phi1
58.833 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R)) in phi1
58.834 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) in phi1
58.834 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) in phi1
58.834 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in phi1
58.834 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi1
58.834 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi1
58.834 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi1
58.834 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
58.834 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
58.834 * [taylor]: Taking taylor expansion of -0.5 in phi1
58.834 * [backup-simplify]: Simplify -0.5 into -0.5
58.834 * [taylor]: Taking taylor expansion of phi2 in phi1
58.834 * [backup-simplify]: Simplify phi2 into phi2
58.834 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
58.834 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
58.834 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
58.834 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
58.834 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
58.835 * [backup-simplify]: Simplify (- 0) into 0
58.835 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
58.835 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi1
58.835 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
58.835 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
58.835 * [taylor]: Taking taylor expansion of -0.5 in phi1
58.835 * [backup-simplify]: Simplify -0.5 into -0.5
58.835 * [taylor]: Taking taylor expansion of phi1 in phi1
58.835 * [backup-simplify]: Simplify 0 into 0
58.836 * [backup-simplify]: Simplify 1 into 1
58.836 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
58.836 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
58.836 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi1
58.836 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi1
58.836 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
58.836 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
58.837 * [taylor]: Taking taylor expansion of -0.5 in phi1
58.837 * [backup-simplify]: Simplify -0.5 into -0.5
58.837 * [taylor]: Taking taylor expansion of phi2 in phi1
58.837 * [backup-simplify]: Simplify phi2 into phi2
58.837 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
58.837 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
58.837 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
58.837 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
58.837 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
58.837 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
58.837 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi1
58.837 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
58.837 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
58.837 * [taylor]: Taking taylor expansion of -0.5 in phi1
58.837 * [backup-simplify]: Simplify -0.5 into -0.5
58.837 * [taylor]: Taking taylor expansion of phi1 in phi1
58.837 * [backup-simplify]: Simplify 0 into 0
58.837 * [backup-simplify]: Simplify 1 into 1
58.841 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
58.841 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
58.841 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in phi1
58.841 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi1
58.841 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
58.841 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
58.841 * [taylor]: Taking taylor expansion of -0.5 in phi1
58.841 * [backup-simplify]: Simplify -0.5 into -0.5
58.841 * [taylor]: Taking taylor expansion of phi2 in phi1
58.841 * [backup-simplify]: Simplify phi2 into phi2
58.841 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
58.841 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
58.841 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
58.841 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi1
58.841 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
58.841 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
58.842 * [taylor]: Taking taylor expansion of -0.5 in phi1
58.842 * [backup-simplify]: Simplify -0.5 into -0.5
58.842 * [taylor]: Taking taylor expansion of phi2 in phi1
58.842 * [backup-simplify]: Simplify phi2 into phi2
58.842 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
58.842 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
58.842 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
58.842 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi1
58.842 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
58.842 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
58.842 * [taylor]: Taking taylor expansion of -0.5 in phi1
58.842 * [backup-simplify]: Simplify -0.5 into -0.5
58.842 * [taylor]: Taking taylor expansion of phi1 in phi1
58.842 * [backup-simplify]: Simplify 0 into 0
58.842 * [backup-simplify]: Simplify 1 into 1
58.843 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
58.843 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
58.843 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
58.843 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
58.843 * [taylor]: Taking taylor expansion of -0.5 in phi1
58.843 * [backup-simplify]: Simplify -0.5 into -0.5
58.843 * [taylor]: Taking taylor expansion of phi1 in phi1
58.843 * [backup-simplify]: Simplify 0 into 0
58.843 * [backup-simplify]: Simplify 1 into 1
58.844 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
58.844 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
58.844 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi1
58.844 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
58.844 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
58.844 * [taylor]: Taking taylor expansion of -0.5 in phi1
58.844 * [backup-simplify]: Simplify -0.5 into -0.5
58.844 * [taylor]: Taking taylor expansion of phi2 in phi1
58.844 * [backup-simplify]: Simplify phi2 into phi2
58.844 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
58.844 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
58.844 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
58.844 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi1
58.844 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
58.844 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
58.844 * [taylor]: Taking taylor expansion of -0.5 in phi1
58.844 * [backup-simplify]: Simplify -0.5 into -0.5
58.844 * [taylor]: Taking taylor expansion of phi2 in phi1
58.844 * [backup-simplify]: Simplify phi2 into phi2
58.844 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
58.844 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
58.845 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
58.845 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi1
58.845 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
58.845 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
58.845 * [taylor]: Taking taylor expansion of -0.5 in phi1
58.845 * [backup-simplify]: Simplify -0.5 into -0.5
58.845 * [taylor]: Taking taylor expansion of phi1 in phi1
58.845 * [backup-simplify]: Simplify 0 into 0
58.845 * [backup-simplify]: Simplify 1 into 1
58.845 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
58.845 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
58.845 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
58.846 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
58.846 * [taylor]: Taking taylor expansion of -0.5 in phi1
58.846 * [backup-simplify]: Simplify -0.5 into -0.5
58.846 * [taylor]: Taking taylor expansion of phi1 in phi1
58.846 * [backup-simplify]: Simplify 0 into 0
58.846 * [backup-simplify]: Simplify 1 into 1
58.846 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
58.846 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
58.846 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
58.847 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
58.847 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
58.847 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
58.847 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
58.848 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
58.849 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
58.849 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
58.849 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
58.849 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
58.849 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
58.849 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
58.850 * [backup-simplify]: Simplify (- 0) into 0
58.850 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
58.850 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
58.850 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
58.850 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
58.851 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
58.851 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
58.851 * [backup-simplify]: Simplify (- 0) into 0
58.851 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
58.851 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
58.851 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
58.852 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
58.852 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
58.852 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
58.852 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
58.853 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
58.854 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
58.856 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
58.858 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))
58.860 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))
58.860 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
58.861 * [backup-simplify]: Simplify (+ 0) into 0
58.862 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
58.862 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
58.862 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.863 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
58.863 * [backup-simplify]: Simplify (- 0) into 0
58.864 * [backup-simplify]: Simplify (+ 0 0) into 0
58.864 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
58.864 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
58.865 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
58.865 * [backup-simplify]: Simplify (+ 0) into 0
58.865 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
58.866 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
58.866 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.867 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
58.867 * [backup-simplify]: Simplify (+ 0 0) into 0
58.868 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
58.868 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
58.868 * [backup-simplify]: Simplify (+ 0 0) into 0
58.868 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
58.869 * [backup-simplify]: Simplify (+ 0) into 0
58.869 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
58.870 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
58.870 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.871 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
58.871 * [backup-simplify]: Simplify (- 0) into 0
58.872 * [backup-simplify]: Simplify (+ 0 0) into 0
58.872 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
58.872 * [backup-simplify]: Simplify (+ 0) into 0
58.873 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
58.873 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
58.874 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.874 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
58.875 * [backup-simplify]: Simplify (+ 0 0) into 0
58.875 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
58.875 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
58.876 * [backup-simplify]: Simplify (+ 0) into 0
58.876 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
58.876 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
58.877 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.877 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
58.878 * [backup-simplify]: Simplify (+ 0 0) into 0
58.878 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
58.878 * [backup-simplify]: Simplify (+ 0) into 0
58.878 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
58.879 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
58.879 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.879 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
58.879 * [backup-simplify]: Simplify (- 0) into 0
58.880 * [backup-simplify]: Simplify (+ 0 0) into 0
58.880 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
58.880 * [backup-simplify]: Simplify (+ 0 0) into 0
58.880 * [backup-simplify]: Simplify (- 0) into 0
58.881 * [backup-simplify]: Simplify (+ 0 0) into 0
58.883 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0
58.884 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0
58.884 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R) in phi1
58.884 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi1
58.884 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi1
58.884 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
58.884 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
58.884 * [taylor]: Taking taylor expansion of -0.5 in phi1
58.884 * [backup-simplify]: Simplify -0.5 into -0.5
58.884 * [taylor]: Taking taylor expansion of phi2 in phi1
58.884 * [backup-simplify]: Simplify phi2 into phi2
58.884 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
58.884 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
58.884 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
58.884 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
58.884 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
58.884 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
58.884 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi1
58.884 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
58.884 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
58.884 * [taylor]: Taking taylor expansion of -0.5 in phi1
58.884 * [backup-simplify]: Simplify -0.5 into -0.5
58.884 * [taylor]: Taking taylor expansion of phi1 in phi1
58.884 * [backup-simplify]: Simplify 0 into 0
58.884 * [backup-simplify]: Simplify 1 into 1
58.885 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
58.885 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
58.885 * [taylor]: Taking taylor expansion of R in phi1
58.885 * [backup-simplify]: Simplify R into R
58.885 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
58.885 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
58.885 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
58.885 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R) into (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R)
58.885 * [taylor]: Taking taylor expansion of (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) in phi1
58.886 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) in phi1
58.886 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi1
58.886 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi1
58.886 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
58.886 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
58.886 * [taylor]: Taking taylor expansion of -0.5 in phi1
58.886 * [backup-simplify]: Simplify -0.5 into -0.5
58.886 * [taylor]: Taking taylor expansion of phi2 in phi1
58.886 * [backup-simplify]: Simplify phi2 into phi2
58.886 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
58.886 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
58.886 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
58.886 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
58.886 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
58.886 * [backup-simplify]: Simplify (- 0) into 0
58.887 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
58.887 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi1
58.887 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
58.887 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
58.887 * [taylor]: Taking taylor expansion of -0.5 in phi1
58.887 * [backup-simplify]: Simplify -0.5 into -0.5
58.887 * [taylor]: Taking taylor expansion of phi1 in phi1
58.887 * [backup-simplify]: Simplify 0 into 0
58.887 * [backup-simplify]: Simplify 1 into 1
58.887 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
58.887 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
58.887 * [taylor]: Taking taylor expansion of R in phi1
58.887 * [backup-simplify]: Simplify R into R
58.887 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
58.887 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
58.887 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
58.888 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) into (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R)
58.888 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) in phi1
58.888 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) in phi1
58.888 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in phi1
58.888 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi1
58.888 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi1
58.888 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi1
58.888 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
58.888 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
58.888 * [taylor]: Taking taylor expansion of -0.5 in phi1
58.888 * [backup-simplify]: Simplify -0.5 into -0.5
58.888 * [taylor]: Taking taylor expansion of phi2 in phi1
58.888 * [backup-simplify]: Simplify phi2 into phi2
58.888 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
58.888 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
58.888 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
58.888 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
58.888 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
58.888 * [backup-simplify]: Simplify (- 0) into 0
58.888 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
58.889 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi1
58.889 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
58.889 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
58.889 * [taylor]: Taking taylor expansion of -0.5 in phi1
58.889 * [backup-simplify]: Simplify -0.5 into -0.5
58.889 * [taylor]: Taking taylor expansion of phi1 in phi1
58.889 * [backup-simplify]: Simplify 0 into 0
58.889 * [backup-simplify]: Simplify 1 into 1
58.889 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
58.889 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
58.889 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi1
58.889 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi1
58.889 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
58.889 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
58.889 * [taylor]: Taking taylor expansion of -0.5 in phi1
58.889 * [backup-simplify]: Simplify -0.5 into -0.5
58.889 * [taylor]: Taking taylor expansion of phi2 in phi1
58.889 * [backup-simplify]: Simplify phi2 into phi2
58.889 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
58.889 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
58.889 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
58.889 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
58.889 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
58.889 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
58.889 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi1
58.890 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
58.890 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
58.890 * [taylor]: Taking taylor expansion of -0.5 in phi1
58.890 * [backup-simplify]: Simplify -0.5 into -0.5
58.890 * [taylor]: Taking taylor expansion of phi1 in phi1
58.890 * [backup-simplify]: Simplify 0 into 0
58.890 * [backup-simplify]: Simplify 1 into 1
58.890 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
58.890 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
58.890 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in phi1
58.890 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi1
58.890 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
58.890 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
58.890 * [taylor]: Taking taylor expansion of -0.5 in phi1
58.890 * [backup-simplify]: Simplify -0.5 into -0.5
58.890 * [taylor]: Taking taylor expansion of phi2 in phi1
58.890 * [backup-simplify]: Simplify phi2 into phi2
58.890 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
58.890 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
58.890 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
58.890 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi1
58.890 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
58.890 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
58.890 * [taylor]: Taking taylor expansion of -0.5 in phi1
58.890 * [backup-simplify]: Simplify -0.5 into -0.5
58.890 * [taylor]: Taking taylor expansion of phi2 in phi1
58.890 * [backup-simplify]: Simplify phi2 into phi2
58.890 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
58.890 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
58.891 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
58.891 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi1
58.891 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
58.891 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
58.891 * [taylor]: Taking taylor expansion of -0.5 in phi1
58.891 * [backup-simplify]: Simplify -0.5 into -0.5
58.891 * [taylor]: Taking taylor expansion of phi1 in phi1
58.891 * [backup-simplify]: Simplify 0 into 0
58.891 * [backup-simplify]: Simplify 1 into 1
58.891 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
58.891 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
58.891 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
58.891 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
58.891 * [taylor]: Taking taylor expansion of -0.5 in phi1
58.891 * [backup-simplify]: Simplify -0.5 into -0.5
58.891 * [taylor]: Taking taylor expansion of phi1 in phi1
58.891 * [backup-simplify]: Simplify 0 into 0
58.891 * [backup-simplify]: Simplify 1 into 1
58.891 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
58.891 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
58.892 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi1
58.892 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
58.892 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
58.892 * [taylor]: Taking taylor expansion of -0.5 in phi1
58.892 * [backup-simplify]: Simplify -0.5 into -0.5
58.892 * [taylor]: Taking taylor expansion of phi2 in phi1
58.892 * [backup-simplify]: Simplify phi2 into phi2
58.892 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
58.892 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
58.892 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
58.892 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi1
58.892 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
58.892 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
58.892 * [taylor]: Taking taylor expansion of -0.5 in phi1
58.892 * [backup-simplify]: Simplify -0.5 into -0.5
58.892 * [taylor]: Taking taylor expansion of phi2 in phi1
58.892 * [backup-simplify]: Simplify phi2 into phi2
58.892 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
58.892 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
58.892 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
58.892 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi1
58.892 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
58.892 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
58.892 * [taylor]: Taking taylor expansion of -0.5 in phi1
58.892 * [backup-simplify]: Simplify -0.5 into -0.5
58.892 * [taylor]: Taking taylor expansion of phi1 in phi1
58.892 * [backup-simplify]: Simplify 0 into 0
58.892 * [backup-simplify]: Simplify 1 into 1
58.892 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
58.892 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
58.893 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
58.893 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
58.893 * [taylor]: Taking taylor expansion of -0.5 in phi1
58.893 * [backup-simplify]: Simplify -0.5 into -0.5
58.893 * [taylor]: Taking taylor expansion of phi1 in phi1
58.893 * [backup-simplify]: Simplify 0 into 0
58.893 * [backup-simplify]: Simplify 1 into 1
58.893 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
58.893 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
58.893 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
58.893 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
58.893 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
58.893 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
58.894 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
58.894 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
58.894 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
58.894 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
58.894 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
58.894 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
58.894 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
58.895 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
58.895 * [backup-simplify]: Simplify (- 0) into 0
58.895 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
58.895 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
58.895 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
58.895 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
58.895 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
58.895 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
58.896 * [backup-simplify]: Simplify (- 0) into 0
58.896 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
58.896 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
58.896 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
58.896 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
58.896 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
58.896 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
58.896 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
58.897 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
58.897 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
58.898 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
58.899 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))
58.900 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))
58.900 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
58.901 * [backup-simplify]: Simplify (+ 0) into 0
58.901 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
58.901 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
58.902 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.902 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
58.902 * [backup-simplify]: Simplify (- 0) into 0
58.902 * [backup-simplify]: Simplify (+ 0 0) into 0
58.902 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
58.903 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
58.903 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
58.903 * [backup-simplify]: Simplify (+ 0) into 0
58.903 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
58.903 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
58.904 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.904 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
58.904 * [backup-simplify]: Simplify (+ 0 0) into 0
58.905 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
58.905 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
58.905 * [backup-simplify]: Simplify (+ 0 0) into 0
58.905 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
58.905 * [backup-simplify]: Simplify (+ 0) into 0
58.906 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
58.906 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
58.906 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.907 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
58.907 * [backup-simplify]: Simplify (- 0) into 0
58.907 * [backup-simplify]: Simplify (+ 0 0) into 0
58.907 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
58.907 * [backup-simplify]: Simplify (+ 0) into 0
58.908 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
58.908 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
58.908 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.909 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
58.909 * [backup-simplify]: Simplify (+ 0 0) into 0
58.909 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
58.909 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
58.909 * [backup-simplify]: Simplify (+ 0) into 0
58.910 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
58.910 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
58.911 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.911 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
58.912 * [backup-simplify]: Simplify (+ 0 0) into 0
58.912 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
58.912 * [backup-simplify]: Simplify (+ 0) into 0
58.913 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
58.913 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
58.914 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.914 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
58.915 * [backup-simplify]: Simplify (- 0) into 0
58.915 * [backup-simplify]: Simplify (+ 0 0) into 0
58.916 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
58.916 * [backup-simplify]: Simplify (+ 0 0) into 0
58.916 * [backup-simplify]: Simplify (- 0) into 0
58.917 * [backup-simplify]: Simplify (+ 0 0) into 0
58.921 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0
58.923 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0
58.923 * [taylor]: Taking taylor expansion of (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) in phi1
58.923 * [taylor]: Taking taylor expansion of 2 in phi1
58.923 * [backup-simplify]: Simplify 2 into 2
58.923 * [taylor]: Taking taylor expansion of (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) in phi1
58.923 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) in phi1
58.923 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi1
58.923 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
58.923 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
58.923 * [taylor]: Taking taylor expansion of -0.5 in phi1
58.923 * [backup-simplify]: Simplify -0.5 into -0.5
58.923 * [taylor]: Taking taylor expansion of phi2 in phi1
58.923 * [backup-simplify]: Simplify phi2 into phi2
58.923 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
58.923 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
58.924 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
58.924 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi1
58.924 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
58.924 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
58.924 * [taylor]: Taking taylor expansion of -0.5 in phi1
58.924 * [backup-simplify]: Simplify -0.5 into -0.5
58.924 * [taylor]: Taking taylor expansion of phi2 in phi1
58.924 * [backup-simplify]: Simplify phi2 into phi2
58.924 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
58.924 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
58.924 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
58.924 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi1
58.924 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
58.924 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
58.924 * [taylor]: Taking taylor expansion of -0.5 in phi1
58.924 * [backup-simplify]: Simplify -0.5 into -0.5
58.924 * [taylor]: Taking taylor expansion of phi1 in phi1
58.924 * [backup-simplify]: Simplify 0 into 0
58.924 * [backup-simplify]: Simplify 1 into 1
58.925 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
58.925 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
58.925 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
58.925 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
58.925 * [taylor]: Taking taylor expansion of -0.5 in phi1
58.925 * [backup-simplify]: Simplify -0.5 into -0.5
58.925 * [taylor]: Taking taylor expansion of phi1 in phi1
58.925 * [backup-simplify]: Simplify 0 into 0
58.925 * [backup-simplify]: Simplify 1 into 1
58.926 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
58.926 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
58.926 * [taylor]: Taking taylor expansion of R in phi1
58.926 * [backup-simplify]: Simplify R into R
58.926 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
58.926 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
58.926 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
58.926 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
58.926 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
58.927 * [backup-simplify]: Simplify (- 0) into 0
58.927 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
58.927 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
58.927 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
58.928 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
58.928 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) into (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R)
58.928 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) in phi1
58.928 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) in phi1
58.928 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in phi1
58.928 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi1
58.928 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi1
58.928 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi1
58.928 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
58.928 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
58.928 * [taylor]: Taking taylor expansion of -0.5 in phi1
58.928 * [backup-simplify]: Simplify -0.5 into -0.5
58.928 * [taylor]: Taking taylor expansion of phi2 in phi1
58.928 * [backup-simplify]: Simplify phi2 into phi2
58.929 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
58.929 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
58.929 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
58.929 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
58.929 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
58.929 * [backup-simplify]: Simplify (- 0) into 0
58.929 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
58.929 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi1
58.930 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
58.930 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
58.930 * [taylor]: Taking taylor expansion of -0.5 in phi1
58.930 * [backup-simplify]: Simplify -0.5 into -0.5
58.930 * [taylor]: Taking taylor expansion of phi1 in phi1
58.930 * [backup-simplify]: Simplify 0 into 0
58.930 * [backup-simplify]: Simplify 1 into 1
58.930 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
58.930 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
58.930 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi1
58.930 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi1
58.930 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
58.930 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
58.930 * [taylor]: Taking taylor expansion of -0.5 in phi1
58.930 * [backup-simplify]: Simplify -0.5 into -0.5
58.930 * [taylor]: Taking taylor expansion of phi2 in phi1
58.930 * [backup-simplify]: Simplify phi2 into phi2
58.931 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
58.931 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
58.931 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
58.931 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
58.931 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
58.931 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
58.931 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi1
58.931 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
58.931 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
58.931 * [taylor]: Taking taylor expansion of -0.5 in phi1
58.931 * [backup-simplify]: Simplify -0.5 into -0.5
58.931 * [taylor]: Taking taylor expansion of phi1 in phi1
58.931 * [backup-simplify]: Simplify 0 into 0
58.931 * [backup-simplify]: Simplify 1 into 1
58.932 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
58.932 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
58.932 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in phi1
58.932 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi1
58.932 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
58.932 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
58.932 * [taylor]: Taking taylor expansion of -0.5 in phi1
58.932 * [backup-simplify]: Simplify -0.5 into -0.5
58.932 * [taylor]: Taking taylor expansion of phi2 in phi1
58.932 * [backup-simplify]: Simplify phi2 into phi2
58.932 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
58.932 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
58.932 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
58.932 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi1
58.932 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
58.932 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
58.933 * [taylor]: Taking taylor expansion of -0.5 in phi1
58.933 * [backup-simplify]: Simplify -0.5 into -0.5
58.933 * [taylor]: Taking taylor expansion of phi2 in phi1
58.933 * [backup-simplify]: Simplify phi2 into phi2
58.933 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
58.933 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
58.933 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
58.933 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi1
58.933 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
58.933 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
58.933 * [taylor]: Taking taylor expansion of -0.5 in phi1
58.933 * [backup-simplify]: Simplify -0.5 into -0.5
58.933 * [taylor]: Taking taylor expansion of phi1 in phi1
58.933 * [backup-simplify]: Simplify 0 into 0
58.933 * [backup-simplify]: Simplify 1 into 1
58.934 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
58.934 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
58.934 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
58.934 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
58.934 * [taylor]: Taking taylor expansion of -0.5 in phi1
58.934 * [backup-simplify]: Simplify -0.5 into -0.5
58.934 * [taylor]: Taking taylor expansion of phi1 in phi1
58.934 * [backup-simplify]: Simplify 0 into 0
58.934 * [backup-simplify]: Simplify 1 into 1
58.934 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
58.934 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
58.934 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi1
58.934 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
58.935 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
58.935 * [taylor]: Taking taylor expansion of -0.5 in phi1
58.935 * [backup-simplify]: Simplify -0.5 into -0.5
58.935 * [taylor]: Taking taylor expansion of phi2 in phi1
58.935 * [backup-simplify]: Simplify phi2 into phi2
58.935 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
58.935 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
58.935 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
58.935 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi1
58.935 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
58.935 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
58.935 * [taylor]: Taking taylor expansion of -0.5 in phi1
58.935 * [backup-simplify]: Simplify -0.5 into -0.5
58.935 * [taylor]: Taking taylor expansion of phi2 in phi1
58.935 * [backup-simplify]: Simplify phi2 into phi2
58.935 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
58.935 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
58.935 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
58.935 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi1
58.935 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
58.935 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
58.935 * [taylor]: Taking taylor expansion of -0.5 in phi1
58.935 * [backup-simplify]: Simplify -0.5 into -0.5
58.936 * [taylor]: Taking taylor expansion of phi1 in phi1
58.936 * [backup-simplify]: Simplify 0 into 0
58.936 * [backup-simplify]: Simplify 1 into 1
58.936 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
58.936 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
58.936 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
58.936 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
58.936 * [taylor]: Taking taylor expansion of -0.5 in phi1
58.937 * [backup-simplify]: Simplify -0.5 into -0.5
58.937 * [taylor]: Taking taylor expansion of phi1 in phi1
58.937 * [backup-simplify]: Simplify 0 into 0
58.937 * [backup-simplify]: Simplify 1 into 1
58.937 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
58.937 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
58.937 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
58.938 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
58.938 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
58.938 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
58.938 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
58.939 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
58.939 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
58.940 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
58.940 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
58.940 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
58.940 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
58.940 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
58.940 * [backup-simplify]: Simplify (- 0) into 0
58.941 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
58.941 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
58.941 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
58.941 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
58.941 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
58.942 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
58.942 * [backup-simplify]: Simplify (- 0) into 0
58.942 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
58.942 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
58.942 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
58.942 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
58.943 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
58.943 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
58.943 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
58.944 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
58.945 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
58.947 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
58.949 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))
58.951 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))
58.951 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
58.952 * [backup-simplify]: Simplify (+ 0) into 0
58.952 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
58.952 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
58.953 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.954 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
58.954 * [backup-simplify]: Simplify (- 0) into 0
58.955 * [backup-simplify]: Simplify (+ 0 0) into 0
58.955 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
58.955 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
58.955 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
58.956 * [backup-simplify]: Simplify (+ 0) into 0
58.956 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
58.956 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
58.957 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.958 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
58.958 * [backup-simplify]: Simplify (+ 0 0) into 0
58.958 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
58.959 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
58.959 * [backup-simplify]: Simplify (+ 0 0) into 0
58.959 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
58.960 * [backup-simplify]: Simplify (+ 0) into 0
58.960 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
58.960 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
58.961 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.962 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
58.962 * [backup-simplify]: Simplify (- 0) into 0
58.962 * [backup-simplify]: Simplify (+ 0 0) into 0
58.963 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
58.963 * [backup-simplify]: Simplify (+ 0) into 0
58.964 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
58.964 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
58.964 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.965 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
58.965 * [backup-simplify]: Simplify (+ 0 0) into 0
58.966 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
58.966 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
58.966 * [backup-simplify]: Simplify (+ 0) into 0
58.967 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
58.967 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
58.968 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.968 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
58.969 * [backup-simplify]: Simplify (+ 0 0) into 0
58.969 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
58.969 * [backup-simplify]: Simplify (+ 0) into 0
58.970 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
58.970 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
58.971 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
58.971 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
58.972 * [backup-simplify]: Simplify (- 0) into 0
58.972 * [backup-simplify]: Simplify (+ 0 0) into 0
58.972 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
58.973 * [backup-simplify]: Simplify (+ 0 0) into 0
58.973 * [backup-simplify]: Simplify (- 0) into 0
58.974 * [backup-simplify]: Simplify (+ 0 0) into 0
58.978 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0
58.980 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0
58.982 * [backup-simplify]: Simplify (* (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (/ 1 R)) into (* (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (/ 1 R))
58.984 * [backup-simplify]: Simplify (* -1 (* (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (/ 1 R))) into (* -1 (* (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (/ 1 R)))
58.984 * [taylor]: Taking taylor expansion of (* -1 (* (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (/ 1 R))) in phi1
58.984 * [taylor]: Taking taylor expansion of -1 in phi1
58.984 * [backup-simplify]: Simplify -1 into -1
58.984 * [taylor]: Taking taylor expansion of (* (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (/ 1 R)) in phi1
58.984 * [taylor]: Taking taylor expansion of (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) in phi1
58.984 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in phi1
58.984 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi1
58.984 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi1
58.984 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi1
58.984 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
58.984 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
58.984 * [taylor]: Taking taylor expansion of -0.5 in phi1
58.984 * [backup-simplify]: Simplify -0.5 into -0.5
58.984 * [taylor]: Taking taylor expansion of phi2 in phi1
58.984 * [backup-simplify]: Simplify phi2 into phi2
58.985 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
58.985 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
58.985 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
58.985 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
58.985 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
58.986 * [backup-simplify]: Simplify (- 0) into 0
58.986 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
58.986 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi1
58.986 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
58.986 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
58.986 * [taylor]: Taking taylor expansion of -0.5 in phi1
58.986 * [backup-simplify]: Simplify -0.5 into -0.5
58.986 * [taylor]: Taking taylor expansion of phi1 in phi1
58.986 * [backup-simplify]: Simplify 0 into 0
58.986 * [backup-simplify]: Simplify 1 into 1
58.987 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
58.987 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
58.987 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi1
58.987 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi1
58.987 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
58.987 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
58.987 * [taylor]: Taking taylor expansion of -0.5 in phi1
58.987 * [backup-simplify]: Simplify -0.5 into -0.5
58.987 * [taylor]: Taking taylor expansion of phi2 in phi1
58.987 * [backup-simplify]: Simplify phi2 into phi2
58.987 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
58.987 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
58.987 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
58.987 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
58.987 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
58.988 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
58.988 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi1
58.988 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
58.988 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
58.988 * [taylor]: Taking taylor expansion of -0.5 in phi1
58.988 * [backup-simplify]: Simplify -0.5 into -0.5
58.988 * [taylor]: Taking taylor expansion of phi1 in phi1
58.988 * [backup-simplify]: Simplify 0 into 0
58.988 * [backup-simplify]: Simplify 1 into 1
58.988 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
58.988 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
58.988 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in phi1
58.988 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi1
58.989 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
58.989 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
58.989 * [taylor]: Taking taylor expansion of -0.5 in phi1
58.989 * [backup-simplify]: Simplify -0.5 into -0.5
58.989 * [taylor]: Taking taylor expansion of phi2 in phi1
58.989 * [backup-simplify]: Simplify phi2 into phi2
58.989 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
58.989 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
58.989 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
58.989 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi1
58.989 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
58.989 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
58.989 * [taylor]: Taking taylor expansion of -0.5 in phi1
58.989 * [backup-simplify]: Simplify -0.5 into -0.5
58.989 * [taylor]: Taking taylor expansion of phi2 in phi1
58.989 * [backup-simplify]: Simplify phi2 into phi2
58.989 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
58.989 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
58.989 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
58.989 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi1
58.989 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
58.989 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
58.989 * [taylor]: Taking taylor expansion of -0.5 in phi1
58.990 * [backup-simplify]: Simplify -0.5 into -0.5
58.990 * [taylor]: Taking taylor expansion of phi1 in phi1
58.990 * [backup-simplify]: Simplify 0 into 0
58.990 * [backup-simplify]: Simplify 1 into 1
58.990 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
58.990 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
58.990 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
58.990 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
58.990 * [taylor]: Taking taylor expansion of -0.5 in phi1
58.990 * [backup-simplify]: Simplify -0.5 into -0.5
58.990 * [taylor]: Taking taylor expansion of phi1 in phi1
58.990 * [backup-simplify]: Simplify 0 into 0
58.990 * [backup-simplify]: Simplify 1 into 1
58.991 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
58.991 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
58.991 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi1
58.991 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
58.991 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
58.991 * [taylor]: Taking taylor expansion of -0.5 in phi1
58.991 * [backup-simplify]: Simplify -0.5 into -0.5
58.991 * [taylor]: Taking taylor expansion of phi2 in phi1
58.991 * [backup-simplify]: Simplify phi2 into phi2
58.991 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
58.991 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
58.991 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
58.991 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi1
58.991 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
58.991 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
58.992 * [taylor]: Taking taylor expansion of -0.5 in phi1
58.992 * [backup-simplify]: Simplify -0.5 into -0.5
58.992 * [taylor]: Taking taylor expansion of phi2 in phi1
58.992 * [backup-simplify]: Simplify phi2 into phi2
58.992 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
58.992 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
58.992 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
58.992 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi1
58.992 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
58.992 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
58.992 * [taylor]: Taking taylor expansion of -0.5 in phi1
58.992 * [backup-simplify]: Simplify -0.5 into -0.5
58.992 * [taylor]: Taking taylor expansion of phi1 in phi1
58.992 * [backup-simplify]: Simplify 0 into 0
58.992 * [backup-simplify]: Simplify 1 into 1
58.993 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
58.993 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
58.993 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
58.993 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
58.993 * [taylor]: Taking taylor expansion of -0.5 in phi1
58.993 * [backup-simplify]: Simplify -0.5 into -0.5
58.993 * [taylor]: Taking taylor expansion of phi1 in phi1
58.993 * [backup-simplify]: Simplify 0 into 0
58.993 * [backup-simplify]: Simplify 1 into 1
58.996 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
58.996 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
58.997 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
58.997 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
58.997 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
58.997 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
58.997 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
58.998 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
58.999 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
58.999 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
58.999 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
58.999 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
58.999 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
58.999 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
59.000 * [backup-simplify]: Simplify (- 0) into 0
59.000 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
59.000 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
59.000 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
59.001 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
59.001 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
59.001 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
59.001 * [backup-simplify]: Simplify (- 0) into 0
59.001 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
59.001 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
59.002 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
59.002 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
59.002 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
59.002 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
59.002 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
59.003 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
59.004 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
59.006 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
59.008 * [backup-simplify]: Simplify (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))
59.008 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
59.009 * [backup-simplify]: Simplify (+ 0) into 0
59.009 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
59.009 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
59.010 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.011 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
59.011 * [backup-simplify]: Simplify (- 0) into 0
59.011 * [backup-simplify]: Simplify (+ 0 0) into 0
59.012 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
59.012 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
59.012 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
59.013 * [backup-simplify]: Simplify (+ 0) into 0
59.013 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
59.013 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
59.014 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.015 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
59.015 * [backup-simplify]: Simplify (+ 0 0) into 0
59.015 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
59.016 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
59.016 * [backup-simplify]: Simplify (+ 0 0) into 0
59.016 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
59.017 * [backup-simplify]: Simplify (+ 0) into 0
59.017 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
59.017 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
59.018 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.019 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
59.019 * [backup-simplify]: Simplify (- 0) into 0
59.019 * [backup-simplify]: Simplify (+ 0 0) into 0
59.020 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
59.020 * [backup-simplify]: Simplify (+ 0) into 0
59.020 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
59.021 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
59.021 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.022 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
59.022 * [backup-simplify]: Simplify (+ 0 0) into 0
59.023 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
59.023 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
59.023 * [backup-simplify]: Simplify (+ 0) into 0
59.024 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
59.024 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
59.025 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.025 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
59.026 * [backup-simplify]: Simplify (+ 0 0) into 0
59.026 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
59.026 * [backup-simplify]: Simplify (+ 0) into 0
59.027 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
59.027 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
59.028 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.028 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
59.029 * [backup-simplify]: Simplify (- 0) into 0
59.029 * [backup-simplify]: Simplify (+ 0 0) into 0
59.029 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
59.030 * [backup-simplify]: Simplify (+ 0 0) into 0
59.030 * [backup-simplify]: Simplify (- 0) into 0
59.030 * [backup-simplify]: Simplify (+ 0 0) into 0
59.032 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) into 0
59.033 * [taylor]: Taking taylor expansion of (/ 1 R) in phi1
59.033 * [taylor]: Taking taylor expansion of R in phi1
59.033 * [backup-simplify]: Simplify R into R
59.033 * [backup-simplify]: Simplify (/ 1 R) into (/ 1 R)
59.033 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)))) into 0
59.034 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)))) into 0
59.034 * [backup-simplify]: Simplify (- 0) into 0
59.035 * [backup-simplify]: Simplify (+ 0 0) into 0
59.036 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
59.036 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
59.037 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
59.038 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
59.038 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
59.039 * [backup-simplify]: Simplify (- 0) into 0
59.039 * [backup-simplify]: Simplify (+ 0 0) into 0
59.040 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
59.041 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
59.041 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
59.042 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
59.042 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
59.043 * [backup-simplify]: Simplify (- 0) into 0
59.043 * [backup-simplify]: Simplify (+ 0 0) into 0
59.044 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0
59.045 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
59.045 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
59.046 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
59.046 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
59.047 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
59.047 * [backup-simplify]: Simplify (+ 0 0) into 0
59.048 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
59.049 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
59.049 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
59.050 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
59.050 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
59.051 * [backup-simplify]: Simplify (+ 0 0) into 0
59.051 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
59.052 * [backup-simplify]: Simplify (- 0) into 0
59.052 * [backup-simplify]: Simplify (+ 0 0) into 0
59.053 * [backup-simplify]: Simplify (+ (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) 0) (+ (* 0 (/ 1 lambda2)) (* 0 -1))) into 0
59.053 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)))) into 0
59.054 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)))) into 0
59.054 * [backup-simplify]: Simplify (- 0) into 0
59.055 * [backup-simplify]: Simplify (+ 0 0) into 0
59.056 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
59.057 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
59.057 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
59.058 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
59.058 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
59.058 * [backup-simplify]: Simplify (- 0) into 0
59.059 * [backup-simplify]: Simplify (+ 0 0) into 0
59.060 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
59.060 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
59.061 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
59.061 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
59.062 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
59.062 * [backup-simplify]: Simplify (- 0) into 0
59.063 * [backup-simplify]: Simplify (+ 0 0) into 0
59.063 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0
59.064 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
59.065 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
59.065 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
59.066 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
59.066 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
59.067 * [backup-simplify]: Simplify (+ 0 0) into 0
59.068 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
59.068 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
59.069 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
59.069 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
59.070 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
59.070 * [backup-simplify]: Simplify (+ 0 0) into 0
59.071 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
59.071 * [backup-simplify]: Simplify (- 0) into 0
59.072 * [backup-simplify]: Simplify (+ 0 0) into 0
59.072 * [backup-simplify]: Simplify (+ (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) 0) (+ (* 0 (/ 1 lambda2)) (* 0 -1))) into 0
59.075 * [backup-simplify]: Simplify (+ (* (* -1 (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) 0) (+ (* (- (/ (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) lambda2) (/ (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) lambda2)) (- (/ (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) lambda2) (/ (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) lambda2))) (* 0 (* -1 (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))))) into (- (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2))) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2))))
59.075 * [backup-simplify]: Simplify (- (/ 1 phi1)) into (- (/ 1 phi1))
59.075 * [backup-simplify]: Simplify (+ (/ 1 phi2) (- (/ 1 phi1))) into (- (/ 1 phi2) (/ 1 phi1))
59.075 * [backup-simplify]: Simplify (- (/ 1 phi1)) into (- (/ 1 phi1))
59.075 * [backup-simplify]: Simplify (+ (/ 1 phi2) (- (/ 1 phi1))) into (- (/ 1 phi2) (/ 1 phi1))
59.076 * [backup-simplify]: Simplify (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1))) into (pow (- (/ 1 phi2) (/ 1 phi1)) 2)
59.078 * [backup-simplify]: Simplify (+ (- (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2))) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)))) (pow (- (/ 1 phi2) (/ 1 phi1)) 2)) into (- (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2))))) (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (+ (* 2 (/ 1 (* phi1 phi2))) (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)))))
59.086 * [backup-simplify]: Simplify (/ (- (- (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2))))) (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (+ (* 2 (/ 1 (* phi1 phi2))) (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2))))) (pow (* 1/2 (* (- (+ (* 2 (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) lambda2)) (* 2 (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) lambda2))) (+ (* 2 (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) lambda2)) (* 2 (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) lambda2)))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) 2) (+)) (* 2 (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) into (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (- (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1))))) (* (pow lambda2 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (* 2 (/ (* (pow (sin (/ -0.5 phi2)) 3) (* (pow (sin (/ -0.5 phi1)) 3) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (pow lambda2 2)))) (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 3) (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1))))) (* (pow lambda2 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (+ (/ (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)))) (* (pow lambda2 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (+ (/ (* (cos (/ -0.5 phi2)) (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)))) (* (pow lambda2 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (* 2 (/ (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1))))) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (pow lambda2 2))))))))))))) (+ (/ (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (pow lambda2 2))) (+ (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (pow lambda2 2))) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (+ (* 2 (/ 1 (* phi1 phi2))) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (pow lambda2 2))) (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2)))) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (pow lambda2 2))) (+ (* 2 (/ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (* (pow lambda2 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (* 2 (/ (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (* (pow lambda2 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))))))))))))))
59.129 * [backup-simplify]: Simplify (- (/ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (- (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1))))) (* (pow lambda2 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (* 2 (/ (* (pow (sin (/ -0.5 phi2)) 3) (* (pow (sin (/ -0.5 phi1)) 3) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (pow lambda2 2)))) (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 3) (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1))))) (* (pow lambda2 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (+ (/ (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)))) (* (pow lambda2 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (+ (/ (* (cos (/ -0.5 phi2)) (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)))) (* (pow lambda2 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (* 2 (/ (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1))))) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (pow lambda2 2))))))))))))) (+ (/ (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (pow lambda2 2))) (+ (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (pow lambda2 2))) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (+ (* 2 (/ 1 (* phi1 phi2))) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (pow lambda2 2))) (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2)))) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (pow lambda2 2))) (+ (* 2 (/ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (* (pow lambda2 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (* 2 (/ (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (* (pow lambda2 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))))))))))))) R) (+ (* (* (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (/ 1 R)) (/ 0 R)) (* (- (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R lambda2)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* lambda2 R)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* lambda2 R)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))))) (/ 0 R)))) into (- (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (/ 1 (* R (pow phi2 2))))) (+ (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1))))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* (pow lambda2 2) R)))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow lambda2 2) R)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 2 (* (/ (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (* 1/2 (* (/ 1 (* R (pow phi1 2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))))))))) (+ (* (/ 1 (* R (* phi1 phi2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) (* (pow lambda2 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) (* (pow lambda2 2) R)))) (+ (* 3 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (pow lambda2 2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))))))))
59.161 * [backup-simplify]: Simplify (+ (* -1 (- (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (/ 1 (* R (pow phi2 2))))) (+ (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1))))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* (pow lambda2 2) R)))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow lambda2 2) R)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 2 (* (/ (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (* 1/2 (* (/ 1 (* R (pow phi1 2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))))))))) (+ (* (/ 1 (* R (* phi1 phi2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) (* (pow lambda2 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) (* (pow lambda2 2) R)))) (+ (* 3 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (pow lambda2 2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))))))))) (+ (* 0 (- (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R lambda2)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* lambda2 R)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* lambda2 R)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))))) (* 0 (* (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (/ 1 R))))) into (- (+ (* (/ 1 (* R (* phi1 phi2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (+ (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (pow lambda2 2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) (* (pow lambda2 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) (* (pow lambda2 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (* 3 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))))))) (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (/ 1 (* R (pow phi2 2))))) (+ (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1))))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow lambda2 2) R)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 2 (* (/ (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ 1 (* R (pow phi1 2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* (pow lambda2 2) R)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))))))))))
59.162 * [taylor]: Taking taylor expansion of (- (+ (* (/ 1 (* R (* phi1 phi2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (+ (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (pow lambda2 2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) (* (pow lambda2 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) (* (pow lambda2 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (* 3 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))))))) (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (/ 1 (* R (pow phi2 2))))) (+ (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1))))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow lambda2 2) R)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 2 (* (/ (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ 1 (* R (pow phi1 2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* (pow lambda2 2) R)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))))))))) in lambda2
59.162 * [taylor]: Taking taylor expansion of (+ (* (/ 1 (* R (* phi1 phi2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (+ (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (pow lambda2 2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) (* (pow lambda2 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) (* (pow lambda2 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (* 3 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))))))) in lambda2
59.162 * [taylor]: Taking taylor expansion of (* (/ 1 (* R (* phi1 phi2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) in lambda2
59.162 * [taylor]: Taking taylor expansion of (/ 1 (* R (* phi1 phi2))) in lambda2
59.162 * [taylor]: Taking taylor expansion of (* R (* phi1 phi2)) in lambda2
59.162 * [taylor]: Taking taylor expansion of R in lambda2
59.162 * [backup-simplify]: Simplify R into R
59.162 * [taylor]: Taking taylor expansion of (* phi1 phi2) in lambda2
59.162 * [taylor]: Taking taylor expansion of phi1 in lambda2
59.162 * [backup-simplify]: Simplify phi1 into phi1
59.162 * [taylor]: Taking taylor expansion of phi2 in lambda2
59.162 * [backup-simplify]: Simplify phi2 into phi2
59.162 * [backup-simplify]: Simplify (* phi1 phi2) into (* phi1 phi2)
59.162 * [backup-simplify]: Simplify (* R (* phi1 phi2)) into (* phi1 (* R phi2))
59.162 * [backup-simplify]: Simplify (/ 1 (* phi1 (* R phi2))) into (/ 1 (* phi1 (* R phi2)))
59.162 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) in lambda2
59.162 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) in lambda2
59.162 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in lambda2
59.162 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in lambda2
59.162 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2
59.162 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2
59.162 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
59.163 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
59.163 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.163 * [backup-simplify]: Simplify -0.5 into -0.5
59.163 * [taylor]: Taking taylor expansion of phi2 in lambda2
59.163 * [backup-simplify]: Simplify phi2 into phi2
59.163 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
59.163 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
59.163 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
59.163 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
59.163 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
59.163 * [backup-simplify]: Simplify (- 0) into 0
59.163 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
59.163 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2
59.163 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
59.163 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
59.163 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.163 * [backup-simplify]: Simplify -0.5 into -0.5
59.163 * [taylor]: Taking taylor expansion of phi1 in lambda2
59.164 * [backup-simplify]: Simplify phi1 into phi1
59.164 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
59.164 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
59.164 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
59.164 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
59.164 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
59.164 * [backup-simplify]: Simplify (- 0) into 0
59.164 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
59.164 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2
59.164 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2
59.164 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
59.164 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
59.164 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.164 * [backup-simplify]: Simplify -0.5 into -0.5
59.164 * [taylor]: Taking taylor expansion of phi2 in lambda2
59.164 * [backup-simplify]: Simplify phi2 into phi2
59.164 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
59.164 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
59.164 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
59.164 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
59.164 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
59.165 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
59.165 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2
59.165 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
59.165 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
59.165 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.165 * [backup-simplify]: Simplify -0.5 into -0.5
59.165 * [taylor]: Taking taylor expansion of phi1 in lambda2
59.165 * [backup-simplify]: Simplify phi1 into phi1
59.165 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
59.165 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
59.165 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
59.165 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
59.165 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
59.165 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
59.165 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in lambda2
59.165 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
59.165 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
59.165 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
59.165 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.165 * [backup-simplify]: Simplify -0.5 into -0.5
59.165 * [taylor]: Taking taylor expansion of phi2 in lambda2
59.165 * [backup-simplify]: Simplify phi2 into phi2
59.165 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
59.165 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
59.165 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
59.165 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
59.165 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
59.165 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
59.165 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.165 * [backup-simplify]: Simplify -0.5 into -0.5
59.165 * [taylor]: Taking taylor expansion of phi2 in lambda2
59.165 * [backup-simplify]: Simplify phi2 into phi2
59.165 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
59.166 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
59.166 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
59.166 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
59.166 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
59.166 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
59.166 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.166 * [backup-simplify]: Simplify -0.5 into -0.5
59.166 * [taylor]: Taking taylor expansion of phi1 in lambda2
59.166 * [backup-simplify]: Simplify phi1 into phi1
59.166 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
59.166 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
59.166 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
59.166 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
59.166 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
59.166 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.166 * [backup-simplify]: Simplify -0.5 into -0.5
59.166 * [taylor]: Taking taylor expansion of phi1 in lambda2
59.166 * [backup-simplify]: Simplify phi1 into phi1
59.166 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
59.166 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
59.166 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
59.166 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
59.166 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
59.166 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
59.166 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.166 * [backup-simplify]: Simplify -0.5 into -0.5
59.166 * [taylor]: Taking taylor expansion of phi2 in lambda2
59.166 * [backup-simplify]: Simplify phi2 into phi2
59.166 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
59.166 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
59.166 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
59.166 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
59.166 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
59.166 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
59.166 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.166 * [backup-simplify]: Simplify -0.5 into -0.5
59.166 * [taylor]: Taking taylor expansion of phi2 in lambda2
59.166 * [backup-simplify]: Simplify phi2 into phi2
59.166 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
59.167 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
59.167 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
59.167 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
59.167 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
59.167 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
59.167 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.167 * [backup-simplify]: Simplify -0.5 into -0.5
59.167 * [taylor]: Taking taylor expansion of phi1 in lambda2
59.167 * [backup-simplify]: Simplify phi1 into phi1
59.167 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
59.167 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
59.167 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
59.167 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
59.167 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
59.167 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.167 * [backup-simplify]: Simplify -0.5 into -0.5
59.167 * [taylor]: Taking taylor expansion of phi1 in lambda2
59.167 * [backup-simplify]: Simplify phi1 into phi1
59.167 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
59.167 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
59.167 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
59.167 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
59.167 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
59.167 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
59.168 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
59.168 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
59.168 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
59.168 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
59.168 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
59.168 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
59.168 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
59.169 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
59.169 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
59.169 * [backup-simplify]: Simplify (- 0) into 0
59.169 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
59.169 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
59.169 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
59.169 * [backup-simplify]: Simplify (- 0) into 0
59.169 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
59.170 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
59.170 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
59.170 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
59.170 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
59.170 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
59.170 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
59.170 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
59.170 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
59.170 * [backup-simplify]: Simplify (- 0) into 0
59.170 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
59.171 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
59.171 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
59.171 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
59.171 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
59.171 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
59.171 * [backup-simplify]: Simplify (- 0) into 0
59.171 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
59.171 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
59.171 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
59.171 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
59.171 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
59.171 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
59.172 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
59.172 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
59.172 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
59.173 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
59.174 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))
59.176 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))
59.176 * [backup-simplify]: Simplify (+ 0) into 0
59.176 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
59.176 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
59.177 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.177 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
59.177 * [backup-simplify]: Simplify (- 0) into 0
59.178 * [backup-simplify]: Simplify (+ 0 0) into 0
59.178 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
59.178 * [backup-simplify]: Simplify (+ 0) into 0
59.178 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
59.178 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
59.179 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.179 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
59.179 * [backup-simplify]: Simplify (- 0) into 0
59.180 * [backup-simplify]: Simplify (+ 0 0) into 0
59.180 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
59.180 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
59.180 * [backup-simplify]: Simplify (+ 0) into 0
59.181 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
59.181 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
59.181 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.181 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
59.182 * [backup-simplify]: Simplify (+ 0 0) into 0
59.182 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
59.182 * [backup-simplify]: Simplify (+ 0) into 0
59.182 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
59.182 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
59.183 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.183 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
59.183 * [backup-simplify]: Simplify (+ 0 0) into 0
59.183 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
59.184 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
59.184 * [backup-simplify]: Simplify (+ 0 0) into 0
59.184 * [backup-simplify]: Simplify (+ 0) into 0
59.185 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
59.185 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
59.185 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.185 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
59.186 * [backup-simplify]: Simplify (+ 0 0) into 0
59.186 * [backup-simplify]: Simplify (+ 0) into 0
59.186 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
59.186 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
59.187 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.187 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
59.187 * [backup-simplify]: Simplify (- 0) into 0
59.188 * [backup-simplify]: Simplify (+ 0 0) into 0
59.188 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
59.188 * [backup-simplify]: Simplify (+ 0) into 0
59.188 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
59.189 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
59.189 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.189 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
59.190 * [backup-simplify]: Simplify (- 0) into 0
59.190 * [backup-simplify]: Simplify (+ 0 0) into 0
59.190 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
59.190 * [backup-simplify]: Simplify (+ 0) into 0
59.191 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
59.191 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
59.191 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.191 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
59.192 * [backup-simplify]: Simplify (+ 0 0) into 0
59.192 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
59.192 * [backup-simplify]: Simplify (+ 0) into 0
59.192 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
59.193 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
59.193 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.193 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
59.194 * [backup-simplify]: Simplify (+ 0 0) into 0
59.194 * [backup-simplify]: Simplify (+ 0) into 0
59.194 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
59.194 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
59.195 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.195 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
59.195 * [backup-simplify]: Simplify (- 0) into 0
59.195 * [backup-simplify]: Simplify (+ 0 0) into 0
59.196 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
59.196 * [backup-simplify]: Simplify (+ 0) into 0
59.196 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
59.196 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
59.197 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.197 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
59.197 * [backup-simplify]: Simplify (+ 0 0) into 0
59.197 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
59.198 * [backup-simplify]: Simplify (+ 0) into 0
59.198 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
59.198 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
59.199 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.199 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
59.199 * [backup-simplify]: Simplify (- 0) into 0
59.199 * [backup-simplify]: Simplify (+ 0 0) into 0
59.200 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
59.200 * [backup-simplify]: Simplify (+ 0 0) into 0
59.200 * [backup-simplify]: Simplify (- 0) into 0
59.200 * [backup-simplify]: Simplify (+ 0 0) into 0
59.202 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0
59.204 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0
59.204 * [taylor]: Taking taylor expansion of (+ (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (pow lambda2 2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) (* (pow lambda2 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) (* (pow lambda2 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (* 3 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))))) in lambda2
59.204 * [taylor]: Taking taylor expansion of (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (pow lambda2 2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) in lambda2
59.204 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (pow lambda2 2))) in lambda2
59.204 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
59.204 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
59.204 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
59.204 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.204 * [backup-simplify]: Simplify -0.5 into -0.5
59.204 * [taylor]: Taking taylor expansion of phi2 in lambda2
59.204 * [backup-simplify]: Simplify phi2 into phi2
59.204 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
59.204 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
59.204 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
59.204 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
59.204 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
59.204 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
59.204 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.204 * [backup-simplify]: Simplify -0.5 into -0.5
59.204 * [taylor]: Taking taylor expansion of phi2 in lambda2
59.204 * [backup-simplify]: Simplify phi2 into phi2
59.204 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
59.204 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
59.204 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
59.204 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
59.204 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
59.204 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
59.204 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.204 * [backup-simplify]: Simplify -0.5 into -0.5
59.204 * [taylor]: Taking taylor expansion of phi1 in lambda2
59.204 * [backup-simplify]: Simplify phi1 into phi1
59.204 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
59.205 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
59.205 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
59.205 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
59.205 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
59.205 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.205 * [backup-simplify]: Simplify -0.5 into -0.5
59.205 * [taylor]: Taking taylor expansion of phi1 in lambda2
59.205 * [backup-simplify]: Simplify phi1 into phi1
59.205 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
59.205 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
59.205 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
59.205 * [taylor]: Taking taylor expansion of (* R (pow lambda2 2)) in lambda2
59.205 * [taylor]: Taking taylor expansion of R in lambda2
59.205 * [backup-simplify]: Simplify R into R
59.205 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
59.205 * [taylor]: Taking taylor expansion of lambda2 in lambda2
59.205 * [backup-simplify]: Simplify 0 into 0
59.205 * [backup-simplify]: Simplify 1 into 1
59.205 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
59.205 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
59.205 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
59.205 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
59.205 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
59.206 * [backup-simplify]: Simplify (- 0) into 0
59.206 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
59.206 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
59.206 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
59.206 * [backup-simplify]: Simplify (- 0) into 0
59.206 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
59.206 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
59.206 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
59.206 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
59.206 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
59.207 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
59.207 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
59.207 * [backup-simplify]: Simplify (* 1 1) into 1
59.207 * [backup-simplify]: Simplify (* R 1) into R
59.207 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) into (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R)
59.207 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) in lambda2
59.207 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) in lambda2
59.207 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in lambda2
59.207 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in lambda2
59.207 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2
59.207 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2
59.207 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
59.207 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
59.207 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.207 * [backup-simplify]: Simplify -0.5 into -0.5
59.208 * [taylor]: Taking taylor expansion of phi2 in lambda2
59.208 * [backup-simplify]: Simplify phi2 into phi2
59.208 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
59.208 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
59.208 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
59.208 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
59.208 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
59.208 * [backup-simplify]: Simplify (- 0) into 0
59.208 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
59.208 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2
59.208 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
59.208 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
59.208 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.208 * [backup-simplify]: Simplify -0.5 into -0.5
59.208 * [taylor]: Taking taylor expansion of phi1 in lambda2
59.208 * [backup-simplify]: Simplify phi1 into phi1
59.208 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
59.208 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
59.208 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
59.208 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
59.209 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
59.209 * [backup-simplify]: Simplify (- 0) into 0
59.209 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
59.209 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2
59.209 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2
59.209 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
59.209 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
59.209 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.209 * [backup-simplify]: Simplify -0.5 into -0.5
59.209 * [taylor]: Taking taylor expansion of phi2 in lambda2
59.209 * [backup-simplify]: Simplify phi2 into phi2
59.209 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
59.209 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
59.209 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
59.209 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
59.209 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
59.209 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
59.209 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2
59.209 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
59.209 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
59.209 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.209 * [backup-simplify]: Simplify -0.5 into -0.5
59.209 * [taylor]: Taking taylor expansion of phi1 in lambda2
59.209 * [backup-simplify]: Simplify phi1 into phi1
59.209 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
59.210 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
59.210 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
59.210 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
59.210 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
59.210 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
59.210 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in lambda2
59.210 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
59.210 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
59.210 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
59.210 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.210 * [backup-simplify]: Simplify -0.5 into -0.5
59.210 * [taylor]: Taking taylor expansion of phi2 in lambda2
59.210 * [backup-simplify]: Simplify phi2 into phi2
59.210 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
59.210 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
59.210 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
59.210 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
59.210 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
59.210 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
59.210 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.210 * [backup-simplify]: Simplify -0.5 into -0.5
59.210 * [taylor]: Taking taylor expansion of phi2 in lambda2
59.210 * [backup-simplify]: Simplify phi2 into phi2
59.210 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
59.210 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
59.210 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
59.210 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
59.210 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
59.210 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
59.210 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.210 * [backup-simplify]: Simplify -0.5 into -0.5
59.210 * [taylor]: Taking taylor expansion of phi1 in lambda2
59.210 * [backup-simplify]: Simplify phi1 into phi1
59.210 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
59.211 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
59.211 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
59.211 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
59.211 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
59.211 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.211 * [backup-simplify]: Simplify -0.5 into -0.5
59.211 * [taylor]: Taking taylor expansion of phi1 in lambda2
59.211 * [backup-simplify]: Simplify phi1 into phi1
59.211 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
59.211 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
59.211 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
59.211 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
59.211 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
59.211 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
59.211 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.211 * [backup-simplify]: Simplify -0.5 into -0.5
59.211 * [taylor]: Taking taylor expansion of phi2 in lambda2
59.211 * [backup-simplify]: Simplify phi2 into phi2
59.211 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
59.211 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
59.211 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
59.211 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
59.211 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
59.211 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
59.211 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.211 * [backup-simplify]: Simplify -0.5 into -0.5
59.211 * [taylor]: Taking taylor expansion of phi2 in lambda2
59.211 * [backup-simplify]: Simplify phi2 into phi2
59.211 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
59.211 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
59.211 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
59.211 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
59.211 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
59.211 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
59.211 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.211 * [backup-simplify]: Simplify -0.5 into -0.5
59.211 * [taylor]: Taking taylor expansion of phi1 in lambda2
59.211 * [backup-simplify]: Simplify phi1 into phi1
59.211 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
59.212 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
59.212 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
59.212 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
59.212 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
59.212 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.212 * [backup-simplify]: Simplify -0.5 into -0.5
59.212 * [taylor]: Taking taylor expansion of phi1 in lambda2
59.212 * [backup-simplify]: Simplify phi1 into phi1
59.212 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
59.212 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
59.212 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
59.212 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
59.212 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
59.212 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
59.212 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
59.212 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
59.213 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
59.213 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
59.213 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
59.213 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
59.213 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
59.213 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
59.213 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
59.214 * [backup-simplify]: Simplify (- 0) into 0
59.214 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
59.214 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
59.214 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
59.214 * [backup-simplify]: Simplify (- 0) into 0
59.214 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
59.214 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
59.214 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
59.214 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
59.214 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
59.215 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
59.215 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
59.215 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
59.215 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
59.215 * [backup-simplify]: Simplify (- 0) into 0
59.215 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
59.215 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
59.215 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
59.215 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
59.215 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
59.216 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
59.217 * [backup-simplify]: Simplify (- 0) into 0
59.218 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
59.218 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
59.218 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
59.218 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
59.218 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
59.218 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
59.218 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
59.219 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
59.219 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
59.220 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
59.221 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))
59.222 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))
59.222 * [backup-simplify]: Simplify (+ 0) into 0
59.223 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
59.223 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
59.223 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.224 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
59.224 * [backup-simplify]: Simplify (- 0) into 0
59.224 * [backup-simplify]: Simplify (+ 0 0) into 0
59.224 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
59.225 * [backup-simplify]: Simplify (+ 0) into 0
59.225 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
59.225 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
59.226 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.226 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
59.226 * [backup-simplify]: Simplify (- 0) into 0
59.227 * [backup-simplify]: Simplify (+ 0 0) into 0
59.227 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
59.227 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
59.228 * [backup-simplify]: Simplify (+ 0) into 0
59.228 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
59.229 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
59.229 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.230 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
59.230 * [backup-simplify]: Simplify (+ 0 0) into 0
59.230 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
59.231 * [backup-simplify]: Simplify (+ 0) into 0
59.231 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
59.231 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
59.232 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.233 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
59.233 * [backup-simplify]: Simplify (+ 0 0) into 0
59.233 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
59.234 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
59.234 * [backup-simplify]: Simplify (+ 0 0) into 0
59.234 * [backup-simplify]: Simplify (+ 0) into 0
59.235 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
59.235 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
59.236 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.236 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
59.237 * [backup-simplify]: Simplify (+ 0 0) into 0
59.237 * [backup-simplify]: Simplify (+ 0) into 0
59.238 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
59.238 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
59.239 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.239 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
59.240 * [backup-simplify]: Simplify (- 0) into 0
59.240 * [backup-simplify]: Simplify (+ 0 0) into 0
59.240 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
59.240 * [backup-simplify]: Simplify (+ 0) into 0
59.241 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
59.241 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
59.242 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.242 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
59.243 * [backup-simplify]: Simplify (- 0) into 0
59.243 * [backup-simplify]: Simplify (+ 0 0) into 0
59.243 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
59.244 * [backup-simplify]: Simplify (+ 0) into 0
59.244 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
59.245 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
59.245 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.246 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
59.246 * [backup-simplify]: Simplify (+ 0 0) into 0
59.247 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
59.247 * [backup-simplify]: Simplify (+ 0) into 0
59.248 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
59.248 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
59.249 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.249 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
59.250 * [backup-simplify]: Simplify (+ 0 0) into 0
59.250 * [backup-simplify]: Simplify (+ 0) into 0
59.251 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
59.251 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
59.252 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.252 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
59.252 * [backup-simplify]: Simplify (- 0) into 0
59.253 * [backup-simplify]: Simplify (+ 0 0) into 0
59.253 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
59.253 * [backup-simplify]: Simplify (+ 0) into 0
59.254 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
59.254 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
59.255 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.255 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
59.256 * [backup-simplify]: Simplify (+ 0 0) into 0
59.256 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
59.256 * [backup-simplify]: Simplify (+ 0) into 0
59.257 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
59.257 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
59.258 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.258 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
59.259 * [backup-simplify]: Simplify (- 0) into 0
59.259 * [backup-simplify]: Simplify (+ 0 0) into 0
59.259 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
59.260 * [backup-simplify]: Simplify (+ 0 0) into 0
59.260 * [backup-simplify]: Simplify (- 0) into 0
59.261 * [backup-simplify]: Simplify (+ 0 0) into 0
59.265 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0
59.267 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0
59.267 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) (* (pow lambda2 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) (* (pow lambda2 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (* 3 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))))) in lambda2
59.267 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) (* (pow lambda2 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) in lambda2
59.267 * [taylor]: Taking taylor expansion of 1/2 in lambda2
59.267 * [backup-simplify]: Simplify 1/2 into 1/2
59.267 * [taylor]: Taking taylor expansion of (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) (* (pow lambda2 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) in lambda2
59.267 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) (* (pow lambda2 2) R)) in lambda2
59.267 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) in lambda2
59.268 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 4) in lambda2
59.268 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
59.268 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
59.268 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.268 * [backup-simplify]: Simplify -0.5 into -0.5
59.268 * [taylor]: Taking taylor expansion of phi2 in lambda2
59.268 * [backup-simplify]: Simplify phi2 into phi2
59.268 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
59.268 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
59.268 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
59.268 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
59.268 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
59.268 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
59.268 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 4) in lambda2
59.268 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
59.268 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
59.268 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.268 * [backup-simplify]: Simplify -0.5 into -0.5
59.268 * [taylor]: Taking taylor expansion of phi1 in lambda2
59.269 * [backup-simplify]: Simplify phi1 into phi1
59.269 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
59.269 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
59.269 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
59.269 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
59.269 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
59.269 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
59.269 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) R) in lambda2
59.269 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
59.269 * [taylor]: Taking taylor expansion of lambda2 in lambda2
59.269 * [backup-simplify]: Simplify 0 into 0
59.269 * [backup-simplify]: Simplify 1 into 1
59.269 * [taylor]: Taking taylor expansion of R in lambda2
59.269 * [backup-simplify]: Simplify R into R
59.269 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
59.270 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi2)) 2)) into (pow (sin (/ -0.5 phi2)) 4)
59.270 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
59.270 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (pow (sin (/ -0.5 phi1)) 4)
59.271 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) into (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4))
59.271 * [backup-simplify]: Simplify (* 1 1) into 1
59.271 * [backup-simplify]: Simplify (* 1 R) into R
59.272 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) R) into (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) R)
59.272 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) in lambda2
59.272 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) in lambda2
59.272 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3) in lambda2
59.272 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in lambda2
59.272 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in lambda2
59.272 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2
59.272 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2
59.272 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
59.272 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
59.272 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.272 * [backup-simplify]: Simplify -0.5 into -0.5
59.272 * [taylor]: Taking taylor expansion of phi2 in lambda2
59.272 * [backup-simplify]: Simplify phi2 into phi2
59.272 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
59.272 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
59.272 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
59.272 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
59.273 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
59.273 * [backup-simplify]: Simplify (- 0) into 0
59.273 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
59.273 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2
59.273 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
59.273 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
59.273 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.273 * [backup-simplify]: Simplify -0.5 into -0.5
59.273 * [taylor]: Taking taylor expansion of phi1 in lambda2
59.273 * [backup-simplify]: Simplify phi1 into phi1
59.273 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
59.273 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
59.273 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
59.274 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
59.274 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
59.274 * [backup-simplify]: Simplify (- 0) into 0
59.274 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
59.274 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2
59.274 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2
59.274 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
59.274 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
59.274 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.274 * [backup-simplify]: Simplify -0.5 into -0.5
59.274 * [taylor]: Taking taylor expansion of phi2 in lambda2
59.274 * [backup-simplify]: Simplify phi2 into phi2
59.274 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
59.275 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
59.275 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
59.275 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
59.275 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
59.275 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
59.275 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2
59.275 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
59.275 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
59.275 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.275 * [backup-simplify]: Simplify -0.5 into -0.5
59.275 * [taylor]: Taking taylor expansion of phi1 in lambda2
59.275 * [backup-simplify]: Simplify phi1 into phi1
59.275 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
59.275 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
59.275 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
59.275 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
59.276 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
59.276 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
59.276 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in lambda2
59.276 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
59.276 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
59.276 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
59.276 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.276 * [backup-simplify]: Simplify -0.5 into -0.5
59.276 * [taylor]: Taking taylor expansion of phi2 in lambda2
59.276 * [backup-simplify]: Simplify phi2 into phi2
59.276 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
59.276 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
59.276 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
59.276 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
59.276 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
59.276 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
59.276 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.276 * [backup-simplify]: Simplify -0.5 into -0.5
59.276 * [taylor]: Taking taylor expansion of phi2 in lambda2
59.276 * [backup-simplify]: Simplify phi2 into phi2
59.276 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
59.277 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
59.277 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
59.277 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
59.277 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
59.277 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
59.277 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.277 * [backup-simplify]: Simplify -0.5 into -0.5
59.277 * [taylor]: Taking taylor expansion of phi1 in lambda2
59.277 * [backup-simplify]: Simplify phi1 into phi1
59.277 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
59.277 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
59.277 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
59.277 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
59.277 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
59.277 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.277 * [backup-simplify]: Simplify -0.5 into -0.5
59.277 * [taylor]: Taking taylor expansion of phi1 in lambda2
59.277 * [backup-simplify]: Simplify phi1 into phi1
59.277 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
59.277 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
59.277 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
59.277 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
59.277 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
59.278 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
59.278 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.278 * [backup-simplify]: Simplify -0.5 into -0.5
59.278 * [taylor]: Taking taylor expansion of phi2 in lambda2
59.278 * [backup-simplify]: Simplify phi2 into phi2
59.278 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
59.278 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
59.278 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
59.278 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
59.278 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
59.278 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
59.278 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.278 * [backup-simplify]: Simplify -0.5 into -0.5
59.278 * [taylor]: Taking taylor expansion of phi2 in lambda2
59.278 * [backup-simplify]: Simplify phi2 into phi2
59.278 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
59.278 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
59.278 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
59.278 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
59.278 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
59.278 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
59.278 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.278 * [backup-simplify]: Simplify -0.5 into -0.5
59.278 * [taylor]: Taking taylor expansion of phi1 in lambda2
59.278 * [backup-simplify]: Simplify phi1 into phi1
59.279 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
59.279 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
59.279 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
59.279 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
59.279 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
59.279 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.279 * [backup-simplify]: Simplify -0.5 into -0.5
59.279 * [taylor]: Taking taylor expansion of phi1 in lambda2
59.279 * [backup-simplify]: Simplify phi1 into phi1
59.279 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
59.279 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
59.279 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
59.279 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
59.279 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
59.280 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
59.280 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
59.280 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
59.280 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
59.281 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
59.281 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
59.281 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
59.282 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
59.282 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
59.282 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
59.282 * [backup-simplify]: Simplify (- 0) into 0
59.282 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
59.283 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
59.283 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
59.283 * [backup-simplify]: Simplify (- 0) into 0
59.283 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
59.283 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
59.283 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
59.283 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
59.284 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
59.284 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
59.284 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
59.284 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
59.284 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
59.285 * [backup-simplify]: Simplify (- 0) into 0
59.285 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
59.285 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
59.285 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
59.285 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
59.285 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
59.285 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
59.286 * [backup-simplify]: Simplify (- 0) into 0
59.286 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
59.286 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
59.286 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
59.286 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
59.286 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
59.287 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
59.287 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
59.288 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
59.288 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
59.290 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
59.294 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)
59.298 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)
59.300 * [backup-simplify]: Simplify (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) into (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))
59.302 * [backup-simplify]: Simplify (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) into (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))
59.303 * [backup-simplify]: Simplify (+ 0) into 0
59.303 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
59.303 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
59.304 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.305 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
59.305 * [backup-simplify]: Simplify (- 0) into 0
59.306 * [backup-simplify]: Simplify (+ 0 0) into 0
59.306 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
59.306 * [backup-simplify]: Simplify (+ 0) into 0
59.307 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
59.307 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
59.308 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.309 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
59.309 * [backup-simplify]: Simplify (- 0) into 0
59.310 * [backup-simplify]: Simplify (+ 0 0) into 0
59.310 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
59.310 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
59.311 * [backup-simplify]: Simplify (+ 0) into 0
59.311 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
59.311 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
59.312 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.313 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
59.313 * [backup-simplify]: Simplify (+ 0 0) into 0
59.313 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
59.313 * [backup-simplify]: Simplify (+ 0) into 0
59.314 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
59.314 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
59.315 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.315 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
59.316 * [backup-simplify]: Simplify (+ 0 0) into 0
59.316 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
59.316 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
59.317 * [backup-simplify]: Simplify (+ 0 0) into 0
59.317 * [backup-simplify]: Simplify (+ 0) into 0
59.318 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
59.318 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
59.319 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.319 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
59.320 * [backup-simplify]: Simplify (+ 0 0) into 0
59.320 * [backup-simplify]: Simplify (+ 0) into 0
59.320 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
59.321 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
59.321 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.322 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
59.322 * [backup-simplify]: Simplify (- 0) into 0
59.323 * [backup-simplify]: Simplify (+ 0 0) into 0
59.323 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
59.323 * [backup-simplify]: Simplify (+ 0) into 0
59.324 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
59.324 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
59.325 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.325 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
59.326 * [backup-simplify]: Simplify (- 0) into 0
59.326 * [backup-simplify]: Simplify (+ 0 0) into 0
59.326 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
59.327 * [backup-simplify]: Simplify (+ 0) into 0
59.327 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
59.327 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
59.328 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.329 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
59.329 * [backup-simplify]: Simplify (+ 0 0) into 0
59.329 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
59.330 * [backup-simplify]: Simplify (+ 0) into 0
59.330 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
59.330 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
59.331 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.331 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
59.331 * [backup-simplify]: Simplify (+ 0 0) into 0
59.331 * [backup-simplify]: Simplify (+ 0) into 0
59.332 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
59.332 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
59.332 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.332 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
59.333 * [backup-simplify]: Simplify (- 0) into 0
59.333 * [backup-simplify]: Simplify (+ 0 0) into 0
59.333 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
59.333 * [backup-simplify]: Simplify (+ 0) into 0
59.334 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
59.334 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
59.334 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.335 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
59.335 * [backup-simplify]: Simplify (+ 0 0) into 0
59.335 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
59.335 * [backup-simplify]: Simplify (+ 0) into 0
59.335 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
59.336 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
59.336 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.336 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
59.337 * [backup-simplify]: Simplify (- 0) into 0
59.337 * [backup-simplify]: Simplify (+ 0 0) into 0
59.337 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
59.337 * [backup-simplify]: Simplify (+ 0 0) into 0
59.338 * [backup-simplify]: Simplify (- 0) into 0
59.338 * [backup-simplify]: Simplify (+ 0 0) into 0
59.340 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into 0
59.342 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2))) into 0
59.344 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
59.345 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
59.345 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) (* (pow lambda2 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (* 3 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))) in lambda2
59.345 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) (* (pow lambda2 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) in lambda2
59.345 * [taylor]: Taking taylor expansion of 1/2 in lambda2
59.345 * [backup-simplify]: Simplify 1/2 into 1/2
59.345 * [taylor]: Taking taylor expansion of (* (/ (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) (* (pow lambda2 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) in lambda2
59.345 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) (* (pow lambda2 2) R)) in lambda2
59.345 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) in lambda2
59.345 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 4) in lambda2
59.346 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
59.346 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
59.346 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.346 * [backup-simplify]: Simplify -0.5 into -0.5
59.346 * [taylor]: Taking taylor expansion of phi2 in lambda2
59.346 * [backup-simplify]: Simplify phi2 into phi2
59.346 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
59.346 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
59.346 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
59.346 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
59.346 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
59.346 * [backup-simplify]: Simplify (- 0) into 0
59.346 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
59.346 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 4) in lambda2
59.346 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
59.346 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
59.346 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.346 * [backup-simplify]: Simplify -0.5 into -0.5
59.346 * [taylor]: Taking taylor expansion of phi1 in lambda2
59.346 * [backup-simplify]: Simplify phi1 into phi1
59.346 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
59.347 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
59.347 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
59.347 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
59.347 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
59.347 * [backup-simplify]: Simplify (- 0) into 0
59.347 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
59.347 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) R) in lambda2
59.347 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
59.347 * [taylor]: Taking taylor expansion of lambda2 in lambda2
59.347 * [backup-simplify]: Simplify 0 into 0
59.347 * [backup-simplify]: Simplify 1 into 1
59.347 * [taylor]: Taking taylor expansion of R in lambda2
59.347 * [backup-simplify]: Simplify R into R
59.347 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
59.347 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi2)) 2)) into (pow (cos (/ -0.5 phi2)) 4)
59.348 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
59.348 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (pow (cos (/ -0.5 phi1)) 4)
59.348 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) into (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4))
59.348 * [backup-simplify]: Simplify (* 1 1) into 1
59.348 * [backup-simplify]: Simplify (* 1 R) into R
59.348 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) R) into (/ (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) R)
59.348 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) in lambda2
59.348 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) in lambda2
59.349 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3) in lambda2
59.349 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in lambda2
59.349 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in lambda2
59.349 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2
59.349 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2
59.349 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
59.349 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
59.349 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.349 * [backup-simplify]: Simplify -0.5 into -0.5
59.349 * [taylor]: Taking taylor expansion of phi2 in lambda2
59.349 * [backup-simplify]: Simplify phi2 into phi2
59.349 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
59.349 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
59.349 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
59.349 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
59.349 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
59.349 * [backup-simplify]: Simplify (- 0) into 0
59.349 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
59.349 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2
59.349 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
59.349 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
59.349 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.349 * [backup-simplify]: Simplify -0.5 into -0.5
59.349 * [taylor]: Taking taylor expansion of phi1 in lambda2
59.349 * [backup-simplify]: Simplify phi1 into phi1
59.349 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
59.350 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
59.350 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
59.350 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
59.350 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
59.350 * [backup-simplify]: Simplify (- 0) into 0
59.350 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
59.350 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2
59.350 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2
59.350 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
59.350 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
59.350 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.350 * [backup-simplify]: Simplify -0.5 into -0.5
59.350 * [taylor]: Taking taylor expansion of phi2 in lambda2
59.350 * [backup-simplify]: Simplify phi2 into phi2
59.350 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
59.350 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
59.350 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
59.350 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
59.350 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
59.350 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
59.351 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2
59.351 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
59.351 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
59.351 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.351 * [backup-simplify]: Simplify -0.5 into -0.5
59.351 * [taylor]: Taking taylor expansion of phi1 in lambda2
59.351 * [backup-simplify]: Simplify phi1 into phi1
59.351 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
59.351 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
59.351 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
59.351 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
59.351 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
59.351 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
59.351 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in lambda2
59.351 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
59.351 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
59.351 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
59.351 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.351 * [backup-simplify]: Simplify -0.5 into -0.5
59.351 * [taylor]: Taking taylor expansion of phi2 in lambda2
59.351 * [backup-simplify]: Simplify phi2 into phi2
59.351 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
59.351 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
59.351 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
59.351 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
59.351 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
59.351 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
59.351 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.351 * [backup-simplify]: Simplify -0.5 into -0.5
59.351 * [taylor]: Taking taylor expansion of phi2 in lambda2
59.351 * [backup-simplify]: Simplify phi2 into phi2
59.351 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
59.351 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
59.351 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
59.352 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
59.352 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
59.352 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
59.352 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.352 * [backup-simplify]: Simplify -0.5 into -0.5
59.352 * [taylor]: Taking taylor expansion of phi1 in lambda2
59.352 * [backup-simplify]: Simplify phi1 into phi1
59.352 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
59.352 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
59.352 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
59.352 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
59.352 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
59.352 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.352 * [backup-simplify]: Simplify -0.5 into -0.5
59.352 * [taylor]: Taking taylor expansion of phi1 in lambda2
59.352 * [backup-simplify]: Simplify phi1 into phi1
59.352 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
59.352 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
59.352 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
59.352 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
59.352 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
59.352 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
59.352 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.352 * [backup-simplify]: Simplify -0.5 into -0.5
59.352 * [taylor]: Taking taylor expansion of phi2 in lambda2
59.352 * [backup-simplify]: Simplify phi2 into phi2
59.352 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
59.352 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
59.352 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
59.352 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
59.352 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
59.352 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
59.352 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.352 * [backup-simplify]: Simplify -0.5 into -0.5
59.352 * [taylor]: Taking taylor expansion of phi2 in lambda2
59.352 * [backup-simplify]: Simplify phi2 into phi2
59.352 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
59.352 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
59.352 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
59.353 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
59.353 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
59.353 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
59.353 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.353 * [backup-simplify]: Simplify -0.5 into -0.5
59.353 * [taylor]: Taking taylor expansion of phi1 in lambda2
59.353 * [backup-simplify]: Simplify phi1 into phi1
59.353 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
59.353 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
59.353 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
59.353 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
59.353 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
59.353 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.353 * [backup-simplify]: Simplify -0.5 into -0.5
59.353 * [taylor]: Taking taylor expansion of phi1 in lambda2
59.353 * [backup-simplify]: Simplify phi1 into phi1
59.353 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
59.353 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
59.353 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
59.353 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
59.353 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
59.353 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
59.354 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
59.354 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
59.354 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
59.354 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
59.354 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
59.354 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
59.354 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
59.354 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
59.355 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
59.355 * [backup-simplify]: Simplify (- 0) into 0
59.355 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
59.355 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
59.355 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
59.355 * [backup-simplify]: Simplify (- 0) into 0
59.355 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
59.355 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
59.355 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
59.356 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
59.356 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
59.356 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
59.356 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
59.356 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
59.356 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
59.356 * [backup-simplify]: Simplify (- 0) into 0
59.356 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
59.356 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
59.356 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
59.357 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
59.357 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
59.357 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
59.357 * [backup-simplify]: Simplify (- 0) into 0
59.357 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
59.357 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
59.357 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
59.357 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
59.357 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
59.357 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
59.358 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
59.358 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
59.358 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
59.359 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
59.361 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)
59.365 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)
59.370 * [backup-simplify]: Simplify (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) into (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))
59.372 * [backup-simplify]: Simplify (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) into (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))
59.373 * [backup-simplify]: Simplify (+ 0) into 0
59.373 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
59.374 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
59.374 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.375 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
59.375 * [backup-simplify]: Simplify (- 0) into 0
59.375 * [backup-simplify]: Simplify (+ 0 0) into 0
59.376 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
59.376 * [backup-simplify]: Simplify (+ 0) into 0
59.377 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
59.377 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
59.377 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.378 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
59.378 * [backup-simplify]: Simplify (- 0) into 0
59.379 * [backup-simplify]: Simplify (+ 0 0) into 0
59.379 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
59.379 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
59.380 * [backup-simplify]: Simplify (+ 0) into 0
59.380 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
59.380 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
59.381 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.382 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
59.382 * [backup-simplify]: Simplify (+ 0 0) into 0
59.382 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
59.383 * [backup-simplify]: Simplify (+ 0) into 0
59.383 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
59.383 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
59.384 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.384 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
59.385 * [backup-simplify]: Simplify (+ 0 0) into 0
59.385 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
59.385 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
59.386 * [backup-simplify]: Simplify (+ 0 0) into 0
59.386 * [backup-simplify]: Simplify (+ 0) into 0
59.387 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
59.387 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
59.388 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.388 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
59.389 * [backup-simplify]: Simplify (+ 0 0) into 0
59.389 * [backup-simplify]: Simplify (+ 0) into 0
59.389 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
59.390 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
59.390 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.391 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
59.391 * [backup-simplify]: Simplify (- 0) into 0
59.392 * [backup-simplify]: Simplify (+ 0 0) into 0
59.392 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
59.392 * [backup-simplify]: Simplify (+ 0) into 0
59.393 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
59.393 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
59.394 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.394 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
59.395 * [backup-simplify]: Simplify (- 0) into 0
59.395 * [backup-simplify]: Simplify (+ 0 0) into 0
59.395 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
59.396 * [backup-simplify]: Simplify (+ 0) into 0
59.396 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
59.396 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
59.397 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.398 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
59.398 * [backup-simplify]: Simplify (+ 0 0) into 0
59.398 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
59.399 * [backup-simplify]: Simplify (+ 0) into 0
59.399 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
59.399 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
59.400 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.401 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
59.401 * [backup-simplify]: Simplify (+ 0 0) into 0
59.402 * [backup-simplify]: Simplify (+ 0) into 0
59.402 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
59.402 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
59.403 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.403 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
59.404 * [backup-simplify]: Simplify (- 0) into 0
59.404 * [backup-simplify]: Simplify (+ 0 0) into 0
59.405 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
59.405 * [backup-simplify]: Simplify (+ 0) into 0
59.405 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
59.406 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
59.406 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.407 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
59.407 * [backup-simplify]: Simplify (+ 0 0) into 0
59.408 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
59.408 * [backup-simplify]: Simplify (+ 0) into 0
59.408 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
59.409 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
59.409 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.410 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
59.410 * [backup-simplify]: Simplify (- 0) into 0
59.411 * [backup-simplify]: Simplify (+ 0 0) into 0
59.411 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
59.411 * [backup-simplify]: Simplify (+ 0 0) into 0
59.412 * [backup-simplify]: Simplify (- 0) into 0
59.412 * [backup-simplify]: Simplify (+ 0 0) into 0
59.416 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into 0
59.418 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2))) into 0
59.421 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
59.422 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
59.422 * [taylor]: Taking taylor expansion of (* 3 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) in lambda2
59.422 * [taylor]: Taking taylor expansion of 3 in lambda2
59.422 * [backup-simplify]: Simplify 3 into 3
59.422 * [taylor]: Taking taylor expansion of (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) in lambda2
59.422 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (* R (pow lambda2 2))) in lambda2
59.422 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)))) in lambda2
59.422 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2
59.422 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
59.422 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
59.422 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.422 * [backup-simplify]: Simplify -0.5 into -0.5
59.422 * [taylor]: Taking taylor expansion of phi2 in lambda2
59.423 * [backup-simplify]: Simplify phi2 into phi2
59.423 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
59.423 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
59.423 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
59.423 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
59.423 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
59.423 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
59.423 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2))) in lambda2
59.423 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2
59.423 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
59.423 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
59.423 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.423 * [backup-simplify]: Simplify -0.5 into -0.5
59.423 * [taylor]: Taking taylor expansion of phi2 in lambda2
59.423 * [backup-simplify]: Simplify phi2 into phi2
59.423 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
59.423 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
59.423 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
59.423 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
59.423 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
59.424 * [backup-simplify]: Simplify (- 0) into 0
59.424 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
59.424 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2
59.424 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2
59.424 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
59.424 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
59.424 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.424 * [backup-simplify]: Simplify -0.5 into -0.5
59.424 * [taylor]: Taking taylor expansion of phi1 in lambda2
59.424 * [backup-simplify]: Simplify phi1 into phi1
59.424 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
59.424 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
59.424 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
59.424 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
59.424 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
59.424 * [backup-simplify]: Simplify (- 0) into 0
59.424 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
59.424 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2
59.424 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
59.424 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
59.425 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.425 * [backup-simplify]: Simplify -0.5 into -0.5
59.425 * [taylor]: Taking taylor expansion of phi1 in lambda2
59.425 * [backup-simplify]: Simplify phi1 into phi1
59.425 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
59.425 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
59.425 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
59.425 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
59.425 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
59.425 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
59.425 * [taylor]: Taking taylor expansion of (* R (pow lambda2 2)) in lambda2
59.425 * [taylor]: Taking taylor expansion of R in lambda2
59.425 * [backup-simplify]: Simplify R into R
59.425 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
59.425 * [taylor]: Taking taylor expansion of lambda2 in lambda2
59.425 * [backup-simplify]: Simplify 0 into 0
59.425 * [backup-simplify]: Simplify 1 into 1
59.425 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
59.425 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
59.425 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
59.425 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
59.426 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2))
59.426 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)))
59.426 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)))) into (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2))))
59.427 * [backup-simplify]: Simplify (* 1 1) into 1
59.427 * [backup-simplify]: Simplify (* R 1) into R
59.427 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)))) R) into (/ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)))) R)
59.427 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) in lambda2
59.427 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) in lambda2
59.427 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3) in lambda2
59.427 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in lambda2
59.427 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in lambda2
59.427 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2
59.427 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2
59.427 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
59.427 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
59.427 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.427 * [backup-simplify]: Simplify -0.5 into -0.5
59.427 * [taylor]: Taking taylor expansion of phi2 in lambda2
59.427 * [backup-simplify]: Simplify phi2 into phi2
59.427 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
59.427 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
59.427 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
59.428 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
59.428 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
59.428 * [backup-simplify]: Simplify (- 0) into 0
59.428 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
59.428 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2
59.428 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
59.428 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
59.428 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.428 * [backup-simplify]: Simplify -0.5 into -0.5
59.428 * [taylor]: Taking taylor expansion of phi1 in lambda2
59.428 * [backup-simplify]: Simplify phi1 into phi1
59.428 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
59.428 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
59.428 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
59.428 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
59.428 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
59.429 * [backup-simplify]: Simplify (- 0) into 0
59.429 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
59.429 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2
59.429 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2
59.429 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
59.429 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
59.429 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.429 * [backup-simplify]: Simplify -0.5 into -0.5
59.429 * [taylor]: Taking taylor expansion of phi2 in lambda2
59.429 * [backup-simplify]: Simplify phi2 into phi2
59.429 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
59.429 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
59.429 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
59.429 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
59.429 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
59.429 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
59.429 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2
59.429 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
59.429 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
59.429 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.429 * [backup-simplify]: Simplify -0.5 into -0.5
59.429 * [taylor]: Taking taylor expansion of phi1 in lambda2
59.429 * [backup-simplify]: Simplify phi1 into phi1
59.429 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
59.429 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
59.429 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
59.429 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
59.430 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
59.430 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
59.430 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in lambda2
59.430 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
59.430 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
59.430 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
59.430 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.430 * [backup-simplify]: Simplify -0.5 into -0.5
59.430 * [taylor]: Taking taylor expansion of phi2 in lambda2
59.430 * [backup-simplify]: Simplify phi2 into phi2
59.430 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
59.430 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
59.430 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
59.430 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
59.430 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
59.430 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
59.430 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.430 * [backup-simplify]: Simplify -0.5 into -0.5
59.430 * [taylor]: Taking taylor expansion of phi2 in lambda2
59.430 * [backup-simplify]: Simplify phi2 into phi2
59.430 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
59.430 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
59.430 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
59.430 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
59.430 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
59.430 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
59.430 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.430 * [backup-simplify]: Simplify -0.5 into -0.5
59.430 * [taylor]: Taking taylor expansion of phi1 in lambda2
59.430 * [backup-simplify]: Simplify phi1 into phi1
59.430 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
59.430 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
59.430 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
59.430 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
59.430 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
59.430 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.430 * [backup-simplify]: Simplify -0.5 into -0.5
59.430 * [taylor]: Taking taylor expansion of phi1 in lambda2
59.430 * [backup-simplify]: Simplify phi1 into phi1
59.431 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
59.431 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
59.431 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
59.431 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
59.431 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
59.431 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
59.431 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.431 * [backup-simplify]: Simplify -0.5 into -0.5
59.431 * [taylor]: Taking taylor expansion of phi2 in lambda2
59.431 * [backup-simplify]: Simplify phi2 into phi2
59.431 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
59.431 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
59.431 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
59.431 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
59.431 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
59.431 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
59.431 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.431 * [backup-simplify]: Simplify -0.5 into -0.5
59.431 * [taylor]: Taking taylor expansion of phi2 in lambda2
59.431 * [backup-simplify]: Simplify phi2 into phi2
59.431 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
59.431 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
59.431 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
59.431 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
59.431 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
59.431 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
59.431 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.431 * [backup-simplify]: Simplify -0.5 into -0.5
59.431 * [taylor]: Taking taylor expansion of phi1 in lambda2
59.431 * [backup-simplify]: Simplify phi1 into phi1
59.431 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
59.431 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
59.431 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
59.431 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
59.431 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
59.431 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.431 * [backup-simplify]: Simplify -0.5 into -0.5
59.431 * [taylor]: Taking taylor expansion of phi1 in lambda2
59.432 * [backup-simplify]: Simplify phi1 into phi1
59.432 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
59.432 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
59.432 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
59.432 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
59.432 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
59.432 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
59.432 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
59.432 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
59.432 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
59.433 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
59.433 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
59.433 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
59.433 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
59.433 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
59.433 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
59.434 * [backup-simplify]: Simplify (- 0) into 0
59.434 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
59.434 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
59.434 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
59.434 * [backup-simplify]: Simplify (- 0) into 0
59.434 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
59.434 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
59.434 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
59.434 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
59.434 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
59.435 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
59.435 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
59.435 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
59.435 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
59.435 * [backup-simplify]: Simplify (- 0) into 0
59.435 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
59.435 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
59.435 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
59.435 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
59.435 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
59.435 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
59.436 * [backup-simplify]: Simplify (- 0) into 0
59.436 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
59.436 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
59.436 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
59.436 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
59.436 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
59.436 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
59.436 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
59.437 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
59.437 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
59.438 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
59.440 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)
59.442 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)
59.443 * [backup-simplify]: Simplify (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) into (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))
59.444 * [backup-simplify]: Simplify (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) into (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))
59.445 * [backup-simplify]: Simplify (+ 0) into 0
59.445 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
59.445 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
59.446 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.446 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
59.446 * [backup-simplify]: Simplify (- 0) into 0
59.447 * [backup-simplify]: Simplify (+ 0 0) into 0
59.447 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
59.447 * [backup-simplify]: Simplify (+ 0) into 0
59.447 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
59.447 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
59.448 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.448 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
59.448 * [backup-simplify]: Simplify (- 0) into 0
59.449 * [backup-simplify]: Simplify (+ 0 0) into 0
59.449 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
59.449 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
59.449 * [backup-simplify]: Simplify (+ 0) into 0
59.450 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
59.450 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
59.450 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.450 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
59.451 * [backup-simplify]: Simplify (+ 0 0) into 0
59.451 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
59.451 * [backup-simplify]: Simplify (+ 0) into 0
59.451 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
59.451 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
59.452 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.452 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
59.452 * [backup-simplify]: Simplify (+ 0 0) into 0
59.453 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
59.453 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
59.453 * [backup-simplify]: Simplify (+ 0 0) into 0
59.453 * [backup-simplify]: Simplify (+ 0) into 0
59.454 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
59.454 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
59.454 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.455 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
59.455 * [backup-simplify]: Simplify (+ 0 0) into 0
59.455 * [backup-simplify]: Simplify (+ 0) into 0
59.455 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
59.455 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
59.456 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.456 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
59.457 * [backup-simplify]: Simplify (- 0) into 0
59.457 * [backup-simplify]: Simplify (+ 0 0) into 0
59.457 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
59.457 * [backup-simplify]: Simplify (+ 0) into 0
59.458 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
59.458 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
59.458 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.458 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
59.459 * [backup-simplify]: Simplify (- 0) into 0
59.459 * [backup-simplify]: Simplify (+ 0 0) into 0
59.459 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
59.459 * [backup-simplify]: Simplify (+ 0) into 0
59.460 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
59.460 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
59.460 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.461 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
59.461 * [backup-simplify]: Simplify (+ 0 0) into 0
59.461 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
59.461 * [backup-simplify]: Simplify (+ 0) into 0
59.462 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
59.462 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
59.462 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.462 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
59.463 * [backup-simplify]: Simplify (+ 0 0) into 0
59.463 * [backup-simplify]: Simplify (+ 0) into 0
59.463 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
59.463 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
59.464 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.464 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
59.464 * [backup-simplify]: Simplify (- 0) into 0
59.465 * [backup-simplify]: Simplify (+ 0 0) into 0
59.465 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
59.465 * [backup-simplify]: Simplify (+ 0) into 0
59.465 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
59.465 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
59.466 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.466 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
59.466 * [backup-simplify]: Simplify (+ 0 0) into 0
59.467 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
59.467 * [backup-simplify]: Simplify (+ 0) into 0
59.467 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
59.467 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
59.468 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.468 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
59.468 * [backup-simplify]: Simplify (- 0) into 0
59.468 * [backup-simplify]: Simplify (+ 0 0) into 0
59.469 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
59.469 * [backup-simplify]: Simplify (+ 0 0) into 0
59.469 * [backup-simplify]: Simplify (- 0) into 0
59.470 * [backup-simplify]: Simplify (+ 0 0) into 0
59.472 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into 0
59.474 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2))) into 0
59.476 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
59.477 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
59.477 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (/ 1 (* R (pow phi2 2))))) (+ (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1))))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow lambda2 2) R)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 2 (* (/ (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ 1 (* R (pow phi1 2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* (pow lambda2 2) R)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))))))))) in lambda2
59.477 * [taylor]: Taking taylor expansion of (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (/ 1 (* R (pow phi2 2))))) in lambda2
59.477 * [taylor]: Taking taylor expansion of 1/2 in lambda2
59.477 * [backup-simplify]: Simplify 1/2 into 1/2
59.477 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (/ 1 (* R (pow phi2 2)))) in lambda2
59.477 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) in lambda2
59.477 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) in lambda2
59.477 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in lambda2
59.477 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in lambda2
59.477 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2
59.477 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2
59.477 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
59.478 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
59.478 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.478 * [backup-simplify]: Simplify -0.5 into -0.5
59.478 * [taylor]: Taking taylor expansion of phi2 in lambda2
59.478 * [backup-simplify]: Simplify phi2 into phi2
59.478 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
59.478 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
59.478 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
59.478 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
59.478 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
59.478 * [backup-simplify]: Simplify (- 0) into 0
59.478 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
59.478 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2
59.478 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
59.478 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
59.478 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.478 * [backup-simplify]: Simplify -0.5 into -0.5
59.478 * [taylor]: Taking taylor expansion of phi1 in lambda2
59.478 * [backup-simplify]: Simplify phi1 into phi1
59.478 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
59.479 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
59.479 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
59.479 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
59.479 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
59.479 * [backup-simplify]: Simplify (- 0) into 0
59.479 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
59.479 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2
59.479 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2
59.479 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
59.479 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
59.479 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.479 * [backup-simplify]: Simplify -0.5 into -0.5
59.479 * [taylor]: Taking taylor expansion of phi2 in lambda2
59.479 * [backup-simplify]: Simplify phi2 into phi2
59.479 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
59.479 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
59.479 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
59.479 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
59.479 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
59.479 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
59.480 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2
59.480 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
59.480 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
59.480 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.480 * [backup-simplify]: Simplify -0.5 into -0.5
59.480 * [taylor]: Taking taylor expansion of phi1 in lambda2
59.480 * [backup-simplify]: Simplify phi1 into phi1
59.480 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
59.480 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
59.480 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
59.480 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
59.480 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
59.480 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
59.480 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in lambda2
59.480 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
59.480 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
59.480 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
59.480 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.480 * [backup-simplify]: Simplify -0.5 into -0.5
59.480 * [taylor]: Taking taylor expansion of phi2 in lambda2
59.480 * [backup-simplify]: Simplify phi2 into phi2
59.480 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
59.480 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
59.480 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
59.480 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
59.480 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
59.480 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
59.480 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.480 * [backup-simplify]: Simplify -0.5 into -0.5
59.480 * [taylor]: Taking taylor expansion of phi2 in lambda2
59.480 * [backup-simplify]: Simplify phi2 into phi2
59.480 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
59.480 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
59.480 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
59.481 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
59.481 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
59.481 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
59.481 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.481 * [backup-simplify]: Simplify -0.5 into -0.5
59.481 * [taylor]: Taking taylor expansion of phi1 in lambda2
59.481 * [backup-simplify]: Simplify phi1 into phi1
59.481 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
59.481 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
59.481 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
59.481 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
59.481 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
59.481 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.481 * [backup-simplify]: Simplify -0.5 into -0.5
59.481 * [taylor]: Taking taylor expansion of phi1 in lambda2
59.481 * [backup-simplify]: Simplify phi1 into phi1
59.481 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
59.481 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
59.481 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
59.481 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
59.481 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
59.481 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
59.481 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.481 * [backup-simplify]: Simplify -0.5 into -0.5
59.481 * [taylor]: Taking taylor expansion of phi2 in lambda2
59.481 * [backup-simplify]: Simplify phi2 into phi2
59.481 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
59.481 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
59.481 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
59.481 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
59.481 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
59.481 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
59.481 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.481 * [backup-simplify]: Simplify -0.5 into -0.5
59.481 * [taylor]: Taking taylor expansion of phi2 in lambda2
59.481 * [backup-simplify]: Simplify phi2 into phi2
59.481 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
59.481 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
59.482 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
59.482 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
59.482 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
59.482 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
59.482 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.482 * [backup-simplify]: Simplify -0.5 into -0.5
59.482 * [taylor]: Taking taylor expansion of phi1 in lambda2
59.482 * [backup-simplify]: Simplify phi1 into phi1
59.482 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
59.482 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
59.482 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
59.482 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
59.482 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
59.482 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.482 * [backup-simplify]: Simplify -0.5 into -0.5
59.482 * [taylor]: Taking taylor expansion of phi1 in lambda2
59.482 * [backup-simplify]: Simplify phi1 into phi1
59.482 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
59.482 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
59.482 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
59.482 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
59.482 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
59.482 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
59.483 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
59.483 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
59.483 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
59.483 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
59.483 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
59.483 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
59.483 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
59.483 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
59.484 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
59.484 * [backup-simplify]: Simplify (- 0) into 0
59.484 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
59.484 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
59.484 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
59.484 * [backup-simplify]: Simplify (- 0) into 0
59.484 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
59.484 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
59.485 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
59.485 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
59.485 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
59.485 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
59.485 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
59.485 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
59.485 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
59.487 * [backup-simplify]: Simplify (- 0) into 0
59.487 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
59.487 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
59.487 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
59.488 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
59.488 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
59.488 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
59.488 * [backup-simplify]: Simplify (- 0) into 0
59.488 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
59.488 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
59.488 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
59.488 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
59.488 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
59.489 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
59.489 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
59.489 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
59.490 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
59.491 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
59.492 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))
59.492 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))
59.493 * [backup-simplify]: Simplify (+ 0) into 0
59.493 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
59.493 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
59.494 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.494 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
59.494 * [backup-simplify]: Simplify (- 0) into 0
59.495 * [backup-simplify]: Simplify (+ 0 0) into 0
59.495 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
59.495 * [backup-simplify]: Simplify (+ 0) into 0
59.495 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
59.495 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
59.496 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.496 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
59.496 * [backup-simplify]: Simplify (- 0) into 0
59.497 * [backup-simplify]: Simplify (+ 0 0) into 0
59.497 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
59.497 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
59.497 * [backup-simplify]: Simplify (+ 0) into 0
59.498 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
59.498 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
59.498 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.498 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
59.499 * [backup-simplify]: Simplify (+ 0 0) into 0
59.499 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
59.499 * [backup-simplify]: Simplify (+ 0) into 0
59.499 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
59.499 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
59.500 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.500 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
59.500 * [backup-simplify]: Simplify (+ 0 0) into 0
59.500 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
59.501 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
59.501 * [backup-simplify]: Simplify (+ 0 0) into 0
59.501 * [backup-simplify]: Simplify (+ 0) into 0
59.502 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
59.502 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
59.502 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.502 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
59.503 * [backup-simplify]: Simplify (+ 0 0) into 0
59.503 * [backup-simplify]: Simplify (+ 0) into 0
59.503 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
59.503 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
59.504 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.504 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
59.504 * [backup-simplify]: Simplify (- 0) into 0
59.504 * [backup-simplify]: Simplify (+ 0 0) into 0
59.505 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
59.505 * [backup-simplify]: Simplify (+ 0) into 0
59.505 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
59.505 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
59.506 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.506 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
59.506 * [backup-simplify]: Simplify (- 0) into 0
59.507 * [backup-simplify]: Simplify (+ 0 0) into 0
59.507 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
59.507 * [backup-simplify]: Simplify (+ 0) into 0
59.507 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
59.507 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
59.508 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.508 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
59.508 * [backup-simplify]: Simplify (+ 0 0) into 0
59.508 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
59.509 * [backup-simplify]: Simplify (+ 0) into 0
59.509 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
59.509 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
59.510 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.510 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
59.511 * [backup-simplify]: Simplify (+ 0 0) into 0
59.511 * [backup-simplify]: Simplify (+ 0) into 0
59.512 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
59.512 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
59.513 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.513 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
59.514 * [backup-simplify]: Simplify (- 0) into 0
59.514 * [backup-simplify]: Simplify (+ 0 0) into 0
59.514 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
59.515 * [backup-simplify]: Simplify (+ 0) into 0
59.515 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
59.515 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
59.516 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.517 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
59.517 * [backup-simplify]: Simplify (+ 0 0) into 0
59.517 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
59.518 * [backup-simplify]: Simplify (+ 0) into 0
59.518 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
59.518 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
59.519 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.520 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
59.520 * [backup-simplify]: Simplify (- 0) into 0
59.521 * [backup-simplify]: Simplify (+ 0 0) into 0
59.521 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
59.522 * [backup-simplify]: Simplify (+ 0 0) into 0
59.522 * [backup-simplify]: Simplify (- 0) into 0
59.522 * [backup-simplify]: Simplify (+ 0 0) into 0
59.526 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0
59.528 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0
59.529 * [taylor]: Taking taylor expansion of (/ 1 (* R (pow phi2 2))) in lambda2
59.529 * [taylor]: Taking taylor expansion of (* R (pow phi2 2)) in lambda2
59.529 * [taylor]: Taking taylor expansion of R in lambda2
59.529 * [backup-simplify]: Simplify R into R
59.529 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2
59.529 * [taylor]: Taking taylor expansion of phi2 in lambda2
59.529 * [backup-simplify]: Simplify phi2 into phi2
59.529 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
59.529 * [backup-simplify]: Simplify (* R (pow phi2 2)) into (* R (pow phi2 2))
59.529 * [backup-simplify]: Simplify (/ 1 (* R (pow phi2 2))) into (/ 1 (* R (pow phi2 2)))
59.529 * [taylor]: Taking taylor expansion of (+ (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1))))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow lambda2 2) R)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 2 (* (/ (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ 1 (* R (pow phi1 2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* (pow lambda2 2) R)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))))))) in lambda2
59.529 * [taylor]: Taking taylor expansion of (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1))))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) in lambda2
59.530 * [taylor]: Taking taylor expansion of 2 in lambda2
59.530 * [backup-simplify]: Simplify 2 into 2
59.530 * [taylor]: Taking taylor expansion of (* (/ (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1))))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) in lambda2
59.530 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1))))) (* R (pow lambda2 2))) in lambda2
59.530 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1))))) in lambda2
59.530 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
59.530 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
59.530 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.530 * [backup-simplify]: Simplify -0.5 into -0.5
59.530 * [taylor]: Taking taylor expansion of phi2 in lambda2
59.530 * [backup-simplify]: Simplify phi2 into phi2
59.530 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
59.530 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
59.530 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
59.530 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1)))) in lambda2
59.530 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 3) in lambda2
59.530 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
59.530 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
59.530 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.530 * [backup-simplify]: Simplify -0.5 into -0.5
59.530 * [taylor]: Taking taylor expansion of phi2 in lambda2
59.530 * [backup-simplify]: Simplify phi2 into phi2
59.530 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
59.531 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
59.531 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
59.531 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
59.531 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
59.531 * [backup-simplify]: Simplify (- 0) into 0
59.532 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
59.532 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1))) in lambda2
59.532 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 3) in lambda2
59.532 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
59.532 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
59.532 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.532 * [backup-simplify]: Simplify -0.5 into -0.5
59.532 * [taylor]: Taking taylor expansion of phi1 in lambda2
59.532 * [backup-simplify]: Simplify phi1 into phi1
59.532 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
59.532 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
59.532 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
59.532 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
59.532 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
59.533 * [backup-simplify]: Simplify (- 0) into 0
59.533 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
59.533 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
59.533 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
59.533 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.533 * [backup-simplify]: Simplify -0.5 into -0.5
59.533 * [taylor]: Taking taylor expansion of phi1 in lambda2
59.533 * [backup-simplify]: Simplify phi1 into phi1
59.533 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
59.533 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
59.533 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
59.533 * [taylor]: Taking taylor expansion of (* R (pow lambda2 2)) in lambda2
59.533 * [taylor]: Taking taylor expansion of R in lambda2
59.533 * [backup-simplify]: Simplify R into R
59.533 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
59.534 * [taylor]: Taking taylor expansion of lambda2 in lambda2
59.534 * [backup-simplify]: Simplify 0 into 0
59.534 * [backup-simplify]: Simplify 1 into 1
59.534 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
59.534 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
59.534 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
59.534 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
59.534 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (pow (cos (/ -0.5 phi2)) 2)) into (pow (cos (/ -0.5 phi2)) 3)
59.535 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
59.535 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (pow (cos (/ -0.5 phi1)) 2)) into (pow (cos (/ -0.5 phi1)) 3)
59.535 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
59.535 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
59.535 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
59.535 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1))) into (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1)))
59.536 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1)))) into (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1))))
59.536 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1))))) into (* (pow (cos (/ -0.5 phi2)) 3) (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1)))))
59.537 * [backup-simplify]: Simplify (* 1 1) into 1
59.537 * [backup-simplify]: Simplify (* R 1) into R
59.537 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 3) (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1))))) R) into (/ (* (pow (cos (/ -0.5 phi2)) 3) (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1))))) R)
59.538 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) in lambda2
59.538 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) in lambda2
59.538 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3) in lambda2
59.538 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in lambda2
59.538 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in lambda2
59.538 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2
59.538 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2
59.538 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
59.538 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
59.538 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.538 * [backup-simplify]: Simplify -0.5 into -0.5
59.538 * [taylor]: Taking taylor expansion of phi2 in lambda2
59.538 * [backup-simplify]: Simplify phi2 into phi2
59.538 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
59.538 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
59.538 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
59.538 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
59.539 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
59.539 * [backup-simplify]: Simplify (- 0) into 0
59.539 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
59.539 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2
59.539 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
59.539 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
59.539 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.539 * [backup-simplify]: Simplify -0.5 into -0.5
59.539 * [taylor]: Taking taylor expansion of phi1 in lambda2
59.539 * [backup-simplify]: Simplify phi1 into phi1
59.539 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
59.539 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
59.540 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
59.540 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
59.540 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
59.540 * [backup-simplify]: Simplify (- 0) into 0
59.540 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
59.540 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2
59.540 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2
59.540 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
59.540 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
59.540 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.540 * [backup-simplify]: Simplify -0.5 into -0.5
59.541 * [taylor]: Taking taylor expansion of phi2 in lambda2
59.541 * [backup-simplify]: Simplify phi2 into phi2
59.541 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
59.541 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
59.541 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
59.541 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
59.541 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
59.541 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
59.541 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2
59.541 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
59.541 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
59.541 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.541 * [backup-simplify]: Simplify -0.5 into -0.5
59.541 * [taylor]: Taking taylor expansion of phi1 in lambda2
59.541 * [backup-simplify]: Simplify phi1 into phi1
59.541 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
59.542 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
59.542 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
59.542 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
59.542 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
59.542 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
59.542 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in lambda2
59.542 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
59.542 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
59.542 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
59.542 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.542 * [backup-simplify]: Simplify -0.5 into -0.5
59.542 * [taylor]: Taking taylor expansion of phi2 in lambda2
59.542 * [backup-simplify]: Simplify phi2 into phi2
59.542 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
59.542 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
59.542 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
59.542 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
59.543 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
59.543 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
59.543 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.543 * [backup-simplify]: Simplify -0.5 into -0.5
59.543 * [taylor]: Taking taylor expansion of phi2 in lambda2
59.543 * [backup-simplify]: Simplify phi2 into phi2
59.543 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
59.543 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
59.543 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
59.543 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
59.543 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
59.543 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
59.543 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.543 * [backup-simplify]: Simplify -0.5 into -0.5
59.543 * [taylor]: Taking taylor expansion of phi1 in lambda2
59.543 * [backup-simplify]: Simplify phi1 into phi1
59.543 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
59.543 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
59.543 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
59.543 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
59.543 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
59.543 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.543 * [backup-simplify]: Simplify -0.5 into -0.5
59.544 * [taylor]: Taking taylor expansion of phi1 in lambda2
59.544 * [backup-simplify]: Simplify phi1 into phi1
59.544 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
59.544 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
59.544 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
59.544 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
59.544 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
59.544 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
59.544 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.544 * [backup-simplify]: Simplify -0.5 into -0.5
59.544 * [taylor]: Taking taylor expansion of phi2 in lambda2
59.544 * [backup-simplify]: Simplify phi2 into phi2
59.544 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
59.544 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
59.544 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
59.544 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
59.544 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
59.544 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
59.544 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.544 * [backup-simplify]: Simplify -0.5 into -0.5
59.544 * [taylor]: Taking taylor expansion of phi2 in lambda2
59.544 * [backup-simplify]: Simplify phi2 into phi2
59.545 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
59.545 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
59.545 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
59.545 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
59.545 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
59.545 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
59.545 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.545 * [backup-simplify]: Simplify -0.5 into -0.5
59.545 * [taylor]: Taking taylor expansion of phi1 in lambda2
59.545 * [backup-simplify]: Simplify phi1 into phi1
59.545 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
59.545 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
59.545 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
59.545 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
59.545 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
59.545 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.545 * [backup-simplify]: Simplify -0.5 into -0.5
59.545 * [taylor]: Taking taylor expansion of phi1 in lambda2
59.545 * [backup-simplify]: Simplify phi1 into phi1
59.545 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
59.545 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
59.546 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
59.546 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
59.546 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
59.546 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
59.546 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
59.547 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
59.547 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
59.548 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
59.548 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
59.548 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
59.548 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
59.548 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
59.548 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
59.549 * [backup-simplify]: Simplify (- 0) into 0
59.549 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
59.549 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
59.549 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
59.550 * [backup-simplify]: Simplify (- 0) into 0
59.550 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
59.550 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
59.550 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
59.550 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
59.550 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
59.551 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
59.551 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
59.551 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
59.551 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
59.552 * [backup-simplify]: Simplify (- 0) into 0
59.552 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
59.552 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
59.552 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
59.552 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
59.552 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
59.552 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
59.553 * [backup-simplify]: Simplify (- 0) into 0
59.553 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
59.553 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
59.553 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
59.553 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
59.553 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
59.554 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
59.554 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
59.555 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
59.556 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
59.558 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
59.561 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)
59.565 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)
59.566 * [backup-simplify]: Simplify (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) into (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))
59.568 * [backup-simplify]: Simplify (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) into (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))
59.568 * [backup-simplify]: Simplify (+ 0) into 0
59.568 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
59.568 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
59.569 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.569 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
59.569 * [backup-simplify]: Simplify (- 0) into 0
59.570 * [backup-simplify]: Simplify (+ 0 0) into 0
59.570 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
59.570 * [backup-simplify]: Simplify (+ 0) into 0
59.570 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
59.570 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
59.571 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.571 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
59.571 * [backup-simplify]: Simplify (- 0) into 0
59.572 * [backup-simplify]: Simplify (+ 0 0) into 0
59.572 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
59.572 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
59.572 * [backup-simplify]: Simplify (+ 0) into 0
59.573 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
59.573 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
59.573 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.573 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
59.574 * [backup-simplify]: Simplify (+ 0 0) into 0
59.574 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
59.574 * [backup-simplify]: Simplify (+ 0) into 0
59.574 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
59.574 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
59.575 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.575 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
59.576 * [backup-simplify]: Simplify (+ 0 0) into 0
59.576 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
59.576 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
59.576 * [backup-simplify]: Simplify (+ 0 0) into 0
59.576 * [backup-simplify]: Simplify (+ 0) into 0
59.577 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
59.577 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
59.577 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.578 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
59.578 * [backup-simplify]: Simplify (+ 0 0) into 0
59.578 * [backup-simplify]: Simplify (+ 0) into 0
59.578 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
59.578 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
59.579 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.579 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
59.579 * [backup-simplify]: Simplify (- 0) into 0
59.580 * [backup-simplify]: Simplify (+ 0 0) into 0
59.580 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
59.580 * [backup-simplify]: Simplify (+ 0) into 0
59.581 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
59.581 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
59.581 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.581 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
59.582 * [backup-simplify]: Simplify (- 0) into 0
59.582 * [backup-simplify]: Simplify (+ 0 0) into 0
59.582 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
59.582 * [backup-simplify]: Simplify (+ 0) into 0
59.583 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
59.583 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
59.583 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.583 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
59.584 * [backup-simplify]: Simplify (+ 0 0) into 0
59.584 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
59.584 * [backup-simplify]: Simplify (+ 0) into 0
59.584 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
59.585 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
59.585 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.585 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
59.586 * [backup-simplify]: Simplify (+ 0 0) into 0
59.586 * [backup-simplify]: Simplify (+ 0) into 0
59.586 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
59.586 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
59.587 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.587 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
59.587 * [backup-simplify]: Simplify (- 0) into 0
59.587 * [backup-simplify]: Simplify (+ 0 0) into 0
59.588 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
59.588 * [backup-simplify]: Simplify (+ 0) into 0
59.588 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
59.588 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
59.589 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.589 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
59.589 * [backup-simplify]: Simplify (+ 0 0) into 0
59.589 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
59.590 * [backup-simplify]: Simplify (+ 0) into 0
59.590 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
59.590 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
59.591 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.591 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
59.591 * [backup-simplify]: Simplify (- 0) into 0
59.591 * [backup-simplify]: Simplify (+ 0 0) into 0
59.591 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
59.592 * [backup-simplify]: Simplify (+ 0 0) into 0
59.592 * [backup-simplify]: Simplify (- 0) into 0
59.592 * [backup-simplify]: Simplify (+ 0 0) into 0
59.595 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into 0
59.599 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2))) into 0
59.603 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
59.606 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
59.606 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow lambda2 2) R)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 2 (* (/ (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ 1 (* R (pow phi1 2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* (pow lambda2 2) R)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))))))) in lambda2
59.606 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow lambda2 2) R)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) in lambda2
59.606 * [taylor]: Taking taylor expansion of 1/2 in lambda2
59.606 * [backup-simplify]: Simplify 1/2 into 1/2
59.606 * [taylor]: Taking taylor expansion of (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow lambda2 2) R)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) in lambda2
59.607 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow lambda2 2) R)) in lambda2
59.607 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2
59.607 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2
59.607 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
59.607 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
59.607 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.607 * [backup-simplify]: Simplify -0.5 into -0.5
59.607 * [taylor]: Taking taylor expansion of phi2 in lambda2
59.607 * [backup-simplify]: Simplify phi2 into phi2
59.607 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
59.607 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
59.607 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
59.607 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
59.607 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
59.608 * [backup-simplify]: Simplify (- 0) into 0
59.608 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
59.608 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2
59.608 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
59.608 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
59.608 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.608 * [backup-simplify]: Simplify -0.5 into -0.5
59.608 * [taylor]: Taking taylor expansion of phi1 in lambda2
59.608 * [backup-simplify]: Simplify phi1 into phi1
59.608 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
59.608 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
59.608 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
59.609 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
59.609 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
59.609 * [backup-simplify]: Simplify (- 0) into 0
59.609 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
59.609 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) R) in lambda2
59.610 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
59.610 * [taylor]: Taking taylor expansion of lambda2 in lambda2
59.610 * [backup-simplify]: Simplify 0 into 0
59.610 * [backup-simplify]: Simplify 1 into 1
59.610 * [taylor]: Taking taylor expansion of R in lambda2
59.610 * [backup-simplify]: Simplify R into R
59.610 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
59.610 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
59.610 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
59.611 * [backup-simplify]: Simplify (* 1 1) into 1
59.611 * [backup-simplify]: Simplify (* 1 R) into R
59.611 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) into (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R)
59.611 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) in lambda2
59.611 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) in lambda2
59.612 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in lambda2
59.612 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in lambda2
59.612 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2
59.612 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2
59.612 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
59.612 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
59.612 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.612 * [backup-simplify]: Simplify -0.5 into -0.5
59.612 * [taylor]: Taking taylor expansion of phi2 in lambda2
59.612 * [backup-simplify]: Simplify phi2 into phi2
59.612 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
59.612 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
59.612 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
59.612 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
59.612 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
59.613 * [backup-simplify]: Simplify (- 0) into 0
59.613 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
59.613 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2
59.613 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
59.613 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
59.613 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.613 * [backup-simplify]: Simplify -0.5 into -0.5
59.613 * [taylor]: Taking taylor expansion of phi1 in lambda2
59.613 * [backup-simplify]: Simplify phi1 into phi1
59.613 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
59.613 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
59.613 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
59.613 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
59.614 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
59.614 * [backup-simplify]: Simplify (- 0) into 0
59.614 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
59.614 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2
59.614 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2
59.614 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
59.614 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
59.614 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.614 * [backup-simplify]: Simplify -0.5 into -0.5
59.614 * [taylor]: Taking taylor expansion of phi2 in lambda2
59.614 * [backup-simplify]: Simplify phi2 into phi2
59.614 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
59.614 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
59.615 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
59.615 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
59.615 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
59.615 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
59.615 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2
59.615 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
59.615 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
59.615 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.615 * [backup-simplify]: Simplify -0.5 into -0.5
59.615 * [taylor]: Taking taylor expansion of phi1 in lambda2
59.615 * [backup-simplify]: Simplify phi1 into phi1
59.615 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
59.615 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
59.615 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
59.615 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
59.616 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
59.616 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
59.616 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in lambda2
59.616 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
59.616 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
59.616 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
59.616 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.616 * [backup-simplify]: Simplify -0.5 into -0.5
59.616 * [taylor]: Taking taylor expansion of phi2 in lambda2
59.616 * [backup-simplify]: Simplify phi2 into phi2
59.616 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
59.616 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
59.616 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
59.616 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
59.616 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
59.616 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
59.616 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.616 * [backup-simplify]: Simplify -0.5 into -0.5
59.616 * [taylor]: Taking taylor expansion of phi2 in lambda2
59.616 * [backup-simplify]: Simplify phi2 into phi2
59.617 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
59.617 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
59.617 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
59.617 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
59.617 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
59.617 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
59.617 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.617 * [backup-simplify]: Simplify -0.5 into -0.5
59.617 * [taylor]: Taking taylor expansion of phi1 in lambda2
59.617 * [backup-simplify]: Simplify phi1 into phi1
59.617 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
59.617 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
59.617 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
59.617 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
59.617 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
59.617 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.617 * [backup-simplify]: Simplify -0.5 into -0.5
59.617 * [taylor]: Taking taylor expansion of phi1 in lambda2
59.617 * [backup-simplify]: Simplify phi1 into phi1
59.617 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
59.618 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
59.618 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
59.618 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
59.618 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
59.618 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
59.618 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.618 * [backup-simplify]: Simplify -0.5 into -0.5
59.618 * [taylor]: Taking taylor expansion of phi2 in lambda2
59.618 * [backup-simplify]: Simplify phi2 into phi2
59.618 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
59.618 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
59.618 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
59.618 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
59.618 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
59.618 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
59.618 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.618 * [backup-simplify]: Simplify -0.5 into -0.5
59.618 * [taylor]: Taking taylor expansion of phi2 in lambda2
59.618 * [backup-simplify]: Simplify phi2 into phi2
59.618 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
59.618 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
59.619 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
59.619 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
59.619 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
59.619 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
59.619 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.619 * [backup-simplify]: Simplify -0.5 into -0.5
59.619 * [taylor]: Taking taylor expansion of phi1 in lambda2
59.619 * [backup-simplify]: Simplify phi1 into phi1
59.619 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
59.619 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
59.619 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
59.619 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
59.619 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
59.619 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.619 * [backup-simplify]: Simplify -0.5 into -0.5
59.619 * [taylor]: Taking taylor expansion of phi1 in lambda2
59.619 * [backup-simplify]: Simplify phi1 into phi1
59.619 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
59.619 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
59.619 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
59.620 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
59.620 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
59.620 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
59.620 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
59.621 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
59.621 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
59.622 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
59.622 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
59.622 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
59.622 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
59.622 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
59.622 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
59.623 * [backup-simplify]: Simplify (- 0) into 0
59.623 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
59.623 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
59.623 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
59.624 * [backup-simplify]: Simplify (- 0) into 0
59.624 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
59.624 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
59.624 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
59.624 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
59.624 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
59.624 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
59.625 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
59.625 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
59.625 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
59.628 * [backup-simplify]: Simplify (- 0) into 0
59.628 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
59.628 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
59.628 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
59.628 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
59.629 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
59.629 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
59.629 * [backup-simplify]: Simplify (- 0) into 0
59.629 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
59.629 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
59.630 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
59.630 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
59.630 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
59.630 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
59.631 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
59.631 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
59.632 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
59.634 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
59.636 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))
59.638 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))
59.639 * [backup-simplify]: Simplify (+ 0) into 0
59.639 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
59.640 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
59.640 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.641 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
59.641 * [backup-simplify]: Simplify (- 0) into 0
59.642 * [backup-simplify]: Simplify (+ 0 0) into 0
59.642 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
59.642 * [backup-simplify]: Simplify (+ 0) into 0
59.643 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
59.643 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
59.644 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.644 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
59.645 * [backup-simplify]: Simplify (- 0) into 0
59.645 * [backup-simplify]: Simplify (+ 0 0) into 0
59.645 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
59.646 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
59.646 * [backup-simplify]: Simplify (+ 0) into 0
59.647 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
59.647 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
59.648 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.648 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
59.648 * [backup-simplify]: Simplify (+ 0 0) into 0
59.649 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
59.649 * [backup-simplify]: Simplify (+ 0) into 0
59.650 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
59.650 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
59.651 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.651 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
59.651 * [backup-simplify]: Simplify (+ 0 0) into 0
59.652 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
59.652 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
59.652 * [backup-simplify]: Simplify (+ 0 0) into 0
59.653 * [backup-simplify]: Simplify (+ 0) into 0
59.653 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
59.654 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
59.654 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.655 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
59.655 * [backup-simplify]: Simplify (+ 0 0) into 0
59.656 * [backup-simplify]: Simplify (+ 0) into 0
59.656 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
59.656 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
59.657 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.658 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
59.658 * [backup-simplify]: Simplify (- 0) into 0
59.658 * [backup-simplify]: Simplify (+ 0 0) into 0
59.658 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
59.659 * [backup-simplify]: Simplify (+ 0) into 0
59.659 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
59.660 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
59.660 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.661 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
59.661 * [backup-simplify]: Simplify (- 0) into 0
59.661 * [backup-simplify]: Simplify (+ 0 0) into 0
59.662 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
59.662 * [backup-simplify]: Simplify (+ 0) into 0
59.663 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
59.663 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
59.664 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.664 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
59.664 * [backup-simplify]: Simplify (+ 0 0) into 0
59.665 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
59.665 * [backup-simplify]: Simplify (+ 0) into 0
59.666 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
59.666 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
59.667 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.667 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
59.667 * [backup-simplify]: Simplify (+ 0 0) into 0
59.668 * [backup-simplify]: Simplify (+ 0) into 0
59.668 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
59.668 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
59.669 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.670 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
59.670 * [backup-simplify]: Simplify (- 0) into 0
59.670 * [backup-simplify]: Simplify (+ 0 0) into 0
59.671 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
59.671 * [backup-simplify]: Simplify (+ 0) into 0
59.671 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
59.672 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
59.672 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.673 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
59.673 * [backup-simplify]: Simplify (+ 0 0) into 0
59.673 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
59.674 * [backup-simplify]: Simplify (+ 0) into 0
59.674 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
59.674 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
59.675 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.675 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
59.675 * [backup-simplify]: Simplify (- 0) into 0
59.675 * [backup-simplify]: Simplify (+ 0 0) into 0
59.676 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
59.676 * [backup-simplify]: Simplify (+ 0 0) into 0
59.676 * [backup-simplify]: Simplify (- 0) into 0
59.676 * [backup-simplify]: Simplify (+ 0 0) into 0
59.678 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0
59.679 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0
59.679 * [taylor]: Taking taylor expansion of (+ (* 2 (* (/ (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ 1 (* R (pow phi1 2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* (pow lambda2 2) R)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))))) in lambda2
59.679 * [taylor]: Taking taylor expansion of (* 2 (* (/ (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) in lambda2
59.679 * [taylor]: Taking taylor expansion of 2 in lambda2
59.680 * [backup-simplify]: Simplify 2 into 2
59.680 * [taylor]: Taking taylor expansion of (* (/ (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) in lambda2
59.680 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)))) (* R (pow lambda2 2))) in lambda2
59.680 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)))) in lambda2
59.680 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 3) in lambda2
59.680 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
59.680 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
59.680 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.680 * [backup-simplify]: Simplify -0.5 into -0.5
59.680 * [taylor]: Taking taylor expansion of phi2 in lambda2
59.680 * [backup-simplify]: Simplify phi2 into phi2
59.680 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
59.680 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
59.680 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
59.680 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
59.680 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
59.680 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
59.680 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3))) in lambda2
59.680 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
59.680 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
59.680 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.680 * [backup-simplify]: Simplify -0.5 into -0.5
59.680 * [taylor]: Taking taylor expansion of phi2 in lambda2
59.680 * [backup-simplify]: Simplify phi2 into phi2
59.680 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
59.680 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
59.680 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
59.680 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)) in lambda2
59.680 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
59.680 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
59.680 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.680 * [backup-simplify]: Simplify -0.5 into -0.5
59.680 * [taylor]: Taking taylor expansion of phi1 in lambda2
59.680 * [backup-simplify]: Simplify phi1 into phi1
59.680 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
59.681 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
59.681 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
59.681 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 3) in lambda2
59.681 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
59.681 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
59.681 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.681 * [backup-simplify]: Simplify -0.5 into -0.5
59.681 * [taylor]: Taking taylor expansion of phi1 in lambda2
59.681 * [backup-simplify]: Simplify phi1 into phi1
59.681 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
59.681 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
59.681 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
59.681 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
59.681 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
59.681 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
59.681 * [taylor]: Taking taylor expansion of (* R (pow lambda2 2)) in lambda2
59.681 * [taylor]: Taking taylor expansion of R in lambda2
59.681 * [backup-simplify]: Simplify R into R
59.681 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
59.681 * [taylor]: Taking taylor expansion of lambda2 in lambda2
59.681 * [backup-simplify]: Simplify 0 into 0
59.681 * [backup-simplify]: Simplify 1 into 1
59.681 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
59.681 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (pow (sin (/ -0.5 phi2)) 2)) into (pow (sin (/ -0.5 phi2)) 3)
59.681 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
59.681 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
59.682 * [backup-simplify]: Simplify (- 0) into 0
59.682 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
59.682 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
59.682 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
59.682 * [backup-simplify]: Simplify (- 0) into 0
59.682 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
59.682 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
59.683 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 2)) into (pow (sin (/ -0.5 phi1)) 3)
59.683 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)) into (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3))
59.683 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)))
59.683 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)))) into (* (cos (/ -0.5 phi2)) (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3))))
59.683 * [backup-simplify]: Simplify (* 1 1) into 1
59.683 * [backup-simplify]: Simplify (* R 1) into R
59.684 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi2)) (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)))) R) into (/ (* (cos (/ -0.5 phi2)) (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)))) R)
59.684 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) in lambda2
59.684 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) in lambda2
59.684 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3) in lambda2
59.684 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in lambda2
59.684 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in lambda2
59.684 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2
59.684 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2
59.684 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
59.684 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
59.684 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.684 * [backup-simplify]: Simplify -0.5 into -0.5
59.684 * [taylor]: Taking taylor expansion of phi2 in lambda2
59.684 * [backup-simplify]: Simplify phi2 into phi2
59.684 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
59.684 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
59.684 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
59.684 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
59.684 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
59.685 * [backup-simplify]: Simplify (- 0) into 0
59.685 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
59.685 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2
59.685 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
59.685 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
59.685 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.685 * [backup-simplify]: Simplify -0.5 into -0.5
59.685 * [taylor]: Taking taylor expansion of phi1 in lambda2
59.685 * [backup-simplify]: Simplify phi1 into phi1
59.685 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
59.685 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
59.685 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
59.685 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
59.685 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
59.685 * [backup-simplify]: Simplify (- 0) into 0
59.685 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
59.685 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2
59.685 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2
59.685 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
59.685 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
59.685 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.685 * [backup-simplify]: Simplify -0.5 into -0.5
59.686 * [taylor]: Taking taylor expansion of phi2 in lambda2
59.686 * [backup-simplify]: Simplify phi2 into phi2
59.686 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
59.686 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
59.686 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
59.686 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
59.686 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
59.686 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
59.686 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2
59.686 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
59.686 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
59.686 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.686 * [backup-simplify]: Simplify -0.5 into -0.5
59.686 * [taylor]: Taking taylor expansion of phi1 in lambda2
59.686 * [backup-simplify]: Simplify phi1 into phi1
59.686 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
59.686 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
59.686 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
59.686 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
59.686 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
59.686 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
59.686 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in lambda2
59.686 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
59.686 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
59.686 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
59.686 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.686 * [backup-simplify]: Simplify -0.5 into -0.5
59.686 * [taylor]: Taking taylor expansion of phi2 in lambda2
59.686 * [backup-simplify]: Simplify phi2 into phi2
59.687 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
59.687 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
59.687 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
59.687 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
59.687 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
59.687 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
59.687 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.687 * [backup-simplify]: Simplify -0.5 into -0.5
59.687 * [taylor]: Taking taylor expansion of phi2 in lambda2
59.687 * [backup-simplify]: Simplify phi2 into phi2
59.687 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
59.687 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
59.687 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
59.687 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
59.687 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
59.687 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
59.687 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.687 * [backup-simplify]: Simplify -0.5 into -0.5
59.687 * [taylor]: Taking taylor expansion of phi1 in lambda2
59.687 * [backup-simplify]: Simplify phi1 into phi1
59.687 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
59.687 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
59.687 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
59.687 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
59.687 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
59.687 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.687 * [backup-simplify]: Simplify -0.5 into -0.5
59.687 * [taylor]: Taking taylor expansion of phi1 in lambda2
59.687 * [backup-simplify]: Simplify phi1 into phi1
59.687 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
59.687 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
59.687 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
59.687 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
59.688 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
59.688 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
59.688 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.688 * [backup-simplify]: Simplify -0.5 into -0.5
59.688 * [taylor]: Taking taylor expansion of phi2 in lambda2
59.688 * [backup-simplify]: Simplify phi2 into phi2
59.688 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
59.688 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
59.688 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
59.688 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
59.688 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
59.688 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
59.688 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.688 * [backup-simplify]: Simplify -0.5 into -0.5
59.688 * [taylor]: Taking taylor expansion of phi2 in lambda2
59.688 * [backup-simplify]: Simplify phi2 into phi2
59.688 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
59.688 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
59.688 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
59.688 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
59.688 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
59.688 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
59.688 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.688 * [backup-simplify]: Simplify -0.5 into -0.5
59.688 * [taylor]: Taking taylor expansion of phi1 in lambda2
59.688 * [backup-simplify]: Simplify phi1 into phi1
59.688 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
59.688 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
59.688 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
59.688 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
59.688 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
59.688 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.688 * [backup-simplify]: Simplify -0.5 into -0.5
59.688 * [taylor]: Taking taylor expansion of phi1 in lambda2
59.688 * [backup-simplify]: Simplify phi1 into phi1
59.688 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
59.688 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
59.689 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
59.689 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
59.689 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
59.689 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
59.689 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
59.689 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
59.689 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
59.690 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
59.690 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
59.690 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
59.690 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
59.690 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
59.690 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
59.691 * [backup-simplify]: Simplify (- 0) into 0
59.691 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
59.691 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
59.691 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
59.691 * [backup-simplify]: Simplify (- 0) into 0
59.691 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
59.691 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
59.691 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
59.691 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
59.691 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
59.692 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
59.692 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
59.692 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
59.692 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
59.692 * [backup-simplify]: Simplify (- 0) into 0
59.692 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
59.692 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
59.692 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
59.692 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
59.692 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
59.692 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
59.693 * [backup-simplify]: Simplify (- 0) into 0
59.693 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
59.693 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
59.693 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
59.693 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
59.693 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
59.693 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
59.693 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
59.694 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
59.694 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
59.695 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
59.697 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)
59.699 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)
59.700 * [backup-simplify]: Simplify (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) into (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))
59.701 * [backup-simplify]: Simplify (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) into (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))
59.702 * [backup-simplify]: Simplify (+ 0) into 0
59.702 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
59.702 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
59.702 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.703 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
59.703 * [backup-simplify]: Simplify (- 0) into 0
59.703 * [backup-simplify]: Simplify (+ 0 0) into 0
59.703 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
59.704 * [backup-simplify]: Simplify (+ 0) into 0
59.704 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
59.704 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
59.704 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.705 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
59.705 * [backup-simplify]: Simplify (- 0) into 0
59.705 * [backup-simplify]: Simplify (+ 0 0) into 0
59.705 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
59.706 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
59.706 * [backup-simplify]: Simplify (+ 0) into 0
59.707 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
59.707 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
59.708 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.708 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
59.708 * [backup-simplify]: Simplify (+ 0 0) into 0
59.709 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
59.709 * [backup-simplify]: Simplify (+ 0) into 0
59.710 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
59.710 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
59.711 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.711 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
59.712 * [backup-simplify]: Simplify (+ 0 0) into 0
59.712 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
59.712 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
59.713 * [backup-simplify]: Simplify (+ 0 0) into 0
59.713 * [backup-simplify]: Simplify (+ 0) into 0
59.714 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
59.714 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
59.714 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.715 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
59.715 * [backup-simplify]: Simplify (+ 0 0) into 0
59.716 * [backup-simplify]: Simplify (+ 0) into 0
59.716 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
59.716 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
59.717 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.718 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
59.718 * [backup-simplify]: Simplify (- 0) into 0
59.719 * [backup-simplify]: Simplify (+ 0 0) into 0
59.719 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
59.719 * [backup-simplify]: Simplify (+ 0) into 0
59.720 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
59.720 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
59.721 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.721 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
59.721 * [backup-simplify]: Simplify (- 0) into 0
59.722 * [backup-simplify]: Simplify (+ 0 0) into 0
59.722 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
59.723 * [backup-simplify]: Simplify (+ 0) into 0
59.723 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
59.723 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
59.724 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.725 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
59.725 * [backup-simplify]: Simplify (+ 0 0) into 0
59.725 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
59.726 * [backup-simplify]: Simplify (+ 0) into 0
59.726 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
59.726 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
59.726 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.727 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
59.727 * [backup-simplify]: Simplify (+ 0 0) into 0
59.727 * [backup-simplify]: Simplify (+ 0) into 0
59.728 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
59.728 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
59.728 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.728 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
59.729 * [backup-simplify]: Simplify (- 0) into 0
59.729 * [backup-simplify]: Simplify (+ 0 0) into 0
59.729 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
59.729 * [backup-simplify]: Simplify (+ 0) into 0
59.730 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
59.730 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
59.730 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.730 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
59.731 * [backup-simplify]: Simplify (+ 0 0) into 0
59.731 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
59.731 * [backup-simplify]: Simplify (+ 0) into 0
59.731 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
59.732 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
59.732 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.732 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
59.732 * [backup-simplify]: Simplify (- 0) into 0
59.733 * [backup-simplify]: Simplify (+ 0 0) into 0
59.733 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
59.733 * [backup-simplify]: Simplify (+ 0 0) into 0
59.733 * [backup-simplify]: Simplify (- 0) into 0
59.734 * [backup-simplify]: Simplify (+ 0 0) into 0
59.736 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into 0
59.738 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2))) into 0
59.740 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
59.741 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
59.741 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (/ 1 (* R (pow phi1 2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* (pow lambda2 2) R)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))))) in lambda2
59.741 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ 1 (* R (pow phi1 2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) in lambda2
59.741 * [taylor]: Taking taylor expansion of 1/2 in lambda2
59.741 * [backup-simplify]: Simplify 1/2 into 1/2
59.741 * [taylor]: Taking taylor expansion of (* (/ 1 (* R (pow phi1 2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) in lambda2
59.741 * [taylor]: Taking taylor expansion of (/ 1 (* R (pow phi1 2))) in lambda2
59.741 * [taylor]: Taking taylor expansion of (* R (pow phi1 2)) in lambda2
59.741 * [taylor]: Taking taylor expansion of R in lambda2
59.742 * [backup-simplify]: Simplify R into R
59.742 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2
59.742 * [taylor]: Taking taylor expansion of phi1 in lambda2
59.742 * [backup-simplify]: Simplify phi1 into phi1
59.742 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
59.742 * [backup-simplify]: Simplify (* R (pow phi1 2)) into (* (pow phi1 2) R)
59.742 * [backup-simplify]: Simplify (/ 1 (* (pow phi1 2) R)) into (/ 1 (* (pow phi1 2) R))
59.742 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) in lambda2
59.742 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) in lambda2
59.742 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in lambda2
59.742 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in lambda2
59.742 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2
59.742 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2
59.742 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
59.742 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
59.742 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.742 * [backup-simplify]: Simplify -0.5 into -0.5
59.742 * [taylor]: Taking taylor expansion of phi2 in lambda2
59.742 * [backup-simplify]: Simplify phi2 into phi2
59.742 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
59.742 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
59.742 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
59.742 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
59.742 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
59.743 * [backup-simplify]: Simplify (- 0) into 0
59.743 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
59.743 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2
59.743 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
59.743 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
59.743 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.743 * [backup-simplify]: Simplify -0.5 into -0.5
59.743 * [taylor]: Taking taylor expansion of phi1 in lambda2
59.743 * [backup-simplify]: Simplify phi1 into phi1
59.743 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
59.743 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
59.743 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
59.743 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
59.743 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
59.743 * [backup-simplify]: Simplify (- 0) into 0
59.743 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
59.743 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2
59.743 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2
59.744 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
59.744 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
59.744 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.744 * [backup-simplify]: Simplify -0.5 into -0.5
59.744 * [taylor]: Taking taylor expansion of phi2 in lambda2
59.744 * [backup-simplify]: Simplify phi2 into phi2
59.744 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
59.744 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
59.744 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
59.744 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
59.744 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
59.744 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
59.744 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2
59.744 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
59.744 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
59.744 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.744 * [backup-simplify]: Simplify -0.5 into -0.5
59.744 * [taylor]: Taking taylor expansion of phi1 in lambda2
59.744 * [backup-simplify]: Simplify phi1 into phi1
59.744 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
59.744 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
59.744 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
59.744 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
59.744 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
59.744 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
59.744 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in lambda2
59.744 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
59.744 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
59.744 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
59.744 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.744 * [backup-simplify]: Simplify -0.5 into -0.5
59.745 * [taylor]: Taking taylor expansion of phi2 in lambda2
59.745 * [backup-simplify]: Simplify phi2 into phi2
59.745 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
59.745 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
59.745 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
59.745 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
59.745 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
59.745 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
59.745 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.745 * [backup-simplify]: Simplify -0.5 into -0.5
59.745 * [taylor]: Taking taylor expansion of phi2 in lambda2
59.745 * [backup-simplify]: Simplify phi2 into phi2
59.745 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
59.745 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
59.745 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
59.745 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
59.745 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
59.745 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
59.745 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.745 * [backup-simplify]: Simplify -0.5 into -0.5
59.745 * [taylor]: Taking taylor expansion of phi1 in lambda2
59.745 * [backup-simplify]: Simplify phi1 into phi1
59.745 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
59.745 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
59.745 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
59.745 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
59.745 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
59.745 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.745 * [backup-simplify]: Simplify -0.5 into -0.5
59.745 * [taylor]: Taking taylor expansion of phi1 in lambda2
59.745 * [backup-simplify]: Simplify phi1 into phi1
59.745 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
59.745 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
59.745 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
59.745 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
59.745 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
59.745 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
59.746 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.746 * [backup-simplify]: Simplify -0.5 into -0.5
59.746 * [taylor]: Taking taylor expansion of phi2 in lambda2
59.746 * [backup-simplify]: Simplify phi2 into phi2
59.746 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
59.746 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
59.746 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
59.746 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
59.746 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
59.746 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
59.746 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.746 * [backup-simplify]: Simplify -0.5 into -0.5
59.746 * [taylor]: Taking taylor expansion of phi2 in lambda2
59.746 * [backup-simplify]: Simplify phi2 into phi2
59.746 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
59.746 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
59.746 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
59.746 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
59.746 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
59.746 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
59.746 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.746 * [backup-simplify]: Simplify -0.5 into -0.5
59.746 * [taylor]: Taking taylor expansion of phi1 in lambda2
59.746 * [backup-simplify]: Simplify phi1 into phi1
59.746 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
59.746 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
59.746 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
59.746 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
59.746 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
59.746 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.746 * [backup-simplify]: Simplify -0.5 into -0.5
59.746 * [taylor]: Taking taylor expansion of phi1 in lambda2
59.746 * [backup-simplify]: Simplify phi1 into phi1
59.746 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
59.746 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
59.746 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
59.747 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
59.747 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
59.747 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
59.747 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
59.747 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
59.747 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
59.748 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
59.748 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
59.748 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
59.748 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
59.748 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
59.748 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
59.748 * [backup-simplify]: Simplify (- 0) into 0
59.748 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
59.748 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
59.749 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
59.749 * [backup-simplify]: Simplify (- 0) into 0
59.749 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
59.749 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
59.749 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
59.749 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
59.749 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
59.749 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
59.749 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
59.749 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
59.750 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
59.750 * [backup-simplify]: Simplify (- 0) into 0
59.750 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
59.750 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
59.750 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
59.750 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
59.750 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
59.750 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
59.750 * [backup-simplify]: Simplify (- 0) into 0
59.750 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
59.751 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
59.751 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
59.751 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
59.751 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
59.751 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
59.751 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
59.751 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
59.752 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
59.753 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
59.754 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))
59.755 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))
59.757 * [backup-simplify]: Simplify (+ 0) into 0
59.758 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
59.758 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
59.758 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.758 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
59.759 * [backup-simplify]: Simplify (- 0) into 0
59.759 * [backup-simplify]: Simplify (+ 0 0) into 0
59.759 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
59.759 * [backup-simplify]: Simplify (+ 0) into 0
59.760 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
59.760 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
59.760 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.760 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
59.761 * [backup-simplify]: Simplify (- 0) into 0
59.761 * [backup-simplify]: Simplify (+ 0 0) into 0
59.761 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
59.761 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
59.762 * [backup-simplify]: Simplify (+ 0) into 0
59.762 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
59.762 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
59.762 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.763 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
59.763 * [backup-simplify]: Simplify (+ 0 0) into 0
59.763 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
59.763 * [backup-simplify]: Simplify (+ 0) into 0
59.764 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
59.764 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
59.764 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.764 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
59.765 * [backup-simplify]: Simplify (+ 0 0) into 0
59.765 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
59.765 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
59.765 * [backup-simplify]: Simplify (+ 0 0) into 0
59.766 * [backup-simplify]: Simplify (+ 0) into 0
59.766 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
59.766 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
59.767 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.767 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
59.767 * [backup-simplify]: Simplify (+ 0 0) into 0
59.767 * [backup-simplify]: Simplify (+ 0) into 0
59.768 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
59.768 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
59.768 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.769 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
59.769 * [backup-simplify]: Simplify (- 0) into 0
59.769 * [backup-simplify]: Simplify (+ 0 0) into 0
59.769 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
59.769 * [backup-simplify]: Simplify (+ 0) into 0
59.770 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
59.770 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
59.770 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.771 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
59.771 * [backup-simplify]: Simplify (- 0) into 0
59.771 * [backup-simplify]: Simplify (+ 0 0) into 0
59.771 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
59.772 * [backup-simplify]: Simplify (+ 0) into 0
59.772 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
59.772 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
59.772 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.773 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
59.773 * [backup-simplify]: Simplify (+ 0 0) into 0
59.773 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
59.774 * [backup-simplify]: Simplify (+ 0) into 0
59.774 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
59.774 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
59.775 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.776 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
59.776 * [backup-simplify]: Simplify (+ 0 0) into 0
59.777 * [backup-simplify]: Simplify (+ 0) into 0
59.777 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
59.777 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
59.778 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.779 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
59.779 * [backup-simplify]: Simplify (- 0) into 0
59.779 * [backup-simplify]: Simplify (+ 0 0) into 0
59.780 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
59.780 * [backup-simplify]: Simplify (+ 0) into 0
59.781 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
59.781 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
59.781 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.782 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
59.782 * [backup-simplify]: Simplify (+ 0 0) into 0
59.783 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
59.783 * [backup-simplify]: Simplify (+ 0) into 0
59.784 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
59.784 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
59.785 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.785 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
59.785 * [backup-simplify]: Simplify (- 0) into 0
59.786 * [backup-simplify]: Simplify (+ 0 0) into 0
59.786 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
59.787 * [backup-simplify]: Simplify (+ 0 0) into 0
59.787 * [backup-simplify]: Simplify (- 0) into 0
59.787 * [backup-simplify]: Simplify (+ 0 0) into 0
59.792 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0
59.794 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0
59.794 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* (pow lambda2 2) R)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) in lambda2
59.794 * [taylor]: Taking taylor expansion of 1/2 in lambda2
59.794 * [backup-simplify]: Simplify 1/2 into 1/2
59.794 * [taylor]: Taking taylor expansion of (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* (pow lambda2 2) R)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) in lambda2
59.794 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* (pow lambda2 2) R)) in lambda2
59.794 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2
59.794 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2
59.794 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
59.794 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
59.794 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.794 * [backup-simplify]: Simplify -0.5 into -0.5
59.795 * [taylor]: Taking taylor expansion of phi2 in lambda2
59.795 * [backup-simplify]: Simplify phi2 into phi2
59.795 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
59.795 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
59.795 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
59.795 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
59.795 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
59.795 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
59.795 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2
59.795 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
59.795 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
59.795 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.795 * [backup-simplify]: Simplify -0.5 into -0.5
59.795 * [taylor]: Taking taylor expansion of phi1 in lambda2
59.795 * [backup-simplify]: Simplify phi1 into phi1
59.795 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
59.796 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
59.796 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
59.796 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
59.796 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
59.796 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
59.796 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) R) in lambda2
59.796 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
59.796 * [taylor]: Taking taylor expansion of lambda2 in lambda2
59.796 * [backup-simplify]: Simplify 0 into 0
59.796 * [backup-simplify]: Simplify 1 into 1
59.796 * [taylor]: Taking taylor expansion of R in lambda2
59.796 * [backup-simplify]: Simplify R into R
59.796 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
59.797 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
59.797 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
59.797 * [backup-simplify]: Simplify (* 1 1) into 1
59.798 * [backup-simplify]: Simplify (* 1 R) into R
59.798 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R) into (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R)
59.798 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) in lambda2
59.798 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) in lambda2
59.798 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in lambda2
59.798 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in lambda2
59.798 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2
59.798 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2
59.798 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
59.798 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
59.798 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.798 * [backup-simplify]: Simplify -0.5 into -0.5
59.798 * [taylor]: Taking taylor expansion of phi2 in lambda2
59.798 * [backup-simplify]: Simplify phi2 into phi2
59.799 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
59.799 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
59.799 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
59.799 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
59.799 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
59.799 * [backup-simplify]: Simplify (- 0) into 0
59.799 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
59.800 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2
59.800 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
59.800 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
59.800 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.800 * [backup-simplify]: Simplify -0.5 into -0.5
59.800 * [taylor]: Taking taylor expansion of phi1 in lambda2
59.800 * [backup-simplify]: Simplify phi1 into phi1
59.800 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
59.800 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
59.800 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
59.800 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
59.800 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
59.801 * [backup-simplify]: Simplify (- 0) into 0
59.801 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
59.801 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2
59.801 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2
59.801 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
59.801 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
59.801 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.801 * [backup-simplify]: Simplify -0.5 into -0.5
59.801 * [taylor]: Taking taylor expansion of phi2 in lambda2
59.801 * [backup-simplify]: Simplify phi2 into phi2
59.801 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
59.801 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
59.801 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
59.801 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
59.801 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
59.802 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
59.802 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2
59.802 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
59.802 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
59.802 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.802 * [backup-simplify]: Simplify -0.5 into -0.5
59.802 * [taylor]: Taking taylor expansion of phi1 in lambda2
59.802 * [backup-simplify]: Simplify phi1 into phi1
59.802 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
59.802 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
59.802 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
59.802 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
59.802 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
59.802 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
59.803 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in lambda2
59.803 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
59.803 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
59.803 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
59.803 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.803 * [backup-simplify]: Simplify -0.5 into -0.5
59.803 * [taylor]: Taking taylor expansion of phi2 in lambda2
59.803 * [backup-simplify]: Simplify phi2 into phi2
59.803 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
59.803 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
59.803 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
59.803 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
59.803 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
59.803 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
59.803 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.803 * [backup-simplify]: Simplify -0.5 into -0.5
59.803 * [taylor]: Taking taylor expansion of phi2 in lambda2
59.803 * [backup-simplify]: Simplify phi2 into phi2
59.803 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
59.803 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
59.803 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
59.803 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
59.804 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
59.804 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
59.804 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.804 * [backup-simplify]: Simplify -0.5 into -0.5
59.804 * [taylor]: Taking taylor expansion of phi1 in lambda2
59.804 * [backup-simplify]: Simplify phi1 into phi1
59.804 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
59.804 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
59.804 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
59.804 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
59.804 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
59.804 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.804 * [backup-simplify]: Simplify -0.5 into -0.5
59.804 * [taylor]: Taking taylor expansion of phi1 in lambda2
59.804 * [backup-simplify]: Simplify phi1 into phi1
59.804 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
59.804 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
59.804 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
59.804 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
59.804 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
59.804 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
59.805 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.805 * [backup-simplify]: Simplify -0.5 into -0.5
59.805 * [taylor]: Taking taylor expansion of phi2 in lambda2
59.805 * [backup-simplify]: Simplify phi2 into phi2
59.805 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
59.805 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
59.805 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
59.805 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
59.805 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
59.805 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
59.805 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.805 * [backup-simplify]: Simplify -0.5 into -0.5
59.805 * [taylor]: Taking taylor expansion of phi2 in lambda2
59.805 * [backup-simplify]: Simplify phi2 into phi2
59.805 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
59.805 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
59.805 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
59.805 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
59.805 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
59.805 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
59.805 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.805 * [backup-simplify]: Simplify -0.5 into -0.5
59.806 * [taylor]: Taking taylor expansion of phi1 in lambda2
59.806 * [backup-simplify]: Simplify phi1 into phi1
59.806 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
59.806 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
59.806 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
59.806 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
59.806 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
59.806 * [taylor]: Taking taylor expansion of -0.5 in lambda2
59.806 * [backup-simplify]: Simplify -0.5 into -0.5
59.806 * [taylor]: Taking taylor expansion of phi1 in lambda2
59.806 * [backup-simplify]: Simplify phi1 into phi1
59.806 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
59.806 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
59.806 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
59.806 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
59.807 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
59.807 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
59.807 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
59.807 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
59.808 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
59.808 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
59.809 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
59.809 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
59.809 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
59.809 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
59.809 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
59.810 * [backup-simplify]: Simplify (- 0) into 0
59.810 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
59.810 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
59.810 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
59.810 * [backup-simplify]: Simplify (- 0) into 0
59.810 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
59.811 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
59.811 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
59.811 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
59.811 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
59.811 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
59.812 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
59.812 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
59.812 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
59.812 * [backup-simplify]: Simplify (- 0) into 0
59.812 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
59.813 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
59.813 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
59.813 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
59.813 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
59.813 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
59.813 * [backup-simplify]: Simplify (- 0) into 0
59.813 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
59.814 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
59.814 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
59.814 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
59.814 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
59.814 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
59.815 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
59.815 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
59.816 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
59.818 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
59.820 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))
59.823 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))
59.823 * [backup-simplify]: Simplify (+ 0) into 0
59.824 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
59.824 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
59.825 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.826 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
59.826 * [backup-simplify]: Simplify (- 0) into 0
59.826 * [backup-simplify]: Simplify (+ 0 0) into 0
59.827 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
59.827 * [backup-simplify]: Simplify (+ 0) into 0
59.828 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
59.828 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
59.829 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.829 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
59.829 * [backup-simplify]: Simplify (- 0) into 0
59.830 * [backup-simplify]: Simplify (+ 0 0) into 0
59.830 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
59.830 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
59.831 * [backup-simplify]: Simplify (+ 0) into 0
59.831 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
59.831 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
59.832 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.833 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
59.833 * [backup-simplify]: Simplify (+ 0 0) into 0
59.833 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
59.834 * [backup-simplify]: Simplify (+ 0) into 0
59.834 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
59.835 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
59.835 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.836 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
59.836 * [backup-simplify]: Simplify (+ 0 0) into 0
59.837 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
59.837 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
59.837 * [backup-simplify]: Simplify (+ 0 0) into 0
59.838 * [backup-simplify]: Simplify (+ 0) into 0
59.838 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
59.839 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
59.839 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.840 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
59.840 * [backup-simplify]: Simplify (+ 0 0) into 0
59.841 * [backup-simplify]: Simplify (+ 0) into 0
59.841 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
59.842 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
59.842 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.843 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
59.843 * [backup-simplify]: Simplify (- 0) into 0
59.844 * [backup-simplify]: Simplify (+ 0 0) into 0
59.844 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
59.844 * [backup-simplify]: Simplify (+ 0) into 0
59.845 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
59.845 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
59.846 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.846 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
59.847 * [backup-simplify]: Simplify (- 0) into 0
59.847 * [backup-simplify]: Simplify (+ 0 0) into 0
59.847 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
59.848 * [backup-simplify]: Simplify (+ 0) into 0
59.848 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
59.848 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
59.849 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.849 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
59.850 * [backup-simplify]: Simplify (+ 0 0) into 0
59.850 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
59.850 * [backup-simplify]: Simplify (+ 0) into 0
59.850 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
59.851 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
59.851 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.852 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
59.852 * [backup-simplify]: Simplify (+ 0 0) into 0
59.852 * [backup-simplify]: Simplify (+ 0) into 0
59.852 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
59.853 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
59.853 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.853 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
59.854 * [backup-simplify]: Simplify (- 0) into 0
59.854 * [backup-simplify]: Simplify (+ 0 0) into 0
59.854 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
59.854 * [backup-simplify]: Simplify (+ 0) into 0
59.854 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
59.855 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
59.855 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.855 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
59.856 * [backup-simplify]: Simplify (+ 0 0) into 0
59.856 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
59.856 * [backup-simplify]: Simplify (+ 0) into 0
59.856 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
59.856 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
59.857 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.857 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
59.857 * [backup-simplify]: Simplify (- 0) into 0
59.858 * [backup-simplify]: Simplify (+ 0 0) into 0
59.858 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
59.858 * [backup-simplify]: Simplify (+ 0 0) into 0
59.858 * [backup-simplify]: Simplify (- 0) into 0
59.858 * [backup-simplify]: Simplify (+ 0 0) into 0
59.861 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0
59.862 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0
59.862 * [backup-simplify]: Simplify (+ 0) into 0
59.862 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
59.863 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
59.863 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.863 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
59.864 * [backup-simplify]: Simplify (+ 0 0) into 0
59.864 * [backup-simplify]: Simplify (+ 0) into 0
59.864 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
59.864 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
59.865 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.865 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
59.865 * [backup-simplify]: Simplify (- 0) into 0
59.865 * [backup-simplify]: Simplify (+ 0 0) into 0
59.866 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
59.866 * [backup-simplify]: Simplify (+ 0) into 0
59.866 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
59.866 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
59.867 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.867 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
59.867 * [backup-simplify]: Simplify (- 0) into 0
59.867 * [backup-simplify]: Simplify (+ 0 0) into 0
59.868 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
59.868 * [backup-simplify]: Simplify (+ 0) into 0
59.868 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
59.868 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
59.869 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.869 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
59.869 * [backup-simplify]: Simplify (+ 0 0) into 0
59.869 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
59.870 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
59.870 * [backup-simplify]: Simplify (+ (* R 0) (* 0 1)) into 0
59.870 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) (/ 0 R)))) into 0
59.872 * [backup-simplify]: Simplify (+ (* (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0
59.872 * [backup-simplify]: Simplify (+ 0) into 0
59.872 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
59.873 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
59.873 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.873 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
59.874 * [backup-simplify]: Simplify (+ 0 0) into 0
59.874 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
59.874 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi1)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
59.874 * [backup-simplify]: Simplify (+ 0) into 0
59.874 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
59.875 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
59.875 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.875 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
59.876 * [backup-simplify]: Simplify (+ 0 0) into 0
59.876 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
59.876 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi2)) 2))) into 0
59.876 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 4) 0) (* 0 (pow (sin (/ -0.5 phi1)) 4))) into 0
59.877 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
59.877 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 R)) into 0
59.877 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) R) (/ 0 R)))) into 0
59.880 * [backup-simplify]: Simplify (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) R) 0) (* 0 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
59.882 * [backup-simplify]: Simplify (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) into (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) R))
59.886 * [backup-simplify]: Simplify (+ (* 1/2 0) (* 0 (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) R)))) into 0
59.886 * [backup-simplify]: Simplify (+ 0) into 0
59.887 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
59.887 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
59.888 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.888 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
59.889 * [backup-simplify]: Simplify (- 0) into 0
59.892 * [backup-simplify]: Simplify (+ 0 0) into 0
59.892 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
59.892 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi1)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
59.893 * [backup-simplify]: Simplify (+ 0) into 0
59.894 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
59.894 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
59.895 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.895 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
59.896 * [backup-simplify]: Simplify (- 0) into 0
59.896 * [backup-simplify]: Simplify (+ 0 0) into 0
59.896 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
59.897 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi2)) 2))) into 0
59.897 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 4) 0) (* 0 (pow (cos (/ -0.5 phi1)) 4))) into 0
59.898 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
59.898 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 R)) into 0
59.899 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) R) (/ 0 R)))) into 0
59.901 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) R) 0) (* 0 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
59.904 * [backup-simplify]: Simplify (* (/ (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) into (* (/ (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))
59.908 * [backup-simplify]: Simplify (+ (* 1/2 0) (* 0 (* (/ (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))) into 0
59.909 * [backup-simplify]: Simplify (+ 0) into 0
59.909 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
59.909 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
59.910 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.911 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
59.911 * [backup-simplify]: Simplify (+ 0 0) into 0
59.911 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
59.912 * [backup-simplify]: Simplify (+ 0) into 0
59.912 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
59.912 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
59.913 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.914 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
59.914 * [backup-simplify]: Simplify (- 0) into 0
59.914 * [backup-simplify]: Simplify (+ 0 0) into 0
59.915 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
59.915 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi1)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
59.915 * [backup-simplify]: Simplify (+ 0) into 0
59.916 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
59.916 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
59.917 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.917 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
59.918 * [backup-simplify]: Simplify (- 0) into 0
59.918 * [backup-simplify]: Simplify (+ 0 0) into 0
59.918 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
59.919 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)))) into 0
59.919 * [backup-simplify]: Simplify (+ 0) into 0
59.920 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
59.920 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
59.921 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.921 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
59.922 * [backup-simplify]: Simplify (+ 0 0) into 0
59.922 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
59.923 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2))))) into 0
59.923 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
59.924 * [backup-simplify]: Simplify (+ (* R 0) (* 0 1)) into 0
59.925 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)))) R) (/ 0 R)))) into 0
59.927 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)))) R) 0) (* 0 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
59.928 * [backup-simplify]: Simplify (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)))) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) into (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)))) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))
59.930 * [backup-simplify]: Simplify (+ (* 3 0) (* 0 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)))) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))) into 0
59.931 * [backup-simplify]: Simplify (+ 0 0) into 0
59.931 * [backup-simplify]: Simplify (+ 0 0) into 0
59.931 * [backup-simplify]: Simplify (+ 0 0) into 0
59.931 * [backup-simplify]: Simplify (+ 0 0) into 0
59.932 * [backup-simplify]: Simplify (+ 0) into 0
59.932 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
59.932 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
59.933 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.933 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
59.933 * [backup-simplify]: Simplify (+ 0 0) into 0
59.933 * [backup-simplify]: Simplify (+ 0) into 0
59.934 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
59.934 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
59.934 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.934 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
59.935 * [backup-simplify]: Simplify (- 0) into 0
59.935 * [backup-simplify]: Simplify (+ 0 0) into 0
59.935 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
59.935 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
59.935 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi1)) 3) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
59.936 * [backup-simplify]: Simplify (+ 0) into 0
59.936 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
59.936 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
59.936 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.937 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
59.937 * [backup-simplify]: Simplify (- 0) into 0
59.937 * [backup-simplify]: Simplify (+ 0 0) into 0
59.937 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
59.938 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (pow (cos (/ -0.5 phi2)) 2))) into 0
59.938 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 3) 0) (* 0 (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1))))) into 0
59.938 * [backup-simplify]: Simplify (+ 0) into 0
59.938 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
59.938 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
59.939 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.939 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
59.939 * [backup-simplify]: Simplify (+ 0 0) into 0
59.940 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1)))))) into 0
59.940 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
59.940 * [backup-simplify]: Simplify (+ (* R 0) (* 0 1)) into 0
59.941 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 3) (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1))))) R) (/ 0 R)))) into 0
59.942 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 3) (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1))))) R) 0) (* 0 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
59.944 * [backup-simplify]: Simplify (* (/ (* (pow (cos (/ -0.5 phi2)) 3) (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1))))) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) into (* (/ (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1))))) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))
59.946 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (/ (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1))))) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))) into 0
59.946 * [backup-simplify]: Simplify (+ 0) into 0
59.947 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
59.947 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
59.947 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.948 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
59.948 * [backup-simplify]: Simplify (- 0) into 0
59.948 * [backup-simplify]: Simplify (+ 0 0) into 0
59.948 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
59.949 * [backup-simplify]: Simplify (+ 0) into 0
59.949 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
59.949 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
59.949 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.950 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
59.950 * [backup-simplify]: Simplify (- 0) into 0
59.950 * [backup-simplify]: Simplify (+ 0 0) into 0
59.950 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
59.950 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
59.951 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
59.951 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 R)) into 0
59.951 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) (/ 0 R)))) into 0
59.953 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0
59.955 * [backup-simplify]: Simplify (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) into (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))
59.958 * [backup-simplify]: Simplify (+ (* 1/2 0) (* 0 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))))) into 0
59.959 * [backup-simplify]: Simplify (+ 0) into 0
59.959 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
59.959 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
59.960 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.961 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
59.961 * [backup-simplify]: Simplify (+ 0 0) into 0
59.961 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
59.961 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
59.962 * [backup-simplify]: Simplify (+ 0) into 0
59.963 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
59.963 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
59.964 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.964 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
59.964 * [backup-simplify]: Simplify (- 0) into 0
59.965 * [backup-simplify]: Simplify (+ 0 0) into 0
59.965 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (pow (sin (/ -0.5 phi1)) 3))) into 0
59.966 * [backup-simplify]: Simplify (+ 0) into 0
59.966 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
59.966 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
59.967 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.967 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
59.968 * [backup-simplify]: Simplify (- 0) into 0
59.968 * [backup-simplify]: Simplify (+ 0 0) into 0
59.969 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)))) into 0
59.969 * [backup-simplify]: Simplify (+ 0) into 0
59.970 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
59.970 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
59.971 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.971 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
59.971 * [backup-simplify]: Simplify (+ 0 0) into 0
59.972 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
59.972 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (pow (sin (/ -0.5 phi2)) 2))) into 0
59.973 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 3) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3))))) into 0
59.973 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
59.974 * [backup-simplify]: Simplify (+ (* R 0) (* 0 1)) into 0
59.974 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (cos (/ -0.5 phi2)) (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)))) R) (/ 0 R)))) into 0
59.977 * [backup-simplify]: Simplify (+ (* (/ (* (cos (/ -0.5 phi2)) (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)))) R) 0) (* 0 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
59.980 * [backup-simplify]: Simplify (* (/ (* (cos (/ -0.5 phi2)) (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)))) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) into (* (/ (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)))) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))
59.984 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (/ (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)))) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))) into 0
59.985 * [backup-simplify]: Simplify (+ 0) into 0
59.986 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
59.986 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
59.987 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.987 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
59.988 * [backup-simplify]: Simplify (+ 0 0) into 0
59.988 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
59.988 * [backup-simplify]: Simplify (+ 0) into 0
59.989 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
59.989 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
59.990 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
59.990 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
59.991 * [backup-simplify]: Simplify (+ 0 0) into 0
59.991 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
59.991 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
59.992 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
59.992 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 R)) into 0
59.993 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R) (/ 0 R)))) into 0
59.995 * [backup-simplify]: Simplify (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R) 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0
59.997 * [backup-simplify]: Simplify (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) into (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R))
59.999 * [backup-simplify]: Simplify (+ (* 1/2 0) (* 0 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R)))) into 0
60.000 * [backup-simplify]: Simplify (+ 0 0) into 0
60.000 * [backup-simplify]: Simplify (+ 0 0) into 0
60.000 * [backup-simplify]: Simplify (+ 0 0) into 0
60.001 * [backup-simplify]: Simplify (+ 0 0) into 0
60.001 * [backup-simplify]: Simplify (+ 0 0) into 0
60.001 * [backup-simplify]: Simplify (- 0) into 0
60.001 * [backup-simplify]: Simplify (+ 0 0) into 0
60.002 * [taylor]: Taking taylor expansion of 0 in phi1
60.002 * [backup-simplify]: Simplify 0 into 0
60.002 * [backup-simplify]: Simplify (+ 0) into 0
60.002 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
60.002 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
60.003 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
60.003 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
60.004 * [backup-simplify]: Simplify (- 0) into 0
60.004 * [backup-simplify]: Simplify (+ 0 0) into 0
60.004 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
60.004 * [backup-simplify]: Simplify (+ 0) into 0
60.005 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
60.005 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
60.005 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
60.005 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
60.006 * [backup-simplify]: Simplify (- 0) into 0
60.006 * [backup-simplify]: Simplify (+ 0 0) into 0
60.006 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
60.006 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
60.007 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 R))) into 0
60.007 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) (/ 0 R)))) into 0
60.008 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0
60.009 * [backup-simplify]: Simplify (+ 0) into 0
60.009 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
60.009 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
60.010 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
60.010 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
60.010 * [backup-simplify]: Simplify (+ 0 0) into 0
60.010 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
60.011 * [backup-simplify]: Simplify (+ 0) into 0
60.011 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
60.011 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
60.012 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
60.012 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
60.012 * [backup-simplify]: Simplify (+ 0 0) into 0
60.012 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
60.013 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
60.013 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 R))) into 0
60.014 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R) (/ 0 R)))) into 0
60.015 * [backup-simplify]: Simplify (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) 0) (* 0 (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R))) into 0
60.015 * [backup-simplify]: Simplify (+ 0 0) into 0
60.016 * [backup-simplify]: Simplify (+ 0) into 0
60.016 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
60.016 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
60.017 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
60.017 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
60.017 * [backup-simplify]: Simplify (+ 0 0) into 0
60.017 * [backup-simplify]: Simplify (+ 0) into 0
60.018 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
60.018 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
60.018 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
60.019 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
60.019 * [backup-simplify]: Simplify (- 0) into 0
60.019 * [backup-simplify]: Simplify (+ 0 0) into 0
60.019 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
60.019 * [backup-simplify]: Simplify (+ 0) into 0
60.020 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
60.020 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
60.022 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
60.023 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
60.023 * [backup-simplify]: Simplify (- 0) into 0
60.023 * [backup-simplify]: Simplify (+ 0 0) into 0
60.023 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
60.024 * [backup-simplify]: Simplify (+ 0) into 0
60.024 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
60.024 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
60.025 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
60.025 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
60.025 * [backup-simplify]: Simplify (+ 0 0) into 0
60.025 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
60.026 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 1) (* 0 0))) into 0
60.026 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) (/ 0 R)))) into 0
60.027 * [backup-simplify]: Simplify (+ (* (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0
60.029 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))))) into 0
60.029 * [backup-simplify]: Simplify (- 0) into 0
60.029 * [backup-simplify]: Simplify (+ 0 0) into 0
60.029 * [taylor]: Taking taylor expansion of 0 in phi1
60.029 * [backup-simplify]: Simplify 0 into 0
60.030 * [backup-simplify]: Simplify (- (+ (* (/ 1 R) (/ 0 R)))) into 0
60.031 * [backup-simplify]: Simplify (+ (* (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) 0) (* 0 (/ 1 R))) into 0
60.032 * [backup-simplify]: Simplify (+ (* -1 0) (* 0 (* (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (/ 1 R)))) into 0
60.032 * [taylor]: Taking taylor expansion of 0 in phi1
60.032 * [backup-simplify]: Simplify 0 into 0
60.034 * [backup-simplify]: Simplify (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R)) into (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))
60.037 * [backup-simplify]: Simplify (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) into (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))
60.039 * [backup-simplify]: Simplify (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))))
60.041 * [backup-simplify]: Simplify (* (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) into (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))
60.042 * [backup-simplify]: Simplify (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))))
60.044 * [backup-simplify]: Simplify (- (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))))) into (- (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))))
60.048 * [backup-simplify]: Simplify (+ (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (- (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))))) into (- (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R)) (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))))
60.048 * [taylor]: Taking taylor expansion of (- (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R)) (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))))) in phi2
60.048 * [taylor]: Taking taylor expansion of (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R)) (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) in phi2
60.048 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R)) in phi2
60.048 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) in phi2
60.048 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) in phi2
60.048 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in phi2
60.048 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi2
60.048 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi2
60.048 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2
60.048 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
60.048 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
60.048 * [taylor]: Taking taylor expansion of -0.5 in phi2
60.048 * [backup-simplify]: Simplify -0.5 into -0.5
60.048 * [taylor]: Taking taylor expansion of phi2 in phi2
60.048 * [backup-simplify]: Simplify 0 into 0
60.049 * [backup-simplify]: Simplify 1 into 1
60.049 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
60.049 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
60.049 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2
60.049 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
60.049 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
60.049 * [taylor]: Taking taylor expansion of -0.5 in phi2
60.049 * [backup-simplify]: Simplify -0.5 into -0.5
60.049 * [taylor]: Taking taylor expansion of phi1 in phi2
60.049 * [backup-simplify]: Simplify phi1 into phi1
60.049 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
60.049 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
60.049 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
60.049 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
60.049 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
60.050 * [backup-simplify]: Simplify (- 0) into 0
60.050 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
60.050 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi2
60.050 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2
60.050 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
60.050 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
60.050 * [taylor]: Taking taylor expansion of -0.5 in phi2
60.050 * [backup-simplify]: Simplify -0.5 into -0.5
60.050 * [taylor]: Taking taylor expansion of phi2 in phi2
60.050 * [backup-simplify]: Simplify 0 into 0
60.050 * [backup-simplify]: Simplify 1 into 1
60.050 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
60.050 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
60.050 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2
60.050 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
60.050 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
60.050 * [taylor]: Taking taylor expansion of -0.5 in phi2
60.050 * [backup-simplify]: Simplify -0.5 into -0.5
60.050 * [taylor]: Taking taylor expansion of phi1 in phi2
60.050 * [backup-simplify]: Simplify phi1 into phi1
60.050 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
60.051 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
60.051 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
60.051 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
60.051 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
60.051 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
60.051 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in phi2
60.051 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi2
60.051 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
60.051 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
60.051 * [taylor]: Taking taylor expansion of -0.5 in phi2
60.051 * [backup-simplify]: Simplify -0.5 into -0.5
60.051 * [taylor]: Taking taylor expansion of phi2 in phi2
60.051 * [backup-simplify]: Simplify 0 into 0
60.051 * [backup-simplify]: Simplify 1 into 1
60.051 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
60.051 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
60.051 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi2
60.051 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
60.051 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
60.051 * [taylor]: Taking taylor expansion of -0.5 in phi2
60.051 * [backup-simplify]: Simplify -0.5 into -0.5
60.051 * [taylor]: Taking taylor expansion of phi2 in phi2
60.051 * [backup-simplify]: Simplify 0 into 0
60.051 * [backup-simplify]: Simplify 1 into 1
60.052 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
60.052 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
60.052 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi2
60.052 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
60.052 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
60.052 * [taylor]: Taking taylor expansion of -0.5 in phi2
60.052 * [backup-simplify]: Simplify -0.5 into -0.5
60.052 * [taylor]: Taking taylor expansion of phi1 in phi2
60.052 * [backup-simplify]: Simplify phi1 into phi1
60.052 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
60.052 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
60.052 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
60.052 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
60.052 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
60.052 * [taylor]: Taking taylor expansion of -0.5 in phi2
60.052 * [backup-simplify]: Simplify -0.5 into -0.5
60.052 * [taylor]: Taking taylor expansion of phi1 in phi2
60.052 * [backup-simplify]: Simplify phi1 into phi1
60.052 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
60.052 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
60.052 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
60.052 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi2
60.052 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
60.052 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
60.052 * [taylor]: Taking taylor expansion of -0.5 in phi2
60.052 * [backup-simplify]: Simplify -0.5 into -0.5
60.052 * [taylor]: Taking taylor expansion of phi2 in phi2
60.052 * [backup-simplify]: Simplify 0 into 0
60.052 * [backup-simplify]: Simplify 1 into 1
60.053 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
60.053 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
60.053 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi2
60.053 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
60.053 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
60.053 * [taylor]: Taking taylor expansion of -0.5 in phi2
60.053 * [backup-simplify]: Simplify -0.5 into -0.5
60.053 * [taylor]: Taking taylor expansion of phi2 in phi2
60.053 * [backup-simplify]: Simplify 0 into 0
60.053 * [backup-simplify]: Simplify 1 into 1
60.053 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
60.053 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
60.053 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi2
60.053 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
60.053 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
60.053 * [taylor]: Taking taylor expansion of -0.5 in phi2
60.053 * [backup-simplify]: Simplify -0.5 into -0.5
60.053 * [taylor]: Taking taylor expansion of phi1 in phi2
60.053 * [backup-simplify]: Simplify phi1 into phi1
60.053 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
60.054 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
60.054 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
60.054 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
60.054 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
60.054 * [taylor]: Taking taylor expansion of -0.5 in phi2
60.054 * [backup-simplify]: Simplify -0.5 into -0.5
60.054 * [taylor]: Taking taylor expansion of phi1 in phi2
60.054 * [backup-simplify]: Simplify phi1 into phi1
60.054 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
60.054 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
60.054 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
60.054 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
60.054 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
60.054 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
60.054 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
60.054 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
60.055 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
60.055 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
60.055 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
60.055 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
60.055 * [backup-simplify]: Simplify (- 0) into 0
60.056 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
60.056 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
60.056 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
60.056 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
60.056 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
60.056 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
60.056 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
60.056 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
60.056 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
60.056 * [backup-simplify]: Simplify (- 0) into 0
60.057 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
60.057 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
60.057 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
60.057 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
60.057 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
60.057 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
60.057 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
60.058 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
60.059 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
60.061 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
60.062 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))
60.063 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))
60.063 * [backup-simplify]: Simplify (+ 0) into 0
60.064 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
60.064 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
60.064 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
60.064 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
60.065 * [backup-simplify]: Simplify (- 0) into 0
60.065 * [backup-simplify]: Simplify (+ 0 0) into 0
60.065 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
60.065 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
60.065 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
60.066 * [backup-simplify]: Simplify (+ 0) into 0
60.066 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
60.066 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
60.067 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
60.067 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
60.067 * [backup-simplify]: Simplify (+ 0 0) into 0
60.067 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
60.067 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
60.068 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
60.068 * [backup-simplify]: Simplify (+ 0 0) into 0
60.068 * [backup-simplify]: Simplify (+ 0) into 0
60.068 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
60.068 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
60.069 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
60.069 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
60.069 * [backup-simplify]: Simplify (+ 0 0) into 0
60.070 * [backup-simplify]: Simplify (+ 0) into 0
60.070 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
60.070 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
60.071 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
60.071 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
60.071 * [backup-simplify]: Simplify (- 0) into 0
60.071 * [backup-simplify]: Simplify (+ 0 0) into 0
60.071 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
60.072 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
60.072 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
60.072 * [backup-simplify]: Simplify (+ 0) into 0
60.072 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
60.072 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
60.073 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
60.074 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
60.074 * [backup-simplify]: Simplify (+ 0 0) into 0
60.074 * [backup-simplify]: Simplify (+ 0) into 0
60.074 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
60.074 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
60.075 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
60.075 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
60.075 * [backup-simplify]: Simplify (- 0) into 0
60.076 * [backup-simplify]: Simplify (+ 0 0) into 0
60.076 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
60.076 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
60.076 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
60.076 * [backup-simplify]: Simplify (+ 0 0) into 0
60.076 * [backup-simplify]: Simplify (- 0) into 0
60.077 * [backup-simplify]: Simplify (+ 0 0) into 0
60.079 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0
60.080 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0
60.080 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R) in phi2
60.080 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi2
60.080 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2
60.080 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
60.080 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
60.080 * [taylor]: Taking taylor expansion of -0.5 in phi2
60.080 * [backup-simplify]: Simplify -0.5 into -0.5
60.080 * [taylor]: Taking taylor expansion of phi2 in phi2
60.080 * [backup-simplify]: Simplify 0 into 0
60.080 * [backup-simplify]: Simplify 1 into 1
60.080 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
60.080 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
60.080 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2
60.080 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
60.080 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
60.080 * [taylor]: Taking taylor expansion of -0.5 in phi2
60.080 * [backup-simplify]: Simplify -0.5 into -0.5
60.080 * [taylor]: Taking taylor expansion of phi1 in phi2
60.081 * [backup-simplify]: Simplify phi1 into phi1
60.081 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
60.081 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
60.081 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
60.081 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
60.081 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
60.081 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
60.081 * [taylor]: Taking taylor expansion of R in phi2
60.081 * [backup-simplify]: Simplify R into R
60.081 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
60.081 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
60.081 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
60.081 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R) into (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R)
60.082 * [taylor]: Taking taylor expansion of (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) in phi2
60.082 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) in phi2
60.082 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi2
60.082 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2
60.082 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
60.082 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
60.082 * [taylor]: Taking taylor expansion of -0.5 in phi2
60.082 * [backup-simplify]: Simplify -0.5 into -0.5
60.082 * [taylor]: Taking taylor expansion of phi2 in phi2
60.082 * [backup-simplify]: Simplify 0 into 0
60.082 * [backup-simplify]: Simplify 1 into 1
60.082 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
60.082 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
60.082 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2
60.082 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
60.082 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
60.082 * [taylor]: Taking taylor expansion of -0.5 in phi2
60.082 * [backup-simplify]: Simplify -0.5 into -0.5
60.082 * [taylor]: Taking taylor expansion of phi1 in phi2
60.082 * [backup-simplify]: Simplify phi1 into phi1
60.082 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
60.082 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
60.082 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
60.083 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
60.083 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
60.083 * [backup-simplify]: Simplify (- 0) into 0
60.083 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
60.083 * [taylor]: Taking taylor expansion of R in phi2
60.083 * [backup-simplify]: Simplify R into R
60.083 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
60.083 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
60.083 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
60.084 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) into (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R)
60.084 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) in phi2
60.084 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) in phi2
60.084 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in phi2
60.084 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi2
60.084 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi2
60.084 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2
60.084 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
60.084 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
60.084 * [taylor]: Taking taylor expansion of -0.5 in phi2
60.084 * [backup-simplify]: Simplify -0.5 into -0.5
60.084 * [taylor]: Taking taylor expansion of phi2 in phi2
60.084 * [backup-simplify]: Simplify 0 into 0
60.084 * [backup-simplify]: Simplify 1 into 1
60.084 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
60.084 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
60.084 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2
60.084 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
60.084 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
60.084 * [taylor]: Taking taylor expansion of -0.5 in phi2
60.084 * [backup-simplify]: Simplify -0.5 into -0.5
60.084 * [taylor]: Taking taylor expansion of phi1 in phi2
60.084 * [backup-simplify]: Simplify phi1 into phi1
60.084 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
60.084 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
60.084 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
60.085 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
60.085 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
60.085 * [backup-simplify]: Simplify (- 0) into 0
60.085 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
60.085 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi2
60.085 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2
60.085 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
60.085 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
60.085 * [taylor]: Taking taylor expansion of -0.5 in phi2
60.085 * [backup-simplify]: Simplify -0.5 into -0.5
60.085 * [taylor]: Taking taylor expansion of phi2 in phi2
60.085 * [backup-simplify]: Simplify 0 into 0
60.085 * [backup-simplify]: Simplify 1 into 1
60.085 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
60.085 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
60.086 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2
60.086 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
60.086 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
60.086 * [taylor]: Taking taylor expansion of -0.5 in phi2
60.086 * [backup-simplify]: Simplify -0.5 into -0.5
60.086 * [taylor]: Taking taylor expansion of phi1 in phi2
60.086 * [backup-simplify]: Simplify phi1 into phi1
60.086 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
60.086 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
60.086 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
60.086 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
60.086 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
60.086 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
60.086 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in phi2
60.086 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi2
60.086 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
60.086 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
60.086 * [taylor]: Taking taylor expansion of -0.5 in phi2
60.086 * [backup-simplify]: Simplify -0.5 into -0.5
60.087 * [taylor]: Taking taylor expansion of phi2 in phi2
60.087 * [backup-simplify]: Simplify 0 into 0
60.087 * [backup-simplify]: Simplify 1 into 1
60.087 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
60.087 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
60.087 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi2
60.087 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
60.087 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
60.087 * [taylor]: Taking taylor expansion of -0.5 in phi2
60.087 * [backup-simplify]: Simplify -0.5 into -0.5
60.087 * [taylor]: Taking taylor expansion of phi2 in phi2
60.087 * [backup-simplify]: Simplify 0 into 0
60.087 * [backup-simplify]: Simplify 1 into 1
60.088 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
60.088 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
60.088 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi2
60.088 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
60.088 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
60.088 * [taylor]: Taking taylor expansion of -0.5 in phi2
60.088 * [backup-simplify]: Simplify -0.5 into -0.5
60.088 * [taylor]: Taking taylor expansion of phi1 in phi2
60.088 * [backup-simplify]: Simplify phi1 into phi1
60.088 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
60.088 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
60.088 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
60.088 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
60.088 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
60.088 * [taylor]: Taking taylor expansion of -0.5 in phi2
60.089 * [backup-simplify]: Simplify -0.5 into -0.5
60.089 * [taylor]: Taking taylor expansion of phi1 in phi2
60.089 * [backup-simplify]: Simplify phi1 into phi1
60.089 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
60.089 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
60.089 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
60.089 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi2
60.089 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
60.089 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
60.089 * [taylor]: Taking taylor expansion of -0.5 in phi2
60.089 * [backup-simplify]: Simplify -0.5 into -0.5
60.089 * [taylor]: Taking taylor expansion of phi2 in phi2
60.089 * [backup-simplify]: Simplify 0 into 0
60.089 * [backup-simplify]: Simplify 1 into 1
60.090 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
60.090 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
60.090 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi2
60.090 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
60.090 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
60.090 * [taylor]: Taking taylor expansion of -0.5 in phi2
60.090 * [backup-simplify]: Simplify -0.5 into -0.5
60.090 * [taylor]: Taking taylor expansion of phi2 in phi2
60.090 * [backup-simplify]: Simplify 0 into 0
60.090 * [backup-simplify]: Simplify 1 into 1
60.090 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
60.090 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
60.090 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi2
60.090 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
60.091 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
60.091 * [taylor]: Taking taylor expansion of -0.5 in phi2
60.091 * [backup-simplify]: Simplify -0.5 into -0.5
60.091 * [taylor]: Taking taylor expansion of phi1 in phi2
60.091 * [backup-simplify]: Simplify phi1 into phi1
60.091 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
60.091 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
60.091 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
60.091 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
60.091 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
60.091 * [taylor]: Taking taylor expansion of -0.5 in phi2
60.091 * [backup-simplify]: Simplify -0.5 into -0.5
60.091 * [taylor]: Taking taylor expansion of phi1 in phi2
60.091 * [backup-simplify]: Simplify phi1 into phi1
60.091 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
60.091 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
60.091 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
60.092 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
60.092 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
60.092 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
60.092 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
60.092 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
60.093 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
60.094 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
60.094 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
60.094 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
60.094 * [backup-simplify]: Simplify (- 0) into 0
60.094 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
60.094 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
60.095 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
60.095 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
60.095 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
60.095 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
60.095 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
60.096 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
60.096 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
60.096 * [backup-simplify]: Simplify (- 0) into 0
60.096 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
60.097 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
60.097 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
60.097 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
60.097 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
60.097 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
60.098 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
60.098 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
60.099 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
60.101 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
60.103 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))
60.105 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))
60.106 * [backup-simplify]: Simplify (+ 0) into 0
60.106 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
60.106 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
60.107 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
60.108 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
60.108 * [backup-simplify]: Simplify (- 0) into 0
60.108 * [backup-simplify]: Simplify (+ 0 0) into 0
60.109 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
60.109 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
60.109 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
60.110 * [backup-simplify]: Simplify (+ 0) into 0
60.110 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
60.110 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
60.111 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
60.112 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
60.112 * [backup-simplify]: Simplify (+ 0 0) into 0
60.112 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
60.112 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
60.113 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
60.113 * [backup-simplify]: Simplify (+ 0 0) into 0
60.114 * [backup-simplify]: Simplify (+ 0) into 0
60.114 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
60.114 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
60.115 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
60.115 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
60.116 * [backup-simplify]: Simplify (+ 0 0) into 0
60.116 * [backup-simplify]: Simplify (+ 0) into 0
60.117 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
60.117 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
60.118 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
60.118 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
60.119 * [backup-simplify]: Simplify (- 0) into 0
60.119 * [backup-simplify]: Simplify (+ 0 0) into 0
60.119 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
60.119 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
60.120 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
60.120 * [backup-simplify]: Simplify (+ 0) into 0
60.121 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
60.121 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
60.122 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
60.122 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
60.122 * [backup-simplify]: Simplify (+ 0 0) into 0
60.123 * [backup-simplify]: Simplify (+ 0) into 0
60.123 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
60.124 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
60.124 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
60.125 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
60.125 * [backup-simplify]: Simplify (- 0) into 0
60.126 * [backup-simplify]: Simplify (+ 0 0) into 0
60.126 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
60.126 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
60.126 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
60.127 * [backup-simplify]: Simplify (+ 0 0) into 0
60.127 * [backup-simplify]: Simplify (- 0) into 0
60.128 * [backup-simplify]: Simplify (+ 0 0) into 0
60.132 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0
60.134 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0
60.134 * [taylor]: Taking taylor expansion of (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) in phi2
60.134 * [taylor]: Taking taylor expansion of 2 in phi2
60.134 * [backup-simplify]: Simplify 2 into 2
60.134 * [taylor]: Taking taylor expansion of (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) in phi2
60.134 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) in phi2
60.134 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi2
60.134 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
60.134 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
60.134 * [taylor]: Taking taylor expansion of -0.5 in phi2
60.134 * [backup-simplify]: Simplify -0.5 into -0.5
60.134 * [taylor]: Taking taylor expansion of phi2 in phi2
60.134 * [backup-simplify]: Simplify 0 into 0
60.134 * [backup-simplify]: Simplify 1 into 1
60.135 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
60.135 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
60.135 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi2
60.135 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
60.135 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
60.135 * [taylor]: Taking taylor expansion of -0.5 in phi2
60.135 * [backup-simplify]: Simplify -0.5 into -0.5
60.135 * [taylor]: Taking taylor expansion of phi2 in phi2
60.135 * [backup-simplify]: Simplify 0 into 0
60.135 * [backup-simplify]: Simplify 1 into 1
60.136 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
60.136 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
60.136 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi2
60.136 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
60.136 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
60.136 * [taylor]: Taking taylor expansion of -0.5 in phi2
60.136 * [backup-simplify]: Simplify -0.5 into -0.5
60.136 * [taylor]: Taking taylor expansion of phi1 in phi2
60.136 * [backup-simplify]: Simplify phi1 into phi1
60.136 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
60.136 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
60.136 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
60.136 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
60.136 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
60.137 * [taylor]: Taking taylor expansion of -0.5 in phi2
60.137 * [backup-simplify]: Simplify -0.5 into -0.5
60.137 * [taylor]: Taking taylor expansion of phi1 in phi2
60.137 * [backup-simplify]: Simplify phi1 into phi1
60.137 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
60.137 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
60.137 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
60.137 * [taylor]: Taking taylor expansion of R in phi2
60.137 * [backup-simplify]: Simplify R into R
60.137 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
60.137 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
60.137 * [backup-simplify]: Simplify (- 0) into 0
60.138 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
60.138 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
60.138 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
60.138 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
60.138 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
60.138 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
60.138 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
60.138 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) into (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R)
60.138 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) in phi2
60.138 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) in phi2
60.138 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in phi2
60.138 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi2
60.138 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi2
60.138 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2
60.138 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
60.139 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
60.139 * [taylor]: Taking taylor expansion of -0.5 in phi2
60.139 * [backup-simplify]: Simplify -0.5 into -0.5
60.139 * [taylor]: Taking taylor expansion of phi2 in phi2
60.139 * [backup-simplify]: Simplify 0 into 0
60.139 * [backup-simplify]: Simplify 1 into 1
60.139 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
60.139 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
60.139 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2
60.139 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
60.139 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
60.139 * [taylor]: Taking taylor expansion of -0.5 in phi2
60.139 * [backup-simplify]: Simplify -0.5 into -0.5
60.139 * [taylor]: Taking taylor expansion of phi1 in phi2
60.139 * [backup-simplify]: Simplify phi1 into phi1
60.139 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
60.139 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
60.139 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
60.139 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
60.139 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
60.140 * [backup-simplify]: Simplify (- 0) into 0
60.140 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
60.140 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi2
60.140 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2
60.140 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
60.140 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
60.140 * [taylor]: Taking taylor expansion of -0.5 in phi2
60.140 * [backup-simplify]: Simplify -0.5 into -0.5
60.140 * [taylor]: Taking taylor expansion of phi2 in phi2
60.140 * [backup-simplify]: Simplify 0 into 0
60.140 * [backup-simplify]: Simplify 1 into 1
60.140 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
60.140 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
60.140 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2
60.140 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
60.140 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
60.140 * [taylor]: Taking taylor expansion of -0.5 in phi2
60.140 * [backup-simplify]: Simplify -0.5 into -0.5
60.140 * [taylor]: Taking taylor expansion of phi1 in phi2
60.140 * [backup-simplify]: Simplify phi1 into phi1
60.140 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
60.140 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
60.140 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
60.140 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
60.141 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
60.141 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
60.141 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in phi2
60.141 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi2
60.141 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
60.141 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
60.141 * [taylor]: Taking taylor expansion of -0.5 in phi2
60.141 * [backup-simplify]: Simplify -0.5 into -0.5
60.141 * [taylor]: Taking taylor expansion of phi2 in phi2
60.141 * [backup-simplify]: Simplify 0 into 0
60.141 * [backup-simplify]: Simplify 1 into 1
60.141 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
60.141 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
60.141 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi2
60.141 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
60.141 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
60.141 * [taylor]: Taking taylor expansion of -0.5 in phi2
60.141 * [backup-simplify]: Simplify -0.5 into -0.5
60.141 * [taylor]: Taking taylor expansion of phi2 in phi2
60.141 * [backup-simplify]: Simplify 0 into 0
60.141 * [backup-simplify]: Simplify 1 into 1
60.142 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
60.142 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
60.142 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi2
60.142 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
60.142 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
60.142 * [taylor]: Taking taylor expansion of -0.5 in phi2
60.142 * [backup-simplify]: Simplify -0.5 into -0.5
60.142 * [taylor]: Taking taylor expansion of phi1 in phi2
60.142 * [backup-simplify]: Simplify phi1 into phi1
60.142 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
60.142 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
60.142 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
60.142 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
60.142 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
60.142 * [taylor]: Taking taylor expansion of -0.5 in phi2
60.142 * [backup-simplify]: Simplify -0.5 into -0.5
60.142 * [taylor]: Taking taylor expansion of phi1 in phi2
60.142 * [backup-simplify]: Simplify phi1 into phi1
60.142 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
60.142 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
60.142 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
60.142 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi2
60.142 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
60.142 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
60.142 * [taylor]: Taking taylor expansion of -0.5 in phi2
60.142 * [backup-simplify]: Simplify -0.5 into -0.5
60.142 * [taylor]: Taking taylor expansion of phi2 in phi2
60.142 * [backup-simplify]: Simplify 0 into 0
60.142 * [backup-simplify]: Simplify 1 into 1
60.143 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
60.143 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
60.143 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi2
60.143 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
60.143 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
60.143 * [taylor]: Taking taylor expansion of -0.5 in phi2
60.143 * [backup-simplify]: Simplify -0.5 into -0.5
60.143 * [taylor]: Taking taylor expansion of phi2 in phi2
60.143 * [backup-simplify]: Simplify 0 into 0
60.143 * [backup-simplify]: Simplify 1 into 1
60.143 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
60.143 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
60.143 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi2
60.143 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
60.143 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
60.143 * [taylor]: Taking taylor expansion of -0.5 in phi2
60.143 * [backup-simplify]: Simplify -0.5 into -0.5
60.143 * [taylor]: Taking taylor expansion of phi1 in phi2
60.143 * [backup-simplify]: Simplify phi1 into phi1
60.143 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
60.143 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
60.143 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
60.143 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
60.143 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
60.143 * [taylor]: Taking taylor expansion of -0.5 in phi2
60.143 * [backup-simplify]: Simplify -0.5 into -0.5
60.143 * [taylor]: Taking taylor expansion of phi1 in phi2
60.143 * [backup-simplify]: Simplify phi1 into phi1
60.143 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
60.144 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
60.144 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
60.144 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
60.144 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
60.144 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
60.144 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
60.144 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
60.144 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
60.145 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
60.145 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
60.145 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
60.145 * [backup-simplify]: Simplify (- 0) into 0
60.145 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
60.145 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
60.145 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
60.145 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
60.146 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
60.146 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
60.146 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
60.146 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
60.146 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
60.146 * [backup-simplify]: Simplify (- 0) into 0
60.146 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
60.146 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
60.146 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
60.146 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
60.147 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
60.147 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
60.147 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
60.147 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
60.148 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
60.149 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
60.150 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))
60.151 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))
60.153 * [backup-simplify]: Simplify (+ 0) into 0
60.153 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
60.153 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
60.154 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
60.154 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
60.154 * [backup-simplify]: Simplify (- 0) into 0
60.155 * [backup-simplify]: Simplify (+ 0 0) into 0
60.155 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
60.155 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
60.155 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
60.155 * [backup-simplify]: Simplify (+ 0) into 0
60.156 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
60.156 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
60.156 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
60.156 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
60.157 * [backup-simplify]: Simplify (+ 0 0) into 0
60.157 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
60.157 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
60.157 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
60.157 * [backup-simplify]: Simplify (+ 0 0) into 0
60.158 * [backup-simplify]: Simplify (+ 0) into 0
60.158 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
60.158 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
60.158 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
60.159 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
60.159 * [backup-simplify]: Simplify (+ 0 0) into 0
60.159 * [backup-simplify]: Simplify (+ 0) into 0
60.160 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
60.160 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
60.160 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
60.160 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
60.161 * [backup-simplify]: Simplify (- 0) into 0
60.161 * [backup-simplify]: Simplify (+ 0 0) into 0
60.161 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
60.161 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
60.161 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
60.162 * [backup-simplify]: Simplify (+ 0) into 0
60.162 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
60.162 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
60.162 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
60.163 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
60.163 * [backup-simplify]: Simplify (+ 0 0) into 0
60.163 * [backup-simplify]: Simplify (+ 0) into 0
60.163 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
60.164 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
60.164 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
60.164 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
60.165 * [backup-simplify]: Simplify (- 0) into 0
60.165 * [backup-simplify]: Simplify (+ 0 0) into 0
60.165 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
60.165 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
60.165 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
60.165 * [backup-simplify]: Simplify (+ 0 0) into 0
60.166 * [backup-simplify]: Simplify (- 0) into 0
60.166 * [backup-simplify]: Simplify (+ 0 0) into 0
60.168 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0
60.169 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0
60.171 * [backup-simplify]: Simplify (* (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (/ 1 R)) into (* (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (/ 1 R))
60.173 * [backup-simplify]: Simplify (* -1 (* (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (/ 1 R))) into (* -1 (* (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (/ 1 R)))
60.173 * [taylor]: Taking taylor expansion of (* -1 (* (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (/ 1 R))) in phi2
60.173 * [taylor]: Taking taylor expansion of -1 in phi2
60.173 * [backup-simplify]: Simplify -1 into -1
60.173 * [taylor]: Taking taylor expansion of (* (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (/ 1 R)) in phi2
60.173 * [taylor]: Taking taylor expansion of (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) in phi2
60.173 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in phi2
60.173 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi2
60.174 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi2
60.174 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2
60.174 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
60.174 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
60.174 * [taylor]: Taking taylor expansion of -0.5 in phi2
60.174 * [backup-simplify]: Simplify -0.5 into -0.5
60.174 * [taylor]: Taking taylor expansion of phi2 in phi2
60.174 * [backup-simplify]: Simplify 0 into 0
60.174 * [backup-simplify]: Simplify 1 into 1
60.174 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
60.174 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
60.175 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2
60.175 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
60.175 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
60.175 * [taylor]: Taking taylor expansion of -0.5 in phi2
60.175 * [backup-simplify]: Simplify -0.5 into -0.5
60.175 * [taylor]: Taking taylor expansion of phi1 in phi2
60.175 * [backup-simplify]: Simplify phi1 into phi1
60.175 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
60.175 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
60.175 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
60.175 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
60.175 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
60.176 * [backup-simplify]: Simplify (- 0) into 0
60.176 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
60.176 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi2
60.176 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2
60.176 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
60.176 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
60.176 * [taylor]: Taking taylor expansion of -0.5 in phi2
60.176 * [backup-simplify]: Simplify -0.5 into -0.5
60.176 * [taylor]: Taking taylor expansion of phi2 in phi2
60.176 * [backup-simplify]: Simplify 0 into 0
60.176 * [backup-simplify]: Simplify 1 into 1
60.176 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
60.177 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
60.177 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2
60.177 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
60.177 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
60.177 * [taylor]: Taking taylor expansion of -0.5 in phi2
60.177 * [backup-simplify]: Simplify -0.5 into -0.5
60.177 * [taylor]: Taking taylor expansion of phi1 in phi2
60.177 * [backup-simplify]: Simplify phi1 into phi1
60.177 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
60.177 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
60.177 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
60.177 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
60.177 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
60.177 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
60.177 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in phi2
60.177 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi2
60.178 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
60.178 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
60.178 * [taylor]: Taking taylor expansion of -0.5 in phi2
60.178 * [backup-simplify]: Simplify -0.5 into -0.5
60.178 * [taylor]: Taking taylor expansion of phi2 in phi2
60.178 * [backup-simplify]: Simplify 0 into 0
60.178 * [backup-simplify]: Simplify 1 into 1
60.178 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
60.178 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
60.178 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi2
60.178 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
60.178 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
60.178 * [taylor]: Taking taylor expansion of -0.5 in phi2
60.178 * [backup-simplify]: Simplify -0.5 into -0.5
60.178 * [taylor]: Taking taylor expansion of phi2 in phi2
60.178 * [backup-simplify]: Simplify 0 into 0
60.178 * [backup-simplify]: Simplify 1 into 1
60.179 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
60.179 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
60.179 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi2
60.179 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
60.179 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
60.179 * [taylor]: Taking taylor expansion of -0.5 in phi2
60.179 * [backup-simplify]: Simplify -0.5 into -0.5
60.179 * [taylor]: Taking taylor expansion of phi1 in phi2
60.179 * [backup-simplify]: Simplify phi1 into phi1
60.179 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
60.179 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
60.180 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
60.180 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
60.180 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
60.180 * [taylor]: Taking taylor expansion of -0.5 in phi2
60.180 * [backup-simplify]: Simplify -0.5 into -0.5
60.180 * [taylor]: Taking taylor expansion of phi1 in phi2
60.180 * [backup-simplify]: Simplify phi1 into phi1
60.180 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
60.180 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
60.180 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
60.180 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi2
60.180 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
60.180 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
60.180 * [taylor]: Taking taylor expansion of -0.5 in phi2
60.180 * [backup-simplify]: Simplify -0.5 into -0.5
60.180 * [taylor]: Taking taylor expansion of phi2 in phi2
60.180 * [backup-simplify]: Simplify 0 into 0
60.180 * [backup-simplify]: Simplify 1 into 1
60.181 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
60.181 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
60.181 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi2
60.181 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
60.181 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
60.181 * [taylor]: Taking taylor expansion of -0.5 in phi2
60.181 * [backup-simplify]: Simplify -0.5 into -0.5
60.181 * [taylor]: Taking taylor expansion of phi2 in phi2
60.181 * [backup-simplify]: Simplify 0 into 0
60.181 * [backup-simplify]: Simplify 1 into 1
60.182 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
60.182 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
60.182 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi2
60.182 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
60.182 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
60.182 * [taylor]: Taking taylor expansion of -0.5 in phi2
60.182 * [backup-simplify]: Simplify -0.5 into -0.5
60.182 * [taylor]: Taking taylor expansion of phi1 in phi2
60.182 * [backup-simplify]: Simplify phi1 into phi1
60.182 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
60.182 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
60.182 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
60.182 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
60.182 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
60.182 * [taylor]: Taking taylor expansion of -0.5 in phi2
60.182 * [backup-simplify]: Simplify -0.5 into -0.5
60.182 * [taylor]: Taking taylor expansion of phi1 in phi2
60.182 * [backup-simplify]: Simplify phi1 into phi1
60.182 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
60.182 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
60.183 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
60.183 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
60.183 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
60.184 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
60.184 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
60.184 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
60.184 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
60.185 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
60.185 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
60.185 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
60.186 * [backup-simplify]: Simplify (- 0) into 0
60.186 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
60.186 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
60.186 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
60.186 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
60.186 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
60.187 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
60.187 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
60.187 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
60.187 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
60.188 * [backup-simplify]: Simplify (- 0) into 0
60.188 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
60.188 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
60.188 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
60.188 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
60.188 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
60.188 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
60.189 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
60.190 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
60.190 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
60.192 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
60.194 * [backup-simplify]: Simplify (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))
60.195 * [backup-simplify]: Simplify (+ 0) into 0
60.195 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
60.196 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
60.196 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
60.197 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
60.197 * [backup-simplify]: Simplify (- 0) into 0
60.198 * [backup-simplify]: Simplify (+ 0 0) into 0
60.198 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
60.198 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
60.198 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
60.199 * [backup-simplify]: Simplify (+ 0) into 0
60.199 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
60.200 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
60.200 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
60.201 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
60.201 * [backup-simplify]: Simplify (+ 0 0) into 0
60.201 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
60.202 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
60.202 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
60.202 * [backup-simplify]: Simplify (+ 0 0) into 0
60.203 * [backup-simplify]: Simplify (+ 0) into 0
60.203 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
60.203 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
60.204 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
60.205 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
60.205 * [backup-simplify]: Simplify (+ 0 0) into 0
60.205 * [backup-simplify]: Simplify (+ 0) into 0
60.206 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
60.206 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
60.207 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
60.207 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
60.208 * [backup-simplify]: Simplify (- 0) into 0
60.208 * [backup-simplify]: Simplify (+ 0 0) into 0
60.208 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
60.209 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
60.209 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
60.209 * [backup-simplify]: Simplify (+ 0) into 0
60.210 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
60.210 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
60.211 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
60.211 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
60.212 * [backup-simplify]: Simplify (+ 0 0) into 0
60.212 * [backup-simplify]: Simplify (+ 0) into 0
60.213 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
60.213 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
60.214 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
60.214 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
60.214 * [backup-simplify]: Simplify (- 0) into 0
60.215 * [backup-simplify]: Simplify (+ 0 0) into 0
60.215 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
60.215 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
60.216 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
60.216 * [backup-simplify]: Simplify (+ 0 0) into 0
60.216 * [backup-simplify]: Simplify (- 0) into 0
60.217 * [backup-simplify]: Simplify (+ 0 0) into 0
60.219 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) into 0
60.219 * [taylor]: Taking taylor expansion of (/ 1 R) in phi2
60.219 * [taylor]: Taking taylor expansion of R in phi2
60.219 * [backup-simplify]: Simplify R into R
60.219 * [backup-simplify]: Simplify (/ 1 R) into (/ 1 R)
60.219 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)) (* 0 (/ 0 lambda2)))) into 0
60.221 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)) (* 0 (/ 0 1)))) into 0
60.221 * [backup-simplify]: Simplify (- 0) into 0
60.221 * [backup-simplify]: Simplify (+ 0 0) into 0
60.222 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0
60.223 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0
60.224 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
60.225 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0
60.226 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0
60.226 * [backup-simplify]: Simplify (- 0) into 0
60.227 * [backup-simplify]: Simplify (+ 0 0) into 0
60.228 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0
60.229 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0
60.229 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
60.231 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0
60.231 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0
60.232 * [backup-simplify]: Simplify (- 0) into 0
60.232 * [backup-simplify]: Simplify (+ 0 0) into 0
60.233 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2)))))) into 0
60.234 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0
60.235 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0
60.236 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
60.237 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0
60.238 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0
60.238 * [backup-simplify]: Simplify (+ 0 0) into 0
60.239 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0
60.240 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0
60.240 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
60.242 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0
60.243 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0
60.244 * [backup-simplify]: Simplify (+ 0 0) into 0
60.245 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1)))))) into 0
60.245 * [backup-simplify]: Simplify (- 0) into 0
60.246 * [backup-simplify]: Simplify (+ 0 0) into 0
60.247 * [backup-simplify]: Simplify (+ (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) 0) (+ (* 0 0) (+ (* 0 (/ 1 lambda2)) (* 0 -1)))) into 0
60.247 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)) (* 0 (/ 0 lambda2)))) into 0
60.248 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)) (* 0 (/ 0 1)))) into 0
60.249 * [backup-simplify]: Simplify (- 0) into 0
60.249 * [backup-simplify]: Simplify (+ 0 0) into 0
60.250 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0
60.251 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0
60.251 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
60.253 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0
60.253 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0
60.254 * [backup-simplify]: Simplify (- 0) into 0
60.254 * [backup-simplify]: Simplify (+ 0 0) into 0
60.255 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0
60.256 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0
60.256 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
60.258 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0
60.258 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0
60.259 * [backup-simplify]: Simplify (- 0) into 0
60.259 * [backup-simplify]: Simplify (+ 0 0) into 0
60.260 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2)))))) into 0
60.261 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0
60.262 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0
60.262 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
60.264 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0
60.264 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0
60.265 * [backup-simplify]: Simplify (+ 0 0) into 0
60.266 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0
60.266 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0
60.267 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
60.268 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0
60.269 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0
60.269 * [backup-simplify]: Simplify (+ 0 0) into 0
60.270 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1)))))) into 0
60.271 * [backup-simplify]: Simplify (- 0) into 0
60.271 * [backup-simplify]: Simplify (+ 0 0) into 0
60.272 * [backup-simplify]: Simplify (+ (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) 0) (+ (* 0 0) (+ (* 0 (/ 1 lambda2)) (* 0 -1)))) into 0
60.274 * [backup-simplify]: Simplify (+ (* (* -1 (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) 0) (+ (* (- (/ (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) lambda2) (/ (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) lambda2)) 0) (+ (* 0 (- (/ (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) lambda2) (/ (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) lambda2))) (* 0 (* -1 (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))))))) into 0
60.274 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
60.274 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
60.275 * [backup-simplify]: Simplify (- 0) into 0
60.275 * [backup-simplify]: Simplify (+ 0 0) into 0
60.275 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
60.275 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
60.276 * [backup-simplify]: Simplify (- 0) into 0
60.276 * [backup-simplify]: Simplify (+ 0 0) into 0
60.276 * [backup-simplify]: Simplify (+ (* (- (/ 1 phi2) (/ 1 phi1)) 0) (* 0 (- (/ 1 phi2) (/ 1 phi1)))) into 0
60.277 * [backup-simplify]: Simplify (+ 0 0) into 0
60.367 * [backup-simplify]: Simplify (/ (- 0 (+ (* 2 (* (* 1/2 (* (- (+ (* 2 (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) lambda2)) (* 2 (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) lambda2))) (+ (* 2 (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) lambda2)) (* 2 (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) lambda2)))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (- (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1))))) (* (pow lambda2 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (* 2 (/ (* (pow (sin (/ -0.5 phi2)) 3) (* (pow (sin (/ -0.5 phi1)) 3) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (pow lambda2 2)))) (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 3) (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1))))) (* (pow lambda2 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (+ (/ (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)))) (* (pow lambda2 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (+ (/ (* (cos (/ -0.5 phi2)) (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)))) (* (pow lambda2 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (* 2 (/ (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1))))) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (pow lambda2 2))))))))))))) (+ (/ (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (pow lambda2 2))) (+ (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (pow lambda2 2))) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (+ (* 2 (/ 1 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phi1))))))))))))))))))))))))) (* 2 (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) into (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (- (+ (* 10 (/ (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (sin (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (pow (sin (/ -0.5 phi1)) 3)))) (* (pow lambda2 3) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)))) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (* lambda2 (pow phi2 2)))) (+ (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (pow lambda2 3))) (+ (* 4 (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (* phi1 (* lambda2 phi2))))) (+ (/ (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (pow lambda2 3))) (+ (* 6 (/ (* (pow (cos (/ -0.5 phi2)) 5) (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi1)) 5) (sin (/ -0.5 phi1))))) (* (pow lambda2 3) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)))) (+ (* 10 (/ (* (pow (sin (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (pow (sin (/ -0.5 phi1)) 3)))) (* (pow lambda2 3) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)))) (+ (* 6 (/ (* (pow (sin (/ -0.5 phi2)) 5) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 5)))) (* (pow lambda2 3) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos 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(pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (* lambda2 (pow phi2 2))))) (+ (* 10 (/ (* (pow (cos (/ -0.5 phi2)) 4) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 4) (pow (sin (/ -0.5 phi1)) 2)))) (* (pow lambda2 3) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)))) (+ (* 2 (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (* (pow phi1 2) lambda2)))) (+ (* 2 (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (* lambda2 (* phi1 phi2))))) (+ (/ (* (pow (cos (/ -0.5 phi2)) 6) (pow (cos (/ -0.5 phi1)) 6)) (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2) (pow lambda2 3))) (+ (* 5 (/ (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi1)) 4) (pow (sin (/ -0.5 phi1)) 2)))) (* (pow lambda2 3) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)))) (+ (/ (* (pow (sin (/ -0.5 phi2)) 6) (pow (sin (/ -0.5 phi1)) 6)) (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2) (pow lambda2 3))) (+ (* 5 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(cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)))) (* (pow lambda2 3) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (* 10 (/ (* (pow (sin (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 4)))) (* (pow lambda2 3) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2))))))))))))))))))
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2)))) (+ (* 10 (/ (* (pow (sin (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (pow (sin (/ -0.5 phi1)) 3)))) (* (pow lambda2 3) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)))) (+ (* 6 (/ (* (pow (sin (/ -0.5 phi2)) 5) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 5)))) (* (pow lambda2 3) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)))) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin 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(sin (/ -0.5 phi1))))) (* R lambda2)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* lambda2 R)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* lambda2 R)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))))) (/ 0 R)) (* (- (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (/ 1 (* R (pow phi2 2))))) (+ (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1))))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* (pow lambda2 2) R)))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow lambda2 2) R)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 2 (* (/ (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (* 1/2 (* (/ 1 (* R (pow phi1 2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))))))))) (+ (* (/ 1 (* R (* phi1 phi2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) (* (pow lambda2 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) (* (pow lambda2 2) R)))) (+ (* 3 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (pow lambda2 2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))))))) (/ 0 R)))) into (- (+ (* 10 (* (/ (* (pow (sin (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (pow (sin (/ -0.5 phi1)) 3)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) (+ (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* phi1 (* R (* lambda2 phi2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) (* (pow lambda2 3) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* lambda2 (* R (pow phi1 2)))))) (+ (* 3 (* (/ (* (pow (sin (/ -0.5 phi2)) 5) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 5)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* lambda2 (* R (pow phi2 2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* lambda2 (* R (pow phi2 2)))))) (+ (* 3 (* (/ (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 5) (* (pow (cos (/ -0.5 phi1)) 5) (sin (/ -0.5 phi1))))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) (+ (* 1/2 (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) (* (pow lambda2 3) R)))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (* lambda2 (pow phi1 2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (* 3 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))))))))))))) (+ (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (* lambda2 (pow phi2 2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (+ (* 15/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 4)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) (+ (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* phi1 (* R (* lambda2 phi2))))) (+ (* 2 (* (/ (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 6) (pow (cos (/ -0.5 phi1)) 6)) (* (pow lambda2 3) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* phi1 (* R (* lambda2 phi2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (+ (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1))))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (pow phi1 2) (* R lambda2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (+ (* 15/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi1)) 4) (pow (sin (/ -0.5 phi1)) 2)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) (* 1/2 (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))) (/ (* (pow (sin (/ -0.5 phi2)) 6) (pow (sin (/ -0.5 phi1)) 6)) (* (pow lambda2 3) R))))))))))))))
60.639 * [backup-simplify]: Simplify (+ (* -1 (- (+ (* 10 (* (/ (* (pow (sin (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (pow (sin (/ -0.5 phi1)) 3)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) (+ (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* phi1 (* R (* lambda2 phi2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) (* (pow lambda2 3) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* lambda2 (* R (pow phi1 2)))))) (+ (* 3 (* (/ (* (pow (sin (/ -0.5 phi2)) 5) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 5)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* lambda2 (* R (pow phi2 2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* lambda2 (* R (pow phi2 2)))))) (+ (* 3 (* (/ (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 5) (* (pow (cos (/ -0.5 phi1)) 5) (sin (/ -0.5 phi1))))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) (+ (* 1/2 (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) (* (pow lambda2 3) R)))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (* lambda2 (pow phi1 2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (* 3 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))))))))))))) (+ (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (* lambda2 (pow phi2 2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (+ (* 15/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 4)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) (+ (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* phi1 (* R (* lambda2 phi2))))) (+ (* 2 (* (/ (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 6) (pow (cos (/ -0.5 phi1)) 6)) (* (pow lambda2 3) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* phi1 (* R (* lambda2 phi2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (+ (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1))))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (pow phi1 2) (* R lambda2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (+ (* 15/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 4) (* (pow (cos (/ 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-0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (* 1/2 (* (/ 1 (* R (pow phi1 2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))))))))) (+ (* (/ 1 (* R (* phi1 phi2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) (* (pow lambda2 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) (* (pow lambda2 2) R)))) (+ (* 3 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (pow lambda2 2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))))))))) (+ (* 0 (- (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R lambda2)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* lambda2 R)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* lambda2 R)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))))) (* 0 (* (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (/ 1 R)))))) into (- (+ (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (* lambda2 (pow phi1 2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (+ (* 15/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi1)) 4) (pow (sin (/ -0.5 phi1)) 2)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) (+ (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (* lambda2 (pow phi2 2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (+ (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1))))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 6) (pow (cos (/ -0.5 phi1)) 6)) (* (pow lambda2 3) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) (+ (* 2 (* (/ (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 15/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 4)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* phi1 (* R (* lambda2 phi2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (+ (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (* phi1 (* lambda2 phi2))))) (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 6) (pow (sin (/ -0.5 phi1)) 6)) (* (pow lambda2 3) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)))))))))))))) (+ (* 10 (* (/ (* (pow (sin (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (pow (sin (/ -0.5 phi1)) 3)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* lambda2 (* R (pow phi2 2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) (* (pow lambda2 3) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow phi1 2) (* lambda2 R))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 3 (* (/ (* (pow (sin (/ -0.5 phi2)) 5) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 5)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) (* (pow lambda2 3) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* lambda2 (* R (pow phi2 2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 3 (* (/ (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 5) (* (pow (cos (/ -0.5 phi1)) 5) (sin (/ -0.5 phi1))))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) (+ (* 3 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (* lambda2 (pow phi1 2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (* lambda2 (* phi1 phi2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))))))))))))))
60.641 * [taylor]: Taking taylor expansion of (- (+ (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (* lambda2 (pow phi1 2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (+ (* 15/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi1)) 4) (pow (sin (/ -0.5 phi1)) 2)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) (+ (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (* lambda2 (pow phi2 2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (+ (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1))))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 6) (pow (cos (/ -0.5 phi1)) 6)) (* (pow lambda2 3) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) (+ (* 2 (* (/ (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 15/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 4)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* phi1 (* R (* lambda2 phi2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (+ (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (* phi1 (* lambda2 phi2))))) (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 6) (pow (sin (/ -0.5 phi1)) 6)) (* (pow lambda2 3) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)))))))))))))) (+ (* 10 (* (/ (* (pow (sin (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (pow (sin (/ -0.5 phi1)) 3)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* lambda2 (* R (pow phi2 2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) (* (pow lambda2 3) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow phi1 2) (* lambda2 R))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 3 (* (/ (* (pow (sin (/ -0.5 phi2)) 5) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 5)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) (* (pow lambda2 3) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* lambda2 (* R (pow phi2 2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 3 (* (/ (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 5) (* (pow (cos (/ -0.5 phi1)) 5) (sin (/ -0.5 phi1))))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) (+ (* 3 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (* lambda2 (pow phi1 2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (* lambda2 (* phi1 phi2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))))))))))))) in lambda2
60.642 * [taylor]: Taking taylor expansion of (+ (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (* lambda2 (pow phi1 2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (+ (* 15/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi1)) 4) (pow (sin (/ -0.5 phi1)) 2)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) (+ (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (* lambda2 (pow phi2 2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (+ (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1))))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 6) (pow (cos (/ -0.5 phi1)) 6)) (* (pow lambda2 3) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) (+ (* 2 (* (/ (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 15/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 4)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* phi1 (* R (* lambda2 phi2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (+ (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (* phi1 (* lambda2 phi2))))) (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 6) (pow (sin (/ -0.5 phi1)) 6)) (* (pow lambda2 3) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)))))))))))))) in lambda2
60.642 * [taylor]: Taking taylor expansion of (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (* lambda2 (pow phi1 2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) in lambda2
60.642 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (* lambda2 (pow phi1 2)))) in lambda2
60.642 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
60.642 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
60.642 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
60.642 * [taylor]: Taking taylor expansion of -0.5 in lambda2
60.642 * [backup-simplify]: Simplify -0.5 into -0.5
60.642 * [taylor]: Taking taylor expansion of phi2 in lambda2
60.642 * [backup-simplify]: Simplify phi2 into phi2
60.643 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
60.643 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
60.643 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
60.643 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
60.643 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
60.643 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
60.643 * [taylor]: Taking taylor expansion of -0.5 in lambda2
60.643 * [backup-simplify]: Simplify -0.5 into -0.5
60.643 * [taylor]: Taking taylor expansion of phi2 in lambda2
60.643 * [backup-simplify]: Simplify phi2 into phi2
60.643 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
60.643 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
60.643 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
60.643 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
60.643 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
60.643 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
60.643 * [taylor]: Taking taylor expansion of -0.5 in lambda2
60.643 * [backup-simplify]: Simplify -0.5 into -0.5
60.643 * [taylor]: Taking taylor expansion of phi1 in lambda2
60.643 * [backup-simplify]: Simplify phi1 into phi1
60.643 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
60.643 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
60.643 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
60.644 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
60.644 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
60.644 * [taylor]: Taking taylor expansion of -0.5 in lambda2
60.644 * [backup-simplify]: Simplify -0.5 into -0.5
60.644 * [taylor]: Taking taylor expansion of phi1 in lambda2
60.644 * [backup-simplify]: Simplify phi1 into phi1
60.644 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
60.644 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
60.644 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
60.644 * [taylor]: Taking taylor expansion of (* R (* lambda2 (pow phi1 2))) in lambda2
60.644 * [taylor]: Taking taylor expansion of R in lambda2
60.644 * [backup-simplify]: Simplify R into R
60.644 * [taylor]: Taking taylor expansion of (* lambda2 (pow phi1 2)) in lambda2
60.644 * [taylor]: Taking taylor expansion of lambda2 in lambda2
60.644 * [backup-simplify]: Simplify 0 into 0
60.644 * [backup-simplify]: Simplify 1 into 1
60.644 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2
60.644 * [taylor]: Taking taylor expansion of phi1 in lambda2
60.644 * [backup-simplify]: Simplify phi1 into phi1
60.644 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
60.644 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
60.644 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
60.644 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
60.645 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
60.645 * [backup-simplify]: Simplify (- 0) into 0
60.645 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
60.646 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
60.646 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
60.646 * [backup-simplify]: Simplify (- 0) into 0
60.646 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
60.646 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
60.646 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
60.646 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
60.647 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
60.647 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
60.647 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
60.647 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
60.647 * [backup-simplify]: Simplify (* 0 (pow phi1 2)) into 0
60.647 * [backup-simplify]: Simplify (* R 0) into 0
60.647 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0
60.648 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow phi1 2))) into (pow phi1 2)
60.648 * [backup-simplify]: Simplify (+ (* R (pow phi1 2)) (* 0 0)) into (* R (pow phi1 2))
60.649 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (pow phi1 2))) into (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (pow phi1 2)))
60.649 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) in lambda2
60.649 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) in lambda2
60.649 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3) in lambda2
60.649 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in lambda2
60.649 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in lambda2
60.649 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2
60.649 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2
60.649 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
60.649 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
60.649 * [taylor]: Taking taylor expansion of -0.5 in lambda2
60.649 * [backup-simplify]: Simplify -0.5 into -0.5
60.649 * [taylor]: Taking taylor expansion of phi2 in lambda2
60.649 * [backup-simplify]: Simplify phi2 into phi2
60.649 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
60.650 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
60.650 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
60.650 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
60.650 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
60.650 * [backup-simplify]: Simplify (- 0) into 0
60.650 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
60.650 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2
60.650 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
60.650 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
60.650 * [taylor]: Taking taylor expansion of -0.5 in lambda2
60.651 * [backup-simplify]: Simplify -0.5 into -0.5
60.651 * [taylor]: Taking taylor expansion of phi1 in lambda2
60.651 * [backup-simplify]: Simplify phi1 into phi1
60.651 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
60.651 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
60.651 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
60.651 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
60.651 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
60.651 * [backup-simplify]: Simplify (- 0) into 0
60.652 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
60.652 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2
60.652 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2
60.652 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
60.652 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
60.652 * [taylor]: Taking taylor expansion of -0.5 in lambda2
60.652 * [backup-simplify]: Simplify -0.5 into -0.5
60.652 * [taylor]: Taking taylor expansion of phi2 in lambda2
60.652 * [backup-simplify]: Simplify phi2 into phi2
60.652 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
60.652 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
60.652 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
60.652 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
60.652 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
60.652 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
60.652 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2
60.652 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
60.652 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
60.652 * [taylor]: Taking taylor expansion of -0.5 in lambda2
60.653 * [backup-simplify]: Simplify -0.5 into -0.5
60.653 * [taylor]: Taking taylor expansion of phi1 in lambda2
60.653 * [backup-simplify]: Simplify phi1 into phi1
60.653 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
60.653 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
60.653 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
60.653 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
60.653 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
60.653 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
60.653 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in lambda2
60.653 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
60.653 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
60.653 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
60.653 * [taylor]: Taking taylor expansion of -0.5 in lambda2
60.653 * [backup-simplify]: Simplify -0.5 into -0.5
60.653 * [taylor]: Taking taylor expansion of phi2 in lambda2
60.653 * [backup-simplify]: Simplify phi2 into phi2
60.654 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
60.654 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
60.654 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
60.654 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
60.654 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
60.654 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
60.654 * [taylor]: Taking taylor expansion of -0.5 in lambda2
60.654 * [backup-simplify]: Simplify -0.5 into -0.5
60.654 * [taylor]: Taking taylor expansion of phi2 in lambda2
60.654 * [backup-simplify]: Simplify phi2 into phi2
60.654 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
60.654 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
60.654 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
60.654 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
60.654 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
60.654 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
60.654 * [taylor]: Taking taylor expansion of -0.5 in lambda2
60.654 * [backup-simplify]: Simplify -0.5 into -0.5
60.654 * [taylor]: Taking taylor expansion of phi1 in lambda2
60.654 * [backup-simplify]: Simplify phi1 into phi1
60.654 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
60.654 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
60.654 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
60.654 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
60.655 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
60.655 * [taylor]: Taking taylor expansion of -0.5 in lambda2
60.655 * [backup-simplify]: Simplify -0.5 into -0.5
60.655 * [taylor]: Taking taylor expansion of phi1 in lambda2
60.655 * [backup-simplify]: Simplify phi1 into phi1
60.655 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
60.655 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
60.655 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
60.655 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
60.655 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
60.655 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
60.655 * [taylor]: Taking taylor expansion of -0.5 in lambda2
60.655 * [backup-simplify]: Simplify -0.5 into -0.5
60.655 * [taylor]: Taking taylor expansion of phi2 in lambda2
60.655 * [backup-simplify]: Simplify phi2 into phi2
60.655 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
60.655 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
60.655 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
60.655 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
60.655 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
60.655 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
60.655 * [taylor]: Taking taylor expansion of -0.5 in lambda2
60.655 * [backup-simplify]: Simplify -0.5 into -0.5
60.655 * [taylor]: Taking taylor expansion of phi2 in lambda2
60.655 * [backup-simplify]: Simplify phi2 into phi2
60.655 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
60.656 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
60.656 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
60.656 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
60.656 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
60.656 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
60.656 * [taylor]: Taking taylor expansion of -0.5 in lambda2
60.656 * [backup-simplify]: Simplify -0.5 into -0.5
60.656 * [taylor]: Taking taylor expansion of phi1 in lambda2
60.656 * [backup-simplify]: Simplify phi1 into phi1
60.656 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
60.656 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
60.656 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
60.656 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
60.656 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
60.656 * [taylor]: Taking taylor expansion of -0.5 in lambda2
60.656 * [backup-simplify]: Simplify -0.5 into -0.5
60.656 * [taylor]: Taking taylor expansion of phi1 in lambda2
60.656 * [backup-simplify]: Simplify phi1 into phi1
60.656 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
60.656 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
60.656 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
60.657 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
60.657 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
60.657 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
60.657 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
60.657 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
60.658 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
60.658 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
60.658 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
60.659 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
60.659 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
60.659 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
60.659 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
60.659 * [backup-simplify]: Simplify (- 0) into 0
60.660 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
60.660 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
60.660 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
60.660 * [backup-simplify]: Simplify (- 0) into 0
60.660 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
60.660 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
60.660 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
60.661 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
60.661 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
60.661 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
60.661 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
60.661 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
60.661 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
60.662 * [backup-simplify]: Simplify (- 0) into 0
60.662 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
60.662 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
60.662 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
60.662 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
60.662 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
60.663 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
60.663 * [backup-simplify]: Simplify (- 0) into 0
60.663 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
60.663 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
60.663 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
60.663 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
60.664 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
60.664 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
60.664 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
60.665 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
60.666 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
60.668 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
60.672 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)
60.676 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)
60.678 * [backup-simplify]: Simplify (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) into (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))
60.680 * [backup-simplify]: Simplify (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) into (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))
60.681 * [backup-simplify]: Simplify (+ 0) into 0
60.682 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
60.682 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
60.683 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
60.683 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
60.684 * [backup-simplify]: Simplify (- 0) into 0
60.684 * [backup-simplify]: Simplify (+ 0 0) into 0
60.684 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
60.685 * [backup-simplify]: Simplify (+ 0) into 0
60.685 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
60.685 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
60.686 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
60.687 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
60.687 * [backup-simplify]: Simplify (- 0) into 0
60.688 * [backup-simplify]: Simplify (+ 0 0) into 0
60.688 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
60.688 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
60.689 * [backup-simplify]: Simplify (+ 0) into 0
60.689 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
60.689 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
60.690 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
60.690 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
60.691 * [backup-simplify]: Simplify (+ 0 0) into 0
60.691 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
60.691 * [backup-simplify]: Simplify (+ 0) into 0
60.692 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
60.692 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
60.693 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
60.693 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
60.693 * [backup-simplify]: Simplify (+ 0 0) into 0
60.693 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
60.694 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
60.694 * [backup-simplify]: Simplify (+ 0 0) into 0
60.695 * [backup-simplify]: Simplify (+ 0) into 0
60.695 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
60.695 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
60.696 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
60.696 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
60.697 * [backup-simplify]: Simplify (+ 0 0) into 0
60.697 * [backup-simplify]: Simplify (+ 0) into 0
60.697 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
60.698 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
60.698 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
60.699 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
60.699 * [backup-simplify]: Simplify (- 0) into 0
60.699 * [backup-simplify]: Simplify (+ 0 0) into 0
60.699 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
60.700 * [backup-simplify]: Simplify (+ 0) into 0
60.700 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
60.700 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
60.701 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
60.701 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
60.702 * [backup-simplify]: Simplify (- 0) into 0
60.702 * [backup-simplify]: Simplify (+ 0 0) into 0
60.702 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
60.703 * [backup-simplify]: Simplify (+ 0) into 0
60.703 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
60.703 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
60.704 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
60.704 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
60.705 * [backup-simplify]: Simplify (+ 0 0) into 0
60.705 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
60.705 * [backup-simplify]: Simplify (+ 0) into 0
60.706 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
60.706 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
60.706 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
60.707 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
60.707 * [backup-simplify]: Simplify (+ 0 0) into 0
60.708 * [backup-simplify]: Simplify (+ 0) into 0
60.708 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
60.708 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
60.709 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
60.709 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
60.710 * [backup-simplify]: Simplify (- 0) into 0
60.710 * [backup-simplify]: Simplify (+ 0 0) into 0
60.710 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
60.710 * [backup-simplify]: Simplify (+ 0) into 0
60.711 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
60.711 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
60.712 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
60.712 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
60.712 * [backup-simplify]: Simplify (+ 0 0) into 0
60.713 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
60.713 * [backup-simplify]: Simplify (+ 0) into 0
60.713 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
60.714 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
60.714 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
60.715 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
60.715 * [backup-simplify]: Simplify (- 0) into 0
60.715 * [backup-simplify]: Simplify (+ 0 0) into 0
60.716 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
60.716 * [backup-simplify]: Simplify (+ 0 0) into 0
60.716 * [backup-simplify]: Simplify (- 0) into 0
60.716 * [backup-simplify]: Simplify (+ 0 0) into 0
60.720 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into 0
60.723 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2))) into 0
60.727 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
60.729 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
60.729 * [taylor]: Taking taylor expansion of (+ (* 15/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi1)) 4) (pow (sin (/ -0.5 phi1)) 2)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) (+ (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (* lambda2 (pow phi2 2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (+ (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1))))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 6) (pow (cos (/ -0.5 phi1)) 6)) (* (pow lambda2 3) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) (+ (* 2 (* (/ (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 15/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 4)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* phi1 (* R (* lambda2 phi2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (+ (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (* phi1 (* lambda2 phi2))))) (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 6) (pow (sin (/ -0.5 phi1)) 6)) (* (pow lambda2 3) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))))))))))) in lambda2
60.730 * [taylor]: Taking taylor expansion of (* 15/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi1)) 4) (pow (sin (/ -0.5 phi1)) 2)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) in lambda2
60.730 * [taylor]: Taking taylor expansion of 15/2 in lambda2
60.730 * [backup-simplify]: Simplify 15/2 into 15/2
60.730 * [taylor]: Taking taylor expansion of (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi1)) 4) (pow (sin (/ -0.5 phi1)) 2)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)))) in lambda2
60.730 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi1)) 4) (pow (sin (/ -0.5 phi1)) 2)))) (* R (pow lambda2 3))) in lambda2
60.730 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi1)) 4) (pow (sin (/ -0.5 phi1)) 2)))) in lambda2
60.730 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2
60.730 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
60.730 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
60.730 * [taylor]: Taking taylor expansion of -0.5 in lambda2
60.730 * [backup-simplify]: Simplify -0.5 into -0.5
60.730 * [taylor]: Taking taylor expansion of phi2 in lambda2
60.730 * [backup-simplify]: Simplify phi2 into phi2
60.730 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
60.730 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
60.730 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
60.730 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
60.730 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
60.730 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
60.730 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi1)) 4) (pow (sin (/ -0.5 phi1)) 2))) in lambda2
60.731 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 4) in lambda2
60.731 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
60.731 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
60.731 * [taylor]: Taking taylor expansion of -0.5 in lambda2
60.731 * [backup-simplify]: Simplify -0.5 into -0.5
60.731 * [taylor]: Taking taylor expansion of phi2 in lambda2
60.731 * [backup-simplify]: Simplify phi2 into phi2
60.731 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
60.731 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
60.731 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
60.731 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
60.731 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
60.732 * [backup-simplify]: Simplify (- 0) into 0
60.732 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
60.732 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi1)) 4) (pow (sin (/ -0.5 phi1)) 2)) in lambda2
60.732 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 4) in lambda2
60.732 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
60.732 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
60.732 * [taylor]: Taking taylor expansion of -0.5 in lambda2
60.732 * [backup-simplify]: Simplify -0.5 into -0.5
60.732 * [taylor]: Taking taylor expansion of phi1 in lambda2
60.732 * [backup-simplify]: Simplify phi1 into phi1
60.732 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
60.732 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
60.732 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
60.732 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
60.732 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
60.733 * [backup-simplify]: Simplify (- 0) into 0
60.733 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
60.733 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2
60.733 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
60.733 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
60.733 * [taylor]: Taking taylor expansion of -0.5 in lambda2
60.733 * [backup-simplify]: Simplify -0.5 into -0.5
60.733 * [taylor]: Taking taylor expansion of phi1 in lambda2
60.733 * [backup-simplify]: Simplify phi1 into phi1
60.733 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
60.733 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
60.733 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
60.733 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
60.733 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
60.733 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
60.733 * [taylor]: Taking taylor expansion of (* R (pow lambda2 3)) in lambda2
60.733 * [taylor]: Taking taylor expansion of R in lambda2
60.734 * [backup-simplify]: Simplify R into R
60.734 * [taylor]: Taking taylor expansion of (pow lambda2 3) in lambda2
60.734 * [taylor]: Taking taylor expansion of lambda2 in lambda2
60.734 * [backup-simplify]: Simplify 0 into 0
60.734 * [backup-simplify]: Simplify 1 into 1
60.734 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
60.734 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
60.734 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi2)) 2)) into (pow (cos (/ -0.5 phi2)) 4)
60.734 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
60.735 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (pow (cos (/ -0.5 phi1)) 4)
60.735 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
60.735 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi1)) 4) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi1)) 4) (pow (sin (/ -0.5 phi1)) 2))
60.735 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi1)) 4) (pow (sin (/ -0.5 phi1)) 2))) into (* (pow (cos (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi1)) 4) (pow (sin (/ -0.5 phi1)) 2)))
60.736 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi1)) 4) (pow (sin (/ -0.5 phi1)) 2)))) into (* (pow (cos (/ -0.5 phi2)) 4) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 4) (pow (sin (/ -0.5 phi1)) 2))))
60.737 * [backup-simplify]: Simplify (* 1 1) into 1
60.737 * [backup-simplify]: Simplify (* 1 1) into 1
60.737 * [backup-simplify]: Simplify (* R 1) into R
60.738 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 4) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 4) (pow (sin (/ -0.5 phi1)) 2)))) R) into (/ (* (pow (cos (/ -0.5 phi2)) 4) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 4) (pow (sin (/ -0.5 phi1)) 2)))) R)
60.738 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))) in lambda2
60.738 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)) in lambda2
60.738 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5) in lambda2
60.738 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in lambda2
60.738 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in lambda2
60.738 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2
60.738 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2
60.738 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
60.738 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
60.738 * [taylor]: Taking taylor expansion of -0.5 in lambda2
60.738 * [backup-simplify]: Simplify -0.5 into -0.5
60.738 * [taylor]: Taking taylor expansion of phi2 in lambda2
60.738 * [backup-simplify]: Simplify phi2 into phi2
60.739 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
60.739 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
60.739 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
60.739 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
60.739 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
60.739 * [backup-simplify]: Simplify (- 0) into 0
60.739 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
60.739 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2
60.739 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
60.739 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
60.739 * [taylor]: Taking taylor expansion of -0.5 in lambda2
60.739 * [backup-simplify]: Simplify -0.5 into -0.5
60.740 * [taylor]: Taking taylor expansion of phi1 in lambda2
60.740 * [backup-simplify]: Simplify phi1 into phi1
60.740 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
60.740 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
60.740 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
60.740 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
60.740 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
60.740 * [backup-simplify]: Simplify (- 0) into 0
60.740 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
60.740 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2
60.740 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2
60.740 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
60.740 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
60.740 * [taylor]: Taking taylor expansion of -0.5 in lambda2
60.741 * [backup-simplify]: Simplify -0.5 into -0.5
60.741 * [taylor]: Taking taylor expansion of phi2 in lambda2
60.741 * [backup-simplify]: Simplify phi2 into phi2
60.741 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
60.741 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
60.741 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
60.741 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
60.741 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
60.741 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
60.741 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2
60.741 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
60.741 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
60.741 * [taylor]: Taking taylor expansion of -0.5 in lambda2
60.741 * [backup-simplify]: Simplify -0.5 into -0.5
60.741 * [taylor]: Taking taylor expansion of phi1 in lambda2
60.741 * [backup-simplify]: Simplify phi1 into phi1
60.741 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
60.741 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
60.741 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
60.742 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
60.742 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
60.742 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
60.742 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in lambda2
60.742 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
60.742 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
60.742 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
60.742 * [taylor]: Taking taylor expansion of -0.5 in lambda2
60.742 * [backup-simplify]: Simplify -0.5 into -0.5
60.742 * [taylor]: Taking taylor expansion of phi2 in lambda2
60.742 * [backup-simplify]: Simplify phi2 into phi2
60.742 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
60.742 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
60.742 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
60.742 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
60.742 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
60.742 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
60.742 * [taylor]: Taking taylor expansion of -0.5 in lambda2
60.742 * [backup-simplify]: Simplify -0.5 into -0.5
60.742 * [taylor]: Taking taylor expansion of phi2 in lambda2
60.742 * [backup-simplify]: Simplify phi2 into phi2
60.742 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
60.742 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
60.743 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
60.743 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
60.743 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
60.743 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
60.743 * [taylor]: Taking taylor expansion of -0.5 in lambda2
60.743 * [backup-simplify]: Simplify -0.5 into -0.5
60.743 * [taylor]: Taking taylor expansion of phi1 in lambda2
60.743 * [backup-simplify]: Simplify phi1 into phi1
60.743 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
60.743 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
60.743 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
60.743 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
60.743 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
60.743 * [taylor]: Taking taylor expansion of -0.5 in lambda2
60.743 * [backup-simplify]: Simplify -0.5 into -0.5
60.743 * [taylor]: Taking taylor expansion of phi1 in lambda2
60.743 * [backup-simplify]: Simplify phi1 into phi1
60.743 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
60.743 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
60.743 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
60.743 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
60.743 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
60.743 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
60.743 * [taylor]: Taking taylor expansion of -0.5 in lambda2
60.743 * [backup-simplify]: Simplify -0.5 into -0.5
60.743 * [taylor]: Taking taylor expansion of phi2 in lambda2
60.743 * [backup-simplify]: Simplify phi2 into phi2
60.744 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
60.744 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
60.744 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
60.744 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
60.744 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
60.744 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
60.744 * [taylor]: Taking taylor expansion of -0.5 in lambda2
60.744 * [backup-simplify]: Simplify -0.5 into -0.5
60.744 * [taylor]: Taking taylor expansion of phi2 in lambda2
60.744 * [backup-simplify]: Simplify phi2 into phi2
60.744 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
60.744 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
60.744 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
60.744 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
60.744 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
60.744 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
60.744 * [taylor]: Taking taylor expansion of -0.5 in lambda2
60.744 * [backup-simplify]: Simplify -0.5 into -0.5
60.744 * [taylor]: Taking taylor expansion of phi1 in lambda2
60.744 * [backup-simplify]: Simplify phi1 into phi1
60.744 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
60.744 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
60.744 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
60.744 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
60.744 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
60.745 * [taylor]: Taking taylor expansion of -0.5 in lambda2
60.745 * [backup-simplify]: Simplify -0.5 into -0.5
60.745 * [taylor]: Taking taylor expansion of phi1 in lambda2
60.745 * [backup-simplify]: Simplify phi1 into phi1
60.745 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
60.745 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
60.745 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
60.745 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
60.745 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
60.745 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
60.746 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
60.746 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
60.746 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
60.747 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
60.747 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
60.747 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
60.747 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
60.747 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
60.747 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
60.748 * [backup-simplify]: Simplify (- 0) into 0
60.748 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
60.748 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
60.748 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
60.748 * [backup-simplify]: Simplify (- 0) into 0
60.748 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
60.749 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
60.749 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
60.749 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
60.749 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
60.749 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
60.749 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
60.750 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
60.750 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
60.750 * [backup-simplify]: Simplify (- 0) into 0
60.750 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
60.750 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
60.750 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
60.751 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
60.751 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
60.751 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
60.751 * [backup-simplify]: Simplify (- 0) into 0
60.751 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
60.751 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
60.752 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
60.752 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
60.752 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
60.752 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
60.752 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
60.753 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
60.754 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
60.756 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
60.760 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)
60.764 * [backup-simplify]: Simplify (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 4)
60.768 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 4)) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)
60.771 * [backup-simplify]: Simplify (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)) into (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))
60.773 * [backup-simplify]: Simplify (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))) into (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)))
60.774 * [backup-simplify]: Simplify (+ 0) into 0
60.774 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
60.774 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
60.775 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
60.776 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
60.776 * [backup-simplify]: Simplify (- 0) into 0
60.777 * [backup-simplify]: Simplify (+ 0 0) into 0
60.777 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
60.777 * [backup-simplify]: Simplify (+ 0) into 0
60.778 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
60.778 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
60.779 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
60.779 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
60.780 * [backup-simplify]: Simplify (- 0) into 0
60.780 * [backup-simplify]: Simplify (+ 0 0) into 0
60.780 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
60.781 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
60.781 * [backup-simplify]: Simplify (+ 0) into 0
60.782 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
60.782 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
60.783 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
60.783 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
60.783 * [backup-simplify]: Simplify (+ 0 0) into 0
60.784 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
60.784 * [backup-simplify]: Simplify (+ 0) into 0
60.787 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
60.788 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
60.789 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
60.789 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
60.790 * [backup-simplify]: Simplify (+ 0 0) into 0
60.790 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
60.790 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
60.791 * [backup-simplify]: Simplify (+ 0 0) into 0
60.791 * [backup-simplify]: Simplify (+ 0) into 0
60.792 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
60.792 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
60.793 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
60.793 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
60.794 * [backup-simplify]: Simplify (+ 0 0) into 0
60.794 * [backup-simplify]: Simplify (+ 0) into 0
60.795 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
60.795 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
60.796 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
60.796 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
60.797 * [backup-simplify]: Simplify (- 0) into 0
60.797 * [backup-simplify]: Simplify (+ 0 0) into 0
60.797 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
60.798 * [backup-simplify]: Simplify (+ 0) into 0
60.798 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
60.799 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
60.800 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
60.800 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
60.801 * [backup-simplify]: Simplify (- 0) into 0
60.801 * [backup-simplify]: Simplify (+ 0 0) into 0
60.801 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
60.802 * [backup-simplify]: Simplify (+ 0) into 0
60.802 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
60.803 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
60.803 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
60.804 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
60.804 * [backup-simplify]: Simplify (+ 0 0) into 0
60.805 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
60.805 * [backup-simplify]: Simplify (+ 0) into 0
60.805 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
60.806 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
60.806 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
60.807 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
60.807 * [backup-simplify]: Simplify (+ 0 0) into 0
60.808 * [backup-simplify]: Simplify (+ 0) into 0
60.808 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
60.808 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
60.809 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
60.810 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
60.810 * [backup-simplify]: Simplify (- 0) into 0
60.810 * [backup-simplify]: Simplify (+ 0 0) into 0
60.810 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
60.810 * [backup-simplify]: Simplify (+ 0) into 0
60.811 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
60.811 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
60.811 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
60.812 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
60.812 * [backup-simplify]: Simplify (+ 0 0) into 0
60.812 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
60.812 * [backup-simplify]: Simplify (+ 0) into 0
60.812 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
60.813 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
60.813 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
60.813 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
60.814 * [backup-simplify]: Simplify (- 0) into 0
60.814 * [backup-simplify]: Simplify (+ 0 0) into 0
60.814 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
60.814 * [backup-simplify]: Simplify (+ 0 0) into 0
60.814 * [backup-simplify]: Simplify (- 0) into 0
60.815 * [backup-simplify]: Simplify (+ 0 0) into 0
60.817 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into 0
60.819 * [backup-simplify]: Simplify (+ (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2) 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2))) into 0
60.821 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 4))) into 0
60.823 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)) (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) into 0
60.824 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) into 0
60.824 * [taylor]: Taking taylor expansion of (+ (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (* lambda2 (pow phi2 2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (+ (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1))))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 6) (pow (cos (/ -0.5 phi1)) 6)) (* (pow lambda2 3) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) (+ (* 2 (* (/ (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 15/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 4)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* phi1 (* R (* lambda2 phi2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (+ (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (* phi1 (* lambda2 phi2))))) (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 6) (pow (sin (/ -0.5 phi1)) 6)) (* (pow lambda2 3) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)))))))))))) in lambda2
60.824 * [taylor]: Taking taylor expansion of (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (* lambda2 (pow phi2 2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) in lambda2
60.824 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (* lambda2 (pow phi2 2)))) in lambda2
60.824 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
60.824 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
60.824 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
60.824 * [taylor]: Taking taylor expansion of -0.5 in lambda2
60.825 * [backup-simplify]: Simplify -0.5 into -0.5
60.825 * [taylor]: Taking taylor expansion of phi2 in lambda2
60.825 * [backup-simplify]: Simplify phi2 into phi2
60.825 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
60.825 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
60.825 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
60.825 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
60.825 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
60.825 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
60.825 * [taylor]: Taking taylor expansion of -0.5 in lambda2
60.825 * [backup-simplify]: Simplify -0.5 into -0.5
60.825 * [taylor]: Taking taylor expansion of phi2 in lambda2
60.825 * [backup-simplify]: Simplify phi2 into phi2
60.825 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
60.825 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
60.825 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
60.825 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
60.825 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
60.825 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
60.825 * [taylor]: Taking taylor expansion of -0.5 in lambda2
60.825 * [backup-simplify]: Simplify -0.5 into -0.5
60.825 * [taylor]: Taking taylor expansion of phi1 in lambda2
60.825 * [backup-simplify]: Simplify phi1 into phi1
60.825 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
60.825 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
60.825 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
60.825 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
60.825 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
60.825 * [taylor]: Taking taylor expansion of -0.5 in lambda2
60.825 * [backup-simplify]: Simplify -0.5 into -0.5
60.825 * [taylor]: Taking taylor expansion of phi1 in lambda2
60.825 * [backup-simplify]: Simplify phi1 into phi1
60.825 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
60.825 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
60.825 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
60.825 * [taylor]: Taking taylor expansion of (* R (* lambda2 (pow phi2 2))) in lambda2
60.825 * [taylor]: Taking taylor expansion of R in lambda2
60.826 * [backup-simplify]: Simplify R into R
60.826 * [taylor]: Taking taylor expansion of (* lambda2 (pow phi2 2)) in lambda2
60.826 * [taylor]: Taking taylor expansion of lambda2 in lambda2
60.826 * [backup-simplify]: Simplify 0 into 0
60.826 * [backup-simplify]: Simplify 1 into 1
60.826 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2
60.826 * [taylor]: Taking taylor expansion of phi2 in lambda2
60.826 * [backup-simplify]: Simplify phi2 into phi2
60.826 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
60.826 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
60.826 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
60.826 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
60.826 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
60.826 * [backup-simplify]: Simplify (- 0) into 0
60.826 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
60.826 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
60.827 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
60.827 * [backup-simplify]: Simplify (- 0) into 0
60.827 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
60.827 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
60.827 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
60.827 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
60.827 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
60.827 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
60.827 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
60.827 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
60.828 * [backup-simplify]: Simplify (* 0 (pow phi2 2)) into 0
60.828 * [backup-simplify]: Simplify (* R 0) into 0
60.828 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0
60.828 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow phi2 2))) into (pow phi2 2)
60.828 * [backup-simplify]: Simplify (+ (* R (pow phi2 2)) (* 0 0)) into (* R (pow phi2 2))
60.829 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (pow phi2 2))) into (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (pow phi2 2)))
60.829 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) in lambda2
60.829 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) in lambda2
60.829 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3) in lambda2
60.829 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in lambda2
60.829 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in lambda2
60.829 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2
60.829 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2
60.829 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
60.829 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
60.829 * [taylor]: Taking taylor expansion of -0.5 in lambda2
60.829 * [backup-simplify]: Simplify -0.5 into -0.5
60.829 * [taylor]: Taking taylor expansion of phi2 in lambda2
60.829 * [backup-simplify]: Simplify phi2 into phi2
60.829 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
60.829 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
60.829 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
60.829 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
60.829 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
60.829 * [backup-simplify]: Simplify (- 0) into 0
60.829 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
60.829 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2
60.830 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
60.830 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
60.830 * [taylor]: Taking taylor expansion of -0.5 in lambda2
60.830 * [backup-simplify]: Simplify -0.5 into -0.5
60.830 * [taylor]: Taking taylor expansion of phi1 in lambda2
60.830 * [backup-simplify]: Simplify phi1 into phi1
60.830 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
60.830 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
60.830 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
60.830 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
60.830 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
60.830 * [backup-simplify]: Simplify (- 0) into 0
60.830 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
60.830 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2
60.830 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2
60.830 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
60.830 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
60.830 * [taylor]: Taking taylor expansion of -0.5 in lambda2
60.830 * [backup-simplify]: Simplify -0.5 into -0.5
60.830 * [taylor]: Taking taylor expansion of phi2 in lambda2
60.830 * [backup-simplify]: Simplify phi2 into phi2
60.830 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
60.830 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
60.830 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
60.831 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
60.831 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
60.831 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
60.831 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2
60.831 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
60.831 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
60.831 * [taylor]: Taking taylor expansion of -0.5 in lambda2
60.831 * [backup-simplify]: Simplify -0.5 into -0.5
60.831 * [taylor]: Taking taylor expansion of phi1 in lambda2
60.831 * [backup-simplify]: Simplify phi1 into phi1
60.831 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
60.831 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
60.831 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
60.831 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
60.831 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
60.831 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
60.831 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in lambda2
60.831 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
60.831 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
60.831 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
60.831 * [taylor]: Taking taylor expansion of -0.5 in lambda2
60.831 * [backup-simplify]: Simplify -0.5 into -0.5
60.831 * [taylor]: Taking taylor expansion of phi2 in lambda2
60.831 * [backup-simplify]: Simplify phi2 into phi2
60.831 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
60.831 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
60.831 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
60.831 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
60.831 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
60.831 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
60.831 * [taylor]: Taking taylor expansion of -0.5 in lambda2
60.832 * [backup-simplify]: Simplify -0.5 into -0.5
60.832 * [taylor]: Taking taylor expansion of phi2 in lambda2
60.832 * [backup-simplify]: Simplify phi2 into phi2
60.832 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
60.832 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
60.832 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
60.832 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
60.832 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
60.832 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
60.832 * [taylor]: Taking taylor expansion of -0.5 in lambda2
60.832 * [backup-simplify]: Simplify -0.5 into -0.5
60.832 * [taylor]: Taking taylor expansion of phi1 in lambda2
60.832 * [backup-simplify]: Simplify phi1 into phi1
60.832 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
60.832 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
60.832 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
60.832 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
60.832 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
60.832 * [taylor]: Taking taylor expansion of -0.5 in lambda2
60.832 * [backup-simplify]: Simplify -0.5 into -0.5
60.832 * [taylor]: Taking taylor expansion of phi1 in lambda2
60.832 * [backup-simplify]: Simplify phi1 into phi1
60.832 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
60.832 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
60.832 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
60.832 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
60.832 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
60.832 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
60.832 * [taylor]: Taking taylor expansion of -0.5 in lambda2
60.832 * [backup-simplify]: Simplify -0.5 into -0.5
60.832 * [taylor]: Taking taylor expansion of phi2 in lambda2
60.832 * [backup-simplify]: Simplify phi2 into phi2
60.832 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
60.832 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
60.832 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
60.832 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
60.832 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
60.832 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
60.833 * [taylor]: Taking taylor expansion of -0.5 in lambda2
60.833 * [backup-simplify]: Simplify -0.5 into -0.5
60.833 * [taylor]: Taking taylor expansion of phi2 in lambda2
60.833 * [backup-simplify]: Simplify phi2 into phi2
60.833 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
60.833 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
60.833 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
60.833 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
60.833 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
60.833 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
60.833 * [taylor]: Taking taylor expansion of -0.5 in lambda2
60.833 * [backup-simplify]: Simplify -0.5 into -0.5
60.833 * [taylor]: Taking taylor expansion of phi1 in lambda2
60.833 * [backup-simplify]: Simplify phi1 into phi1
60.833 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
60.833 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
60.833 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
60.833 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
60.833 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
60.833 * [taylor]: Taking taylor expansion of -0.5 in lambda2
60.833 * [backup-simplify]: Simplify -0.5 into -0.5
60.833 * [taylor]: Taking taylor expansion of phi1 in lambda2
60.833 * [backup-simplify]: Simplify phi1 into phi1
60.833 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
60.833 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
60.833 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
60.833 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
60.833 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
60.834 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
60.834 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
60.834 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
60.834 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
60.834 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
60.834 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
60.835 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
60.835 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
60.835 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
60.835 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
60.835 * [backup-simplify]: Simplify (- 0) into 0
60.835 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
60.835 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
60.835 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
60.835 * [backup-simplify]: Simplify (- 0) into 0
60.836 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
60.836 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
60.836 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
60.836 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
60.836 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
60.836 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
60.836 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
60.836 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
60.836 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
60.836 * [backup-simplify]: Simplify (- 0) into 0
60.837 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
60.837 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
60.837 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
60.837 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
60.837 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
60.837 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
60.837 * [backup-simplify]: Simplify (- 0) into 0
60.837 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
60.837 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
60.837 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
60.837 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
60.837 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
60.838 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
60.838 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
60.838 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
60.839 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
60.840 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
60.841 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)
60.845 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)
60.848 * [backup-simplify]: Simplify (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) into (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))
60.850 * [backup-simplify]: Simplify (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) into (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))
60.851 * [backup-simplify]: Simplify (+ 0) into 0
60.851 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
60.852 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
60.852 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
60.853 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
60.853 * [backup-simplify]: Simplify (- 0) into 0
60.854 * [backup-simplify]: Simplify (+ 0 0) into 0
60.854 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
60.854 * [backup-simplify]: Simplify (+ 0) into 0
60.855 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
60.855 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
60.856 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
60.856 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
60.857 * [backup-simplify]: Simplify (- 0) into 0
60.857 * [backup-simplify]: Simplify (+ 0 0) into 0
60.857 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
60.858 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
60.858 * [backup-simplify]: Simplify (+ 0) into 0
60.859 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
60.859 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
60.860 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
60.860 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
60.860 * [backup-simplify]: Simplify (+ 0 0) into 0
60.861 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
60.861 * [backup-simplify]: Simplify (+ 0) into 0
60.862 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
60.862 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
60.863 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
60.863 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
60.864 * [backup-simplify]: Simplify (+ 0 0) into 0
60.864 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
60.864 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
60.865 * [backup-simplify]: Simplify (+ 0 0) into 0
60.865 * [backup-simplify]: Simplify (+ 0) into 0
60.866 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
60.866 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
60.867 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
60.867 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
60.868 * [backup-simplify]: Simplify (+ 0 0) into 0
60.868 * [backup-simplify]: Simplify (+ 0) into 0
60.868 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
60.869 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
60.869 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
60.870 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
60.870 * [backup-simplify]: Simplify (- 0) into 0
60.871 * [backup-simplify]: Simplify (+ 0 0) into 0
60.871 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
60.871 * [backup-simplify]: Simplify (+ 0) into 0
60.872 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
60.872 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
60.873 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
60.873 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
60.874 * [backup-simplify]: Simplify (- 0) into 0
60.874 * [backup-simplify]: Simplify (+ 0 0) into 0
60.874 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
60.875 * [backup-simplify]: Simplify (+ 0) into 0
60.875 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
60.875 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
60.876 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
60.877 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
60.877 * [backup-simplify]: Simplify (+ 0 0) into 0
60.877 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
60.878 * [backup-simplify]: Simplify (+ 0) into 0
60.878 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
60.879 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
60.879 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
60.880 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
60.880 * [backup-simplify]: Simplify (+ 0 0) into 0
60.881 * [backup-simplify]: Simplify (+ 0) into 0
60.881 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
60.881 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
60.882 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
60.883 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
60.883 * [backup-simplify]: Simplify (- 0) into 0
60.883 * [backup-simplify]: Simplify (+ 0 0) into 0
60.884 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
60.884 * [backup-simplify]: Simplify (+ 0) into 0
60.884 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
60.885 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
60.885 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
60.886 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
60.886 * [backup-simplify]: Simplify (+ 0 0) into 0
60.887 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
60.887 * [backup-simplify]: Simplify (+ 0) into 0
60.888 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
60.888 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
60.888 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
60.889 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
60.889 * [backup-simplify]: Simplify (- 0) into 0
60.890 * [backup-simplify]: Simplify (+ 0 0) into 0
60.890 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
60.891 * [backup-simplify]: Simplify (+ 0 0) into 0
60.891 * [backup-simplify]: Simplify (- 0) into 0
60.891 * [backup-simplify]: Simplify (+ 0 0) into 0
60.895 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into 0
60.899 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2))) into 0
60.901 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
60.902 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
60.902 * [taylor]: Taking taylor expansion of (+ (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1))))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 6) (pow (cos (/ -0.5 phi1)) 6)) (* (pow lambda2 3) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) (+ (* 2 (* (/ (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 15/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 4)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* phi1 (* R (* lambda2 phi2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (+ (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (* phi1 (* lambda2 phi2))))) (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 6) (pow (sin (/ -0.5 phi1)) 6)) (* (pow lambda2 3) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))))))))) in lambda2
60.902 * [taylor]: Taking taylor expansion of (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1))))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) in lambda2
60.902 * [taylor]: Taking taylor expansion of 2 in lambda2
60.902 * [backup-simplify]: Simplify 2 into 2
60.902 * [taylor]: Taking taylor expansion of (* (/ (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1))))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) in lambda2
60.902 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1))))) (* R (pow lambda2 3))) in lambda2
60.902 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1))))) in lambda2
60.902 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
60.902 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
60.902 * [taylor]: Taking taylor expansion of -0.5 in lambda2
60.902 * [backup-simplify]: Simplify -0.5 into -0.5
60.902 * [taylor]: Taking taylor expansion of phi2 in lambda2
60.902 * [backup-simplify]: Simplify phi2 into phi2
60.902 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
60.903 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
60.903 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
60.903 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1)))) in lambda2
60.903 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 3) in lambda2
60.903 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
60.903 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
60.903 * [taylor]: Taking taylor expansion of -0.5 in lambda2
60.903 * [backup-simplify]: Simplify -0.5 into -0.5
60.903 * [taylor]: Taking taylor expansion of phi2 in lambda2
60.903 * [backup-simplify]: Simplify phi2 into phi2
60.903 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
60.903 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
60.903 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
60.903 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
60.903 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
60.903 * [backup-simplify]: Simplify (- 0) into 0
60.903 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
60.904 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1))) in lambda2
60.904 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 3) in lambda2
60.904 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
60.904 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
60.904 * [taylor]: Taking taylor expansion of -0.5 in lambda2
60.904 * [backup-simplify]: Simplify -0.5 into -0.5
60.904 * [taylor]: Taking taylor expansion of phi1 in lambda2
60.904 * [backup-simplify]: Simplify phi1 into phi1
60.904 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
60.904 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
60.904 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
60.904 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
60.904 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
60.904 * [backup-simplify]: Simplify (- 0) into 0
60.904 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
60.904 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
60.904 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
60.904 * [taylor]: Taking taylor expansion of -0.5 in lambda2
60.904 * [backup-simplify]: Simplify -0.5 into -0.5
60.904 * [taylor]: Taking taylor expansion of phi1 in lambda2
60.904 * [backup-simplify]: Simplify phi1 into phi1
60.904 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
60.904 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
60.904 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
60.904 * [taylor]: Taking taylor expansion of (* R (pow lambda2 3)) in lambda2
60.904 * [taylor]: Taking taylor expansion of R in lambda2
60.905 * [backup-simplify]: Simplify R into R
60.905 * [taylor]: Taking taylor expansion of (pow lambda2 3) in lambda2
60.905 * [taylor]: Taking taylor expansion of lambda2 in lambda2
60.905 * [backup-simplify]: Simplify 0 into 0
60.905 * [backup-simplify]: Simplify 1 into 1
60.905 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
60.905 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
60.905 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
60.905 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
60.905 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (pow (cos (/ -0.5 phi2)) 2)) into (pow (cos (/ -0.5 phi2)) 3)
60.905 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
60.905 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (pow (cos (/ -0.5 phi1)) 2)) into (pow (cos (/ -0.5 phi1)) 3)
60.905 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
60.905 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
60.905 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
60.906 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1))) into (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1)))
60.906 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1)))) into (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1))))
60.906 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1))))) into (* (pow (cos (/ -0.5 phi2)) 3) (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1)))))
60.906 * [backup-simplify]: Simplify (* 1 1) into 1
60.907 * [backup-simplify]: Simplify (* 1 1) into 1
60.907 * [backup-simplify]: Simplify (* R 1) into R
60.907 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 3) (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1))))) R) into (/ (* (pow (cos (/ -0.5 phi2)) 3) (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1))))) R)
60.907 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) in lambda2
60.907 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) in lambda2
60.907 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3) in lambda2
60.907 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in lambda2
60.907 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in lambda2
60.907 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2
60.907 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2
60.907 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
60.907 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
60.907 * [taylor]: Taking taylor expansion of -0.5 in lambda2
60.907 * [backup-simplify]: Simplify -0.5 into -0.5
60.907 * [taylor]: Taking taylor expansion of phi2 in lambda2
60.907 * [backup-simplify]: Simplify phi2 into phi2
60.907 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
60.907 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
60.907 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
60.908 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
60.908 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
60.908 * [backup-simplify]: Simplify (- 0) into 0
60.908 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
60.908 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2
60.908 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
60.908 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
60.908 * [taylor]: Taking taylor expansion of -0.5 in lambda2
60.908 * [backup-simplify]: Simplify -0.5 into -0.5
60.908 * [taylor]: Taking taylor expansion of phi1 in lambda2
60.908 * [backup-simplify]: Simplify phi1 into phi1
60.908 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
60.908 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
60.908 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
60.908 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
60.908 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
60.909 * [backup-simplify]: Simplify (- 0) into 0
60.909 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
60.909 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2
60.909 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2
60.909 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
60.909 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
60.909 * [taylor]: Taking taylor expansion of -0.5 in lambda2
60.909 * [backup-simplify]: Simplify -0.5 into -0.5
60.909 * [taylor]: Taking taylor expansion of phi2 in lambda2
60.909 * [backup-simplify]: Simplify phi2 into phi2
60.909 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
60.909 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
60.909 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
60.909 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
60.909 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
60.909 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
60.909 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2
60.909 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
60.909 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
60.909 * [taylor]: Taking taylor expansion of -0.5 in lambda2
60.909 * [backup-simplify]: Simplify -0.5 into -0.5
60.909 * [taylor]: Taking taylor expansion of phi1 in lambda2
60.909 * [backup-simplify]: Simplify phi1 into phi1
60.909 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
60.909 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
60.909 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
60.909 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
60.909 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
60.910 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
60.910 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in lambda2
60.910 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
60.910 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
60.910 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
60.910 * [taylor]: Taking taylor expansion of -0.5 in lambda2
60.910 * [backup-simplify]: Simplify -0.5 into -0.5
60.910 * [taylor]: Taking taylor expansion of phi2 in lambda2
60.910 * [backup-simplify]: Simplify phi2 into phi2
60.910 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
60.910 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
60.910 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
60.910 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
60.910 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
60.910 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
60.910 * [taylor]: Taking taylor expansion of -0.5 in lambda2
60.910 * [backup-simplify]: Simplify -0.5 into -0.5
60.910 * [taylor]: Taking taylor expansion of phi2 in lambda2
60.910 * [backup-simplify]: Simplify phi2 into phi2
60.910 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
60.910 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
60.910 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
60.910 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
60.910 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
60.910 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
60.910 * [taylor]: Taking taylor expansion of -0.5 in lambda2
60.910 * [backup-simplify]: Simplify -0.5 into -0.5
60.910 * [taylor]: Taking taylor expansion of phi1 in lambda2
60.910 * [backup-simplify]: Simplify phi1 into phi1
60.910 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
60.910 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
60.910 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
60.910 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
60.910 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
60.910 * [taylor]: Taking taylor expansion of -0.5 in lambda2
60.910 * [backup-simplify]: Simplify -0.5 into -0.5
60.910 * [taylor]: Taking taylor expansion of phi1 in lambda2
60.910 * [backup-simplify]: Simplify phi1 into phi1
60.910 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
60.911 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
60.911 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
60.911 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
60.911 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
60.911 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
60.911 * [taylor]: Taking taylor expansion of -0.5 in lambda2
60.911 * [backup-simplify]: Simplify -0.5 into -0.5
60.911 * [taylor]: Taking taylor expansion of phi2 in lambda2
60.911 * [backup-simplify]: Simplify phi2 into phi2
60.911 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
60.911 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
60.911 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
60.911 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
60.911 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
60.911 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
60.911 * [taylor]: Taking taylor expansion of -0.5 in lambda2
60.911 * [backup-simplify]: Simplify -0.5 into -0.5
60.911 * [taylor]: Taking taylor expansion of phi2 in lambda2
60.911 * [backup-simplify]: Simplify phi2 into phi2
60.911 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
60.911 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
60.911 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
60.911 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
60.911 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
60.911 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
60.911 * [taylor]: Taking taylor expansion of -0.5 in lambda2
60.911 * [backup-simplify]: Simplify -0.5 into -0.5
60.911 * [taylor]: Taking taylor expansion of phi1 in lambda2
60.911 * [backup-simplify]: Simplify phi1 into phi1
60.911 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
60.911 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
60.911 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
60.911 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
60.911 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
60.911 * [taylor]: Taking taylor expansion of -0.5 in lambda2
60.911 * [backup-simplify]: Simplify -0.5 into -0.5
60.911 * [taylor]: Taking taylor expansion of phi1 in lambda2
60.911 * [backup-simplify]: Simplify phi1 into phi1
60.912 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
60.912 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
60.912 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
60.912 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
60.912 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
60.912 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
60.912 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
60.912 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
60.912 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
60.913 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
60.913 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
60.913 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
60.913 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
60.913 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
60.913 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
60.913 * [backup-simplify]: Simplify (- 0) into 0
60.914 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
60.914 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
60.914 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
60.914 * [backup-simplify]: Simplify (- 0) into 0
60.914 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
60.914 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
60.914 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
60.914 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
60.914 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
60.914 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
60.915 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
60.915 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
60.915 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
60.915 * [backup-simplify]: Simplify (- 0) into 0
60.915 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
60.915 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
60.915 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
60.915 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
60.915 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
60.915 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
60.916 * [backup-simplify]: Simplify (- 0) into 0
60.916 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
60.916 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
60.916 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
60.916 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
60.916 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
60.916 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
60.916 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
60.917 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
60.917 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
60.918 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
60.920 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)
60.922 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)
60.923 * [backup-simplify]: Simplify (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) into (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))
60.926 * [backup-simplify]: Simplify (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) into (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))
60.926 * [backup-simplify]: Simplify (+ 0) into 0
60.927 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
60.927 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
60.927 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
60.928 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
60.928 * [backup-simplify]: Simplify (- 0) into 0
60.928 * [backup-simplify]: Simplify (+ 0 0) into 0
60.928 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
60.928 * [backup-simplify]: Simplify (+ 0) into 0
60.929 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
60.929 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
60.929 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
60.930 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
60.930 * [backup-simplify]: Simplify (- 0) into 0
60.930 * [backup-simplify]: Simplify (+ 0 0) into 0
60.931 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
60.931 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
60.931 * [backup-simplify]: Simplify (+ 0) into 0
60.932 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
60.932 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
60.933 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
60.933 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
60.934 * [backup-simplify]: Simplify (+ 0 0) into 0
60.934 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
60.934 * [backup-simplify]: Simplify (+ 0) into 0
60.935 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
60.935 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
60.936 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
60.936 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
60.937 * [backup-simplify]: Simplify (+ 0 0) into 0
60.937 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
60.937 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
60.938 * [backup-simplify]: Simplify (+ 0 0) into 0
60.938 * [backup-simplify]: Simplify (+ 0) into 0
60.939 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
60.939 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
60.940 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
60.940 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
60.940 * [backup-simplify]: Simplify (+ 0 0) into 0
60.941 * [backup-simplify]: Simplify (+ 0) into 0
60.941 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
60.942 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
60.942 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
60.943 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
60.943 * [backup-simplify]: Simplify (- 0) into 0
60.944 * [backup-simplify]: Simplify (+ 0 0) into 0
60.944 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
60.944 * [backup-simplify]: Simplify (+ 0) into 0
60.945 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
60.945 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
60.945 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
60.946 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
60.946 * [backup-simplify]: Simplify (- 0) into 0
60.946 * [backup-simplify]: Simplify (+ 0 0) into 0
60.946 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
60.947 * [backup-simplify]: Simplify (+ 0) into 0
60.947 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
60.947 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
60.948 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
60.948 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
60.948 * [backup-simplify]: Simplify (+ 0 0) into 0
60.949 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
60.949 * [backup-simplify]: Simplify (+ 0) into 0
60.949 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
60.949 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
60.950 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
60.950 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
60.950 * [backup-simplify]: Simplify (+ 0 0) into 0
60.951 * [backup-simplify]: Simplify (+ 0) into 0
60.951 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
60.951 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
60.952 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
60.952 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
60.952 * [backup-simplify]: Simplify (- 0) into 0
60.952 * [backup-simplify]: Simplify (+ 0 0) into 0
60.952 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
60.953 * [backup-simplify]: Simplify (+ 0) into 0
60.953 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
60.953 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
60.954 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
60.954 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
60.954 * [backup-simplify]: Simplify (+ 0 0) into 0
60.954 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
60.955 * [backup-simplify]: Simplify (+ 0) into 0
60.955 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
60.955 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
60.955 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
60.956 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
60.956 * [backup-simplify]: Simplify (- 0) into 0
60.956 * [backup-simplify]: Simplify (+ 0 0) into 0
60.956 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
60.957 * [backup-simplify]: Simplify (+ 0 0) into 0
60.957 * [backup-simplify]: Simplify (- 0) into 0
60.957 * [backup-simplify]: Simplify (+ 0 0) into 0
60.959 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into 0
60.961 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2))) into 0
60.963 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
60.964 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
60.964 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 6) (pow (cos (/ -0.5 phi1)) 6)) (* (pow lambda2 3) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) (+ (* 2 (* (/ (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 15/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 4)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* phi1 (* R (* lambda2 phi2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (+ (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (* phi1 (* lambda2 phi2))))) (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 6) (pow (sin (/ -0.5 phi1)) 6)) (* (pow lambda2 3) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)))))))))) in lambda2
60.965 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 6) (pow (cos (/ -0.5 phi1)) 6)) (* (pow lambda2 3) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) in lambda2
60.965 * [taylor]: Taking taylor expansion of 1/2 in lambda2
60.965 * [backup-simplify]: Simplify 1/2 into 1/2
60.965 * [taylor]: Taking taylor expansion of (* (/ (* (pow (cos (/ -0.5 phi2)) 6) (pow (cos (/ -0.5 phi1)) 6)) (* (pow lambda2 3) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)))) in lambda2
60.965 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 6) (pow (cos (/ -0.5 phi1)) 6)) (* (pow lambda2 3) R)) in lambda2
60.965 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 6) (pow (cos (/ -0.5 phi1)) 6)) in lambda2
60.965 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 6) in lambda2
60.965 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
60.965 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
60.965 * [taylor]: Taking taylor expansion of -0.5 in lambda2
60.965 * [backup-simplify]: Simplify -0.5 into -0.5
60.965 * [taylor]: Taking taylor expansion of phi2 in lambda2
60.965 * [backup-simplify]: Simplify phi2 into phi2
60.965 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
60.965 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
60.965 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
60.965 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
60.965 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
60.966 * [backup-simplify]: Simplify (- 0) into 0
60.966 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
60.966 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 6) in lambda2
60.966 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
60.966 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
60.966 * [taylor]: Taking taylor expansion of -0.5 in lambda2
60.966 * [backup-simplify]: Simplify -0.5 into -0.5
60.966 * [taylor]: Taking taylor expansion of phi1 in lambda2
60.966 * [backup-simplify]: Simplify phi1 into phi1
60.966 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
60.966 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
60.966 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
60.966 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
60.966 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
60.966 * [backup-simplify]: Simplify (- 0) into 0
60.966 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
60.966 * [taylor]: Taking taylor expansion of (* (pow lambda2 3) R) in lambda2
60.966 * [taylor]: Taking taylor expansion of (pow lambda2 3) in lambda2
60.966 * [taylor]: Taking taylor expansion of lambda2 in lambda2
60.966 * [backup-simplify]: Simplify 0 into 0
60.966 * [backup-simplify]: Simplify 1 into 1
60.966 * [taylor]: Taking taylor expansion of R in lambda2
60.966 * [backup-simplify]: Simplify R into R
60.967 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
60.967 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (pow (cos (/ -0.5 phi2)) 2)) into (pow (cos (/ -0.5 phi2)) 3)
60.967 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 3) (pow (cos (/ -0.5 phi2)) 3)) into (pow (cos (/ -0.5 phi2)) 6)
60.967 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
60.967 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (pow (cos (/ -0.5 phi1)) 2)) into (pow (cos (/ -0.5 phi1)) 3)
60.967 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi1)) 3) (pow (cos (/ -0.5 phi1)) 3)) into (pow (cos (/ -0.5 phi1)) 6)
60.967 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 6) (pow (cos (/ -0.5 phi1)) 6)) into (* (pow (cos (/ -0.5 phi2)) 6) (pow (cos (/ -0.5 phi1)) 6))
60.968 * [backup-simplify]: Simplify (* 1 1) into 1
60.968 * [backup-simplify]: Simplify (* 1 1) into 1
60.968 * [backup-simplify]: Simplify (* 1 R) into R
60.968 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 6) (pow (cos (/ -0.5 phi1)) 6)) R) into (/ (* (pow (cos (/ -0.5 phi2)) 6) (pow (cos (/ -0.5 phi1)) 6)) R)
60.968 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))) in lambda2
60.968 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)) in lambda2
60.968 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5) in lambda2
60.968 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in lambda2
60.968 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in lambda2
60.968 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2
60.968 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2
60.968 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
60.968 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
60.968 * [taylor]: Taking taylor expansion of -0.5 in lambda2
60.969 * [backup-simplify]: Simplify -0.5 into -0.5
60.969 * [taylor]: Taking taylor expansion of phi2 in lambda2
60.969 * [backup-simplify]: Simplify phi2 into phi2
60.969 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
60.969 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
60.969 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
60.969 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
60.969 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
60.969 * [backup-simplify]: Simplify (- 0) into 0
60.969 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
60.969 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2
60.969 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
60.969 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
60.969 * [taylor]: Taking taylor expansion of -0.5 in lambda2
60.969 * [backup-simplify]: Simplify -0.5 into -0.5
60.969 * [taylor]: Taking taylor expansion of phi1 in lambda2
60.969 * [backup-simplify]: Simplify phi1 into phi1
60.969 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
60.969 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
60.969 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
60.969 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
60.970 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
60.970 * [backup-simplify]: Simplify (- 0) into 0
60.970 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
60.970 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2
60.970 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2
60.970 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
60.970 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
60.970 * [taylor]: Taking taylor expansion of -0.5 in lambda2
60.970 * [backup-simplify]: Simplify -0.5 into -0.5
60.970 * [taylor]: Taking taylor expansion of phi2 in lambda2
60.970 * [backup-simplify]: Simplify phi2 into phi2
60.970 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
60.970 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
60.970 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
60.970 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
60.970 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
60.970 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
60.970 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2
60.970 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
60.970 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
60.970 * [taylor]: Taking taylor expansion of -0.5 in lambda2
60.970 * [backup-simplify]: Simplify -0.5 into -0.5
60.970 * [taylor]: Taking taylor expansion of phi1 in lambda2
60.970 * [backup-simplify]: Simplify phi1 into phi1
60.971 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
60.971 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
60.971 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
60.971 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
60.971 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
60.971 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
60.971 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in lambda2
60.971 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
60.971 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
60.971 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
60.971 * [taylor]: Taking taylor expansion of -0.5 in lambda2
60.971 * [backup-simplify]: Simplify -0.5 into -0.5
60.971 * [taylor]: Taking taylor expansion of phi2 in lambda2
60.971 * [backup-simplify]: Simplify phi2 into phi2
60.971 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
60.971 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
60.971 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
60.971 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
60.971 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
60.971 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
60.971 * [taylor]: Taking taylor expansion of -0.5 in lambda2
60.971 * [backup-simplify]: Simplify -0.5 into -0.5
60.971 * [taylor]: Taking taylor expansion of phi2 in lambda2
60.971 * [backup-simplify]: Simplify phi2 into phi2
60.971 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
60.971 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
60.971 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
60.971 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
60.971 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
60.971 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
60.971 * [taylor]: Taking taylor expansion of -0.5 in lambda2
60.971 * [backup-simplify]: Simplify -0.5 into -0.5
60.972 * [taylor]: Taking taylor expansion of phi1 in lambda2
60.972 * [backup-simplify]: Simplify phi1 into phi1
60.972 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
60.972 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
60.972 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
60.972 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
60.972 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
60.972 * [taylor]: Taking taylor expansion of -0.5 in lambda2
60.972 * [backup-simplify]: Simplify -0.5 into -0.5
60.972 * [taylor]: Taking taylor expansion of phi1 in lambda2
60.972 * [backup-simplify]: Simplify phi1 into phi1
60.972 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
60.972 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
60.972 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
60.972 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
60.972 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
60.972 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
60.972 * [taylor]: Taking taylor expansion of -0.5 in lambda2
60.972 * [backup-simplify]: Simplify -0.5 into -0.5
60.972 * [taylor]: Taking taylor expansion of phi2 in lambda2
60.972 * [backup-simplify]: Simplify phi2 into phi2
60.972 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
60.972 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
60.972 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
60.972 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
60.972 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
60.972 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
60.972 * [taylor]: Taking taylor expansion of -0.5 in lambda2
60.972 * [backup-simplify]: Simplify -0.5 into -0.5
60.972 * [taylor]: Taking taylor expansion of phi2 in lambda2
60.972 * [backup-simplify]: Simplify phi2 into phi2
60.972 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
60.972 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
60.973 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
60.973 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
60.973 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
60.973 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
60.973 * [taylor]: Taking taylor expansion of -0.5 in lambda2
60.973 * [backup-simplify]: Simplify -0.5 into -0.5
60.973 * [taylor]: Taking taylor expansion of phi1 in lambda2
60.973 * [backup-simplify]: Simplify phi1 into phi1
60.973 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
60.973 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
60.973 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
60.973 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
60.973 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
60.973 * [taylor]: Taking taylor expansion of -0.5 in lambda2
60.973 * [backup-simplify]: Simplify -0.5 into -0.5
60.973 * [taylor]: Taking taylor expansion of phi1 in lambda2
60.973 * [backup-simplify]: Simplify phi1 into phi1
60.973 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
60.973 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
60.973 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
60.973 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
60.973 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
60.974 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
60.974 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
60.974 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
60.974 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
60.974 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
60.974 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
60.975 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
60.975 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
60.975 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
60.975 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
60.975 * [backup-simplify]: Simplify (- 0) into 0
60.975 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
60.975 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
60.975 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
60.976 * [backup-simplify]: Simplify (- 0) into 0
60.976 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
60.976 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
60.976 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
60.976 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
60.976 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
60.976 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
60.976 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
60.976 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
60.976 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
60.977 * [backup-simplify]: Simplify (- 0) into 0
60.977 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
60.977 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
60.977 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
60.977 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
60.977 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
60.977 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
60.977 * [backup-simplify]: Simplify (- 0) into 0
60.977 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
60.978 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
60.978 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
60.978 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
60.978 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
60.978 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
60.978 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
60.978 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
60.979 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
60.980 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
60.982 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)
60.986 * [backup-simplify]: Simplify (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 4)
60.989 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 4)) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)
60.991 * [backup-simplify]: Simplify (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)) into (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))
60.993 * [backup-simplify]: Simplify (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))) into (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)))
60.994 * [backup-simplify]: Simplify (+ 0) into 0
60.994 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
60.994 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
60.995 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
60.995 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
60.996 * [backup-simplify]: Simplify (- 0) into 0
60.996 * [backup-simplify]: Simplify (+ 0 0) into 0
60.996 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
60.997 * [backup-simplify]: Simplify (+ 0) into 0
60.997 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
60.997 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
60.998 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
60.999 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
60.999 * [backup-simplify]: Simplify (- 0) into 0
60.999 * [backup-simplify]: Simplify (+ 0 0) into 0
60.999 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
61.000 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
61.000 * [backup-simplify]: Simplify (+ 0) into 0
61.001 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
61.001 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
61.001 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.002 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
61.002 * [backup-simplify]: Simplify (+ 0 0) into 0
61.002 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
61.003 * [backup-simplify]: Simplify (+ 0) into 0
61.003 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
61.003 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
61.004 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.004 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
61.005 * [backup-simplify]: Simplify (+ 0 0) into 0
61.005 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
61.005 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
61.006 * [backup-simplify]: Simplify (+ 0 0) into 0
61.006 * [backup-simplify]: Simplify (+ 0) into 0
61.007 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
61.007 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
61.008 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.008 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
61.009 * [backup-simplify]: Simplify (+ 0 0) into 0
61.010 * [backup-simplify]: Simplify (+ 0) into 0
61.010 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
61.010 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
61.011 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.012 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
61.012 * [backup-simplify]: Simplify (- 0) into 0
61.013 * [backup-simplify]: Simplify (+ 0 0) into 0
61.013 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
61.014 * [backup-simplify]: Simplify (+ 0) into 0
61.014 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
61.014 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
61.015 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.016 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
61.016 * [backup-simplify]: Simplify (- 0) into 0
61.016 * [backup-simplify]: Simplify (+ 0 0) into 0
61.017 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
61.017 * [backup-simplify]: Simplify (+ 0) into 0
61.018 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
61.018 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
61.019 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.019 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
61.019 * [backup-simplify]: Simplify (+ 0 0) into 0
61.020 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
61.020 * [backup-simplify]: Simplify (+ 0) into 0
61.021 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
61.021 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
61.022 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.022 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
61.023 * [backup-simplify]: Simplify (+ 0 0) into 0
61.023 * [backup-simplify]: Simplify (+ 0) into 0
61.024 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
61.024 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
61.025 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.025 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
61.026 * [backup-simplify]: Simplify (- 0) into 0
61.026 * [backup-simplify]: Simplify (+ 0 0) into 0
61.026 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
61.027 * [backup-simplify]: Simplify (+ 0) into 0
61.027 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
61.028 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
61.028 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.029 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
61.029 * [backup-simplify]: Simplify (+ 0 0) into 0
61.030 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
61.030 * [backup-simplify]: Simplify (+ 0) into 0
61.030 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
61.031 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
61.031 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.032 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
61.032 * [backup-simplify]: Simplify (- 0) into 0
61.033 * [backup-simplify]: Simplify (+ 0 0) into 0
61.033 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
61.033 * [backup-simplify]: Simplify (+ 0 0) into 0
61.034 * [backup-simplify]: Simplify (- 0) into 0
61.034 * [backup-simplify]: Simplify (+ 0 0) into 0
61.038 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into 0
61.042 * [backup-simplify]: Simplify (+ (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2) 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2))) into 0
61.046 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 4))) into 0
61.051 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)) (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) into 0
61.053 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) into 0
61.054 * [taylor]: Taking taylor expansion of (+ (* 2 (* (/ (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 15/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 4)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* phi1 (* R (* lambda2 phi2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (+ (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (* phi1 (* lambda2 phi2))))) (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 6) (pow (sin (/ -0.5 phi1)) 6)) (* (pow lambda2 3) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))))))) in lambda2
61.054 * [taylor]: Taking taylor expansion of (* 2 (* (/ (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) in lambda2
61.054 * [taylor]: Taking taylor expansion of 2 in lambda2
61.054 * [backup-simplify]: Simplify 2 into 2
61.054 * [taylor]: Taking taylor expansion of (* (/ (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) in lambda2
61.054 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)))) (* R (pow lambda2 3))) in lambda2
61.054 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)))) in lambda2
61.054 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 3) in lambda2
61.054 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
61.054 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
61.054 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.054 * [backup-simplify]: Simplify -0.5 into -0.5
61.054 * [taylor]: Taking taylor expansion of phi2 in lambda2
61.054 * [backup-simplify]: Simplify phi2 into phi2
61.054 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
61.054 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
61.055 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
61.055 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
61.055 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
61.055 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
61.055 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3))) in lambda2
61.055 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
61.055 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
61.055 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.055 * [backup-simplify]: Simplify -0.5 into -0.5
61.055 * [taylor]: Taking taylor expansion of phi2 in lambda2
61.055 * [backup-simplify]: Simplify phi2 into phi2
61.055 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
61.055 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
61.055 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
61.055 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)) in lambda2
61.055 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
61.055 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
61.056 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.056 * [backup-simplify]: Simplify -0.5 into -0.5
61.056 * [taylor]: Taking taylor expansion of phi1 in lambda2
61.056 * [backup-simplify]: Simplify phi1 into phi1
61.056 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
61.056 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
61.056 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
61.056 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 3) in lambda2
61.056 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
61.056 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
61.056 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.056 * [backup-simplify]: Simplify -0.5 into -0.5
61.056 * [taylor]: Taking taylor expansion of phi1 in lambda2
61.056 * [backup-simplify]: Simplify phi1 into phi1
61.056 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
61.056 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
61.056 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
61.056 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
61.057 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
61.057 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
61.057 * [taylor]: Taking taylor expansion of (* R (pow lambda2 3)) in lambda2
61.057 * [taylor]: Taking taylor expansion of R in lambda2
61.057 * [backup-simplify]: Simplify R into R
61.057 * [taylor]: Taking taylor expansion of (pow lambda2 3) in lambda2
61.057 * [taylor]: Taking taylor expansion of lambda2 in lambda2
61.057 * [backup-simplify]: Simplify 0 into 0
61.057 * [backup-simplify]: Simplify 1 into 1
61.057 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
61.057 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (pow (sin (/ -0.5 phi2)) 2)) into (pow (sin (/ -0.5 phi2)) 3)
61.057 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
61.057 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
61.058 * [backup-simplify]: Simplify (- 0) into 0
61.058 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
61.058 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
61.058 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
61.059 * [backup-simplify]: Simplify (- 0) into 0
61.059 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
61.059 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
61.059 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 2)) into (pow (sin (/ -0.5 phi1)) 3)
61.060 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)) into (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3))
61.060 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)))
61.060 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)))) into (* (cos (/ -0.5 phi2)) (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3))))
61.063 * [backup-simplify]: Simplify (* 1 1) into 1
61.063 * [backup-simplify]: Simplify (* 1 1) into 1
61.063 * [backup-simplify]: Simplify (* R 1) into R
61.064 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi2)) (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)))) R) into (/ (* (cos (/ -0.5 phi2)) (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)))) R)
61.064 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) in lambda2
61.064 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) in lambda2
61.064 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3) in lambda2
61.064 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in lambda2
61.064 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in lambda2
61.064 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2
61.064 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2
61.064 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
61.064 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
61.065 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.065 * [backup-simplify]: Simplify -0.5 into -0.5
61.065 * [taylor]: Taking taylor expansion of phi2 in lambda2
61.065 * [backup-simplify]: Simplify phi2 into phi2
61.065 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
61.065 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
61.065 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
61.065 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
61.065 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
61.065 * [backup-simplify]: Simplify (- 0) into 0
61.066 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
61.066 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2
61.066 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
61.066 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
61.066 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.066 * [backup-simplify]: Simplify -0.5 into -0.5
61.066 * [taylor]: Taking taylor expansion of phi1 in lambda2
61.066 * [backup-simplify]: Simplify phi1 into phi1
61.066 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
61.066 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
61.066 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
61.066 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
61.066 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
61.067 * [backup-simplify]: Simplify (- 0) into 0
61.067 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
61.067 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2
61.067 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2
61.067 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
61.067 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
61.067 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.067 * [backup-simplify]: Simplify -0.5 into -0.5
61.067 * [taylor]: Taking taylor expansion of phi2 in lambda2
61.067 * [backup-simplify]: Simplify phi2 into phi2
61.067 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
61.067 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
61.067 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
61.067 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
61.067 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
61.067 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
61.067 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2
61.067 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
61.068 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
61.068 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.068 * [backup-simplify]: Simplify -0.5 into -0.5
61.068 * [taylor]: Taking taylor expansion of phi1 in lambda2
61.068 * [backup-simplify]: Simplify phi1 into phi1
61.068 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
61.068 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
61.068 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
61.068 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
61.068 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
61.068 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
61.068 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in lambda2
61.068 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
61.068 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
61.068 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
61.068 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.068 * [backup-simplify]: Simplify -0.5 into -0.5
61.068 * [taylor]: Taking taylor expansion of phi2 in lambda2
61.068 * [backup-simplify]: Simplify phi2 into phi2
61.068 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
61.069 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
61.069 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
61.069 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
61.069 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
61.069 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
61.069 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.069 * [backup-simplify]: Simplify -0.5 into -0.5
61.069 * [taylor]: Taking taylor expansion of phi2 in lambda2
61.069 * [backup-simplify]: Simplify phi2 into phi2
61.069 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
61.069 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
61.069 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
61.069 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
61.069 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
61.069 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
61.069 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.069 * [backup-simplify]: Simplify -0.5 into -0.5
61.069 * [taylor]: Taking taylor expansion of phi1 in lambda2
61.069 * [backup-simplify]: Simplify phi1 into phi1
61.069 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
61.070 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
61.070 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
61.070 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
61.070 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
61.070 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.070 * [backup-simplify]: Simplify -0.5 into -0.5
61.070 * [taylor]: Taking taylor expansion of phi1 in lambda2
61.070 * [backup-simplify]: Simplify phi1 into phi1
61.070 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
61.070 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
61.070 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
61.070 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
61.070 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
61.070 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
61.070 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.070 * [backup-simplify]: Simplify -0.5 into -0.5
61.070 * [taylor]: Taking taylor expansion of phi2 in lambda2
61.070 * [backup-simplify]: Simplify phi2 into phi2
61.070 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
61.071 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
61.071 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
61.071 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
61.071 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
61.071 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
61.071 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.071 * [backup-simplify]: Simplify -0.5 into -0.5
61.071 * [taylor]: Taking taylor expansion of phi2 in lambda2
61.071 * [backup-simplify]: Simplify phi2 into phi2
61.071 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
61.071 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
61.071 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
61.071 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
61.071 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
61.071 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
61.071 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.071 * [backup-simplify]: Simplify -0.5 into -0.5
61.071 * [taylor]: Taking taylor expansion of phi1 in lambda2
61.071 * [backup-simplify]: Simplify phi1 into phi1
61.071 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
61.071 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
61.072 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
61.072 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
61.072 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
61.072 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.072 * [backup-simplify]: Simplify -0.5 into -0.5
61.072 * [taylor]: Taking taylor expansion of phi1 in lambda2
61.072 * [backup-simplify]: Simplify phi1 into phi1
61.072 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
61.072 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
61.072 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
61.072 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
61.072 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
61.073 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
61.073 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
61.073 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
61.074 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
61.074 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
61.075 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
61.075 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
61.075 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
61.075 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
61.075 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
61.076 * [backup-simplify]: Simplify (- 0) into 0
61.076 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
61.076 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
61.076 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
61.076 * [backup-simplify]: Simplify (- 0) into 0
61.077 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
61.077 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
61.077 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
61.077 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
61.077 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
61.077 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
61.078 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
61.078 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
61.078 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
61.079 * [backup-simplify]: Simplify (- 0) into 0
61.079 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
61.079 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
61.079 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
61.079 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
61.079 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
61.079 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
61.080 * [backup-simplify]: Simplify (- 0) into 0
61.080 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
61.080 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
61.080 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
61.080 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
61.080 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
61.081 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
61.081 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
61.082 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
61.083 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
61.085 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
61.088 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)
61.092 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)
61.095 * [backup-simplify]: Simplify (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) into (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))
61.097 * [backup-simplify]: Simplify (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) into (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))
61.097 * [backup-simplify]: Simplify (+ 0) into 0
61.098 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
61.098 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
61.099 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.100 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
61.100 * [backup-simplify]: Simplify (- 0) into 0
61.101 * [backup-simplify]: Simplify (+ 0 0) into 0
61.101 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
61.101 * [backup-simplify]: Simplify (+ 0) into 0
61.102 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
61.102 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
61.103 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.103 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
61.104 * [backup-simplify]: Simplify (- 0) into 0
61.104 * [backup-simplify]: Simplify (+ 0 0) into 0
61.104 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
61.105 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
61.105 * [backup-simplify]: Simplify (+ 0) into 0
61.105 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
61.106 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
61.106 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.107 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
61.107 * [backup-simplify]: Simplify (+ 0 0) into 0
61.107 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
61.108 * [backup-simplify]: Simplify (+ 0) into 0
61.108 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
61.109 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
61.109 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.110 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
61.110 * [backup-simplify]: Simplify (+ 0 0) into 0
61.110 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
61.111 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
61.111 * [backup-simplify]: Simplify (+ 0 0) into 0
61.112 * [backup-simplify]: Simplify (+ 0) into 0
61.112 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
61.112 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
61.113 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.114 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
61.114 * [backup-simplify]: Simplify (+ 0 0) into 0
61.114 * [backup-simplify]: Simplify (+ 0) into 0
61.115 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
61.115 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
61.116 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.116 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
61.117 * [backup-simplify]: Simplify (- 0) into 0
61.117 * [backup-simplify]: Simplify (+ 0 0) into 0
61.117 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
61.118 * [backup-simplify]: Simplify (+ 0) into 0
61.118 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
61.119 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
61.119 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.120 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
61.120 * [backup-simplify]: Simplify (- 0) into 0
61.121 * [backup-simplify]: Simplify (+ 0 0) into 0
61.121 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
61.121 * [backup-simplify]: Simplify (+ 0) into 0
61.122 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
61.122 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
61.123 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.123 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
61.124 * [backup-simplify]: Simplify (+ 0 0) into 0
61.124 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
61.125 * [backup-simplify]: Simplify (+ 0) into 0
61.125 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
61.126 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
61.126 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.127 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
61.127 * [backup-simplify]: Simplify (+ 0 0) into 0
61.128 * [backup-simplify]: Simplify (+ 0) into 0
61.128 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
61.128 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
61.129 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.130 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
61.130 * [backup-simplify]: Simplify (- 0) into 0
61.131 * [backup-simplify]: Simplify (+ 0 0) into 0
61.131 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
61.131 * [backup-simplify]: Simplify (+ 0) into 0
61.132 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
61.132 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
61.133 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.133 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
61.134 * [backup-simplify]: Simplify (+ 0 0) into 0
61.134 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
61.134 * [backup-simplify]: Simplify (+ 0) into 0
61.135 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
61.135 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
61.136 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.136 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
61.137 * [backup-simplify]: Simplify (- 0) into 0
61.137 * [backup-simplify]: Simplify (+ 0 0) into 0
61.137 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
61.138 * [backup-simplify]: Simplify (+ 0 0) into 0
61.138 * [backup-simplify]: Simplify (- 0) into 0
61.139 * [backup-simplify]: Simplify (+ 0 0) into 0
61.142 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into 0
61.146 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2))) into 0
61.148 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
61.149 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
61.149 * [taylor]: Taking taylor expansion of (+ (* 15/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 4)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* phi1 (* R (* lambda2 phi2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (+ (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (* phi1 (* lambda2 phi2))))) (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 6) (pow (sin (/ -0.5 phi1)) 6)) (* (pow lambda2 3) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)))))))) in lambda2
61.149 * [taylor]: Taking taylor expansion of (* 15/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 4)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) in lambda2
61.150 * [taylor]: Taking taylor expansion of 15/2 in lambda2
61.150 * [backup-simplify]: Simplify 15/2 into 15/2
61.150 * [taylor]: Taking taylor expansion of (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 4)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)))) in lambda2
61.150 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 4)))) (* R (pow lambda2 3))) in lambda2
61.150 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 4)))) in lambda2
61.150 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 4) in lambda2
61.150 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
61.150 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
61.150 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.150 * [backup-simplify]: Simplify -0.5 into -0.5
61.150 * [taylor]: Taking taylor expansion of phi2 in lambda2
61.150 * [backup-simplify]: Simplify phi2 into phi2
61.150 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
61.150 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
61.150 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
61.150 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
61.150 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
61.150 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
61.150 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 4))) in lambda2
61.150 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2
61.150 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
61.150 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
61.150 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.150 * [backup-simplify]: Simplify -0.5 into -0.5
61.150 * [taylor]: Taking taylor expansion of phi2 in lambda2
61.150 * [backup-simplify]: Simplify phi2 into phi2
61.150 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
61.150 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
61.150 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
61.150 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
61.150 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
61.151 * [backup-simplify]: Simplify (- 0) into 0
61.151 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
61.151 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 4)) in lambda2
61.151 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2
61.151 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
61.151 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
61.151 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.151 * [backup-simplify]: Simplify -0.5 into -0.5
61.151 * [taylor]: Taking taylor expansion of phi1 in lambda2
61.151 * [backup-simplify]: Simplify phi1 into phi1
61.151 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
61.151 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
61.151 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
61.151 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
61.151 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
61.152 * [backup-simplify]: Simplify (- 0) into 0
61.152 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
61.152 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 4) in lambda2
61.152 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
61.152 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
61.152 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.152 * [backup-simplify]: Simplify -0.5 into -0.5
61.152 * [taylor]: Taking taylor expansion of phi1 in lambda2
61.152 * [backup-simplify]: Simplify phi1 into phi1
61.152 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
61.152 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
61.152 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
61.152 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
61.152 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
61.152 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
61.152 * [taylor]: Taking taylor expansion of (* R (pow lambda2 3)) in lambda2
61.152 * [taylor]: Taking taylor expansion of R in lambda2
61.152 * [backup-simplify]: Simplify R into R
61.152 * [taylor]: Taking taylor expansion of (pow lambda2 3) in lambda2
61.152 * [taylor]: Taking taylor expansion of lambda2 in lambda2
61.152 * [backup-simplify]: Simplify 0 into 0
61.152 * [backup-simplify]: Simplify 1 into 1
61.152 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
61.153 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi2)) 2)) into (pow (sin (/ -0.5 phi2)) 4)
61.153 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
61.153 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
61.153 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
61.153 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (pow (sin (/ -0.5 phi1)) 4)
61.153 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 4)) into (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 4))
61.153 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 4))) into (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 4)))
61.154 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 4)))) into (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 4))))
61.154 * [backup-simplify]: Simplify (* 1 1) into 1
61.154 * [backup-simplify]: Simplify (* 1 1) into 1
61.154 * [backup-simplify]: Simplify (* R 1) into R
61.155 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 4)))) R) into (/ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 4)))) R)
61.155 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))) in lambda2
61.155 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)) in lambda2
61.155 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5) in lambda2
61.155 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in lambda2
61.155 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in lambda2
61.155 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2
61.155 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2
61.155 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
61.155 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
61.155 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.155 * [backup-simplify]: Simplify -0.5 into -0.5
61.155 * [taylor]: Taking taylor expansion of phi2 in lambda2
61.155 * [backup-simplify]: Simplify phi2 into phi2
61.155 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
61.155 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
61.155 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
61.155 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
61.155 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
61.156 * [backup-simplify]: Simplify (- 0) into 0
61.156 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
61.156 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2
61.156 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
61.156 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
61.156 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.156 * [backup-simplify]: Simplify -0.5 into -0.5
61.156 * [taylor]: Taking taylor expansion of phi1 in lambda2
61.156 * [backup-simplify]: Simplify phi1 into phi1
61.156 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
61.156 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
61.156 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
61.156 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
61.156 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
61.156 * [backup-simplify]: Simplify (- 0) into 0
61.157 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
61.157 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2
61.157 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2
61.157 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
61.157 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
61.157 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.157 * [backup-simplify]: Simplify -0.5 into -0.5
61.157 * [taylor]: Taking taylor expansion of phi2 in lambda2
61.157 * [backup-simplify]: Simplify phi2 into phi2
61.157 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
61.157 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
61.157 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
61.157 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
61.157 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
61.157 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
61.157 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2
61.157 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
61.157 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
61.157 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.157 * [backup-simplify]: Simplify -0.5 into -0.5
61.157 * [taylor]: Taking taylor expansion of phi1 in lambda2
61.157 * [backup-simplify]: Simplify phi1 into phi1
61.157 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
61.157 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
61.157 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
61.157 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
61.157 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
61.158 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
61.158 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in lambda2
61.158 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
61.158 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
61.158 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
61.158 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.158 * [backup-simplify]: Simplify -0.5 into -0.5
61.158 * [taylor]: Taking taylor expansion of phi2 in lambda2
61.158 * [backup-simplify]: Simplify phi2 into phi2
61.158 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
61.158 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
61.158 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
61.158 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
61.158 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
61.158 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
61.158 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.158 * [backup-simplify]: Simplify -0.5 into -0.5
61.158 * [taylor]: Taking taylor expansion of phi2 in lambda2
61.158 * [backup-simplify]: Simplify phi2 into phi2
61.158 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
61.158 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
61.158 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
61.158 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
61.158 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
61.158 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
61.158 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.158 * [backup-simplify]: Simplify -0.5 into -0.5
61.158 * [taylor]: Taking taylor expansion of phi1 in lambda2
61.158 * [backup-simplify]: Simplify phi1 into phi1
61.158 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
61.158 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
61.158 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
61.158 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
61.158 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
61.159 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.159 * [backup-simplify]: Simplify -0.5 into -0.5
61.159 * [taylor]: Taking taylor expansion of phi1 in lambda2
61.159 * [backup-simplify]: Simplify phi1 into phi1
61.159 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
61.159 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
61.159 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
61.159 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
61.159 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
61.159 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
61.159 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.159 * [backup-simplify]: Simplify -0.5 into -0.5
61.159 * [taylor]: Taking taylor expansion of phi2 in lambda2
61.159 * [backup-simplify]: Simplify phi2 into phi2
61.159 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
61.159 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
61.159 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
61.159 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
61.159 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
61.159 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
61.159 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.159 * [backup-simplify]: Simplify -0.5 into -0.5
61.159 * [taylor]: Taking taylor expansion of phi2 in lambda2
61.159 * [backup-simplify]: Simplify phi2 into phi2
61.159 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
61.159 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
61.160 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
61.160 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
61.160 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
61.160 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
61.160 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.160 * [backup-simplify]: Simplify -0.5 into -0.5
61.160 * [taylor]: Taking taylor expansion of phi1 in lambda2
61.160 * [backup-simplify]: Simplify phi1 into phi1
61.160 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
61.160 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
61.160 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
61.160 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
61.160 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
61.160 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.160 * [backup-simplify]: Simplify -0.5 into -0.5
61.160 * [taylor]: Taking taylor expansion of phi1 in lambda2
61.160 * [backup-simplify]: Simplify phi1 into phi1
61.160 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
61.160 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
61.160 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
61.160 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
61.160 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
61.160 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
61.161 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
61.161 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
61.161 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
61.161 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
61.161 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
61.162 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
61.162 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
61.162 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
61.162 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
61.162 * [backup-simplify]: Simplify (- 0) into 0
61.162 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
61.162 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
61.162 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
61.163 * [backup-simplify]: Simplify (- 0) into 0
61.163 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
61.163 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
61.163 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
61.163 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
61.163 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
61.163 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
61.163 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
61.163 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
61.163 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
61.164 * [backup-simplify]: Simplify (- 0) into 0
61.164 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
61.164 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
61.164 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
61.164 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
61.164 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
61.164 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
61.164 * [backup-simplify]: Simplify (- 0) into 0
61.164 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
61.164 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
61.165 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
61.165 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
61.165 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
61.165 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
61.165 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
61.165 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
61.166 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
61.167 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
61.169 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)
61.171 * [backup-simplify]: Simplify (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 4)
61.173 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 4)) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)
61.174 * [backup-simplify]: Simplify (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)) into (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))
61.176 * [backup-simplify]: Simplify (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))) into (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)))
61.177 * [backup-simplify]: Simplify (+ 0) into 0
61.177 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
61.177 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
61.178 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.179 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
61.179 * [backup-simplify]: Simplify (- 0) into 0
61.179 * [backup-simplify]: Simplify (+ 0 0) into 0
61.180 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
61.180 * [backup-simplify]: Simplify (+ 0) into 0
61.180 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
61.181 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
61.182 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.182 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
61.183 * [backup-simplify]: Simplify (- 0) into 0
61.183 * [backup-simplify]: Simplify (+ 0 0) into 0
61.184 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
61.184 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
61.184 * [backup-simplify]: Simplify (+ 0) into 0
61.185 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
61.185 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
61.186 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.186 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
61.187 * [backup-simplify]: Simplify (+ 0 0) into 0
61.187 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
61.187 * [backup-simplify]: Simplify (+ 0) into 0
61.188 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
61.188 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
61.189 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.189 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
61.190 * [backup-simplify]: Simplify (+ 0 0) into 0
61.190 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
61.190 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
61.191 * [backup-simplify]: Simplify (+ 0 0) into 0
61.191 * [backup-simplify]: Simplify (+ 0) into 0
61.192 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
61.192 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
61.193 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.193 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
61.194 * [backup-simplify]: Simplify (+ 0 0) into 0
61.194 * [backup-simplify]: Simplify (+ 0) into 0
61.194 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
61.195 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
61.195 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.196 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
61.196 * [backup-simplify]: Simplify (- 0) into 0
61.197 * [backup-simplify]: Simplify (+ 0 0) into 0
61.197 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
61.197 * [backup-simplify]: Simplify (+ 0) into 0
61.198 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
61.198 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
61.199 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.199 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
61.200 * [backup-simplify]: Simplify (- 0) into 0
61.200 * [backup-simplify]: Simplify (+ 0 0) into 0
61.200 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
61.201 * [backup-simplify]: Simplify (+ 0) into 0
61.201 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
61.201 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
61.202 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.203 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
61.203 * [backup-simplify]: Simplify (+ 0 0) into 0
61.203 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
61.204 * [backup-simplify]: Simplify (+ 0) into 0
61.204 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
61.204 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
61.205 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.206 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
61.206 * [backup-simplify]: Simplify (+ 0 0) into 0
61.206 * [backup-simplify]: Simplify (+ 0) into 0
61.207 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
61.207 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
61.208 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.208 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
61.209 * [backup-simplify]: Simplify (- 0) into 0
61.209 * [backup-simplify]: Simplify (+ 0 0) into 0
61.210 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
61.210 * [backup-simplify]: Simplify (+ 0) into 0
61.211 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
61.211 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
61.211 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.214 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
61.214 * [backup-simplify]: Simplify (+ 0 0) into 0
61.215 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
61.215 * [backup-simplify]: Simplify (+ 0) into 0
61.216 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
61.216 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
61.217 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.217 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
61.218 * [backup-simplify]: Simplify (- 0) into 0
61.218 * [backup-simplify]: Simplify (+ 0 0) into 0
61.218 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
61.219 * [backup-simplify]: Simplify (+ 0 0) into 0
61.219 * [backup-simplify]: Simplify (- 0) into 0
61.220 * [backup-simplify]: Simplify (+ 0 0) into 0
61.223 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into 0
61.228 * [backup-simplify]: Simplify (+ (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2) 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2))) into 0
61.232 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 4))) into 0
61.236 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)) (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) into 0
61.239 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) into 0
61.239 * [taylor]: Taking taylor expansion of (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* phi1 (* R (* lambda2 phi2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (+ (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (* phi1 (* lambda2 phi2))))) (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 6) (pow (sin (/ -0.5 phi1)) 6)) (* (pow lambda2 3) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))))) in lambda2
61.239 * [taylor]: Taking taylor expansion of (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* phi1 (* R (* lambda2 phi2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) in lambda2
61.239 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* phi1 (* R (* lambda2 phi2)))) in lambda2
61.239 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2
61.239 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2
61.239 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
61.239 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
61.239 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.239 * [backup-simplify]: Simplify -0.5 into -0.5
61.239 * [taylor]: Taking taylor expansion of phi2 in lambda2
61.239 * [backup-simplify]: Simplify phi2 into phi2
61.240 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
61.240 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
61.240 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
61.240 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
61.240 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
61.240 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
61.240 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2
61.240 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
61.240 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
61.240 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.240 * [backup-simplify]: Simplify -0.5 into -0.5
61.240 * [taylor]: Taking taylor expansion of phi1 in lambda2
61.240 * [backup-simplify]: Simplify phi1 into phi1
61.240 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
61.240 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
61.241 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
61.241 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
61.241 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
61.241 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
61.241 * [taylor]: Taking taylor expansion of (* phi1 (* R (* lambda2 phi2))) in lambda2
61.241 * [taylor]: Taking taylor expansion of phi1 in lambda2
61.241 * [backup-simplify]: Simplify phi1 into phi1
61.241 * [taylor]: Taking taylor expansion of (* R (* lambda2 phi2)) in lambda2
61.241 * [taylor]: Taking taylor expansion of R in lambda2
61.241 * [backup-simplify]: Simplify R into R
61.241 * [taylor]: Taking taylor expansion of (* lambda2 phi2) in lambda2
61.241 * [taylor]: Taking taylor expansion of lambda2 in lambda2
61.241 * [backup-simplify]: Simplify 0 into 0
61.241 * [backup-simplify]: Simplify 1 into 1
61.241 * [taylor]: Taking taylor expansion of phi2 in lambda2
61.241 * [backup-simplify]: Simplify phi2 into phi2
61.241 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
61.242 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
61.242 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
61.242 * [backup-simplify]: Simplify (* 0 phi2) into 0
61.242 * [backup-simplify]: Simplify (* R 0) into 0
61.242 * [backup-simplify]: Simplify (* phi1 0) into 0
61.243 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi2)) into phi2
61.243 * [backup-simplify]: Simplify (+ (* R phi2) (* 0 0)) into (* R phi2)
61.244 * [backup-simplify]: Simplify (+ (* phi1 (* R phi2)) (* 0 0)) into (* phi1 (* R phi2))
61.244 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* phi1 (* R phi2))) into (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* phi1 (* R phi2)))
61.244 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) in lambda2
61.244 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) in lambda2
61.244 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3) in lambda2
61.244 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in lambda2
61.245 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in lambda2
61.245 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2
61.245 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2
61.245 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
61.245 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
61.245 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.245 * [backup-simplify]: Simplify -0.5 into -0.5
61.245 * [taylor]: Taking taylor expansion of phi2 in lambda2
61.245 * [backup-simplify]: Simplify phi2 into phi2
61.245 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
61.245 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
61.245 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
61.245 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
61.245 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
61.246 * [backup-simplify]: Simplify (- 0) into 0
61.246 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
61.246 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2
61.246 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
61.246 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
61.246 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.246 * [backup-simplify]: Simplify -0.5 into -0.5
61.246 * [taylor]: Taking taylor expansion of phi1 in lambda2
61.246 * [backup-simplify]: Simplify phi1 into phi1
61.246 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
61.246 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
61.246 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
61.247 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
61.247 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
61.247 * [backup-simplify]: Simplify (- 0) into 0
61.247 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
61.247 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2
61.247 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2
61.247 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
61.247 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
61.247 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.247 * [backup-simplify]: Simplify -0.5 into -0.5
61.248 * [taylor]: Taking taylor expansion of phi2 in lambda2
61.248 * [backup-simplify]: Simplify phi2 into phi2
61.248 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
61.248 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
61.248 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
61.248 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
61.248 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
61.248 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
61.248 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2
61.249 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
61.249 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
61.249 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.249 * [backup-simplify]: Simplify -0.5 into -0.5
61.249 * [taylor]: Taking taylor expansion of phi1 in lambda2
61.249 * [backup-simplify]: Simplify phi1 into phi1
61.249 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
61.249 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
61.249 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
61.249 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
61.249 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
61.249 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
61.249 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in lambda2
61.249 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
61.249 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
61.249 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
61.249 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.249 * [backup-simplify]: Simplify -0.5 into -0.5
61.250 * [taylor]: Taking taylor expansion of phi2 in lambda2
61.250 * [backup-simplify]: Simplify phi2 into phi2
61.250 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
61.250 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
61.250 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
61.250 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
61.250 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
61.250 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
61.250 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.250 * [backup-simplify]: Simplify -0.5 into -0.5
61.250 * [taylor]: Taking taylor expansion of phi2 in lambda2
61.250 * [backup-simplify]: Simplify phi2 into phi2
61.250 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
61.250 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
61.250 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
61.250 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
61.250 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
61.250 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
61.250 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.250 * [backup-simplify]: Simplify -0.5 into -0.5
61.250 * [taylor]: Taking taylor expansion of phi1 in lambda2
61.251 * [backup-simplify]: Simplify phi1 into phi1
61.251 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
61.251 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
61.251 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
61.251 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
61.251 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
61.251 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.251 * [backup-simplify]: Simplify -0.5 into -0.5
61.251 * [taylor]: Taking taylor expansion of phi1 in lambda2
61.251 * [backup-simplify]: Simplify phi1 into phi1
61.251 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
61.251 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
61.251 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
61.251 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
61.251 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
61.251 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
61.251 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.251 * [backup-simplify]: Simplify -0.5 into -0.5
61.251 * [taylor]: Taking taylor expansion of phi2 in lambda2
61.251 * [backup-simplify]: Simplify phi2 into phi2
61.252 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
61.252 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
61.252 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
61.252 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
61.252 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
61.252 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
61.252 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.252 * [backup-simplify]: Simplify -0.5 into -0.5
61.252 * [taylor]: Taking taylor expansion of phi2 in lambda2
61.252 * [backup-simplify]: Simplify phi2 into phi2
61.252 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
61.252 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
61.252 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
61.252 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
61.252 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
61.252 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
61.252 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.252 * [backup-simplify]: Simplify -0.5 into -0.5
61.252 * [taylor]: Taking taylor expansion of phi1 in lambda2
61.252 * [backup-simplify]: Simplify phi1 into phi1
61.252 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
61.253 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
61.253 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
61.253 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
61.253 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
61.253 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.253 * [backup-simplify]: Simplify -0.5 into -0.5
61.253 * [taylor]: Taking taylor expansion of phi1 in lambda2
61.253 * [backup-simplify]: Simplify phi1 into phi1
61.253 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
61.253 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
61.253 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
61.253 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
61.254 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
61.254 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
61.254 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
61.254 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
61.255 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
61.255 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
61.256 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
61.256 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
61.256 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
61.256 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
61.256 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
61.257 * [backup-simplify]: Simplify (- 0) into 0
61.257 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
61.257 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
61.257 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
61.257 * [backup-simplify]: Simplify (- 0) into 0
61.257 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
61.258 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
61.258 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
61.258 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
61.258 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
61.258 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
61.259 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
61.259 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
61.259 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
61.259 * [backup-simplify]: Simplify (- 0) into 0
61.259 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
61.259 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
61.260 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
61.260 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
61.260 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
61.260 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
61.261 * [backup-simplify]: Simplify (- 0) into 0
61.261 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
61.261 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
61.261 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
61.261 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
61.261 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
61.262 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
61.262 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
61.263 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
61.264 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
61.266 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
61.270 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)
61.274 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)
61.276 * [backup-simplify]: Simplify (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) into (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))
61.278 * [backup-simplify]: Simplify (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) into (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))
61.279 * [backup-simplify]: Simplify (+ 0) into 0
61.279 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
61.280 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
61.280 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.281 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
61.281 * [backup-simplify]: Simplify (- 0) into 0
61.282 * [backup-simplify]: Simplify (+ 0 0) into 0
61.282 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
61.282 * [backup-simplify]: Simplify (+ 0) into 0
61.283 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
61.283 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
61.284 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.284 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
61.285 * [backup-simplify]: Simplify (- 0) into 0
61.285 * [backup-simplify]: Simplify (+ 0 0) into 0
61.285 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
61.286 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
61.286 * [backup-simplify]: Simplify (+ 0) into 0
61.287 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
61.287 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
61.288 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.288 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
61.289 * [backup-simplify]: Simplify (+ 0 0) into 0
61.289 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
61.289 * [backup-simplify]: Simplify (+ 0) into 0
61.290 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
61.290 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
61.290 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.290 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
61.291 * [backup-simplify]: Simplify (+ 0 0) into 0
61.291 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
61.291 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
61.291 * [backup-simplify]: Simplify (+ 0 0) into 0
61.292 * [backup-simplify]: Simplify (+ 0) into 0
61.292 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
61.292 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
61.292 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.293 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
61.293 * [backup-simplify]: Simplify (+ 0 0) into 0
61.293 * [backup-simplify]: Simplify (+ 0) into 0
61.293 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
61.294 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
61.294 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.294 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
61.295 * [backup-simplify]: Simplify (- 0) into 0
61.295 * [backup-simplify]: Simplify (+ 0 0) into 0
61.295 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
61.295 * [backup-simplify]: Simplify (+ 0) into 0
61.295 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
61.296 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
61.296 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.296 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
61.297 * [backup-simplify]: Simplify (- 0) into 0
61.297 * [backup-simplify]: Simplify (+ 0 0) into 0
61.297 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
61.297 * [backup-simplify]: Simplify (+ 0) into 0
61.298 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
61.298 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
61.298 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.298 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
61.299 * [backup-simplify]: Simplify (+ 0 0) into 0
61.299 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
61.299 * [backup-simplify]: Simplify (+ 0) into 0
61.299 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
61.300 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
61.300 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.300 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
61.301 * [backup-simplify]: Simplify (+ 0 0) into 0
61.301 * [backup-simplify]: Simplify (+ 0) into 0
61.301 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
61.301 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
61.302 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.302 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
61.302 * [backup-simplify]: Simplify (- 0) into 0
61.302 * [backup-simplify]: Simplify (+ 0 0) into 0
61.302 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
61.303 * [backup-simplify]: Simplify (+ 0) into 0
61.303 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
61.303 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
61.304 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.304 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
61.304 * [backup-simplify]: Simplify (+ 0 0) into 0
61.304 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
61.305 * [backup-simplify]: Simplify (+ 0) into 0
61.305 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
61.305 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
61.305 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.306 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
61.306 * [backup-simplify]: Simplify (- 0) into 0
61.306 * [backup-simplify]: Simplify (+ 0 0) into 0
61.306 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
61.307 * [backup-simplify]: Simplify (+ 0 0) into 0
61.307 * [backup-simplify]: Simplify (- 0) into 0
61.307 * [backup-simplify]: Simplify (+ 0 0) into 0
61.309 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into 0
61.311 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2))) into 0
61.313 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
61.315 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
61.315 * [taylor]: Taking taylor expansion of (+ (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (* phi1 (* lambda2 phi2))))) (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 6) (pow (sin (/ -0.5 phi1)) 6)) (* (pow lambda2 3) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)))))) in lambda2
61.315 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (* phi1 (* lambda2 phi2))))) in lambda2
61.315 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) in lambda2
61.315 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) in lambda2
61.315 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3) in lambda2
61.315 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in lambda2
61.315 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in lambda2
61.315 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2
61.315 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2
61.315 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
61.315 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
61.315 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.315 * [backup-simplify]: Simplify -0.5 into -0.5
61.315 * [taylor]: Taking taylor expansion of phi2 in lambda2
61.315 * [backup-simplify]: Simplify phi2 into phi2
61.315 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
61.315 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
61.315 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
61.315 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
61.315 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
61.316 * [backup-simplify]: Simplify (- 0) into 0
61.316 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
61.316 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2
61.316 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
61.316 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
61.316 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.316 * [backup-simplify]: Simplify -0.5 into -0.5
61.316 * [taylor]: Taking taylor expansion of phi1 in lambda2
61.316 * [backup-simplify]: Simplify phi1 into phi1
61.316 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
61.316 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
61.316 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
61.316 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
61.316 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
61.316 * [backup-simplify]: Simplify (- 0) into 0
61.316 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
61.316 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2
61.316 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2
61.317 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
61.317 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
61.317 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.317 * [backup-simplify]: Simplify -0.5 into -0.5
61.317 * [taylor]: Taking taylor expansion of phi2 in lambda2
61.317 * [backup-simplify]: Simplify phi2 into phi2
61.317 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
61.317 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
61.317 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
61.317 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
61.317 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
61.317 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
61.317 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2
61.317 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
61.317 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
61.317 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.317 * [backup-simplify]: Simplify -0.5 into -0.5
61.317 * [taylor]: Taking taylor expansion of phi1 in lambda2
61.317 * [backup-simplify]: Simplify phi1 into phi1
61.317 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
61.317 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
61.317 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
61.317 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
61.317 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
61.317 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
61.317 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in lambda2
61.317 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
61.317 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
61.317 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
61.318 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.318 * [backup-simplify]: Simplify -0.5 into -0.5
61.318 * [taylor]: Taking taylor expansion of phi2 in lambda2
61.318 * [backup-simplify]: Simplify phi2 into phi2
61.318 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
61.318 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
61.318 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
61.318 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
61.318 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
61.318 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
61.318 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.318 * [backup-simplify]: Simplify -0.5 into -0.5
61.318 * [taylor]: Taking taylor expansion of phi2 in lambda2
61.318 * [backup-simplify]: Simplify phi2 into phi2
61.318 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
61.318 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
61.318 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
61.318 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
61.318 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
61.318 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
61.318 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.318 * [backup-simplify]: Simplify -0.5 into -0.5
61.318 * [taylor]: Taking taylor expansion of phi1 in lambda2
61.318 * [backup-simplify]: Simplify phi1 into phi1
61.318 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
61.318 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
61.318 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
61.318 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
61.318 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
61.318 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.318 * [backup-simplify]: Simplify -0.5 into -0.5
61.318 * [taylor]: Taking taylor expansion of phi1 in lambda2
61.318 * [backup-simplify]: Simplify phi1 into phi1
61.318 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
61.318 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
61.318 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
61.318 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
61.318 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
61.319 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
61.319 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.319 * [backup-simplify]: Simplify -0.5 into -0.5
61.319 * [taylor]: Taking taylor expansion of phi2 in lambda2
61.319 * [backup-simplify]: Simplify phi2 into phi2
61.319 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
61.319 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
61.319 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
61.319 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
61.319 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
61.319 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
61.319 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.319 * [backup-simplify]: Simplify -0.5 into -0.5
61.319 * [taylor]: Taking taylor expansion of phi2 in lambda2
61.319 * [backup-simplify]: Simplify phi2 into phi2
61.319 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
61.319 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
61.319 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
61.319 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
61.319 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
61.319 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
61.319 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.319 * [backup-simplify]: Simplify -0.5 into -0.5
61.319 * [taylor]: Taking taylor expansion of phi1 in lambda2
61.319 * [backup-simplify]: Simplify phi1 into phi1
61.319 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
61.319 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
61.319 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
61.319 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
61.319 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
61.319 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.319 * [backup-simplify]: Simplify -0.5 into -0.5
61.319 * [taylor]: Taking taylor expansion of phi1 in lambda2
61.319 * [backup-simplify]: Simplify phi1 into phi1
61.319 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
61.319 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
61.319 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
61.320 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
61.320 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
61.320 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
61.320 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
61.320 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
61.321 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
61.321 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
61.321 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
61.321 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
61.321 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
61.321 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
61.321 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
61.322 * [backup-simplify]: Simplify (- 0) into 0
61.322 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
61.322 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
61.322 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
61.322 * [backup-simplify]: Simplify (- 0) into 0
61.322 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
61.322 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
61.322 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
61.322 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
61.322 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
61.323 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
61.323 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
61.323 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
61.323 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
61.323 * [backup-simplify]: Simplify (- 0) into 0
61.323 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
61.323 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
61.323 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
61.323 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
61.323 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
61.324 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
61.324 * [backup-simplify]: Simplify (- 0) into 0
61.324 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
61.324 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
61.324 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
61.324 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
61.324 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
61.324 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
61.324 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
61.325 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
61.325 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
61.326 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
61.328 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)
61.330 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)
61.331 * [backup-simplify]: Simplify (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) into (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))
61.332 * [backup-simplify]: Simplify (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) into (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))
61.333 * [backup-simplify]: Simplify (+ 0) into 0
61.333 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
61.333 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
61.334 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.334 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
61.334 * [backup-simplify]: Simplify (- 0) into 0
61.334 * [backup-simplify]: Simplify (+ 0 0) into 0
61.335 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
61.335 * [backup-simplify]: Simplify (+ 0) into 0
61.335 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
61.335 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
61.336 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.336 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
61.336 * [backup-simplify]: Simplify (- 0) into 0
61.336 * [backup-simplify]: Simplify (+ 0 0) into 0
61.337 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
61.337 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
61.337 * [backup-simplify]: Simplify (+ 0) into 0
61.337 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
61.337 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
61.338 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.338 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
61.339 * [backup-simplify]: Simplify (+ 0 0) into 0
61.339 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
61.339 * [backup-simplify]: Simplify (+ 0) into 0
61.339 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
61.339 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
61.340 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.340 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
61.340 * [backup-simplify]: Simplify (+ 0 0) into 0
61.340 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
61.341 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
61.341 * [backup-simplify]: Simplify (+ 0 0) into 0
61.341 * [backup-simplify]: Simplify (+ 0) into 0
61.342 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
61.342 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
61.342 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.342 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
61.343 * [backup-simplify]: Simplify (+ 0 0) into 0
61.343 * [backup-simplify]: Simplify (+ 0) into 0
61.343 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
61.343 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
61.344 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.346 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
61.346 * [backup-simplify]: Simplify (- 0) into 0
61.346 * [backup-simplify]: Simplify (+ 0 0) into 0
61.346 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
61.347 * [backup-simplify]: Simplify (+ 0) into 0
61.347 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
61.347 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
61.347 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.348 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
61.348 * [backup-simplify]: Simplify (- 0) into 0
61.348 * [backup-simplify]: Simplify (+ 0 0) into 0
61.348 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
61.349 * [backup-simplify]: Simplify (+ 0) into 0
61.349 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
61.349 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
61.350 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.350 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
61.350 * [backup-simplify]: Simplify (+ 0 0) into 0
61.350 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
61.351 * [backup-simplify]: Simplify (+ 0) into 0
61.351 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
61.351 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
61.352 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.352 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
61.352 * [backup-simplify]: Simplify (+ 0 0) into 0
61.352 * [backup-simplify]: Simplify (+ 0) into 0
61.353 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
61.353 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
61.354 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.354 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
61.354 * [backup-simplify]: Simplify (- 0) into 0
61.354 * [backup-simplify]: Simplify (+ 0 0) into 0
61.355 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
61.355 * [backup-simplify]: Simplify (+ 0) into 0
61.355 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
61.355 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
61.356 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.356 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
61.356 * [backup-simplify]: Simplify (+ 0 0) into 0
61.356 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
61.357 * [backup-simplify]: Simplify (+ 0) into 0
61.357 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
61.357 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
61.358 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.358 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
61.358 * [backup-simplify]: Simplify (- 0) into 0
61.358 * [backup-simplify]: Simplify (+ 0 0) into 0
61.359 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
61.359 * [backup-simplify]: Simplify (+ 0 0) into 0
61.359 * [backup-simplify]: Simplify (- 0) into 0
61.359 * [backup-simplify]: Simplify (+ 0 0) into 0
61.361 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into 0
61.363 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2))) into 0
61.365 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
61.367 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
61.367 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (* phi1 (* lambda2 phi2)))) in lambda2
61.367 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2
61.367 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2
61.367 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
61.367 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
61.367 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.367 * [backup-simplify]: Simplify -0.5 into -0.5
61.367 * [taylor]: Taking taylor expansion of phi2 in lambda2
61.367 * [backup-simplify]: Simplify phi2 into phi2
61.367 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
61.367 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
61.367 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
61.367 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
61.367 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
61.368 * [backup-simplify]: Simplify (- 0) into 0
61.368 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
61.368 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2
61.368 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
61.368 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
61.368 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.368 * [backup-simplify]: Simplify -0.5 into -0.5
61.368 * [taylor]: Taking taylor expansion of phi1 in lambda2
61.368 * [backup-simplify]: Simplify phi1 into phi1
61.368 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
61.368 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
61.368 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
61.368 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
61.368 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
61.368 * [backup-simplify]: Simplify (- 0) into 0
61.368 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
61.368 * [taylor]: Taking taylor expansion of (* R (* phi1 (* lambda2 phi2))) in lambda2
61.368 * [taylor]: Taking taylor expansion of R in lambda2
61.368 * [backup-simplify]: Simplify R into R
61.368 * [taylor]: Taking taylor expansion of (* phi1 (* lambda2 phi2)) in lambda2
61.368 * [taylor]: Taking taylor expansion of phi1 in lambda2
61.369 * [backup-simplify]: Simplify phi1 into phi1
61.369 * [taylor]: Taking taylor expansion of (* lambda2 phi2) in lambda2
61.369 * [taylor]: Taking taylor expansion of lambda2 in lambda2
61.369 * [backup-simplify]: Simplify 0 into 0
61.369 * [backup-simplify]: Simplify 1 into 1
61.369 * [taylor]: Taking taylor expansion of phi2 in lambda2
61.369 * [backup-simplify]: Simplify phi2 into phi2
61.369 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
61.369 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
61.369 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
61.369 * [backup-simplify]: Simplify (* 0 phi2) into 0
61.369 * [backup-simplify]: Simplify (* phi1 0) into 0
61.369 * [backup-simplify]: Simplify (* R 0) into 0
61.369 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi2)) into phi2
61.370 * [backup-simplify]: Simplify (+ (* phi1 phi2) (* 0 0)) into (* phi1 phi2)
61.370 * [backup-simplify]: Simplify (+ (* R (* phi1 phi2)) (* 0 0)) into (* R (* phi1 phi2))
61.370 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (* phi1 phi2))) into (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (* phi1 phi2)))
61.370 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 6) (pow (sin (/ -0.5 phi1)) 6)) (* (pow lambda2 3) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) in lambda2
61.371 * [taylor]: Taking taylor expansion of 1/2 in lambda2
61.371 * [backup-simplify]: Simplify 1/2 into 1/2
61.371 * [taylor]: Taking taylor expansion of (* (/ (* (pow (sin (/ -0.5 phi2)) 6) (pow (sin (/ -0.5 phi1)) 6)) (* (pow lambda2 3) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)))) in lambda2
61.371 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 6) (pow (sin (/ -0.5 phi1)) 6)) (* (pow lambda2 3) R)) in lambda2
61.371 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 6) (pow (sin (/ -0.5 phi1)) 6)) in lambda2
61.371 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 6) in lambda2
61.371 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
61.371 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
61.371 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.371 * [backup-simplify]: Simplify -0.5 into -0.5
61.371 * [taylor]: Taking taylor expansion of phi2 in lambda2
61.371 * [backup-simplify]: Simplify phi2 into phi2
61.371 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
61.371 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
61.371 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
61.371 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
61.371 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
61.371 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
61.371 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 6) in lambda2
61.371 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
61.371 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
61.371 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.371 * [backup-simplify]: Simplify -0.5 into -0.5
61.371 * [taylor]: Taking taylor expansion of phi1 in lambda2
61.371 * [backup-simplify]: Simplify phi1 into phi1
61.371 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
61.371 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
61.371 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
61.371 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
61.371 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
61.372 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
61.372 * [taylor]: Taking taylor expansion of (* (pow lambda2 3) R) in lambda2
61.372 * [taylor]: Taking taylor expansion of (pow lambda2 3) in lambda2
61.372 * [taylor]: Taking taylor expansion of lambda2 in lambda2
61.372 * [backup-simplify]: Simplify 0 into 0
61.372 * [backup-simplify]: Simplify 1 into 1
61.372 * [taylor]: Taking taylor expansion of R in lambda2
61.372 * [backup-simplify]: Simplify R into R
61.372 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
61.372 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (pow (sin (/ -0.5 phi2)) 2)) into (pow (sin (/ -0.5 phi2)) 3)
61.372 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 3) (pow (sin (/ -0.5 phi2)) 3)) into (pow (sin (/ -0.5 phi2)) 6)
61.372 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
61.372 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 2)) into (pow (sin (/ -0.5 phi1)) 3)
61.373 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi1)) 3) (pow (sin (/ -0.5 phi1)) 3)) into (pow (sin (/ -0.5 phi1)) 6)
61.373 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 6) (pow (sin (/ -0.5 phi1)) 6)) into (* (pow (sin (/ -0.5 phi2)) 6) (pow (sin (/ -0.5 phi1)) 6))
61.373 * [backup-simplify]: Simplify (* 1 1) into 1
61.373 * [backup-simplify]: Simplify (* 1 1) into 1
61.373 * [backup-simplify]: Simplify (* 1 R) into R
61.374 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 6) (pow (sin (/ -0.5 phi1)) 6)) R) into (/ (* (pow (sin (/ -0.5 phi2)) 6) (pow (sin (/ -0.5 phi1)) 6)) R)
61.374 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))) in lambda2
61.374 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)) in lambda2
61.374 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5) in lambda2
61.374 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in lambda2
61.374 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in lambda2
61.374 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2
61.374 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2
61.374 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
61.374 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
61.374 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.374 * [backup-simplify]: Simplify -0.5 into -0.5
61.374 * [taylor]: Taking taylor expansion of phi2 in lambda2
61.374 * [backup-simplify]: Simplify phi2 into phi2
61.374 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
61.374 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
61.374 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
61.374 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
61.374 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
61.374 * [backup-simplify]: Simplify (- 0) into 0
61.374 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
61.375 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2
61.375 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
61.375 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
61.375 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.375 * [backup-simplify]: Simplify -0.5 into -0.5
61.375 * [taylor]: Taking taylor expansion of phi1 in lambda2
61.375 * [backup-simplify]: Simplify phi1 into phi1
61.375 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
61.375 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
61.375 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
61.375 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
61.375 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
61.375 * [backup-simplify]: Simplify (- 0) into 0
61.375 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
61.375 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2
61.375 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2
61.375 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
61.375 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
61.375 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.375 * [backup-simplify]: Simplify -0.5 into -0.5
61.375 * [taylor]: Taking taylor expansion of phi2 in lambda2
61.375 * [backup-simplify]: Simplify phi2 into phi2
61.375 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
61.375 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
61.375 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
61.376 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
61.376 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
61.376 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
61.376 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2
61.376 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
61.376 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
61.376 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.376 * [backup-simplify]: Simplify -0.5 into -0.5
61.376 * [taylor]: Taking taylor expansion of phi1 in lambda2
61.376 * [backup-simplify]: Simplify phi1 into phi1
61.376 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
61.376 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
61.376 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
61.376 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
61.376 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
61.376 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
61.376 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in lambda2
61.376 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
61.376 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
61.376 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
61.376 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.376 * [backup-simplify]: Simplify -0.5 into -0.5
61.376 * [taylor]: Taking taylor expansion of phi2 in lambda2
61.376 * [backup-simplify]: Simplify phi2 into phi2
61.376 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
61.376 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
61.376 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
61.376 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
61.376 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
61.376 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
61.376 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.376 * [backup-simplify]: Simplify -0.5 into -0.5
61.377 * [taylor]: Taking taylor expansion of phi2 in lambda2
61.377 * [backup-simplify]: Simplify phi2 into phi2
61.377 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
61.377 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
61.377 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
61.377 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
61.377 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
61.377 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
61.377 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.377 * [backup-simplify]: Simplify -0.5 into -0.5
61.377 * [taylor]: Taking taylor expansion of phi1 in lambda2
61.377 * [backup-simplify]: Simplify phi1 into phi1
61.377 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
61.377 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
61.377 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
61.377 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
61.377 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
61.377 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.377 * [backup-simplify]: Simplify -0.5 into -0.5
61.377 * [taylor]: Taking taylor expansion of phi1 in lambda2
61.377 * [backup-simplify]: Simplify phi1 into phi1
61.377 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
61.377 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
61.377 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
61.377 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
61.377 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
61.377 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
61.377 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.377 * [backup-simplify]: Simplify -0.5 into -0.5
61.377 * [taylor]: Taking taylor expansion of phi2 in lambda2
61.377 * [backup-simplify]: Simplify phi2 into phi2
61.377 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
61.377 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
61.377 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
61.377 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
61.377 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
61.377 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
61.378 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.378 * [backup-simplify]: Simplify -0.5 into -0.5
61.378 * [taylor]: Taking taylor expansion of phi2 in lambda2
61.378 * [backup-simplify]: Simplify phi2 into phi2
61.378 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
61.378 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
61.378 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
61.378 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
61.378 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
61.378 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
61.378 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.378 * [backup-simplify]: Simplify -0.5 into -0.5
61.378 * [taylor]: Taking taylor expansion of phi1 in lambda2
61.378 * [backup-simplify]: Simplify phi1 into phi1
61.378 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
61.378 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
61.378 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
61.378 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
61.378 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
61.378 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.378 * [backup-simplify]: Simplify -0.5 into -0.5
61.378 * [taylor]: Taking taylor expansion of phi1 in lambda2
61.378 * [backup-simplify]: Simplify phi1 into phi1
61.378 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
61.378 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
61.378 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
61.378 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
61.378 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
61.379 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
61.379 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
61.379 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
61.379 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
61.379 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
61.379 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
61.380 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
61.380 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
61.380 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
61.380 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
61.380 * [backup-simplify]: Simplify (- 0) into 0
61.380 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
61.380 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
61.380 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
61.381 * [backup-simplify]: Simplify (- 0) into 0
61.381 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
61.381 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
61.381 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
61.381 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
61.381 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
61.381 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
61.381 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
61.381 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
61.381 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
61.382 * [backup-simplify]: Simplify (- 0) into 0
61.382 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
61.382 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
61.382 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
61.382 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
61.382 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
61.382 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
61.382 * [backup-simplify]: Simplify (- 0) into 0
61.382 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
61.382 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
61.382 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
61.383 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
61.383 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
61.383 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
61.383 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
61.383 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
61.384 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
61.385 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
61.387 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)
61.389 * [backup-simplify]: Simplify (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 4)
61.391 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 4)) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)
61.392 * [backup-simplify]: Simplify (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)) into (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))
61.393 * [backup-simplify]: Simplify (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))) into (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)))
61.394 * [backup-simplify]: Simplify (+ 0) into 0
61.394 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
61.394 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
61.395 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.395 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
61.395 * [backup-simplify]: Simplify (- 0) into 0
61.396 * [backup-simplify]: Simplify (+ 0 0) into 0
61.396 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
61.396 * [backup-simplify]: Simplify (+ 0) into 0
61.396 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
61.397 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
61.397 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.397 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
61.398 * [backup-simplify]: Simplify (- 0) into 0
61.398 * [backup-simplify]: Simplify (+ 0 0) into 0
61.398 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
61.398 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
61.399 * [backup-simplify]: Simplify (+ 0) into 0
61.399 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
61.399 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
61.399 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.400 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
61.400 * [backup-simplify]: Simplify (+ 0 0) into 0
61.400 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
61.400 * [backup-simplify]: Simplify (+ 0) into 0
61.401 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
61.401 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
61.401 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.402 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
61.402 * [backup-simplify]: Simplify (+ 0 0) into 0
61.402 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
61.402 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
61.402 * [backup-simplify]: Simplify (+ 0 0) into 0
61.403 * [backup-simplify]: Simplify (+ 0) into 0
61.403 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
61.403 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
61.404 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.404 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
61.404 * [backup-simplify]: Simplify (+ 0 0) into 0
61.404 * [backup-simplify]: Simplify (+ 0) into 0
61.405 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
61.405 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
61.405 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.406 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
61.406 * [backup-simplify]: Simplify (- 0) into 0
61.406 * [backup-simplify]: Simplify (+ 0 0) into 0
61.406 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
61.406 * [backup-simplify]: Simplify (+ 0) into 0
61.407 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
61.407 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
61.407 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.408 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
61.408 * [backup-simplify]: Simplify (- 0) into 0
61.408 * [backup-simplify]: Simplify (+ 0 0) into 0
61.408 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
61.409 * [backup-simplify]: Simplify (+ 0) into 0
61.409 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
61.409 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
61.409 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.410 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
61.410 * [backup-simplify]: Simplify (+ 0 0) into 0
61.410 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
61.410 * [backup-simplify]: Simplify (+ 0) into 0
61.411 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
61.411 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
61.411 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.412 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
61.412 * [backup-simplify]: Simplify (+ 0 0) into 0
61.412 * [backup-simplify]: Simplify (+ 0) into 0
61.412 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
61.413 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
61.413 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.413 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
61.413 * [backup-simplify]: Simplify (- 0) into 0
61.414 * [backup-simplify]: Simplify (+ 0 0) into 0
61.414 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
61.414 * [backup-simplify]: Simplify (+ 0) into 0
61.414 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
61.415 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
61.415 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.415 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
61.415 * [backup-simplify]: Simplify (+ 0 0) into 0
61.416 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
61.416 * [backup-simplify]: Simplify (+ 0) into 0
61.416 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
61.416 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
61.417 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.417 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
61.418 * [backup-simplify]: Simplify (- 0) into 0
61.418 * [backup-simplify]: Simplify (+ 0 0) into 0
61.418 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
61.419 * [backup-simplify]: Simplify (+ 0 0) into 0
61.419 * [backup-simplify]: Simplify (- 0) into 0
61.419 * [backup-simplify]: Simplify (+ 0 0) into 0
61.422 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into 0
61.424 * [backup-simplify]: Simplify (+ (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2) 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2))) into 0
61.426 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 4))) into 0
61.428 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)) (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) into 0
61.430 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) into 0
61.430 * [taylor]: Taking taylor expansion of (+ (* 10 (* (/ (* (pow (sin (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (pow (sin (/ -0.5 phi1)) 3)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* lambda2 (* R (pow phi2 2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) (* (pow lambda2 3) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow phi1 2) (* lambda2 R))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 3 (* (/ (* (pow (sin (/ -0.5 phi2)) 5) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 5)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) (* (pow lambda2 3) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* lambda2 (* R (pow phi2 2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 3 (* (/ (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 5) (* (pow (cos (/ -0.5 phi1)) 5) (sin (/ -0.5 phi1))))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) (+ (* 3 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (* lambda2 (pow phi1 2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (* lambda2 (* phi1 phi2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))))))))))))) in lambda2
61.430 * [taylor]: Taking taylor expansion of (* 10 (* (/ (* (pow (sin (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (pow (sin (/ -0.5 phi1)) 3)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) in lambda2
61.430 * [taylor]: Taking taylor expansion of 10 in lambda2
61.430 * [backup-simplify]: Simplify 10 into 10
61.430 * [taylor]: Taking taylor expansion of (* (/ (* (pow (sin (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (pow (sin (/ -0.5 phi1)) 3)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)))) in lambda2
61.430 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (pow (sin (/ -0.5 phi1)) 3)))) (* R (pow lambda2 3))) in lambda2
61.430 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (pow (sin (/ -0.5 phi1)) 3)))) in lambda2
61.430 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 3) in lambda2
61.430 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
61.430 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
61.430 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.430 * [backup-simplify]: Simplify -0.5 into -0.5
61.430 * [taylor]: Taking taylor expansion of phi2 in lambda2
61.430 * [backup-simplify]: Simplify phi2 into phi2
61.430 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
61.430 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
61.430 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
61.430 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
61.431 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
61.431 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
61.431 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (pow (sin (/ -0.5 phi1)) 3))) in lambda2
61.431 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 3) in lambda2
61.431 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
61.431 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
61.431 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.431 * [backup-simplify]: Simplify -0.5 into -0.5
61.431 * [taylor]: Taking taylor expansion of phi2 in lambda2
61.431 * [backup-simplify]: Simplify phi2 into phi2
61.431 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
61.431 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
61.431 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
61.431 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
61.431 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
61.432 * [backup-simplify]: Simplify (- 0) into 0
61.432 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
61.432 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi1)) 3) (pow (sin (/ -0.5 phi1)) 3)) in lambda2
61.432 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 3) in lambda2
61.432 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
61.432 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
61.432 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.432 * [backup-simplify]: Simplify -0.5 into -0.5
61.432 * [taylor]: Taking taylor expansion of phi1 in lambda2
61.432 * [backup-simplify]: Simplify phi1 into phi1
61.432 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
61.432 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
61.432 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
61.432 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
61.432 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
61.433 * [backup-simplify]: Simplify (- 0) into 0
61.433 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
61.433 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 3) in lambda2
61.433 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
61.433 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
61.433 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.433 * [backup-simplify]: Simplify -0.5 into -0.5
61.433 * [taylor]: Taking taylor expansion of phi1 in lambda2
61.433 * [backup-simplify]: Simplify phi1 into phi1
61.433 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
61.433 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
61.433 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
61.433 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
61.433 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
61.433 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
61.433 * [taylor]: Taking taylor expansion of (* R (pow lambda2 3)) in lambda2
61.433 * [taylor]: Taking taylor expansion of R in lambda2
61.433 * [backup-simplify]: Simplify R into R
61.433 * [taylor]: Taking taylor expansion of (pow lambda2 3) in lambda2
61.433 * [taylor]: Taking taylor expansion of lambda2 in lambda2
61.433 * [backup-simplify]: Simplify 0 into 0
61.433 * [backup-simplify]: Simplify 1 into 1
61.433 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
61.434 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (pow (sin (/ -0.5 phi2)) 2)) into (pow (sin (/ -0.5 phi2)) 3)
61.434 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
61.434 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (pow (cos (/ -0.5 phi2)) 2)) into (pow (cos (/ -0.5 phi2)) 3)
61.434 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
61.434 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (pow (cos (/ -0.5 phi1)) 2)) into (pow (cos (/ -0.5 phi1)) 3)
61.434 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
61.434 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 2)) into (pow (sin (/ -0.5 phi1)) 3)
61.435 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi1)) 3) (pow (sin (/ -0.5 phi1)) 3)) into (* (pow (cos (/ -0.5 phi1)) 3) (pow (sin (/ -0.5 phi1)) 3))
61.435 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (pow (sin (/ -0.5 phi1)) 3))) into (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (pow (sin (/ -0.5 phi1)) 3)))
61.435 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (pow (sin (/ -0.5 phi1)) 3)))) into (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (sin (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (pow (sin (/ -0.5 phi1)) 3))))
61.436 * [backup-simplify]: Simplify (* 1 1) into 1
61.436 * [backup-simplify]: Simplify (* 1 1) into 1
61.436 * [backup-simplify]: Simplify (* R 1) into R
61.436 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (sin (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (pow (sin (/ -0.5 phi1)) 3)))) R) into (/ (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (sin (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (pow (sin (/ -0.5 phi1)) 3)))) R)
61.436 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))) in lambda2
61.436 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)) in lambda2
61.436 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5) in lambda2
61.436 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in lambda2
61.436 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in lambda2
61.436 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2
61.436 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2
61.437 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
61.437 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
61.437 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.437 * [backup-simplify]: Simplify -0.5 into -0.5
61.437 * [taylor]: Taking taylor expansion of phi2 in lambda2
61.437 * [backup-simplify]: Simplify phi2 into phi2
61.437 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
61.437 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
61.437 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
61.437 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
61.437 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
61.437 * [backup-simplify]: Simplify (- 0) into 0
61.437 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
61.437 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2
61.437 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
61.437 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
61.437 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.437 * [backup-simplify]: Simplify -0.5 into -0.5
61.437 * [taylor]: Taking taylor expansion of phi1 in lambda2
61.437 * [backup-simplify]: Simplify phi1 into phi1
61.437 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
61.437 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
61.438 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
61.438 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
61.438 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
61.438 * [backup-simplify]: Simplify (- 0) into 0
61.438 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
61.438 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2
61.438 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2
61.438 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
61.438 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
61.438 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.438 * [backup-simplify]: Simplify -0.5 into -0.5
61.439 * [taylor]: Taking taylor expansion of phi2 in lambda2
61.439 * [backup-simplify]: Simplify phi2 into phi2
61.439 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
61.439 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
61.439 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
61.439 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
61.439 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
61.439 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
61.439 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2
61.439 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
61.439 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
61.439 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.439 * [backup-simplify]: Simplify -0.5 into -0.5
61.439 * [taylor]: Taking taylor expansion of phi1 in lambda2
61.439 * [backup-simplify]: Simplify phi1 into phi1
61.439 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
61.440 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
61.440 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
61.440 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
61.440 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
61.440 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
61.440 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in lambda2
61.440 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
61.440 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
61.440 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
61.440 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.440 * [backup-simplify]: Simplify -0.5 into -0.5
61.440 * [taylor]: Taking taylor expansion of phi2 in lambda2
61.440 * [backup-simplify]: Simplify phi2 into phi2
61.440 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
61.440 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
61.441 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
61.441 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
61.441 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
61.441 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
61.441 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.441 * [backup-simplify]: Simplify -0.5 into -0.5
61.441 * [taylor]: Taking taylor expansion of phi2 in lambda2
61.441 * [backup-simplify]: Simplify phi2 into phi2
61.441 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
61.441 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
61.441 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
61.441 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
61.441 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
61.441 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
61.441 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.441 * [backup-simplify]: Simplify -0.5 into -0.5
61.441 * [taylor]: Taking taylor expansion of phi1 in lambda2
61.441 * [backup-simplify]: Simplify phi1 into phi1
61.441 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
61.441 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
61.442 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
61.442 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
61.442 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
61.442 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.442 * [backup-simplify]: Simplify -0.5 into -0.5
61.442 * [taylor]: Taking taylor expansion of phi1 in lambda2
61.442 * [backup-simplify]: Simplify phi1 into phi1
61.442 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
61.442 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
61.442 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
61.442 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
61.442 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
61.442 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
61.442 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.442 * [backup-simplify]: Simplify -0.5 into -0.5
61.442 * [taylor]: Taking taylor expansion of phi2 in lambda2
61.442 * [backup-simplify]: Simplify phi2 into phi2
61.442 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
61.442 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
61.442 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
61.442 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
61.443 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
61.443 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
61.443 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.443 * [backup-simplify]: Simplify -0.5 into -0.5
61.443 * [taylor]: Taking taylor expansion of phi2 in lambda2
61.443 * [backup-simplify]: Simplify phi2 into phi2
61.443 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
61.443 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
61.443 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
61.443 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
61.443 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
61.443 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
61.443 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.443 * [backup-simplify]: Simplify -0.5 into -0.5
61.443 * [taylor]: Taking taylor expansion of phi1 in lambda2
61.443 * [backup-simplify]: Simplify phi1 into phi1
61.443 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
61.443 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
61.443 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
61.443 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
61.443 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
61.444 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.444 * [backup-simplify]: Simplify -0.5 into -0.5
61.444 * [taylor]: Taking taylor expansion of phi1 in lambda2
61.444 * [backup-simplify]: Simplify phi1 into phi1
61.444 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
61.444 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
61.444 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
61.444 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
61.444 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
61.445 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
61.445 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
61.445 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
61.445 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
61.446 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
61.446 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
61.446 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
61.447 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
61.447 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
61.447 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
61.447 * [backup-simplify]: Simplify (- 0) into 0
61.447 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
61.448 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
61.448 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
61.448 * [backup-simplify]: Simplify (- 0) into 0
61.448 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
61.448 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
61.448 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
61.449 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
61.449 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
61.449 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
61.449 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
61.450 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
61.450 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
61.450 * [backup-simplify]: Simplify (- 0) into 0
61.450 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
61.450 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
61.450 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
61.451 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
61.451 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
61.451 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
61.451 * [backup-simplify]: Simplify (- 0) into 0
61.451 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
61.451 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
61.452 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
61.452 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
61.452 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
61.452 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
61.452 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
61.453 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
61.454 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
61.456 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
61.460 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)
61.464 * [backup-simplify]: Simplify (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 4)
61.471 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 4)) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)
61.473 * [backup-simplify]: Simplify (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)) into (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))
61.475 * [backup-simplify]: Simplify (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))) into (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)))
61.476 * [backup-simplify]: Simplify (+ 0) into 0
61.477 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
61.477 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
61.478 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.478 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
61.479 * [backup-simplify]: Simplify (- 0) into 0
61.479 * [backup-simplify]: Simplify (+ 0 0) into 0
61.479 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
61.480 * [backup-simplify]: Simplify (+ 0) into 0
61.480 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
61.480 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
61.481 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.482 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
61.482 * [backup-simplify]: Simplify (- 0) into 0
61.482 * [backup-simplify]: Simplify (+ 0 0) into 0
61.483 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
61.483 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
61.483 * [backup-simplify]: Simplify (+ 0) into 0
61.484 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
61.484 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
61.485 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.485 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
61.486 * [backup-simplify]: Simplify (+ 0 0) into 0
61.486 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
61.486 * [backup-simplify]: Simplify (+ 0) into 0
61.487 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
61.487 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
61.488 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.488 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
61.489 * [backup-simplify]: Simplify (+ 0 0) into 0
61.489 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
61.489 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
61.490 * [backup-simplify]: Simplify (+ 0 0) into 0
61.490 * [backup-simplify]: Simplify (+ 0) into 0
61.491 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
61.491 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
61.492 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.492 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
61.492 * [backup-simplify]: Simplify (+ 0 0) into 0
61.493 * [backup-simplify]: Simplify (+ 0) into 0
61.493 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
61.494 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
61.494 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.495 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
61.495 * [backup-simplify]: Simplify (- 0) into 0
61.496 * [backup-simplify]: Simplify (+ 0 0) into 0
61.496 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
61.496 * [backup-simplify]: Simplify (+ 0) into 0
61.497 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
61.497 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
61.498 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.498 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
61.499 * [backup-simplify]: Simplify (- 0) into 0
61.499 * [backup-simplify]: Simplify (+ 0 0) into 0
61.499 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
61.500 * [backup-simplify]: Simplify (+ 0) into 0
61.500 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
61.500 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
61.501 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.502 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
61.502 * [backup-simplify]: Simplify (+ 0 0) into 0
61.502 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
61.503 * [backup-simplify]: Simplify (+ 0) into 0
61.503 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
61.503 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
61.504 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.505 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
61.505 * [backup-simplify]: Simplify (+ 0 0) into 0
61.505 * [backup-simplify]: Simplify (+ 0) into 0
61.506 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
61.506 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
61.507 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.507 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
61.507 * [backup-simplify]: Simplify (- 0) into 0
61.508 * [backup-simplify]: Simplify (+ 0 0) into 0
61.508 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
61.508 * [backup-simplify]: Simplify (+ 0) into 0
61.509 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
61.509 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
61.510 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.510 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
61.511 * [backup-simplify]: Simplify (+ 0 0) into 0
61.511 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
61.511 * [backup-simplify]: Simplify (+ 0) into 0
61.512 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
61.512 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
61.513 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.513 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
61.514 * [backup-simplify]: Simplify (- 0) into 0
61.514 * [backup-simplify]: Simplify (+ 0 0) into 0
61.514 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
61.515 * [backup-simplify]: Simplify (+ 0 0) into 0
61.515 * [backup-simplify]: Simplify (- 0) into 0
61.516 * [backup-simplify]: Simplify (+ 0 0) into 0
61.519 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into 0
61.521 * [backup-simplify]: Simplify (+ (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2) 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2))) into 0
61.523 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 4))) into 0
61.525 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)) (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) into 0
61.526 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) into 0
61.527 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* lambda2 (* R (pow phi2 2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) (* (pow lambda2 3) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow phi1 2) (* lambda2 R))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 3 (* (/ (* (pow (sin (/ -0.5 phi2)) 5) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 5)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) (* (pow lambda2 3) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* lambda2 (* R (pow phi2 2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 3 (* (/ (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 5) (* (pow (cos (/ -0.5 phi1)) 5) (sin (/ -0.5 phi1))))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) (+ (* 3 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (* lambda2 (pow phi1 2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (* lambda2 (* phi1 phi2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))))))))))) in lambda2
61.527 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* lambda2 (* R (pow phi2 2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) in lambda2
61.527 * [taylor]: Taking taylor expansion of 1/2 in lambda2
61.527 * [backup-simplify]: Simplify 1/2 into 1/2
61.527 * [taylor]: Taking taylor expansion of (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* lambda2 (* R (pow phi2 2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) in lambda2
61.527 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* lambda2 (* R (pow phi2 2)))) in lambda2
61.527 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2
61.527 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2
61.527 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
61.527 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
61.527 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.527 * [backup-simplify]: Simplify -0.5 into -0.5
61.527 * [taylor]: Taking taylor expansion of phi2 in lambda2
61.527 * [backup-simplify]: Simplify phi2 into phi2
61.527 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
61.527 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
61.527 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
61.527 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
61.527 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
61.527 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
61.527 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2
61.527 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
61.527 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
61.527 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.528 * [backup-simplify]: Simplify -0.5 into -0.5
61.528 * [taylor]: Taking taylor expansion of phi1 in lambda2
61.528 * [backup-simplify]: Simplify phi1 into phi1
61.528 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
61.528 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
61.528 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
61.528 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
61.528 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
61.528 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
61.528 * [taylor]: Taking taylor expansion of (* lambda2 (* R (pow phi2 2))) in lambda2
61.528 * [taylor]: Taking taylor expansion of lambda2 in lambda2
61.528 * [backup-simplify]: Simplify 0 into 0
61.528 * [backup-simplify]: Simplify 1 into 1
61.528 * [taylor]: Taking taylor expansion of (* R (pow phi2 2)) in lambda2
61.528 * [taylor]: Taking taylor expansion of R in lambda2
61.528 * [backup-simplify]: Simplify R into R
61.528 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2
61.528 * [taylor]: Taking taylor expansion of phi2 in lambda2
61.528 * [backup-simplify]: Simplify phi2 into phi2
61.528 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
61.528 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
61.528 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
61.528 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
61.529 * [backup-simplify]: Simplify (* R (pow phi2 2)) into (* R (pow phi2 2))
61.529 * [backup-simplify]: Simplify (* 0 (* R (pow phi2 2))) into 0
61.529 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0
61.529 * [backup-simplify]: Simplify (+ (* R 0) (* 0 (pow phi2 2))) into 0
61.529 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* R (pow phi2 2)))) into (* R (pow phi2 2))
61.530 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (pow phi2 2))) into (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (pow phi2 2)))
61.530 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) in lambda2
61.530 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) in lambda2
61.530 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3) in lambda2
61.530 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in lambda2
61.530 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in lambda2
61.530 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2
61.530 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2
61.530 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
61.530 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
61.530 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.530 * [backup-simplify]: Simplify -0.5 into -0.5
61.530 * [taylor]: Taking taylor expansion of phi2 in lambda2
61.530 * [backup-simplify]: Simplify phi2 into phi2
61.530 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
61.530 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
61.530 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
61.530 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
61.530 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
61.531 * [backup-simplify]: Simplify (- 0) into 0
61.531 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
61.531 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2
61.531 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
61.531 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
61.531 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.531 * [backup-simplify]: Simplify -0.5 into -0.5
61.531 * [taylor]: Taking taylor expansion of phi1 in lambda2
61.531 * [backup-simplify]: Simplify phi1 into phi1
61.531 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
61.531 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
61.531 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
61.531 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
61.531 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
61.531 * [backup-simplify]: Simplify (- 0) into 0
61.532 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
61.532 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2
61.532 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2
61.532 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
61.532 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
61.532 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.532 * [backup-simplify]: Simplify -0.5 into -0.5
61.532 * [taylor]: Taking taylor expansion of phi2 in lambda2
61.532 * [backup-simplify]: Simplify phi2 into phi2
61.532 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
61.532 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
61.532 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
61.532 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
61.532 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
61.532 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
61.532 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2
61.532 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
61.532 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
61.532 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.532 * [backup-simplify]: Simplify -0.5 into -0.5
61.532 * [taylor]: Taking taylor expansion of phi1 in lambda2
61.532 * [backup-simplify]: Simplify phi1 into phi1
61.532 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
61.532 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
61.532 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
61.532 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
61.532 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
61.532 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
61.532 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in lambda2
61.533 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
61.533 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
61.533 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
61.533 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.533 * [backup-simplify]: Simplify -0.5 into -0.5
61.533 * [taylor]: Taking taylor expansion of phi2 in lambda2
61.533 * [backup-simplify]: Simplify phi2 into phi2
61.533 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
61.533 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
61.533 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
61.533 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
61.533 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
61.533 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
61.533 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.533 * [backup-simplify]: Simplify -0.5 into -0.5
61.533 * [taylor]: Taking taylor expansion of phi2 in lambda2
61.533 * [backup-simplify]: Simplify phi2 into phi2
61.533 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
61.533 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
61.533 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
61.533 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
61.533 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
61.533 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
61.533 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.533 * [backup-simplify]: Simplify -0.5 into -0.5
61.533 * [taylor]: Taking taylor expansion of phi1 in lambda2
61.533 * [backup-simplify]: Simplify phi1 into phi1
61.533 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
61.533 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
61.533 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
61.533 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
61.533 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
61.533 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.533 * [backup-simplify]: Simplify -0.5 into -0.5
61.533 * [taylor]: Taking taylor expansion of phi1 in lambda2
61.533 * [backup-simplify]: Simplify phi1 into phi1
61.533 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
61.533 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
61.534 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
61.534 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
61.534 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
61.534 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
61.534 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.534 * [backup-simplify]: Simplify -0.5 into -0.5
61.534 * [taylor]: Taking taylor expansion of phi2 in lambda2
61.534 * [backup-simplify]: Simplify phi2 into phi2
61.534 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
61.534 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
61.534 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
61.534 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
61.534 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
61.534 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
61.534 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.534 * [backup-simplify]: Simplify -0.5 into -0.5
61.534 * [taylor]: Taking taylor expansion of phi2 in lambda2
61.534 * [backup-simplify]: Simplify phi2 into phi2
61.534 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
61.534 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
61.534 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
61.534 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
61.534 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
61.534 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
61.534 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.534 * [backup-simplify]: Simplify -0.5 into -0.5
61.534 * [taylor]: Taking taylor expansion of phi1 in lambda2
61.534 * [backup-simplify]: Simplify phi1 into phi1
61.534 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
61.534 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
61.534 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
61.534 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
61.534 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
61.534 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.534 * [backup-simplify]: Simplify -0.5 into -0.5
61.534 * [taylor]: Taking taylor expansion of phi1 in lambda2
61.534 * [backup-simplify]: Simplify phi1 into phi1
61.534 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
61.535 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
61.535 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
61.535 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
61.535 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
61.535 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
61.535 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
61.535 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
61.535 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
61.536 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
61.536 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
61.536 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
61.536 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
61.536 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
61.536 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
61.536 * [backup-simplify]: Simplify (- 0) into 0
61.537 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
61.537 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
61.537 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
61.537 * [backup-simplify]: Simplify (- 0) into 0
61.537 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
61.537 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
61.537 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
61.537 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
61.537 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
61.537 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
61.538 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
61.538 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
61.538 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
61.538 * [backup-simplify]: Simplify (- 0) into 0
61.538 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
61.538 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
61.538 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
61.538 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
61.538 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
61.538 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
61.539 * [backup-simplify]: Simplify (- 0) into 0
61.539 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
61.539 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
61.539 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
61.539 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
61.539 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
61.539 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
61.539 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
61.540 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
61.540 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
61.541 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
61.543 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)
61.545 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)
61.547 * [backup-simplify]: Simplify (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) into (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))
61.549 * [backup-simplify]: Simplify (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) into (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))
61.550 * [backup-simplify]: Simplify (+ 0) into 0
61.550 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
61.551 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
61.551 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.552 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
61.552 * [backup-simplify]: Simplify (- 0) into 0
61.553 * [backup-simplify]: Simplify (+ 0 0) into 0
61.553 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
61.553 * [backup-simplify]: Simplify (+ 0) into 0
61.554 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
61.554 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
61.555 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.555 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
61.556 * [backup-simplify]: Simplify (- 0) into 0
61.556 * [backup-simplify]: Simplify (+ 0 0) into 0
61.556 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
61.557 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
61.557 * [backup-simplify]: Simplify (+ 0) into 0
61.558 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
61.558 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
61.559 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.559 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
61.560 * [backup-simplify]: Simplify (+ 0 0) into 0
61.560 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
61.560 * [backup-simplify]: Simplify (+ 0) into 0
61.561 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
61.561 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
61.562 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.562 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
61.563 * [backup-simplify]: Simplify (+ 0 0) into 0
61.563 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
61.563 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
61.564 * [backup-simplify]: Simplify (+ 0 0) into 0
61.564 * [backup-simplify]: Simplify (+ 0) into 0
61.565 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
61.565 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
61.566 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.566 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
61.567 * [backup-simplify]: Simplify (+ 0 0) into 0
61.567 * [backup-simplify]: Simplify (+ 0) into 0
61.568 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
61.568 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
61.568 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.569 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
61.569 * [backup-simplify]: Simplify (- 0) into 0
61.570 * [backup-simplify]: Simplify (+ 0 0) into 0
61.570 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
61.570 * [backup-simplify]: Simplify (+ 0) into 0
61.571 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
61.571 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
61.572 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.573 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
61.573 * [backup-simplify]: Simplify (- 0) into 0
61.574 * [backup-simplify]: Simplify (+ 0 0) into 0
61.574 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
61.574 * [backup-simplify]: Simplify (+ 0) into 0
61.575 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
61.575 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
61.576 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.576 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
61.577 * [backup-simplify]: Simplify (+ 0 0) into 0
61.577 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
61.578 * [backup-simplify]: Simplify (+ 0) into 0
61.578 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
61.578 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
61.579 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.580 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
61.580 * [backup-simplify]: Simplify (+ 0 0) into 0
61.580 * [backup-simplify]: Simplify (+ 0) into 0
61.581 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
61.581 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
61.582 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.582 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
61.583 * [backup-simplify]: Simplify (- 0) into 0
61.583 * [backup-simplify]: Simplify (+ 0 0) into 0
61.583 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
61.584 * [backup-simplify]: Simplify (+ 0) into 0
61.584 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
61.585 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
61.585 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.586 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
61.586 * [backup-simplify]: Simplify (+ 0 0) into 0
61.587 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
61.587 * [backup-simplify]: Simplify (+ 0) into 0
61.588 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
61.588 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
61.589 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.589 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
61.589 * [backup-simplify]: Simplify (- 0) into 0
61.590 * [backup-simplify]: Simplify (+ 0 0) into 0
61.590 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
61.590 * [backup-simplify]: Simplify (+ 0 0) into 0
61.590 * [backup-simplify]: Simplify (- 0) into 0
61.591 * [backup-simplify]: Simplify (+ 0 0) into 0
61.593 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into 0
61.595 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2))) into 0
61.597 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
61.598 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
61.599 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) (* (pow lambda2 3) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow phi1 2) (* lambda2 R))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 3 (* (/ (* (pow (sin (/ -0.5 phi2)) 5) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 5)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) (* (pow lambda2 3) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* lambda2 (* R (pow phi2 2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 3 (* (/ (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 5) (* (pow (cos (/ -0.5 phi1)) 5) (sin (/ -0.5 phi1))))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) (+ (* 3 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (* lambda2 (pow phi1 2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (* lambda2 (* phi1 phi2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))))))))))) in lambda2
61.599 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) (* (pow lambda2 3) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) in lambda2
61.599 * [taylor]: Taking taylor expansion of 1/2 in lambda2
61.599 * [backup-simplify]: Simplify 1/2 into 1/2
61.599 * [taylor]: Taking taylor expansion of (* (/ (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) (* (pow lambda2 3) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) in lambda2
61.599 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) (* (pow lambda2 3) R)) in lambda2
61.599 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) in lambda2
61.599 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 4) in lambda2
61.599 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
61.599 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
61.599 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.599 * [backup-simplify]: Simplify -0.5 into -0.5
61.599 * [taylor]: Taking taylor expansion of phi2 in lambda2
61.599 * [backup-simplify]: Simplify phi2 into phi2
61.599 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
61.599 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
61.599 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
61.599 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
61.599 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
61.600 * [backup-simplify]: Simplify (- 0) into 0
61.600 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
61.600 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 4) in lambda2
61.600 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
61.600 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
61.600 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.600 * [backup-simplify]: Simplify -0.5 into -0.5
61.600 * [taylor]: Taking taylor expansion of phi1 in lambda2
61.600 * [backup-simplify]: Simplify phi1 into phi1
61.600 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
61.600 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
61.600 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
61.600 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
61.600 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
61.601 * [backup-simplify]: Simplify (- 0) into 0
61.601 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
61.601 * [taylor]: Taking taylor expansion of (* (pow lambda2 3) R) in lambda2
61.601 * [taylor]: Taking taylor expansion of (pow lambda2 3) in lambda2
61.601 * [taylor]: Taking taylor expansion of lambda2 in lambda2
61.601 * [backup-simplify]: Simplify 0 into 0
61.601 * [backup-simplify]: Simplify 1 into 1
61.601 * [taylor]: Taking taylor expansion of R in lambda2
61.601 * [backup-simplify]: Simplify R into R
61.601 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
61.601 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi2)) 2)) into (pow (cos (/ -0.5 phi2)) 4)
61.601 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
61.601 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (pow (cos (/ -0.5 phi1)) 4)
61.602 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) into (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4))
61.602 * [backup-simplify]: Simplify (* 1 1) into 1
61.602 * [backup-simplify]: Simplify (* 1 1) into 1
61.602 * [backup-simplify]: Simplify (* 1 R) into R
61.602 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) R) into (/ (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) R)
61.602 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) in lambda2
61.602 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) in lambda2
61.603 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3) in lambda2
61.603 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in lambda2
61.603 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in lambda2
61.603 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2
61.603 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2
61.603 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
61.603 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
61.603 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.603 * [backup-simplify]: Simplify -0.5 into -0.5
61.603 * [taylor]: Taking taylor expansion of phi2 in lambda2
61.603 * [backup-simplify]: Simplify phi2 into phi2
61.603 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
61.603 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
61.603 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
61.603 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
61.603 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
61.603 * [backup-simplify]: Simplify (- 0) into 0
61.603 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
61.603 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2
61.603 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
61.603 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
61.603 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.603 * [backup-simplify]: Simplify -0.5 into -0.5
61.603 * [taylor]: Taking taylor expansion of phi1 in lambda2
61.604 * [backup-simplify]: Simplify phi1 into phi1
61.604 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
61.604 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
61.604 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
61.604 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
61.604 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
61.606 * [backup-simplify]: Simplify (- 0) into 0
61.606 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
61.606 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2
61.606 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2
61.606 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
61.606 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
61.606 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.606 * [backup-simplify]: Simplify -0.5 into -0.5
61.606 * [taylor]: Taking taylor expansion of phi2 in lambda2
61.606 * [backup-simplify]: Simplify phi2 into phi2
61.606 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
61.606 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
61.606 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
61.606 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
61.606 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
61.606 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
61.606 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2
61.606 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
61.606 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
61.606 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.606 * [backup-simplify]: Simplify -0.5 into -0.5
61.606 * [taylor]: Taking taylor expansion of phi1 in lambda2
61.606 * [backup-simplify]: Simplify phi1 into phi1
61.606 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
61.606 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
61.606 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
61.607 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
61.607 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
61.607 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
61.607 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in lambda2
61.607 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
61.607 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
61.607 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
61.607 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.607 * [backup-simplify]: Simplify -0.5 into -0.5
61.607 * [taylor]: Taking taylor expansion of phi2 in lambda2
61.607 * [backup-simplify]: Simplify phi2 into phi2
61.607 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
61.607 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
61.607 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
61.607 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
61.607 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
61.607 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
61.607 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.607 * [backup-simplify]: Simplify -0.5 into -0.5
61.607 * [taylor]: Taking taylor expansion of phi2 in lambda2
61.607 * [backup-simplify]: Simplify phi2 into phi2
61.607 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
61.607 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
61.607 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
61.607 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
61.607 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
61.607 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
61.607 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.607 * [backup-simplify]: Simplify -0.5 into -0.5
61.607 * [taylor]: Taking taylor expansion of phi1 in lambda2
61.607 * [backup-simplify]: Simplify phi1 into phi1
61.607 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
61.607 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
61.608 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
61.608 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
61.608 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
61.608 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.608 * [backup-simplify]: Simplify -0.5 into -0.5
61.608 * [taylor]: Taking taylor expansion of phi1 in lambda2
61.608 * [backup-simplify]: Simplify phi1 into phi1
61.608 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
61.608 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
61.608 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
61.608 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
61.608 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
61.608 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
61.608 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.608 * [backup-simplify]: Simplify -0.5 into -0.5
61.608 * [taylor]: Taking taylor expansion of phi2 in lambda2
61.608 * [backup-simplify]: Simplify phi2 into phi2
61.608 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
61.608 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
61.608 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
61.608 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
61.608 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
61.608 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
61.608 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.608 * [backup-simplify]: Simplify -0.5 into -0.5
61.608 * [taylor]: Taking taylor expansion of phi2 in lambda2
61.608 * [backup-simplify]: Simplify phi2 into phi2
61.608 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
61.608 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
61.608 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
61.608 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
61.608 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
61.608 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
61.608 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.608 * [backup-simplify]: Simplify -0.5 into -0.5
61.608 * [taylor]: Taking taylor expansion of phi1 in lambda2
61.608 * [backup-simplify]: Simplify phi1 into phi1
61.608 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
61.609 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
61.609 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
61.609 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
61.609 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
61.609 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.609 * [backup-simplify]: Simplify -0.5 into -0.5
61.609 * [taylor]: Taking taylor expansion of phi1 in lambda2
61.609 * [backup-simplify]: Simplify phi1 into phi1
61.609 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
61.609 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
61.609 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
61.609 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
61.609 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
61.609 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
61.609 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
61.610 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
61.610 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
61.610 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
61.610 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
61.610 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
61.610 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
61.611 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
61.611 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
61.612 * [backup-simplify]: Simplify (- 0) into 0
61.612 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
61.612 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
61.612 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
61.612 * [backup-simplify]: Simplify (- 0) into 0
61.612 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
61.612 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
61.613 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
61.613 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
61.613 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
61.613 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
61.613 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
61.613 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
61.613 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
61.613 * [backup-simplify]: Simplify (- 0) into 0
61.613 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
61.614 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
61.614 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
61.614 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
61.614 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
61.614 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
61.614 * [backup-simplify]: Simplify (- 0) into 0
61.614 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
61.614 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
61.614 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
61.614 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
61.614 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
61.615 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
61.615 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
61.615 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
61.616 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
61.617 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
61.619 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)
61.621 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)
61.622 * [backup-simplify]: Simplify (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) into (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))
61.624 * [backup-simplify]: Simplify (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) into (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))
61.624 * [backup-simplify]: Simplify (+ 0) into 0
61.625 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
61.625 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
61.626 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.626 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
61.627 * [backup-simplify]: Simplify (- 0) into 0
61.627 * [backup-simplify]: Simplify (+ 0 0) into 0
61.627 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
61.627 * [backup-simplify]: Simplify (+ 0) into 0
61.628 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
61.628 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
61.628 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.629 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
61.629 * [backup-simplify]: Simplify (- 0) into 0
61.629 * [backup-simplify]: Simplify (+ 0 0) into 0
61.629 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
61.630 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
61.630 * [backup-simplify]: Simplify (+ 0) into 0
61.630 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
61.630 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
61.631 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.631 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
61.631 * [backup-simplify]: Simplify (+ 0 0) into 0
61.632 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
61.632 * [backup-simplify]: Simplify (+ 0) into 0
61.632 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
61.633 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
61.633 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.633 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
61.634 * [backup-simplify]: Simplify (+ 0 0) into 0
61.634 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
61.634 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
61.634 * [backup-simplify]: Simplify (+ 0 0) into 0
61.634 * [backup-simplify]: Simplify (+ 0) into 0
61.635 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
61.635 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
61.635 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.636 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
61.636 * [backup-simplify]: Simplify (+ 0 0) into 0
61.636 * [backup-simplify]: Simplify (+ 0) into 0
61.636 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
61.636 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
61.637 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.637 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
61.637 * [backup-simplify]: Simplify (- 0) into 0
61.638 * [backup-simplify]: Simplify (+ 0 0) into 0
61.638 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
61.638 * [backup-simplify]: Simplify (+ 0) into 0
61.638 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
61.638 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
61.639 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.639 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
61.639 * [backup-simplify]: Simplify (- 0) into 0
61.640 * [backup-simplify]: Simplify (+ 0 0) into 0
61.640 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
61.640 * [backup-simplify]: Simplify (+ 0) into 0
61.640 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
61.640 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
61.641 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.641 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
61.641 * [backup-simplify]: Simplify (+ 0 0) into 0
61.642 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
61.642 * [backup-simplify]: Simplify (+ 0) into 0
61.642 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
61.642 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
61.643 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.643 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
61.643 * [backup-simplify]: Simplify (+ 0 0) into 0
61.644 * [backup-simplify]: Simplify (+ 0) into 0
61.644 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
61.644 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
61.644 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.645 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
61.645 * [backup-simplify]: Simplify (- 0) into 0
61.645 * [backup-simplify]: Simplify (+ 0 0) into 0
61.645 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
61.646 * [backup-simplify]: Simplify (+ 0) into 0
61.646 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
61.646 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
61.646 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.647 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
61.647 * [backup-simplify]: Simplify (+ 0 0) into 0
61.647 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
61.647 * [backup-simplify]: Simplify (+ 0) into 0
61.648 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
61.648 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
61.648 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.649 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
61.649 * [backup-simplify]: Simplify (- 0) into 0
61.649 * [backup-simplify]: Simplify (+ 0 0) into 0
61.649 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
61.649 * [backup-simplify]: Simplify (+ 0 0) into 0
61.650 * [backup-simplify]: Simplify (- 0) into 0
61.650 * [backup-simplify]: Simplify (+ 0 0) into 0
61.652 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into 0
61.654 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2))) into 0
61.656 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
61.657 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
61.657 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow phi1 2) (* lambda2 R))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 3 (* (/ (* (pow (sin (/ -0.5 phi2)) 5) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 5)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) (* (pow lambda2 3) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* lambda2 (* R (pow phi2 2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 3 (* (/ (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 5) (* (pow (cos (/ -0.5 phi1)) 5) (sin (/ -0.5 phi1))))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) (+ (* 3 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (* lambda2 (pow phi1 2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (* lambda2 (* phi1 phi2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))))))))) in lambda2
61.658 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow phi1 2) (* lambda2 R))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) in lambda2
61.658 * [taylor]: Taking taylor expansion of 1/2 in lambda2
61.658 * [backup-simplify]: Simplify 1/2 into 1/2
61.658 * [taylor]: Taking taylor expansion of (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow phi1 2) (* lambda2 R))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) in lambda2
61.658 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow phi1 2) (* lambda2 R))) in lambda2
61.658 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2
61.658 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2
61.658 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
61.658 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
61.658 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.658 * [backup-simplify]: Simplify -0.5 into -0.5
61.658 * [taylor]: Taking taylor expansion of phi2 in lambda2
61.658 * [backup-simplify]: Simplify phi2 into phi2
61.658 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
61.658 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
61.658 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
61.658 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
61.658 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
61.658 * [backup-simplify]: Simplify (- 0) into 0
61.659 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
61.659 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2
61.659 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
61.659 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
61.659 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.659 * [backup-simplify]: Simplify -0.5 into -0.5
61.659 * [taylor]: Taking taylor expansion of phi1 in lambda2
61.659 * [backup-simplify]: Simplify phi1 into phi1
61.659 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
61.659 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
61.659 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
61.659 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
61.659 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
61.659 * [backup-simplify]: Simplify (- 0) into 0
61.659 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
61.659 * [taylor]: Taking taylor expansion of (* (pow phi1 2) (* lambda2 R)) in lambda2
61.659 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2
61.659 * [taylor]: Taking taylor expansion of phi1 in lambda2
61.659 * [backup-simplify]: Simplify phi1 into phi1
61.659 * [taylor]: Taking taylor expansion of (* lambda2 R) in lambda2
61.659 * [taylor]: Taking taylor expansion of lambda2 in lambda2
61.659 * [backup-simplify]: Simplify 0 into 0
61.659 * [backup-simplify]: Simplify 1 into 1
61.659 * [taylor]: Taking taylor expansion of R in lambda2
61.659 * [backup-simplify]: Simplify R into R
61.660 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
61.660 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
61.660 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
61.660 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
61.660 * [backup-simplify]: Simplify (* 0 R) into 0
61.660 * [backup-simplify]: Simplify (* (pow phi1 2) 0) into 0
61.660 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 R)) into R
61.660 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0
61.661 * [backup-simplify]: Simplify (+ (* (pow phi1 2) R) (* 0 0)) into (* (pow phi1 2) R)
61.661 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow phi1 2) R)) into (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow phi1 2) R))
61.661 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) in lambda2
61.661 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) in lambda2
61.661 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3) in lambda2
61.661 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in lambda2
61.661 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in lambda2
61.661 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2
61.661 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2
61.661 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
61.661 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
61.661 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.661 * [backup-simplify]: Simplify -0.5 into -0.5
61.661 * [taylor]: Taking taylor expansion of phi2 in lambda2
61.661 * [backup-simplify]: Simplify phi2 into phi2
61.662 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
61.662 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
61.662 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
61.662 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
61.662 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
61.662 * [backup-simplify]: Simplify (- 0) into 0
61.662 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
61.662 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2
61.663 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
61.663 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
61.663 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.663 * [backup-simplify]: Simplify -0.5 into -0.5
61.663 * [taylor]: Taking taylor expansion of phi1 in lambda2
61.663 * [backup-simplify]: Simplify phi1 into phi1
61.663 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
61.663 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
61.663 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
61.663 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
61.663 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
61.664 * [backup-simplify]: Simplify (- 0) into 0
61.664 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
61.664 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2
61.664 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2
61.664 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
61.664 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
61.664 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.664 * [backup-simplify]: Simplify -0.5 into -0.5
61.664 * [taylor]: Taking taylor expansion of phi2 in lambda2
61.664 * [backup-simplify]: Simplify phi2 into phi2
61.664 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
61.664 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
61.664 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
61.664 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
61.664 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
61.665 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
61.665 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2
61.665 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
61.665 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
61.665 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.665 * [backup-simplify]: Simplify -0.5 into -0.5
61.665 * [taylor]: Taking taylor expansion of phi1 in lambda2
61.665 * [backup-simplify]: Simplify phi1 into phi1
61.665 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
61.665 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
61.665 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
61.665 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
61.665 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
61.665 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
61.666 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in lambda2
61.666 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
61.666 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
61.666 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
61.666 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.666 * [backup-simplify]: Simplify -0.5 into -0.5
61.666 * [taylor]: Taking taylor expansion of phi2 in lambda2
61.666 * [backup-simplify]: Simplify phi2 into phi2
61.666 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
61.666 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
61.666 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
61.666 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
61.666 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
61.666 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
61.666 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.666 * [backup-simplify]: Simplify -0.5 into -0.5
61.666 * [taylor]: Taking taylor expansion of phi2 in lambda2
61.666 * [backup-simplify]: Simplify phi2 into phi2
61.666 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
61.666 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
61.667 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
61.667 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
61.667 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
61.667 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
61.667 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.667 * [backup-simplify]: Simplify -0.5 into -0.5
61.667 * [taylor]: Taking taylor expansion of phi1 in lambda2
61.667 * [backup-simplify]: Simplify phi1 into phi1
61.667 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
61.667 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
61.667 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
61.667 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
61.667 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
61.667 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.667 * [backup-simplify]: Simplify -0.5 into -0.5
61.667 * [taylor]: Taking taylor expansion of phi1 in lambda2
61.667 * [backup-simplify]: Simplify phi1 into phi1
61.667 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
61.667 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
61.667 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
61.667 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
61.667 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
61.668 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
61.668 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.668 * [backup-simplify]: Simplify -0.5 into -0.5
61.668 * [taylor]: Taking taylor expansion of phi2 in lambda2
61.668 * [backup-simplify]: Simplify phi2 into phi2
61.668 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
61.668 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
61.668 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
61.668 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
61.668 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
61.668 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
61.668 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.668 * [backup-simplify]: Simplify -0.5 into -0.5
61.668 * [taylor]: Taking taylor expansion of phi2 in lambda2
61.668 * [backup-simplify]: Simplify phi2 into phi2
61.668 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
61.668 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
61.668 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
61.668 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
61.668 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
61.668 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
61.668 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.669 * [backup-simplify]: Simplify -0.5 into -0.5
61.669 * [taylor]: Taking taylor expansion of phi1 in lambda2
61.669 * [backup-simplify]: Simplify phi1 into phi1
61.669 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
61.669 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
61.669 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
61.669 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
61.669 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
61.669 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.669 * [backup-simplify]: Simplify -0.5 into -0.5
61.669 * [taylor]: Taking taylor expansion of phi1 in lambda2
61.669 * [backup-simplify]: Simplify phi1 into phi1
61.669 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
61.669 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
61.669 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
61.669 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
61.670 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
61.670 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
61.670 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
61.670 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
61.671 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
61.671 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
61.672 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
61.672 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
61.672 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
61.672 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
61.672 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
61.673 * [backup-simplify]: Simplify (- 0) into 0
61.673 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
61.673 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
61.673 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
61.673 * [backup-simplify]: Simplify (- 0) into 0
61.674 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
61.674 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
61.674 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
61.674 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
61.674 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
61.674 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
61.675 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
61.675 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
61.675 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
61.675 * [backup-simplify]: Simplify (- 0) into 0
61.675 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
61.676 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
61.676 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
61.676 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
61.676 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
61.676 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
61.676 * [backup-simplify]: Simplify (- 0) into 0
61.677 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
61.677 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
61.677 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
61.677 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
61.677 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
61.677 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
61.678 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
61.678 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
61.679 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
61.681 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
61.686 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)
61.689 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)
61.692 * [backup-simplify]: Simplify (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) into (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))
61.694 * [backup-simplify]: Simplify (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) into (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))
61.694 * [backup-simplify]: Simplify (+ 0) into 0
61.694 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
61.695 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
61.695 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.695 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
61.696 * [backup-simplify]: Simplify (- 0) into 0
61.696 * [backup-simplify]: Simplify (+ 0 0) into 0
61.696 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
61.696 * [backup-simplify]: Simplify (+ 0) into 0
61.697 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
61.697 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
61.697 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.697 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
61.698 * [backup-simplify]: Simplify (- 0) into 0
61.698 * [backup-simplify]: Simplify (+ 0 0) into 0
61.698 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
61.698 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
61.698 * [backup-simplify]: Simplify (+ 0) into 0
61.699 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
61.699 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
61.699 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.700 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
61.700 * [backup-simplify]: Simplify (+ 0 0) into 0
61.700 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
61.700 * [backup-simplify]: Simplify (+ 0) into 0
61.700 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
61.701 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
61.701 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.701 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
61.702 * [backup-simplify]: Simplify (+ 0 0) into 0
61.702 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
61.702 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
61.702 * [backup-simplify]: Simplify (+ 0 0) into 0
61.702 * [backup-simplify]: Simplify (+ 0) into 0
61.703 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
61.703 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
61.703 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.704 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
61.704 * [backup-simplify]: Simplify (+ 0 0) into 0
61.704 * [backup-simplify]: Simplify (+ 0) into 0
61.704 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
61.704 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
61.705 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.705 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
61.705 * [backup-simplify]: Simplify (- 0) into 0
61.706 * [backup-simplify]: Simplify (+ 0 0) into 0
61.706 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
61.706 * [backup-simplify]: Simplify (+ 0) into 0
61.706 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
61.706 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
61.707 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.707 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
61.707 * [backup-simplify]: Simplify (- 0) into 0
61.708 * [backup-simplify]: Simplify (+ 0 0) into 0
61.708 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
61.708 * [backup-simplify]: Simplify (+ 0) into 0
61.708 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
61.708 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
61.709 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.709 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
61.709 * [backup-simplify]: Simplify (+ 0 0) into 0
61.710 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
61.710 * [backup-simplify]: Simplify (+ 0) into 0
61.710 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
61.710 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
61.711 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.711 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
61.711 * [backup-simplify]: Simplify (+ 0 0) into 0
61.711 * [backup-simplify]: Simplify (+ 0) into 0
61.712 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
61.712 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
61.712 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.713 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
61.713 * [backup-simplify]: Simplify (- 0) into 0
61.713 * [backup-simplify]: Simplify (+ 0 0) into 0
61.713 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
61.713 * [backup-simplify]: Simplify (+ 0) into 0
61.714 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
61.714 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
61.714 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.715 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
61.715 * [backup-simplify]: Simplify (+ 0 0) into 0
61.715 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
61.715 * [backup-simplify]: Simplify (+ 0) into 0
61.716 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
61.716 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
61.716 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.716 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
61.717 * [backup-simplify]: Simplify (- 0) into 0
61.717 * [backup-simplify]: Simplify (+ 0 0) into 0
61.717 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
61.717 * [backup-simplify]: Simplify (+ 0 0) into 0
61.718 * [backup-simplify]: Simplify (- 0) into 0
61.718 * [backup-simplify]: Simplify (+ 0 0) into 0
61.720 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into 0
61.722 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2))) into 0
61.726 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
61.729 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
61.729 * [taylor]: Taking taylor expansion of (+ (* 3 (* (/ (* (pow (sin (/ -0.5 phi2)) 5) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 5)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) (* (pow lambda2 3) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* lambda2 (* R (pow phi2 2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 3 (* (/ (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 5) (* (pow (cos (/ -0.5 phi1)) 5) (sin (/ -0.5 phi1))))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) (+ (* 3 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (* lambda2 (pow phi1 2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (* lambda2 (* phi1 phi2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))))))))) in lambda2
61.731 * [taylor]: Taking taylor expansion of (* 3 (* (/ (* (pow (sin (/ -0.5 phi2)) 5) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 5)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) in lambda2
61.731 * [taylor]: Taking taylor expansion of 3 in lambda2
61.731 * [backup-simplify]: Simplify 3 into 3
61.731 * [taylor]: Taking taylor expansion of (* (/ (* (pow (sin (/ -0.5 phi2)) 5) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 5)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)))) in lambda2
61.731 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 5) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 5)))) (* R (pow lambda2 3))) in lambda2
61.731 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 5) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 5)))) in lambda2
61.731 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 5) in lambda2
61.731 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
61.731 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
61.731 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.732 * [backup-simplify]: Simplify -0.5 into -0.5
61.732 * [taylor]: Taking taylor expansion of phi2 in lambda2
61.732 * [backup-simplify]: Simplify phi2 into phi2
61.732 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
61.732 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
61.732 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
61.732 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
61.732 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
61.732 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
61.732 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 5))) in lambda2
61.732 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
61.732 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
61.732 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.732 * [backup-simplify]: Simplify -0.5 into -0.5
61.732 * [taylor]: Taking taylor expansion of phi2 in lambda2
61.732 * [backup-simplify]: Simplify phi2 into phi2
61.732 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
61.733 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
61.733 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
61.733 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 5)) in lambda2
61.733 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
61.733 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
61.733 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.733 * [backup-simplify]: Simplify -0.5 into -0.5
61.733 * [taylor]: Taking taylor expansion of phi1 in lambda2
61.733 * [backup-simplify]: Simplify phi1 into phi1
61.733 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
61.733 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
61.733 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
61.733 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 5) in lambda2
61.733 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
61.733 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
61.733 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.733 * [backup-simplify]: Simplify -0.5 into -0.5
61.733 * [taylor]: Taking taylor expansion of phi1 in lambda2
61.733 * [backup-simplify]: Simplify phi1 into phi1
61.733 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
61.733 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
61.734 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
61.734 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
61.734 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
61.734 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
61.734 * [taylor]: Taking taylor expansion of (* R (pow lambda2 3)) in lambda2
61.734 * [taylor]: Taking taylor expansion of R in lambda2
61.734 * [backup-simplify]: Simplify R into R
61.734 * [taylor]: Taking taylor expansion of (pow lambda2 3) in lambda2
61.734 * [taylor]: Taking taylor expansion of lambda2 in lambda2
61.734 * [backup-simplify]: Simplify 0 into 0
61.734 * [backup-simplify]: Simplify 1 into 1
61.734 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
61.735 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi2)) 2)) into (pow (sin (/ -0.5 phi2)) 4)
61.735 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (pow (sin (/ -0.5 phi2)) 4)) into (pow (sin (/ -0.5 phi2)) 5)
61.735 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
61.735 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
61.736 * [backup-simplify]: Simplify (- 0) into 0
61.736 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
61.736 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
61.736 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
61.736 * [backup-simplify]: Simplify (- 0) into 0
61.737 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
61.737 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
61.737 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (pow (sin (/ -0.5 phi1)) 4)
61.737 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 4)) into (pow (sin (/ -0.5 phi1)) 5)
61.738 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 5)) into (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 5))
61.738 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 5))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 5)))
61.738 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 5) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 5)))) into (* (cos (/ -0.5 phi2)) (* (pow (sin (/ -0.5 phi2)) 5) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 5))))
61.739 * [backup-simplify]: Simplify (* 1 1) into 1
61.739 * [backup-simplify]: Simplify (* 1 1) into 1
61.739 * [backup-simplify]: Simplify (* R 1) into R
61.740 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi2)) (* (pow (sin (/ -0.5 phi2)) 5) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 5)))) R) into (/ (* (cos (/ -0.5 phi2)) (* (pow (sin (/ -0.5 phi2)) 5) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 5)))) R)
61.740 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))) in lambda2
61.740 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)) in lambda2
61.740 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5) in lambda2
61.740 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in lambda2
61.740 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in lambda2
61.740 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2
61.740 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2
61.740 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
61.740 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
61.740 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.740 * [backup-simplify]: Simplify -0.5 into -0.5
61.740 * [taylor]: Taking taylor expansion of phi2 in lambda2
61.740 * [backup-simplify]: Simplify phi2 into phi2
61.741 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
61.741 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
61.741 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
61.741 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
61.741 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
61.741 * [backup-simplify]: Simplify (- 0) into 0
61.741 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
61.742 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2
61.742 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
61.742 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
61.742 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.742 * [backup-simplify]: Simplify -0.5 into -0.5
61.742 * [taylor]: Taking taylor expansion of phi1 in lambda2
61.742 * [backup-simplify]: Simplify phi1 into phi1
61.742 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
61.742 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
61.742 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
61.742 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
61.742 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
61.743 * [backup-simplify]: Simplify (- 0) into 0
61.743 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
61.743 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2
61.743 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2
61.743 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
61.743 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
61.744 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.744 * [backup-simplify]: Simplify -0.5 into -0.5
61.744 * [taylor]: Taking taylor expansion of phi2 in lambda2
61.744 * [backup-simplify]: Simplify phi2 into phi2
61.744 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
61.744 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
61.744 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
61.744 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
61.744 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
61.745 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
61.745 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2
61.745 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
61.745 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
61.745 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.745 * [backup-simplify]: Simplify -0.5 into -0.5
61.745 * [taylor]: Taking taylor expansion of phi1 in lambda2
61.745 * [backup-simplify]: Simplify phi1 into phi1
61.745 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
61.745 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
61.745 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
61.745 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
61.745 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
61.745 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
61.745 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in lambda2
61.745 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
61.746 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
61.746 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
61.746 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.746 * [backup-simplify]: Simplify -0.5 into -0.5
61.746 * [taylor]: Taking taylor expansion of phi2 in lambda2
61.746 * [backup-simplify]: Simplify phi2 into phi2
61.746 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
61.746 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
61.746 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
61.746 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
61.746 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
61.746 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
61.746 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.746 * [backup-simplify]: Simplify -0.5 into -0.5
61.746 * [taylor]: Taking taylor expansion of phi2 in lambda2
61.746 * [backup-simplify]: Simplify phi2 into phi2
61.746 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
61.746 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
61.746 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
61.746 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
61.746 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
61.746 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
61.746 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.747 * [backup-simplify]: Simplify -0.5 into -0.5
61.747 * [taylor]: Taking taylor expansion of phi1 in lambda2
61.747 * [backup-simplify]: Simplify phi1 into phi1
61.747 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
61.747 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
61.747 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
61.747 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
61.747 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
61.747 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.747 * [backup-simplify]: Simplify -0.5 into -0.5
61.747 * [taylor]: Taking taylor expansion of phi1 in lambda2
61.747 * [backup-simplify]: Simplify phi1 into phi1
61.747 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
61.747 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
61.747 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
61.747 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
61.747 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
61.747 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
61.747 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.747 * [backup-simplify]: Simplify -0.5 into -0.5
61.747 * [taylor]: Taking taylor expansion of phi2 in lambda2
61.747 * [backup-simplify]: Simplify phi2 into phi2
61.747 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
61.748 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
61.748 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
61.748 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
61.748 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
61.748 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
61.748 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.748 * [backup-simplify]: Simplify -0.5 into -0.5
61.748 * [taylor]: Taking taylor expansion of phi2 in lambda2
61.748 * [backup-simplify]: Simplify phi2 into phi2
61.748 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
61.748 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
61.748 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
61.748 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
61.748 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
61.748 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
61.748 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.748 * [backup-simplify]: Simplify -0.5 into -0.5
61.748 * [taylor]: Taking taylor expansion of phi1 in lambda2
61.748 * [backup-simplify]: Simplify phi1 into phi1
61.748 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
61.748 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
61.749 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
61.749 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
61.749 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
61.749 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.749 * [backup-simplify]: Simplify -0.5 into -0.5
61.749 * [taylor]: Taking taylor expansion of phi1 in lambda2
61.749 * [backup-simplify]: Simplify phi1 into phi1
61.749 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
61.749 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
61.749 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
61.749 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
61.749 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
61.750 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
61.750 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
61.750 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
61.750 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
61.750 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
61.750 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
61.751 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
61.751 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
61.751 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
61.751 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
61.751 * [backup-simplify]: Simplify (- 0) into 0
61.751 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
61.751 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
61.751 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
61.751 * [backup-simplify]: Simplify (- 0) into 0
61.752 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
61.752 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
61.752 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
61.752 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
61.752 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
61.752 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
61.752 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
61.752 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
61.752 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
61.753 * [backup-simplify]: Simplify (- 0) into 0
61.753 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
61.753 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
61.753 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
61.753 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
61.753 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
61.753 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
61.753 * [backup-simplify]: Simplify (- 0) into 0
61.753 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
61.753 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
61.753 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
61.753 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
61.753 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
61.754 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
61.754 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
61.754 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
61.755 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
61.756 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
61.757 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)
61.759 * [backup-simplify]: Simplify (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 4)
61.761 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 4)) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)
61.762 * [backup-simplify]: Simplify (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)) into (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))
61.763 * [backup-simplify]: Simplify (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))) into (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)))
61.764 * [backup-simplify]: Simplify (+ 0) into 0
61.764 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
61.764 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
61.765 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.765 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
61.765 * [backup-simplify]: Simplify (- 0) into 0
61.766 * [backup-simplify]: Simplify (+ 0 0) into 0
61.766 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
61.766 * [backup-simplify]: Simplify (+ 0) into 0
61.766 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
61.766 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
61.767 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.767 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
61.767 * [backup-simplify]: Simplify (- 0) into 0
61.768 * [backup-simplify]: Simplify (+ 0 0) into 0
61.768 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
61.768 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
61.768 * [backup-simplify]: Simplify (+ 0) into 0
61.768 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
61.769 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
61.769 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.769 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
61.770 * [backup-simplify]: Simplify (+ 0 0) into 0
61.770 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
61.770 * [backup-simplify]: Simplify (+ 0) into 0
61.770 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
61.770 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
61.771 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.771 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
61.771 * [backup-simplify]: Simplify (+ 0 0) into 0
61.771 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
61.772 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
61.772 * [backup-simplify]: Simplify (+ 0 0) into 0
61.772 * [backup-simplify]: Simplify (+ 0) into 0
61.772 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
61.773 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
61.773 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.773 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
61.774 * [backup-simplify]: Simplify (+ 0 0) into 0
61.774 * [backup-simplify]: Simplify (+ 0) into 0
61.774 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
61.774 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
61.775 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.775 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
61.775 * [backup-simplify]: Simplify (- 0) into 0
61.775 * [backup-simplify]: Simplify (+ 0 0) into 0
61.776 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
61.776 * [backup-simplify]: Simplify (+ 0) into 0
61.776 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
61.776 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
61.777 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.777 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
61.777 * [backup-simplify]: Simplify (- 0) into 0
61.777 * [backup-simplify]: Simplify (+ 0 0) into 0
61.778 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
61.778 * [backup-simplify]: Simplify (+ 0) into 0
61.778 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
61.778 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
61.779 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.779 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
61.779 * [backup-simplify]: Simplify (+ 0 0) into 0
61.779 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
61.780 * [backup-simplify]: Simplify (+ 0) into 0
61.780 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
61.780 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
61.780 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.781 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
61.781 * [backup-simplify]: Simplify (+ 0 0) into 0
61.781 * [backup-simplify]: Simplify (+ 0) into 0
61.782 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
61.782 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
61.783 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.783 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
61.784 * [backup-simplify]: Simplify (- 0) into 0
61.784 * [backup-simplify]: Simplify (+ 0 0) into 0
61.784 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
61.784 * [backup-simplify]: Simplify (+ 0) into 0
61.785 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
61.785 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
61.786 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.786 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
61.787 * [backup-simplify]: Simplify (+ 0 0) into 0
61.787 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
61.787 * [backup-simplify]: Simplify (+ 0) into 0
61.788 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
61.788 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
61.789 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.789 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
61.790 * [backup-simplify]: Simplify (- 0) into 0
61.790 * [backup-simplify]: Simplify (+ 0 0) into 0
61.790 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
61.791 * [backup-simplify]: Simplify (+ 0 0) into 0
61.791 * [backup-simplify]: Simplify (- 0) into 0
61.791 * [backup-simplify]: Simplify (+ 0 0) into 0
61.795 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into 0
61.799 * [backup-simplify]: Simplify (+ (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2) 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2))) into 0
61.804 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 4))) into 0
61.808 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)) (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) into 0
61.811 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) into 0
61.811 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) (* (pow lambda2 3) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* lambda2 (* R (pow phi2 2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 3 (* (/ (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 5) (* (pow (cos (/ -0.5 phi1)) 5) (sin (/ -0.5 phi1))))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) (+ (* 3 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (* lambda2 (pow phi1 2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (* lambda2 (* phi1 phi2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))))))) in lambda2
61.811 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) (* (pow lambda2 3) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) in lambda2
61.811 * [taylor]: Taking taylor expansion of 1/2 in lambda2
61.811 * [backup-simplify]: Simplify 1/2 into 1/2
61.811 * [taylor]: Taking taylor expansion of (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) (* (pow lambda2 3) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) in lambda2
61.811 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) (* (pow lambda2 3) R)) in lambda2
61.811 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) in lambda2
61.811 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 4) in lambda2
61.811 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
61.811 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
61.811 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.811 * [backup-simplify]: Simplify -0.5 into -0.5
61.811 * [taylor]: Taking taylor expansion of phi2 in lambda2
61.811 * [backup-simplify]: Simplify phi2 into phi2
61.812 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
61.812 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
61.812 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
61.812 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
61.812 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
61.812 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
61.812 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 4) in lambda2
61.812 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
61.812 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
61.812 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.812 * [backup-simplify]: Simplify -0.5 into -0.5
61.812 * [taylor]: Taking taylor expansion of phi1 in lambda2
61.812 * [backup-simplify]: Simplify phi1 into phi1
61.812 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
61.812 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
61.813 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
61.813 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
61.813 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
61.813 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
61.813 * [taylor]: Taking taylor expansion of (* (pow lambda2 3) R) in lambda2
61.813 * [taylor]: Taking taylor expansion of (pow lambda2 3) in lambda2
61.813 * [taylor]: Taking taylor expansion of lambda2 in lambda2
61.813 * [backup-simplify]: Simplify 0 into 0
61.813 * [backup-simplify]: Simplify 1 into 1
61.813 * [taylor]: Taking taylor expansion of R in lambda2
61.813 * [backup-simplify]: Simplify R into R
61.813 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
61.814 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi2)) 2)) into (pow (sin (/ -0.5 phi2)) 4)
61.814 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
61.814 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (pow (sin (/ -0.5 phi1)) 4)
61.814 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) into (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4))
61.815 * [backup-simplify]: Simplify (* 1 1) into 1
61.815 * [backup-simplify]: Simplify (* 1 1) into 1
61.815 * [backup-simplify]: Simplify (* 1 R) into R
61.816 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) R) into (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) R)
61.816 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) in lambda2
61.816 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) in lambda2
61.816 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3) in lambda2
61.816 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in lambda2
61.816 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in lambda2
61.816 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2
61.816 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2
61.816 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
61.816 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
61.816 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.816 * [backup-simplify]: Simplify -0.5 into -0.5
61.816 * [taylor]: Taking taylor expansion of phi2 in lambda2
61.816 * [backup-simplify]: Simplify phi2 into phi2
61.817 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
61.817 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
61.817 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
61.817 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
61.817 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
61.817 * [backup-simplify]: Simplify (- 0) into 0
61.817 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
61.817 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2
61.818 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
61.818 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
61.818 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.818 * [backup-simplify]: Simplify -0.5 into -0.5
61.818 * [taylor]: Taking taylor expansion of phi1 in lambda2
61.818 * [backup-simplify]: Simplify phi1 into phi1
61.818 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
61.818 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
61.818 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
61.818 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
61.818 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
61.819 * [backup-simplify]: Simplify (- 0) into 0
61.819 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
61.819 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2
61.819 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2
61.819 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
61.819 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
61.819 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.819 * [backup-simplify]: Simplify -0.5 into -0.5
61.819 * [taylor]: Taking taylor expansion of phi2 in lambda2
61.819 * [backup-simplify]: Simplify phi2 into phi2
61.819 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
61.819 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
61.819 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
61.819 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
61.819 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
61.820 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
61.820 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2
61.820 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
61.820 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
61.820 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.820 * [backup-simplify]: Simplify -0.5 into -0.5
61.820 * [taylor]: Taking taylor expansion of phi1 in lambda2
61.820 * [backup-simplify]: Simplify phi1 into phi1
61.820 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
61.820 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
61.820 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
61.820 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
61.820 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
61.820 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
61.820 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in lambda2
61.820 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
61.820 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
61.820 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
61.821 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.821 * [backup-simplify]: Simplify -0.5 into -0.5
61.821 * [taylor]: Taking taylor expansion of phi2 in lambda2
61.821 * [backup-simplify]: Simplify phi2 into phi2
61.821 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
61.821 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
61.821 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
61.821 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
61.821 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
61.821 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
61.821 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.821 * [backup-simplify]: Simplify -0.5 into -0.5
61.821 * [taylor]: Taking taylor expansion of phi2 in lambda2
61.821 * [backup-simplify]: Simplify phi2 into phi2
61.821 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
61.821 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
61.821 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
61.821 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
61.821 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
61.821 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
61.821 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.822 * [backup-simplify]: Simplify -0.5 into -0.5
61.822 * [taylor]: Taking taylor expansion of phi1 in lambda2
61.822 * [backup-simplify]: Simplify phi1 into phi1
61.822 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
61.822 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
61.822 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
61.822 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
61.822 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
61.822 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.822 * [backup-simplify]: Simplify -0.5 into -0.5
61.822 * [taylor]: Taking taylor expansion of phi1 in lambda2
61.822 * [backup-simplify]: Simplify phi1 into phi1
61.822 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
61.822 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
61.822 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
61.822 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
61.822 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
61.822 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
61.822 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.822 * [backup-simplify]: Simplify -0.5 into -0.5
61.822 * [taylor]: Taking taylor expansion of phi2 in lambda2
61.822 * [backup-simplify]: Simplify phi2 into phi2
61.823 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
61.823 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
61.823 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
61.823 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
61.823 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
61.823 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
61.823 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.823 * [backup-simplify]: Simplify -0.5 into -0.5
61.823 * [taylor]: Taking taylor expansion of phi2 in lambda2
61.823 * [backup-simplify]: Simplify phi2 into phi2
61.823 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
61.823 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
61.823 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
61.823 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
61.823 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
61.823 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
61.823 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.823 * [backup-simplify]: Simplify -0.5 into -0.5
61.823 * [taylor]: Taking taylor expansion of phi1 in lambda2
61.823 * [backup-simplify]: Simplify phi1 into phi1
61.823 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
61.824 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
61.824 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
61.824 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
61.824 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
61.824 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.824 * [backup-simplify]: Simplify -0.5 into -0.5
61.824 * [taylor]: Taking taylor expansion of phi1 in lambda2
61.824 * [backup-simplify]: Simplify phi1 into phi1
61.824 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
61.824 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
61.824 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
61.824 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
61.824 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
61.825 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
61.825 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
61.825 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
61.826 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
61.826 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
61.827 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
61.827 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
61.827 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
61.827 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
61.827 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
61.828 * [backup-simplify]: Simplify (- 0) into 0
61.828 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
61.828 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
61.828 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
61.828 * [backup-simplify]: Simplify (- 0) into 0
61.829 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
61.829 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
61.829 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
61.829 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
61.829 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
61.829 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
61.830 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
61.830 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
61.830 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
61.830 * [backup-simplify]: Simplify (- 0) into 0
61.830 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
61.831 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
61.831 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
61.831 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
61.831 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
61.831 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
61.831 * [backup-simplify]: Simplify (- 0) into 0
61.832 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
61.832 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
61.832 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
61.832 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
61.832 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
61.832 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
61.833 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
61.834 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
61.835 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
61.837 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
61.841 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)
61.843 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)
61.844 * [backup-simplify]: Simplify (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) into (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))
61.845 * [backup-simplify]: Simplify (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) into (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))
61.846 * [backup-simplify]: Simplify (+ 0) into 0
61.846 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
61.846 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
61.847 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.847 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
61.847 * [backup-simplify]: Simplify (- 0) into 0
61.847 * [backup-simplify]: Simplify (+ 0 0) into 0
61.848 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
61.848 * [backup-simplify]: Simplify (+ 0) into 0
61.848 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
61.848 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
61.849 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.849 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
61.849 * [backup-simplify]: Simplify (- 0) into 0
61.849 * [backup-simplify]: Simplify (+ 0 0) into 0
61.850 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
61.850 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
61.850 * [backup-simplify]: Simplify (+ 0) into 0
61.850 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
61.851 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
61.851 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.851 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
61.851 * [backup-simplify]: Simplify (+ 0 0) into 0
61.852 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
61.852 * [backup-simplify]: Simplify (+ 0) into 0
61.852 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
61.852 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
61.853 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.853 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
61.853 * [backup-simplify]: Simplify (+ 0 0) into 0
61.854 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
61.854 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
61.854 * [backup-simplify]: Simplify (+ 0 0) into 0
61.854 * [backup-simplify]: Simplify (+ 0) into 0
61.855 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
61.855 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
61.855 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.856 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
61.856 * [backup-simplify]: Simplify (+ 0 0) into 0
61.856 * [backup-simplify]: Simplify (+ 0) into 0
61.856 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
61.857 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
61.857 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.857 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
61.858 * [backup-simplify]: Simplify (- 0) into 0
61.858 * [backup-simplify]: Simplify (+ 0 0) into 0
61.858 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
61.858 * [backup-simplify]: Simplify (+ 0) into 0
61.858 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
61.859 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
61.859 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.859 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
61.860 * [backup-simplify]: Simplify (- 0) into 0
61.860 * [backup-simplify]: Simplify (+ 0 0) into 0
61.861 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
61.861 * [backup-simplify]: Simplify (+ 0) into 0
61.861 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
61.861 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
61.862 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.862 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
61.863 * [backup-simplify]: Simplify (+ 0 0) into 0
61.863 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
61.863 * [backup-simplify]: Simplify (+ 0) into 0
61.863 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
61.864 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
61.864 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.864 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
61.867 * [backup-simplify]: Simplify (+ 0 0) into 0
61.867 * [backup-simplify]: Simplify (+ 0) into 0
61.868 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
61.868 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
61.868 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.869 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
61.869 * [backup-simplify]: Simplify (- 0) into 0
61.869 * [backup-simplify]: Simplify (+ 0 0) into 0
61.869 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
61.870 * [backup-simplify]: Simplify (+ 0) into 0
61.870 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
61.870 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
61.870 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.871 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
61.871 * [backup-simplify]: Simplify (+ 0 0) into 0
61.871 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
61.871 * [backup-simplify]: Simplify (+ 0) into 0
61.872 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
61.872 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
61.872 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.873 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
61.873 * [backup-simplify]: Simplify (- 0) into 0
61.873 * [backup-simplify]: Simplify (+ 0 0) into 0
61.873 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
61.874 * [backup-simplify]: Simplify (+ 0 0) into 0
61.874 * [backup-simplify]: Simplify (- 0) into 0
61.874 * [backup-simplify]: Simplify (+ 0 0) into 0
61.876 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into 0
61.879 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2))) into 0
61.883 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
61.886 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
61.886 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* lambda2 (* R (pow phi2 2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 3 (* (/ (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 5) (* (pow (cos (/ -0.5 phi1)) 5) (sin (/ -0.5 phi1))))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) (+ (* 3 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (* lambda2 (pow phi1 2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (* lambda2 (* phi1 phi2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))))))) in lambda2
61.886 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* lambda2 (* R (pow phi2 2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) in lambda2
61.886 * [taylor]: Taking taylor expansion of 1/2 in lambda2
61.886 * [backup-simplify]: Simplify 1/2 into 1/2
61.886 * [taylor]: Taking taylor expansion of (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* lambda2 (* R (pow phi2 2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) in lambda2
61.886 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* lambda2 (* R (pow phi2 2)))) in lambda2
61.886 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2
61.886 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2
61.886 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
61.886 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
61.886 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.886 * [backup-simplify]: Simplify -0.5 into -0.5
61.886 * [taylor]: Taking taylor expansion of phi2 in lambda2
61.886 * [backup-simplify]: Simplify phi2 into phi2
61.887 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
61.887 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
61.887 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
61.887 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
61.887 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
61.888 * [backup-simplify]: Simplify (- 0) into 0
61.888 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
61.888 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2
61.888 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
61.888 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
61.888 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.888 * [backup-simplify]: Simplify -0.5 into -0.5
61.888 * [taylor]: Taking taylor expansion of phi1 in lambda2
61.888 * [backup-simplify]: Simplify phi1 into phi1
61.888 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
61.888 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
61.888 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
61.888 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
61.888 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
61.889 * [backup-simplify]: Simplify (- 0) into 0
61.889 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
61.889 * [taylor]: Taking taylor expansion of (* lambda2 (* R (pow phi2 2))) in lambda2
61.889 * [taylor]: Taking taylor expansion of lambda2 in lambda2
61.889 * [backup-simplify]: Simplify 0 into 0
61.889 * [backup-simplify]: Simplify 1 into 1
61.889 * [taylor]: Taking taylor expansion of (* R (pow phi2 2)) in lambda2
61.889 * [taylor]: Taking taylor expansion of R in lambda2
61.889 * [backup-simplify]: Simplify R into R
61.889 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2
61.889 * [taylor]: Taking taylor expansion of phi2 in lambda2
61.889 * [backup-simplify]: Simplify phi2 into phi2
61.889 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
61.890 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
61.890 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
61.890 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
61.890 * [backup-simplify]: Simplify (* R (pow phi2 2)) into (* R (pow phi2 2))
61.890 * [backup-simplify]: Simplify (* 0 (* R (pow phi2 2))) into 0
61.890 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0
61.891 * [backup-simplify]: Simplify (+ (* R 0) (* 0 (pow phi2 2))) into 0
61.891 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* R (pow phi2 2)))) into (* R (pow phi2 2))
61.892 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (pow phi2 2))) into (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (pow phi2 2)))
61.892 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) in lambda2
61.892 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) in lambda2
61.892 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3) in lambda2
61.892 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in lambda2
61.892 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in lambda2
61.892 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2
61.892 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2
61.892 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
61.892 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
61.892 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.892 * [backup-simplify]: Simplify -0.5 into -0.5
61.892 * [taylor]: Taking taylor expansion of phi2 in lambda2
61.892 * [backup-simplify]: Simplify phi2 into phi2
61.892 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
61.892 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
61.893 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
61.893 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
61.893 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
61.893 * [backup-simplify]: Simplify (- 0) into 0
61.893 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
61.893 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2
61.893 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
61.893 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
61.893 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.894 * [backup-simplify]: Simplify -0.5 into -0.5
61.894 * [taylor]: Taking taylor expansion of phi1 in lambda2
61.894 * [backup-simplify]: Simplify phi1 into phi1
61.894 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
61.894 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
61.894 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
61.894 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
61.894 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
61.894 * [backup-simplify]: Simplify (- 0) into 0
61.895 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
61.895 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2
61.895 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2
61.895 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
61.895 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
61.895 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.895 * [backup-simplify]: Simplify -0.5 into -0.5
61.895 * [taylor]: Taking taylor expansion of phi2 in lambda2
61.895 * [backup-simplify]: Simplify phi2 into phi2
61.895 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
61.895 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
61.895 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
61.895 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
61.895 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
61.895 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
61.895 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2
61.896 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
61.896 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
61.896 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.896 * [backup-simplify]: Simplify -0.5 into -0.5
61.896 * [taylor]: Taking taylor expansion of phi1 in lambda2
61.896 * [backup-simplify]: Simplify phi1 into phi1
61.896 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
61.896 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
61.896 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
61.896 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
61.896 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
61.896 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
61.896 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in lambda2
61.896 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
61.896 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
61.896 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
61.896 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.896 * [backup-simplify]: Simplify -0.5 into -0.5
61.897 * [taylor]: Taking taylor expansion of phi2 in lambda2
61.897 * [backup-simplify]: Simplify phi2 into phi2
61.897 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
61.897 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
61.897 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
61.897 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
61.897 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
61.897 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
61.897 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.897 * [backup-simplify]: Simplify -0.5 into -0.5
61.897 * [taylor]: Taking taylor expansion of phi2 in lambda2
61.897 * [backup-simplify]: Simplify phi2 into phi2
61.897 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
61.897 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
61.897 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
61.897 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
61.897 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
61.897 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
61.897 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.897 * [backup-simplify]: Simplify -0.5 into -0.5
61.897 * [taylor]: Taking taylor expansion of phi1 in lambda2
61.897 * [backup-simplify]: Simplify phi1 into phi1
61.898 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
61.898 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
61.898 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
61.898 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
61.898 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
61.898 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.898 * [backup-simplify]: Simplify -0.5 into -0.5
61.898 * [taylor]: Taking taylor expansion of phi1 in lambda2
61.898 * [backup-simplify]: Simplify phi1 into phi1
61.898 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
61.898 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
61.898 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
61.898 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
61.898 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
61.898 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
61.898 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.898 * [backup-simplify]: Simplify -0.5 into -0.5
61.898 * [taylor]: Taking taylor expansion of phi2 in lambda2
61.898 * [backup-simplify]: Simplify phi2 into phi2
61.898 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
61.899 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
61.899 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
61.899 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
61.899 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
61.899 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
61.899 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.899 * [backup-simplify]: Simplify -0.5 into -0.5
61.899 * [taylor]: Taking taylor expansion of phi2 in lambda2
61.899 * [backup-simplify]: Simplify phi2 into phi2
61.899 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
61.899 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
61.899 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
61.899 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
61.899 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
61.899 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
61.899 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.899 * [backup-simplify]: Simplify -0.5 into -0.5
61.899 * [taylor]: Taking taylor expansion of phi1 in lambda2
61.899 * [backup-simplify]: Simplify phi1 into phi1
61.899 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
61.900 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
61.900 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
61.900 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
61.900 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
61.900 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.900 * [backup-simplify]: Simplify -0.5 into -0.5
61.900 * [taylor]: Taking taylor expansion of phi1 in lambda2
61.900 * [backup-simplify]: Simplify phi1 into phi1
61.900 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
61.900 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
61.900 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
61.900 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
61.900 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
61.901 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
61.901 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
61.901 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
61.901 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
61.902 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
61.902 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
61.903 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
61.903 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
61.903 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
61.903 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
61.904 * [backup-simplify]: Simplify (- 0) into 0
61.904 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
61.904 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
61.904 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
61.905 * [backup-simplify]: Simplify (- 0) into 0
61.905 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
61.905 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
61.905 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
61.905 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
61.905 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
61.906 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
61.906 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
61.906 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
61.906 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
61.906 * [backup-simplify]: Simplify (- 0) into 0
61.907 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
61.907 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
61.907 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
61.907 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
61.907 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
61.907 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
61.908 * [backup-simplify]: Simplify (- 0) into 0
61.908 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
61.908 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
61.908 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
61.908 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
61.908 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
61.908 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
61.909 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
61.910 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
61.910 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
61.912 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
61.916 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)
61.919 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)
61.921 * [backup-simplify]: Simplify (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) into (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))
61.923 * [backup-simplify]: Simplify (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) into (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))
61.924 * [backup-simplify]: Simplify (+ 0) into 0
61.925 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
61.925 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
61.925 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.926 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
61.926 * [backup-simplify]: Simplify (- 0) into 0
61.927 * [backup-simplify]: Simplify (+ 0 0) into 0
61.927 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
61.927 * [backup-simplify]: Simplify (+ 0) into 0
61.928 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
61.928 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
61.929 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.929 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
61.929 * [backup-simplify]: Simplify (- 0) into 0
61.930 * [backup-simplify]: Simplify (+ 0 0) into 0
61.930 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
61.930 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
61.931 * [backup-simplify]: Simplify (+ 0) into 0
61.931 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
61.931 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
61.932 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.933 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
61.933 * [backup-simplify]: Simplify (+ 0 0) into 0
61.933 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
61.934 * [backup-simplify]: Simplify (+ 0) into 0
61.934 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
61.934 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
61.935 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.935 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
61.936 * [backup-simplify]: Simplify (+ 0 0) into 0
61.936 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
61.936 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
61.937 * [backup-simplify]: Simplify (+ 0 0) into 0
61.937 * [backup-simplify]: Simplify (+ 0) into 0
61.938 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
61.938 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
61.939 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.939 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
61.939 * [backup-simplify]: Simplify (+ 0 0) into 0
61.940 * [backup-simplify]: Simplify (+ 0) into 0
61.940 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
61.941 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
61.941 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.942 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
61.942 * [backup-simplify]: Simplify (- 0) into 0
61.943 * [backup-simplify]: Simplify (+ 0 0) into 0
61.943 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
61.943 * [backup-simplify]: Simplify (+ 0) into 0
61.944 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
61.944 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
61.945 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.945 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
61.945 * [backup-simplify]: Simplify (- 0) into 0
61.946 * [backup-simplify]: Simplify (+ 0 0) into 0
61.946 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
61.946 * [backup-simplify]: Simplify (+ 0) into 0
61.947 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
61.947 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
61.948 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.948 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
61.949 * [backup-simplify]: Simplify (+ 0 0) into 0
61.949 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
61.950 * [backup-simplify]: Simplify (+ 0) into 0
61.950 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
61.950 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
61.951 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.951 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
61.952 * [backup-simplify]: Simplify (+ 0 0) into 0
61.952 * [backup-simplify]: Simplify (+ 0) into 0
61.953 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
61.953 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
61.954 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.954 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
61.955 * [backup-simplify]: Simplify (- 0) into 0
61.955 * [backup-simplify]: Simplify (+ 0 0) into 0
61.955 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
61.956 * [backup-simplify]: Simplify (+ 0) into 0
61.956 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
61.956 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
61.957 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.958 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
61.958 * [backup-simplify]: Simplify (+ 0 0) into 0
61.958 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
61.959 * [backup-simplify]: Simplify (+ 0) into 0
61.959 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
61.959 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
61.960 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
61.961 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
61.961 * [backup-simplify]: Simplify (- 0) into 0
61.961 * [backup-simplify]: Simplify (+ 0 0) into 0
61.962 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
61.962 * [backup-simplify]: Simplify (+ 0 0) into 0
61.962 * [backup-simplify]: Simplify (- 0) into 0
61.963 * [backup-simplify]: Simplify (+ 0 0) into 0
61.967 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into 0
61.971 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2))) into 0
61.975 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
61.978 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
61.978 * [taylor]: Taking taylor expansion of (+ (* 3 (* (/ (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 5) (* (pow (cos (/ -0.5 phi1)) 5) (sin (/ -0.5 phi1))))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) (+ (* 3 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (* lambda2 (pow phi1 2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (* lambda2 (* phi1 phi2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))))) in lambda2
61.978 * [taylor]: Taking taylor expansion of (* 3 (* (/ (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 5) (* (pow (cos (/ -0.5 phi1)) 5) (sin (/ -0.5 phi1))))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) in lambda2
61.978 * [taylor]: Taking taylor expansion of 3 in lambda2
61.978 * [backup-simplify]: Simplify 3 into 3
61.978 * [taylor]: Taking taylor expansion of (* (/ (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 5) (* (pow (cos (/ -0.5 phi1)) 5) (sin (/ -0.5 phi1))))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)))) in lambda2
61.978 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 5) (* (pow (cos (/ -0.5 phi1)) 5) (sin (/ -0.5 phi1))))) (* R (pow lambda2 3))) in lambda2
61.978 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 5) (* (pow (cos (/ -0.5 phi1)) 5) (sin (/ -0.5 phi1))))) in lambda2
61.978 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
61.978 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
61.978 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.978 * [backup-simplify]: Simplify -0.5 into -0.5
61.978 * [taylor]: Taking taylor expansion of phi2 in lambda2
61.978 * [backup-simplify]: Simplify phi2 into phi2
61.978 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
61.978 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
61.979 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
61.979 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 5) (* (pow (cos (/ -0.5 phi1)) 5) (sin (/ -0.5 phi1)))) in lambda2
61.979 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 5) in lambda2
61.979 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
61.979 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
61.979 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.979 * [backup-simplify]: Simplify -0.5 into -0.5
61.979 * [taylor]: Taking taylor expansion of phi2 in lambda2
61.979 * [backup-simplify]: Simplify phi2 into phi2
61.979 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
61.979 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
61.979 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
61.979 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
61.979 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
61.980 * [backup-simplify]: Simplify (- 0) into 0
61.980 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
61.980 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi1)) 5) (sin (/ -0.5 phi1))) in lambda2
61.980 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 5) in lambda2
61.980 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
61.980 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
61.980 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.980 * [backup-simplify]: Simplify -0.5 into -0.5
61.980 * [taylor]: Taking taylor expansion of phi1 in lambda2
61.980 * [backup-simplify]: Simplify phi1 into phi1
61.980 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
61.980 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
61.980 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
61.981 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
61.981 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
61.981 * [backup-simplify]: Simplify (- 0) into 0
61.981 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
61.981 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
61.981 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
61.981 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.981 * [backup-simplify]: Simplify -0.5 into -0.5
61.981 * [taylor]: Taking taylor expansion of phi1 in lambda2
61.981 * [backup-simplify]: Simplify phi1 into phi1
61.981 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
61.981 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
61.982 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
61.982 * [taylor]: Taking taylor expansion of (* R (pow lambda2 3)) in lambda2
61.982 * [taylor]: Taking taylor expansion of R in lambda2
61.982 * [backup-simplify]: Simplify R into R
61.982 * [taylor]: Taking taylor expansion of (pow lambda2 3) in lambda2
61.982 * [taylor]: Taking taylor expansion of lambda2 in lambda2
61.982 * [backup-simplify]: Simplify 0 into 0
61.982 * [backup-simplify]: Simplify 1 into 1
61.982 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
61.982 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
61.982 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
61.982 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
61.983 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi2)) 2)) into (pow (cos (/ -0.5 phi2)) 4)
61.983 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (pow (cos (/ -0.5 phi2)) 4)) into (pow (cos (/ -0.5 phi2)) 5)
61.983 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
61.983 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (pow (cos (/ -0.5 phi1)) 4)
61.984 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (pow (cos (/ -0.5 phi1)) 4)) into (pow (cos (/ -0.5 phi1)) 5)
61.984 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
61.984 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
61.984 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
61.984 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi1)) 5) (sin (/ -0.5 phi1))) into (* (pow (cos (/ -0.5 phi1)) 5) (sin (/ -0.5 phi1)))
61.985 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 5) (* (pow (cos (/ -0.5 phi1)) 5) (sin (/ -0.5 phi1)))) into (* (pow (cos (/ -0.5 phi2)) 5) (* (pow (cos (/ -0.5 phi1)) 5) (sin (/ -0.5 phi1))))
61.985 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 5) (* (pow (cos (/ -0.5 phi1)) 5) (sin (/ -0.5 phi1))))) into (* (pow (cos (/ -0.5 phi2)) 5) (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi1)) 5) (sin (/ -0.5 phi1)))))
61.986 * [backup-simplify]: Simplify (* 1 1) into 1
61.986 * [backup-simplify]: Simplify (* 1 1) into 1
61.986 * [backup-simplify]: Simplify (* R 1) into R
61.987 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 5) (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi1)) 5) (sin (/ -0.5 phi1))))) R) into (/ (* (pow (cos (/ -0.5 phi2)) 5) (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi1)) 5) (sin (/ -0.5 phi1))))) R)
61.987 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))) in lambda2
61.987 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)) in lambda2
61.987 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5) in lambda2
61.987 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in lambda2
61.987 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in lambda2
61.987 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2
61.987 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2
61.987 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
61.987 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
61.987 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.987 * [backup-simplify]: Simplify -0.5 into -0.5
61.987 * [taylor]: Taking taylor expansion of phi2 in lambda2
61.987 * [backup-simplify]: Simplify phi2 into phi2
61.987 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
61.987 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
61.987 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
61.987 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
61.987 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
61.988 * [backup-simplify]: Simplify (- 0) into 0
61.988 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
61.988 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2
61.988 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
61.988 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
61.988 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.988 * [backup-simplify]: Simplify -0.5 into -0.5
61.988 * [taylor]: Taking taylor expansion of phi1 in lambda2
61.988 * [backup-simplify]: Simplify phi1 into phi1
61.988 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
61.988 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
61.989 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
61.989 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
61.989 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
61.989 * [backup-simplify]: Simplify (- 0) into 0
61.989 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
61.989 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2
61.989 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2
61.989 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
61.989 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
61.989 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.989 * [backup-simplify]: Simplify -0.5 into -0.5
61.989 * [taylor]: Taking taylor expansion of phi2 in lambda2
61.989 * [backup-simplify]: Simplify phi2 into phi2
61.990 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
61.990 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
61.990 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
61.990 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
61.990 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
61.990 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
61.990 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2
61.990 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
61.990 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
61.990 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.990 * [backup-simplify]: Simplify -0.5 into -0.5
61.990 * [taylor]: Taking taylor expansion of phi1 in lambda2
61.990 * [backup-simplify]: Simplify phi1 into phi1
61.990 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
61.990 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
61.990 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
61.991 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
61.991 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
61.991 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
61.991 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in lambda2
61.991 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
61.991 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
61.991 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
61.991 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.991 * [backup-simplify]: Simplify -0.5 into -0.5
61.991 * [taylor]: Taking taylor expansion of phi2 in lambda2
61.991 * [backup-simplify]: Simplify phi2 into phi2
61.991 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
61.991 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
61.991 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
61.991 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
61.991 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
61.991 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
61.991 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.991 * [backup-simplify]: Simplify -0.5 into -0.5
61.992 * [taylor]: Taking taylor expansion of phi2 in lambda2
61.992 * [backup-simplify]: Simplify phi2 into phi2
61.992 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
61.992 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
61.992 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
61.992 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
61.992 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
61.992 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
61.992 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.992 * [backup-simplify]: Simplify -0.5 into -0.5
61.992 * [taylor]: Taking taylor expansion of phi1 in lambda2
61.992 * [backup-simplify]: Simplify phi1 into phi1
61.992 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
61.992 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
61.992 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
61.992 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
61.992 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
61.992 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.992 * [backup-simplify]: Simplify -0.5 into -0.5
61.992 * [taylor]: Taking taylor expansion of phi1 in lambda2
61.992 * [backup-simplify]: Simplify phi1 into phi1
61.992 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
61.993 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
61.993 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
61.993 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
61.993 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
61.993 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
61.993 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.993 * [backup-simplify]: Simplify -0.5 into -0.5
61.993 * [taylor]: Taking taylor expansion of phi2 in lambda2
61.993 * [backup-simplify]: Simplify phi2 into phi2
61.993 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
61.993 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
61.993 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
61.993 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
61.993 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
61.993 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
61.993 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.993 * [backup-simplify]: Simplify -0.5 into -0.5
61.993 * [taylor]: Taking taylor expansion of phi2 in lambda2
61.993 * [backup-simplify]: Simplify phi2 into phi2
61.993 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
61.993 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
61.994 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
61.994 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
61.994 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
61.994 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
61.994 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.994 * [backup-simplify]: Simplify -0.5 into -0.5
61.994 * [taylor]: Taking taylor expansion of phi1 in lambda2
61.994 * [backup-simplify]: Simplify phi1 into phi1
61.994 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
61.994 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
61.994 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
61.994 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
61.994 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
61.994 * [taylor]: Taking taylor expansion of -0.5 in lambda2
61.994 * [backup-simplify]: Simplify -0.5 into -0.5
61.994 * [taylor]: Taking taylor expansion of phi1 in lambda2
61.994 * [backup-simplify]: Simplify phi1 into phi1
61.994 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
61.994 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
61.994 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
61.995 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
61.995 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
61.995 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
61.995 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
61.996 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
61.996 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
61.997 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
61.997 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
61.997 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
61.997 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
61.997 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
61.997 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
61.998 * [backup-simplify]: Simplify (- 0) into 0
61.998 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
61.998 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
61.998 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
61.999 * [backup-simplify]: Simplify (- 0) into 0
61.999 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
61.999 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
61.999 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
61.999 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
61.999 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
61.999 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
62.000 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
62.000 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
62.000 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
62.000 * [backup-simplify]: Simplify (- 0) into 0
62.001 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
62.001 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
62.001 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
62.001 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
62.001 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
62.001 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
62.001 * [backup-simplify]: Simplify (- 0) into 0
62.002 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
62.002 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
62.002 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
62.002 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
62.002 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
62.002 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
62.003 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
62.003 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
62.004 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
62.006 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
62.010 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)
62.014 * [backup-simplify]: Simplify (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 4)
62.018 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 4)) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)
62.020 * [backup-simplify]: Simplify (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)) into (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))
62.023 * [backup-simplify]: Simplify (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))) into (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)))
62.024 * [backup-simplify]: Simplify (+ 0) into 0
62.024 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
62.025 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
62.026 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
62.026 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
62.026 * [backup-simplify]: Simplify (- 0) into 0
62.027 * [backup-simplify]: Simplify (+ 0 0) into 0
62.027 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
62.027 * [backup-simplify]: Simplify (+ 0) into 0
62.028 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
62.028 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
62.029 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
62.029 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
62.030 * [backup-simplify]: Simplify (- 0) into 0
62.030 * [backup-simplify]: Simplify (+ 0 0) into 0
62.030 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
62.031 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
62.033 * [backup-simplify]: Simplify (+ 0) into 0
62.034 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
62.035 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
62.035 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
62.036 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
62.036 * [backup-simplify]: Simplify (+ 0 0) into 0
62.036 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
62.037 * [backup-simplify]: Simplify (+ 0) into 0
62.038 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
62.038 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
62.039 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
62.040 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
62.040 * [backup-simplify]: Simplify (+ 0 0) into 0
62.040 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
62.041 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
62.041 * [backup-simplify]: Simplify (+ 0 0) into 0
62.042 * [backup-simplify]: Simplify (+ 0) into 0
62.042 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
62.042 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
62.042 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
62.043 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
62.043 * [backup-simplify]: Simplify (+ 0 0) into 0
62.043 * [backup-simplify]: Simplify (+ 0) into 0
62.043 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
62.044 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
62.044 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
62.044 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
62.045 * [backup-simplify]: Simplify (- 0) into 0
62.045 * [backup-simplify]: Simplify (+ 0 0) into 0
62.045 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
62.045 * [backup-simplify]: Simplify (+ 0) into 0
62.045 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
62.046 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
62.046 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
62.046 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
62.047 * [backup-simplify]: Simplify (- 0) into 0
62.047 * [backup-simplify]: Simplify (+ 0 0) into 0
62.047 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
62.047 * [backup-simplify]: Simplify (+ 0) into 0
62.047 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
62.048 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
62.048 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
62.048 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
62.049 * [backup-simplify]: Simplify (+ 0 0) into 0
62.049 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
62.049 * [backup-simplify]: Simplify (+ 0) into 0
62.049 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
62.049 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
62.050 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
62.050 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
62.050 * [backup-simplify]: Simplify (+ 0 0) into 0
62.051 * [backup-simplify]: Simplify (+ 0) into 0
62.051 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
62.051 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
62.051 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
62.052 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
62.052 * [backup-simplify]: Simplify (- 0) into 0
62.052 * [backup-simplify]: Simplify (+ 0 0) into 0
62.052 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
62.053 * [backup-simplify]: Simplify (+ 0) into 0
62.053 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
62.053 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
62.053 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
62.054 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
62.054 * [backup-simplify]: Simplify (+ 0 0) into 0
62.054 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
62.054 * [backup-simplify]: Simplify (+ 0) into 0
62.055 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
62.055 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
62.055 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
62.056 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
62.056 * [backup-simplify]: Simplify (- 0) into 0
62.056 * [backup-simplify]: Simplify (+ 0 0) into 0
62.056 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
62.056 * [backup-simplify]: Simplify (+ 0 0) into 0
62.057 * [backup-simplify]: Simplify (- 0) into 0
62.057 * [backup-simplify]: Simplify (+ 0 0) into 0
62.059 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into 0
62.061 * [backup-simplify]: Simplify (+ (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2) 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2))) into 0
62.063 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 4))) into 0
62.065 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)) (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) into 0
62.066 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) into 0
62.066 * [taylor]: Taking taylor expansion of (+ (* 3 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (* lambda2 (pow phi1 2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (* lambda2 (* phi1 phi2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))))) in lambda2
62.066 * [taylor]: Taking taylor expansion of (* 3 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) in lambda2
62.067 * [taylor]: Taking taylor expansion of 3 in lambda2
62.067 * [backup-simplify]: Simplify 3 into 3
62.067 * [taylor]: Taking taylor expansion of (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) in lambda2
62.067 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (* R (pow lambda2 3))) in lambda2
62.067 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)))) in lambda2
62.067 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2
62.067 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
62.067 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
62.067 * [taylor]: Taking taylor expansion of -0.5 in lambda2
62.067 * [backup-simplify]: Simplify -0.5 into -0.5
62.067 * [taylor]: Taking taylor expansion of phi2 in lambda2
62.067 * [backup-simplify]: Simplify phi2 into phi2
62.067 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
62.067 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
62.067 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
62.067 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
62.067 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
62.067 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
62.067 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2))) in lambda2
62.067 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2
62.067 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
62.067 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
62.067 * [taylor]: Taking taylor expansion of -0.5 in lambda2
62.067 * [backup-simplify]: Simplify -0.5 into -0.5
62.067 * [taylor]: Taking taylor expansion of phi2 in lambda2
62.067 * [backup-simplify]: Simplify phi2 into phi2
62.067 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
62.067 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
62.067 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
62.067 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
62.067 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
62.068 * [backup-simplify]: Simplify (- 0) into 0
62.068 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
62.068 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2
62.068 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2
62.068 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
62.068 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
62.068 * [taylor]: Taking taylor expansion of -0.5 in lambda2
62.068 * [backup-simplify]: Simplify -0.5 into -0.5
62.068 * [taylor]: Taking taylor expansion of phi1 in lambda2
62.068 * [backup-simplify]: Simplify phi1 into phi1
62.068 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
62.068 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
62.068 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
62.068 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
62.068 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
62.069 * [backup-simplify]: Simplify (- 0) into 0
62.069 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
62.069 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2
62.069 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
62.069 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
62.069 * [taylor]: Taking taylor expansion of -0.5 in lambda2
62.069 * [backup-simplify]: Simplify -0.5 into -0.5
62.069 * [taylor]: Taking taylor expansion of phi1 in lambda2
62.069 * [backup-simplify]: Simplify phi1 into phi1
62.069 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
62.069 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
62.069 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
62.069 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
62.069 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
62.069 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
62.069 * [taylor]: Taking taylor expansion of (* R (pow lambda2 3)) in lambda2
62.069 * [taylor]: Taking taylor expansion of R in lambda2
62.069 * [backup-simplify]: Simplify R into R
62.069 * [taylor]: Taking taylor expansion of (pow lambda2 3) in lambda2
62.069 * [taylor]: Taking taylor expansion of lambda2 in lambda2
62.069 * [backup-simplify]: Simplify 0 into 0
62.069 * [backup-simplify]: Simplify 1 into 1
62.069 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
62.069 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
62.070 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
62.070 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
62.070 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2))
62.071 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)))
62.071 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)))) into (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2))))
62.072 * [backup-simplify]: Simplify (* 1 1) into 1
62.072 * [backup-simplify]: Simplify (* 1 1) into 1
62.072 * [backup-simplify]: Simplify (* R 1) into R
62.073 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)))) R) into (/ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)))) R)
62.073 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) in lambda2
62.073 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) in lambda2
62.073 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3) in lambda2
62.073 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in lambda2
62.073 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in lambda2
62.073 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2
62.073 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2
62.073 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
62.073 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
62.073 * [taylor]: Taking taylor expansion of -0.5 in lambda2
62.073 * [backup-simplify]: Simplify -0.5 into -0.5
62.073 * [taylor]: Taking taylor expansion of phi2 in lambda2
62.073 * [backup-simplify]: Simplify phi2 into phi2
62.073 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
62.073 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
62.074 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
62.074 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
62.074 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
62.074 * [backup-simplify]: Simplify (- 0) into 0
62.074 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
62.074 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2
62.074 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
62.074 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
62.074 * [taylor]: Taking taylor expansion of -0.5 in lambda2
62.074 * [backup-simplify]: Simplify -0.5 into -0.5
62.074 * [taylor]: Taking taylor expansion of phi1 in lambda2
62.074 * [backup-simplify]: Simplify phi1 into phi1
62.074 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
62.075 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
62.075 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
62.075 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
62.075 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
62.075 * [backup-simplify]: Simplify (- 0) into 0
62.075 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
62.075 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2
62.075 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2
62.075 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
62.075 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
62.075 * [taylor]: Taking taylor expansion of -0.5 in lambda2
62.076 * [backup-simplify]: Simplify -0.5 into -0.5
62.076 * [taylor]: Taking taylor expansion of phi2 in lambda2
62.076 * [backup-simplify]: Simplify phi2 into phi2
62.076 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
62.076 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
62.076 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
62.076 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
62.076 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
62.076 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
62.076 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2
62.076 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
62.076 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
62.076 * [taylor]: Taking taylor expansion of -0.5 in lambda2
62.076 * [backup-simplify]: Simplify -0.5 into -0.5
62.076 * [taylor]: Taking taylor expansion of phi1 in lambda2
62.076 * [backup-simplify]: Simplify phi1 into phi1
62.076 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
62.076 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
62.077 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
62.077 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
62.077 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
62.077 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
62.077 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in lambda2
62.077 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
62.077 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
62.077 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
62.077 * [taylor]: Taking taylor expansion of -0.5 in lambda2
62.077 * [backup-simplify]: Simplify -0.5 into -0.5
62.077 * [taylor]: Taking taylor expansion of phi2 in lambda2
62.077 * [backup-simplify]: Simplify phi2 into phi2
62.077 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
62.077 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
62.077 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
62.077 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
62.077 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
62.077 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
62.077 * [taylor]: Taking taylor expansion of -0.5 in lambda2
62.077 * [backup-simplify]: Simplify -0.5 into -0.5
62.077 * [taylor]: Taking taylor expansion of phi2 in lambda2
62.078 * [backup-simplify]: Simplify phi2 into phi2
62.078 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
62.078 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
62.078 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
62.078 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
62.078 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
62.078 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
62.078 * [taylor]: Taking taylor expansion of -0.5 in lambda2
62.078 * [backup-simplify]: Simplify -0.5 into -0.5
62.078 * [taylor]: Taking taylor expansion of phi1 in lambda2
62.078 * [backup-simplify]: Simplify phi1 into phi1
62.078 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
62.078 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
62.078 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
62.078 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
62.078 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
62.078 * [taylor]: Taking taylor expansion of -0.5 in lambda2
62.078 * [backup-simplify]: Simplify -0.5 into -0.5
62.078 * [taylor]: Taking taylor expansion of phi1 in lambda2
62.078 * [backup-simplify]: Simplify phi1 into phi1
62.078 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
62.078 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
62.079 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
62.079 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
62.079 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
62.079 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
62.079 * [taylor]: Taking taylor expansion of -0.5 in lambda2
62.079 * [backup-simplify]: Simplify -0.5 into -0.5
62.079 * [taylor]: Taking taylor expansion of phi2 in lambda2
62.079 * [backup-simplify]: Simplify phi2 into phi2
62.079 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
62.079 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
62.079 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
62.079 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
62.079 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
62.079 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
62.079 * [taylor]: Taking taylor expansion of -0.5 in lambda2
62.079 * [backup-simplify]: Simplify -0.5 into -0.5
62.079 * [taylor]: Taking taylor expansion of phi2 in lambda2
62.079 * [backup-simplify]: Simplify phi2 into phi2
62.079 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
62.079 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
62.079 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
62.079 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
62.079 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
62.079 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
62.079 * [taylor]: Taking taylor expansion of -0.5 in lambda2
62.079 * [backup-simplify]: Simplify -0.5 into -0.5
62.080 * [taylor]: Taking taylor expansion of phi1 in lambda2
62.080 * [backup-simplify]: Simplify phi1 into phi1
62.080 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
62.080 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
62.080 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
62.080 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
62.080 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
62.080 * [taylor]: Taking taylor expansion of -0.5 in lambda2
62.080 * [backup-simplify]: Simplify -0.5 into -0.5
62.080 * [taylor]: Taking taylor expansion of phi1 in lambda2
62.080 * [backup-simplify]: Simplify phi1 into phi1
62.080 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
62.080 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
62.080 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
62.080 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
62.080 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
62.081 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
62.081 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
62.081 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
62.081 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
62.082 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
62.082 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
62.082 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
62.083 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
62.083 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
62.083 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
62.083 * [backup-simplify]: Simplify (- 0) into 0
62.083 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
62.084 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
62.084 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
62.084 * [backup-simplify]: Simplify (- 0) into 0
62.084 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
62.084 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
62.085 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
62.085 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
62.085 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
62.085 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
62.085 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
62.086 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
62.086 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
62.086 * [backup-simplify]: Simplify (- 0) into 0
62.086 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
62.086 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
62.086 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
62.086 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
62.087 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
62.087 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
62.087 * [backup-simplify]: Simplify (- 0) into 0
62.087 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
62.087 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
62.087 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
62.087 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
62.088 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
62.088 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
62.088 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
62.089 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
62.090 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
62.092 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
62.095 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)
62.099 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)
62.101 * [backup-simplify]: Simplify (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) into (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))
62.103 * [backup-simplify]: Simplify (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) into (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))
62.104 * [backup-simplify]: Simplify (+ 0) into 0
62.104 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
62.104 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
62.105 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
62.105 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
62.106 * [backup-simplify]: Simplify (- 0) into 0
62.106 * [backup-simplify]: Simplify (+ 0 0) into 0
62.106 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
62.106 * [backup-simplify]: Simplify (+ 0) into 0
62.107 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
62.107 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
62.107 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
62.107 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
62.108 * [backup-simplify]: Simplify (- 0) into 0
62.108 * [backup-simplify]: Simplify (+ 0 0) into 0
62.108 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
62.108 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
62.108 * [backup-simplify]: Simplify (+ 0) into 0
62.109 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
62.109 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
62.109 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
62.110 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
62.110 * [backup-simplify]: Simplify (+ 0 0) into 0
62.110 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
62.110 * [backup-simplify]: Simplify (+ 0) into 0
62.110 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
62.111 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
62.111 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
62.111 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
62.112 * [backup-simplify]: Simplify (+ 0 0) into 0
62.112 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
62.112 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
62.112 * [backup-simplify]: Simplify (+ 0 0) into 0
62.112 * [backup-simplify]: Simplify (+ 0) into 0
62.113 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
62.113 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
62.113 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
62.114 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
62.114 * [backup-simplify]: Simplify (+ 0 0) into 0
62.114 * [backup-simplify]: Simplify (+ 0) into 0
62.114 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
62.114 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
62.115 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
62.115 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
62.115 * [backup-simplify]: Simplify (- 0) into 0
62.116 * [backup-simplify]: Simplify (+ 0 0) into 0
62.116 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
62.116 * [backup-simplify]: Simplify (+ 0) into 0
62.116 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
62.116 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
62.117 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
62.117 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
62.117 * [backup-simplify]: Simplify (- 0) into 0
62.118 * [backup-simplify]: Simplify (+ 0 0) into 0
62.118 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
62.118 * [backup-simplify]: Simplify (+ 0) into 0
62.118 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
62.118 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
62.119 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
62.119 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
62.119 * [backup-simplify]: Simplify (+ 0 0) into 0
62.120 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
62.120 * [backup-simplify]: Simplify (+ 0) into 0
62.120 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
62.120 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
62.121 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
62.121 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
62.121 * [backup-simplify]: Simplify (+ 0 0) into 0
62.121 * [backup-simplify]: Simplify (+ 0) into 0
62.122 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
62.122 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
62.122 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
62.123 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
62.123 * [backup-simplify]: Simplify (- 0) into 0
62.123 * [backup-simplify]: Simplify (+ 0 0) into 0
62.123 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
62.123 * [backup-simplify]: Simplify (+ 0) into 0
62.124 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
62.124 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
62.124 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
62.125 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
62.125 * [backup-simplify]: Simplify (+ 0 0) into 0
62.125 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
62.125 * [backup-simplify]: Simplify (+ 0) into 0
62.126 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
62.126 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
62.126 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
62.126 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
62.127 * [backup-simplify]: Simplify (- 0) into 0
62.127 * [backup-simplify]: Simplify (+ 0 0) into 0
62.127 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
62.127 * [backup-simplify]: Simplify (+ 0 0) into 0
62.128 * [backup-simplify]: Simplify (- 0) into 0
62.128 * [backup-simplify]: Simplify (+ 0 0) into 0
62.130 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into 0
62.132 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2))) into 0
62.134 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
62.135 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
62.135 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (* lambda2 (pow phi1 2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (* lambda2 (* phi1 phi2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))) in lambda2
62.135 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (* lambda2 (pow phi1 2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) in lambda2
62.135 * [taylor]: Taking taylor expansion of 1/2 in lambda2
62.135 * [backup-simplify]: Simplify 1/2 into 1/2
62.135 * [taylor]: Taking taylor expansion of (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (* lambda2 (pow phi1 2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) in lambda2
62.135 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (* lambda2 (pow phi1 2)))) in lambda2
62.135 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2
62.135 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2
62.135 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
62.135 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
62.136 * [taylor]: Taking taylor expansion of -0.5 in lambda2
62.136 * [backup-simplify]: Simplify -0.5 into -0.5
62.136 * [taylor]: Taking taylor expansion of phi2 in lambda2
62.136 * [backup-simplify]: Simplify phi2 into phi2
62.136 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
62.136 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
62.136 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
62.136 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
62.136 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
62.136 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
62.136 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2
62.136 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
62.136 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
62.136 * [taylor]: Taking taylor expansion of -0.5 in lambda2
62.136 * [backup-simplify]: Simplify -0.5 into -0.5
62.136 * [taylor]: Taking taylor expansion of phi1 in lambda2
62.136 * [backup-simplify]: Simplify phi1 into phi1
62.136 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
62.136 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
62.136 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
62.136 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
62.136 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
62.136 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
62.136 * [taylor]: Taking taylor expansion of (* R (* lambda2 (pow phi1 2))) in lambda2
62.136 * [taylor]: Taking taylor expansion of R in lambda2
62.136 * [backup-simplify]: Simplify R into R
62.136 * [taylor]: Taking taylor expansion of (* lambda2 (pow phi1 2)) in lambda2
62.136 * [taylor]: Taking taylor expansion of lambda2 in lambda2
62.136 * [backup-simplify]: Simplify 0 into 0
62.136 * [backup-simplify]: Simplify 1 into 1
62.136 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2
62.136 * [taylor]: Taking taylor expansion of phi1 in lambda2
62.136 * [backup-simplify]: Simplify phi1 into phi1
62.137 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
62.137 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
62.137 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
62.137 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
62.137 * [backup-simplify]: Simplify (* 0 (pow phi1 2)) into 0
62.137 * [backup-simplify]: Simplify (* R 0) into 0
62.137 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0
62.138 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow phi1 2))) into (pow phi1 2)
62.138 * [backup-simplify]: Simplify (+ (* R (pow phi1 2)) (* 0 0)) into (* R (pow phi1 2))
62.138 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (pow phi1 2))) into (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (pow phi1 2)))
62.138 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) in lambda2
62.138 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) in lambda2
62.138 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3) in lambda2
62.138 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in lambda2
62.138 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in lambda2
62.138 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2
62.138 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2
62.138 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
62.138 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
62.138 * [taylor]: Taking taylor expansion of -0.5 in lambda2
62.138 * [backup-simplify]: Simplify -0.5 into -0.5
62.139 * [taylor]: Taking taylor expansion of phi2 in lambda2
62.139 * [backup-simplify]: Simplify phi2 into phi2
62.139 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
62.139 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
62.139 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
62.139 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
62.139 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
62.139 * [backup-simplify]: Simplify (- 0) into 0
62.139 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
62.139 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2
62.139 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
62.139 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
62.139 * [taylor]: Taking taylor expansion of -0.5 in lambda2
62.139 * [backup-simplify]: Simplify -0.5 into -0.5
62.139 * [taylor]: Taking taylor expansion of phi1 in lambda2
62.139 * [backup-simplify]: Simplify phi1 into phi1
62.139 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
62.139 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
62.139 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
62.139 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
62.139 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
62.140 * [backup-simplify]: Simplify (- 0) into 0
62.140 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
62.140 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2
62.140 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2
62.140 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
62.140 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
62.140 * [taylor]: Taking taylor expansion of -0.5 in lambda2
62.140 * [backup-simplify]: Simplify -0.5 into -0.5
62.140 * [taylor]: Taking taylor expansion of phi2 in lambda2
62.140 * [backup-simplify]: Simplify phi2 into phi2
62.140 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
62.140 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
62.140 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
62.140 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
62.140 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
62.140 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
62.140 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2
62.140 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
62.140 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
62.140 * [taylor]: Taking taylor expansion of -0.5 in lambda2
62.140 * [backup-simplify]: Simplify -0.5 into -0.5
62.140 * [taylor]: Taking taylor expansion of phi1 in lambda2
62.140 * [backup-simplify]: Simplify phi1 into phi1
62.140 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
62.140 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
62.141 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
62.141 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
62.141 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
62.141 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
62.141 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in lambda2
62.141 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
62.141 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
62.141 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
62.141 * [taylor]: Taking taylor expansion of -0.5 in lambda2
62.141 * [backup-simplify]: Simplify -0.5 into -0.5
62.141 * [taylor]: Taking taylor expansion of phi2 in lambda2
62.141 * [backup-simplify]: Simplify phi2 into phi2
62.141 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
62.141 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
62.141 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
62.141 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
62.141 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
62.141 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
62.141 * [taylor]: Taking taylor expansion of -0.5 in lambda2
62.141 * [backup-simplify]: Simplify -0.5 into -0.5
62.141 * [taylor]: Taking taylor expansion of phi2 in lambda2
62.141 * [backup-simplify]: Simplify phi2 into phi2
62.141 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
62.141 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
62.141 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
62.141 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
62.141 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
62.141 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
62.141 * [taylor]: Taking taylor expansion of -0.5 in lambda2
62.141 * [backup-simplify]: Simplify -0.5 into -0.5
62.141 * [taylor]: Taking taylor expansion of phi1 in lambda2
62.141 * [backup-simplify]: Simplify phi1 into phi1
62.142 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
62.142 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
62.142 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
62.142 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
62.142 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
62.142 * [taylor]: Taking taylor expansion of -0.5 in lambda2
62.142 * [backup-simplify]: Simplify -0.5 into -0.5
62.142 * [taylor]: Taking taylor expansion of phi1 in lambda2
62.142 * [backup-simplify]: Simplify phi1 into phi1
62.142 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
62.142 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
62.142 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
62.142 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
62.142 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
62.142 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
62.142 * [taylor]: Taking taylor expansion of -0.5 in lambda2
62.142 * [backup-simplify]: Simplify -0.5 into -0.5
62.142 * [taylor]: Taking taylor expansion of phi2 in lambda2
62.142 * [backup-simplify]: Simplify phi2 into phi2
62.142 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
62.142 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
62.143 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
62.143 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
62.143 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
62.143 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
62.143 * [taylor]: Taking taylor expansion of -0.5 in lambda2
62.143 * [backup-simplify]: Simplify -0.5 into -0.5
62.143 * [taylor]: Taking taylor expansion of phi2 in lambda2
62.143 * [backup-simplify]: Simplify phi2 into phi2
62.143 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
62.143 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
62.143 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
62.143 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
62.143 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
62.143 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
62.143 * [taylor]: Taking taylor expansion of -0.5 in lambda2
62.143 * [backup-simplify]: Simplify -0.5 into -0.5
62.143 * [taylor]: Taking taylor expansion of phi1 in lambda2
62.143 * [backup-simplify]: Simplify phi1 into phi1
62.143 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
62.143 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
62.143 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
62.144 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
62.144 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
62.144 * [taylor]: Taking taylor expansion of -0.5 in lambda2
62.144 * [backup-simplify]: Simplify -0.5 into -0.5
62.144 * [taylor]: Taking taylor expansion of phi1 in lambda2
62.144 * [backup-simplify]: Simplify phi1 into phi1
62.144 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
62.144 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
62.144 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
62.144 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
62.144 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
62.145 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
62.145 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
62.145 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
62.146 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
62.147 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
62.147 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
62.147 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
62.147 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
62.147 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
62.147 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
62.148 * [backup-simplify]: Simplify (- 0) into 0
62.148 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
62.148 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
62.148 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
62.148 * [backup-simplify]: Simplify (- 0) into 0
62.149 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
62.149 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
62.149 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
62.149 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
62.149 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
62.149 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
62.150 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
62.150 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
62.150 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
62.150 * [backup-simplify]: Simplify (- 0) into 0
62.150 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
62.150 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
62.151 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
62.151 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
62.151 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
62.151 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
62.151 * [backup-simplify]: Simplify (- 0) into 0
62.151 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
62.152 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
62.152 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
62.152 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
62.152 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
62.152 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
62.152 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
62.153 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
62.154 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
62.156 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
62.160 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)
62.166 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)
62.168 * [backup-simplify]: Simplify (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) into (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))
62.170 * [backup-simplify]: Simplify (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) into (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))
62.171 * [backup-simplify]: Simplify (+ 0) into 0
62.171 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
62.172 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
62.172 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
62.173 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
62.173 * [backup-simplify]: Simplify (- 0) into 0
62.174 * [backup-simplify]: Simplify (+ 0 0) into 0
62.174 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
62.174 * [backup-simplify]: Simplify (+ 0) into 0
62.175 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
62.175 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
62.176 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
62.176 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
62.177 * [backup-simplify]: Simplify (- 0) into 0
62.177 * [backup-simplify]: Simplify (+ 0 0) into 0
62.177 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
62.178 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
62.178 * [backup-simplify]: Simplify (+ 0) into 0
62.179 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
62.179 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
62.180 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
62.180 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
62.181 * [backup-simplify]: Simplify (+ 0 0) into 0
62.181 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
62.181 * [backup-simplify]: Simplify (+ 0) into 0
62.182 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
62.182 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
62.183 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
62.183 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
62.184 * [backup-simplify]: Simplify (+ 0 0) into 0
62.184 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
62.185 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
62.185 * [backup-simplify]: Simplify (+ 0 0) into 0
62.185 * [backup-simplify]: Simplify (+ 0) into 0
62.186 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
62.186 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
62.187 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
62.188 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
62.188 * [backup-simplify]: Simplify (+ 0 0) into 0
62.188 * [backup-simplify]: Simplify (+ 0) into 0
62.189 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
62.189 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
62.190 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
62.190 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
62.191 * [backup-simplify]: Simplify (- 0) into 0
62.191 * [backup-simplify]: Simplify (+ 0 0) into 0
62.192 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
62.192 * [backup-simplify]: Simplify (+ 0) into 0
62.192 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
62.193 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
62.194 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
62.194 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
62.194 * [backup-simplify]: Simplify (- 0) into 0
62.195 * [backup-simplify]: Simplify (+ 0 0) into 0
62.195 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
62.196 * [backup-simplify]: Simplify (+ 0) into 0
62.196 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
62.196 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
62.197 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
62.198 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
62.198 * [backup-simplify]: Simplify (+ 0 0) into 0
62.199 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
62.200 * [backup-simplify]: Simplify (+ 0) into 0
62.201 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
62.201 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
62.202 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
62.203 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
62.203 * [backup-simplify]: Simplify (+ 0 0) into 0
62.203 * [backup-simplify]: Simplify (+ 0) into 0
62.204 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
62.204 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
62.206 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
62.206 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
62.206 * [backup-simplify]: Simplify (- 0) into 0
62.207 * [backup-simplify]: Simplify (+ 0 0) into 0
62.207 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
62.207 * [backup-simplify]: Simplify (+ 0) into 0
62.208 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
62.208 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
62.209 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
62.209 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
62.210 * [backup-simplify]: Simplify (+ 0 0) into 0
62.210 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
62.210 * [backup-simplify]: Simplify (+ 0) into 0
62.211 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
62.211 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
62.212 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
62.212 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
62.213 * [backup-simplify]: Simplify (- 0) into 0
62.213 * [backup-simplify]: Simplify (+ 0 0) into 0
62.214 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
62.214 * [backup-simplify]: Simplify (+ 0 0) into 0
62.214 * [backup-simplify]: Simplify (- 0) into 0
62.215 * [backup-simplify]: Simplify (+ 0 0) into 0
62.218 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into 0
62.222 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2))) into 0
62.227 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
62.229 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
62.229 * [taylor]: Taking taylor expansion of (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (* lambda2 (* phi1 phi2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) in lambda2
62.229 * [taylor]: Taking taylor expansion of 2 in lambda2
62.229 * [backup-simplify]: Simplify 2 into 2
62.229 * [taylor]: Taking taylor expansion of (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (* lambda2 (* phi1 phi2)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) in lambda2
62.229 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (* lambda2 (* phi1 phi2)))) in lambda2
62.229 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
62.230 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
62.230 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
62.230 * [taylor]: Taking taylor expansion of -0.5 in lambda2
62.230 * [backup-simplify]: Simplify -0.5 into -0.5
62.230 * [taylor]: Taking taylor expansion of phi2 in lambda2
62.230 * [backup-simplify]: Simplify phi2 into phi2
62.230 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
62.230 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
62.230 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
62.230 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
62.230 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
62.230 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
62.230 * [taylor]: Taking taylor expansion of -0.5 in lambda2
62.230 * [backup-simplify]: Simplify -0.5 into -0.5
62.230 * [taylor]: Taking taylor expansion of phi2 in lambda2
62.230 * [backup-simplify]: Simplify phi2 into phi2
62.230 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
62.230 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
62.230 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
62.230 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
62.230 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
62.231 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
62.231 * [taylor]: Taking taylor expansion of -0.5 in lambda2
62.231 * [backup-simplify]: Simplify -0.5 into -0.5
62.231 * [taylor]: Taking taylor expansion of phi1 in lambda2
62.231 * [backup-simplify]: Simplify phi1 into phi1
62.231 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
62.231 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
62.231 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
62.231 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
62.231 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
62.231 * [taylor]: Taking taylor expansion of -0.5 in lambda2
62.231 * [backup-simplify]: Simplify -0.5 into -0.5
62.231 * [taylor]: Taking taylor expansion of phi1 in lambda2
62.231 * [backup-simplify]: Simplify phi1 into phi1
62.231 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
62.231 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
62.231 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
62.231 * [taylor]: Taking taylor expansion of (* R (* lambda2 (* phi1 phi2))) in lambda2
62.231 * [taylor]: Taking taylor expansion of R in lambda2
62.231 * [backup-simplify]: Simplify R into R
62.231 * [taylor]: Taking taylor expansion of (* lambda2 (* phi1 phi2)) in lambda2
62.231 * [taylor]: Taking taylor expansion of lambda2 in lambda2
62.231 * [backup-simplify]: Simplify 0 into 0
62.231 * [backup-simplify]: Simplify 1 into 1
62.232 * [taylor]: Taking taylor expansion of (* phi1 phi2) in lambda2
62.232 * [taylor]: Taking taylor expansion of phi1 in lambda2
62.232 * [backup-simplify]: Simplify phi1 into phi1
62.232 * [taylor]: Taking taylor expansion of phi2 in lambda2
62.232 * [backup-simplify]: Simplify phi2 into phi2
62.232 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
62.232 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
62.232 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
62.232 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
62.232 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
62.233 * [backup-simplify]: Simplify (- 0) into 0
62.233 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
62.233 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
62.233 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
62.234 * [backup-simplify]: Simplify (- 0) into 0
62.234 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
62.234 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
62.234 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
62.234 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
62.234 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
62.234 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
62.235 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
62.235 * [backup-simplify]: Simplify (* phi1 phi2) into (* phi1 phi2)
62.235 * [backup-simplify]: Simplify (* 0 (* phi1 phi2)) into 0
62.235 * [backup-simplify]: Simplify (* R 0) into 0
62.235 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi2)) into 0
62.236 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* phi1 phi2))) into (* phi1 phi2)
62.236 * [backup-simplify]: Simplify (+ (* R (* phi1 phi2)) (* 0 0)) into (* R (* phi1 phi2))
62.237 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (* phi1 phi2))) into (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* phi1 (* R phi2)))
62.237 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) in lambda2
62.237 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) in lambda2
62.237 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3) in lambda2
62.237 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in lambda2
62.237 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in lambda2
62.237 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2
62.237 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2
62.237 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
62.237 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
62.237 * [taylor]: Taking taylor expansion of -0.5 in lambda2
62.237 * [backup-simplify]: Simplify -0.5 into -0.5
62.237 * [taylor]: Taking taylor expansion of phi2 in lambda2
62.237 * [backup-simplify]: Simplify phi2 into phi2
62.237 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
62.237 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
62.237 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
62.237 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
62.237 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
62.238 * [backup-simplify]: Simplify (- 0) into 0
62.238 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
62.238 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2
62.238 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
62.238 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
62.238 * [taylor]: Taking taylor expansion of -0.5 in lambda2
62.238 * [backup-simplify]: Simplify -0.5 into -0.5
62.238 * [taylor]: Taking taylor expansion of phi1 in lambda2
62.238 * [backup-simplify]: Simplify phi1 into phi1
62.238 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
62.238 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
62.238 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
62.238 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
62.238 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
62.239 * [backup-simplify]: Simplify (- 0) into 0
62.239 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
62.239 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2
62.239 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2
62.239 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
62.239 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
62.239 * [taylor]: Taking taylor expansion of -0.5 in lambda2
62.239 * [backup-simplify]: Simplify -0.5 into -0.5
62.239 * [taylor]: Taking taylor expansion of phi2 in lambda2
62.239 * [backup-simplify]: Simplify phi2 into phi2
62.239 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
62.239 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
62.239 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
62.239 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
62.239 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
62.239 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
62.239 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2
62.239 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
62.239 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
62.239 * [taylor]: Taking taylor expansion of -0.5 in lambda2
62.239 * [backup-simplify]: Simplify -0.5 into -0.5
62.239 * [taylor]: Taking taylor expansion of phi1 in lambda2
62.239 * [backup-simplify]: Simplify phi1 into phi1
62.239 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
62.239 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
62.239 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
62.239 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
62.239 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
62.240 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
62.240 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in lambda2
62.240 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
62.240 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
62.240 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
62.240 * [taylor]: Taking taylor expansion of -0.5 in lambda2
62.240 * [backup-simplify]: Simplify -0.5 into -0.5
62.240 * [taylor]: Taking taylor expansion of phi2 in lambda2
62.240 * [backup-simplify]: Simplify phi2 into phi2
62.240 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
62.240 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
62.240 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
62.240 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
62.240 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
62.240 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
62.240 * [taylor]: Taking taylor expansion of -0.5 in lambda2
62.240 * [backup-simplify]: Simplify -0.5 into -0.5
62.240 * [taylor]: Taking taylor expansion of phi2 in lambda2
62.240 * [backup-simplify]: Simplify phi2 into phi2
62.240 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
62.240 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
62.240 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
62.240 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
62.240 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
62.240 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
62.240 * [taylor]: Taking taylor expansion of -0.5 in lambda2
62.240 * [backup-simplify]: Simplify -0.5 into -0.5
62.240 * [taylor]: Taking taylor expansion of phi1 in lambda2
62.240 * [backup-simplify]: Simplify phi1 into phi1
62.240 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
62.240 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
62.240 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
62.240 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
62.240 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
62.240 * [taylor]: Taking taylor expansion of -0.5 in lambda2
62.240 * [backup-simplify]: Simplify -0.5 into -0.5
62.240 * [taylor]: Taking taylor expansion of phi1 in lambda2
62.240 * [backup-simplify]: Simplify phi1 into phi1
62.240 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
62.241 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
62.241 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
62.241 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
62.241 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
62.241 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
62.241 * [taylor]: Taking taylor expansion of -0.5 in lambda2
62.241 * [backup-simplify]: Simplify -0.5 into -0.5
62.241 * [taylor]: Taking taylor expansion of phi2 in lambda2
62.241 * [backup-simplify]: Simplify phi2 into phi2
62.241 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
62.241 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
62.241 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
62.241 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
62.241 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
62.241 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
62.241 * [taylor]: Taking taylor expansion of -0.5 in lambda2
62.241 * [backup-simplify]: Simplify -0.5 into -0.5
62.241 * [taylor]: Taking taylor expansion of phi2 in lambda2
62.241 * [backup-simplify]: Simplify phi2 into phi2
62.241 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
62.241 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
62.241 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
62.241 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
62.241 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
62.241 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
62.241 * [taylor]: Taking taylor expansion of -0.5 in lambda2
62.241 * [backup-simplify]: Simplify -0.5 into -0.5
62.241 * [taylor]: Taking taylor expansion of phi1 in lambda2
62.241 * [backup-simplify]: Simplify phi1 into phi1
62.241 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
62.241 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
62.241 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
62.241 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
62.241 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
62.241 * [taylor]: Taking taylor expansion of -0.5 in lambda2
62.241 * [backup-simplify]: Simplify -0.5 into -0.5
62.242 * [taylor]: Taking taylor expansion of phi1 in lambda2
62.242 * [backup-simplify]: Simplify phi1 into phi1
62.242 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
62.242 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
62.242 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
62.242 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
62.242 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
62.242 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
62.242 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
62.242 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
62.242 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
62.243 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
62.243 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
62.243 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
62.243 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
62.243 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
62.243 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
62.244 * [backup-simplify]: Simplify (- 0) into 0
62.244 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
62.244 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
62.244 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
62.244 * [backup-simplify]: Simplify (- 0) into 0
62.244 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
62.244 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
62.244 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
62.244 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
62.244 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
62.245 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
62.245 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
62.245 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
62.245 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
62.245 * [backup-simplify]: Simplify (- 0) into 0
62.245 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
62.245 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
62.245 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
62.245 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
62.245 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
62.245 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
62.246 * [backup-simplify]: Simplify (- 0) into 0
62.246 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
62.246 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
62.246 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
62.246 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
62.246 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
62.246 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
62.246 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
62.247 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
62.247 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
62.248 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
62.250 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)
62.252 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)
62.253 * [backup-simplify]: Simplify (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) into (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))
62.254 * [backup-simplify]: Simplify (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) into (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))
62.255 * [backup-simplify]: Simplify (+ 0) into 0
62.255 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
62.255 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
62.256 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
62.256 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
62.256 * [backup-simplify]: Simplify (- 0) into 0
62.257 * [backup-simplify]: Simplify (+ 0 0) into 0
62.257 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
62.257 * [backup-simplify]: Simplify (+ 0) into 0
62.257 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
62.257 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
62.258 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
62.258 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
62.258 * [backup-simplify]: Simplify (- 0) into 0
62.259 * [backup-simplify]: Simplify (+ 0 0) into 0
62.259 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
62.259 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
62.259 * [backup-simplify]: Simplify (+ 0) into 0
62.260 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
62.260 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
62.260 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
62.261 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
62.261 * [backup-simplify]: Simplify (+ 0 0) into 0
62.261 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
62.261 * [backup-simplify]: Simplify (+ 0) into 0
62.261 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
62.262 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
62.262 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
62.262 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
62.263 * [backup-simplify]: Simplify (+ 0 0) into 0
62.263 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
62.263 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
62.263 * [backup-simplify]: Simplify (+ 0 0) into 0
62.263 * [backup-simplify]: Simplify (+ 0) into 0
62.264 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
62.264 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
62.264 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
62.265 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
62.265 * [backup-simplify]: Simplify (+ 0 0) into 0
62.265 * [backup-simplify]: Simplify (+ 0) into 0
62.266 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
62.266 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
62.267 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
62.267 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
62.268 * [backup-simplify]: Simplify (- 0) into 0
62.268 * [backup-simplify]: Simplify (+ 0 0) into 0
62.268 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
62.269 * [backup-simplify]: Simplify (+ 0) into 0
62.269 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
62.269 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
62.270 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
62.271 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
62.271 * [backup-simplify]: Simplify (- 0) into 0
62.271 * [backup-simplify]: Simplify (+ 0 0) into 0
62.272 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
62.272 * [backup-simplify]: Simplify (+ 0) into 0
62.273 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
62.273 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
62.274 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
62.274 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
62.274 * [backup-simplify]: Simplify (+ 0 0) into 0
62.275 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
62.275 * [backup-simplify]: Simplify (+ 0) into 0
62.276 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
62.276 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
62.277 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
62.277 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
62.278 * [backup-simplify]: Simplify (+ 0 0) into 0
62.278 * [backup-simplify]: Simplify (+ 0) into 0
62.279 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
62.279 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
62.279 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
62.280 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
62.280 * [backup-simplify]: Simplify (- 0) into 0
62.281 * [backup-simplify]: Simplify (+ 0 0) into 0
62.281 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
62.281 * [backup-simplify]: Simplify (+ 0) into 0
62.282 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
62.282 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
62.283 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
62.283 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
62.284 * [backup-simplify]: Simplify (+ 0 0) into 0
62.284 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
62.284 * [backup-simplify]: Simplify (+ 0) into 0
62.285 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
62.285 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
62.286 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
62.286 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
62.287 * [backup-simplify]: Simplify (- 0) into 0
62.287 * [backup-simplify]: Simplify (+ 0 0) into 0
62.287 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
62.288 * [backup-simplify]: Simplify (+ 0 0) into 0
62.288 * [backup-simplify]: Simplify (- 0) into 0
62.288 * [backup-simplify]: Simplify (+ 0 0) into 0
62.292 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into 0
62.296 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2))) into 0
62.301 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
62.303 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
62.306 * [backup-simplify]: Simplify (* (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (pow phi1 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) into (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (pow phi1 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))
62.307 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
62.308 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
62.308 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
62.309 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
62.310 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
62.310 * [backup-simplify]: Simplify (- 0) into 0
62.311 * [backup-simplify]: Simplify (+ 0 0) into 0
62.311 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0
62.314 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
62.315 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
62.315 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
62.316 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
62.317 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
62.317 * [backup-simplify]: Simplify (- 0) into 0
62.317 * [backup-simplify]: Simplify (+ 0 0) into 0
62.318 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0
62.319 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0
62.320 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
62.320 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
62.321 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
62.321 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
62.322 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
62.322 * [backup-simplify]: Simplify (+ 0 0) into 0
62.323 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
62.324 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
62.324 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
62.325 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
62.325 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
62.326 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
62.327 * [backup-simplify]: Simplify (+ 0 0) into 0
62.327 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0
62.328 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0
62.329 * [backup-simplify]: Simplify (+ 0 0) into 0
62.329 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
62.330 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
62.330 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
62.331 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
62.332 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
62.332 * [backup-simplify]: Simplify (+ 0 0) into 0
62.333 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
62.334 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
62.334 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
62.335 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
62.336 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
62.336 * [backup-simplify]: Simplify (- 0) into 0
62.336 * [backup-simplify]: Simplify (+ 0 0) into 0
62.337 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
62.338 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
62.339 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
62.339 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
62.340 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
62.341 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
62.341 * [backup-simplify]: Simplify (- 0) into 0
62.342 * [backup-simplify]: Simplify (+ 0 0) into 0
62.342 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
62.343 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
62.344 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
62.344 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
62.345 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
62.346 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
62.346 * [backup-simplify]: Simplify (+ 0 0) into 0
62.347 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into 0
62.348 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
62.349 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
62.349 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
62.350 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
62.350 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
62.351 * [backup-simplify]: Simplify (+ 0 0) into 0
62.352 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
62.352 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
62.353 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
62.354 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
62.355 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
62.356 * [backup-simplify]: Simplify (- 0) into 0
62.356 * [backup-simplify]: Simplify (+ 0 0) into 0
62.357 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
62.358 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
62.359 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
62.359 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
62.360 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
62.360 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
62.361 * [backup-simplify]: Simplify (+ 0 0) into 0
62.361 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
62.362 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
62.362 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
62.362 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
62.363 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
62.363 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
62.363 * [backup-simplify]: Simplify (- 0) into 0
62.364 * [backup-simplify]: Simplify (+ 0 0) into 0
62.364 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into 0
62.364 * [backup-simplify]: Simplify (+ 0 0) into 0
62.365 * [backup-simplify]: Simplify (- 0) into 0
62.365 * [backup-simplify]: Simplify (+ 0 0) into 0
62.367 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) into 0
62.369 * [backup-simplify]: Simplify (+ (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2) 0) (+ (* 0 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)))) into 0
62.372 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 4)))) into 0
62.375 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)) (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))) (* 0 (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) into 0
62.377 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) into 0
62.377 * [backup-simplify]: Simplify (+ 0) into 0
62.377 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
62.377 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
62.378 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
62.378 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
62.378 * [backup-simplify]: Simplify (+ 0 0) into 0
62.378 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
62.379 * [backup-simplify]: Simplify (+ 0) into 0
62.379 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
62.379 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
62.380 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
62.380 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
62.380 * [backup-simplify]: Simplify (- 0) into 0
62.380 * [backup-simplify]: Simplify (+ 0 0) into 0
62.380 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
62.381 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi1)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
62.381 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi1)) 4) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
62.381 * [backup-simplify]: Simplify (+ 0) into 0
62.382 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
62.382 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
62.382 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
62.383 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
62.383 * [backup-simplify]: Simplify (- 0) into 0
62.384 * [backup-simplify]: Simplify (+ 0 0) into 0
62.384 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
62.384 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi2)) 2))) into 0
62.385 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 4) 0) (* 0 (* (pow (cos (/ -0.5 phi1)) 4) (pow (sin (/ -0.5 phi1)) 2)))) into 0
62.385 * [backup-simplify]: Simplify (+ 0) into 0
62.385 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
62.386 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
62.387 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
62.387 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
62.387 * [backup-simplify]: Simplify (+ 0 0) into 0
62.387 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
62.388 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (* (pow (cos (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi1)) 4) (pow (sin (/ -0.5 phi1)) 2))))) into 0
62.389 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
62.389 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
62.390 * [backup-simplify]: Simplify (+ (* R 0) (* 0 1)) into 0
62.391 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 4) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 4) (pow (sin (/ -0.5 phi1)) 2)))) R) (/ 0 R)))) into 0
62.392 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
62.392 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
62.392 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
62.393 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
62.394 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
62.394 * [backup-simplify]: Simplify (+ 0 0) into 0
62.395 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
62.396 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
62.396 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
62.397 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
62.397 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
62.398 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
62.398 * [backup-simplify]: Simplify (- 0) into 0
62.398 * [backup-simplify]: Simplify (+ 0 0) into 0
62.399 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0
62.400 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0
62.401 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi1)) 4) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0
62.402 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
62.402 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
62.402 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
62.403 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
62.404 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
62.404 * [backup-simplify]: Simplify (- 0) into 0
62.404 * [backup-simplify]: Simplify (+ 0 0) into 0
62.405 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0
62.406 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi2)) 2)))) into 0
62.407 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 4) 0) (+ (* 0 0) (* 0 (* (pow (cos (/ -0.5 phi1)) 4) (pow (sin (/ -0.5 phi1)) 2))))) into 0
62.407 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
62.408 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
62.408 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
62.409 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
62.410 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
62.410 * [backup-simplify]: Simplify (+ 0 0) into 0
62.411 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0
62.412 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (* (pow (cos (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi1)) 4) (pow (sin (/ -0.5 phi1)) 2)))))) into 0
62.412 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
62.413 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
62.414 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (* 0 1))) into 0
62.415 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 4) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 4) (pow (sin (/ -0.5 phi1)) 2)))) R) (/ 0 R)) (* 0 (/ 0 R)))) into 0
62.418 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 4) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 4) (pow (sin (/ -0.5 phi1)) 2)))) R) 0) (+ (* 0 0) (* 0 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)))))) into 0
62.421 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 4) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 4) (pow (sin (/ -0.5 phi1)) 2)))) R) 0) (* 0 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) into 0
62.424 * [backup-simplify]: Simplify (* (/ (* (pow (cos (/ -0.5 phi2)) 4) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 4) (pow (sin (/ -0.5 phi1)) 2)))) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)))) into (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi1)) 4) (pow (sin (/ -0.5 phi1)) 2)))) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))
62.428 * [backup-simplify]: Simplify (+ (* 15/2 0) (+ (* 0 0) (* 0 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi1)) 4) (pow (sin (/ -0.5 phi1)) 2)))) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))))) into 0
62.431 * [backup-simplify]: Simplify (* (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (pow phi2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) into (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (pow phi2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))
62.433 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
62.433 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
62.434 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
62.434 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
62.435 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
62.435 * [backup-simplify]: Simplify (- 0) into 0
62.436 * [backup-simplify]: Simplify (+ 0 0) into 0
62.436 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0
62.437 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
62.438 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
62.438 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
62.439 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
62.439 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
62.440 * [backup-simplify]: Simplify (- 0) into 0
62.440 * [backup-simplify]: Simplify (+ 0 0) into 0
62.440 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0
62.441 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0
62.442 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
62.443 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
62.443 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
62.444 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
62.444 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
62.445 * [backup-simplify]: Simplify (+ 0 0) into 0
62.445 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
62.446 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
62.447 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
62.447 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
62.448 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
62.449 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
62.449 * [backup-simplify]: Simplify (+ 0 0) into 0
62.450 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0
62.452 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0
62.453 * [backup-simplify]: Simplify (+ 0 0) into 0
62.453 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
62.454 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
62.454 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
62.455 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
62.456 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
62.456 * [backup-simplify]: Simplify (+ 0 0) into 0
62.457 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
62.458 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
62.458 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
62.459 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
62.459 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
62.460 * [backup-simplify]: Simplify (- 0) into 0
62.460 * [backup-simplify]: Simplify (+ 0 0) into 0
62.461 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
62.461 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
62.462 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
62.462 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
62.463 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
62.464 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
62.464 * [backup-simplify]: Simplify (- 0) into 0
62.465 * [backup-simplify]: Simplify (+ 0 0) into 0
62.465 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
62.466 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
62.467 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
62.467 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
62.468 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
62.469 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
62.469 * [backup-simplify]: Simplify (+ 0 0) into 0
62.470 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into 0
62.471 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
62.472 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
62.472 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
62.473 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
62.473 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
62.474 * [backup-simplify]: Simplify (+ 0 0) into 0
62.475 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
62.475 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
62.476 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
62.476 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
62.477 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
62.477 * [backup-simplify]: Simplify (- 0) into 0
62.478 * [backup-simplify]: Simplify (+ 0 0) into 0
62.478 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
62.478 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
62.479 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
62.479 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
62.480 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
62.480 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
62.480 * [backup-simplify]: Simplify (+ 0 0) into 0
62.481 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
62.481 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
62.482 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
62.482 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
62.482 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
62.482 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
62.483 * [backup-simplify]: Simplify (- 0) into 0
62.483 * [backup-simplify]: Simplify (+ 0 0) into 0
62.483 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into 0
62.484 * [backup-simplify]: Simplify (+ 0 0) into 0
62.484 * [backup-simplify]: Simplify (- 0) into 0
62.484 * [backup-simplify]: Simplify (+ 0 0) into 0
62.487 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) into 0
62.490 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)))) into 0
62.494 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (* 0 (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
62.495 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
62.496 * [backup-simplify]: Simplify (+ 0) into 0
62.496 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
62.496 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
62.497 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
62.497 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
62.497 * [backup-simplify]: Simplify (+ 0 0) into 0
62.497 * [backup-simplify]: Simplify (+ 0) into 0
62.498 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
62.498 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
62.498 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
62.499 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
62.499 * [backup-simplify]: Simplify (- 0) into 0
62.499 * [backup-simplify]: Simplify (+ 0 0) into 0
62.499 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
62.499 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
62.500 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi1)) 3) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
62.500 * [backup-simplify]: Simplify (+ 0) into 0
62.500 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
62.500 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
62.501 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
62.501 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
62.501 * [backup-simplify]: Simplify (- 0) into 0
62.501 * [backup-simplify]: Simplify (+ 0 0) into 0
62.502 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
62.502 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (pow (cos (/ -0.5 phi2)) 2))) into 0
62.502 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 3) 0) (* 0 (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1))))) into 0
62.502 * [backup-simplify]: Simplify (+ 0) into 0
62.503 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
62.503 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
62.503 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
62.503 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
62.504 * [backup-simplify]: Simplify (+ 0 0) into 0
62.504 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1)))))) into 0
62.504 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
62.505 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
62.505 * [backup-simplify]: Simplify (+ (* R 0) (* 0 1)) into 0
62.506 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 3) (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1))))) R) (/ 0 R)))) into 0
62.506 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
62.507 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
62.507 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
62.508 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
62.508 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
62.508 * [backup-simplify]: Simplify (+ 0 0) into 0
62.509 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
62.509 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
62.509 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
62.510 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
62.510 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
62.510 * [backup-simplify]: Simplify (- 0) into 0
62.511 * [backup-simplify]: Simplify (+ 0 0) into 0
62.511 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0
62.511 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0
62.512 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi1)) 3) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
62.512 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
62.513 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
62.513 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
62.513 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
62.514 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
62.514 * [backup-simplify]: Simplify (- 0) into 0
62.514 * [backup-simplify]: Simplify (+ 0 0) into 0
62.514 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0
62.515 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi2)) 2)))) into 0
62.515 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 3) 0) (+ (* 0 0) (* 0 (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1)))))) into 0
62.516 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
62.516 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
62.516 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
62.517 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
62.517 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
62.517 * [backup-simplify]: Simplify (+ 0 0) into 0
62.518 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1))))))) into 0
62.518 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
62.519 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
62.519 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (* 0 1))) into 0
62.520 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 3) (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1))))) R) (/ 0 R)) (* 0 (/ 0 R)))) into 0
62.522 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 3) (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1))))) R) 0) (+ (* 0 0) (* 0 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))) into 0
62.523 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 3) (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1))))) R) 0) (* 0 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
62.525 * [backup-simplify]: Simplify (* (/ (* (pow (cos (/ -0.5 phi2)) 3) (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1))))) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) into (* (/ (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1))))) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))
62.527 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (* (/ (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1))))) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))))) into 0
62.528 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
62.528 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
62.528 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
62.529 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
62.529 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
62.529 * [backup-simplify]: Simplify (- 0) into 0
62.530 * [backup-simplify]: Simplify (+ 0 0) into 0
62.530 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0
62.530 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
62.531 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
62.531 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
62.531 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
62.532 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
62.532 * [backup-simplify]: Simplify (- 0) into 0
62.532 * [backup-simplify]: Simplify (+ 0 0) into 0
62.533 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0
62.533 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0
62.534 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
62.534 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
62.534 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
62.535 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
62.535 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
62.535 * [backup-simplify]: Simplify (+ 0 0) into 0
62.536 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
62.536 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
62.537 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
62.537 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
62.537 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
62.537 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
62.538 * [backup-simplify]: Simplify (+ 0 0) into 0
62.538 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0
62.539 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0
62.539 * [backup-simplify]: Simplify (+ 0 0) into 0
62.539 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
62.540 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
62.540 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
62.540 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
62.541 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
62.541 * [backup-simplify]: Simplify (+ 0 0) into 0
62.541 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
62.542 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
62.542 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
62.542 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
62.543 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
62.543 * [backup-simplify]: Simplify (- 0) into 0
62.543 * [backup-simplify]: Simplify (+ 0 0) into 0
62.544 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
62.544 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
62.545 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
62.545 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
62.545 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
62.545 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
62.546 * [backup-simplify]: Simplify (- 0) into 0
62.546 * [backup-simplify]: Simplify (+ 0 0) into 0
62.546 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
62.547 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
62.547 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
62.547 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
62.548 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
62.548 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
62.548 * [backup-simplify]: Simplify (+ 0 0) into 0
62.549 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into 0
62.549 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
62.550 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
62.550 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
62.551 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
62.551 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
62.551 * [backup-simplify]: Simplify (+ 0 0) into 0
62.552 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
62.552 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
62.552 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
62.554 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
62.554 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
62.555 * [backup-simplify]: Simplify (- 0) into 0
62.555 * [backup-simplify]: Simplify (+ 0 0) into 0
62.555 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
62.556 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
62.556 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
62.556 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
62.557 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
62.557 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
62.558 * [backup-simplify]: Simplify (+ 0 0) into 0
62.558 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
62.559 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
62.559 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
62.559 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
62.560 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
62.560 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
62.560 * [backup-simplify]: Simplify (- 0) into 0
62.560 * [backup-simplify]: Simplify (+ 0 0) into 0
62.561 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into 0
62.561 * [backup-simplify]: Simplify (+ 0 0) into 0
62.561 * [backup-simplify]: Simplify (- 0) into 0
62.562 * [backup-simplify]: Simplify (+ 0 0) into 0
62.564 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) into 0
62.566 * [backup-simplify]: Simplify (+ (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2) 0) (+ (* 0 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)))) into 0
62.568 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 4)))) into 0
62.572 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)) (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))) (* 0 (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) into 0
62.573 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) into 0
62.574 * [backup-simplify]: Simplify (+ 0) into 0
62.574 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
62.574 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
62.575 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
62.575 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
62.575 * [backup-simplify]: Simplify (- 0) into 0
62.575 * [backup-simplify]: Simplify (+ 0 0) into 0
62.576 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
62.576 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
62.576 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi1)) 3) 0) (* 0 (pow (cos (/ -0.5 phi1)) 3))) into 0
62.576 * [backup-simplify]: Simplify (+ 0) into 0
62.577 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
62.577 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
62.577 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
62.577 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
62.578 * [backup-simplify]: Simplify (- 0) into 0
62.578 * [backup-simplify]: Simplify (+ 0 0) into 0
62.578 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
62.578 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (pow (cos (/ -0.5 phi2)) 2))) into 0
62.578 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 3) 0) (* 0 (pow (cos (/ -0.5 phi2)) 3))) into 0
62.579 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 6) 0) (* 0 (pow (cos (/ -0.5 phi1)) 6))) into 0
62.579 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
62.579 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
62.580 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 R)) into 0
62.580 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 6) (pow (cos (/ -0.5 phi1)) 6)) R) (/ 0 R)))) into 0
62.580 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
62.581 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
62.581 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
62.581 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
62.582 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
62.582 * [backup-simplify]: Simplify (- 0) into 0
62.582 * [backup-simplify]: Simplify (+ 0 0) into 0
62.583 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0
62.583 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0
62.584 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi1)) 3) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 3)))) into 0
62.584 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
62.584 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
62.585 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
62.585 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
62.585 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
62.586 * [backup-simplify]: Simplify (- 0) into 0
62.586 * [backup-simplify]: Simplify (+ 0 0) into 0
62.586 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0
62.587 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi2)) 2)))) into 0
62.587 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 3) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi2)) 3)))) into 0
62.588 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 6) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 6)))) into 0
62.588 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
62.589 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
62.589 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 R))) into 0
62.589 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 6) (pow (cos (/ -0.5 phi1)) 6)) R) (/ 0 R)) (* 0 (/ 0 R)))) into 0
62.591 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 6) (pow (cos (/ -0.5 phi1)) 6)) R) 0) (+ (* 0 0) (* 0 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)))))) into 0
62.592 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 6) (pow (cos (/ -0.5 phi1)) 6)) R) 0) (* 0 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) into 0
62.594 * [backup-simplify]: Simplify (* (/ (* (pow (cos (/ -0.5 phi2)) 6) (pow (cos (/ -0.5 phi1)) 6)) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)))) into (* (/ (* (pow (cos (/ -0.5 phi2)) 6) (pow (cos (/ -0.5 phi1)) 6)) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))
62.596 * [backup-simplify]: Simplify (+ (* 1/2 0) (+ (* 0 0) (* 0 (* (/ (* (pow (cos (/ -0.5 phi2)) 6) (pow (cos (/ -0.5 phi1)) 6)) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))))) into 0
62.597 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
62.597 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
62.597 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
62.598 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
62.598 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
62.598 * [backup-simplify]: Simplify (- 0) into 0
62.598 * [backup-simplify]: Simplify (+ 0 0) into 0
62.599 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0
62.599 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
62.600 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
62.600 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
62.600 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
62.601 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
62.601 * [backup-simplify]: Simplify (- 0) into 0
62.601 * [backup-simplify]: Simplify (+ 0 0) into 0
62.601 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0
62.602 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0
62.603 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
62.603 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
62.604 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
62.604 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
62.604 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
62.605 * [backup-simplify]: Simplify (+ 0 0) into 0
62.605 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
62.605 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
62.606 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
62.606 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
62.607 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
62.607 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
62.607 * [backup-simplify]: Simplify (+ 0 0) into 0
62.608 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0
62.608 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0
62.609 * [backup-simplify]: Simplify (+ 0 0) into 0
62.609 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
62.610 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
62.610 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
62.610 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
62.611 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
62.611 * [backup-simplify]: Simplify (+ 0 0) into 0
62.611 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
62.612 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
62.612 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
62.612 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
62.613 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
62.613 * [backup-simplify]: Simplify (- 0) into 0
62.613 * [backup-simplify]: Simplify (+ 0 0) into 0
62.614 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
62.614 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
62.614 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
62.615 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
62.615 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
62.615 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
62.616 * [backup-simplify]: Simplify (- 0) into 0
62.616 * [backup-simplify]: Simplify (+ 0 0) into 0
62.616 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
62.617 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
62.617 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
62.617 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
62.618 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
62.618 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
62.618 * [backup-simplify]: Simplify (+ 0 0) into 0
62.619 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into 0
62.619 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
62.620 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
62.620 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
62.620 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
62.621 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
62.621 * [backup-simplify]: Simplify (+ 0 0) into 0
62.622 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
62.622 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
62.622 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
62.623 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
62.624 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
62.624 * [backup-simplify]: Simplify (- 0) into 0
62.625 * [backup-simplify]: Simplify (+ 0 0) into 0
62.625 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
62.626 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
62.627 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
62.627 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
62.628 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
62.628 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
62.629 * [backup-simplify]: Simplify (+ 0 0) into 0
62.629 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
62.630 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
62.631 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
62.631 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
62.632 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
62.632 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
62.633 * [backup-simplify]: Simplify (- 0) into 0
62.633 * [backup-simplify]: Simplify (+ 0 0) into 0
62.634 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into 0
62.634 * [backup-simplify]: Simplify (+ 0 0) into 0
62.634 * [backup-simplify]: Simplify (- 0) into 0
62.634 * [backup-simplify]: Simplify (+ 0 0) into 0
62.637 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) into 0
62.641 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)))) into 0
62.646 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (* 0 (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
62.649 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
62.650 * [backup-simplify]: Simplify (+ 0) into 0
62.650 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
62.651 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
62.651 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
62.652 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
62.652 * [backup-simplify]: Simplify (+ 0 0) into 0
62.652 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
62.653 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
62.653 * [backup-simplify]: Simplify (+ 0) into 0
62.655 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
62.655 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
62.656 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
62.656 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
62.657 * [backup-simplify]: Simplify (- 0) into 0
62.657 * [backup-simplify]: Simplify (+ 0 0) into 0
62.657 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (pow (sin (/ -0.5 phi1)) 3))) into 0
62.658 * [backup-simplify]: Simplify (+ 0) into 0
62.659 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
62.659 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
62.660 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
62.660 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
62.660 * [backup-simplify]: Simplify (- 0) into 0
62.661 * [backup-simplify]: Simplify (+ 0 0) into 0
62.661 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)))) into 0
62.661 * [backup-simplify]: Simplify (+ 0) into 0
62.662 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
62.662 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
62.663 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
62.663 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
62.664 * [backup-simplify]: Simplify (+ 0 0) into 0
62.664 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
62.664 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (pow (sin (/ -0.5 phi2)) 2))) into 0
62.664 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 3) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3))))) into 0
62.666 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
62.667 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
62.667 * [backup-simplify]: Simplify (+ (* R 0) (* 0 1)) into 0
62.668 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (cos (/ -0.5 phi2)) (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)))) R) (/ 0 R)))) into 0
62.669 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
62.670 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
62.670 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
62.671 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
62.671 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
62.672 * [backup-simplify]: Simplify (+ 0 0) into 0
62.672 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
62.673 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0
62.674 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
62.674 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
62.675 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
62.675 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
62.676 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
62.676 * [backup-simplify]: Simplify (- 0) into 0
62.676 * [backup-simplify]: Simplify (+ 0 0) into 0
62.677 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 3)))) into 0
62.677 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
62.678 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
62.678 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
62.678 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
62.678 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
62.679 * [backup-simplify]: Simplify (- 0) into 0
62.679 * [backup-simplify]: Simplify (+ 0 0) into 0
62.679 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3))))) into 0
62.680 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
62.680 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
62.680 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
62.681 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
62.681 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
62.682 * [backup-simplify]: Simplify (+ 0 0) into 0
62.682 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0
62.682 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi2)) 2)))) into 0
62.683 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 3) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)))))) into 0
62.683 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
62.684 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
62.684 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (* 0 1))) into 0
62.685 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (cos (/ -0.5 phi2)) (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)))) R) (/ 0 R)) (* 0 (/ 0 R)))) into 0
62.687 * [backup-simplify]: Simplify (+ (* (/ (* (cos (/ -0.5 phi2)) (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)))) R) 0) (+ (* 0 0) (* 0 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))) into 0
62.688 * [backup-simplify]: Simplify (+ (* (/ (* (cos (/ -0.5 phi2)) (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)))) R) 0) (* 0 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
62.690 * [backup-simplify]: Simplify (* (/ (* (cos (/ -0.5 phi2)) (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)))) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) into (* (/ (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)))) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))
62.692 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (* (/ (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)))) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))))) into 0
62.693 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
62.693 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
62.693 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
62.694 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
62.694 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
62.694 * [backup-simplify]: Simplify (- 0) into 0
62.694 * [backup-simplify]: Simplify (+ 0 0) into 0
62.695 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0
62.695 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
62.696 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
62.696 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
62.696 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
62.697 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
62.697 * [backup-simplify]: Simplify (- 0) into 0
62.697 * [backup-simplify]: Simplify (+ 0 0) into 0
62.697 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0
62.698 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0
62.699 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
62.699 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
62.699 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
62.700 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
62.701 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
62.701 * [backup-simplify]: Simplify (+ 0 0) into 0
62.701 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
62.702 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
62.703 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
62.703 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
62.704 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
62.704 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
62.705 * [backup-simplify]: Simplify (+ 0 0) into 0
62.705 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0
62.706 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0
62.706 * [backup-simplify]: Simplify (+ 0 0) into 0
62.707 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
62.707 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
62.707 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
62.708 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
62.708 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
62.708 * [backup-simplify]: Simplify (+ 0 0) into 0
62.709 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
62.709 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
62.709 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
62.710 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
62.710 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
62.710 * [backup-simplify]: Simplify (- 0) into 0
62.711 * [backup-simplify]: Simplify (+ 0 0) into 0
62.711 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
62.711 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
62.712 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
62.712 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
62.712 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
62.713 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
62.713 * [backup-simplify]: Simplify (- 0) into 0
62.713 * [backup-simplify]: Simplify (+ 0 0) into 0
62.714 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
62.714 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
62.715 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
62.715 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
62.715 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
62.716 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
62.716 * [backup-simplify]: Simplify (+ 0 0) into 0
62.716 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into 0
62.717 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
62.718 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
62.718 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
62.719 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
62.720 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
62.720 * [backup-simplify]: Simplify (+ 0 0) into 0
62.721 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
62.721 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
62.722 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
62.722 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
62.723 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
62.723 * [backup-simplify]: Simplify (- 0) into 0
62.723 * [backup-simplify]: Simplify (+ 0 0) into 0
62.724 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
62.725 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
62.725 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
62.726 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
62.726 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
62.727 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
62.727 * [backup-simplify]: Simplify (+ 0 0) into 0
62.728 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
62.729 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
62.729 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
62.729 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
62.730 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
62.731 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
62.731 * [backup-simplify]: Simplify (- 0) into 0
62.731 * [backup-simplify]: Simplify (+ 0 0) into 0
62.732 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into 0
62.732 * [backup-simplify]: Simplify (+ 0 0) into 0
62.733 * [backup-simplify]: Simplify (- 0) into 0
62.733 * [backup-simplify]: Simplify (+ 0 0) into 0
62.737 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) into 0
62.741 * [backup-simplify]: Simplify (+ (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2) 0) (+ (* 0 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)))) into 0
62.745 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 4)))) into 0
62.751 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)) (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))) (* 0 (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) into 0
62.755 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) into 0
62.756 * [backup-simplify]: Simplify (+ 0) into 0
62.756 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
62.756 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
62.757 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
62.758 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
62.758 * [backup-simplify]: Simplify (+ 0 0) into 0
62.758 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
62.759 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi1)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
62.759 * [backup-simplify]: Simplify (+ 0) into 0
62.760 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
62.760 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
62.760 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
62.761 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
62.761 * [backup-simplify]: Simplify (- 0) into 0
62.762 * [backup-simplify]: Simplify (+ 0 0) into 0
62.762 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
62.762 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi1)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 4))) into 0
62.763 * [backup-simplify]: Simplify (+ 0) into 0
62.763 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
62.763 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
62.764 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
62.764 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
62.765 * [backup-simplify]: Simplify (- 0) into 0
62.765 * [backup-simplify]: Simplify (+ 0 0) into 0
62.765 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
62.766 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 4)))) into 0
62.766 * [backup-simplify]: Simplify (+ 0) into 0
62.767 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
62.767 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
62.768 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
62.768 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
62.769 * [backup-simplify]: Simplify (+ 0 0) into 0
62.769 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
62.769 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi2)) 2))) into 0
62.770 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 4) 0) (* 0 (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 4))))) into 0
62.770 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
62.771 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
62.772 * [backup-simplify]: Simplify (+ (* R 0) (* 0 1)) into 0
62.772 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 4)))) R) (/ 0 R)))) into 0
62.773 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
62.774 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
62.774 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
62.775 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
62.776 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
62.776 * [backup-simplify]: Simplify (+ 0 0) into 0
62.776 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
62.777 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0
62.778 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
62.780 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
62.781 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
62.782 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
62.782 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
62.783 * [backup-simplify]: Simplify (- 0) into 0
62.783 * [backup-simplify]: Simplify (+ 0 0) into 0
62.784 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0
62.784 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 4)))) into 0
62.785 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
62.786 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
62.786 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
62.787 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
62.788 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
62.788 * [backup-simplify]: Simplify (- 0) into 0
62.788 * [backup-simplify]: Simplify (+ 0 0) into 0
62.789 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0
62.790 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 4))))) into 0
62.791 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
62.791 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
62.792 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
62.792 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
62.793 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
62.793 * [backup-simplify]: Simplify (+ 0 0) into 0
62.794 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0
62.795 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi2)) 2)))) into 0
62.796 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 4) 0) (+ (* 0 0) (* 0 (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 4)))))) into 0
62.797 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
62.798 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
62.798 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (* 0 1))) into 0
62.799 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 4)))) R) (/ 0 R)) (* 0 (/ 0 R)))) into 0
62.803 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 4)))) R) 0) (+ (* 0 0) (* 0 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)))))) into 0
62.806 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 4)))) R) 0) (* 0 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) into 0
62.809 * [backup-simplify]: Simplify (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 4)))) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)))) into (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 4)))) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))
62.814 * [backup-simplify]: Simplify (+ (* 15/2 0) (+ (* 0 0) (* 0 (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 4)))) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))))) into 0
62.817 * [backup-simplify]: Simplify (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* phi1 (* R phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) into (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (* phi1 phi2))))
62.820 * [backup-simplify]: Simplify (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (* phi1 phi2)))) into (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* phi1 (* R phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))
62.821 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
62.822 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
62.822 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
62.823 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
62.824 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
62.824 * [backup-simplify]: Simplify (- 0) into 0
62.825 * [backup-simplify]: Simplify (+ 0 0) into 0
62.825 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0
62.826 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
62.827 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
62.827 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
62.828 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
62.829 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
62.829 * [backup-simplify]: Simplify (- 0) into 0
62.829 * [backup-simplify]: Simplify (+ 0 0) into 0
62.830 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0
62.831 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0
62.832 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
62.832 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
62.833 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
62.833 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
62.834 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
62.834 * [backup-simplify]: Simplify (+ 0 0) into 0
62.835 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
62.836 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
62.836 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
62.837 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
62.837 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
62.838 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
62.838 * [backup-simplify]: Simplify (+ 0 0) into 0
62.839 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0
62.840 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0
62.840 * [backup-simplify]: Simplify (+ 0 0) into 0
62.841 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
62.842 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
62.842 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
62.843 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
62.843 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
62.844 * [backup-simplify]: Simplify (+ 0 0) into 0
62.845 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
62.845 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
62.846 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
62.846 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
62.847 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
62.847 * [backup-simplify]: Simplify (- 0) into 0
62.848 * [backup-simplify]: Simplify (+ 0 0) into 0
62.848 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
62.849 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
62.850 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
62.850 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
62.851 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
62.852 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
62.852 * [backup-simplify]: Simplify (- 0) into 0
62.853 * [backup-simplify]: Simplify (+ 0 0) into 0
62.853 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
62.854 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
62.855 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
62.855 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
62.856 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
62.857 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
62.857 * [backup-simplify]: Simplify (+ 0 0) into 0
62.858 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into 0
62.859 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
62.860 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
62.860 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
62.861 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
62.861 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
62.862 * [backup-simplify]: Simplify (+ 0 0) into 0
62.863 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
62.863 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
62.864 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
62.864 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
62.865 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
62.865 * [backup-simplify]: Simplify (- 0) into 0
62.866 * [backup-simplify]: Simplify (+ 0 0) into 0
62.866 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
62.867 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
62.868 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
62.868 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
62.869 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
62.870 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
62.871 * [backup-simplify]: Simplify (+ 0 0) into 0
62.872 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
62.873 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
62.874 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
62.874 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
62.875 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
62.876 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
62.876 * [backup-simplify]: Simplify (- 0) into 0
62.876 * [backup-simplify]: Simplify (+ 0 0) into 0
62.877 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into 0
62.878 * [backup-simplify]: Simplify (+ 0 0) into 0
62.878 * [backup-simplify]: Simplify (- 0) into 0
62.878 * [backup-simplify]: Simplify (+ 0 0) into 0
62.884 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) into 0
62.889 * [backup-simplify]: Simplify (+ (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2) 0) (+ (* 0 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)))) into 0
62.894 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 4)))) into 0
62.901 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)) (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))) (* 0 (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) into 0
62.904 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) into 0
62.905 * [backup-simplify]: Simplify (+ 0) into 0
62.905 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
62.906 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
62.906 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
62.907 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
62.907 * [backup-simplify]: Simplify (+ 0 0) into 0
62.907 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
62.908 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
62.908 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi1)) 3) 0) (* 0 (pow (sin (/ -0.5 phi1)) 3))) into 0
62.908 * [backup-simplify]: Simplify (+ 0) into 0
62.909 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
62.909 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
62.909 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
62.910 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
62.910 * [backup-simplify]: Simplify (+ 0 0) into 0
62.910 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
62.911 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (pow (sin (/ -0.5 phi2)) 2))) into 0
62.911 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 3) 0) (* 0 (pow (sin (/ -0.5 phi2)) 3))) into 0
62.911 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 6) 0) (* 0 (pow (sin (/ -0.5 phi1)) 6))) into 0
62.912 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
62.913 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
62.913 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 R)) into 0
62.914 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 6) (pow (sin (/ -0.5 phi1)) 6)) R) (/ 0 R)))) into 0
62.915 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
62.915 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
62.915 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
62.916 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
62.917 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
62.917 * [backup-simplify]: Simplify (+ 0 0) into 0
62.918 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
62.918 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0
62.919 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi1)) 3) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 3)))) into 0
62.920 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
62.921 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
62.921 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
62.922 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
62.922 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
62.922 * [backup-simplify]: Simplify (+ 0 0) into 0
62.923 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0
62.924 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi2)) 2)))) into 0
62.924 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 3) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi2)) 3)))) into 0
62.925 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 6) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 6)))) into 0
62.926 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
62.926 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
62.927 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 R))) into 0
62.927 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 6) (pow (sin (/ -0.5 phi1)) 6)) R) (/ 0 R)) (* 0 (/ 0 R)))) into 0
62.929 * [backup-simplify]: Simplify (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 6) (pow (sin (/ -0.5 phi1)) 6)) R) 0) (+ (* 0 0) (* 0 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)))))) into 0
62.930 * [backup-simplify]: Simplify (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 6) (pow (sin (/ -0.5 phi1)) 6)) R) 0) (* 0 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) into 0
62.931 * [backup-simplify]: Simplify (* (/ (* (pow (sin (/ -0.5 phi2)) 6) (pow (sin (/ -0.5 phi1)) 6)) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)))) into (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))) (/ (* (pow (sin (/ -0.5 phi2)) 6) (pow (sin (/ -0.5 phi1)) 6)) R))
62.934 * [backup-simplify]: Simplify (+ (* 1/2 0) (+ (* 0 0) (* 0 (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))) (/ (* (pow (sin (/ -0.5 phi2)) 6) (pow (sin (/ -0.5 phi1)) 6)) R))))) into 0
62.935 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* phi1 (* R phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) 0) into (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (* phi1 phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))
62.939 * [backup-simplify]: Simplify (+ (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (* phi1 phi2)))) (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (* phi1 phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into (+ (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* phi1 (* R phi2)))) (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* phi1 (* R phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))
62.943 * [backup-simplify]: Simplify (+ 0 (+ (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* phi1 (* R phi2)))) (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* phi1 (* R phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))) into (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (* phi1 phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (* phi1 phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))
62.946 * [backup-simplify]: Simplify (+ 0 (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (* phi1 phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (* phi1 phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))) into (+ (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* phi1 (* R phi2)))) (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* phi1 (* R phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))
62.950 * [backup-simplify]: Simplify (+ 0 (+ (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* phi1 (* R phi2)))) (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* phi1 (* R phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))) into (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (* phi1 phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (* phi1 phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))
62.953 * [backup-simplify]: Simplify (+ 0 (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (* phi1 phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (* phi1 phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))) into (+ (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* phi1 (* R phi2)))) (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* phi1 (* R phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))
62.958 * [backup-simplify]: Simplify (+ (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (pow phi2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (+ (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* phi1 (* R phi2)))) (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* phi1 (* R phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))) into (+ (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (pow phi2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (* phi1 phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (* phi1 phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))))
62.963 * [backup-simplify]: Simplify (+ 0 (+ (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (pow phi2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (* phi1 phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (* phi1 phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))))) into (+ (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (pow phi2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* phi1 (* R phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* phi1 (* R phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))))
62.971 * [backup-simplify]: Simplify (+ (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (pow phi1 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (+ (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (pow phi2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* phi1 (* R phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* phi1 (* R phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))))) into (+ (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (pow phi2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (+ (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (pow phi1 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (* phi1 phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (* phi1 phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))))
62.972 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
62.972 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
62.973 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
62.973 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
62.973 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
62.974 * [backup-simplify]: Simplify (- 0) into 0
62.974 * [backup-simplify]: Simplify (+ 0 0) into 0
62.974 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0
62.975 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
62.975 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
62.975 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
62.976 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
62.976 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
62.976 * [backup-simplify]: Simplify (- 0) into 0
62.977 * [backup-simplify]: Simplify (+ 0 0) into 0
62.977 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0
62.977 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0
62.978 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
62.978 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
62.978 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
62.979 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
62.979 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
62.979 * [backup-simplify]: Simplify (+ 0 0) into 0
62.980 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
62.980 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
62.981 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
62.981 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
62.981 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
62.982 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
62.982 * [backup-simplify]: Simplify (+ 0 0) into 0
62.982 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0
62.983 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0
62.983 * [backup-simplify]: Simplify (+ 0 0) into 0
62.983 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
62.984 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
62.984 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
62.984 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
62.985 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
62.985 * [backup-simplify]: Simplify (+ 0 0) into 0
62.986 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
62.986 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
62.986 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
62.987 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
62.987 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
62.987 * [backup-simplify]: Simplify (- 0) into 0
62.987 * [backup-simplify]: Simplify (+ 0 0) into 0
62.988 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
62.988 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
62.989 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
62.989 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
62.989 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
62.990 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
62.990 * [backup-simplify]: Simplify (- 0) into 0
62.990 * [backup-simplify]: Simplify (+ 0 0) into 0
62.991 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
62.991 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
62.992 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
62.992 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
62.992 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
62.993 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
62.993 * [backup-simplify]: Simplify (+ 0 0) into 0
62.993 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into 0
62.994 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
62.994 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
62.994 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
62.995 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
62.995 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
62.996 * [backup-simplify]: Simplify (+ 0 0) into 0
62.996 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
62.997 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
62.997 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
62.997 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
62.997 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
62.998 * [backup-simplify]: Simplify (- 0) into 0
62.998 * [backup-simplify]: Simplify (+ 0 0) into 0
62.998 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
62.999 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
62.999 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
62.999 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
63.000 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
63.000 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
63.000 * [backup-simplify]: Simplify (+ 0 0) into 0
63.001 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
63.001 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
63.002 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
63.002 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
63.002 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
63.003 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
63.003 * [backup-simplify]: Simplify (- 0) into 0
63.003 * [backup-simplify]: Simplify (+ 0 0) into 0
63.004 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into 0
63.004 * [backup-simplify]: Simplify (+ 0 0) into 0
63.004 * [backup-simplify]: Simplify (- 0) into 0
63.004 * [backup-simplify]: Simplify (+ 0 0) into 0
63.007 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) into 0
63.009 * [backup-simplify]: Simplify (+ (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2) 0) (+ (* 0 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)))) into 0
63.012 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 4)))) into 0
63.018 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)) (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))) (* 0 (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) into 0
63.022 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) into 0
63.022 * [backup-simplify]: Simplify (+ 0) into 0
63.023 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
63.023 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
63.024 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
63.024 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
63.024 * [backup-simplify]: Simplify (+ 0 0) into 0
63.025 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
63.025 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
63.025 * [backup-simplify]: Simplify (+ 0) into 0
63.026 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
63.026 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
63.027 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
63.027 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
63.027 * [backup-simplify]: Simplify (- 0) into 0
63.028 * [backup-simplify]: Simplify (+ 0 0) into 0
63.028 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
63.028 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
63.029 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi1)) 3) 0) (* 0 (pow (sin (/ -0.5 phi1)) 3))) into 0
63.029 * [backup-simplify]: Simplify (+ 0) into 0
63.029 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
63.030 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
63.030 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
63.031 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
63.031 * [backup-simplify]: Simplify (- 0) into 0
63.031 * [backup-simplify]: Simplify (+ 0 0) into 0
63.032 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
63.032 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (pow (cos (/ -0.5 phi2)) 2))) into 0
63.032 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 3) 0) (* 0 (* (pow (cos (/ -0.5 phi1)) 3) (pow (sin (/ -0.5 phi1)) 3)))) into 0
63.033 * [backup-simplify]: Simplify (+ 0) into 0
63.033 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
63.033 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
63.034 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
63.035 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
63.035 * [backup-simplify]: Simplify (+ 0 0) into 0
63.035 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
63.035 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (pow (sin (/ -0.5 phi2)) 2))) into 0
63.036 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 3) 0) (* 0 (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (pow (sin (/ -0.5 phi1)) 3))))) into 0
63.038 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
63.039 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
63.039 * [backup-simplify]: Simplify (+ (* R 0) (* 0 1)) into 0
63.040 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (sin (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (pow (sin (/ -0.5 phi1)) 3)))) R) (/ 0 R)))) into 0
63.040 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
63.041 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
63.041 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
63.041 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
63.042 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
63.042 * [backup-simplify]: Simplify (+ 0 0) into 0
63.042 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
63.043 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0
63.043 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
63.044 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
63.044 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
63.044 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
63.045 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
63.045 * [backup-simplify]: Simplify (- 0) into 0
63.045 * [backup-simplify]: Simplify (+ 0 0) into 0
63.046 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0
63.046 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0
63.047 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi1)) 3) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 3)))) into 0
63.048 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
63.048 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
63.048 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
63.049 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
63.049 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
63.049 * [backup-simplify]: Simplify (- 0) into 0
63.050 * [backup-simplify]: Simplify (+ 0 0) into 0
63.050 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0
63.051 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi2)) 2)))) into 0
63.051 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 3) 0) (+ (* 0 0) (* 0 (* (pow (cos (/ -0.5 phi1)) 3) (pow (sin (/ -0.5 phi1)) 3))))) into 0
63.052 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
63.052 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
63.052 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
63.053 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
63.053 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
63.053 * [backup-simplify]: Simplify (+ 0 0) into 0
63.054 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0
63.054 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi2)) 2)))) into 0
63.055 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 3) 0) (+ (* 0 0) (* 0 (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (pow (sin (/ -0.5 phi1)) 3)))))) into 0
63.055 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
63.056 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
63.056 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (* 0 1))) into 0
63.057 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (sin (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (pow (sin (/ -0.5 phi1)) 3)))) R) (/ 0 R)) (* 0 (/ 0 R)))) into 0
63.059 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (sin (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (pow (sin (/ -0.5 phi1)) 3)))) R) 0) (+ (* 0 0) (* 0 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)))))) into 0
63.060 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (sin (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (pow (sin (/ -0.5 phi1)) 3)))) R) 0) (* 0 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) into 0
63.062 * [backup-simplify]: Simplify (* (/ (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (sin (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (pow (sin (/ -0.5 phi1)) 3)))) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)))) into (* (/ (* (pow (sin (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (pow (sin (/ -0.5 phi1)) 3)))) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))
63.064 * [backup-simplify]: Simplify (+ (* 10 0) (+ (* 0 0) (* 0 (* (/ (* (pow (sin (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (pow (sin (/ -0.5 phi1)) 3)))) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))))) into 0
63.066 * [backup-simplify]: Simplify (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (pow phi2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) into (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (pow phi2 2))))
63.068 * [backup-simplify]: Simplify (* 1/2 (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (pow phi2 2))))) into (* 1/2 (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (pow phi2 2)))))
63.068 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
63.069 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
63.069 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
63.070 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
63.070 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
63.070 * [backup-simplify]: Simplify (- 0) into 0
63.070 * [backup-simplify]: Simplify (+ 0 0) into 0
63.071 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0
63.071 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
63.072 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
63.072 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
63.072 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
63.073 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
63.073 * [backup-simplify]: Simplify (- 0) into 0
63.073 * [backup-simplify]: Simplify (+ 0 0) into 0
63.074 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0
63.074 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0
63.075 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
63.075 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
63.075 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
63.076 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
63.076 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
63.076 * [backup-simplify]: Simplify (+ 0 0) into 0
63.077 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
63.077 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
63.077 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
63.078 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
63.078 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
63.078 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
63.079 * [backup-simplify]: Simplify (+ 0 0) into 0
63.079 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0
63.079 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0
63.080 * [backup-simplify]: Simplify (+ 0 0) into 0
63.080 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
63.081 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
63.081 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
63.081 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
63.082 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
63.082 * [backup-simplify]: Simplify (+ 0 0) into 0
63.083 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
63.083 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
63.083 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
63.084 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
63.084 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
63.084 * [backup-simplify]: Simplify (- 0) into 0
63.085 * [backup-simplify]: Simplify (+ 0 0) into 0
63.085 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
63.086 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
63.086 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
63.086 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
63.087 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
63.087 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
63.087 * [backup-simplify]: Simplify (- 0) into 0
63.087 * [backup-simplify]: Simplify (+ 0 0) into 0
63.088 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
63.088 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
63.089 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
63.089 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
63.089 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
63.090 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
63.090 * [backup-simplify]: Simplify (+ 0 0) into 0
63.091 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into 0
63.091 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
63.092 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
63.092 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
63.092 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
63.092 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
63.093 * [backup-simplify]: Simplify (+ 0 0) into 0
63.093 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
63.094 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
63.094 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
63.094 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
63.095 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
63.095 * [backup-simplify]: Simplify (- 0) into 0
63.095 * [backup-simplify]: Simplify (+ 0 0) into 0
63.095 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
63.096 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
63.096 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
63.096 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
63.097 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
63.097 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
63.098 * [backup-simplify]: Simplify (+ 0 0) into 0
63.098 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
63.098 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
63.099 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
63.099 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
63.099 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
63.100 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
63.100 * [backup-simplify]: Simplify (- 0) into 0
63.100 * [backup-simplify]: Simplify (+ 0 0) into 0
63.101 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into 0
63.101 * [backup-simplify]: Simplify (+ 0 0) into 0
63.101 * [backup-simplify]: Simplify (- 0) into 0
63.101 * [backup-simplify]: Simplify (+ 0 0) into 0
63.104 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) into 0
63.106 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)))) into 0
63.113 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (* 0 (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
63.116 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
63.117 * [backup-simplify]: Simplify (+ 0) into 0
63.117 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
63.118 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
63.118 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
63.119 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
63.119 * [backup-simplify]: Simplify (- 0) into 0
63.120 * [backup-simplify]: Simplify (+ 0 0) into 0
63.120 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
63.120 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi1)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
63.121 * [backup-simplify]: Simplify (+ 0) into 0
63.121 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
63.121 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
63.122 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
63.122 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
63.123 * [backup-simplify]: Simplify (- 0) into 0
63.123 * [backup-simplify]: Simplify (+ 0 0) into 0
63.123 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
63.124 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi2)) 2))) into 0
63.124 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 4) 0) (* 0 (pow (cos (/ -0.5 phi1)) 4))) into 0
63.125 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
63.125 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
63.126 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 R)) into 0
63.126 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) R) (/ 0 R)))) into 0
63.127 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
63.128 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
63.128 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
63.129 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
63.130 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
63.130 * [backup-simplify]: Simplify (- 0) into 0
63.130 * [backup-simplify]: Simplify (+ 0 0) into 0
63.131 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0
63.132 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0
63.133 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
63.133 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
63.134 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
63.134 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
63.135 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
63.135 * [backup-simplify]: Simplify (- 0) into 0
63.136 * [backup-simplify]: Simplify (+ 0 0) into 0
63.136 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0
63.137 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi2)) 2)))) into 0
63.138 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 4) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 4)))) into 0
63.139 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
63.139 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
63.140 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 R))) into 0
63.141 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) R) (/ 0 R)) (* 0 (/ 0 R)))) into 0
63.144 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) R) 0) (+ (* 0 0) (* 0 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))) into 0
63.147 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) R) 0) (* 0 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
63.150 * [backup-simplify]: Simplify (* (/ (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) into (* (/ (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))
63.155 * [backup-simplify]: Simplify (+ (* 1/2 0) (+ (* 0 0) (* 0 (* (/ (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))))) into 0
63.158 * [backup-simplify]: Simplify (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow phi1 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) into (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (pow phi1 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))
63.161 * [backup-simplify]: Simplify (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (pow phi1 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (pow phi1 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))
63.162 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
63.163 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
63.163 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
63.164 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
63.164 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
63.165 * [backup-simplify]: Simplify (- 0) into 0
63.165 * [backup-simplify]: Simplify (+ 0 0) into 0
63.166 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0
63.167 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
63.167 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
63.168 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
63.168 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
63.169 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
63.169 * [backup-simplify]: Simplify (- 0) into 0
63.170 * [backup-simplify]: Simplify (+ 0 0) into 0
63.170 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0
63.171 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0
63.172 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
63.173 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
63.173 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
63.174 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
63.174 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
63.174 * [backup-simplify]: Simplify (+ 0 0) into 0
63.174 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
63.175 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
63.175 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
63.176 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
63.176 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
63.176 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
63.177 * [backup-simplify]: Simplify (+ 0 0) into 0
63.177 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0
63.177 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0
63.178 * [backup-simplify]: Simplify (+ 0 0) into 0
63.178 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
63.179 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
63.179 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
63.179 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
63.180 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
63.180 * [backup-simplify]: Simplify (+ 0 0) into 0
63.180 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
63.181 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
63.181 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
63.181 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
63.182 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
63.182 * [backup-simplify]: Simplify (- 0) into 0
63.182 * [backup-simplify]: Simplify (+ 0 0) into 0
63.182 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
63.183 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
63.183 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
63.184 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
63.184 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
63.184 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
63.185 * [backup-simplify]: Simplify (- 0) into 0
63.185 * [backup-simplify]: Simplify (+ 0 0) into 0
63.185 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
63.186 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
63.186 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
63.186 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
63.187 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
63.187 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
63.187 * [backup-simplify]: Simplify (+ 0 0) into 0
63.188 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into 0
63.188 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
63.189 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
63.189 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
63.189 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
63.190 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
63.190 * [backup-simplify]: Simplify (+ 0 0) into 0
63.190 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
63.191 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
63.191 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
63.192 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
63.192 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
63.192 * [backup-simplify]: Simplify (- 0) into 0
63.193 * [backup-simplify]: Simplify (+ 0 0) into 0
63.193 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
63.193 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
63.194 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
63.194 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
63.194 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
63.195 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
63.195 * [backup-simplify]: Simplify (+ 0 0) into 0
63.195 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
63.196 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
63.196 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
63.197 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
63.197 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
63.197 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
63.198 * [backup-simplify]: Simplify (- 0) into 0
63.198 * [backup-simplify]: Simplify (+ 0 0) into 0
63.198 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into 0
63.199 * [backup-simplify]: Simplify (+ 0 0) into 0
63.199 * [backup-simplify]: Simplify (- 0) into 0
63.200 * [backup-simplify]: Simplify (+ 0 0) into 0
63.202 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) into 0
63.205 * [backup-simplify]: Simplify (+ (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2) 0) (+ (* 0 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)))) into 0
63.207 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 4)))) into 0
63.210 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)) (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))) (* 0 (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) into 0
63.212 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) into 0
63.212 * [backup-simplify]: Simplify (+ 0) into 0
63.213 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
63.213 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
63.213 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
63.214 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
63.214 * [backup-simplify]: Simplify (+ 0 0) into 0
63.214 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
63.214 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi1)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
63.214 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (pow (sin (/ -0.5 phi1)) 4))) into 0
63.215 * [backup-simplify]: Simplify (+ 0) into 0
63.215 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
63.215 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
63.215 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
63.216 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
63.216 * [backup-simplify]: Simplify (- 0) into 0
63.216 * [backup-simplify]: Simplify (+ 0 0) into 0
63.216 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (pow (sin (/ -0.5 phi1)) 5))) into 0
63.217 * [backup-simplify]: Simplify (+ 0) into 0
63.217 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
63.217 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
63.218 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
63.218 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
63.218 * [backup-simplify]: Simplify (- 0) into 0
63.218 * [backup-simplify]: Simplify (+ 0 0) into 0
63.219 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 5)))) into 0
63.219 * [backup-simplify]: Simplify (+ 0) into 0
63.219 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
63.219 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
63.220 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
63.220 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
63.220 * [backup-simplify]: Simplify (+ 0 0) into 0
63.220 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
63.221 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi2)) 2))) into 0
63.221 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (pow (sin (/ -0.5 phi2)) 4))) into 0
63.221 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 5) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 5))))) into 0
63.221 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
63.222 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
63.222 * [backup-simplify]: Simplify (+ (* R 0) (* 0 1)) into 0
63.223 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (cos (/ -0.5 phi2)) (* (pow (sin (/ -0.5 phi2)) 5) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 5)))) R) (/ 0 R)))) into 0
63.223 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
63.223 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
63.224 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
63.224 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
63.224 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
63.225 * [backup-simplify]: Simplify (+ 0 0) into 0
63.225 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
63.225 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0
63.226 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 4)))) into 0
63.226 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
63.227 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
63.227 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
63.227 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
63.228 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
63.228 * [backup-simplify]: Simplify (- 0) into 0
63.228 * [backup-simplify]: Simplify (+ 0 0) into 0
63.229 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 5)))) into 0
63.229 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
63.230 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
63.230 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
63.230 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
63.231 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
63.231 * [backup-simplify]: Simplify (- 0) into 0
63.231 * [backup-simplify]: Simplify (+ 0 0) into 0
63.231 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 5))))) into 0
63.232 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
63.232 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
63.233 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
63.233 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
63.233 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
63.234 * [backup-simplify]: Simplify (+ 0 0) into 0
63.234 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0
63.235 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi2)) 2)))) into 0
63.236 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi2)) 4)))) into 0
63.237 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 5) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 5)))))) into 0
63.238 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
63.238 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
63.239 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (* 0 1))) into 0
63.240 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (cos (/ -0.5 phi2)) (* (pow (sin (/ -0.5 phi2)) 5) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 5)))) R) (/ 0 R)) (* 0 (/ 0 R)))) into 0
63.244 * [backup-simplify]: Simplify (+ (* (/ (* (cos (/ -0.5 phi2)) (* (pow (sin (/ -0.5 phi2)) 5) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 5)))) R) 0) (+ (* 0 0) (* 0 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)))))) into 0
63.246 * [backup-simplify]: Simplify (+ (* (/ (* (cos (/ -0.5 phi2)) (* (pow (sin (/ -0.5 phi2)) 5) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 5)))) R) 0) (* 0 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) into 0
63.248 * [backup-simplify]: Simplify (* (/ (* (cos (/ -0.5 phi2)) (* (pow (sin (/ -0.5 phi2)) 5) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 5)))) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)))) into (* (/ (* (pow (sin (/ -0.5 phi2)) 5) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 5)))) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))
63.250 * [backup-simplify]: Simplify (+ (* 3 0) (+ (* 0 0) (* 0 (* (/ (* (pow (sin (/ -0.5 phi2)) 5) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 5)))) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))))) into 0
63.251 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
63.251 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
63.251 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
63.252 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
63.252 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
63.252 * [backup-simplify]: Simplify (- 0) into 0
63.253 * [backup-simplify]: Simplify (+ 0 0) into 0
63.253 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0
63.253 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
63.254 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
63.254 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
63.254 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
63.255 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
63.255 * [backup-simplify]: Simplify (- 0) into 0
63.255 * [backup-simplify]: Simplify (+ 0 0) into 0
63.257 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0
63.257 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0
63.258 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
63.258 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
63.259 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
63.259 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
63.259 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
63.260 * [backup-simplify]: Simplify (+ 0 0) into 0
63.260 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
63.261 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
63.261 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
63.261 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
63.262 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
63.262 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
63.262 * [backup-simplify]: Simplify (+ 0 0) into 0
63.263 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0
63.263 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0
63.263 * [backup-simplify]: Simplify (+ 0 0) into 0
63.264 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
63.264 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
63.264 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
63.265 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
63.265 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
63.265 * [backup-simplify]: Simplify (+ 0 0) into 0
63.266 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
63.267 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
63.267 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
63.267 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
63.267 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
63.268 * [backup-simplify]: Simplify (- 0) into 0
63.268 * [backup-simplify]: Simplify (+ 0 0) into 0
63.268 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
63.269 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
63.269 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
63.269 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
63.270 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
63.270 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
63.270 * [backup-simplify]: Simplify (- 0) into 0
63.271 * [backup-simplify]: Simplify (+ 0 0) into 0
63.271 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
63.272 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
63.272 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
63.272 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
63.273 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
63.273 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
63.273 * [backup-simplify]: Simplify (+ 0 0) into 0
63.274 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into 0
63.274 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
63.275 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
63.275 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
63.275 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
63.275 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
63.276 * [backup-simplify]: Simplify (+ 0 0) into 0
63.276 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
63.277 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
63.277 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
63.277 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
63.278 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
63.278 * [backup-simplify]: Simplify (- 0) into 0
63.279 * [backup-simplify]: Simplify (+ 0 0) into 0
63.279 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
63.280 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
63.281 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
63.281 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
63.281 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
63.282 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
63.282 * [backup-simplify]: Simplify (+ 0 0) into 0
63.282 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
63.283 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
63.283 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
63.284 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
63.284 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
63.284 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
63.285 * [backup-simplify]: Simplify (- 0) into 0
63.285 * [backup-simplify]: Simplify (+ 0 0) into 0
63.285 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into 0
63.285 * [backup-simplify]: Simplify (+ 0 0) into 0
63.286 * [backup-simplify]: Simplify (- 0) into 0
63.286 * [backup-simplify]: Simplify (+ 0 0) into 0
63.288 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) into 0
63.290 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)))) into 0
63.294 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (* 0 (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
63.295 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
63.296 * [backup-simplify]: Simplify (+ 0) into 0
63.296 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
63.296 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
63.297 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
63.297 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
63.297 * [backup-simplify]: Simplify (+ 0 0) into 0
63.297 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
63.298 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi1)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
63.298 * [backup-simplify]: Simplify (+ 0) into 0
63.298 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
63.298 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
63.299 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
63.299 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
63.299 * [backup-simplify]: Simplify (+ 0 0) into 0
63.299 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
63.300 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi2)) 2))) into 0
63.300 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 4) 0) (* 0 (pow (sin (/ -0.5 phi1)) 4))) into 0
63.300 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
63.301 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
63.301 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 R)) into 0
63.301 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) R) (/ 0 R)))) into 0
63.302 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
63.302 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
63.302 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
63.303 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
63.303 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
63.304 * [backup-simplify]: Simplify (+ 0 0) into 0
63.304 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
63.304 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0
63.305 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
63.305 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
63.305 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
63.306 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
63.306 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
63.306 * [backup-simplify]: Simplify (+ 0 0) into 0
63.307 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0
63.307 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi2)) 2)))) into 0
63.308 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 4) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 4)))) into 0
63.308 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
63.309 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
63.309 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 R))) into 0
63.310 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) R) (/ 0 R)) (* 0 (/ 0 R)))) into 0
63.311 * [backup-simplify]: Simplify (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) R) 0) (+ (* 0 0) (* 0 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))) into 0
63.313 * [backup-simplify]: Simplify (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) R) 0) (* 0 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
63.314 * [backup-simplify]: Simplify (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) into (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) R))
63.316 * [backup-simplify]: Simplify (+ (* 1/2 0) (+ (* 0 0) (* 0 (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) R))))) into 0
63.318 * [backup-simplify]: Simplify (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (pow phi2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) into (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (pow phi2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))
63.321 * [backup-simplify]: Simplify (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (pow phi2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (pow phi2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))
63.322 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
63.323 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
63.323 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
63.324 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
63.325 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
63.325 * [backup-simplify]: Simplify (- 0) into 0
63.325 * [backup-simplify]: Simplify (+ 0 0) into 0
63.326 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0
63.327 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
63.328 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
63.328 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
63.329 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
63.329 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
63.330 * [backup-simplify]: Simplify (- 0) into 0
63.330 * [backup-simplify]: Simplify (+ 0 0) into 0
63.331 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0
63.332 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0
63.332 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
63.333 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
63.333 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
63.334 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
63.335 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
63.335 * [backup-simplify]: Simplify (+ 0 0) into 0
63.336 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
63.337 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
63.337 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
63.338 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
63.338 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
63.339 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
63.339 * [backup-simplify]: Simplify (+ 0 0) into 0
63.340 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0
63.341 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0
63.341 * [backup-simplify]: Simplify (+ 0 0) into 0
63.342 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
63.342 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
63.342 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
63.343 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
63.343 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
63.343 * [backup-simplify]: Simplify (+ 0 0) into 0
63.344 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
63.344 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
63.345 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
63.345 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
63.345 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
63.346 * [backup-simplify]: Simplify (- 0) into 0
63.346 * [backup-simplify]: Simplify (+ 0 0) into 0
63.346 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
63.347 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
63.347 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
63.347 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
63.348 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
63.348 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
63.348 * [backup-simplify]: Simplify (- 0) into 0
63.349 * [backup-simplify]: Simplify (+ 0 0) into 0
63.349 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
63.349 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
63.350 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
63.350 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
63.350 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
63.351 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
63.351 * [backup-simplify]: Simplify (+ 0 0) into 0
63.352 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into 0
63.352 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
63.353 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
63.353 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
63.353 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
63.354 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
63.354 * [backup-simplify]: Simplify (+ 0 0) into 0
63.354 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
63.355 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
63.355 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
63.355 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
63.356 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
63.356 * [backup-simplify]: Simplify (- 0) into 0
63.356 * [backup-simplify]: Simplify (+ 0 0) into 0
63.358 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
63.358 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
63.359 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
63.359 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
63.359 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
63.360 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
63.360 * [backup-simplify]: Simplify (+ 0 0) into 0
63.360 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
63.361 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
63.361 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
63.361 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
63.362 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
63.362 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
63.362 * [backup-simplify]: Simplify (- 0) into 0
63.363 * [backup-simplify]: Simplify (+ 0 0) into 0
63.363 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into 0
63.363 * [backup-simplify]: Simplify (+ 0 0) into 0
63.364 * [backup-simplify]: Simplify (- 0) into 0
63.364 * [backup-simplify]: Simplify (+ 0 0) into 0
63.366 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) into 0
63.369 * [backup-simplify]: Simplify (+ (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2) 0) (+ (* 0 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)))) into 0
63.371 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 4)))) into 0
63.374 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)) (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))) (* 0 (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) into 0
63.376 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) into 0
63.376 * [backup-simplify]: Simplify (+ 0) into 0
63.377 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
63.377 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
63.377 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
63.378 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
63.378 * [backup-simplify]: Simplify (+ 0 0) into 0
63.378 * [backup-simplify]: Simplify (+ 0) into 0
63.378 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
63.379 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
63.379 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
63.379 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
63.380 * [backup-simplify]: Simplify (- 0) into 0
63.380 * [backup-simplify]: Simplify (+ 0 0) into 0
63.380 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
63.380 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi1)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
63.380 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (pow (cos (/ -0.5 phi1)) 4))) into 0
63.381 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi1)) 5) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
63.381 * [backup-simplify]: Simplify (+ 0) into 0
63.381 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
63.381 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
63.382 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
63.382 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
63.382 * [backup-simplify]: Simplify (- 0) into 0
63.382 * [backup-simplify]: Simplify (+ 0 0) into 0
63.383 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
63.383 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi2)) 2))) into 0
63.383 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (pow (cos (/ -0.5 phi2)) 4))) into 0
63.383 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 5) 0) (* 0 (* (pow (cos (/ -0.5 phi1)) 5) (sin (/ -0.5 phi1))))) into 0
63.383 * [backup-simplify]: Simplify (+ 0) into 0
63.384 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
63.384 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
63.384 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
63.385 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
63.385 * [backup-simplify]: Simplify (+ 0 0) into 0
63.385 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (pow (cos (/ -0.5 phi2)) 5) (* (pow (cos (/ -0.5 phi1)) 5) (sin (/ -0.5 phi1)))))) into 0
63.386 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
63.386 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
63.386 * [backup-simplify]: Simplify (+ (* R 0) (* 0 1)) into 0
63.387 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 5) (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi1)) 5) (sin (/ -0.5 phi1))))) R) (/ 0 R)))) into 0
63.387 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
63.388 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
63.388 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
63.388 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
63.389 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
63.389 * [backup-simplify]: Simplify (+ 0 0) into 0
63.389 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
63.390 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
63.390 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
63.390 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
63.391 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
63.391 * [backup-simplify]: Simplify (- 0) into 0
63.391 * [backup-simplify]: Simplify (+ 0 0) into 0
63.392 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0
63.392 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0
63.392 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 4)))) into 0
63.393 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi1)) 5) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
63.393 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
63.394 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
63.394 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
63.395 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
63.395 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
63.396 * [backup-simplify]: Simplify (- 0) into 0
63.396 * [backup-simplify]: Simplify (+ 0 0) into 0
63.397 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0
63.397 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi2)) 2)))) into 0
63.398 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi2)) 4)))) into 0
63.399 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 5) 0) (+ (* 0 0) (* 0 (* (pow (cos (/ -0.5 phi1)) 5) (sin (/ -0.5 phi1)))))) into 0
63.399 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
63.400 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
63.400 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
63.401 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
63.401 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
63.402 * [backup-simplify]: Simplify (+ 0 0) into 0
63.403 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (pow (cos (/ -0.5 phi2)) 5) (* (pow (cos (/ -0.5 phi1)) 5) (sin (/ -0.5 phi1))))))) into 0
63.404 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
63.404 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
63.405 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (* 0 1))) into 0
63.406 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 5) (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi1)) 5) (sin (/ -0.5 phi1))))) R) (/ 0 R)) (* 0 (/ 0 R)))) into 0
63.407 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 5) (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi1)) 5) (sin (/ -0.5 phi1))))) R) 0) (+ (* 0 0) (* 0 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)))))) into 0
63.409 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 5) (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi1)) 5) (sin (/ -0.5 phi1))))) R) 0) (* 0 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))) into 0
63.410 * [backup-simplify]: Simplify (* (/ (* (pow (cos (/ -0.5 phi2)) 5) (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi1)) 5) (sin (/ -0.5 phi1))))) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5)))) into (* (/ (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 5) (* (pow (cos (/ -0.5 phi1)) 5) (sin (/ -0.5 phi1))))) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))
63.413 * [backup-simplify]: Simplify (+ (* 3 0) (+ (* 0 0) (* 0 (* (/ (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 5) (* (pow (cos (/ -0.5 phi1)) 5) (sin (/ -0.5 phi1))))) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5))))))) into 0
63.413 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
63.414 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
63.414 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
63.414 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
63.415 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
63.415 * [backup-simplify]: Simplify (- 0) into 0
63.415 * [backup-simplify]: Simplify (+ 0 0) into 0
63.416 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0
63.416 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
63.417 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
63.417 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
63.417 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
63.418 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
63.418 * [backup-simplify]: Simplify (- 0) into 0
63.418 * [backup-simplify]: Simplify (+ 0 0) into 0
63.419 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0
63.419 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0
63.420 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
63.421 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
63.421 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
63.421 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
63.422 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
63.422 * [backup-simplify]: Simplify (+ 0 0) into 0
63.422 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
63.423 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
63.423 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
63.423 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
63.424 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
63.424 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
63.424 * [backup-simplify]: Simplify (+ 0 0) into 0
63.425 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0
63.425 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0
63.425 * [backup-simplify]: Simplify (+ 0 0) into 0
63.426 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
63.426 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
63.427 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
63.427 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
63.427 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
63.428 * [backup-simplify]: Simplify (+ 0 0) into 0
63.428 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
63.428 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
63.429 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
63.429 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
63.429 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
63.430 * [backup-simplify]: Simplify (- 0) into 0
63.430 * [backup-simplify]: Simplify (+ 0 0) into 0
63.430 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
63.431 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
63.431 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
63.431 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
63.432 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
63.432 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
63.432 * [backup-simplify]: Simplify (- 0) into 0
63.433 * [backup-simplify]: Simplify (+ 0 0) into 0
63.433 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
63.434 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
63.434 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
63.434 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
63.435 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
63.435 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
63.435 * [backup-simplify]: Simplify (+ 0 0) into 0
63.436 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into 0
63.436 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
63.437 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
63.437 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
63.437 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
63.437 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
63.438 * [backup-simplify]: Simplify (+ 0 0) into 0
63.438 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
63.439 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
63.439 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
63.439 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
63.440 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
63.440 * [backup-simplify]: Simplify (- 0) into 0
63.440 * [backup-simplify]: Simplify (+ 0 0) into 0
63.440 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
63.441 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
63.441 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
63.441 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
63.442 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
63.442 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
63.442 * [backup-simplify]: Simplify (+ 0 0) into 0
63.443 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
63.443 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
63.444 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
63.444 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
63.444 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
63.445 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
63.445 * [backup-simplify]: Simplify (- 0) into 0
63.445 * [backup-simplify]: Simplify (+ 0 0) into 0
63.446 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into 0
63.446 * [backup-simplify]: Simplify (+ 0 0) into 0
63.447 * [backup-simplify]: Simplify (- 0) into 0
63.447 * [backup-simplify]: Simplify (+ 0 0) into 0
63.451 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) into 0
63.456 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)))) into 0
63.464 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (* 0 (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
63.468 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
63.468 * [backup-simplify]: Simplify (+ 0) into 0
63.469 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
63.469 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
63.470 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
63.470 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
63.471 * [backup-simplify]: Simplify (+ 0 0) into 0
63.471 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
63.471 * [backup-simplify]: Simplify (+ 0) into 0
63.472 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
63.472 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
63.473 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
63.473 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
63.474 * [backup-simplify]: Simplify (- 0) into 0
63.474 * [backup-simplify]: Simplify (+ 0 0) into 0
63.474 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
63.475 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi1)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
63.475 * [backup-simplify]: Simplify (+ 0) into 0
63.476 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
63.476 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
63.477 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
63.477 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
63.478 * [backup-simplify]: Simplify (- 0) into 0
63.478 * [backup-simplify]: Simplify (+ 0 0) into 0
63.478 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
63.479 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)))) into 0
63.479 * [backup-simplify]: Simplify (+ 0) into 0
63.480 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
63.480 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
63.480 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
63.481 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
63.481 * [backup-simplify]: Simplify (+ 0 0) into 0
63.481 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
63.482 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2))))) into 0
63.483 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
63.483 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
63.484 * [backup-simplify]: Simplify (+ (* R 0) (* 0 1)) into 0
63.484 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)))) R) (/ 0 R)))) into 0
63.485 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
63.486 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
63.486 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
63.487 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
63.487 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
63.488 * [backup-simplify]: Simplify (+ 0 0) into 0
63.488 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
63.489 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
63.490 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
63.490 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
63.491 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
63.491 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
63.492 * [backup-simplify]: Simplify (- 0) into 0
63.492 * [backup-simplify]: Simplify (+ 0 0) into 0
63.493 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0
63.493 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0
63.494 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
63.495 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
63.495 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
63.496 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
63.497 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
63.497 * [backup-simplify]: Simplify (- 0) into 0
63.497 * [backup-simplify]: Simplify (+ 0 0) into 0
63.498 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0
63.499 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2))))) into 0
63.500 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
63.500 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
63.501 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
63.501 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
63.502 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
63.502 * [backup-simplify]: Simplify (+ 0 0) into 0
63.503 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0
63.504 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)))))) into 0
63.504 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
63.505 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
63.506 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (* 0 1))) into 0
63.507 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)))) R) (/ 0 R)) (* 0 (/ 0 R)))) into 0
63.510 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)))) R) 0) (+ (* 0 0) (* 0 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))) into 0
63.513 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)))) R) 0) (* 0 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
63.514 * [backup-simplify]: Simplify (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)))) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) into (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)))) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))
63.517 * [backup-simplify]: Simplify (+ (* 3 0) (+ (* 0 0) (* 0 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)))) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))))) into 0
63.518 * [backup-simplify]: Simplify (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (pow phi1 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) into (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* (pow phi1 2) R)))
63.520 * [backup-simplify]: Simplify (* 1/2 (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* (pow phi1 2) R)))) into (* 1/2 (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* (pow phi1 2) R))))
63.523 * [backup-simplify]: Simplify (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* phi1 (* R phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) into (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (* phi1 phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))
63.526 * [backup-simplify]: Simplify (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (* phi1 phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* phi1 (* R phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))
63.531 * [backup-simplify]: Simplify (+ (* 1/2 (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* (pow phi1 2) R)))) (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* phi1 (* R phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))) into (+ (* 1/2 (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (pow phi1 2))))) (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (* phi1 phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))))
63.538 * [backup-simplify]: Simplify (+ 0 (+ (* 1/2 (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (pow phi1 2))))) (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (* phi1 phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))))) into (+ (* 1/2 (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (pow phi1 2))))) (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* phi1 (* R phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))))
63.544 * [backup-simplify]: Simplify (+ 0 (+ (* 1/2 (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (pow phi1 2))))) (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* phi1 (* R phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))))) into (+ (* 1/2 (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (pow phi1 2))))) (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (* phi1 phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))))
63.553 * [backup-simplify]: Simplify (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (pow phi2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (pow phi1 2))))) (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (* phi1 phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))))) into (+ (* 1/2 (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (pow phi1 2))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (pow phi2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* phi1 (* R phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))))
63.565 * [backup-simplify]: Simplify (+ 0 (+ (* 1/2 (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (pow phi1 2))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (pow phi2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* phi1 (* R phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))))) into (+ (* 1/2 (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (pow phi1 2))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (pow phi2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (* phi1 phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))))
63.577 * [backup-simplify]: Simplify (+ 0 (+ (* 1/2 (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (pow phi1 2))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (pow phi2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (* phi1 phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))))) into (+ (* 1/2 (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (pow phi1 2))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (pow phi2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* phi1 (* R phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))))
63.589 * [backup-simplify]: Simplify (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (pow phi1 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (pow phi1 2))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (pow phi2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* phi1 (* R phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))))) into (+ (* 1/2 (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (pow phi1 2))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (pow phi2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (* phi1 phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow phi1 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))))))
63.604 * [backup-simplify]: Simplify (+ 0 (+ (* 1/2 (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (pow phi1 2))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (pow phi2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (* phi1 phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow phi1 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))))))) into (+ (* 1/2 (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (pow phi1 2))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (pow phi2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* phi1 (* R phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow phi1 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))))))
63.622 * [backup-simplify]: Simplify (+ (* 1/2 (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (pow phi2 2))))) (+ (* 1/2 (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (pow phi1 2))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (pow phi2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* phi1 (* R phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow phi1 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))))))) into (+ (* 1/2 (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (pow phi1 2))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (pow phi2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (* phi1 phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (pow phi2 2))))) (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow phi1 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))))))
63.642 * [backup-simplify]: Simplify (+ 0 (+ (* 1/2 (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (pow phi1 2))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (pow phi2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (* phi1 phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (pow phi2 2))))) (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow phi1 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))))))) into (+ (* 1/2 (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (pow phi1 2))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (pow phi2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* phi1 (* R phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (pow phi2 2))))) (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (pow phi1 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))))))
63.661 * [backup-simplify]: Simplify (- (+ (* 1/2 (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (pow phi1 2))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (pow phi2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* phi1 (* R phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (pow phi2 2))))) (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (pow phi1 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))))))) into (- (+ (* 1/2 (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (pow phi1 2))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (pow phi2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (* phi1 phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (pow phi2 2))))) (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow phi1 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))))))))
63.699 * [backup-simplify]: Simplify (+ (+ (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (pow phi2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (+ (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (pow phi1 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (* phi1 phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (* phi1 phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))))) (- (+ (* 1/2 (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (pow phi1 2))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (pow phi2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (* phi1 phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (pow phi2 2))))) (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow phi1 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))))))))) into (- (+ (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (pow phi1 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (+ (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (pow phi2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (+ (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* phi1 (* R phi2)))) (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* phi1 (* R phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (pow phi2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (pow phi2 2))))) (+ (* 1/2 (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* (pow phi1 2) R)))) (+ (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* phi1 (* R phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow phi1 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))))))))
63.700 * [taylor]: Taking taylor expansion of (- (+ (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (pow phi1 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (+ (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (pow phi2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (+ (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* phi1 (* R phi2)))) (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* phi1 (* R phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (pow phi2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (pow phi2 2))))) (+ (* 1/2 (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* (pow phi1 2) R)))) (+ (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* phi1 (* R phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow phi1 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))))))) in phi1
63.700 * [taylor]: Taking taylor expansion of (+ (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (pow phi1 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (+ (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (pow phi2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (+ (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* phi1 (* R phi2)))) (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* phi1 (* R phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))))) in phi1
63.700 * [taylor]: Taking taylor expansion of (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (pow phi1 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) in phi1
63.700 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (pow phi1 2))) in phi1
63.700 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi1
63.700 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
63.700 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
63.700 * [taylor]: Taking taylor expansion of -0.5 in phi1
63.700 * [backup-simplify]: Simplify -0.5 into -0.5
63.700 * [taylor]: Taking taylor expansion of phi2 in phi1
63.700 * [backup-simplify]: Simplify phi2 into phi2
63.700 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
63.700 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
63.700 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
63.700 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi1
63.700 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
63.700 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
63.700 * [taylor]: Taking taylor expansion of -0.5 in phi1
63.700 * [backup-simplify]: Simplify -0.5 into -0.5
63.700 * [taylor]: Taking taylor expansion of phi2 in phi1
63.700 * [backup-simplify]: Simplify phi2 into phi2
63.700 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
63.700 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
63.700 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
63.700 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi1
63.700 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
63.700 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
63.700 * [taylor]: Taking taylor expansion of -0.5 in phi1
63.700 * [backup-simplify]: Simplify -0.5 into -0.5
63.701 * [taylor]: Taking taylor expansion of phi1 in phi1
63.701 * [backup-simplify]: Simplify 0 into 0
63.701 * [backup-simplify]: Simplify 1 into 1
63.701 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
63.701 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
63.701 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
63.701 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
63.701 * [taylor]: Taking taylor expansion of -0.5 in phi1
63.701 * [backup-simplify]: Simplify -0.5 into -0.5
63.701 * [taylor]: Taking taylor expansion of phi1 in phi1
63.701 * [backup-simplify]: Simplify 0 into 0
63.701 * [backup-simplify]: Simplify 1 into 1
63.702 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
63.702 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
63.702 * [taylor]: Taking taylor expansion of (* R (pow phi1 2)) in phi1
63.702 * [taylor]: Taking taylor expansion of R in phi1
63.702 * [backup-simplify]: Simplify R into R
63.702 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1
63.702 * [taylor]: Taking taylor expansion of phi1 in phi1
63.702 * [backup-simplify]: Simplify 0 into 0
63.702 * [backup-simplify]: Simplify 1 into 1
63.702 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
63.702 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
63.702 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
63.702 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
63.702 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
63.702 * [backup-simplify]: Simplify (- 0) into 0
63.702 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
63.702 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
63.703 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
63.703 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
63.703 * [backup-simplify]: Simplify (* 1 1) into 1
63.703 * [backup-simplify]: Simplify (* R 1) into R
63.703 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) into (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R)
63.703 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) in phi1
63.703 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) in phi1
63.703 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3) in phi1
63.703 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in phi1
63.703 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi1
63.703 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi1
63.703 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi1
63.703 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
63.703 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
63.703 * [taylor]: Taking taylor expansion of -0.5 in phi1
63.703 * [backup-simplify]: Simplify -0.5 into -0.5
63.704 * [taylor]: Taking taylor expansion of phi2 in phi1
63.704 * [backup-simplify]: Simplify phi2 into phi2
63.704 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
63.704 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
63.704 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
63.704 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
63.704 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
63.704 * [backup-simplify]: Simplify (- 0) into 0
63.704 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
63.704 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi1
63.704 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
63.704 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
63.704 * [taylor]: Taking taylor expansion of -0.5 in phi1
63.704 * [backup-simplify]: Simplify -0.5 into -0.5
63.704 * [taylor]: Taking taylor expansion of phi1 in phi1
63.704 * [backup-simplify]: Simplify 0 into 0
63.704 * [backup-simplify]: Simplify 1 into 1
63.705 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
63.705 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
63.705 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi1
63.705 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi1
63.705 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
63.705 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
63.705 * [taylor]: Taking taylor expansion of -0.5 in phi1
63.705 * [backup-simplify]: Simplify -0.5 into -0.5
63.705 * [taylor]: Taking taylor expansion of phi2 in phi1
63.705 * [backup-simplify]: Simplify phi2 into phi2
63.705 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
63.705 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
63.705 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
63.705 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
63.705 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
63.705 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
63.705 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi1
63.705 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
63.705 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
63.705 * [taylor]: Taking taylor expansion of -0.5 in phi1
63.705 * [backup-simplify]: Simplify -0.5 into -0.5
63.705 * [taylor]: Taking taylor expansion of phi1 in phi1
63.705 * [backup-simplify]: Simplify 0 into 0
63.705 * [backup-simplify]: Simplify 1 into 1
63.706 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
63.706 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
63.706 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in phi1
63.706 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi1
63.706 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
63.706 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
63.706 * [taylor]: Taking taylor expansion of -0.5 in phi1
63.706 * [backup-simplify]: Simplify -0.5 into -0.5
63.706 * [taylor]: Taking taylor expansion of phi2 in phi1
63.706 * [backup-simplify]: Simplify phi2 into phi2
63.706 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
63.706 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
63.706 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
63.706 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi1
63.706 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
63.706 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
63.706 * [taylor]: Taking taylor expansion of -0.5 in phi1
63.706 * [backup-simplify]: Simplify -0.5 into -0.5
63.706 * [taylor]: Taking taylor expansion of phi2 in phi1
63.706 * [backup-simplify]: Simplify phi2 into phi2
63.706 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
63.706 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
63.706 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
63.706 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi1
63.706 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
63.706 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
63.706 * [taylor]: Taking taylor expansion of -0.5 in phi1
63.706 * [backup-simplify]: Simplify -0.5 into -0.5
63.706 * [taylor]: Taking taylor expansion of phi1 in phi1
63.706 * [backup-simplify]: Simplify 0 into 0
63.706 * [backup-simplify]: Simplify 1 into 1
63.707 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
63.707 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
63.707 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
63.707 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
63.707 * [taylor]: Taking taylor expansion of -0.5 in phi1
63.707 * [backup-simplify]: Simplify -0.5 into -0.5
63.707 * [taylor]: Taking taylor expansion of phi1 in phi1
63.707 * [backup-simplify]: Simplify 0 into 0
63.707 * [backup-simplify]: Simplify 1 into 1
63.707 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
63.707 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
63.707 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi1
63.707 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
63.707 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
63.707 * [taylor]: Taking taylor expansion of -0.5 in phi1
63.707 * [backup-simplify]: Simplify -0.5 into -0.5
63.707 * [taylor]: Taking taylor expansion of phi2 in phi1
63.707 * [backup-simplify]: Simplify phi2 into phi2
63.707 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
63.707 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
63.707 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
63.707 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi1
63.707 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
63.707 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
63.707 * [taylor]: Taking taylor expansion of -0.5 in phi1
63.707 * [backup-simplify]: Simplify -0.5 into -0.5
63.707 * [taylor]: Taking taylor expansion of phi2 in phi1
63.707 * [backup-simplify]: Simplify phi2 into phi2
63.708 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
63.708 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
63.708 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
63.708 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi1
63.708 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
63.708 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
63.708 * [taylor]: Taking taylor expansion of -0.5 in phi1
63.708 * [backup-simplify]: Simplify -0.5 into -0.5
63.708 * [taylor]: Taking taylor expansion of phi1 in phi1
63.708 * [backup-simplify]: Simplify 0 into 0
63.708 * [backup-simplify]: Simplify 1 into 1
63.708 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
63.708 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
63.708 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
63.708 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
63.708 * [taylor]: Taking taylor expansion of -0.5 in phi1
63.708 * [backup-simplify]: Simplify -0.5 into -0.5
63.708 * [taylor]: Taking taylor expansion of phi1 in phi1
63.708 * [backup-simplify]: Simplify 0 into 0
63.708 * [backup-simplify]: Simplify 1 into 1
63.708 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
63.709 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
63.709 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
63.709 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
63.709 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
63.709 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
63.709 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
63.709 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
63.710 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
63.710 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
63.710 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
63.710 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
63.710 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
63.710 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
63.710 * [backup-simplify]: Simplify (- 0) into 0
63.710 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
63.710 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
63.711 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
63.711 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
63.711 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
63.711 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
63.711 * [backup-simplify]: Simplify (- 0) into 0
63.711 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
63.711 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
63.711 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
63.711 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
63.712 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
63.712 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
63.712 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
63.712 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
63.713 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
63.714 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
63.715 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)
63.717 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)
63.719 * [backup-simplify]: Simplify (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) into (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))
63.720 * [backup-simplify]: Simplify (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) into (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))
63.720 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
63.720 * [backup-simplify]: Simplify (+ 0) into 0
63.721 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
63.721 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
63.721 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
63.722 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
63.722 * [backup-simplify]: Simplify (- 0) into 0
63.722 * [backup-simplify]: Simplify (+ 0 0) into 0
63.722 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
63.723 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
63.723 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
63.723 * [backup-simplify]: Simplify (+ 0) into 0
63.724 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
63.724 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
63.724 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
63.724 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
63.725 * [backup-simplify]: Simplify (+ 0 0) into 0
63.725 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
63.725 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
63.725 * [backup-simplify]: Simplify (+ 0 0) into 0
63.725 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
63.726 * [backup-simplify]: Simplify (+ 0) into 0
63.726 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
63.726 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
63.726 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
63.727 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
63.727 * [backup-simplify]: Simplify (- 0) into 0
63.727 * [backup-simplify]: Simplify (+ 0 0) into 0
63.727 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
63.728 * [backup-simplify]: Simplify (+ 0) into 0
63.728 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
63.728 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
63.728 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
63.729 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
63.729 * [backup-simplify]: Simplify (+ 0 0) into 0
63.729 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
63.729 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
63.730 * [backup-simplify]: Simplify (+ 0) into 0
63.730 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
63.730 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
63.731 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
63.731 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
63.731 * [backup-simplify]: Simplify (+ 0 0) into 0
63.731 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
63.731 * [backup-simplify]: Simplify (+ 0) into 0
63.732 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
63.732 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
63.734 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
63.734 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
63.734 * [backup-simplify]: Simplify (- 0) into 0
63.735 * [backup-simplify]: Simplify (+ 0 0) into 0
63.735 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
63.735 * [backup-simplify]: Simplify (+ 0 0) into 0
63.735 * [backup-simplify]: Simplify (- 0) into 0
63.736 * [backup-simplify]: Simplify (+ 0 0) into 0
63.738 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into 0
63.740 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2))) into 0
63.742 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
63.743 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
63.743 * [taylor]: Taking taylor expansion of (+ (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (pow phi2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (+ (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* phi1 (* R phi2)))) (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* phi1 (* R phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))) in phi1
63.743 * [taylor]: Taking taylor expansion of (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (pow phi2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) in phi1
63.743 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (pow phi2 2))) in phi1
63.743 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi1
63.743 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
63.743 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
63.743 * [taylor]: Taking taylor expansion of -0.5 in phi1
63.744 * [backup-simplify]: Simplify -0.5 into -0.5
63.744 * [taylor]: Taking taylor expansion of phi2 in phi1
63.744 * [backup-simplify]: Simplify phi2 into phi2
63.744 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
63.744 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
63.744 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
63.744 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi1
63.744 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
63.744 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
63.744 * [taylor]: Taking taylor expansion of -0.5 in phi1
63.744 * [backup-simplify]: Simplify -0.5 into -0.5
63.744 * [taylor]: Taking taylor expansion of phi2 in phi1
63.744 * [backup-simplify]: Simplify phi2 into phi2
63.744 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
63.744 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
63.744 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
63.744 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi1
63.744 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
63.744 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
63.744 * [taylor]: Taking taylor expansion of -0.5 in phi1
63.744 * [backup-simplify]: Simplify -0.5 into -0.5
63.744 * [taylor]: Taking taylor expansion of phi1 in phi1
63.744 * [backup-simplify]: Simplify 0 into 0
63.744 * [backup-simplify]: Simplify 1 into 1
63.745 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
63.745 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
63.745 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
63.745 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
63.745 * [taylor]: Taking taylor expansion of -0.5 in phi1
63.745 * [backup-simplify]: Simplify -0.5 into -0.5
63.745 * [taylor]: Taking taylor expansion of phi1 in phi1
63.745 * [backup-simplify]: Simplify 0 into 0
63.745 * [backup-simplify]: Simplify 1 into 1
63.745 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
63.745 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
63.745 * [taylor]: Taking taylor expansion of (* R (pow phi2 2)) in phi1
63.745 * [taylor]: Taking taylor expansion of R in phi1
63.745 * [backup-simplify]: Simplify R into R
63.745 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1
63.745 * [taylor]: Taking taylor expansion of phi2 in phi1
63.745 * [backup-simplify]: Simplify phi2 into phi2
63.745 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
63.745 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
63.745 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
63.745 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
63.746 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
63.746 * [backup-simplify]: Simplify (- 0) into 0
63.746 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
63.746 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
63.746 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
63.746 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
63.746 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
63.746 * [backup-simplify]: Simplify (* R (pow phi2 2)) into (* R (pow phi2 2))
63.747 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (pow phi2 2))) into (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (pow phi2 2)))
63.747 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) in phi1
63.747 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) in phi1
63.747 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3) in phi1
63.747 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in phi1
63.747 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi1
63.747 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi1
63.747 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi1
63.747 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
63.747 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
63.747 * [taylor]: Taking taylor expansion of -0.5 in phi1
63.747 * [backup-simplify]: Simplify -0.5 into -0.5
63.747 * [taylor]: Taking taylor expansion of phi2 in phi1
63.747 * [backup-simplify]: Simplify phi2 into phi2
63.747 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
63.747 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
63.747 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
63.747 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
63.747 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
63.747 * [backup-simplify]: Simplify (- 0) into 0
63.747 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
63.748 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi1
63.748 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
63.748 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
63.748 * [taylor]: Taking taylor expansion of -0.5 in phi1
63.748 * [backup-simplify]: Simplify -0.5 into -0.5
63.748 * [taylor]: Taking taylor expansion of phi1 in phi1
63.748 * [backup-simplify]: Simplify 0 into 0
63.748 * [backup-simplify]: Simplify 1 into 1
63.748 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
63.748 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
63.748 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi1
63.748 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi1
63.748 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
63.748 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
63.748 * [taylor]: Taking taylor expansion of -0.5 in phi1
63.748 * [backup-simplify]: Simplify -0.5 into -0.5
63.748 * [taylor]: Taking taylor expansion of phi2 in phi1
63.748 * [backup-simplify]: Simplify phi2 into phi2
63.748 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
63.748 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
63.748 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
63.748 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
63.748 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
63.748 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
63.748 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi1
63.749 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
63.749 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
63.749 * [taylor]: Taking taylor expansion of -0.5 in phi1
63.749 * [backup-simplify]: Simplify -0.5 into -0.5
63.749 * [taylor]: Taking taylor expansion of phi1 in phi1
63.749 * [backup-simplify]: Simplify 0 into 0
63.749 * [backup-simplify]: Simplify 1 into 1
63.749 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
63.749 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
63.749 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in phi1
63.749 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi1
63.749 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
63.749 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
63.749 * [taylor]: Taking taylor expansion of -0.5 in phi1
63.749 * [backup-simplify]: Simplify -0.5 into -0.5
63.749 * [taylor]: Taking taylor expansion of phi2 in phi1
63.749 * [backup-simplify]: Simplify phi2 into phi2
63.749 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
63.749 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
63.749 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
63.749 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi1
63.749 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
63.749 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
63.749 * [taylor]: Taking taylor expansion of -0.5 in phi1
63.749 * [backup-simplify]: Simplify -0.5 into -0.5
63.749 * [taylor]: Taking taylor expansion of phi2 in phi1
63.749 * [backup-simplify]: Simplify phi2 into phi2
63.749 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
63.749 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
63.750 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
63.750 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi1
63.750 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
63.750 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
63.750 * [taylor]: Taking taylor expansion of -0.5 in phi1
63.750 * [backup-simplify]: Simplify -0.5 into -0.5
63.750 * [taylor]: Taking taylor expansion of phi1 in phi1
63.750 * [backup-simplify]: Simplify 0 into 0
63.750 * [backup-simplify]: Simplify 1 into 1
63.750 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
63.750 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
63.750 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
63.750 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
63.750 * [taylor]: Taking taylor expansion of -0.5 in phi1
63.750 * [backup-simplify]: Simplify -0.5 into -0.5
63.750 * [taylor]: Taking taylor expansion of phi1 in phi1
63.750 * [backup-simplify]: Simplify 0 into 0
63.750 * [backup-simplify]: Simplify 1 into 1
63.750 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
63.750 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
63.750 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi1
63.751 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
63.751 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
63.751 * [taylor]: Taking taylor expansion of -0.5 in phi1
63.751 * [backup-simplify]: Simplify -0.5 into -0.5
63.751 * [taylor]: Taking taylor expansion of phi2 in phi1
63.751 * [backup-simplify]: Simplify phi2 into phi2
63.751 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
63.751 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
63.751 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
63.751 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi1
63.751 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
63.751 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
63.751 * [taylor]: Taking taylor expansion of -0.5 in phi1
63.751 * [backup-simplify]: Simplify -0.5 into -0.5
63.751 * [taylor]: Taking taylor expansion of phi2 in phi1
63.751 * [backup-simplify]: Simplify phi2 into phi2
63.751 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
63.751 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
63.751 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
63.751 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi1
63.751 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
63.751 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
63.751 * [taylor]: Taking taylor expansion of -0.5 in phi1
63.751 * [backup-simplify]: Simplify -0.5 into -0.5
63.751 * [taylor]: Taking taylor expansion of phi1 in phi1
63.751 * [backup-simplify]: Simplify 0 into 0
63.751 * [backup-simplify]: Simplify 1 into 1
63.751 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
63.751 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
63.751 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
63.752 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
63.752 * [taylor]: Taking taylor expansion of -0.5 in phi1
63.752 * [backup-simplify]: Simplify -0.5 into -0.5
63.752 * [taylor]: Taking taylor expansion of phi1 in phi1
63.752 * [backup-simplify]: Simplify 0 into 0
63.752 * [backup-simplify]: Simplify 1 into 1
63.752 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
63.752 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
63.752 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
63.752 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
63.752 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
63.752 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
63.753 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
63.753 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
63.753 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
63.753 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
63.753 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
63.753 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
63.753 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
63.754 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
63.754 * [backup-simplify]: Simplify (- 0) into 0
63.754 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
63.754 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
63.754 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
63.754 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
63.754 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
63.754 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
63.755 * [backup-simplify]: Simplify (- 0) into 0
63.755 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
63.755 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
63.755 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
63.755 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
63.755 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
63.755 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
63.755 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
63.756 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
63.756 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
63.757 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
63.759 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)
63.761 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)
63.762 * [backup-simplify]: Simplify (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) into (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))
63.763 * [backup-simplify]: Simplify (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) into (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))
63.763 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
63.764 * [backup-simplify]: Simplify (+ 0) into 0
63.764 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
63.764 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
63.764 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
63.765 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
63.765 * [backup-simplify]: Simplify (- 0) into 0
63.765 * [backup-simplify]: Simplify (+ 0 0) into 0
63.765 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
63.765 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
63.766 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
63.766 * [backup-simplify]: Simplify (+ 0) into 0
63.766 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
63.766 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
63.767 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
63.767 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
63.767 * [backup-simplify]: Simplify (+ 0 0) into 0
63.767 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
63.768 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
63.768 * [backup-simplify]: Simplify (+ 0 0) into 0
63.768 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
63.768 * [backup-simplify]: Simplify (+ 0) into 0
63.768 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
63.769 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
63.769 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
63.769 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
63.770 * [backup-simplify]: Simplify (- 0) into 0
63.770 * [backup-simplify]: Simplify (+ 0 0) into 0
63.770 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
63.770 * [backup-simplify]: Simplify (+ 0) into 0
63.770 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
63.771 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
63.771 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
63.771 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
63.772 * [backup-simplify]: Simplify (+ 0 0) into 0
63.772 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
63.772 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
63.772 * [backup-simplify]: Simplify (+ 0) into 0
63.772 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
63.773 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
63.773 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
63.773 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
63.773 * [backup-simplify]: Simplify (+ 0 0) into 0
63.774 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
63.774 * [backup-simplify]: Simplify (+ 0) into 0
63.774 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
63.774 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
63.775 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
63.775 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
63.775 * [backup-simplify]: Simplify (- 0) into 0
63.775 * [backup-simplify]: Simplify (+ 0 0) into 0
63.776 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
63.776 * [backup-simplify]: Simplify (+ 0 0) into 0
63.776 * [backup-simplify]: Simplify (- 0) into 0
63.776 * [backup-simplify]: Simplify (+ 0 0) into 0
63.778 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into 0
63.780 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2))) into 0
63.782 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
63.784 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
63.784 * [taylor]: Taking taylor expansion of (+ (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* phi1 (* R phi2)))) (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* phi1 (* R phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) in phi1
63.784 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* phi1 (* R phi2)))) in phi1
63.784 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) in phi1
63.784 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) in phi1
63.784 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3) in phi1
63.784 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in phi1
63.784 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi1
63.784 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi1
63.784 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi1
63.784 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
63.784 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
63.784 * [taylor]: Taking taylor expansion of -0.5 in phi1
63.784 * [backup-simplify]: Simplify -0.5 into -0.5
63.784 * [taylor]: Taking taylor expansion of phi2 in phi1
63.784 * [backup-simplify]: Simplify phi2 into phi2
63.784 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
63.784 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
63.784 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
63.785 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
63.785 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
63.785 * [backup-simplify]: Simplify (- 0) into 0
63.785 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
63.785 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi1
63.785 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
63.785 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
63.785 * [taylor]: Taking taylor expansion of -0.5 in phi1
63.785 * [backup-simplify]: Simplify -0.5 into -0.5
63.785 * [taylor]: Taking taylor expansion of phi1 in phi1
63.785 * [backup-simplify]: Simplify 0 into 0
63.785 * [backup-simplify]: Simplify 1 into 1
63.785 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
63.786 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
63.786 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi1
63.786 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi1
63.786 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
63.786 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
63.786 * [taylor]: Taking taylor expansion of -0.5 in phi1
63.786 * [backup-simplify]: Simplify -0.5 into -0.5
63.786 * [taylor]: Taking taylor expansion of phi2 in phi1
63.786 * [backup-simplify]: Simplify phi2 into phi2
63.786 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
63.786 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
63.786 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
63.786 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
63.786 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
63.786 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
63.786 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi1
63.786 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
63.786 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
63.786 * [taylor]: Taking taylor expansion of -0.5 in phi1
63.786 * [backup-simplify]: Simplify -0.5 into -0.5
63.786 * [taylor]: Taking taylor expansion of phi1 in phi1
63.786 * [backup-simplify]: Simplify 0 into 0
63.786 * [backup-simplify]: Simplify 1 into 1
63.786 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
63.786 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
63.786 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in phi1
63.787 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi1
63.787 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
63.787 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
63.787 * [taylor]: Taking taylor expansion of -0.5 in phi1
63.787 * [backup-simplify]: Simplify -0.5 into -0.5
63.787 * [taylor]: Taking taylor expansion of phi2 in phi1
63.787 * [backup-simplify]: Simplify phi2 into phi2
63.787 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
63.787 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
63.787 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
63.787 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi1
63.787 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
63.787 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
63.787 * [taylor]: Taking taylor expansion of -0.5 in phi1
63.787 * [backup-simplify]: Simplify -0.5 into -0.5
63.787 * [taylor]: Taking taylor expansion of phi2 in phi1
63.787 * [backup-simplify]: Simplify phi2 into phi2
63.787 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
63.787 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
63.787 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
63.787 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi1
63.787 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
63.787 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
63.787 * [taylor]: Taking taylor expansion of -0.5 in phi1
63.787 * [backup-simplify]: Simplify -0.5 into -0.5
63.787 * [taylor]: Taking taylor expansion of phi1 in phi1
63.787 * [backup-simplify]: Simplify 0 into 0
63.787 * [backup-simplify]: Simplify 1 into 1
63.787 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
63.788 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
63.788 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
63.788 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
63.788 * [taylor]: Taking taylor expansion of -0.5 in phi1
63.788 * [backup-simplify]: Simplify -0.5 into -0.5
63.788 * [taylor]: Taking taylor expansion of phi1 in phi1
63.788 * [backup-simplify]: Simplify 0 into 0
63.788 * [backup-simplify]: Simplify 1 into 1
63.788 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
63.788 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
63.788 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi1
63.788 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
63.788 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
63.788 * [taylor]: Taking taylor expansion of -0.5 in phi1
63.788 * [backup-simplify]: Simplify -0.5 into -0.5
63.788 * [taylor]: Taking taylor expansion of phi2 in phi1
63.788 * [backup-simplify]: Simplify phi2 into phi2
63.788 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
63.788 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
63.788 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
63.788 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi1
63.788 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
63.788 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
63.788 * [taylor]: Taking taylor expansion of -0.5 in phi1
63.788 * [backup-simplify]: Simplify -0.5 into -0.5
63.788 * [taylor]: Taking taylor expansion of phi2 in phi1
63.788 * [backup-simplify]: Simplify phi2 into phi2
63.788 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
63.788 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
63.788 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
63.789 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi1
63.789 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
63.789 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
63.789 * [taylor]: Taking taylor expansion of -0.5 in phi1
63.789 * [backup-simplify]: Simplify -0.5 into -0.5
63.789 * [taylor]: Taking taylor expansion of phi1 in phi1
63.789 * [backup-simplify]: Simplify 0 into 0
63.789 * [backup-simplify]: Simplify 1 into 1
63.789 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
63.789 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
63.789 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
63.789 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
63.789 * [taylor]: Taking taylor expansion of -0.5 in phi1
63.789 * [backup-simplify]: Simplify -0.5 into -0.5
63.789 * [taylor]: Taking taylor expansion of phi1 in phi1
63.789 * [backup-simplify]: Simplify 0 into 0
63.789 * [backup-simplify]: Simplify 1 into 1
63.789 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
63.789 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
63.790 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
63.790 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
63.790 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
63.790 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
63.790 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
63.790 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
63.791 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
63.791 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
63.791 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
63.791 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
63.791 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
63.791 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
63.791 * [backup-simplify]: Simplify (- 0) into 0
63.791 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
63.791 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
63.791 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
63.792 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
63.792 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
63.792 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
63.792 * [backup-simplify]: Simplify (- 0) into 0
63.792 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
63.792 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
63.792 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
63.792 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
63.792 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
63.792 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
63.793 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
63.793 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
63.794 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
63.795 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
63.797 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)
63.799 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)
63.800 * [backup-simplify]: Simplify (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) into (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))
63.801 * [backup-simplify]: Simplify (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) into (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))
63.801 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
63.801 * [backup-simplify]: Simplify (+ 0) into 0
63.802 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
63.802 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
63.802 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
63.803 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
63.803 * [backup-simplify]: Simplify (- 0) into 0
63.803 * [backup-simplify]: Simplify (+ 0 0) into 0
63.803 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
63.803 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
63.804 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
63.804 * [backup-simplify]: Simplify (+ 0) into 0
63.804 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
63.804 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
63.805 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
63.805 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
63.805 * [backup-simplify]: Simplify (+ 0 0) into 0
63.805 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
63.806 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
63.806 * [backup-simplify]: Simplify (+ 0 0) into 0
63.806 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
63.806 * [backup-simplify]: Simplify (+ 0) into 0
63.806 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
63.807 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
63.807 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
63.807 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
63.807 * [backup-simplify]: Simplify (- 0) into 0
63.808 * [backup-simplify]: Simplify (+ 0 0) into 0
63.808 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
63.808 * [backup-simplify]: Simplify (+ 0) into 0
63.808 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
63.809 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
63.809 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
63.809 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
63.809 * [backup-simplify]: Simplify (+ 0 0) into 0
63.810 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
63.810 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
63.810 * [backup-simplify]: Simplify (+ 0) into 0
63.810 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
63.810 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
63.811 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
63.811 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
63.811 * [backup-simplify]: Simplify (+ 0 0) into 0
63.812 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
63.812 * [backup-simplify]: Simplify (+ 0) into 0
63.812 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
63.812 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
63.813 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
63.813 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
63.813 * [backup-simplify]: Simplify (- 0) into 0
63.813 * [backup-simplify]: Simplify (+ 0 0) into 0
63.814 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
63.814 * [backup-simplify]: Simplify (+ 0 0) into 0
63.814 * [backup-simplify]: Simplify (- 0) into 0
63.814 * [backup-simplify]: Simplify (+ 0 0) into 0
63.816 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into 0
63.818 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2))) into 0
63.820 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
63.822 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
63.822 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* phi1 (* R phi2))) in phi1
63.822 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi1
63.822 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi1
63.822 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
63.822 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
63.822 * [taylor]: Taking taylor expansion of -0.5 in phi1
63.822 * [backup-simplify]: Simplify -0.5 into -0.5
63.822 * [taylor]: Taking taylor expansion of phi2 in phi1
63.822 * [backup-simplify]: Simplify phi2 into phi2
63.822 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
63.822 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
63.822 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
63.822 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
63.822 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
63.822 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
63.822 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi1
63.822 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
63.822 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
63.822 * [taylor]: Taking taylor expansion of -0.5 in phi1
63.822 * [backup-simplify]: Simplify -0.5 into -0.5
63.822 * [taylor]: Taking taylor expansion of phi1 in phi1
63.822 * [backup-simplify]: Simplify 0 into 0
63.822 * [backup-simplify]: Simplify 1 into 1
63.823 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
63.823 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
63.823 * [taylor]: Taking taylor expansion of (* phi1 (* R phi2)) in phi1
63.823 * [taylor]: Taking taylor expansion of phi1 in phi1
63.823 * [backup-simplify]: Simplify 0 into 0
63.823 * [backup-simplify]: Simplify 1 into 1
63.823 * [taylor]: Taking taylor expansion of (* R phi2) in phi1
63.823 * [taylor]: Taking taylor expansion of R in phi1
63.823 * [backup-simplify]: Simplify R into R
63.823 * [taylor]: Taking taylor expansion of phi2 in phi1
63.823 * [backup-simplify]: Simplify phi2 into phi2
63.823 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
63.823 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
63.823 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
63.823 * [backup-simplify]: Simplify (* R phi2) into (* R phi2)
63.823 * [backup-simplify]: Simplify (* 0 (* R phi2)) into 0
63.824 * [backup-simplify]: Simplify (+ (* R 0) (* 0 phi2)) into 0
63.824 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* R phi2))) into (* R phi2)
63.824 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R phi2)) into (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R phi2))
63.824 * [taylor]: Taking taylor expansion of (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* phi1 (* R phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) in phi1
63.824 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* phi1 (* R phi2))) in phi1
63.824 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi1
63.824 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi1
63.824 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
63.824 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
63.824 * [taylor]: Taking taylor expansion of -0.5 in phi1
63.824 * [backup-simplify]: Simplify -0.5 into -0.5
63.824 * [taylor]: Taking taylor expansion of phi2 in phi1
63.824 * [backup-simplify]: Simplify phi2 into phi2
63.824 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
63.824 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
63.824 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
63.824 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
63.825 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
63.825 * [backup-simplify]: Simplify (- 0) into 0
63.825 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
63.825 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi1
63.825 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
63.825 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
63.825 * [taylor]: Taking taylor expansion of -0.5 in phi1
63.825 * [backup-simplify]: Simplify -0.5 into -0.5
63.825 * [taylor]: Taking taylor expansion of phi1 in phi1
63.825 * [backup-simplify]: Simplify 0 into 0
63.825 * [backup-simplify]: Simplify 1 into 1
63.825 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
63.825 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
63.825 * [taylor]: Taking taylor expansion of (* phi1 (* R phi2)) in phi1
63.825 * [taylor]: Taking taylor expansion of phi1 in phi1
63.825 * [backup-simplify]: Simplify 0 into 0
63.825 * [backup-simplify]: Simplify 1 into 1
63.825 * [taylor]: Taking taylor expansion of (* R phi2) in phi1
63.825 * [taylor]: Taking taylor expansion of R in phi1
63.825 * [backup-simplify]: Simplify R into R
63.825 * [taylor]: Taking taylor expansion of phi2 in phi1
63.825 * [backup-simplify]: Simplify phi2 into phi2
63.826 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
63.826 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
63.826 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
63.826 * [backup-simplify]: Simplify (* R phi2) into (* R phi2)
63.826 * [backup-simplify]: Simplify (* 0 (* R phi2)) into 0
63.826 * [backup-simplify]: Simplify (+ (* R 0) (* 0 phi2)) into 0
63.826 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* R phi2))) into (* R phi2)
63.827 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R phi2)) into (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R phi2))
63.827 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) in phi1
63.827 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) in phi1
63.827 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3) in phi1
63.827 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in phi1
63.827 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi1
63.827 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi1
63.827 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi1
63.827 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
63.827 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
63.827 * [taylor]: Taking taylor expansion of -0.5 in phi1
63.827 * [backup-simplify]: Simplify -0.5 into -0.5
63.827 * [taylor]: Taking taylor expansion of phi2 in phi1
63.827 * [backup-simplify]: Simplify phi2 into phi2
63.827 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
63.827 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
63.827 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
63.827 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
63.827 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
63.827 * [backup-simplify]: Simplify (- 0) into 0
63.827 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
63.827 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi1
63.827 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
63.827 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
63.828 * [taylor]: Taking taylor expansion of -0.5 in phi1
63.828 * [backup-simplify]: Simplify -0.5 into -0.5
63.828 * [taylor]: Taking taylor expansion of phi1 in phi1
63.828 * [backup-simplify]: Simplify 0 into 0
63.828 * [backup-simplify]: Simplify 1 into 1
63.828 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
63.828 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
63.828 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi1
63.828 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi1
63.828 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
63.828 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
63.828 * [taylor]: Taking taylor expansion of -0.5 in phi1
63.828 * [backup-simplify]: Simplify -0.5 into -0.5
63.828 * [taylor]: Taking taylor expansion of phi2 in phi1
63.828 * [backup-simplify]: Simplify phi2 into phi2
63.828 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
63.828 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
63.828 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
63.828 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
63.828 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
63.828 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
63.828 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi1
63.828 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
63.828 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
63.828 * [taylor]: Taking taylor expansion of -0.5 in phi1
63.828 * [backup-simplify]: Simplify -0.5 into -0.5
63.829 * [taylor]: Taking taylor expansion of phi1 in phi1
63.829 * [backup-simplify]: Simplify 0 into 0
63.829 * [backup-simplify]: Simplify 1 into 1
63.829 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
63.829 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
63.829 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in phi1
63.829 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi1
63.829 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
63.829 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
63.829 * [taylor]: Taking taylor expansion of -0.5 in phi1
63.829 * [backup-simplify]: Simplify -0.5 into -0.5
63.829 * [taylor]: Taking taylor expansion of phi2 in phi1
63.829 * [backup-simplify]: Simplify phi2 into phi2
63.829 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
63.829 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
63.829 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
63.829 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi1
63.829 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
63.829 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
63.829 * [taylor]: Taking taylor expansion of -0.5 in phi1
63.829 * [backup-simplify]: Simplify -0.5 into -0.5
63.829 * [taylor]: Taking taylor expansion of phi2 in phi1
63.829 * [backup-simplify]: Simplify phi2 into phi2
63.829 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
63.829 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
63.829 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
63.829 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi1
63.829 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
63.830 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
63.830 * [taylor]: Taking taylor expansion of -0.5 in phi1
63.830 * [backup-simplify]: Simplify -0.5 into -0.5
63.830 * [taylor]: Taking taylor expansion of phi1 in phi1
63.830 * [backup-simplify]: Simplify 0 into 0
63.830 * [backup-simplify]: Simplify 1 into 1
63.830 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
63.830 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
63.830 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
63.830 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
63.830 * [taylor]: Taking taylor expansion of -0.5 in phi1
63.830 * [backup-simplify]: Simplify -0.5 into -0.5
63.830 * [taylor]: Taking taylor expansion of phi1 in phi1
63.830 * [backup-simplify]: Simplify 0 into 0
63.830 * [backup-simplify]: Simplify 1 into 1
63.830 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
63.830 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
63.830 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi1
63.830 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
63.830 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
63.830 * [taylor]: Taking taylor expansion of -0.5 in phi1
63.830 * [backup-simplify]: Simplify -0.5 into -0.5
63.831 * [taylor]: Taking taylor expansion of phi2 in phi1
63.831 * [backup-simplify]: Simplify phi2 into phi2
63.831 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
63.831 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
63.831 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
63.831 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi1
63.831 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
63.831 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
63.831 * [taylor]: Taking taylor expansion of -0.5 in phi1
63.831 * [backup-simplify]: Simplify -0.5 into -0.5
63.831 * [taylor]: Taking taylor expansion of phi2 in phi1
63.831 * [backup-simplify]: Simplify phi2 into phi2
63.831 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
63.831 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
63.831 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
63.831 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi1
63.831 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
63.831 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
63.831 * [taylor]: Taking taylor expansion of -0.5 in phi1
63.831 * [backup-simplify]: Simplify -0.5 into -0.5
63.831 * [taylor]: Taking taylor expansion of phi1 in phi1
63.831 * [backup-simplify]: Simplify 0 into 0
63.831 * [backup-simplify]: Simplify 1 into 1
63.831 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
63.831 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
63.831 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
63.831 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
63.831 * [taylor]: Taking taylor expansion of -0.5 in phi1
63.831 * [backup-simplify]: Simplify -0.5 into -0.5
63.831 * [taylor]: Taking taylor expansion of phi1 in phi1
63.832 * [backup-simplify]: Simplify 0 into 0
63.832 * [backup-simplify]: Simplify 1 into 1
63.832 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
63.832 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
63.832 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
63.832 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
63.832 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
63.832 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
63.832 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
63.833 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
63.833 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
63.833 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
63.833 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
63.833 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
63.833 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
63.833 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
63.835 * [backup-simplify]: Simplify (- 0) into 0
63.835 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
63.835 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
63.836 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
63.836 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
63.836 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
63.836 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
63.836 * [backup-simplify]: Simplify (- 0) into 0
63.836 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
63.836 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
63.836 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
63.836 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
63.837 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
63.837 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
63.837 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
63.837 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
63.838 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
63.839 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
63.840 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)
63.842 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)
63.843 * [backup-simplify]: Simplify (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) into (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))
63.845 * [backup-simplify]: Simplify (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) into (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))
63.845 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
63.845 * [backup-simplify]: Simplify (+ 0) into 0
63.846 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
63.846 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
63.846 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
63.846 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
63.847 * [backup-simplify]: Simplify (- 0) into 0
63.847 * [backup-simplify]: Simplify (+ 0 0) into 0
63.847 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
63.847 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
63.847 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
63.848 * [backup-simplify]: Simplify (+ 0) into 0
63.848 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
63.848 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
63.849 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
63.849 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
63.849 * [backup-simplify]: Simplify (+ 0 0) into 0
63.849 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
63.850 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
63.850 * [backup-simplify]: Simplify (+ 0 0) into 0
63.850 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
63.850 * [backup-simplify]: Simplify (+ 0) into 0
63.851 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
63.851 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
63.851 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
63.851 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
63.852 * [backup-simplify]: Simplify (- 0) into 0
63.852 * [backup-simplify]: Simplify (+ 0 0) into 0
63.852 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
63.852 * [backup-simplify]: Simplify (+ 0) into 0
63.853 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
63.853 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
63.853 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
63.854 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
63.854 * [backup-simplify]: Simplify (+ 0 0) into 0
63.854 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
63.854 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
63.854 * [backup-simplify]: Simplify (+ 0) into 0
63.855 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
63.855 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
63.855 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
63.856 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
63.856 * [backup-simplify]: Simplify (+ 0 0) into 0
63.856 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
63.856 * [backup-simplify]: Simplify (+ 0) into 0
63.857 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
63.857 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
63.857 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
63.857 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
63.858 * [backup-simplify]: Simplify (- 0) into 0
63.858 * [backup-simplify]: Simplify (+ 0 0) into 0
63.858 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
63.859 * [backup-simplify]: Simplify (+ 0 0) into 0
63.859 * [backup-simplify]: Simplify (- 0) into 0
63.859 * [backup-simplify]: Simplify (+ 0 0) into 0
63.862 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into 0
63.865 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2))) into 0
63.869 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
63.872 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
63.872 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (pow phi2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (pow phi2 2))))) (+ (* 1/2 (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* (pow phi1 2) R)))) (+ (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* phi1 (* R phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow phi1 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))))))) in phi1
63.872 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (pow phi2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) in phi1
63.872 * [taylor]: Taking taylor expansion of 1/2 in phi1
63.872 * [backup-simplify]: Simplify 1/2 into 1/2
63.872 * [taylor]: Taking taylor expansion of (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (pow phi2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) in phi1
63.872 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (pow phi2 2))) in phi1
63.872 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi1
63.872 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi1
63.872 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
63.872 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
63.872 * [taylor]: Taking taylor expansion of -0.5 in phi1
63.872 * [backup-simplify]: Simplify -0.5 into -0.5
63.872 * [taylor]: Taking taylor expansion of phi2 in phi1
63.872 * [backup-simplify]: Simplify phi2 into phi2
63.873 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
63.873 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
63.873 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
63.873 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
63.873 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
63.873 * [backup-simplify]: Simplify (- 0) into 0
63.873 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
63.873 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi1
63.874 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
63.874 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
63.874 * [taylor]: Taking taylor expansion of -0.5 in phi1
63.874 * [backup-simplify]: Simplify -0.5 into -0.5
63.874 * [taylor]: Taking taylor expansion of phi1 in phi1
63.874 * [backup-simplify]: Simplify 0 into 0
63.874 * [backup-simplify]: Simplify 1 into 1
63.874 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
63.874 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
63.874 * [taylor]: Taking taylor expansion of (* R (pow phi2 2)) in phi1
63.874 * [taylor]: Taking taylor expansion of R in phi1
63.874 * [backup-simplify]: Simplify R into R
63.874 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1
63.874 * [taylor]: Taking taylor expansion of phi2 in phi1
63.874 * [backup-simplify]: Simplify phi2 into phi2
63.874 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
63.874 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
63.875 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
63.875 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
63.875 * [backup-simplify]: Simplify (* R (pow phi2 2)) into (* R (pow phi2 2))
63.875 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (pow phi2 2))) into (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (pow phi2 2)))
63.875 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) in phi1
63.875 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) in phi1
63.875 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3) in phi1
63.875 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in phi1
63.875 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi1
63.875 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi1
63.875 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi1
63.875 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
63.875 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
63.875 * [taylor]: Taking taylor expansion of -0.5 in phi1
63.875 * [backup-simplify]: Simplify -0.5 into -0.5
63.875 * [taylor]: Taking taylor expansion of phi2 in phi1
63.875 * [backup-simplify]: Simplify phi2 into phi2
63.875 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
63.875 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
63.876 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
63.876 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
63.876 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
63.876 * [backup-simplify]: Simplify (- 0) into 0
63.876 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
63.876 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi1
63.876 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
63.876 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
63.876 * [taylor]: Taking taylor expansion of -0.5 in phi1
63.876 * [backup-simplify]: Simplify -0.5 into -0.5
63.876 * [taylor]: Taking taylor expansion of phi1 in phi1
63.876 * [backup-simplify]: Simplify 0 into 0
63.876 * [backup-simplify]: Simplify 1 into 1
63.877 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
63.877 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
63.877 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi1
63.877 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi1
63.877 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
63.877 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
63.877 * [taylor]: Taking taylor expansion of -0.5 in phi1
63.877 * [backup-simplify]: Simplify -0.5 into -0.5
63.877 * [taylor]: Taking taylor expansion of phi2 in phi1
63.877 * [backup-simplify]: Simplify phi2 into phi2
63.877 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
63.877 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
63.877 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
63.877 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
63.877 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
63.877 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
63.877 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi1
63.877 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
63.877 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
63.877 * [taylor]: Taking taylor expansion of -0.5 in phi1
63.877 * [backup-simplify]: Simplify -0.5 into -0.5
63.877 * [taylor]: Taking taylor expansion of phi1 in phi1
63.877 * [backup-simplify]: Simplify 0 into 0
63.877 * [backup-simplify]: Simplify 1 into 1
63.878 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
63.878 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
63.878 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in phi1
63.878 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi1
63.878 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
63.878 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
63.878 * [taylor]: Taking taylor expansion of -0.5 in phi1
63.878 * [backup-simplify]: Simplify -0.5 into -0.5
63.878 * [taylor]: Taking taylor expansion of phi2 in phi1
63.878 * [backup-simplify]: Simplify phi2 into phi2
63.878 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
63.878 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
63.878 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
63.878 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi1
63.878 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
63.878 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
63.878 * [taylor]: Taking taylor expansion of -0.5 in phi1
63.878 * [backup-simplify]: Simplify -0.5 into -0.5
63.878 * [taylor]: Taking taylor expansion of phi2 in phi1
63.878 * [backup-simplify]: Simplify phi2 into phi2
63.878 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
63.878 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
63.878 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
63.878 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi1
63.878 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
63.878 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
63.878 * [taylor]: Taking taylor expansion of -0.5 in phi1
63.878 * [backup-simplify]: Simplify -0.5 into -0.5
63.878 * [taylor]: Taking taylor expansion of phi1 in phi1
63.878 * [backup-simplify]: Simplify 0 into 0
63.878 * [backup-simplify]: Simplify 1 into 1
63.879 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
63.879 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
63.879 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
63.879 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
63.879 * [taylor]: Taking taylor expansion of -0.5 in phi1
63.879 * [backup-simplify]: Simplify -0.5 into -0.5
63.879 * [taylor]: Taking taylor expansion of phi1 in phi1
63.879 * [backup-simplify]: Simplify 0 into 0
63.879 * [backup-simplify]: Simplify 1 into 1
63.879 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
63.879 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
63.879 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi1
63.879 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
63.879 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
63.879 * [taylor]: Taking taylor expansion of -0.5 in phi1
63.879 * [backup-simplify]: Simplify -0.5 into -0.5
63.879 * [taylor]: Taking taylor expansion of phi2 in phi1
63.879 * [backup-simplify]: Simplify phi2 into phi2
63.879 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
63.879 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
63.879 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
63.880 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi1
63.880 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
63.880 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
63.880 * [taylor]: Taking taylor expansion of -0.5 in phi1
63.880 * [backup-simplify]: Simplify -0.5 into -0.5
63.880 * [taylor]: Taking taylor expansion of phi2 in phi1
63.880 * [backup-simplify]: Simplify phi2 into phi2
63.880 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
63.880 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
63.880 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
63.880 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi1
63.880 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
63.880 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
63.880 * [taylor]: Taking taylor expansion of -0.5 in phi1
63.880 * [backup-simplify]: Simplify -0.5 into -0.5
63.880 * [taylor]: Taking taylor expansion of phi1 in phi1
63.880 * [backup-simplify]: Simplify 0 into 0
63.880 * [backup-simplify]: Simplify 1 into 1
63.880 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
63.880 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
63.880 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
63.880 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
63.880 * [taylor]: Taking taylor expansion of -0.5 in phi1
63.880 * [backup-simplify]: Simplify -0.5 into -0.5
63.880 * [taylor]: Taking taylor expansion of phi1 in phi1
63.880 * [backup-simplify]: Simplify 0 into 0
63.880 * [backup-simplify]: Simplify 1 into 1
63.881 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
63.881 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
63.881 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
63.881 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
63.881 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
63.881 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
63.881 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
63.882 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
63.882 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
63.882 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
63.882 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
63.882 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
63.882 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
63.882 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
63.882 * [backup-simplify]: Simplify (- 0) into 0
63.883 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
63.883 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
63.883 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
63.883 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
63.883 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
63.883 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
63.883 * [backup-simplify]: Simplify (- 0) into 0
63.883 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
63.883 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
63.884 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
63.884 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
63.884 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
63.884 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
63.884 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
63.884 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
63.885 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
63.886 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
63.888 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)
63.890 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)
63.891 * [backup-simplify]: Simplify (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) into (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))
63.892 * [backup-simplify]: Simplify (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) into (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))
63.892 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
63.892 * [backup-simplify]: Simplify (+ 0) into 0
63.893 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
63.893 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
63.893 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
63.893 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
63.894 * [backup-simplify]: Simplify (- 0) into 0
63.894 * [backup-simplify]: Simplify (+ 0 0) into 0
63.894 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
63.894 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
63.894 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
63.895 * [backup-simplify]: Simplify (+ 0) into 0
63.895 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
63.895 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
63.896 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
63.896 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
63.896 * [backup-simplify]: Simplify (+ 0 0) into 0
63.896 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
63.897 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
63.897 * [backup-simplify]: Simplify (+ 0 0) into 0
63.897 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
63.897 * [backup-simplify]: Simplify (+ 0) into 0
63.897 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
63.898 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
63.898 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
63.898 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
63.899 * [backup-simplify]: Simplify (- 0) into 0
63.899 * [backup-simplify]: Simplify (+ 0 0) into 0
63.899 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
63.899 * [backup-simplify]: Simplify (+ 0) into 0
63.899 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
63.900 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
63.900 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
63.900 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
63.901 * [backup-simplify]: Simplify (+ 0 0) into 0
63.901 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
63.901 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
63.901 * [backup-simplify]: Simplify (+ 0) into 0
63.901 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
63.902 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
63.902 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
63.902 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
63.902 * [backup-simplify]: Simplify (+ 0 0) into 0
63.903 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
63.903 * [backup-simplify]: Simplify (+ 0) into 0
63.903 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
63.903 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
63.904 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
63.904 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
63.904 * [backup-simplify]: Simplify (- 0) into 0
63.904 * [backup-simplify]: Simplify (+ 0 0) into 0
63.905 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
63.905 * [backup-simplify]: Simplify (+ 0 0) into 0
63.905 * [backup-simplify]: Simplify (- 0) into 0
63.905 * [backup-simplify]: Simplify (+ 0 0) into 0
63.907 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into 0
63.909 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2))) into 0
63.911 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
63.913 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
63.913 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (pow phi2 2))))) (+ (* 1/2 (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* (pow phi1 2) R)))) (+ (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* phi1 (* R phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow phi1 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))))) in phi1
63.913 * [taylor]: Taking taylor expansion of (* 1/2 (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (pow phi2 2))))) in phi1
63.913 * [taylor]: Taking taylor expansion of 1/2 in phi1
63.913 * [backup-simplify]: Simplify 1/2 into 1/2
63.913 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (pow phi2 2)))) in phi1
63.913 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) in phi1
63.913 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) in phi1
63.913 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3) in phi1
63.913 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in phi1
63.913 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi1
63.913 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi1
63.913 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi1
63.913 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
63.913 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
63.913 * [taylor]: Taking taylor expansion of -0.5 in phi1
63.913 * [backup-simplify]: Simplify -0.5 into -0.5
63.913 * [taylor]: Taking taylor expansion of phi2 in phi1
63.913 * [backup-simplify]: Simplify phi2 into phi2
63.913 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
63.913 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
63.913 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
63.914 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
63.914 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
63.914 * [backup-simplify]: Simplify (- 0) into 0
63.914 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
63.914 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi1
63.914 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
63.914 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
63.914 * [taylor]: Taking taylor expansion of -0.5 in phi1
63.914 * [backup-simplify]: Simplify -0.5 into -0.5
63.914 * [taylor]: Taking taylor expansion of phi1 in phi1
63.914 * [backup-simplify]: Simplify 0 into 0
63.914 * [backup-simplify]: Simplify 1 into 1
63.915 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
63.915 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
63.915 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi1
63.915 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi1
63.915 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
63.915 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
63.915 * [taylor]: Taking taylor expansion of -0.5 in phi1
63.915 * [backup-simplify]: Simplify -0.5 into -0.5
63.915 * [taylor]: Taking taylor expansion of phi2 in phi1
63.915 * [backup-simplify]: Simplify phi2 into phi2
63.915 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
63.915 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
63.915 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
63.915 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
63.916 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
63.916 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
63.916 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi1
63.916 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
63.916 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
63.916 * [taylor]: Taking taylor expansion of -0.5 in phi1
63.916 * [backup-simplify]: Simplify -0.5 into -0.5
63.916 * [taylor]: Taking taylor expansion of phi1 in phi1
63.916 * [backup-simplify]: Simplify 0 into 0
63.916 * [backup-simplify]: Simplify 1 into 1
63.916 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
63.916 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
63.916 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in phi1
63.916 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi1
63.916 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
63.916 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
63.916 * [taylor]: Taking taylor expansion of -0.5 in phi1
63.917 * [backup-simplify]: Simplify -0.5 into -0.5
63.917 * [taylor]: Taking taylor expansion of phi2 in phi1
63.917 * [backup-simplify]: Simplify phi2 into phi2
63.917 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
63.917 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
63.917 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
63.917 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi1
63.917 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
63.917 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
63.917 * [taylor]: Taking taylor expansion of -0.5 in phi1
63.917 * [backup-simplify]: Simplify -0.5 into -0.5
63.917 * [taylor]: Taking taylor expansion of phi2 in phi1
63.917 * [backup-simplify]: Simplify phi2 into phi2
63.917 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
63.917 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
63.917 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
63.917 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi1
63.917 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
63.917 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
63.917 * [taylor]: Taking taylor expansion of -0.5 in phi1
63.917 * [backup-simplify]: Simplify -0.5 into -0.5
63.917 * [taylor]: Taking taylor expansion of phi1 in phi1
63.917 * [backup-simplify]: Simplify 0 into 0
63.917 * [backup-simplify]: Simplify 1 into 1
63.918 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
63.918 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
63.918 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
63.918 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
63.918 * [taylor]: Taking taylor expansion of -0.5 in phi1
63.918 * [backup-simplify]: Simplify -0.5 into -0.5
63.918 * [taylor]: Taking taylor expansion of phi1 in phi1
63.918 * [backup-simplify]: Simplify 0 into 0
63.918 * [backup-simplify]: Simplify 1 into 1
63.918 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
63.919 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
63.919 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi1
63.919 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
63.919 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
63.919 * [taylor]: Taking taylor expansion of -0.5 in phi1
63.919 * [backup-simplify]: Simplify -0.5 into -0.5
63.919 * [taylor]: Taking taylor expansion of phi2 in phi1
63.919 * [backup-simplify]: Simplify phi2 into phi2
63.919 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
63.919 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
63.919 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
63.919 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi1
63.919 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
63.919 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
63.919 * [taylor]: Taking taylor expansion of -0.5 in phi1
63.919 * [backup-simplify]: Simplify -0.5 into -0.5
63.919 * [taylor]: Taking taylor expansion of phi2 in phi1
63.919 * [backup-simplify]: Simplify phi2 into phi2
63.919 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
63.919 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
63.919 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
63.919 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi1
63.919 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
63.919 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
63.919 * [taylor]: Taking taylor expansion of -0.5 in phi1
63.920 * [backup-simplify]: Simplify -0.5 into -0.5
63.920 * [taylor]: Taking taylor expansion of phi1 in phi1
63.920 * [backup-simplify]: Simplify 0 into 0
63.920 * [backup-simplify]: Simplify 1 into 1
63.920 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
63.920 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
63.920 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
63.920 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
63.920 * [taylor]: Taking taylor expansion of -0.5 in phi1
63.920 * [backup-simplify]: Simplify -0.5 into -0.5
63.920 * [taylor]: Taking taylor expansion of phi1 in phi1
63.920 * [backup-simplify]: Simplify 0 into 0
63.920 * [backup-simplify]: Simplify 1 into 1
63.921 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
63.921 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
63.921 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
63.921 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
63.921 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
63.921 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
63.922 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
63.922 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
63.923 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
63.923 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
63.923 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
63.923 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
63.923 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
63.923 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
63.923 * [backup-simplify]: Simplify (- 0) into 0
63.923 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
63.924 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
63.924 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
63.924 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
63.924 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
63.924 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
63.925 * [backup-simplify]: Simplify (- 0) into 0
63.925 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
63.925 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
63.925 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
63.925 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
63.925 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
63.925 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
63.926 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
63.926 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
63.927 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
63.928 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
63.932 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)
63.935 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)
63.937 * [backup-simplify]: Simplify (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) into (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))
63.938 * [backup-simplify]: Simplify (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) into (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))
63.939 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
63.939 * [backup-simplify]: Simplify (+ 0) into 0
63.940 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
63.940 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
63.940 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
63.941 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
63.941 * [backup-simplify]: Simplify (- 0) into 0
63.941 * [backup-simplify]: Simplify (+ 0 0) into 0
63.942 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
63.942 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
63.942 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
63.942 * [backup-simplify]: Simplify (+ 0) into 0
63.943 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
63.943 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
63.944 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
63.944 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
63.945 * [backup-simplify]: Simplify (+ 0 0) into 0
63.945 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
63.945 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
63.946 * [backup-simplify]: Simplify (+ 0 0) into 0
63.946 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
63.946 * [backup-simplify]: Simplify (+ 0) into 0
63.947 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
63.947 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
63.947 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
63.948 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
63.948 * [backup-simplify]: Simplify (- 0) into 0
63.948 * [backup-simplify]: Simplify (+ 0 0) into 0
63.949 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
63.949 * [backup-simplify]: Simplify (+ 0) into 0
63.950 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
63.950 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
63.950 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
63.952 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
63.953 * [backup-simplify]: Simplify (+ 0 0) into 0
63.953 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
63.953 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
63.954 * [backup-simplify]: Simplify (+ 0) into 0
63.954 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
63.954 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
63.955 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
63.955 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
63.956 * [backup-simplify]: Simplify (+ 0 0) into 0
63.956 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
63.956 * [backup-simplify]: Simplify (+ 0) into 0
63.957 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
63.957 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
63.958 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
63.958 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
63.958 * [backup-simplify]: Simplify (- 0) into 0
63.959 * [backup-simplify]: Simplify (+ 0 0) into 0
63.959 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
63.959 * [backup-simplify]: Simplify (+ 0 0) into 0
63.960 * [backup-simplify]: Simplify (- 0) into 0
63.960 * [backup-simplify]: Simplify (+ 0 0) into 0
63.963 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into 0
63.966 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2))) into 0
63.970 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
63.972 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
63.972 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (pow phi2 2))) in phi1
63.972 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi1
63.972 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi1
63.972 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
63.972 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
63.972 * [taylor]: Taking taylor expansion of -0.5 in phi1
63.972 * [backup-simplify]: Simplify -0.5 into -0.5
63.972 * [taylor]: Taking taylor expansion of phi2 in phi1
63.972 * [backup-simplify]: Simplify phi2 into phi2
63.972 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
63.973 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
63.973 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
63.973 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
63.973 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
63.973 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
63.973 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi1
63.973 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
63.973 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
63.973 * [taylor]: Taking taylor expansion of -0.5 in phi1
63.973 * [backup-simplify]: Simplify -0.5 into -0.5
63.973 * [taylor]: Taking taylor expansion of phi1 in phi1
63.973 * [backup-simplify]: Simplify 0 into 0
63.973 * [backup-simplify]: Simplify 1 into 1
63.974 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
63.974 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
63.974 * [taylor]: Taking taylor expansion of (* R (pow phi2 2)) in phi1
63.974 * [taylor]: Taking taylor expansion of R in phi1
63.974 * [backup-simplify]: Simplify R into R
63.974 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1
63.974 * [taylor]: Taking taylor expansion of phi2 in phi1
63.974 * [backup-simplify]: Simplify phi2 into phi2
63.974 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
63.974 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
63.975 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
63.975 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
63.975 * [backup-simplify]: Simplify (* R (pow phi2 2)) into (* R (pow phi2 2))
63.975 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (pow phi2 2))) into (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (pow phi2 2)))
63.975 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* (pow phi1 2) R)))) (+ (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* phi1 (* R phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow phi1 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))))) in phi1
63.975 * [taylor]: Taking taylor expansion of (* 1/2 (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* (pow phi1 2) R)))) in phi1
63.975 * [taylor]: Taking taylor expansion of 1/2 in phi1
63.975 * [backup-simplify]: Simplify 1/2 into 1/2
63.975 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* (pow phi1 2) R))) in phi1
63.976 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) in phi1
63.976 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) in phi1
63.976 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3) in phi1
63.976 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in phi1
63.976 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi1
63.976 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi1
63.976 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi1
63.976 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
63.976 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
63.976 * [taylor]: Taking taylor expansion of -0.5 in phi1
63.976 * [backup-simplify]: Simplify -0.5 into -0.5
63.976 * [taylor]: Taking taylor expansion of phi2 in phi1
63.976 * [backup-simplify]: Simplify phi2 into phi2
63.976 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
63.976 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
63.976 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
63.976 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
63.976 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
63.977 * [backup-simplify]: Simplify (- 0) into 0
63.977 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
63.977 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi1
63.977 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
63.977 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
63.977 * [taylor]: Taking taylor expansion of -0.5 in phi1
63.977 * [backup-simplify]: Simplify -0.5 into -0.5
63.977 * [taylor]: Taking taylor expansion of phi1 in phi1
63.977 * [backup-simplify]: Simplify 0 into 0
63.977 * [backup-simplify]: Simplify 1 into 1
63.977 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
63.978 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
63.978 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi1
63.978 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi1
63.978 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
63.978 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
63.978 * [taylor]: Taking taylor expansion of -0.5 in phi1
63.978 * [backup-simplify]: Simplify -0.5 into -0.5
63.978 * [taylor]: Taking taylor expansion of phi2 in phi1
63.978 * [backup-simplify]: Simplify phi2 into phi2
63.978 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
63.978 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
63.978 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
63.978 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
63.978 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
63.978 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
63.978 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi1
63.978 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
63.978 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
63.978 * [taylor]: Taking taylor expansion of -0.5 in phi1
63.978 * [backup-simplify]: Simplify -0.5 into -0.5
63.978 * [taylor]: Taking taylor expansion of phi1 in phi1
63.979 * [backup-simplify]: Simplify 0 into 0
63.979 * [backup-simplify]: Simplify 1 into 1
63.979 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
63.979 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
63.979 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in phi1
63.979 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi1
63.979 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
63.979 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
63.979 * [taylor]: Taking taylor expansion of -0.5 in phi1
63.979 * [backup-simplify]: Simplify -0.5 into -0.5
63.979 * [taylor]: Taking taylor expansion of phi2 in phi1
63.979 * [backup-simplify]: Simplify phi2 into phi2
63.979 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
63.979 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
63.979 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
63.980 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi1
63.980 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
63.980 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
63.980 * [taylor]: Taking taylor expansion of -0.5 in phi1
63.980 * [backup-simplify]: Simplify -0.5 into -0.5
63.980 * [taylor]: Taking taylor expansion of phi2 in phi1
63.980 * [backup-simplify]: Simplify phi2 into phi2
63.980 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
63.980 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
63.980 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
63.980 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi1
63.980 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
63.980 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
63.980 * [taylor]: Taking taylor expansion of -0.5 in phi1
63.980 * [backup-simplify]: Simplify -0.5 into -0.5
63.980 * [taylor]: Taking taylor expansion of phi1 in phi1
63.980 * [backup-simplify]: Simplify 0 into 0
63.980 * [backup-simplify]: Simplify 1 into 1
63.980 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
63.981 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
63.981 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
63.981 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
63.981 * [taylor]: Taking taylor expansion of -0.5 in phi1
63.981 * [backup-simplify]: Simplify -0.5 into -0.5
63.981 * [taylor]: Taking taylor expansion of phi1 in phi1
63.981 * [backup-simplify]: Simplify 0 into 0
63.981 * [backup-simplify]: Simplify 1 into 1
63.981 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
63.981 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
63.981 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi1
63.981 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
63.981 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
63.981 * [taylor]: Taking taylor expansion of -0.5 in phi1
63.981 * [backup-simplify]: Simplify -0.5 into -0.5
63.981 * [taylor]: Taking taylor expansion of phi2 in phi1
63.981 * [backup-simplify]: Simplify phi2 into phi2
63.982 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
63.982 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
63.982 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
63.982 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi1
63.982 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
63.982 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
63.982 * [taylor]: Taking taylor expansion of -0.5 in phi1
63.982 * [backup-simplify]: Simplify -0.5 into -0.5
63.982 * [taylor]: Taking taylor expansion of phi2 in phi1
63.982 * [backup-simplify]: Simplify phi2 into phi2
63.982 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
63.982 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
63.982 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
63.982 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi1
63.982 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
63.982 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
63.982 * [taylor]: Taking taylor expansion of -0.5 in phi1
63.982 * [backup-simplify]: Simplify -0.5 into -0.5
63.982 * [taylor]: Taking taylor expansion of phi1 in phi1
63.982 * [backup-simplify]: Simplify 0 into 0
63.982 * [backup-simplify]: Simplify 1 into 1
63.983 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
63.983 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
63.983 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
63.983 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
63.983 * [taylor]: Taking taylor expansion of -0.5 in phi1
63.983 * [backup-simplify]: Simplify -0.5 into -0.5
63.983 * [taylor]: Taking taylor expansion of phi1 in phi1
63.983 * [backup-simplify]: Simplify 0 into 0
63.983 * [backup-simplify]: Simplify 1 into 1
63.983 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
63.984 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
63.984 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
63.984 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
63.984 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
63.984 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
63.985 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
63.985 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
63.985 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
63.986 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
63.986 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
63.986 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
63.986 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
63.986 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
63.987 * [backup-simplify]: Simplify (- 0) into 0
63.987 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
63.987 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
63.987 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
63.987 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
63.987 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
63.987 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
63.988 * [backup-simplify]: Simplify (- 0) into 0
63.988 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
63.988 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
63.988 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
63.988 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
63.988 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
63.989 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
63.989 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
63.989 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
63.990 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
63.992 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
63.995 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)
63.999 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)
64.001 * [backup-simplify]: Simplify (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) into (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))
64.003 * [backup-simplify]: Simplify (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) into (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))
64.003 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
64.004 * [backup-simplify]: Simplify (+ 0) into 0
64.004 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
64.004 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
64.005 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
64.005 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
64.006 * [backup-simplify]: Simplify (- 0) into 0
64.006 * [backup-simplify]: Simplify (+ 0 0) into 0
64.006 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
64.007 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
64.007 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
64.007 * [backup-simplify]: Simplify (+ 0) into 0
64.007 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
64.008 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
64.008 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
64.009 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
64.009 * [backup-simplify]: Simplify (+ 0 0) into 0
64.009 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
64.010 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
64.010 * [backup-simplify]: Simplify (+ 0 0) into 0
64.010 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
64.010 * [backup-simplify]: Simplify (+ 0) into 0
64.011 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
64.011 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
64.012 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
64.012 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
64.012 * [backup-simplify]: Simplify (- 0) into 0
64.013 * [backup-simplify]: Simplify (+ 0 0) into 0
64.013 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
64.013 * [backup-simplify]: Simplify (+ 0) into 0
64.014 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
64.014 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
64.015 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
64.015 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
64.015 * [backup-simplify]: Simplify (+ 0 0) into 0
64.016 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
64.016 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
64.016 * [backup-simplify]: Simplify (+ 0) into 0
64.017 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
64.017 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
64.017 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
64.018 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
64.018 * [backup-simplify]: Simplify (+ 0 0) into 0
64.018 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
64.019 * [backup-simplify]: Simplify (+ 0) into 0
64.019 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
64.019 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
64.020 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
64.020 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
64.021 * [backup-simplify]: Simplify (- 0) into 0
64.021 * [backup-simplify]: Simplify (+ 0 0) into 0
64.021 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
64.022 * [backup-simplify]: Simplify (+ 0 0) into 0
64.022 * [backup-simplify]: Simplify (- 0) into 0
64.022 * [backup-simplify]: Simplify (+ 0 0) into 0
64.026 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into 0
64.029 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2))) into 0
64.032 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
64.034 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
64.034 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* (pow phi1 2) R)) in phi1
64.034 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi1
64.034 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi1
64.035 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
64.035 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
64.035 * [taylor]: Taking taylor expansion of -0.5 in phi1
64.035 * [backup-simplify]: Simplify -0.5 into -0.5
64.035 * [taylor]: Taking taylor expansion of phi2 in phi1
64.035 * [backup-simplify]: Simplify phi2 into phi2
64.035 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
64.035 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
64.035 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
64.035 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
64.035 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
64.035 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
64.035 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi1
64.035 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
64.035 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
64.035 * [taylor]: Taking taylor expansion of -0.5 in phi1
64.035 * [backup-simplify]: Simplify -0.5 into -0.5
64.035 * [taylor]: Taking taylor expansion of phi1 in phi1
64.035 * [backup-simplify]: Simplify 0 into 0
64.035 * [backup-simplify]: Simplify 1 into 1
64.036 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
64.036 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
64.036 * [taylor]: Taking taylor expansion of (* (pow phi1 2) R) in phi1
64.036 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1
64.036 * [taylor]: Taking taylor expansion of phi1 in phi1
64.036 * [backup-simplify]: Simplify 0 into 0
64.036 * [backup-simplify]: Simplify 1 into 1
64.036 * [taylor]: Taking taylor expansion of R in phi1
64.036 * [backup-simplify]: Simplify R into R
64.036 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
64.037 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
64.037 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
64.037 * [backup-simplify]: Simplify (* 1 1) into 1
64.037 * [backup-simplify]: Simplify (* 1 R) into R
64.038 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R) into (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R)
64.038 * [taylor]: Taking taylor expansion of (+ (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* phi1 (* R phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow phi1 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))) in phi1
64.038 * [taylor]: Taking taylor expansion of (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* phi1 (* R phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) in phi1
64.038 * [taylor]: Taking taylor expansion of 2 in phi1
64.038 * [backup-simplify]: Simplify 2 into 2
64.038 * [taylor]: Taking taylor expansion of (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* phi1 (* R phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) in phi1
64.038 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* phi1 (* R phi2))) in phi1
64.038 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi1
64.038 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
64.038 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
64.038 * [taylor]: Taking taylor expansion of -0.5 in phi1
64.038 * [backup-simplify]: Simplify -0.5 into -0.5
64.038 * [taylor]: Taking taylor expansion of phi2 in phi1
64.038 * [backup-simplify]: Simplify phi2 into phi2
64.038 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
64.038 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
64.038 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
64.038 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi1
64.038 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
64.038 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
64.038 * [taylor]: Taking taylor expansion of -0.5 in phi1
64.038 * [backup-simplify]: Simplify -0.5 into -0.5
64.038 * [taylor]: Taking taylor expansion of phi2 in phi1
64.039 * [backup-simplify]: Simplify phi2 into phi2
64.039 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
64.039 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
64.039 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
64.039 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi1
64.039 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
64.039 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
64.039 * [taylor]: Taking taylor expansion of -0.5 in phi1
64.039 * [backup-simplify]: Simplify -0.5 into -0.5
64.039 * [taylor]: Taking taylor expansion of phi1 in phi1
64.039 * [backup-simplify]: Simplify 0 into 0
64.039 * [backup-simplify]: Simplify 1 into 1
64.039 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
64.039 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
64.039 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
64.039 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
64.039 * [taylor]: Taking taylor expansion of -0.5 in phi1
64.040 * [backup-simplify]: Simplify -0.5 into -0.5
64.040 * [taylor]: Taking taylor expansion of phi1 in phi1
64.040 * [backup-simplify]: Simplify 0 into 0
64.040 * [backup-simplify]: Simplify 1 into 1
64.040 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
64.040 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
64.040 * [taylor]: Taking taylor expansion of (* phi1 (* R phi2)) in phi1
64.040 * [taylor]: Taking taylor expansion of phi1 in phi1
64.040 * [backup-simplify]: Simplify 0 into 0
64.040 * [backup-simplify]: Simplify 1 into 1
64.040 * [taylor]: Taking taylor expansion of (* R phi2) in phi1
64.040 * [taylor]: Taking taylor expansion of R in phi1
64.040 * [backup-simplify]: Simplify R into R
64.040 * [taylor]: Taking taylor expansion of phi2 in phi1
64.040 * [backup-simplify]: Simplify phi2 into phi2
64.040 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
64.040 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
64.041 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
64.041 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
64.041 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
64.041 * [backup-simplify]: Simplify (- 0) into 0
64.041 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
64.041 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
64.042 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
64.042 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
64.042 * [backup-simplify]: Simplify (* R phi2) into (* R phi2)
64.042 * [backup-simplify]: Simplify (* 0 (* R phi2)) into 0
64.042 * [backup-simplify]: Simplify (+ (* R 0) (* 0 phi2)) into 0
64.042 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* R phi2))) into (* R phi2)
64.043 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R phi2)) into (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R phi2))
64.043 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) in phi1
64.043 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) in phi1
64.043 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3) in phi1
64.043 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in phi1
64.043 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi1
64.043 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi1
64.043 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi1
64.043 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
64.043 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
64.043 * [taylor]: Taking taylor expansion of -0.5 in phi1
64.043 * [backup-simplify]: Simplify -0.5 into -0.5
64.043 * [taylor]: Taking taylor expansion of phi2 in phi1
64.043 * [backup-simplify]: Simplify phi2 into phi2
64.043 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
64.043 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
64.044 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
64.044 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
64.044 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
64.044 * [backup-simplify]: Simplify (- 0) into 0
64.044 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
64.044 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi1
64.044 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
64.044 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
64.044 * [taylor]: Taking taylor expansion of -0.5 in phi1
64.044 * [backup-simplify]: Simplify -0.5 into -0.5
64.044 * [taylor]: Taking taylor expansion of phi1 in phi1
64.044 * [backup-simplify]: Simplify 0 into 0
64.044 * [backup-simplify]: Simplify 1 into 1
64.045 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
64.045 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
64.045 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi1
64.045 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi1
64.045 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
64.045 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
64.045 * [taylor]: Taking taylor expansion of -0.5 in phi1
64.045 * [backup-simplify]: Simplify -0.5 into -0.5
64.045 * [taylor]: Taking taylor expansion of phi2 in phi1
64.045 * [backup-simplify]: Simplify phi2 into phi2
64.045 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
64.045 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
64.045 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
64.045 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
64.046 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
64.046 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
64.046 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi1
64.046 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
64.046 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
64.046 * [taylor]: Taking taylor expansion of -0.5 in phi1
64.046 * [backup-simplify]: Simplify -0.5 into -0.5
64.046 * [taylor]: Taking taylor expansion of phi1 in phi1
64.046 * [backup-simplify]: Simplify 0 into 0
64.046 * [backup-simplify]: Simplify 1 into 1
64.046 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
64.046 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
64.046 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in phi1
64.046 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi1
64.046 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
64.046 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
64.046 * [taylor]: Taking taylor expansion of -0.5 in phi1
64.047 * [backup-simplify]: Simplify -0.5 into -0.5
64.047 * [taylor]: Taking taylor expansion of phi2 in phi1
64.047 * [backup-simplify]: Simplify phi2 into phi2
64.047 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
64.047 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
64.047 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
64.047 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi1
64.047 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
64.047 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
64.047 * [taylor]: Taking taylor expansion of -0.5 in phi1
64.047 * [backup-simplify]: Simplify -0.5 into -0.5
64.047 * [taylor]: Taking taylor expansion of phi2 in phi1
64.047 * [backup-simplify]: Simplify phi2 into phi2
64.047 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
64.047 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
64.047 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
64.047 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi1
64.047 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
64.047 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
64.047 * [taylor]: Taking taylor expansion of -0.5 in phi1
64.047 * [backup-simplify]: Simplify -0.5 into -0.5
64.047 * [taylor]: Taking taylor expansion of phi1 in phi1
64.047 * [backup-simplify]: Simplify 0 into 0
64.047 * [backup-simplify]: Simplify 1 into 1
64.048 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
64.048 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
64.048 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
64.048 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
64.048 * [taylor]: Taking taylor expansion of -0.5 in phi1
64.048 * [backup-simplify]: Simplify -0.5 into -0.5
64.048 * [taylor]: Taking taylor expansion of phi1 in phi1
64.048 * [backup-simplify]: Simplify 0 into 0
64.048 * [backup-simplify]: Simplify 1 into 1
64.048 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
64.049 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
64.049 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi1
64.049 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
64.049 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
64.049 * [taylor]: Taking taylor expansion of -0.5 in phi1
64.049 * [backup-simplify]: Simplify -0.5 into -0.5
64.049 * [taylor]: Taking taylor expansion of phi2 in phi1
64.049 * [backup-simplify]: Simplify phi2 into phi2
64.049 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
64.049 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
64.049 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
64.049 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi1
64.049 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
64.049 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
64.049 * [taylor]: Taking taylor expansion of -0.5 in phi1
64.049 * [backup-simplify]: Simplify -0.5 into -0.5
64.049 * [taylor]: Taking taylor expansion of phi2 in phi1
64.049 * [backup-simplify]: Simplify phi2 into phi2
64.049 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
64.049 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
64.049 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
64.049 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi1
64.049 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
64.049 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
64.049 * [taylor]: Taking taylor expansion of -0.5 in phi1
64.049 * [backup-simplify]: Simplify -0.5 into -0.5
64.050 * [taylor]: Taking taylor expansion of phi1 in phi1
64.050 * [backup-simplify]: Simplify 0 into 0
64.050 * [backup-simplify]: Simplify 1 into 1
64.050 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
64.050 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
64.050 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
64.050 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
64.050 * [taylor]: Taking taylor expansion of -0.5 in phi1
64.050 * [backup-simplify]: Simplify -0.5 into -0.5
64.050 * [taylor]: Taking taylor expansion of phi1 in phi1
64.050 * [backup-simplify]: Simplify 0 into 0
64.050 * [backup-simplify]: Simplify 1 into 1
64.051 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
64.051 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
64.051 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
64.051 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
64.051 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
64.051 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
64.052 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
64.052 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
64.053 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
64.053 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
64.053 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
64.053 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
64.053 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
64.053 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
64.053 * [backup-simplify]: Simplify (- 0) into 0
64.054 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
64.054 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
64.054 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
64.054 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
64.054 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
64.054 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
64.055 * [backup-simplify]: Simplify (- 0) into 0
64.055 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
64.055 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
64.055 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
64.055 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
64.055 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
64.055 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
64.056 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
64.057 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
64.058 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
64.059 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
64.062 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)
64.066 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)
64.067 * [backup-simplify]: Simplify (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) into (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))
64.068 * [backup-simplify]: Simplify (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) into (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))
64.068 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
64.068 * [backup-simplify]: Simplify (+ 0) into 0
64.069 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
64.069 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
64.069 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
64.070 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
64.070 * [backup-simplify]: Simplify (- 0) into 0
64.070 * [backup-simplify]: Simplify (+ 0 0) into 0
64.070 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
64.070 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
64.070 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
64.071 * [backup-simplify]: Simplify (+ 0) into 0
64.071 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
64.071 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
64.072 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
64.072 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
64.072 * [backup-simplify]: Simplify (+ 0 0) into 0
64.072 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
64.072 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
64.073 * [backup-simplify]: Simplify (+ 0 0) into 0
64.073 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
64.073 * [backup-simplify]: Simplify (+ 0) into 0
64.073 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
64.073 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
64.074 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
64.074 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
64.074 * [backup-simplify]: Simplify (- 0) into 0
64.075 * [backup-simplify]: Simplify (+ 0 0) into 0
64.075 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
64.075 * [backup-simplify]: Simplify (+ 0) into 0
64.075 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
64.075 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
64.076 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
64.076 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
64.077 * [backup-simplify]: Simplify (+ 0 0) into 0
64.077 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
64.077 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
64.077 * [backup-simplify]: Simplify (+ 0) into 0
64.078 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
64.078 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
64.078 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
64.078 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
64.079 * [backup-simplify]: Simplify (+ 0 0) into 0
64.079 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
64.079 * [backup-simplify]: Simplify (+ 0) into 0
64.079 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
64.079 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
64.080 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
64.080 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
64.080 * [backup-simplify]: Simplify (- 0) into 0
64.081 * [backup-simplify]: Simplify (+ 0 0) into 0
64.081 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
64.081 * [backup-simplify]: Simplify (+ 0 0) into 0
64.081 * [backup-simplify]: Simplify (- 0) into 0
64.082 * [backup-simplify]: Simplify (+ 0 0) into 0
64.084 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into 0
64.086 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2))) into 0
64.088 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
64.089 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
64.089 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow phi1 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) in phi1
64.089 * [taylor]: Taking taylor expansion of 1/2 in phi1
64.089 * [backup-simplify]: Simplify 1/2 into 1/2
64.089 * [taylor]: Taking taylor expansion of (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow phi1 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) in phi1
64.089 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow phi1 2) R)) in phi1
64.089 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi1
64.089 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi1
64.089 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
64.089 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
64.089 * [taylor]: Taking taylor expansion of -0.5 in phi1
64.089 * [backup-simplify]: Simplify -0.5 into -0.5
64.089 * [taylor]: Taking taylor expansion of phi2 in phi1
64.089 * [backup-simplify]: Simplify phi2 into phi2
64.089 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
64.089 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
64.090 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
64.090 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
64.090 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
64.090 * [backup-simplify]: Simplify (- 0) into 0
64.090 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
64.090 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi1
64.090 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
64.090 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
64.090 * [taylor]: Taking taylor expansion of -0.5 in phi1
64.090 * [backup-simplify]: Simplify -0.5 into -0.5
64.090 * [taylor]: Taking taylor expansion of phi1 in phi1
64.090 * [backup-simplify]: Simplify 0 into 0
64.090 * [backup-simplify]: Simplify 1 into 1
64.092 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
64.092 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
64.092 * [taylor]: Taking taylor expansion of (* (pow phi1 2) R) in phi1
64.092 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1
64.092 * [taylor]: Taking taylor expansion of phi1 in phi1
64.092 * [backup-simplify]: Simplify 0 into 0
64.092 * [backup-simplify]: Simplify 1 into 1
64.092 * [taylor]: Taking taylor expansion of R in phi1
64.092 * [backup-simplify]: Simplify R into R
64.092 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
64.092 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
64.093 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
64.093 * [backup-simplify]: Simplify (* 1 1) into 1
64.093 * [backup-simplify]: Simplify (* 1 R) into R
64.093 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) into (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R)
64.093 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) in phi1
64.093 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) in phi1
64.093 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3) in phi1
64.093 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in phi1
64.093 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi1
64.093 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi1
64.093 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi1
64.093 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
64.094 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
64.094 * [taylor]: Taking taylor expansion of -0.5 in phi1
64.094 * [backup-simplify]: Simplify -0.5 into -0.5
64.094 * [taylor]: Taking taylor expansion of phi2 in phi1
64.094 * [backup-simplify]: Simplify phi2 into phi2
64.094 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
64.094 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
64.094 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
64.094 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
64.094 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
64.094 * [backup-simplify]: Simplify (- 0) into 0
64.094 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
64.094 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi1
64.094 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
64.094 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
64.094 * [taylor]: Taking taylor expansion of -0.5 in phi1
64.094 * [backup-simplify]: Simplify -0.5 into -0.5
64.094 * [taylor]: Taking taylor expansion of phi1 in phi1
64.094 * [backup-simplify]: Simplify 0 into 0
64.094 * [backup-simplify]: Simplify 1 into 1
64.095 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
64.095 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
64.095 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi1
64.095 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi1
64.095 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
64.095 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
64.095 * [taylor]: Taking taylor expansion of -0.5 in phi1
64.095 * [backup-simplify]: Simplify -0.5 into -0.5
64.095 * [taylor]: Taking taylor expansion of phi2 in phi1
64.095 * [backup-simplify]: Simplify phi2 into phi2
64.095 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
64.095 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
64.095 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
64.095 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
64.095 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
64.095 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
64.095 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi1
64.095 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
64.095 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
64.095 * [taylor]: Taking taylor expansion of -0.5 in phi1
64.095 * [backup-simplify]: Simplify -0.5 into -0.5
64.095 * [taylor]: Taking taylor expansion of phi1 in phi1
64.095 * [backup-simplify]: Simplify 0 into 0
64.095 * [backup-simplify]: Simplify 1 into 1
64.096 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
64.096 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
64.096 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in phi1
64.096 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi1
64.096 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
64.096 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
64.096 * [taylor]: Taking taylor expansion of -0.5 in phi1
64.096 * [backup-simplify]: Simplify -0.5 into -0.5
64.096 * [taylor]: Taking taylor expansion of phi2 in phi1
64.096 * [backup-simplify]: Simplify phi2 into phi2
64.096 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
64.096 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
64.096 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
64.096 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi1
64.096 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
64.096 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
64.096 * [taylor]: Taking taylor expansion of -0.5 in phi1
64.096 * [backup-simplify]: Simplify -0.5 into -0.5
64.096 * [taylor]: Taking taylor expansion of phi2 in phi1
64.096 * [backup-simplify]: Simplify phi2 into phi2
64.096 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
64.096 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
64.096 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
64.096 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi1
64.096 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
64.096 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
64.096 * [taylor]: Taking taylor expansion of -0.5 in phi1
64.096 * [backup-simplify]: Simplify -0.5 into -0.5
64.096 * [taylor]: Taking taylor expansion of phi1 in phi1
64.096 * [backup-simplify]: Simplify 0 into 0
64.096 * [backup-simplify]: Simplify 1 into 1
64.097 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
64.097 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
64.097 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
64.097 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
64.097 * [taylor]: Taking taylor expansion of -0.5 in phi1
64.097 * [backup-simplify]: Simplify -0.5 into -0.5
64.097 * [taylor]: Taking taylor expansion of phi1 in phi1
64.097 * [backup-simplify]: Simplify 0 into 0
64.097 * [backup-simplify]: Simplify 1 into 1
64.097 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
64.097 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
64.097 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi1
64.097 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
64.097 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
64.097 * [taylor]: Taking taylor expansion of -0.5 in phi1
64.097 * [backup-simplify]: Simplify -0.5 into -0.5
64.097 * [taylor]: Taking taylor expansion of phi2 in phi1
64.097 * [backup-simplify]: Simplify phi2 into phi2
64.097 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
64.097 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
64.097 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
64.097 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi1
64.097 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
64.097 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
64.097 * [taylor]: Taking taylor expansion of -0.5 in phi1
64.098 * [backup-simplify]: Simplify -0.5 into -0.5
64.098 * [taylor]: Taking taylor expansion of phi2 in phi1
64.098 * [backup-simplify]: Simplify phi2 into phi2
64.098 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
64.098 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
64.098 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
64.098 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi1
64.098 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
64.098 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
64.098 * [taylor]: Taking taylor expansion of -0.5 in phi1
64.098 * [backup-simplify]: Simplify -0.5 into -0.5
64.098 * [taylor]: Taking taylor expansion of phi1 in phi1
64.098 * [backup-simplify]: Simplify 0 into 0
64.098 * [backup-simplify]: Simplify 1 into 1
64.098 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
64.098 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
64.098 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
64.098 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
64.098 * [taylor]: Taking taylor expansion of -0.5 in phi1
64.098 * [backup-simplify]: Simplify -0.5 into -0.5
64.098 * [taylor]: Taking taylor expansion of phi1 in phi1
64.098 * [backup-simplify]: Simplify 0 into 0
64.098 * [backup-simplify]: Simplify 1 into 1
64.099 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
64.099 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
64.099 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
64.099 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
64.099 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
64.099 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
64.099 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
64.099 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
64.100 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
64.100 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
64.100 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
64.100 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
64.100 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
64.100 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
64.100 * [backup-simplify]: Simplify (- 0) into 0
64.100 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
64.101 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
64.101 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
64.101 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
64.101 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
64.101 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
64.101 * [backup-simplify]: Simplify (- 0) into 0
64.101 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
64.101 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
64.101 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
64.101 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
64.102 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
64.102 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
64.102 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
64.102 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
64.103 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
64.104 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
64.105 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)
64.108 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)
64.109 * [backup-simplify]: Simplify (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) into (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))
64.110 * [backup-simplify]: Simplify (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) into (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))
64.110 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
64.110 * [backup-simplify]: Simplify (+ 0) into 0
64.111 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
64.111 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
64.111 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
64.112 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
64.112 * [backup-simplify]: Simplify (- 0) into 0
64.112 * [backup-simplify]: Simplify (+ 0 0) into 0
64.112 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
64.112 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
64.112 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
64.113 * [backup-simplify]: Simplify (+ 0) into 0
64.113 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
64.113 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
64.114 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
64.114 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
64.114 * [backup-simplify]: Simplify (+ 0 0) into 0
64.114 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
64.114 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
64.115 * [backup-simplify]: Simplify (+ 0 0) into 0
64.115 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
64.115 * [backup-simplify]: Simplify (+ 0) into 0
64.115 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
64.115 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
64.116 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
64.116 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
64.116 * [backup-simplify]: Simplify (- 0) into 0
64.117 * [backup-simplify]: Simplify (+ 0 0) into 0
64.117 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
64.117 * [backup-simplify]: Simplify (+ 0) into 0
64.117 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
64.117 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
64.118 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
64.118 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
64.118 * [backup-simplify]: Simplify (+ 0 0) into 0
64.119 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
64.119 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
64.119 * [backup-simplify]: Simplify (+ 0) into 0
64.119 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
64.119 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
64.120 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
64.120 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
64.120 * [backup-simplify]: Simplify (+ 0 0) into 0
64.121 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
64.121 * [backup-simplify]: Simplify (+ 0) into 0
64.121 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
64.121 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
64.122 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
64.122 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
64.122 * [backup-simplify]: Simplify (- 0) into 0
64.122 * [backup-simplify]: Simplify (+ 0 0) into 0
64.123 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
64.123 * [backup-simplify]: Simplify (+ 0 0) into 0
64.123 * [backup-simplify]: Simplify (- 0) into 0
64.123 * [backup-simplify]: Simplify (+ 0 0) into 0
64.125 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into 0
64.127 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2))) into 0
64.129 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
64.131 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
64.131 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
64.131 * [backup-simplify]: Simplify (+ 0) into 0
64.132 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
64.132 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
64.132 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
64.132 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
64.133 * [backup-simplify]: Simplify (- 0) into 0
64.133 * [backup-simplify]: Simplify (+ 0 0) into 0
64.133 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
64.133 * [backup-simplify]: Simplify (+ 0) into 0
64.134 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
64.134 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
64.134 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
64.134 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
64.135 * [backup-simplify]: Simplify (+ 0 0) into 0
64.135 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
64.135 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
64.135 * [backup-simplify]: Simplify (+ (* R 0) (* 0 1)) into 0
64.136 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) (/ 0 R)))) into 0
64.137 * [backup-simplify]: Simplify (+ (* (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) 0) (* 0 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
64.139 * [backup-simplify]: Simplify (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R phi2))) into (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R phi2)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))
64.140 * [backup-simplify]: Simplify (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R phi2)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) into (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R phi2)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))
64.143 * [backup-simplify]: Simplify (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R phi2)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R phi2)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R phi2)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R phi2)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))
64.146 * [backup-simplify]: Simplify (+ 0 (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R phi2)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R phi2)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))) into (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R phi2)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R phi2))))
64.150 * [backup-simplify]: Simplify (+ 0 (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R phi2)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R phi2))))) into (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R phi2)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R phi2)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))
64.150 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
64.150 * [backup-simplify]: Simplify (+ 0) into 0
64.151 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
64.151 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
64.151 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
64.151 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
64.152 * [backup-simplify]: Simplify (+ 0 0) into 0
64.152 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
64.152 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
64.152 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
64.153 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 R)) into 0
64.153 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R) (/ 0 R)))) into 0
64.154 * [backup-simplify]: Simplify (+ (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) 0) (* 0 (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R))) into 0
64.156 * [backup-simplify]: Simplify (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R)) into (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))
64.158 * [backup-simplify]: Simplify (+ (* 1/2 0) (* 0 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))) into 0
64.159 * [backup-simplify]: Simplify (* (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R phi2)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) into (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R phi2)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))
64.161 * [backup-simplify]: Simplify (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R phi2)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R phi2)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))
64.161 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
64.161 * [backup-simplify]: Simplify (+ 0) into 0
64.161 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
64.162 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
64.162 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
64.162 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
64.162 * [backup-simplify]: Simplify (- 0) into 0
64.163 * [backup-simplify]: Simplify (+ 0 0) into 0
64.163 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
64.163 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
64.163 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
64.164 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 R)) into 0
64.164 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) (/ 0 R)))) into 0
64.165 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) 0) (* 0 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
64.167 * [backup-simplify]: Simplify (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) into (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))
64.169 * [backup-simplify]: Simplify (+ (* 1/2 0) (* 0 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))) into 0
64.171 * [backup-simplify]: Simplify (+ (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R phi2)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) 0) into (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R phi2)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))
64.174 * [backup-simplify]: Simplify (+ 0 (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R phi2)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))) into (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R phi2)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))
64.176 * [backup-simplify]: Simplify (+ 0 (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R phi2)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))) into (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R phi2)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))
64.179 * [backup-simplify]: Simplify (+ 0 (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R phi2)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))) into (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R phi2)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))
64.182 * [backup-simplify]: Simplify (- (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R phi2)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))) into (- (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R phi2)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))))
64.190 * [backup-simplify]: Simplify (+ (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R phi2)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R phi2)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (- (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R phi2)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))))) into (- (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R phi2)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R phi2)))) (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R phi2)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))))
64.191 * [taylor]: Taking taylor expansion of (- (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R phi2)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R phi2)))) (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R phi2)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))) in phi2
64.191 * [taylor]: Taking taylor expansion of (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R phi2)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R phi2)))) in phi2
64.191 * [taylor]: Taking taylor expansion of (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R phi2)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) in phi2
64.191 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R phi2)) in phi2
64.191 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi2
64.191 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2
64.191 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
64.191 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
64.191 * [taylor]: Taking taylor expansion of -0.5 in phi2
64.191 * [backup-simplify]: Simplify -0.5 into -0.5
64.191 * [taylor]: Taking taylor expansion of phi2 in phi2
64.191 * [backup-simplify]: Simplify 0 into 0
64.191 * [backup-simplify]: Simplify 1 into 1
64.194 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
64.194 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
64.194 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2
64.194 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
64.194 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
64.194 * [taylor]: Taking taylor expansion of -0.5 in phi2
64.194 * [backup-simplify]: Simplify -0.5 into -0.5
64.194 * [taylor]: Taking taylor expansion of phi1 in phi2
64.194 * [backup-simplify]: Simplify phi1 into phi1
64.194 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
64.194 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
64.194 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
64.194 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
64.194 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
64.195 * [backup-simplify]: Simplify (- 0) into 0
64.195 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
64.195 * [taylor]: Taking taylor expansion of (* R phi2) in phi2
64.195 * [taylor]: Taking taylor expansion of R in phi2
64.195 * [backup-simplify]: Simplify R into R
64.195 * [taylor]: Taking taylor expansion of phi2 in phi2
64.195 * [backup-simplify]: Simplify 0 into 0
64.195 * [backup-simplify]: Simplify 1 into 1
64.195 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
64.195 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
64.196 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
64.196 * [backup-simplify]: Simplify (* R 0) into 0
64.196 * [backup-simplify]: Simplify (+ (* R 1) (* 0 0)) into R
64.197 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) into (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R)
64.197 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) in phi2
64.197 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) in phi2
64.197 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3) in phi2
64.197 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in phi2
64.197 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi2
64.197 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi2
64.197 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2
64.197 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
64.197 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
64.197 * [taylor]: Taking taylor expansion of -0.5 in phi2
64.197 * [backup-simplify]: Simplify -0.5 into -0.5
64.197 * [taylor]: Taking taylor expansion of phi2 in phi2
64.197 * [backup-simplify]: Simplify 0 into 0
64.197 * [backup-simplify]: Simplify 1 into 1
64.198 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
64.198 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
64.198 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2
64.198 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
64.198 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
64.198 * [taylor]: Taking taylor expansion of -0.5 in phi2
64.198 * [backup-simplify]: Simplify -0.5 into -0.5
64.198 * [taylor]: Taking taylor expansion of phi1 in phi2
64.198 * [backup-simplify]: Simplify phi1 into phi1
64.198 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
64.198 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
64.198 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
64.198 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
64.198 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
64.199 * [backup-simplify]: Simplify (- 0) into 0
64.199 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
64.199 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi2
64.199 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2
64.199 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
64.199 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
64.199 * [taylor]: Taking taylor expansion of -0.5 in phi2
64.199 * [backup-simplify]: Simplify -0.5 into -0.5
64.199 * [taylor]: Taking taylor expansion of phi2 in phi2
64.199 * [backup-simplify]: Simplify 0 into 0
64.199 * [backup-simplify]: Simplify 1 into 1
64.199 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
64.199 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
64.199 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2
64.200 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
64.200 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
64.200 * [taylor]: Taking taylor expansion of -0.5 in phi2
64.200 * [backup-simplify]: Simplify -0.5 into -0.5
64.200 * [taylor]: Taking taylor expansion of phi1 in phi2
64.200 * [backup-simplify]: Simplify phi1 into phi1
64.200 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
64.200 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
64.200 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
64.200 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
64.200 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
64.200 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
64.200 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in phi2
64.200 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi2
64.200 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
64.200 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
64.200 * [taylor]: Taking taylor expansion of -0.5 in phi2
64.200 * [backup-simplify]: Simplify -0.5 into -0.5
64.200 * [taylor]: Taking taylor expansion of phi2 in phi2
64.200 * [backup-simplify]: Simplify 0 into 0
64.200 * [backup-simplify]: Simplify 1 into 1
64.201 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
64.201 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
64.201 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi2
64.201 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
64.201 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
64.201 * [taylor]: Taking taylor expansion of -0.5 in phi2
64.201 * [backup-simplify]: Simplify -0.5 into -0.5
64.201 * [taylor]: Taking taylor expansion of phi2 in phi2
64.201 * [backup-simplify]: Simplify 0 into 0
64.201 * [backup-simplify]: Simplify 1 into 1
64.201 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
64.202 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
64.202 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi2
64.202 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
64.202 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
64.202 * [taylor]: Taking taylor expansion of -0.5 in phi2
64.202 * [backup-simplify]: Simplify -0.5 into -0.5
64.202 * [taylor]: Taking taylor expansion of phi1 in phi2
64.202 * [backup-simplify]: Simplify phi1 into phi1
64.202 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
64.202 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
64.202 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
64.202 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
64.202 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
64.202 * [taylor]: Taking taylor expansion of -0.5 in phi2
64.202 * [backup-simplify]: Simplify -0.5 into -0.5
64.202 * [taylor]: Taking taylor expansion of phi1 in phi2
64.202 * [backup-simplify]: Simplify phi1 into phi1
64.202 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
64.202 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
64.202 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
64.202 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi2
64.202 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
64.202 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
64.202 * [taylor]: Taking taylor expansion of -0.5 in phi2
64.202 * [backup-simplify]: Simplify -0.5 into -0.5
64.203 * [taylor]: Taking taylor expansion of phi2 in phi2
64.203 * [backup-simplify]: Simplify 0 into 0
64.203 * [backup-simplify]: Simplify 1 into 1
64.203 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
64.203 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
64.203 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi2
64.203 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
64.203 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
64.203 * [taylor]: Taking taylor expansion of -0.5 in phi2
64.203 * [backup-simplify]: Simplify -0.5 into -0.5
64.203 * [taylor]: Taking taylor expansion of phi2 in phi2
64.203 * [backup-simplify]: Simplify 0 into 0
64.203 * [backup-simplify]: Simplify 1 into 1
64.204 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
64.204 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
64.204 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi2
64.204 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
64.204 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
64.204 * [taylor]: Taking taylor expansion of -0.5 in phi2
64.204 * [backup-simplify]: Simplify -0.5 into -0.5
64.204 * [taylor]: Taking taylor expansion of phi1 in phi2
64.204 * [backup-simplify]: Simplify phi1 into phi1
64.204 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
64.204 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
64.204 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
64.204 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
64.204 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
64.204 * [taylor]: Taking taylor expansion of -0.5 in phi2
64.204 * [backup-simplify]: Simplify -0.5 into -0.5
64.204 * [taylor]: Taking taylor expansion of phi1 in phi2
64.204 * [backup-simplify]: Simplify phi1 into phi1
64.204 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
64.204 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
64.205 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
64.205 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
64.205 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
64.205 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
64.205 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
64.205 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
64.206 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
64.207 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
64.207 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
64.207 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
64.207 * [backup-simplify]: Simplify (- 0) into 0
64.207 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
64.208 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
64.208 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
64.208 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
64.208 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
64.208 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
64.208 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
64.208 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
64.209 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
64.209 * [backup-simplify]: Simplify (- 0) into 0
64.209 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
64.209 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
64.209 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
64.209 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
64.209 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
64.210 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
64.210 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
64.210 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
64.211 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
64.213 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
64.216 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)
64.219 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)
64.221 * [backup-simplify]: Simplify (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) into (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))
64.223 * [backup-simplify]: Simplify (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) into (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))
64.223 * [backup-simplify]: Simplify (+ 0) into 0
64.224 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
64.224 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
64.224 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
64.225 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
64.225 * [backup-simplify]: Simplify (- 0) into 0
64.226 * [backup-simplify]: Simplify (+ 0 0) into 0
64.226 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
64.226 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
64.226 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
64.227 * [backup-simplify]: Simplify (+ 0) into 0
64.227 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
64.227 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
64.228 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
64.228 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
64.229 * [backup-simplify]: Simplify (+ 0 0) into 0
64.229 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
64.229 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
64.229 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
64.230 * [backup-simplify]: Simplify (+ 0 0) into 0
64.230 * [backup-simplify]: Simplify (+ 0) into 0
64.230 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
64.230 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
64.231 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
64.232 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
64.232 * [backup-simplify]: Simplify (+ 0 0) into 0
64.232 * [backup-simplify]: Simplify (+ 0) into 0
64.233 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
64.233 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
64.234 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
64.234 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
64.234 * [backup-simplify]: Simplify (- 0) into 0
64.235 * [backup-simplify]: Simplify (+ 0 0) into 0
64.235 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
64.235 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
64.235 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
64.236 * [backup-simplify]: Simplify (+ 0) into 0
64.236 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
64.236 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
64.237 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
64.237 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
64.238 * [backup-simplify]: Simplify (+ 0 0) into 0
64.238 * [backup-simplify]: Simplify (+ 0) into 0
64.239 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
64.239 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
64.239 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
64.240 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
64.240 * [backup-simplify]: Simplify (- 0) into 0
64.241 * [backup-simplify]: Simplify (+ 0 0) into 0
64.241 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
64.241 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
64.241 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
64.242 * [backup-simplify]: Simplify (+ 0 0) into 0
64.242 * [backup-simplify]: Simplify (- 0) into 0
64.242 * [backup-simplify]: Simplify (+ 0 0) into 0
64.245 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into 0
64.248 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2))) into 0
64.252 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
64.254 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
64.254 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R phi2))) in phi2
64.254 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) in phi2
64.254 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) in phi2
64.255 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3) in phi2
64.255 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in phi2
64.255 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi2
64.255 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi2
64.255 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2
64.255 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
64.255 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
64.255 * [taylor]: Taking taylor expansion of -0.5 in phi2
64.255 * [backup-simplify]: Simplify -0.5 into -0.5
64.255 * [taylor]: Taking taylor expansion of phi2 in phi2
64.255 * [backup-simplify]: Simplify 0 into 0
64.255 * [backup-simplify]: Simplify 1 into 1
64.255 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
64.256 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
64.256 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2
64.256 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
64.256 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
64.256 * [taylor]: Taking taylor expansion of -0.5 in phi2
64.256 * [backup-simplify]: Simplify -0.5 into -0.5
64.256 * [taylor]: Taking taylor expansion of phi1 in phi2
64.256 * [backup-simplify]: Simplify phi1 into phi1
64.256 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
64.256 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
64.256 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
64.256 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
64.256 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
64.257 * [backup-simplify]: Simplify (- 0) into 0
64.257 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
64.257 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi2
64.257 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2
64.257 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
64.257 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
64.257 * [taylor]: Taking taylor expansion of -0.5 in phi2
64.257 * [backup-simplify]: Simplify -0.5 into -0.5
64.257 * [taylor]: Taking taylor expansion of phi2 in phi2
64.257 * [backup-simplify]: Simplify 0 into 0
64.257 * [backup-simplify]: Simplify 1 into 1
64.257 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
64.258 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
64.258 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2
64.258 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
64.258 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
64.258 * [taylor]: Taking taylor expansion of -0.5 in phi2
64.258 * [backup-simplify]: Simplify -0.5 into -0.5
64.258 * [taylor]: Taking taylor expansion of phi1 in phi2
64.258 * [backup-simplify]: Simplify phi1 into phi1
64.258 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
64.258 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
64.258 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
64.258 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
64.258 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
64.258 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
64.258 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in phi2
64.258 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi2
64.258 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
64.258 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
64.258 * [taylor]: Taking taylor expansion of -0.5 in phi2
64.258 * [backup-simplify]: Simplify -0.5 into -0.5
64.258 * [taylor]: Taking taylor expansion of phi2 in phi2
64.259 * [backup-simplify]: Simplify 0 into 0
64.259 * [backup-simplify]: Simplify 1 into 1
64.259 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
64.259 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
64.259 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi2
64.259 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
64.259 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
64.259 * [taylor]: Taking taylor expansion of -0.5 in phi2
64.259 * [backup-simplify]: Simplify -0.5 into -0.5
64.259 * [taylor]: Taking taylor expansion of phi2 in phi2
64.259 * [backup-simplify]: Simplify 0 into 0
64.259 * [backup-simplify]: Simplify 1 into 1
64.260 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
64.260 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
64.260 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi2
64.260 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
64.260 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
64.260 * [taylor]: Taking taylor expansion of -0.5 in phi2
64.260 * [backup-simplify]: Simplify -0.5 into -0.5
64.260 * [taylor]: Taking taylor expansion of phi1 in phi2
64.260 * [backup-simplify]: Simplify phi1 into phi1
64.260 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
64.260 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
64.260 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
64.260 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
64.260 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
64.260 * [taylor]: Taking taylor expansion of -0.5 in phi2
64.260 * [backup-simplify]: Simplify -0.5 into -0.5
64.260 * [taylor]: Taking taylor expansion of phi1 in phi2
64.260 * [backup-simplify]: Simplify phi1 into phi1
64.260 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
64.260 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
64.260 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
64.261 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi2
64.261 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
64.261 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
64.261 * [taylor]: Taking taylor expansion of -0.5 in phi2
64.261 * [backup-simplify]: Simplify -0.5 into -0.5
64.261 * [taylor]: Taking taylor expansion of phi2 in phi2
64.261 * [backup-simplify]: Simplify 0 into 0
64.261 * [backup-simplify]: Simplify 1 into 1
64.261 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
64.261 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
64.261 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi2
64.261 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
64.261 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
64.261 * [taylor]: Taking taylor expansion of -0.5 in phi2
64.261 * [backup-simplify]: Simplify -0.5 into -0.5
64.261 * [taylor]: Taking taylor expansion of phi2 in phi2
64.261 * [backup-simplify]: Simplify 0 into 0
64.261 * [backup-simplify]: Simplify 1 into 1
64.262 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
64.262 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
64.262 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi2
64.262 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
64.262 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
64.262 * [taylor]: Taking taylor expansion of -0.5 in phi2
64.262 * [backup-simplify]: Simplify -0.5 into -0.5
64.262 * [taylor]: Taking taylor expansion of phi1 in phi2
64.262 * [backup-simplify]: Simplify phi1 into phi1
64.262 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
64.262 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
64.262 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
64.262 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
64.262 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
64.262 * [taylor]: Taking taylor expansion of -0.5 in phi2
64.262 * [backup-simplify]: Simplify -0.5 into -0.5
64.262 * [taylor]: Taking taylor expansion of phi1 in phi2
64.262 * [backup-simplify]: Simplify phi1 into phi1
64.262 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
64.263 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
64.263 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
64.263 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
64.263 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
64.263 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
64.263 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
64.264 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
64.264 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
64.264 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
64.265 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
64.265 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
64.265 * [backup-simplify]: Simplify (- 0) into 0
64.265 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
64.265 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
64.265 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
64.266 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
64.266 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
64.266 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
64.266 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
64.266 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
64.267 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
64.267 * [backup-simplify]: Simplify (- 0) into 0
64.267 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
64.267 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
64.267 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
64.267 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
64.267 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
64.268 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
64.268 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
64.268 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
64.269 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
64.271 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
64.274 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)
64.277 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)
64.279 * [backup-simplify]: Simplify (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) into (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))
64.281 * [backup-simplify]: Simplify (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) into (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))
64.281 * [backup-simplify]: Simplify (+ 0) into 0
64.282 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
64.282 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
64.283 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
64.283 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
64.283 * [backup-simplify]: Simplify (- 0) into 0
64.284 * [backup-simplify]: Simplify (+ 0 0) into 0
64.284 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
64.284 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
64.284 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
64.285 * [backup-simplify]: Simplify (+ 0) into 0
64.285 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
64.285 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
64.286 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
64.286 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
64.287 * [backup-simplify]: Simplify (+ 0 0) into 0
64.287 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
64.287 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
64.287 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
64.288 * [backup-simplify]: Simplify (+ 0 0) into 0
64.288 * [backup-simplify]: Simplify (+ 0) into 0
64.289 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
64.289 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
64.289 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
64.290 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
64.290 * [backup-simplify]: Simplify (+ 0 0) into 0
64.290 * [backup-simplify]: Simplify (+ 0) into 0
64.291 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
64.291 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
64.292 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
64.292 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
64.292 * [backup-simplify]: Simplify (- 0) into 0
64.293 * [backup-simplify]: Simplify (+ 0 0) into 0
64.293 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
64.293 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
64.293 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
64.294 * [backup-simplify]: Simplify (+ 0) into 0
64.294 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
64.294 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
64.295 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
64.296 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
64.296 * [backup-simplify]: Simplify (+ 0 0) into 0
64.296 * [backup-simplify]: Simplify (+ 0) into 0
64.297 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
64.297 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
64.298 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
64.298 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
64.298 * [backup-simplify]: Simplify (- 0) into 0
64.299 * [backup-simplify]: Simplify (+ 0 0) into 0
64.299 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
64.299 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
64.299 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
64.300 * [backup-simplify]: Simplify (+ 0 0) into 0
64.300 * [backup-simplify]: Simplify (- 0) into 0
64.300 * [backup-simplify]: Simplify (+ 0 0) into 0
64.303 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into 0
64.307 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2))) into 0
64.310 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
64.311 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
64.311 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R phi2)) in phi2
64.311 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi2
64.311 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2
64.312 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
64.312 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
64.312 * [taylor]: Taking taylor expansion of -0.5 in phi2
64.312 * [backup-simplify]: Simplify -0.5 into -0.5
64.312 * [taylor]: Taking taylor expansion of phi2 in phi2
64.312 * [backup-simplify]: Simplify 0 into 0
64.312 * [backup-simplify]: Simplify 1 into 1
64.312 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
64.312 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
64.312 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2
64.312 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
64.312 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
64.312 * [taylor]: Taking taylor expansion of -0.5 in phi2
64.312 * [backup-simplify]: Simplify -0.5 into -0.5
64.313 * [taylor]: Taking taylor expansion of phi1 in phi2
64.313 * [backup-simplify]: Simplify phi1 into phi1
64.313 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
64.313 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
64.313 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
64.313 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
64.313 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
64.313 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
64.313 * [taylor]: Taking taylor expansion of (* R phi2) in phi2
64.313 * [taylor]: Taking taylor expansion of R in phi2
64.313 * [backup-simplify]: Simplify R into R
64.313 * [taylor]: Taking taylor expansion of phi2 in phi2
64.313 * [backup-simplify]: Simplify 0 into 0
64.313 * [backup-simplify]: Simplify 1 into 1
64.313 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
64.314 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
64.314 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
64.314 * [backup-simplify]: Simplify (* R 0) into 0
64.314 * [backup-simplify]: Simplify (+ (* R 1) (* 0 0)) into R
64.315 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R) into (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R)
64.315 * [taylor]: Taking taylor expansion of (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R phi2)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) in phi2
64.315 * [taylor]: Taking taylor expansion of 2 in phi2
64.315 * [backup-simplify]: Simplify 2 into 2
64.315 * [taylor]: Taking taylor expansion of (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R phi2)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) in phi2
64.315 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R phi2)) in phi2
64.315 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi2
64.315 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
64.315 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
64.315 * [taylor]: Taking taylor expansion of -0.5 in phi2
64.315 * [backup-simplify]: Simplify -0.5 into -0.5
64.315 * [taylor]: Taking taylor expansion of phi2 in phi2
64.315 * [backup-simplify]: Simplify 0 into 0
64.315 * [backup-simplify]: Simplify 1 into 1
64.315 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
64.315 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
64.316 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi2
64.316 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
64.316 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
64.316 * [taylor]: Taking taylor expansion of -0.5 in phi2
64.316 * [backup-simplify]: Simplify -0.5 into -0.5
64.316 * [taylor]: Taking taylor expansion of phi2 in phi2
64.316 * [backup-simplify]: Simplify 0 into 0
64.316 * [backup-simplify]: Simplify 1 into 1
64.316 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
64.316 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
64.316 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi2
64.316 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
64.316 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
64.316 * [taylor]: Taking taylor expansion of -0.5 in phi2
64.316 * [backup-simplify]: Simplify -0.5 into -0.5
64.316 * [taylor]: Taking taylor expansion of phi1 in phi2
64.316 * [backup-simplify]: Simplify phi1 into phi1
64.316 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
64.317 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
64.317 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
64.317 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
64.317 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
64.317 * [taylor]: Taking taylor expansion of -0.5 in phi2
64.317 * [backup-simplify]: Simplify -0.5 into -0.5
64.317 * [taylor]: Taking taylor expansion of phi1 in phi2
64.317 * [backup-simplify]: Simplify phi1 into phi1
64.317 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
64.317 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
64.317 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
64.317 * [taylor]: Taking taylor expansion of (* R phi2) in phi2
64.317 * [taylor]: Taking taylor expansion of R in phi2
64.317 * [backup-simplify]: Simplify R into R
64.317 * [taylor]: Taking taylor expansion of phi2 in phi2
64.317 * [backup-simplify]: Simplify 0 into 0
64.317 * [backup-simplify]: Simplify 1 into 1
64.317 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
64.317 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
64.318 * [backup-simplify]: Simplify (- 0) into 0
64.318 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
64.318 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
64.318 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
64.318 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
64.318 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
64.318 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
64.319 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
64.319 * [backup-simplify]: Simplify (* R 0) into 0
64.319 * [backup-simplify]: Simplify (+ (* R 1) (* 0 0)) into R
64.319 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) into (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R)
64.319 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) in phi2
64.319 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) in phi2
64.320 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3) in phi2
64.320 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in phi2
64.320 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi2
64.320 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi2
64.320 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2
64.320 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
64.320 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
64.320 * [taylor]: Taking taylor expansion of -0.5 in phi2
64.320 * [backup-simplify]: Simplify -0.5 into -0.5
64.320 * [taylor]: Taking taylor expansion of phi2 in phi2
64.320 * [backup-simplify]: Simplify 0 into 0
64.320 * [backup-simplify]: Simplify 1 into 1
64.320 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
64.320 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
64.320 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2
64.320 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
64.320 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
64.321 * [taylor]: Taking taylor expansion of -0.5 in phi2
64.321 * [backup-simplify]: Simplify -0.5 into -0.5
64.321 * [taylor]: Taking taylor expansion of phi1 in phi2
64.321 * [backup-simplify]: Simplify phi1 into phi1
64.321 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
64.321 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
64.321 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
64.321 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
64.321 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
64.321 * [backup-simplify]: Simplify (- 0) into 0
64.321 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
64.321 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi2
64.321 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2
64.322 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
64.322 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
64.322 * [taylor]: Taking taylor expansion of -0.5 in phi2
64.322 * [backup-simplify]: Simplify -0.5 into -0.5
64.322 * [taylor]: Taking taylor expansion of phi2 in phi2
64.322 * [backup-simplify]: Simplify 0 into 0
64.322 * [backup-simplify]: Simplify 1 into 1
64.322 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
64.322 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
64.322 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2
64.322 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
64.322 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
64.322 * [taylor]: Taking taylor expansion of -0.5 in phi2
64.322 * [backup-simplify]: Simplify -0.5 into -0.5
64.322 * [taylor]: Taking taylor expansion of phi1 in phi2
64.322 * [backup-simplify]: Simplify phi1 into phi1
64.322 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
64.322 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
64.323 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
64.323 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
64.323 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
64.323 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
64.323 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in phi2
64.323 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi2
64.323 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
64.323 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
64.323 * [taylor]: Taking taylor expansion of -0.5 in phi2
64.323 * [backup-simplify]: Simplify -0.5 into -0.5
64.323 * [taylor]: Taking taylor expansion of phi2 in phi2
64.323 * [backup-simplify]: Simplify 0 into 0
64.323 * [backup-simplify]: Simplify 1 into 1
64.323 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
64.324 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
64.324 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi2
64.324 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
64.324 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
64.324 * [taylor]: Taking taylor expansion of -0.5 in phi2
64.324 * [backup-simplify]: Simplify -0.5 into -0.5
64.324 * [taylor]: Taking taylor expansion of phi2 in phi2
64.324 * [backup-simplify]: Simplify 0 into 0
64.324 * [backup-simplify]: Simplify 1 into 1
64.324 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
64.324 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
64.324 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi2
64.324 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
64.324 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
64.324 * [taylor]: Taking taylor expansion of -0.5 in phi2
64.324 * [backup-simplify]: Simplify -0.5 into -0.5
64.324 * [taylor]: Taking taylor expansion of phi1 in phi2
64.325 * [backup-simplify]: Simplify phi1 into phi1
64.325 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
64.325 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
64.325 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
64.325 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
64.325 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
64.325 * [taylor]: Taking taylor expansion of -0.5 in phi2
64.325 * [backup-simplify]: Simplify -0.5 into -0.5
64.325 * [taylor]: Taking taylor expansion of phi1 in phi2
64.325 * [backup-simplify]: Simplify phi1 into phi1
64.325 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
64.325 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
64.325 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
64.325 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi2
64.325 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
64.325 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
64.325 * [taylor]: Taking taylor expansion of -0.5 in phi2
64.325 * [backup-simplify]: Simplify -0.5 into -0.5
64.325 * [taylor]: Taking taylor expansion of phi2 in phi2
64.325 * [backup-simplify]: Simplify 0 into 0
64.325 * [backup-simplify]: Simplify 1 into 1
64.326 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
64.326 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
64.326 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi2
64.326 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
64.326 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
64.326 * [taylor]: Taking taylor expansion of -0.5 in phi2
64.326 * [backup-simplify]: Simplify -0.5 into -0.5
64.326 * [taylor]: Taking taylor expansion of phi2 in phi2
64.326 * [backup-simplify]: Simplify 0 into 0
64.326 * [backup-simplify]: Simplify 1 into 1
64.326 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
64.326 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
64.327 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi2
64.327 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
64.327 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
64.327 * [taylor]: Taking taylor expansion of -0.5 in phi2
64.327 * [backup-simplify]: Simplify -0.5 into -0.5
64.327 * [taylor]: Taking taylor expansion of phi1 in phi2
64.327 * [backup-simplify]: Simplify phi1 into phi1
64.327 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
64.327 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
64.327 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
64.327 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
64.327 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
64.327 * [taylor]: Taking taylor expansion of -0.5 in phi2
64.327 * [backup-simplify]: Simplify -0.5 into -0.5
64.327 * [taylor]: Taking taylor expansion of phi1 in phi2
64.327 * [backup-simplify]: Simplify phi1 into phi1
64.327 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
64.327 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
64.327 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
64.327 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
64.328 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
64.328 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
64.328 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
64.328 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
64.328 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
64.329 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
64.329 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
64.329 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
64.330 * [backup-simplify]: Simplify (- 0) into 0
64.330 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
64.330 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
64.330 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
64.330 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
64.330 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
64.330 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
64.331 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
64.331 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
64.331 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
64.331 * [backup-simplify]: Simplify (- 0) into 0
64.331 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
64.332 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
64.332 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
64.332 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
64.332 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
64.332 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
64.332 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
64.333 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
64.334 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
64.335 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
64.338 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)
64.342 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)
64.343 * [backup-simplify]: Simplify (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) into (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))
64.345 * [backup-simplify]: Simplify (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) into (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))
64.348 * [backup-simplify]: Simplify (+ 0) into 0
64.348 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
64.349 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
64.349 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
64.350 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
64.350 * [backup-simplify]: Simplify (- 0) into 0
64.350 * [backup-simplify]: Simplify (+ 0 0) into 0
64.350 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
64.351 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
64.351 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
64.351 * [backup-simplify]: Simplify (+ 0) into 0
64.352 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
64.352 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
64.353 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
64.353 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
64.353 * [backup-simplify]: Simplify (+ 0 0) into 0
64.353 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
64.354 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
64.354 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
64.354 * [backup-simplify]: Simplify (+ 0 0) into 0
64.355 * [backup-simplify]: Simplify (+ 0) into 0
64.355 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
64.355 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
64.356 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
64.356 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
64.357 * [backup-simplify]: Simplify (+ 0 0) into 0
64.357 * [backup-simplify]: Simplify (+ 0) into 0
64.358 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
64.358 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
64.359 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
64.359 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
64.359 * [backup-simplify]: Simplify (- 0) into 0
64.360 * [backup-simplify]: Simplify (+ 0 0) into 0
64.360 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
64.360 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
64.360 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
64.361 * [backup-simplify]: Simplify (+ 0) into 0
64.361 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
64.361 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
64.362 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
64.362 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
64.363 * [backup-simplify]: Simplify (+ 0 0) into 0
64.363 * [backup-simplify]: Simplify (+ 0) into 0
64.364 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
64.364 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
64.364 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
64.365 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
64.365 * [backup-simplify]: Simplify (- 0) into 0
64.365 * [backup-simplify]: Simplify (+ 0 0) into 0
64.366 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
64.366 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
64.366 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
64.367 * [backup-simplify]: Simplify (+ 0 0) into 0
64.367 * [backup-simplify]: Simplify (- 0) into 0
64.367 * [backup-simplify]: Simplify (+ 0 0) into 0
64.370 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into 0
64.374 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2))) into 0
64.377 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
64.379 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
64.381 * [backup-simplify]: Simplify (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) into (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))
64.384 * [backup-simplify]: Simplify (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R)) into (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))
64.389 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))
64.391 * [backup-simplify]: Simplify (* (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) into (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))
64.393 * [backup-simplify]: Simplify (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))
64.396 * [backup-simplify]: Simplify (- (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))) into (- (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))))
64.403 * [backup-simplify]: Simplify (+ (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (- (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))))) into (- (+ (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R)) (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))))
64.403 * [taylor]: Taking taylor expansion of (- (+ (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R)) (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))) in R
64.403 * [taylor]: Taking taylor expansion of (+ (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R)) (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) in R
64.404 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R)) in R
64.404 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) in R
64.404 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) in R
64.404 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3) in R
64.404 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in R
64.404 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in R
64.404 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in R
64.404 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in R
64.404 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in R
64.404 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R
64.404 * [taylor]: Taking taylor expansion of -0.5 in R
64.404 * [backup-simplify]: Simplify -0.5 into -0.5
64.404 * [taylor]: Taking taylor expansion of phi2 in R
64.404 * [backup-simplify]: Simplify phi2 into phi2
64.404 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
64.404 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
64.404 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
64.404 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
64.404 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
64.404 * [backup-simplify]: Simplify (- 0) into 0
64.405 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
64.405 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in R
64.405 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in R
64.405 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R
64.405 * [taylor]: Taking taylor expansion of -0.5 in R
64.405 * [backup-simplify]: Simplify -0.5 into -0.5
64.405 * [taylor]: Taking taylor expansion of phi1 in R
64.405 * [backup-simplify]: Simplify phi1 into phi1
64.405 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
64.405 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
64.405 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
64.405 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
64.405 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
64.405 * [backup-simplify]: Simplify (- 0) into 0
64.405 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
64.405 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in R
64.405 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in R
64.405 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in R
64.405 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R
64.405 * [taylor]: Taking taylor expansion of -0.5 in R
64.405 * [backup-simplify]: Simplify -0.5 into -0.5
64.405 * [taylor]: Taking taylor expansion of phi2 in R
64.405 * [backup-simplify]: Simplify phi2 into phi2
64.405 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
64.405 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
64.406 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
64.406 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
64.406 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
64.406 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
64.406 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in R
64.406 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in R
64.406 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R
64.406 * [taylor]: Taking taylor expansion of -0.5 in R
64.406 * [backup-simplify]: Simplify -0.5 into -0.5
64.406 * [taylor]: Taking taylor expansion of phi1 in R
64.406 * [backup-simplify]: Simplify phi1 into phi1
64.406 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
64.406 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
64.406 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
64.406 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
64.406 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
64.406 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
64.406 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in R
64.406 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in R
64.406 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in R
64.406 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R
64.406 * [taylor]: Taking taylor expansion of -0.5 in R
64.406 * [backup-simplify]: Simplify -0.5 into -0.5
64.406 * [taylor]: Taking taylor expansion of phi2 in R
64.406 * [backup-simplify]: Simplify phi2 into phi2
64.406 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
64.406 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
64.406 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
64.407 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in R
64.407 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in R
64.407 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R
64.407 * [taylor]: Taking taylor expansion of -0.5 in R
64.407 * [backup-simplify]: Simplify -0.5 into -0.5
64.407 * [taylor]: Taking taylor expansion of phi2 in R
64.407 * [backup-simplify]: Simplify phi2 into phi2
64.407 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
64.407 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
64.407 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
64.407 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in R
64.407 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in R
64.407 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R
64.407 * [taylor]: Taking taylor expansion of -0.5 in R
64.407 * [backup-simplify]: Simplify -0.5 into -0.5
64.407 * [taylor]: Taking taylor expansion of phi1 in R
64.407 * [backup-simplify]: Simplify phi1 into phi1
64.407 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
64.407 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
64.407 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
64.407 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in R
64.407 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R
64.407 * [taylor]: Taking taylor expansion of -0.5 in R
64.407 * [backup-simplify]: Simplify -0.5 into -0.5
64.407 * [taylor]: Taking taylor expansion of phi1 in R
64.407 * [backup-simplify]: Simplify phi1 into phi1
64.407 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
64.408 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
64.408 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
64.408 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in R
64.408 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in R
64.408 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R
64.408 * [taylor]: Taking taylor expansion of -0.5 in R
64.408 * [backup-simplify]: Simplify -0.5 into -0.5
64.408 * [taylor]: Taking taylor expansion of phi2 in R
64.408 * [backup-simplify]: Simplify phi2 into phi2
64.408 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
64.408 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
64.408 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
64.408 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in R
64.408 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in R
64.408 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R
64.408 * [taylor]: Taking taylor expansion of -0.5 in R
64.408 * [backup-simplify]: Simplify -0.5 into -0.5
64.408 * [taylor]: Taking taylor expansion of phi2 in R
64.408 * [backup-simplify]: Simplify phi2 into phi2
64.408 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
64.408 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
64.408 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
64.408 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in R
64.408 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in R
64.408 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R
64.409 * [taylor]: Taking taylor expansion of -0.5 in R
64.409 * [backup-simplify]: Simplify -0.5 into -0.5
64.409 * [taylor]: Taking taylor expansion of phi1 in R
64.409 * [backup-simplify]: Simplify phi1 into phi1
64.409 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
64.409 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
64.409 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
64.409 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in R
64.409 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R
64.409 * [taylor]: Taking taylor expansion of -0.5 in R
64.409 * [backup-simplify]: Simplify -0.5 into -0.5
64.409 * [taylor]: Taking taylor expansion of phi1 in R
64.409 * [backup-simplify]: Simplify phi1 into phi1
64.409 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
64.409 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
64.409 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
64.409 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
64.409 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
64.410 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
64.410 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
64.410 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
64.410 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
64.411 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
64.411 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
64.411 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
64.411 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
64.411 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
64.411 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
64.412 * [backup-simplify]: Simplify (- 0) into 0
64.412 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
64.412 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
64.412 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
64.413 * [backup-simplify]: Simplify (- 0) into 0
64.413 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
64.413 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
64.413 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
64.413 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
64.413 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
64.413 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
64.414 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
64.414 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
64.414 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
64.414 * [backup-simplify]: Simplify (- 0) into 0
64.414 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
64.414 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
64.414 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
64.414 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
64.415 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
64.415 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
64.415 * [backup-simplify]: Simplify (- 0) into 0
64.415 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
64.415 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
64.415 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
64.415 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
64.416 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
64.416 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
64.416 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
64.417 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
64.417 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
64.419 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
64.422 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)
64.426 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)
64.427 * [backup-simplify]: Simplify (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) into (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))
64.429 * [backup-simplify]: Simplify (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) into (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))
64.430 * [backup-simplify]: Simplify (+ 0) into 0
64.430 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
64.430 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
64.431 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
64.431 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
64.432 * [backup-simplify]: Simplify (- 0) into 0
64.432 * [backup-simplify]: Simplify (+ 0 0) into 0
64.432 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
64.432 * [backup-simplify]: Simplify (+ 0) into 0
64.433 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
64.433 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
64.434 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
64.434 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
64.434 * [backup-simplify]: Simplify (- 0) into 0
64.435 * [backup-simplify]: Simplify (+ 0 0) into 0
64.435 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
64.435 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
64.436 * [backup-simplify]: Simplify (+ 0) into 0
64.436 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
64.436 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
64.437 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
64.437 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
64.438 * [backup-simplify]: Simplify (+ 0 0) into 0
64.438 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
64.438 * [backup-simplify]: Simplify (+ 0) into 0
64.439 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
64.439 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
64.439 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
64.440 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
64.440 * [backup-simplify]: Simplify (+ 0 0) into 0
64.440 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
64.441 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
64.441 * [backup-simplify]: Simplify (+ 0 0) into 0
64.441 * [backup-simplify]: Simplify (+ 0) into 0
64.442 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
64.442 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
64.443 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
64.443 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
64.443 * [backup-simplify]: Simplify (+ 0 0) into 0
64.444 * [backup-simplify]: Simplify (+ 0) into 0
64.444 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
64.444 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
64.445 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
64.445 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
64.446 * [backup-simplify]: Simplify (- 0) into 0
64.446 * [backup-simplify]: Simplify (+ 0 0) into 0
64.446 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
64.447 * [backup-simplify]: Simplify (+ 0) into 0
64.447 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
64.447 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
64.448 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
64.448 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
64.449 * [backup-simplify]: Simplify (- 0) into 0
64.449 * [backup-simplify]: Simplify (+ 0 0) into 0
64.449 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
64.450 * [backup-simplify]: Simplify (+ 0) into 0
64.450 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
64.450 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
64.451 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
64.451 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
64.452 * [backup-simplify]: Simplify (+ 0 0) into 0
64.452 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
64.452 * [backup-simplify]: Simplify (+ 0) into 0
64.453 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
64.453 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
64.453 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
64.454 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
64.454 * [backup-simplify]: Simplify (+ 0 0) into 0
64.455 * [backup-simplify]: Simplify (+ 0) into 0
64.455 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
64.455 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
64.456 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
64.456 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
64.457 * [backup-simplify]: Simplify (- 0) into 0
64.457 * [backup-simplify]: Simplify (+ 0 0) into 0
64.457 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
64.457 * [backup-simplify]: Simplify (+ 0) into 0
64.458 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
64.458 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
64.459 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
64.459 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
64.459 * [backup-simplify]: Simplify (+ 0 0) into 0
64.460 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
64.460 * [backup-simplify]: Simplify (+ 0) into 0
64.461 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
64.461 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
64.462 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
64.462 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
64.462 * [backup-simplify]: Simplify (- 0) into 0
64.463 * [backup-simplify]: Simplify (+ 0 0) into 0
64.463 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
64.463 * [backup-simplify]: Simplify (+ 0 0) into 0
64.464 * [backup-simplify]: Simplify (- 0) into 0
64.464 * [backup-simplify]: Simplify (+ 0 0) into 0
64.467 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into 0
64.470 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2))) into 0
64.474 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
64.476 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
64.476 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R) in R
64.476 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in R
64.476 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in R
64.476 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in R
64.476 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R
64.476 * [taylor]: Taking taylor expansion of -0.5 in R
64.476 * [backup-simplify]: Simplify -0.5 into -0.5
64.476 * [taylor]: Taking taylor expansion of phi2 in R
64.476 * [backup-simplify]: Simplify phi2 into phi2
64.476 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
64.477 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
64.477 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
64.477 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
64.477 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
64.477 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
64.477 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in R
64.477 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in R
64.477 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R
64.477 * [taylor]: Taking taylor expansion of -0.5 in R
64.477 * [backup-simplify]: Simplify -0.5 into -0.5
64.477 * [taylor]: Taking taylor expansion of phi1 in R
64.477 * [backup-simplify]: Simplify phi1 into phi1
64.477 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
64.477 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
64.477 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
64.477 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
64.477 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
64.478 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
64.478 * [taylor]: Taking taylor expansion of R in R
64.478 * [backup-simplify]: Simplify 0 into 0
64.478 * [backup-simplify]: Simplify 1 into 1
64.478 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
64.478 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
64.478 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
64.479 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) 1) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
64.479 * [taylor]: Taking taylor expansion of (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) in R
64.479 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) in R
64.479 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in R
64.479 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in R
64.479 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in R
64.479 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R
64.479 * [taylor]: Taking taylor expansion of -0.5 in R
64.479 * [backup-simplify]: Simplify -0.5 into -0.5
64.479 * [taylor]: Taking taylor expansion of phi2 in R
64.479 * [backup-simplify]: Simplify phi2 into phi2
64.479 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
64.479 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
64.479 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
64.479 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
64.479 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
64.480 * [backup-simplify]: Simplify (- 0) into 0
64.480 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
64.480 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in R
64.480 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in R
64.480 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R
64.480 * [taylor]: Taking taylor expansion of -0.5 in R
64.480 * [backup-simplify]: Simplify -0.5 into -0.5
64.480 * [taylor]: Taking taylor expansion of phi1 in R
64.480 * [backup-simplify]: Simplify phi1 into phi1
64.480 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
64.480 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
64.480 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
64.480 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
64.481 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
64.481 * [backup-simplify]: Simplify (- 0) into 0
64.481 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
64.481 * [taylor]: Taking taylor expansion of R in R
64.481 * [backup-simplify]: Simplify 0 into 0
64.481 * [backup-simplify]: Simplify 1 into 1
64.481 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
64.481 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
64.482 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
64.482 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) 1) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
64.482 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) in R
64.482 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) in R
64.482 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3) in R
64.482 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in R
64.482 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in R
64.482 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in R
64.482 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in R
64.482 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in R
64.482 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R
64.482 * [taylor]: Taking taylor expansion of -0.5 in R
64.482 * [backup-simplify]: Simplify -0.5 into -0.5
64.482 * [taylor]: Taking taylor expansion of phi2 in R
64.482 * [backup-simplify]: Simplify phi2 into phi2
64.482 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
64.483 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
64.483 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
64.483 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
64.483 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
64.483 * [backup-simplify]: Simplify (- 0) into 0
64.483 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
64.483 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in R
64.483 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in R
64.483 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R
64.483 * [taylor]: Taking taylor expansion of -0.5 in R
64.483 * [backup-simplify]: Simplify -0.5 into -0.5
64.483 * [taylor]: Taking taylor expansion of phi1 in R
64.483 * [backup-simplify]: Simplify phi1 into phi1
64.483 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
64.484 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
64.484 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
64.484 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
64.484 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
64.484 * [backup-simplify]: Simplify (- 0) into 0
64.484 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
64.484 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in R
64.484 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in R
64.484 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in R
64.484 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R
64.484 * [taylor]: Taking taylor expansion of -0.5 in R
64.484 * [backup-simplify]: Simplify -0.5 into -0.5
64.485 * [taylor]: Taking taylor expansion of phi2 in R
64.485 * [backup-simplify]: Simplify phi2 into phi2
64.485 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
64.485 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
64.485 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
64.485 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
64.485 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
64.485 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
64.485 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in R
64.485 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in R
64.485 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R
64.485 * [taylor]: Taking taylor expansion of -0.5 in R
64.485 * [backup-simplify]: Simplify -0.5 into -0.5
64.485 * [taylor]: Taking taylor expansion of phi1 in R
64.485 * [backup-simplify]: Simplify phi1 into phi1
64.485 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
64.485 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
64.485 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
64.486 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
64.486 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
64.486 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
64.486 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in R
64.486 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in R
64.486 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in R
64.486 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R
64.486 * [taylor]: Taking taylor expansion of -0.5 in R
64.486 * [backup-simplify]: Simplify -0.5 into -0.5
64.486 * [taylor]: Taking taylor expansion of phi2 in R
64.486 * [backup-simplify]: Simplify phi2 into phi2
64.486 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
64.486 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
64.486 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
64.486 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in R
64.486 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in R
64.486 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R
64.486 * [taylor]: Taking taylor expansion of -0.5 in R
64.486 * [backup-simplify]: Simplify -0.5 into -0.5
64.486 * [taylor]: Taking taylor expansion of phi2 in R
64.486 * [backup-simplify]: Simplify phi2 into phi2
64.486 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
64.487 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
64.487 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
64.487 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in R
64.487 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in R
64.487 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R
64.487 * [taylor]: Taking taylor expansion of -0.5 in R
64.487 * [backup-simplify]: Simplify -0.5 into -0.5
64.487 * [taylor]: Taking taylor expansion of phi1 in R
64.487 * [backup-simplify]: Simplify phi1 into phi1
64.487 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
64.487 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
64.487 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
64.487 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in R
64.487 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R
64.487 * [taylor]: Taking taylor expansion of -0.5 in R
64.487 * [backup-simplify]: Simplify -0.5 into -0.5
64.487 * [taylor]: Taking taylor expansion of phi1 in R
64.487 * [backup-simplify]: Simplify phi1 into phi1
64.487 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
64.487 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
64.487 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
64.487 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in R
64.487 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in R
64.487 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R
64.487 * [taylor]: Taking taylor expansion of -0.5 in R
64.488 * [backup-simplify]: Simplify -0.5 into -0.5
64.488 * [taylor]: Taking taylor expansion of phi2 in R
64.488 * [backup-simplify]: Simplify phi2 into phi2
64.488 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
64.488 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
64.488 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
64.488 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in R
64.488 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in R
64.488 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R
64.488 * [taylor]: Taking taylor expansion of -0.5 in R
64.488 * [backup-simplify]: Simplify -0.5 into -0.5
64.488 * [taylor]: Taking taylor expansion of phi2 in R
64.488 * [backup-simplify]: Simplify phi2 into phi2
64.488 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
64.488 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
64.488 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
64.488 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in R
64.488 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in R
64.488 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R
64.488 * [taylor]: Taking taylor expansion of -0.5 in R
64.488 * [backup-simplify]: Simplify -0.5 into -0.5
64.488 * [taylor]: Taking taylor expansion of phi1 in R
64.488 * [backup-simplify]: Simplify phi1 into phi1
64.488 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
64.488 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
64.489 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
64.489 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in R
64.489 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R
64.489 * [taylor]: Taking taylor expansion of -0.5 in R
64.489 * [backup-simplify]: Simplify -0.5 into -0.5
64.489 * [taylor]: Taking taylor expansion of phi1 in R
64.489 * [backup-simplify]: Simplify phi1 into phi1
64.489 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
64.489 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
64.489 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
64.489 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
64.489 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
64.490 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
64.490 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
64.490 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
64.490 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
64.491 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
64.491 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
64.491 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
64.491 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
64.491 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
64.491 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
64.492 * [backup-simplify]: Simplify (- 0) into 0
64.492 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
64.492 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
64.492 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
64.495 * [backup-simplify]: Simplify (- 0) into 0
64.495 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
64.495 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
64.495 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
64.495 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
64.495 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
64.495 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
64.496 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
64.496 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
64.496 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
64.496 * [backup-simplify]: Simplify (- 0) into 0
64.496 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
64.496 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
64.497 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
64.497 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
64.497 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
64.497 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
64.497 * [backup-simplify]: Simplify (- 0) into 0
64.497 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
64.497 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
64.497 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
64.498 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
64.498 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
64.498 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
64.498 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
64.499 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
64.500 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
64.501 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
64.504 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)
64.507 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)
64.509 * [backup-simplify]: Simplify (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) into (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))
64.511 * [backup-simplify]: Simplify (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) into (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))
64.512 * [backup-simplify]: Simplify (+ 0) into 0
64.512 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
64.512 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
64.513 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
64.513 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
64.514 * [backup-simplify]: Simplify (- 0) into 0
64.514 * [backup-simplify]: Simplify (+ 0 0) into 0
64.514 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
64.515 * [backup-simplify]: Simplify (+ 0) into 0
64.515 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
64.515 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
64.516 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
64.516 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
64.517 * [backup-simplify]: Simplify (- 0) into 0
64.517 * [backup-simplify]: Simplify (+ 0 0) into 0
64.517 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
64.517 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
64.518 * [backup-simplify]: Simplify (+ 0) into 0
64.519 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
64.519 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
64.519 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
64.520 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
64.520 * [backup-simplify]: Simplify (+ 0 0) into 0
64.520 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
64.521 * [backup-simplify]: Simplify (+ 0) into 0
64.521 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
64.521 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
64.522 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
64.522 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
64.523 * [backup-simplify]: Simplify (+ 0 0) into 0
64.523 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
64.523 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
64.524 * [backup-simplify]: Simplify (+ 0 0) into 0
64.524 * [backup-simplify]: Simplify (+ 0) into 0
64.524 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
64.525 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
64.525 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
64.526 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
64.526 * [backup-simplify]: Simplify (+ 0 0) into 0
64.526 * [backup-simplify]: Simplify (+ 0) into 0
64.527 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
64.527 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
64.528 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
64.528 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
64.528 * [backup-simplify]: Simplify (- 0) into 0
64.529 * [backup-simplify]: Simplify (+ 0 0) into 0
64.529 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
64.529 * [backup-simplify]: Simplify (+ 0) into 0
64.530 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
64.530 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
64.531 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
64.531 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
64.531 * [backup-simplify]: Simplify (- 0) into 0
64.532 * [backup-simplify]: Simplify (+ 0 0) into 0
64.532 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
64.532 * [backup-simplify]: Simplify (+ 0) into 0
64.533 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
64.533 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
64.534 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
64.534 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
64.534 * [backup-simplify]: Simplify (+ 0 0) into 0
64.535 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
64.535 * [backup-simplify]: Simplify (+ 0) into 0
64.535 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
64.536 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
64.536 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
64.537 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
64.537 * [backup-simplify]: Simplify (+ 0 0) into 0
64.537 * [backup-simplify]: Simplify (+ 0) into 0
64.538 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
64.538 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
64.539 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
64.539 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
64.539 * [backup-simplify]: Simplify (- 0) into 0
64.540 * [backup-simplify]: Simplify (+ 0 0) into 0
64.540 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
64.540 * [backup-simplify]: Simplify (+ 0) into 0
64.541 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
64.541 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
64.541 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
64.542 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
64.542 * [backup-simplify]: Simplify (+ 0 0) into 0
64.542 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
64.543 * [backup-simplify]: Simplify (+ 0) into 0
64.543 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
64.543 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
64.544 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
64.544 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
64.545 * [backup-simplify]: Simplify (- 0) into 0
64.545 * [backup-simplify]: Simplify (+ 0 0) into 0
64.545 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
64.546 * [backup-simplify]: Simplify (+ 0 0) into 0
64.546 * [backup-simplify]: Simplify (- 0) into 0
64.546 * [backup-simplify]: Simplify (+ 0 0) into 0
64.550 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into 0
64.553 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2))) into 0
64.557 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
64.559 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
64.559 * [taylor]: Taking taylor expansion of (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) in R
64.559 * [taylor]: Taking taylor expansion of 2 in R
64.559 * [backup-simplify]: Simplify 2 into 2
64.559 * [taylor]: Taking taylor expansion of (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) in R
64.559 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) in R
64.559 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in R
64.559 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in R
64.559 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R
64.559 * [taylor]: Taking taylor expansion of -0.5 in R
64.559 * [backup-simplify]: Simplify -0.5 into -0.5
64.559 * [taylor]: Taking taylor expansion of phi2 in R
64.559 * [backup-simplify]: Simplify phi2 into phi2
64.559 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
64.559 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
64.559 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
64.559 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in R
64.559 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in R
64.559 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R
64.559 * [taylor]: Taking taylor expansion of -0.5 in R
64.559 * [backup-simplify]: Simplify -0.5 into -0.5
64.559 * [taylor]: Taking taylor expansion of phi2 in R
64.559 * [backup-simplify]: Simplify phi2 into phi2
64.560 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
64.560 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
64.560 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
64.560 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in R
64.560 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in R
64.560 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R
64.560 * [taylor]: Taking taylor expansion of -0.5 in R
64.560 * [backup-simplify]: Simplify -0.5 into -0.5
64.560 * [taylor]: Taking taylor expansion of phi1 in R
64.560 * [backup-simplify]: Simplify phi1 into phi1
64.560 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
64.560 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
64.560 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
64.560 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in R
64.560 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R
64.560 * [taylor]: Taking taylor expansion of -0.5 in R
64.560 * [backup-simplify]: Simplify -0.5 into -0.5
64.560 * [taylor]: Taking taylor expansion of phi1 in R
64.560 * [backup-simplify]: Simplify phi1 into phi1
64.560 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
64.560 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
64.560 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
64.561 * [taylor]: Taking taylor expansion of R in R
64.561 * [backup-simplify]: Simplify 0 into 0
64.561 * [backup-simplify]: Simplify 1 into 1
64.561 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
64.561 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
64.561 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
64.561 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
64.561 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
64.562 * [backup-simplify]: Simplify (- 0) into 0
64.562 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
64.562 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
64.562 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
64.562 * [backup-simplify]: Simplify (- 0) into 0
64.562 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
64.562 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
64.562 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
64.563 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
64.563 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
64.563 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
64.563 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
64.563 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) 1) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
64.564 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) in R
64.564 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) in R
64.564 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3) in R
64.564 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in R
64.564 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in R
64.564 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in R
64.564 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in R
64.564 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in R
64.564 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R
64.564 * [taylor]: Taking taylor expansion of -0.5 in R
64.564 * [backup-simplify]: Simplify -0.5 into -0.5
64.564 * [taylor]: Taking taylor expansion of phi2 in R
64.564 * [backup-simplify]: Simplify phi2 into phi2
64.564 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
64.564 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
64.564 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
64.564 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
64.564 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
64.565 * [backup-simplify]: Simplify (- 0) into 0
64.565 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
64.565 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in R
64.565 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in R
64.565 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R
64.565 * [taylor]: Taking taylor expansion of -0.5 in R
64.565 * [backup-simplify]: Simplify -0.5 into -0.5
64.565 * [taylor]: Taking taylor expansion of phi1 in R
64.565 * [backup-simplify]: Simplify phi1 into phi1
64.565 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
64.565 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
64.565 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
64.565 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
64.565 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
64.566 * [backup-simplify]: Simplify (- 0) into 0
64.566 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
64.566 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in R
64.566 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in R
64.566 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in R
64.566 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R
64.566 * [taylor]: Taking taylor expansion of -0.5 in R
64.566 * [backup-simplify]: Simplify -0.5 into -0.5
64.566 * [taylor]: Taking taylor expansion of phi2 in R
64.566 * [backup-simplify]: Simplify phi2 into phi2
64.566 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
64.566 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
64.566 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
64.566 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
64.566 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
64.567 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
64.567 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in R
64.567 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in R
64.567 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R
64.567 * [taylor]: Taking taylor expansion of -0.5 in R
64.567 * [backup-simplify]: Simplify -0.5 into -0.5
64.567 * [taylor]: Taking taylor expansion of phi1 in R
64.567 * [backup-simplify]: Simplify phi1 into phi1
64.567 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
64.567 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
64.567 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
64.567 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
64.567 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
64.567 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
64.567 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in R
64.567 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in R
64.567 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in R
64.567 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R
64.567 * [taylor]: Taking taylor expansion of -0.5 in R
64.567 * [backup-simplify]: Simplify -0.5 into -0.5
64.567 * [taylor]: Taking taylor expansion of phi2 in R
64.568 * [backup-simplify]: Simplify phi2 into phi2
64.568 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
64.568 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
64.568 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
64.568 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in R
64.568 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in R
64.568 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R
64.568 * [taylor]: Taking taylor expansion of -0.5 in R
64.568 * [backup-simplify]: Simplify -0.5 into -0.5
64.568 * [taylor]: Taking taylor expansion of phi2 in R
64.568 * [backup-simplify]: Simplify phi2 into phi2
64.568 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
64.568 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
64.568 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
64.568 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in R
64.568 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in R
64.568 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R
64.568 * [taylor]: Taking taylor expansion of -0.5 in R
64.568 * [backup-simplify]: Simplify -0.5 into -0.5
64.568 * [taylor]: Taking taylor expansion of phi1 in R
64.568 * [backup-simplify]: Simplify phi1 into phi1
64.568 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
64.568 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
64.569 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
64.569 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in R
64.569 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R
64.569 * [taylor]: Taking taylor expansion of -0.5 in R
64.569 * [backup-simplify]: Simplify -0.5 into -0.5
64.569 * [taylor]: Taking taylor expansion of phi1 in R
64.569 * [backup-simplify]: Simplify phi1 into phi1
64.569 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
64.569 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
64.569 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
64.569 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in R
64.569 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in R
64.569 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R
64.569 * [taylor]: Taking taylor expansion of -0.5 in R
64.569 * [backup-simplify]: Simplify -0.5 into -0.5
64.569 * [taylor]: Taking taylor expansion of phi2 in R
64.569 * [backup-simplify]: Simplify phi2 into phi2
64.569 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
64.569 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
64.569 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
64.569 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in R
64.569 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in R
64.569 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R
64.569 * [taylor]: Taking taylor expansion of -0.5 in R
64.570 * [backup-simplify]: Simplify -0.5 into -0.5
64.570 * [taylor]: Taking taylor expansion of phi2 in R
64.570 * [backup-simplify]: Simplify phi2 into phi2
64.570 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
64.570 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
64.570 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
64.570 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in R
64.570 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in R
64.570 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R
64.570 * [taylor]: Taking taylor expansion of -0.5 in R
64.570 * [backup-simplify]: Simplify -0.5 into -0.5
64.570 * [taylor]: Taking taylor expansion of phi1 in R
64.570 * [backup-simplify]: Simplify phi1 into phi1
64.570 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
64.570 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
64.570 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
64.570 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in R
64.570 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R
64.570 * [taylor]: Taking taylor expansion of -0.5 in R
64.570 * [backup-simplify]: Simplify -0.5 into -0.5
64.570 * [taylor]: Taking taylor expansion of phi1 in R
64.570 * [backup-simplify]: Simplify phi1 into phi1
64.570 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
64.570 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
64.571 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
64.571 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
64.571 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
64.571 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
64.571 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
64.572 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
64.572 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
64.572 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
64.573 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
64.573 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
64.573 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
64.573 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
64.573 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
64.573 * [backup-simplify]: Simplify (- 0) into 0
64.574 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
64.574 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
64.574 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
64.574 * [backup-simplify]: Simplify (- 0) into 0
64.574 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
64.574 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
64.574 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
64.574 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
64.575 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
64.575 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
64.575 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
64.575 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
64.575 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
64.576 * [backup-simplify]: Simplify (- 0) into 0
64.576 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
64.576 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
64.576 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
64.576 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
64.576 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
64.576 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
64.577 * [backup-simplify]: Simplify (- 0) into 0
64.577 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
64.577 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
64.577 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
64.577 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
64.577 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
64.577 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
64.578 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
64.578 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
64.579 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
64.581 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
64.584 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)
64.587 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)
64.589 * [backup-simplify]: Simplify (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) into (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))
64.591 * [backup-simplify]: Simplify (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) into (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))
64.592 * [backup-simplify]: Simplify (+ 0) into 0
64.592 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
64.592 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
64.593 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
64.593 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
64.594 * [backup-simplify]: Simplify (- 0) into 0
64.594 * [backup-simplify]: Simplify (+ 0 0) into 0
64.594 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
64.595 * [backup-simplify]: Simplify (+ 0) into 0
64.595 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
64.595 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
64.596 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
64.596 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
64.597 * [backup-simplify]: Simplify (- 0) into 0
64.597 * [backup-simplify]: Simplify (+ 0 0) into 0
64.597 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
64.597 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
64.598 * [backup-simplify]: Simplify (+ 0) into 0
64.598 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
64.598 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
64.599 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
64.600 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
64.600 * [backup-simplify]: Simplify (+ 0 0) into 0
64.600 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
64.600 * [backup-simplify]: Simplify (+ 0) into 0
64.601 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
64.601 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
64.602 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
64.602 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
64.602 * [backup-simplify]: Simplify (+ 0 0) into 0
64.603 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
64.603 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
64.603 * [backup-simplify]: Simplify (+ 0 0) into 0
64.604 * [backup-simplify]: Simplify (+ 0) into 0
64.604 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
64.604 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
64.605 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
64.605 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
64.606 * [backup-simplify]: Simplify (+ 0 0) into 0
64.606 * [backup-simplify]: Simplify (+ 0) into 0
64.607 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
64.607 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
64.607 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
64.608 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
64.608 * [backup-simplify]: Simplify (- 0) into 0
64.608 * [backup-simplify]: Simplify (+ 0 0) into 0
64.609 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
64.609 * [backup-simplify]: Simplify (+ 0) into 0
64.609 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
64.610 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
64.610 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
64.611 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
64.611 * [backup-simplify]: Simplify (- 0) into 0
64.611 * [backup-simplify]: Simplify (+ 0 0) into 0
64.612 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
64.612 * [backup-simplify]: Simplify (+ 0) into 0
64.612 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
64.612 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
64.613 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
64.614 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
64.614 * [backup-simplify]: Simplify (+ 0 0) into 0
64.614 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
64.615 * [backup-simplify]: Simplify (+ 0) into 0
64.615 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
64.615 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
64.616 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
64.616 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
64.617 * [backup-simplify]: Simplify (+ 0 0) into 0
64.617 * [backup-simplify]: Simplify (+ 0) into 0
64.617 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
64.618 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
64.618 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
64.619 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
64.619 * [backup-simplify]: Simplify (- 0) into 0
64.619 * [backup-simplify]: Simplify (+ 0 0) into 0
64.620 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
64.620 * [backup-simplify]: Simplify (+ 0) into 0
64.620 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
64.621 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
64.621 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
64.622 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
64.622 * [backup-simplify]: Simplify (+ 0 0) into 0
64.622 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
64.623 * [backup-simplify]: Simplify (+ 0) into 0
64.623 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
64.623 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
64.624 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
64.624 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
64.625 * [backup-simplify]: Simplify (- 0) into 0
64.625 * [backup-simplify]: Simplify (+ 0 0) into 0
64.625 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
64.626 * [backup-simplify]: Simplify (+ 0 0) into 0
64.626 * [backup-simplify]: Simplify (- 0) into 0
64.626 * [backup-simplify]: Simplify (+ 0 0) into 0
64.630 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into 0
64.633 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2))) into 0
64.637 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
64.639 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
64.641 * [backup-simplify]: Simplify (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (* (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))
64.643 * [backup-simplify]: Simplify (* (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) into (* (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))
64.650 * [backup-simplify]: Simplify (+ (* (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (* (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into (+ (* (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (* (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))
64.652 * [backup-simplify]: Simplify (* (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) into (* (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))
64.655 * [backup-simplify]: Simplify (* 2 (* (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into (* 2 (* (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))
64.657 * [backup-simplify]: Simplify (- (* 2 (* (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))) into (- (* 2 (* (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))))
64.665 * [backup-simplify]: Simplify (+ (+ (* (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (* (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (- (* 2 (* (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))))) into (- (+ (* (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (* 2 (* (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))))
64.673 * [backup-simplify]: Simplify (- (+ (* (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (* 2 (* (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))) into (- (+ (* (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (* (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (* 2 (* (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))))
64.676 * [backup-simplify]: Simplify (* (/ 1 (* phi1 (* R phi2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) into (* (/ 1 (* R (* phi1 phi2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))
64.677 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
64.678 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
64.678 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
64.679 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
64.679 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
64.680 * [backup-simplify]: Simplify (- 0) into 0
64.680 * [backup-simplify]: Simplify (+ 0 0) into 0
64.681 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0
64.681 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
64.682 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
64.682 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
64.683 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
64.683 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
64.684 * [backup-simplify]: Simplify (- 0) into 0
64.684 * [backup-simplify]: Simplify (+ 0 0) into 0
64.685 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0
64.685 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0
64.686 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
64.687 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
64.687 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
64.687 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
64.688 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
64.688 * [backup-simplify]: Simplify (+ 0 0) into 0
64.689 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
64.690 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
64.690 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
64.690 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
64.691 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
64.692 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
64.692 * [backup-simplify]: Simplify (+ 0 0) into 0
64.692 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0
64.693 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0
64.693 * [backup-simplify]: Simplify (+ 0 0) into 0
64.694 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
64.695 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
64.695 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
64.696 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
64.696 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
64.696 * [backup-simplify]: Simplify (+ 0 0) into 0
64.697 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
64.698 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
64.698 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
64.699 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
64.699 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
64.700 * [backup-simplify]: Simplify (- 0) into 0
64.700 * [backup-simplify]: Simplify (+ 0 0) into 0
64.700 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
64.701 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
64.702 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
64.702 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
64.703 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
64.703 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
64.704 * [backup-simplify]: Simplify (- 0) into 0
64.704 * [backup-simplify]: Simplify (+ 0 0) into 0
64.704 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
64.705 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
64.706 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
64.706 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
64.707 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
64.707 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
64.707 * [backup-simplify]: Simplify (+ 0 0) into 0
64.708 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into 0
64.709 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
64.710 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
64.710 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
64.710 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
64.711 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
64.711 * [backup-simplify]: Simplify (+ 0 0) into 0
64.712 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
64.713 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
64.713 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
64.713 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
64.714 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
64.714 * [backup-simplify]: Simplify (- 0) into 0
64.715 * [backup-simplify]: Simplify (+ 0 0) into 0
64.715 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
64.716 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
64.716 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
64.717 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
64.717 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
64.718 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
64.718 * [backup-simplify]: Simplify (+ 0 0) into 0
64.719 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
64.720 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
64.720 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
64.720 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
64.721 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
64.722 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
64.722 * [backup-simplify]: Simplify (- 0) into 0
64.722 * [backup-simplify]: Simplify (+ 0 0) into 0
64.723 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into 0
64.723 * [backup-simplify]: Simplify (+ 0 0) into 0
64.724 * [backup-simplify]: Simplify (- 0) into 0
64.724 * [backup-simplify]: Simplify (+ 0 0) into 0
64.729 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (* 0 (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0
64.731 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0
64.732 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
64.733 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
64.733 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
64.734 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
64.734 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
64.734 * [backup-simplify]: Simplify (+ 0 0) into 0
64.735 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
64.736 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
64.736 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
64.737 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
64.737 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
64.737 * [backup-simplify]: Simplify (- 0) into 0
64.738 * [backup-simplify]: Simplify (+ 0 0) into 0
64.738 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
64.739 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
64.740 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
64.740 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
64.741 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
64.741 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
64.742 * [backup-simplify]: Simplify (- 0) into 0
64.742 * [backup-simplify]: Simplify (+ 0 0) into 0
64.743 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
64.743 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
64.744 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
64.744 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
64.745 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
64.745 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
64.746 * [backup-simplify]: Simplify (+ 0 0) into 0
64.746 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into 0
64.747 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
64.748 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (* 0 1))) into 0
64.748 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) (/ 0 R)) (* 0 (/ 0 R)))) into 0
64.750 * [backup-simplify]: Simplify (+ (* (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) 0) (+ (* 0 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))))) into 0
64.751 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
64.751 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
64.751 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
64.752 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
64.752 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
64.752 * [backup-simplify]: Simplify (- 0) into 0
64.752 * [backup-simplify]: Simplify (+ 0 0) into 0
64.753 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0
64.753 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
64.754 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
64.754 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
64.754 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
64.755 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
64.755 * [backup-simplify]: Simplify (- 0) into 0
64.755 * [backup-simplify]: Simplify (+ 0 0) into 0
64.755 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0
64.756 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0
64.756 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
64.757 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
64.757 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
64.758 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
64.758 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
64.758 * [backup-simplify]: Simplify (+ 0 0) into 0
64.758 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
64.759 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
64.759 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
64.760 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
64.760 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
64.760 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
64.761 * [backup-simplify]: Simplify (+ 0 0) into 0
64.761 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0
64.761 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0
64.762 * [backup-simplify]: Simplify (+ 0 0) into 0
64.762 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
64.763 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
64.763 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
64.763 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
64.763 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
64.764 * [backup-simplify]: Simplify (+ 0 0) into 0
64.764 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
64.765 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
64.765 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
64.765 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
64.766 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
64.766 * [backup-simplify]: Simplify (- 0) into 0
64.766 * [backup-simplify]: Simplify (+ 0 0) into 0
64.766 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
64.769 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
64.769 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
64.769 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
64.770 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
64.770 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
64.770 * [backup-simplify]: Simplify (- 0) into 0
64.771 * [backup-simplify]: Simplify (+ 0 0) into 0
64.771 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
64.771 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
64.772 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
64.772 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
64.772 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
64.773 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
64.773 * [backup-simplify]: Simplify (+ 0 0) into 0
64.773 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into 0
64.774 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
64.774 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
64.775 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
64.775 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
64.775 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
64.776 * [backup-simplify]: Simplify (+ 0 0) into 0
64.776 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
64.777 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
64.777 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
64.777 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
64.777 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
64.778 * [backup-simplify]: Simplify (- 0) into 0
64.778 * [backup-simplify]: Simplify (+ 0 0) into 0
64.778 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
64.779 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
64.779 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
64.779 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
64.780 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
64.780 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
64.780 * [backup-simplify]: Simplify (+ 0 0) into 0
64.781 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
64.781 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
64.782 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
64.782 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
64.782 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
64.783 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
64.783 * [backup-simplify]: Simplify (- 0) into 0
64.783 * [backup-simplify]: Simplify (+ 0 0) into 0
64.784 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into 0
64.784 * [backup-simplify]: Simplify (+ 0 0) into 0
64.784 * [backup-simplify]: Simplify (- 0) into 0
64.784 * [backup-simplify]: Simplify (+ 0 0) into 0
64.786 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) into 0
64.789 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)))) into 0
64.794 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (* 0 (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
64.797 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
64.797 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
64.798 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
64.798 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
64.799 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
64.799 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
64.800 * [backup-simplify]: Simplify (+ 0 0) into 0
64.801 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
64.801 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0
64.802 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
64.802 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
64.802 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
64.803 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
64.803 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
64.803 * [backup-simplify]: Simplify (+ 0 0) into 0
64.804 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0
64.804 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi2)) 2)))) into 0
64.805 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 4) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 4)))) into 0
64.805 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
64.806 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 R))) into 0
64.806 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) R) (/ 0 R)) (* 0 (/ 0 R)))) into 0
64.808 * [backup-simplify]: Simplify (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) R) 0) (+ (* 0 0) (* 0 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))) into 0
64.810 * [backup-simplify]: Simplify (+ (* 1/2 0) (+ (* 0 0) (* 0 (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) R))))) into 0
64.811 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
64.812 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
64.812 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
64.813 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
64.813 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
64.814 * [backup-simplify]: Simplify (- 0) into 0
64.814 * [backup-simplify]: Simplify (+ 0 0) into 0
64.815 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0
64.815 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
64.816 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
64.816 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
64.817 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
64.817 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
64.818 * [backup-simplify]: Simplify (- 0) into 0
64.818 * [backup-simplify]: Simplify (+ 0 0) into 0
64.819 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0
64.819 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0
64.820 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
64.821 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
64.821 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
64.822 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
64.822 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
64.822 * [backup-simplify]: Simplify (+ 0 0) into 0
64.823 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
64.824 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
64.824 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
64.825 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
64.825 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
64.826 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
64.826 * [backup-simplify]: Simplify (+ 0 0) into 0
64.827 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0
64.827 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0
64.828 * [backup-simplify]: Simplify (+ 0 0) into 0
64.828 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
64.829 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
64.829 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
64.829 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
64.830 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
64.830 * [backup-simplify]: Simplify (+ 0 0) into 0
64.830 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
64.831 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
64.831 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
64.831 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
64.832 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
64.832 * [backup-simplify]: Simplify (- 0) into 0
64.832 * [backup-simplify]: Simplify (+ 0 0) into 0
64.833 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
64.833 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
64.834 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
64.834 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
64.834 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
64.835 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
64.835 * [backup-simplify]: Simplify (- 0) into 0
64.835 * [backup-simplify]: Simplify (+ 0 0) into 0
64.836 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
64.837 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
64.837 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
64.838 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
64.838 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
64.839 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
64.839 * [backup-simplify]: Simplify (+ 0 0) into 0
64.840 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into 0
64.840 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
64.841 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
64.841 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
64.842 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
64.842 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
64.843 * [backup-simplify]: Simplify (+ 0 0) into 0
64.844 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
64.844 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
64.844 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
64.845 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
64.846 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
64.846 * [backup-simplify]: Simplify (- 0) into 0
64.846 * [backup-simplify]: Simplify (+ 0 0) into 0
64.847 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
64.848 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
64.848 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
64.848 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
64.849 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
64.850 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
64.850 * [backup-simplify]: Simplify (+ 0 0) into 0
64.850 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
64.851 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
64.852 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
64.852 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
64.853 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
64.853 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
64.854 * [backup-simplify]: Simplify (- 0) into 0
64.854 * [backup-simplify]: Simplify (+ 0 0) into 0
64.854 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into 0
64.855 * [backup-simplify]: Simplify (+ 0 0) into 0
64.855 * [backup-simplify]: Simplify (- 0) into 0
64.855 * [backup-simplify]: Simplify (+ 0 0) into 0
64.859 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) into 0
64.863 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)))) into 0
64.869 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (* 0 (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
64.871 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
64.872 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
64.873 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
64.873 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
64.874 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
64.874 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
64.875 * [backup-simplify]: Simplify (- 0) into 0
64.875 * [backup-simplify]: Simplify (+ 0 0) into 0
64.876 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0
64.876 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0
64.877 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
64.878 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
64.878 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
64.879 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
64.879 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
64.879 * [backup-simplify]: Simplify (- 0) into 0
64.880 * [backup-simplify]: Simplify (+ 0 0) into 0
64.880 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0
64.881 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi2)) 2)))) into 0
64.882 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 4) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 4)))) into 0
64.884 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
64.884 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 R))) into 0
64.885 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) R) (/ 0 R)) (* 0 (/ 0 R)))) into 0
64.886 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) R) 0) (+ (* 0 0) (* 0 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))) into 0
64.889 * [backup-simplify]: Simplify (+ (* 1/2 0) (+ (* 0 0) (* 0 (* (/ (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))))) into 0
64.889 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
64.890 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
64.890 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
64.890 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
64.891 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
64.891 * [backup-simplify]: Simplify (- 0) into 0
64.892 * [backup-simplify]: Simplify (+ 0 0) into 0
64.892 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0
64.893 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
64.894 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
64.894 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
64.894 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
64.895 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
64.895 * [backup-simplify]: Simplify (- 0) into 0
64.895 * [backup-simplify]: Simplify (+ 0 0) into 0
64.896 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0
64.897 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0
64.897 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
64.898 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
64.898 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
64.899 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
64.900 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
64.900 * [backup-simplify]: Simplify (+ 0 0) into 0
64.900 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
64.901 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
64.902 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
64.902 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
64.903 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
64.903 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
64.903 * [backup-simplify]: Simplify (+ 0 0) into 0
64.904 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0
64.905 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0
64.905 * [backup-simplify]: Simplify (+ 0 0) into 0
64.906 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
64.906 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
64.907 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
64.907 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
64.908 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
64.908 * [backup-simplify]: Simplify (+ 0 0) into 0
64.909 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
64.909 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
64.910 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
64.911 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
64.911 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
64.912 * [backup-simplify]: Simplify (- 0) into 0
64.912 * [backup-simplify]: Simplify (+ 0 0) into 0
64.912 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
64.913 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
64.914 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
64.914 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
64.915 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
64.915 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
64.915 * [backup-simplify]: Simplify (- 0) into 0
64.916 * [backup-simplify]: Simplify (+ 0 0) into 0
64.916 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
64.917 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
64.918 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
64.918 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
64.919 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
64.919 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
64.919 * [backup-simplify]: Simplify (+ 0 0) into 0
64.920 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into 0
64.921 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
64.921 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
64.922 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
64.922 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
64.923 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
64.923 * [backup-simplify]: Simplify (+ 0 0) into 0
64.924 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
64.924 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
64.925 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
64.925 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
64.926 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
64.926 * [backup-simplify]: Simplify (- 0) into 0
64.926 * [backup-simplify]: Simplify (+ 0 0) into 0
64.927 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
64.928 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
64.928 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
64.928 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
64.929 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
64.930 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
64.930 * [backup-simplify]: Simplify (+ 0 0) into 0
64.931 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
64.931 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
64.932 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
64.932 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
64.933 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
64.933 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
64.934 * [backup-simplify]: Simplify (- 0) into 0
64.934 * [backup-simplify]: Simplify (+ 0 0) into 0
64.935 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into 0
64.935 * [backup-simplify]: Simplify (+ 0 0) into 0
64.935 * [backup-simplify]: Simplify (- 0) into 0
64.936 * [backup-simplify]: Simplify (+ 0 0) into 0
64.939 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) into 0
64.943 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)))) into 0
64.948 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (* 0 (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
64.951 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
64.952 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
64.953 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
64.953 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
64.954 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
64.954 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
64.955 * [backup-simplify]: Simplify (+ 0 0) into 0
64.955 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
64.956 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
64.957 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
64.957 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
64.958 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
64.958 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
64.958 * [backup-simplify]: Simplify (- 0) into 0
64.959 * [backup-simplify]: Simplify (+ 0 0) into 0
64.959 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0
64.960 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0
64.961 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
64.961 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
64.962 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
64.962 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
64.963 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
64.963 * [backup-simplify]: Simplify (- 0) into 0
64.963 * [backup-simplify]: Simplify (+ 0 0) into 0
64.964 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0
64.965 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2))))) into 0
64.965 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
64.966 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
64.966 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
64.967 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
64.967 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
64.968 * [backup-simplify]: Simplify (+ 0 0) into 0
64.968 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0
64.969 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)))))) into 0
64.970 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
64.971 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (* 0 1))) into 0
64.972 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)))) R) (/ 0 R)) (* 0 (/ 0 R)))) into 0
64.975 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)))) R) 0) (+ (* 0 0) (* 0 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))) into 0
64.978 * [backup-simplify]: Simplify (+ (* 3 0) (+ (* 0 0) (* 0 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)))) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))))) into 0
64.979 * [backup-simplify]: Simplify (+ 0 0) into 0
64.979 * [backup-simplify]: Simplify (+ 0 0) into 0
64.980 * [backup-simplify]: Simplify (+ 0 0) into 0
64.982 * [backup-simplify]: Simplify (+ (* (/ 1 (* R (* phi1 phi2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) 0) into (* (/ 1 (* phi1 (* R phi2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))
64.984 * [backup-simplify]: Simplify (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (/ 1 (* R (pow phi2 2)))) into (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (/ 1 (* R (pow phi2 2))))
64.985 * [backup-simplify]: Simplify (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (/ 1 (* R (pow phi2 2))))) into (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (/ 1 (* R (pow phi2 2)))))
64.986 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
64.986 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
64.986 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
64.987 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
64.987 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
64.987 * [backup-simplify]: Simplify (- 0) into 0
64.988 * [backup-simplify]: Simplify (+ 0 0) into 0
64.988 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0
64.989 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
64.989 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
64.989 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
64.990 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
64.990 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
64.990 * [backup-simplify]: Simplify (- 0) into 0
64.990 * [backup-simplify]: Simplify (+ 0 0) into 0
64.991 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0
64.991 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0
64.992 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
64.992 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
64.992 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
64.993 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
64.993 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
64.993 * [backup-simplify]: Simplify (+ 0 0) into 0
64.994 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
64.994 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
64.995 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
64.995 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
64.995 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
64.995 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
64.996 * [backup-simplify]: Simplify (+ 0 0) into 0
64.996 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0
64.997 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0
64.997 * [backup-simplify]: Simplify (+ 0 0) into 0
64.997 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
64.998 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
64.998 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
64.998 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
64.999 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
64.999 * [backup-simplify]: Simplify (+ 0 0) into 0
64.999 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
65.000 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
65.000 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
65.000 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
65.001 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
65.001 * [backup-simplify]: Simplify (- 0) into 0
65.001 * [backup-simplify]: Simplify (+ 0 0) into 0
65.002 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
65.002 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
65.003 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
65.003 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
65.004 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
65.005 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
65.005 * [backup-simplify]: Simplify (- 0) into 0
65.005 * [backup-simplify]: Simplify (+ 0 0) into 0
65.006 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
65.006 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
65.007 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
65.007 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
65.007 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
65.008 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
65.008 * [backup-simplify]: Simplify (+ 0 0) into 0
65.008 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into 0
65.009 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
65.009 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
65.009 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
65.010 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
65.010 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
65.010 * [backup-simplify]: Simplify (+ 0 0) into 0
65.011 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
65.011 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
65.012 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
65.012 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
65.012 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
65.013 * [backup-simplify]: Simplify (- 0) into 0
65.013 * [backup-simplify]: Simplify (+ 0 0) into 0
65.013 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
65.014 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
65.014 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
65.014 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
65.015 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
65.015 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
65.015 * [backup-simplify]: Simplify (+ 0 0) into 0
65.016 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
65.016 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
65.017 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
65.017 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
65.017 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
65.018 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
65.018 * [backup-simplify]: Simplify (- 0) into 0
65.018 * [backup-simplify]: Simplify (+ 0 0) into 0
65.018 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into 0
65.019 * [backup-simplify]: Simplify (+ 0 0) into 0
65.019 * [backup-simplify]: Simplify (- 0) into 0
65.019 * [backup-simplify]: Simplify (+ 0 0) into 0
65.022 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) into 0
65.024 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)))) into 0
65.029 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (* 0 (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
65.032 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
65.032 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
65.033 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
65.033 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
65.034 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
65.035 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
65.035 * [backup-simplify]: Simplify (+ 0 0) into 0
65.036 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
65.036 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
65.037 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
65.037 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
65.038 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
65.038 * [backup-simplify]: Simplify (- 0) into 0
65.039 * [backup-simplify]: Simplify (+ 0 0) into 0
65.039 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0
65.040 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0
65.040 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi1)) 3) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
65.041 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
65.042 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
65.042 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
65.043 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
65.043 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
65.044 * [backup-simplify]: Simplify (- 0) into 0
65.044 * [backup-simplify]: Simplify (+ 0 0) into 0
65.045 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0
65.045 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi2)) 2)))) into 0
65.046 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 3) 0) (+ (* 0 0) (* 0 (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1)))))) into 0
65.047 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
65.048 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
65.048 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
65.048 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
65.049 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
65.049 * [backup-simplify]: Simplify (+ 0 0) into 0
65.050 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1))))))) into 0
65.051 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
65.051 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (* 0 1))) into 0
65.052 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 3) (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1))))) R) (/ 0 R)) (* 0 (/ 0 R)))) into 0
65.053 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 3) (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1))))) R) 0) (+ (* 0 0) (* 0 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))) into 0
65.056 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (* (/ (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (sin (/ -0.5 phi1))))) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))))) into 0
65.057 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
65.057 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
65.058 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
65.058 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
65.059 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
65.059 * [backup-simplify]: Simplify (- 0) into 0
65.059 * [backup-simplify]: Simplify (+ 0 0) into 0
65.060 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0
65.061 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
65.061 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
65.061 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
65.062 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
65.062 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
65.062 * [backup-simplify]: Simplify (- 0) into 0
65.063 * [backup-simplify]: Simplify (+ 0 0) into 0
65.063 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0
65.063 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0
65.064 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
65.064 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
65.064 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
65.065 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
65.065 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
65.066 * [backup-simplify]: Simplify (+ 0 0) into 0
65.066 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
65.066 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
65.067 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
65.067 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
65.067 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
65.068 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
65.068 * [backup-simplify]: Simplify (+ 0 0) into 0
65.068 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0
65.069 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0
65.069 * [backup-simplify]: Simplify (+ 0 0) into 0
65.070 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
65.070 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
65.070 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
65.071 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
65.071 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
65.071 * [backup-simplify]: Simplify (+ 0 0) into 0
65.072 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
65.072 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
65.072 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
65.073 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
65.073 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
65.074 * [backup-simplify]: Simplify (- 0) into 0
65.074 * [backup-simplify]: Simplify (+ 0 0) into 0
65.074 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
65.075 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
65.076 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
65.076 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
65.077 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
65.077 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
65.078 * [backup-simplify]: Simplify (- 0) into 0
65.078 * [backup-simplify]: Simplify (+ 0 0) into 0
65.079 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
65.080 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
65.080 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
65.080 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
65.081 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
65.082 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
65.082 * [backup-simplify]: Simplify (+ 0 0) into 0
65.083 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into 0
65.084 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
65.084 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
65.085 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
65.085 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
65.086 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
65.086 * [backup-simplify]: Simplify (+ 0 0) into 0
65.086 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
65.087 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
65.087 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
65.087 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
65.088 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
65.088 * [backup-simplify]: Simplify (- 0) into 0
65.088 * [backup-simplify]: Simplify (+ 0 0) into 0
65.089 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
65.089 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
65.090 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
65.090 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
65.090 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
65.090 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
65.091 * [backup-simplify]: Simplify (+ 0 0) into 0
65.091 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
65.092 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
65.092 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
65.092 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
65.093 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
65.093 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
65.093 * [backup-simplify]: Simplify (- 0) into 0
65.093 * [backup-simplify]: Simplify (+ 0 0) into 0
65.094 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into 0
65.094 * [backup-simplify]: Simplify (+ 0 0) into 0
65.094 * [backup-simplify]: Simplify (- 0) into 0
65.095 * [backup-simplify]: Simplify (+ 0 0) into 0
65.098 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (* 0 (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0
65.099 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0
65.100 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
65.100 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
65.100 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
65.101 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
65.101 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
65.101 * [backup-simplify]: Simplify (- 0) into 0
65.102 * [backup-simplify]: Simplify (+ 0 0) into 0
65.102 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0
65.102 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
65.103 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
65.103 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
65.103 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
65.104 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
65.104 * [backup-simplify]: Simplify (- 0) into 0
65.104 * [backup-simplify]: Simplify (+ 0 0) into 0
65.104 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0
65.105 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0
65.105 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
65.106 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 R))) into 0
65.106 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) (/ 0 R)) (* 0 (/ 0 R)))) into 0
65.109 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) 0) (+ (* 0 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))))) into 0
65.111 * [backup-simplify]: Simplify (+ (* 1/2 0) (+ (* 0 0) (* 0 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))))) into 0
65.112 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
65.112 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
65.112 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
65.113 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
65.113 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
65.113 * [backup-simplify]: Simplify (- 0) into 0
65.113 * [backup-simplify]: Simplify (+ 0 0) into 0
65.114 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0
65.114 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
65.115 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
65.115 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
65.115 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
65.116 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
65.116 * [backup-simplify]: Simplify (- 0) into 0
65.116 * [backup-simplify]: Simplify (+ 0 0) into 0
65.116 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0
65.117 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0
65.117 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
65.118 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
65.118 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
65.118 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
65.119 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
65.119 * [backup-simplify]: Simplify (+ 0 0) into 0
65.119 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
65.120 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
65.120 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
65.120 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
65.121 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
65.121 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
65.121 * [backup-simplify]: Simplify (+ 0 0) into 0
65.122 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0
65.123 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0
65.123 * [backup-simplify]: Simplify (+ 0 0) into 0
65.123 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
65.124 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
65.124 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
65.124 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
65.125 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
65.125 * [backup-simplify]: Simplify (+ 0 0) into 0
65.125 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
65.126 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
65.126 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
65.126 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
65.127 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
65.127 * [backup-simplify]: Simplify (- 0) into 0
65.127 * [backup-simplify]: Simplify (+ 0 0) into 0
65.128 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
65.128 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
65.129 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
65.129 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
65.129 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
65.129 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
65.130 * [backup-simplify]: Simplify (- 0) into 0
65.130 * [backup-simplify]: Simplify (+ 0 0) into 0
65.130 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
65.131 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
65.131 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
65.131 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
65.132 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
65.132 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
65.132 * [backup-simplify]: Simplify (+ 0 0) into 0
65.133 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into 0
65.133 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
65.134 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
65.134 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
65.134 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
65.135 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
65.135 * [backup-simplify]: Simplify (+ 0 0) into 0
65.135 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
65.136 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
65.136 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
65.137 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
65.137 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
65.137 * [backup-simplify]: Simplify (- 0) into 0
65.137 * [backup-simplify]: Simplify (+ 0 0) into 0
65.138 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
65.138 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
65.139 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
65.139 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
65.139 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
65.140 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
65.140 * [backup-simplify]: Simplify (+ 0 0) into 0
65.140 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
65.141 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
65.141 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
65.141 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
65.142 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
65.142 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
65.142 * [backup-simplify]: Simplify (- 0) into 0
65.143 * [backup-simplify]: Simplify (+ 0 0) into 0
65.143 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into 0
65.143 * [backup-simplify]: Simplify (+ 0 0) into 0
65.143 * [backup-simplify]: Simplify (- 0) into 0
65.144 * [backup-simplify]: Simplify (+ 0 0) into 0
65.146 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) into 0
65.148 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 2)))) into 0
65.151 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) (* 0 (/ 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
65.153 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) into 0
65.154 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
65.154 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
65.154 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
65.155 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
65.155 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
65.155 * [backup-simplify]: Simplify (+ 0 0) into 0
65.156 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
65.156 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0
65.157 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
65.157 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
65.157 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
65.158 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
65.158 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
65.158 * [backup-simplify]: Simplify (- 0) into 0
65.158 * [backup-simplify]: Simplify (+ 0 0) into 0
65.159 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 3)))) into 0
65.159 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
65.160 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
65.160 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
65.160 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
65.161 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
65.161 * [backup-simplify]: Simplify (- 0) into 0
65.161 * [backup-simplify]: Simplify (+ 0 0) into 0
65.162 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3))))) into 0
65.162 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
65.162 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
65.163 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
65.163 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
65.163 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
65.164 * [backup-simplify]: Simplify (+ 0 0) into 0
65.164 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0
65.164 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi2)) 2)))) into 0
65.165 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 3) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)))))) into 0
65.165 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
65.166 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (* 0 1))) into 0
65.166 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (cos (/ -0.5 phi2)) (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)))) R) (/ 0 R)) (* 0 (/ 0 R)))) into 0
65.168 * [backup-simplify]: Simplify (+ (* (/ (* (cos (/ -0.5 phi2)) (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)))) R) 0) (+ (* 0 0) (* 0 (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))) into 0
65.170 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (* (/ (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)))) R) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))))) into 0
65.171 * [backup-simplify]: Simplify (* (/ 1 (* (pow phi1 2) R)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) into (* (/ 1 (* R (pow phi1 2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))
65.173 * [backup-simplify]: Simplify (* 1/2 (* (/ 1 (* R (pow phi1 2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into (* 1/2 (* (/ 1 (* R (pow phi1 2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))))
65.173 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
65.174 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
65.174 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
65.174 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
65.175 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
65.175 * [backup-simplify]: Simplify (- 0) into 0
65.175 * [backup-simplify]: Simplify (+ 0 0) into 0
65.176 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0
65.176 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
65.177 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
65.177 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
65.177 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
65.178 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
65.178 * [backup-simplify]: Simplify (- 0) into 0
65.178 * [backup-simplify]: Simplify (+ 0 0) into 0
65.179 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0
65.180 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0
65.181 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
65.181 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
65.182 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
65.182 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
65.183 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
65.183 * [backup-simplify]: Simplify (+ 0 0) into 0
65.184 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
65.184 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
65.185 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
65.185 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
65.186 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
65.187 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
65.187 * [backup-simplify]: Simplify (+ 0 0) into 0
65.188 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0
65.188 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0
65.189 * [backup-simplify]: Simplify (+ 0 0) into 0
65.190 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
65.190 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
65.190 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
65.191 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
65.192 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
65.192 * [backup-simplify]: Simplify (+ 0 0) into 0
65.193 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
65.194 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
65.194 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
65.195 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
65.195 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
65.196 * [backup-simplify]: Simplify (- 0) into 0
65.196 * [backup-simplify]: Simplify (+ 0 0) into 0
65.197 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
65.198 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
65.198 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
65.198 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
65.199 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
65.200 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
65.200 * [backup-simplify]: Simplify (- 0) into 0
65.200 * [backup-simplify]: Simplify (+ 0 0) into 0
65.201 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
65.201 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
65.202 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
65.202 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
65.203 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
65.203 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
65.204 * [backup-simplify]: Simplify (+ 0 0) into 0
65.205 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into 0
65.206 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
65.206 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
65.207 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
65.207 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
65.208 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
65.208 * [backup-simplify]: Simplify (+ 0 0) into 0
65.209 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
65.210 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
65.210 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
65.211 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
65.211 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
65.212 * [backup-simplify]: Simplify (- 0) into 0
65.212 * [backup-simplify]: Simplify (+ 0 0) into 0
65.212 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
65.213 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
65.214 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
65.214 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
65.215 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
65.215 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
65.216 * [backup-simplify]: Simplify (+ 0 0) into 0
65.216 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
65.217 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
65.218 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
65.218 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
65.219 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
65.219 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
65.220 * [backup-simplify]: Simplify (- 0) into 0
65.220 * [backup-simplify]: Simplify (+ 0 0) into 0
65.221 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into 0
65.221 * [backup-simplify]: Simplify (+ 0 0) into 0
65.221 * [backup-simplify]: Simplify (- 0) into 0
65.222 * [backup-simplify]: Simplify (+ 0 0) into 0
65.227 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (* 0 (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0
65.230 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0
65.231 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
65.232 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
65.232 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
65.233 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
65.233 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
65.234 * [backup-simplify]: Simplify (+ 0 0) into 0
65.234 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
65.235 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
65.236 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
65.236 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
65.237 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
65.237 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
65.238 * [backup-simplify]: Simplify (+ 0 0) into 0
65.238 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0
65.239 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0
65.240 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
65.241 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 R))) into 0
65.241 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R) (/ 0 R)) (* 0 (/ 0 R)))) into 0
65.244 * [backup-simplify]: Simplify (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R) 0) (+ (* 0 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))))) into 0
65.247 * [backup-simplify]: Simplify (+ (* 1/2 0) (+ (* 0 0) (* 0 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R))))) into 0
65.250 * [backup-simplify]: Simplify (+ (* 1/2 (* (/ 1 (* R (pow phi1 2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) 0) into (* 1/2 (* (/ 1 (* (pow phi1 2) R)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))))
65.251 * [backup-simplify]: Simplify (+ 0 (* 1/2 (* (/ 1 (* (pow phi1 2) R)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))))) into (* 1/2 (* (/ 1 (* R (pow phi1 2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))))
65.252 * [backup-simplify]: Simplify (+ 0 (* 1/2 (* (/ 1 (* R (pow phi1 2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))))) into (* 1/2 (* (/ 1 (* (pow phi1 2) R)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))))
65.253 * [backup-simplify]: Simplify (+ 0 (* 1/2 (* (/ 1 (* (pow phi1 2) R)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))))) into (* 1/2 (* (/ 1 (* R (pow phi1 2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))))
65.256 * [backup-simplify]: Simplify (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (/ 1 (* R (pow phi2 2))))) (* 1/2 (* (/ 1 (* R (pow phi1 2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))))) into (+ (* 1/2 (* (/ 1 (* (pow phi1 2) R)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (/ 1 (* R (pow phi2 2))))))
65.258 * [backup-simplify]: Simplify (- (+ (* 1/2 (* (/ 1 (* (pow phi1 2) R)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (/ 1 (* R (pow phi2 2))))))) into (- (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (/ 1 (* R (pow phi2 2))))) (* 1/2 (* (/ 1 (* (pow phi1 2) R)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))))))
65.262 * [backup-simplify]: Simplify (+ (* (/ 1 (* phi1 (* R phi2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (- (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (/ 1 (* R (pow phi2 2))))) (* 1/2 (* (/ 1 (* (pow phi1 2) R)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))))))) into (- (* (/ 1 (* R (* phi1 phi2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (+ (* 1/2 (* (/ 1 (* R (pow phi1 2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (/ 1 (* R (pow phi2 2)))))))
65.262 * [taylor]: Taking taylor expansion of (- (* (/ 1 (* R (* phi1 phi2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (+ (* 1/2 (* (/ 1 (* R (pow phi1 2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (/ 1 (* R (pow phi2 2))))))) in phi1
65.263 * [taylor]: Taking taylor expansion of (* (/ 1 (* R (* phi1 phi2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) in phi1
65.263 * [taylor]: Taking taylor expansion of (/ 1 (* R (* phi1 phi2))) in phi1
65.263 * [taylor]: Taking taylor expansion of (* R (* phi1 phi2)) in phi1
65.263 * [taylor]: Taking taylor expansion of R in phi1
65.263 * [backup-simplify]: Simplify R into R
65.263 * [taylor]: Taking taylor expansion of (* phi1 phi2) in phi1
65.263 * [taylor]: Taking taylor expansion of phi1 in phi1
65.263 * [backup-simplify]: Simplify 0 into 0
65.263 * [backup-simplify]: Simplify 1 into 1
65.263 * [taylor]: Taking taylor expansion of phi2 in phi1
65.263 * [backup-simplify]: Simplify phi2 into phi2
65.263 * [backup-simplify]: Simplify (* 0 phi2) into 0
65.263 * [backup-simplify]: Simplify (* R 0) into 0
65.263 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi2)) into phi2
65.264 * [backup-simplify]: Simplify (+ (* R phi2) (* 0 0)) into (* R phi2)
65.264 * [backup-simplify]: Simplify (/ 1 (* R phi2)) into (/ 1 (* R phi2))
65.264 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) in phi1
65.264 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) in phi1
65.264 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in phi1
65.264 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi1
65.264 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi1
65.264 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi1
65.264 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
65.264 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
65.264 * [taylor]: Taking taylor expansion of -0.5 in phi1
65.264 * [backup-simplify]: Simplify -0.5 into -0.5
65.264 * [taylor]: Taking taylor expansion of phi2 in phi1
65.264 * [backup-simplify]: Simplify phi2 into phi2
65.264 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
65.264 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
65.264 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
65.264 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
65.264 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
65.264 * [backup-simplify]: Simplify (- 0) into 0
65.265 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
65.265 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi1
65.265 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
65.265 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
65.265 * [taylor]: Taking taylor expansion of -0.5 in phi1
65.265 * [backup-simplify]: Simplify -0.5 into -0.5
65.265 * [taylor]: Taking taylor expansion of phi1 in phi1
65.265 * [backup-simplify]: Simplify 0 into 0
65.265 * [backup-simplify]: Simplify 1 into 1
65.265 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
65.265 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
65.265 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi1
65.265 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi1
65.265 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
65.265 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
65.265 * [taylor]: Taking taylor expansion of -0.5 in phi1
65.265 * [backup-simplify]: Simplify -0.5 into -0.5
65.265 * [taylor]: Taking taylor expansion of phi2 in phi1
65.265 * [backup-simplify]: Simplify phi2 into phi2
65.265 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
65.265 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
65.265 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
65.265 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
65.265 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
65.266 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
65.266 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi1
65.266 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
65.266 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
65.266 * [taylor]: Taking taylor expansion of -0.5 in phi1
65.266 * [backup-simplify]: Simplify -0.5 into -0.5
65.266 * [taylor]: Taking taylor expansion of phi1 in phi1
65.266 * [backup-simplify]: Simplify 0 into 0
65.266 * [backup-simplify]: Simplify 1 into 1
65.266 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
65.266 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
65.266 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in phi1
65.266 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi1
65.266 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
65.266 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
65.266 * [taylor]: Taking taylor expansion of -0.5 in phi1
65.266 * [backup-simplify]: Simplify -0.5 into -0.5
65.266 * [taylor]: Taking taylor expansion of phi2 in phi1
65.266 * [backup-simplify]: Simplify phi2 into phi2
65.266 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
65.266 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
65.266 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
65.266 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi1
65.266 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
65.266 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
65.266 * [taylor]: Taking taylor expansion of -0.5 in phi1
65.266 * [backup-simplify]: Simplify -0.5 into -0.5
65.266 * [taylor]: Taking taylor expansion of phi2 in phi1
65.267 * [backup-simplify]: Simplify phi2 into phi2
65.267 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
65.267 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
65.267 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
65.267 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi1
65.267 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
65.267 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
65.267 * [taylor]: Taking taylor expansion of -0.5 in phi1
65.267 * [backup-simplify]: Simplify -0.5 into -0.5
65.267 * [taylor]: Taking taylor expansion of phi1 in phi1
65.267 * [backup-simplify]: Simplify 0 into 0
65.267 * [backup-simplify]: Simplify 1 into 1
65.267 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
65.267 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
65.267 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
65.267 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
65.267 * [taylor]: Taking taylor expansion of -0.5 in phi1
65.267 * [backup-simplify]: Simplify -0.5 into -0.5
65.267 * [taylor]: Taking taylor expansion of phi1 in phi1
65.267 * [backup-simplify]: Simplify 0 into 0
65.267 * [backup-simplify]: Simplify 1 into 1
65.268 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
65.268 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
65.268 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi1
65.268 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
65.268 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
65.268 * [taylor]: Taking taylor expansion of -0.5 in phi1
65.268 * [backup-simplify]: Simplify -0.5 into -0.5
65.268 * [taylor]: Taking taylor expansion of phi2 in phi1
65.268 * [backup-simplify]: Simplify phi2 into phi2
65.268 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
65.268 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
65.268 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
65.268 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi1
65.268 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
65.268 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
65.268 * [taylor]: Taking taylor expansion of -0.5 in phi1
65.268 * [backup-simplify]: Simplify -0.5 into -0.5
65.268 * [taylor]: Taking taylor expansion of phi2 in phi1
65.268 * [backup-simplify]: Simplify phi2 into phi2
65.268 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
65.268 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
65.268 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
65.268 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi1
65.268 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
65.268 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
65.268 * [taylor]: Taking taylor expansion of -0.5 in phi1
65.268 * [backup-simplify]: Simplify -0.5 into -0.5
65.268 * [taylor]: Taking taylor expansion of phi1 in phi1
65.268 * [backup-simplify]: Simplify 0 into 0
65.268 * [backup-simplify]: Simplify 1 into 1
65.269 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
65.269 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
65.269 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
65.269 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
65.269 * [taylor]: Taking taylor expansion of -0.5 in phi1
65.269 * [backup-simplify]: Simplify -0.5 into -0.5
65.269 * [taylor]: Taking taylor expansion of phi1 in phi1
65.269 * [backup-simplify]: Simplify 0 into 0
65.269 * [backup-simplify]: Simplify 1 into 1
65.269 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
65.269 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
65.269 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
65.269 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
65.269 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
65.270 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
65.270 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
65.270 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
65.270 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
65.270 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
65.270 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
65.270 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
65.271 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
65.271 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
65.271 * [backup-simplify]: Simplify (- 0) into 0
65.271 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
65.271 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
65.271 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
65.271 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
65.271 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
65.271 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
65.272 * [backup-simplify]: Simplify (- 0) into 0
65.272 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
65.272 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
65.272 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
65.272 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
65.272 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
65.272 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
65.272 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
65.273 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
65.273 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
65.274 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
65.275 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))
65.276 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))
65.276 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
65.277 * [backup-simplify]: Simplify (+ 0) into 0
65.277 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
65.277 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
65.278 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
65.278 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
65.278 * [backup-simplify]: Simplify (- 0) into 0
65.279 * [backup-simplify]: Simplify (+ 0 0) into 0
65.279 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
65.279 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
65.280 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
65.280 * [backup-simplify]: Simplify (+ 0) into 0
65.280 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
65.281 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
65.281 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
65.282 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
65.282 * [backup-simplify]: Simplify (+ 0 0) into 0
65.282 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
65.283 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
65.283 * [backup-simplify]: Simplify (+ 0 0) into 0
65.283 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
65.284 * [backup-simplify]: Simplify (+ 0) into 0
65.284 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
65.284 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
65.285 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
65.286 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
65.286 * [backup-simplify]: Simplify (- 0) into 0
65.286 * [backup-simplify]: Simplify (+ 0 0) into 0
65.287 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
65.287 * [backup-simplify]: Simplify (+ 0) into 0
65.287 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
65.288 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
65.288 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
65.289 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
65.289 * [backup-simplify]: Simplify (+ 0 0) into 0
65.290 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
65.290 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
65.290 * [backup-simplify]: Simplify (+ 0) into 0
65.291 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
65.291 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
65.292 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
65.292 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
65.292 * [backup-simplify]: Simplify (+ 0 0) into 0
65.293 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
65.293 * [backup-simplify]: Simplify (+ 0) into 0
65.293 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
65.294 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
65.294 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
65.295 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
65.295 * [backup-simplify]: Simplify (- 0) into 0
65.295 * [backup-simplify]: Simplify (+ 0 0) into 0
65.296 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
65.296 * [backup-simplify]: Simplify (+ 0 0) into 0
65.297 * [backup-simplify]: Simplify (- 0) into 0
65.297 * [backup-simplify]: Simplify (+ 0 0) into 0
65.301 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0
65.303 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0
65.303 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (/ 1 (* R (pow phi1 2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (/ 1 (* R (pow phi2 2)))))) in phi1
65.303 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ 1 (* R (pow phi1 2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) in phi1
65.303 * [taylor]: Taking taylor expansion of 1/2 in phi1
65.303 * [backup-simplify]: Simplify 1/2 into 1/2
65.303 * [taylor]: Taking taylor expansion of (* (/ 1 (* R (pow phi1 2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) in phi1
65.303 * [taylor]: Taking taylor expansion of (/ 1 (* R (pow phi1 2))) in phi1
65.303 * [taylor]: Taking taylor expansion of (* R (pow phi1 2)) in phi1
65.303 * [taylor]: Taking taylor expansion of R in phi1
65.303 * [backup-simplify]: Simplify R into R
65.303 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1
65.303 * [taylor]: Taking taylor expansion of phi1 in phi1
65.303 * [backup-simplify]: Simplify 0 into 0
65.303 * [backup-simplify]: Simplify 1 into 1
65.304 * [backup-simplify]: Simplify (* 1 1) into 1
65.304 * [backup-simplify]: Simplify (* R 1) into R
65.304 * [backup-simplify]: Simplify (/ 1 R) into (/ 1 R)
65.304 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) in phi1
65.304 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) in phi1
65.304 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in phi1
65.304 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi1
65.304 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi1
65.304 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi1
65.304 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
65.304 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
65.304 * [taylor]: Taking taylor expansion of -0.5 in phi1
65.304 * [backup-simplify]: Simplify -0.5 into -0.5
65.304 * [taylor]: Taking taylor expansion of phi2 in phi1
65.304 * [backup-simplify]: Simplify phi2 into phi2
65.304 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
65.304 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
65.304 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
65.305 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
65.305 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
65.305 * [backup-simplify]: Simplify (- 0) into 0
65.305 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
65.305 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi1
65.305 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
65.305 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
65.305 * [taylor]: Taking taylor expansion of -0.5 in phi1
65.305 * [backup-simplify]: Simplify -0.5 into -0.5
65.305 * [taylor]: Taking taylor expansion of phi1 in phi1
65.305 * [backup-simplify]: Simplify 0 into 0
65.305 * [backup-simplify]: Simplify 1 into 1
65.306 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
65.306 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
65.306 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi1
65.306 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi1
65.306 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
65.306 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
65.306 * [taylor]: Taking taylor expansion of -0.5 in phi1
65.306 * [backup-simplify]: Simplify -0.5 into -0.5
65.306 * [taylor]: Taking taylor expansion of phi2 in phi1
65.306 * [backup-simplify]: Simplify phi2 into phi2
65.306 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
65.306 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
65.306 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
65.306 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
65.307 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
65.307 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
65.307 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi1
65.307 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
65.307 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
65.307 * [taylor]: Taking taylor expansion of -0.5 in phi1
65.307 * [backup-simplify]: Simplify -0.5 into -0.5
65.307 * [taylor]: Taking taylor expansion of phi1 in phi1
65.307 * [backup-simplify]: Simplify 0 into 0
65.307 * [backup-simplify]: Simplify 1 into 1
65.307 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
65.307 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
65.307 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in phi1
65.308 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi1
65.308 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
65.308 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
65.308 * [taylor]: Taking taylor expansion of -0.5 in phi1
65.308 * [backup-simplify]: Simplify -0.5 into -0.5
65.308 * [taylor]: Taking taylor expansion of phi2 in phi1
65.308 * [backup-simplify]: Simplify phi2 into phi2
65.308 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
65.308 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
65.308 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
65.308 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi1
65.308 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
65.308 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
65.308 * [taylor]: Taking taylor expansion of -0.5 in phi1
65.308 * [backup-simplify]: Simplify -0.5 into -0.5
65.308 * [taylor]: Taking taylor expansion of phi2 in phi1
65.308 * [backup-simplify]: Simplify phi2 into phi2
65.308 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
65.308 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
65.308 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
65.308 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi1
65.308 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
65.308 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
65.308 * [taylor]: Taking taylor expansion of -0.5 in phi1
65.308 * [backup-simplify]: Simplify -0.5 into -0.5
65.308 * [taylor]: Taking taylor expansion of phi1 in phi1
65.309 * [backup-simplify]: Simplify 0 into 0
65.309 * [backup-simplify]: Simplify 1 into 1
65.309 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
65.309 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
65.309 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
65.309 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
65.309 * [taylor]: Taking taylor expansion of -0.5 in phi1
65.309 * [backup-simplify]: Simplify -0.5 into -0.5
65.309 * [taylor]: Taking taylor expansion of phi1 in phi1
65.309 * [backup-simplify]: Simplify 0 into 0
65.309 * [backup-simplify]: Simplify 1 into 1
65.310 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
65.310 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
65.310 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi1
65.310 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
65.310 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
65.310 * [taylor]: Taking taylor expansion of -0.5 in phi1
65.310 * [backup-simplify]: Simplify -0.5 into -0.5
65.310 * [taylor]: Taking taylor expansion of phi2 in phi1
65.310 * [backup-simplify]: Simplify phi2 into phi2
65.310 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
65.310 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
65.310 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
65.310 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi1
65.310 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
65.310 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
65.310 * [taylor]: Taking taylor expansion of -0.5 in phi1
65.310 * [backup-simplify]: Simplify -0.5 into -0.5
65.310 * [taylor]: Taking taylor expansion of phi2 in phi1
65.310 * [backup-simplify]: Simplify phi2 into phi2
65.310 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
65.311 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
65.311 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
65.311 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi1
65.311 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
65.311 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
65.311 * [taylor]: Taking taylor expansion of -0.5 in phi1
65.311 * [backup-simplify]: Simplify -0.5 into -0.5
65.311 * [taylor]: Taking taylor expansion of phi1 in phi1
65.311 * [backup-simplify]: Simplify 0 into 0
65.311 * [backup-simplify]: Simplify 1 into 1
65.311 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
65.311 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
65.311 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
65.311 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
65.311 * [taylor]: Taking taylor expansion of -0.5 in phi1
65.312 * [backup-simplify]: Simplify -0.5 into -0.5
65.312 * [taylor]: Taking taylor expansion of phi1 in phi1
65.312 * [backup-simplify]: Simplify 0 into 0
65.312 * [backup-simplify]: Simplify 1 into 1
65.312 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
65.312 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
65.312 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
65.312 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
65.313 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
65.313 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
65.313 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
65.313 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
65.314 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
65.314 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
65.314 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
65.315 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
65.315 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
65.315 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
65.315 * [backup-simplify]: Simplify (- 0) into 0
65.315 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
65.315 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
65.316 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
65.316 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
65.316 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
65.316 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
65.316 * [backup-simplify]: Simplify (- 0) into 0
65.317 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
65.317 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
65.317 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
65.317 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
65.317 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
65.317 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
65.318 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
65.318 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
65.319 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
65.321 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
65.323 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))
65.325 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))
65.326 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
65.326 * [backup-simplify]: Simplify (+ 0) into 0
65.327 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
65.327 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
65.328 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
65.328 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
65.329 * [backup-simplify]: Simplify (- 0) into 0
65.329 * [backup-simplify]: Simplify (+ 0 0) into 0
65.329 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
65.330 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
65.330 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
65.330 * [backup-simplify]: Simplify (+ 0) into 0
65.331 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
65.331 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
65.332 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
65.332 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
65.333 * [backup-simplify]: Simplify (+ 0 0) into 0
65.333 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
65.333 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
65.334 * [backup-simplify]: Simplify (+ 0 0) into 0
65.334 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
65.334 * [backup-simplify]: Simplify (+ 0) into 0
65.335 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
65.335 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
65.336 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
65.336 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
65.337 * [backup-simplify]: Simplify (- 0) into 0
65.337 * [backup-simplify]: Simplify (+ 0 0) into 0
65.337 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
65.338 * [backup-simplify]: Simplify (+ 0) into 0
65.338 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
65.339 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
65.341 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
65.342 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
65.342 * [backup-simplify]: Simplify (+ 0 0) into 0
65.343 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
65.343 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
65.343 * [backup-simplify]: Simplify (+ 0) into 0
65.344 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
65.344 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
65.345 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
65.345 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
65.346 * [backup-simplify]: Simplify (+ 0 0) into 0
65.346 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
65.346 * [backup-simplify]: Simplify (+ 0) into 0
65.347 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
65.347 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
65.348 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
65.348 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
65.348 * [backup-simplify]: Simplify (- 0) into 0
65.349 * [backup-simplify]: Simplify (+ 0 0) into 0
65.349 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
65.349 * [backup-simplify]: Simplify (+ 0 0) into 0
65.350 * [backup-simplify]: Simplify (- 0) into 0
65.350 * [backup-simplify]: Simplify (+ 0 0) into 0
65.353 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0
65.355 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0
65.356 * [taylor]: Taking taylor expansion of (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (/ 1 (* R (pow phi2 2))))) in phi1
65.356 * [taylor]: Taking taylor expansion of 1/2 in phi1
65.356 * [backup-simplify]: Simplify 1/2 into 1/2
65.356 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (/ 1 (* R (pow phi2 2)))) in phi1
65.356 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) in phi1
65.356 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) in phi1
65.356 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in phi1
65.356 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi1
65.356 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi1
65.356 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi1
65.356 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
65.356 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
65.356 * [taylor]: Taking taylor expansion of -0.5 in phi1
65.356 * [backup-simplify]: Simplify -0.5 into -0.5
65.356 * [taylor]: Taking taylor expansion of phi2 in phi1
65.356 * [backup-simplify]: Simplify phi2 into phi2
65.356 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
65.356 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
65.356 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
65.356 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
65.356 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
65.357 * [backup-simplify]: Simplify (- 0) into 0
65.357 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
65.357 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi1
65.357 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
65.357 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
65.357 * [taylor]: Taking taylor expansion of -0.5 in phi1
65.357 * [backup-simplify]: Simplify -0.5 into -0.5
65.357 * [taylor]: Taking taylor expansion of phi1 in phi1
65.357 * [backup-simplify]: Simplify 0 into 0
65.357 * [backup-simplify]: Simplify 1 into 1
65.358 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
65.358 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
65.358 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi1
65.358 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi1
65.358 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
65.358 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
65.358 * [taylor]: Taking taylor expansion of -0.5 in phi1
65.358 * [backup-simplify]: Simplify -0.5 into -0.5
65.358 * [taylor]: Taking taylor expansion of phi2 in phi1
65.358 * [backup-simplify]: Simplify phi2 into phi2
65.358 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
65.358 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
65.358 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
65.358 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
65.359 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
65.359 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
65.359 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi1
65.359 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
65.359 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
65.359 * [taylor]: Taking taylor expansion of -0.5 in phi1
65.359 * [backup-simplify]: Simplify -0.5 into -0.5
65.359 * [taylor]: Taking taylor expansion of phi1 in phi1
65.359 * [backup-simplify]: Simplify 0 into 0
65.359 * [backup-simplify]: Simplify 1 into 1
65.359 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
65.359 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
65.359 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in phi1
65.359 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi1
65.360 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
65.360 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
65.360 * [taylor]: Taking taylor expansion of -0.5 in phi1
65.360 * [backup-simplify]: Simplify -0.5 into -0.5
65.360 * [taylor]: Taking taylor expansion of phi2 in phi1
65.360 * [backup-simplify]: Simplify phi2 into phi2
65.360 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
65.360 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
65.360 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
65.360 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi1
65.360 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
65.360 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
65.360 * [taylor]: Taking taylor expansion of -0.5 in phi1
65.360 * [backup-simplify]: Simplify -0.5 into -0.5
65.360 * [taylor]: Taking taylor expansion of phi2 in phi1
65.360 * [backup-simplify]: Simplify phi2 into phi2
65.360 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
65.360 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
65.360 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
65.360 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi1
65.360 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
65.360 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
65.360 * [taylor]: Taking taylor expansion of -0.5 in phi1
65.360 * [backup-simplify]: Simplify -0.5 into -0.5
65.360 * [taylor]: Taking taylor expansion of phi1 in phi1
65.360 * [backup-simplify]: Simplify 0 into 0
65.360 * [backup-simplify]: Simplify 1 into 1
65.361 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
65.361 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
65.361 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
65.361 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
65.361 * [taylor]: Taking taylor expansion of -0.5 in phi1
65.361 * [backup-simplify]: Simplify -0.5 into -0.5
65.361 * [taylor]: Taking taylor expansion of phi1 in phi1
65.361 * [backup-simplify]: Simplify 0 into 0
65.361 * [backup-simplify]: Simplify 1 into 1
65.361 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
65.362 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
65.362 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi1
65.362 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
65.362 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
65.362 * [taylor]: Taking taylor expansion of -0.5 in phi1
65.362 * [backup-simplify]: Simplify -0.5 into -0.5
65.362 * [taylor]: Taking taylor expansion of phi2 in phi1
65.362 * [backup-simplify]: Simplify phi2 into phi2
65.362 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
65.362 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
65.362 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
65.362 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi1
65.362 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
65.362 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
65.362 * [taylor]: Taking taylor expansion of -0.5 in phi1
65.362 * [backup-simplify]: Simplify -0.5 into -0.5
65.362 * [taylor]: Taking taylor expansion of phi2 in phi1
65.362 * [backup-simplify]: Simplify phi2 into phi2
65.362 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
65.362 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
65.362 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
65.362 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi1
65.362 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
65.362 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
65.362 * [taylor]: Taking taylor expansion of -0.5 in phi1
65.362 * [backup-simplify]: Simplify -0.5 into -0.5
65.362 * [taylor]: Taking taylor expansion of phi1 in phi1
65.362 * [backup-simplify]: Simplify 0 into 0
65.362 * [backup-simplify]: Simplify 1 into 1
65.362 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
65.363 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
65.363 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
65.363 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
65.363 * [taylor]: Taking taylor expansion of -0.5 in phi1
65.363 * [backup-simplify]: Simplify -0.5 into -0.5
65.363 * [taylor]: Taking taylor expansion of phi1 in phi1
65.363 * [backup-simplify]: Simplify 0 into 0
65.363 * [backup-simplify]: Simplify 1 into 1
65.363 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
65.363 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
65.363 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
65.363 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
65.363 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
65.364 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
65.364 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
65.364 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
65.364 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
65.364 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
65.364 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
65.364 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
65.365 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
65.365 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
65.365 * [backup-simplify]: Simplify (- 0) into 0
65.365 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
65.365 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
65.365 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
65.365 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
65.365 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
65.365 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
65.366 * [backup-simplify]: Simplify (- 0) into 0
65.366 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
65.366 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
65.366 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
65.366 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
65.366 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
65.366 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
65.366 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
65.367 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
65.367 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
65.368 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
65.369 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))
65.370 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))
65.370 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
65.370 * [backup-simplify]: Simplify (+ 0) into 0
65.371 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
65.371 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
65.371 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
65.372 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
65.372 * [backup-simplify]: Simplify (- 0) into 0
65.372 * [backup-simplify]: Simplify (+ 0 0) into 0
65.372 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
65.372 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
65.373 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
65.373 * [backup-simplify]: Simplify (+ 0) into 0
65.373 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
65.373 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
65.374 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
65.374 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
65.374 * [backup-simplify]: Simplify (+ 0 0) into 0
65.374 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
65.375 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
65.375 * [backup-simplify]: Simplify (+ 0 0) into 0
65.375 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
65.375 * [backup-simplify]: Simplify (+ 0) into 0
65.375 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
65.376 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
65.376 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
65.376 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
65.377 * [backup-simplify]: Simplify (- 0) into 0
65.377 * [backup-simplify]: Simplify (+ 0 0) into 0
65.377 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
65.377 * [backup-simplify]: Simplify (+ 0) into 0
65.377 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
65.378 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
65.378 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
65.378 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
65.379 * [backup-simplify]: Simplify (+ 0 0) into 0
65.379 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
65.379 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
65.379 * [backup-simplify]: Simplify (+ 0) into 0
65.379 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
65.380 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
65.380 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
65.380 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
65.380 * [backup-simplify]: Simplify (+ 0 0) into 0
65.381 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
65.381 * [backup-simplify]: Simplify (+ 0) into 0
65.381 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
65.381 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
65.382 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
65.382 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
65.382 * [backup-simplify]: Simplify (- 0) into 0
65.382 * [backup-simplify]: Simplify (+ 0 0) into 0
65.383 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
65.383 * [backup-simplify]: Simplify (+ 0 0) into 0
65.383 * [backup-simplify]: Simplify (- 0) into 0
65.384 * [backup-simplify]: Simplify (+ 0 0) into 0
65.386 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0
65.387 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0
65.387 * [taylor]: Taking taylor expansion of (/ 1 (* R (pow phi2 2))) in phi1
65.387 * [taylor]: Taking taylor expansion of (* R (pow phi2 2)) in phi1
65.387 * [taylor]: Taking taylor expansion of R in phi1
65.387 * [backup-simplify]: Simplify R into R
65.387 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1
65.387 * [taylor]: Taking taylor expansion of phi2 in phi1
65.387 * [backup-simplify]: Simplify phi2 into phi2
65.387 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
65.387 * [backup-simplify]: Simplify (* R (pow phi2 2)) into (* R (pow phi2 2))
65.387 * [backup-simplify]: Simplify (/ 1 (* R (pow phi2 2))) into (/ 1 (* R (pow phi2 2)))
65.388 * [backup-simplify]: Simplify (* (/ 1 (* R phi2)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) into (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (/ 1 (* R phi2)))
65.389 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
65.389 * [backup-simplify]: Simplify (+ (* R 0) (* 0 1)) into 0
65.389 * [backup-simplify]: Simplify (- (+ (* (/ 1 R) (/ 0 R)))) into 0
65.390 * [backup-simplify]: Simplify (+ (* (/ 1 R) 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0
65.391 * [backup-simplify]: Simplify (* (/ 1 R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) into (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (/ 1 R))
65.393 * [backup-simplify]: Simplify (+ (* 1/2 0) (* 0 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (/ 1 R)))) into 0
65.393 * [backup-simplify]: Simplify (+ 0 0) into 0
65.393 * [backup-simplify]: Simplify (- 0) into 0
65.394 * [backup-simplify]: Simplify (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (/ 1 (* R phi2))) 0) into (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (/ 1 (* R phi2)))
65.394 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (/ 1 (* R phi2))) in phi2
65.394 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) in phi2
65.394 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) in phi2
65.395 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in phi2
65.395 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi2
65.395 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi2
65.395 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2
65.395 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
65.395 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
65.395 * [taylor]: Taking taylor expansion of -0.5 in phi2
65.395 * [backup-simplify]: Simplify -0.5 into -0.5
65.395 * [taylor]: Taking taylor expansion of phi2 in phi2
65.395 * [backup-simplify]: Simplify 0 into 0
65.395 * [backup-simplify]: Simplify 1 into 1
65.395 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
65.395 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
65.395 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2
65.395 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
65.395 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
65.395 * [taylor]: Taking taylor expansion of -0.5 in phi2
65.395 * [backup-simplify]: Simplify -0.5 into -0.5
65.395 * [taylor]: Taking taylor expansion of phi1 in phi2
65.395 * [backup-simplify]: Simplify phi1 into phi1
65.395 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
65.395 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
65.395 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
65.395 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
65.396 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
65.396 * [backup-simplify]: Simplify (- 0) into 0
65.396 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
65.396 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi2
65.396 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2
65.396 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
65.396 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
65.396 * [taylor]: Taking taylor expansion of -0.5 in phi2
65.396 * [backup-simplify]: Simplify -0.5 into -0.5
65.396 * [taylor]: Taking taylor expansion of phi2 in phi2
65.396 * [backup-simplify]: Simplify 0 into 0
65.396 * [backup-simplify]: Simplify 1 into 1
65.396 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
65.396 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
65.396 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2
65.396 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
65.396 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
65.396 * [taylor]: Taking taylor expansion of -0.5 in phi2
65.396 * [backup-simplify]: Simplify -0.5 into -0.5
65.396 * [taylor]: Taking taylor expansion of phi1 in phi2
65.396 * [backup-simplify]: Simplify phi1 into phi1
65.396 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
65.397 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
65.397 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
65.397 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
65.397 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
65.397 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
65.397 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in phi2
65.397 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi2
65.397 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
65.397 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
65.397 * [taylor]: Taking taylor expansion of -0.5 in phi2
65.397 * [backup-simplify]: Simplify -0.5 into -0.5
65.397 * [taylor]: Taking taylor expansion of phi2 in phi2
65.397 * [backup-simplify]: Simplify 0 into 0
65.397 * [backup-simplify]: Simplify 1 into 1
65.397 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
65.397 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
65.397 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi2
65.397 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
65.397 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
65.397 * [taylor]: Taking taylor expansion of -0.5 in phi2
65.397 * [backup-simplify]: Simplify -0.5 into -0.5
65.397 * [taylor]: Taking taylor expansion of phi2 in phi2
65.397 * [backup-simplify]: Simplify 0 into 0
65.397 * [backup-simplify]: Simplify 1 into 1
65.398 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
65.398 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
65.398 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi2
65.398 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
65.398 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
65.398 * [taylor]: Taking taylor expansion of -0.5 in phi2
65.398 * [backup-simplify]: Simplify -0.5 into -0.5
65.398 * [taylor]: Taking taylor expansion of phi1 in phi2
65.398 * [backup-simplify]: Simplify phi1 into phi1
65.398 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
65.398 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
65.398 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
65.398 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
65.398 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
65.398 * [taylor]: Taking taylor expansion of -0.5 in phi2
65.398 * [backup-simplify]: Simplify -0.5 into -0.5
65.398 * [taylor]: Taking taylor expansion of phi1 in phi2
65.398 * [backup-simplify]: Simplify phi1 into phi1
65.398 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
65.398 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
65.398 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
65.398 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi2
65.398 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
65.398 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
65.398 * [taylor]: Taking taylor expansion of -0.5 in phi2
65.398 * [backup-simplify]: Simplify -0.5 into -0.5
65.398 * [taylor]: Taking taylor expansion of phi2 in phi2
65.398 * [backup-simplify]: Simplify 0 into 0
65.398 * [backup-simplify]: Simplify 1 into 1
65.399 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
65.399 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
65.399 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi2
65.399 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
65.399 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
65.399 * [taylor]: Taking taylor expansion of -0.5 in phi2
65.399 * [backup-simplify]: Simplify -0.5 into -0.5
65.399 * [taylor]: Taking taylor expansion of phi2 in phi2
65.399 * [backup-simplify]: Simplify 0 into 0
65.399 * [backup-simplify]: Simplify 1 into 1
65.399 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
65.399 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
65.399 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi2
65.399 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
65.399 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
65.399 * [taylor]: Taking taylor expansion of -0.5 in phi2
65.399 * [backup-simplify]: Simplify -0.5 into -0.5
65.399 * [taylor]: Taking taylor expansion of phi1 in phi2
65.399 * [backup-simplify]: Simplify phi1 into phi1
65.399 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
65.400 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
65.400 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
65.400 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
65.400 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
65.400 * [taylor]: Taking taylor expansion of -0.5 in phi2
65.400 * [backup-simplify]: Simplify -0.5 into -0.5
65.400 * [taylor]: Taking taylor expansion of phi1 in phi2
65.400 * [backup-simplify]: Simplify phi1 into phi1
65.400 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
65.400 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
65.400 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
65.400 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
65.400 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
65.400 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
65.400 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
65.401 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
65.401 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
65.401 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
65.401 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
65.401 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
65.402 * [backup-simplify]: Simplify (- 0) into 0
65.402 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
65.402 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
65.402 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
65.402 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
65.402 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
65.402 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
65.402 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
65.402 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
65.402 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
65.403 * [backup-simplify]: Simplify (- 0) into 0
65.403 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
65.403 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
65.403 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
65.403 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
65.403 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
65.403 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
65.403 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
65.404 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
65.404 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
65.405 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
65.406 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))
65.407 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))
65.407 * [backup-simplify]: Simplify (+ 0) into 0
65.408 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
65.408 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
65.408 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
65.409 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
65.409 * [backup-simplify]: Simplify (- 0) into 0
65.409 * [backup-simplify]: Simplify (+ 0 0) into 0
65.409 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
65.409 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
65.410 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
65.410 * [backup-simplify]: Simplify (+ 0) into 0
65.410 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
65.410 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
65.411 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
65.411 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
65.411 * [backup-simplify]: Simplify (+ 0 0) into 0
65.411 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
65.411 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
65.412 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
65.412 * [backup-simplify]: Simplify (+ 0 0) into 0
65.412 * [backup-simplify]: Simplify (+ 0) into 0
65.412 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
65.413 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
65.413 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
65.413 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
65.414 * [backup-simplify]: Simplify (+ 0 0) into 0
65.414 * [backup-simplify]: Simplify (+ 0) into 0
65.415 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
65.415 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
65.415 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
65.416 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
65.416 * [backup-simplify]: Simplify (- 0) into 0
65.417 * [backup-simplify]: Simplify (+ 0 0) into 0
65.417 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
65.417 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
65.417 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
65.418 * [backup-simplify]: Simplify (+ 0) into 0
65.418 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
65.419 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
65.419 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
65.420 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
65.420 * [backup-simplify]: Simplify (+ 0 0) into 0
65.421 * [backup-simplify]: Simplify (+ 0) into 0
65.421 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
65.421 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
65.422 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
65.422 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
65.423 * [backup-simplify]: Simplify (- 0) into 0
65.423 * [backup-simplify]: Simplify (+ 0 0) into 0
65.423 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
65.424 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
65.424 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
65.424 * [backup-simplify]: Simplify (+ 0 0) into 0
65.425 * [backup-simplify]: Simplify (- 0) into 0
65.425 * [backup-simplify]: Simplify (+ 0 0) into 0
65.429 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0
65.431 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0
65.431 * [taylor]: Taking taylor expansion of (/ 1 (* R phi2)) in phi2
65.431 * [taylor]: Taking taylor expansion of (* R phi2) in phi2
65.431 * [taylor]: Taking taylor expansion of R in phi2
65.431 * [backup-simplify]: Simplify R into R
65.431 * [taylor]: Taking taylor expansion of phi2 in phi2
65.431 * [backup-simplify]: Simplify 0 into 0
65.431 * [backup-simplify]: Simplify 1 into 1
65.431 * [backup-simplify]: Simplify (* R 0) into 0
65.432 * [backup-simplify]: Simplify (+ (* R 1) (* 0 0)) into R
65.432 * [backup-simplify]: Simplify (/ 1 R) into (/ 1 R)
65.434 * [backup-simplify]: Simplify (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (/ 1 R)) into (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (/ 1 R))
65.434 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (/ 1 R)) in R
65.434 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) in R
65.434 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) in R
65.434 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in R
65.434 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in R
65.434 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in R
65.434 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in R
65.434 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in R
65.434 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R
65.434 * [taylor]: Taking taylor expansion of -0.5 in R
65.434 * [backup-simplify]: Simplify -0.5 into -0.5
65.434 * [taylor]: Taking taylor expansion of phi2 in R
65.434 * [backup-simplify]: Simplify phi2 into phi2
65.435 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
65.435 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
65.435 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
65.435 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
65.435 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
65.435 * [backup-simplify]: Simplify (- 0) into 0
65.436 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
65.436 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in R
65.436 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in R
65.436 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R
65.436 * [taylor]: Taking taylor expansion of -0.5 in R
65.436 * [backup-simplify]: Simplify -0.5 into -0.5
65.436 * [taylor]: Taking taylor expansion of phi1 in R
65.436 * [backup-simplify]: Simplify phi1 into phi1
65.436 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
65.436 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
65.436 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
65.436 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
65.436 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
65.436 * [backup-simplify]: Simplify (- 0) into 0
65.437 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
65.437 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in R
65.437 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in R
65.437 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in R
65.437 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R
65.437 * [taylor]: Taking taylor expansion of -0.5 in R
65.437 * [backup-simplify]: Simplify -0.5 into -0.5
65.437 * [taylor]: Taking taylor expansion of phi2 in R
65.437 * [backup-simplify]: Simplify phi2 into phi2
65.437 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
65.437 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
65.437 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
65.437 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
65.437 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
65.437 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
65.437 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in R
65.437 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in R
65.437 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R
65.437 * [taylor]: Taking taylor expansion of -0.5 in R
65.437 * [backup-simplify]: Simplify -0.5 into -0.5
65.437 * [taylor]: Taking taylor expansion of phi1 in R
65.437 * [backup-simplify]: Simplify phi1 into phi1
65.437 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
65.437 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
65.438 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
65.438 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
65.438 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
65.438 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
65.438 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in R
65.438 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in R
65.438 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in R
65.438 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R
65.438 * [taylor]: Taking taylor expansion of -0.5 in R
65.438 * [backup-simplify]: Simplify -0.5 into -0.5
65.438 * [taylor]: Taking taylor expansion of phi2 in R
65.438 * [backup-simplify]: Simplify phi2 into phi2
65.438 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
65.438 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
65.438 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
65.438 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in R
65.438 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in R
65.438 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R
65.438 * [taylor]: Taking taylor expansion of -0.5 in R
65.438 * [backup-simplify]: Simplify -0.5 into -0.5
65.438 * [taylor]: Taking taylor expansion of phi2 in R
65.438 * [backup-simplify]: Simplify phi2 into phi2
65.438 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
65.439 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
65.439 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
65.439 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in R
65.439 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in R
65.439 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R
65.439 * [taylor]: Taking taylor expansion of -0.5 in R
65.439 * [backup-simplify]: Simplify -0.5 into -0.5
65.439 * [taylor]: Taking taylor expansion of phi1 in R
65.439 * [backup-simplify]: Simplify phi1 into phi1
65.439 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
65.439 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
65.439 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
65.439 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in R
65.439 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R
65.439 * [taylor]: Taking taylor expansion of -0.5 in R
65.439 * [backup-simplify]: Simplify -0.5 into -0.5
65.439 * [taylor]: Taking taylor expansion of phi1 in R
65.439 * [backup-simplify]: Simplify phi1 into phi1
65.439 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
65.439 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
65.439 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
65.439 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in R
65.439 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in R
65.440 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R
65.440 * [taylor]: Taking taylor expansion of -0.5 in R
65.440 * [backup-simplify]: Simplify -0.5 into -0.5
65.440 * [taylor]: Taking taylor expansion of phi2 in R
65.440 * [backup-simplify]: Simplify phi2 into phi2
65.440 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
65.440 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
65.440 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
65.440 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in R
65.440 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in R
65.440 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R
65.440 * [taylor]: Taking taylor expansion of -0.5 in R
65.440 * [backup-simplify]: Simplify -0.5 into -0.5
65.440 * [taylor]: Taking taylor expansion of phi2 in R
65.440 * [backup-simplify]: Simplify phi2 into phi2
65.440 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
65.440 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
65.440 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
65.440 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in R
65.440 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in R
65.440 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R
65.440 * [taylor]: Taking taylor expansion of -0.5 in R
65.440 * [backup-simplify]: Simplify -0.5 into -0.5
65.440 * [taylor]: Taking taylor expansion of phi1 in R
65.440 * [backup-simplify]: Simplify phi1 into phi1
65.441 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
65.441 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
65.441 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
65.441 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in R
65.441 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R
65.441 * [taylor]: Taking taylor expansion of -0.5 in R
65.441 * [backup-simplify]: Simplify -0.5 into -0.5
65.441 * [taylor]: Taking taylor expansion of phi1 in R
65.441 * [backup-simplify]: Simplify phi1 into phi1
65.441 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
65.441 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
65.441 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
65.441 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
65.441 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
65.442 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
65.442 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
65.442 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
65.442 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
65.442 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
65.442 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
65.443 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
65.443 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
65.443 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
65.443 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
65.443 * [backup-simplify]: Simplify (- 0) into 0
65.443 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
65.443 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
65.443 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
65.444 * [backup-simplify]: Simplify (- 0) into 0
65.444 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
65.444 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
65.444 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
65.444 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
65.444 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
65.444 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
65.444 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
65.444 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
65.444 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
65.445 * [backup-simplify]: Simplify (- 0) into 0
65.445 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
65.445 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
65.445 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
65.445 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
65.445 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
65.445 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
65.445 * [backup-simplify]: Simplify (- 0) into 0
65.445 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
65.445 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
65.445 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
65.445 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
65.446 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
65.446 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
65.446 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
65.446 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
65.447 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
65.448 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
65.449 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))
65.450 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))
65.450 * [backup-simplify]: Simplify (+ 0) into 0
65.450 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
65.451 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
65.451 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
65.451 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
65.452 * [backup-simplify]: Simplify (- 0) into 0
65.452 * [backup-simplify]: Simplify (+ 0 0) into 0
65.452 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
65.452 * [backup-simplify]: Simplify (+ 0) into 0
65.452 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
65.453 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
65.453 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
65.453 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
65.454 * [backup-simplify]: Simplify (- 0) into 0
65.454 * [backup-simplify]: Simplify (+ 0 0) into 0
65.454 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
65.454 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
65.454 * [backup-simplify]: Simplify (+ 0) into 0
65.455 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
65.455 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
65.455 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
65.456 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
65.456 * [backup-simplify]: Simplify (+ 0 0) into 0
65.456 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
65.456 * [backup-simplify]: Simplify (+ 0) into 0
65.456 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
65.457 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
65.457 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
65.459 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
65.459 * [backup-simplify]: Simplify (+ 0 0) into 0
65.459 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
65.460 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
65.460 * [backup-simplify]: Simplify (+ 0 0) into 0
65.460 * [backup-simplify]: Simplify (+ 0) into 0
65.461 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
65.461 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
65.461 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
65.461 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
65.462 * [backup-simplify]: Simplify (+ 0 0) into 0
65.462 * [backup-simplify]: Simplify (+ 0) into 0
65.462 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
65.462 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
65.463 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
65.463 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
65.463 * [backup-simplify]: Simplify (- 0) into 0
65.463 * [backup-simplify]: Simplify (+ 0 0) into 0
65.464 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
65.464 * [backup-simplify]: Simplify (+ 0) into 0
65.464 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
65.464 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
65.465 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
65.465 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
65.465 * [backup-simplify]: Simplify (- 0) into 0
65.465 * [backup-simplify]: Simplify (+ 0 0) into 0
65.466 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
65.466 * [backup-simplify]: Simplify (+ 0) into 0
65.466 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
65.466 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
65.467 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
65.467 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
65.467 * [backup-simplify]: Simplify (+ 0 0) into 0
65.467 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
65.468 * [backup-simplify]: Simplify (+ 0) into 0
65.468 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
65.468 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
65.468 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
65.469 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
65.469 * [backup-simplify]: Simplify (+ 0 0) into 0
65.469 * [backup-simplify]: Simplify (+ 0) into 0
65.470 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
65.470 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
65.471 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
65.471 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
65.472 * [backup-simplify]: Simplify (- 0) into 0
65.472 * [backup-simplify]: Simplify (+ 0 0) into 0
65.472 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
65.472 * [backup-simplify]: Simplify (+ 0) into 0
65.473 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
65.473 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
65.474 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
65.475 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
65.475 * [backup-simplify]: Simplify (+ 0 0) into 0
65.475 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
65.476 * [backup-simplify]: Simplify (+ 0) into 0
65.476 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
65.476 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
65.477 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
65.478 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
65.478 * [backup-simplify]: Simplify (- 0) into 0
65.478 * [backup-simplify]: Simplify (+ 0 0) into 0
65.479 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
65.479 * [backup-simplify]: Simplify (+ 0 0) into 0
65.479 * [backup-simplify]: Simplify (- 0) into 0
65.480 * [backup-simplify]: Simplify (+ 0 0) into 0
65.484 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0
65.486 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0
65.486 * [taylor]: Taking taylor expansion of (/ 1 R) in R
65.486 * [taylor]: Taking taylor expansion of R in R
65.486 * [backup-simplify]: Simplify 0 into 0
65.486 * [backup-simplify]: Simplify 1 into 1
65.487 * [backup-simplify]: Simplify (/ 1 1) into 1
65.489 * [backup-simplify]: Simplify (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) 1) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))
65.491 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))
65.492 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
65.493 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
65.493 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
65.494 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
65.495 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
65.495 * [backup-simplify]: Simplify (- 0) into 0
65.496 * [backup-simplify]: Simplify (+ 0 0) into 0
65.496 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0
65.497 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
65.498 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
65.498 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
65.499 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
65.500 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
65.500 * [backup-simplify]: Simplify (- 0) into 0
65.500 * [backup-simplify]: Simplify (+ 0 0) into 0
65.501 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0
65.502 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0
65.503 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
65.503 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
65.504 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
65.504 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
65.505 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
65.505 * [backup-simplify]: Simplify (+ 0 0) into 0
65.506 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
65.507 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
65.507 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
65.508 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
65.508 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
65.509 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
65.509 * [backup-simplify]: Simplify (+ 0 0) into 0
65.510 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0
65.511 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0
65.511 * [backup-simplify]: Simplify (+ 0 0) into 0
65.512 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
65.513 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
65.513 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
65.514 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
65.514 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
65.515 * [backup-simplify]: Simplify (+ 0 0) into 0
65.515 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
65.516 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
65.516 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
65.517 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
65.518 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
65.518 * [backup-simplify]: Simplify (- 0) into 0
65.518 * [backup-simplify]: Simplify (+ 0 0) into 0
65.519 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
65.520 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
65.520 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
65.521 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
65.521 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
65.522 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
65.522 * [backup-simplify]: Simplify (- 0) into 0
65.522 * [backup-simplify]: Simplify (+ 0 0) into 0
65.523 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
65.524 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
65.525 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
65.525 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
65.526 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
65.526 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
65.527 * [backup-simplify]: Simplify (+ 0 0) into 0
65.527 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into 0
65.528 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
65.529 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
65.529 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
65.530 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
65.530 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
65.530 * [backup-simplify]: Simplify (+ 0 0) into 0
65.531 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
65.532 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
65.532 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
65.533 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
65.533 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
65.533 * [backup-simplify]: Simplify (- 0) into 0
65.534 * [backup-simplify]: Simplify (+ 0 0) into 0
65.534 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
65.535 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
65.536 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
65.536 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
65.537 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
65.537 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
65.537 * [backup-simplify]: Simplify (+ 0 0) into 0
65.538 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
65.539 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
65.539 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
65.540 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
65.540 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
65.541 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
65.541 * [backup-simplify]: Simplify (- 0) into 0
65.542 * [backup-simplify]: Simplify (+ 0 0) into 0
65.542 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into 0
65.543 * [backup-simplify]: Simplify (+ 0 0) into 0
65.543 * [backup-simplify]: Simplify (- 0) into 0
65.543 * [backup-simplify]: Simplify (+ 0 0) into 0
65.549 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (* 0 (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0
65.552 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0
65.553 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
65.554 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
65.554 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
65.555 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
65.556 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
65.556 * [backup-simplify]: Simplify (- 0) into 0
65.556 * [backup-simplify]: Simplify (+ 0 0) into 0
65.557 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0
65.558 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
65.559 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
65.559 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
65.560 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
65.560 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
65.561 * [backup-simplify]: Simplify (- 0) into 0
65.561 * [backup-simplify]: Simplify (+ 0 0) into 0
65.562 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0
65.563 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0
65.564 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (+ (* 0 0) (* 0 R)))) into 0
65.564 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) (/ 0 R)) (* 0 (/ 0 R)))) into 0
65.567 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) 0) (+ (* 0 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))))) into 0
65.568 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
65.569 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
65.569 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
65.570 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
65.571 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
65.571 * [backup-simplify]: Simplify (+ 0 0) into 0
65.572 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
65.573 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
65.573 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
65.574 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
65.574 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
65.575 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
65.575 * [backup-simplify]: Simplify (+ 0 0) into 0
65.576 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0
65.577 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0
65.578 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (+ (* 0 0) (* 0 R)))) into 0
65.578 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R) (/ 0 R)) (* 0 (/ 0 R)))) into 0
65.579 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
65.580 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
65.580 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
65.581 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
65.582 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
65.582 * [backup-simplify]: Simplify (- 0) into 0
65.582 * [backup-simplify]: Simplify (+ 0 0) into 0
65.583 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0
65.584 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
65.585 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
65.585 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
65.586 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
65.586 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
65.586 * [backup-simplify]: Simplify (- 0) into 0
65.587 * [backup-simplify]: Simplify (+ 0 0) into 0
65.587 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0
65.588 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0
65.589 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
65.590 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
65.590 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
65.591 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
65.591 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
65.592 * [backup-simplify]: Simplify (+ 0 0) into 0
65.592 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
65.593 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
65.594 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
65.594 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
65.594 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
65.595 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
65.595 * [backup-simplify]: Simplify (+ 0 0) into 0
65.598 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0
65.599 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0
65.599 * [backup-simplify]: Simplify (+ 0 0) into 0
65.600 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
65.601 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
65.601 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
65.602 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
65.602 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
65.603 * [backup-simplify]: Simplify (+ 0 0) into 0
65.604 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
65.604 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
65.604 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
65.605 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
65.606 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
65.606 * [backup-simplify]: Simplify (- 0) into 0
65.606 * [backup-simplify]: Simplify (+ 0 0) into 0
65.607 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
65.608 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
65.609 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
65.609 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
65.610 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
65.610 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
65.610 * [backup-simplify]: Simplify (- 0) into 0
65.611 * [backup-simplify]: Simplify (+ 0 0) into 0
65.611 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
65.612 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
65.613 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
65.613 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
65.614 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
65.615 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
65.615 * [backup-simplify]: Simplify (+ 0 0) into 0
65.616 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into 0
65.617 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
65.618 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
65.618 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
65.619 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
65.619 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
65.619 * [backup-simplify]: Simplify (+ 0 0) into 0
65.620 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
65.621 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
65.621 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
65.622 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
65.623 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
65.623 * [backup-simplify]: Simplify (- 0) into 0
65.623 * [backup-simplify]: Simplify (+ 0 0) into 0
65.624 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
65.625 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
65.626 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
65.626 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
65.627 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
65.627 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
65.627 * [backup-simplify]: Simplify (+ 0 0) into 0
65.628 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
65.629 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
65.630 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
65.630 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
65.631 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
65.631 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
65.632 * [backup-simplify]: Simplify (- 0) into 0
65.632 * [backup-simplify]: Simplify (+ 0 0) into 0
65.633 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into 0
65.633 * [backup-simplify]: Simplify (+ 0 0) into 0
65.633 * [backup-simplify]: Simplify (- 0) into 0
65.634 * [backup-simplify]: Simplify (+ 0 0) into 0
65.640 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (* 0 (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0
65.643 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0
65.646 * [backup-simplify]: Simplify (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) 0) (+ (* 0 0) (* 0 (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R)))) into 0
65.646 * [backup-simplify]: Simplify (+ 0 0) into 0
65.647 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
65.648 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
65.648 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
65.649 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
65.649 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
65.650 * [backup-simplify]: Simplify (- 0) into 0
65.650 * [backup-simplify]: Simplify (+ 0 0) into 0
65.651 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0
65.652 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
65.652 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
65.652 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
65.653 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
65.654 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
65.654 * [backup-simplify]: Simplify (- 0) into 0
65.655 * [backup-simplify]: Simplify (+ 0 0) into 0
65.655 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0
65.656 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0
65.657 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
65.658 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
65.658 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
65.659 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
65.659 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
65.660 * [backup-simplify]: Simplify (+ 0 0) into 0
65.660 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
65.661 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
65.662 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
65.662 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
65.663 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
65.663 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
65.664 * [backup-simplify]: Simplify (+ 0 0) into 0
65.664 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0
65.665 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0
65.665 * [backup-simplify]: Simplify (+ 0 0) into 0
65.666 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
65.666 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
65.667 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
65.667 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
65.667 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
65.668 * [backup-simplify]: Simplify (+ 0 0) into 0
65.668 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
65.668 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
65.669 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
65.669 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
65.669 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
65.670 * [backup-simplify]: Simplify (- 0) into 0
65.670 * [backup-simplify]: Simplify (+ 0 0) into 0
65.670 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
65.671 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
65.671 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
65.671 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
65.672 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
65.672 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
65.672 * [backup-simplify]: Simplify (- 0) into 0
65.673 * [backup-simplify]: Simplify (+ 0 0) into 0
65.673 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
65.673 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
65.674 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
65.674 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
65.674 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
65.675 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
65.675 * [backup-simplify]: Simplify (+ 0 0) into 0
65.675 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into 0
65.676 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
65.676 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
65.677 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
65.677 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
65.677 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
65.678 * [backup-simplify]: Simplify (+ 0 0) into 0
65.678 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
65.678 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
65.679 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
65.679 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
65.679 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
65.680 * [backup-simplify]: Simplify (- 0) into 0
65.680 * [backup-simplify]: Simplify (+ 0 0) into 0
65.680 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
65.681 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
65.681 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
65.681 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
65.682 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
65.682 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
65.682 * [backup-simplify]: Simplify (+ 0 0) into 0
65.683 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
65.683 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
65.684 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
65.684 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
65.684 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
65.685 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
65.685 * [backup-simplify]: Simplify (- 0) into 0
65.685 * [backup-simplify]: Simplify (+ 0 0) into 0
65.686 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into 0
65.686 * [backup-simplify]: Simplify (+ 0 0) into 0
65.686 * [backup-simplify]: Simplify (- 0) into 0
65.686 * [backup-simplify]: Simplify (+ 0 0) into 0
65.689 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (* 0 (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0
65.691 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0
65.691 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
65.692 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
65.692 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
65.692 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
65.693 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
65.693 * [backup-simplify]: Simplify (+ 0 0) into 0
65.693 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
65.694 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
65.694 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
65.694 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
65.695 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
65.695 * [backup-simplify]: Simplify (- 0) into 0
65.695 * [backup-simplify]: Simplify (+ 0 0) into 0
65.696 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
65.696 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
65.696 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
65.697 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
65.697 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
65.697 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
65.698 * [backup-simplify]: Simplify (- 0) into 0
65.698 * [backup-simplify]: Simplify (+ 0 0) into 0
65.698 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
65.699 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
65.699 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
65.699 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
65.700 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
65.700 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
65.701 * [backup-simplify]: Simplify (+ 0 0) into 0
65.701 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into 0
65.702 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (+ (* 0 1) (* 0 0)))) into 0
65.702 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) (/ 0 R)) (* 0 (/ 0 R)))) into 0
65.705 * [backup-simplify]: Simplify (+ (* (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) 0) (+ (* 0 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))))) into 0
65.708 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))))) into 0
65.709 * [backup-simplify]: Simplify (- 0) into 0
65.709 * [backup-simplify]: Simplify (+ 0 0) into 0
65.709 * [taylor]: Taking taylor expansion of 0 in phi1
65.709 * [backup-simplify]: Simplify 0 into 0
65.709 * [backup-simplify]: Simplify (- (+ (* (/ 1 R) (/ 0 R)) (* 0 (/ 0 R)))) into 0
65.710 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
65.711 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
65.711 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
65.712 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
65.712 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
65.713 * [backup-simplify]: Simplify (- 0) into 0
65.713 * [backup-simplify]: Simplify (+ 0 0) into 0
65.713 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0
65.714 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
65.715 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
65.716 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
65.716 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
65.717 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
65.717 * [backup-simplify]: Simplify (- 0) into 0
65.717 * [backup-simplify]: Simplify (+ 0 0) into 0
65.718 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0
65.719 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0
65.721 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
65.722 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
65.722 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
65.723 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
65.724 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
65.724 * [backup-simplify]: Simplify (+ 0 0) into 0
65.724 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
65.725 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
65.726 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
65.726 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
65.727 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
65.727 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
65.728 * [backup-simplify]: Simplify (+ 0 0) into 0
65.728 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0
65.729 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0
65.729 * [backup-simplify]: Simplify (+ 0 0) into 0
65.730 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
65.731 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
65.731 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
65.732 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
65.732 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
65.733 * [backup-simplify]: Simplify (+ 0 0) into 0
65.733 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
65.734 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
65.734 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
65.735 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
65.736 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
65.736 * [backup-simplify]: Simplify (- 0) into 0
65.736 * [backup-simplify]: Simplify (+ 0 0) into 0
65.737 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
65.738 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
65.739 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
65.739 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
65.740 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
65.740 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
65.740 * [backup-simplify]: Simplify (- 0) into 0
65.741 * [backup-simplify]: Simplify (+ 0 0) into 0
65.741 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
65.742 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
65.743 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
65.743 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
65.744 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
65.744 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
65.745 * [backup-simplify]: Simplify (+ 0 0) into 0
65.745 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into 0
65.746 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
65.747 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
65.747 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
65.748 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
65.748 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
65.749 * [backup-simplify]: Simplify (+ 0 0) into 0
65.750 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
65.750 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
65.751 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
65.751 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
65.752 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
65.752 * [backup-simplify]: Simplify (- 0) into 0
65.752 * [backup-simplify]: Simplify (+ 0 0) into 0
65.753 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
65.754 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
65.755 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
65.755 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
65.756 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
65.756 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
65.756 * [backup-simplify]: Simplify (+ 0 0) into 0
65.757 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
65.759 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
65.759 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
65.760 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
65.761 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
65.761 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
65.762 * [backup-simplify]: Simplify (- 0) into 0
65.762 * [backup-simplify]: Simplify (+ 0 0) into 0
65.763 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into 0
65.763 * [backup-simplify]: Simplify (+ 0 0) into 0
65.764 * [backup-simplify]: Simplify (- 0) into 0
65.764 * [backup-simplify]: Simplify (+ 0 0) into 0
65.767 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) into 0
65.769 * [backup-simplify]: Simplify (+ (* (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) 0) (+ (* 0 0) (* 0 (/ 1 R)))) into 0
65.772 * [backup-simplify]: Simplify (+ (* -1 0) (+ (* 0 0) (* 0 (* (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (/ 1 R))))) into 0
65.772 * [taylor]: Taking taylor expansion of 0 in phi1
65.772 * [backup-simplify]: Simplify 0 into 0
65.772 * [taylor]: Taking taylor expansion of 0 in phi2
65.772 * [backup-simplify]: Simplify 0 into 0
65.772 * [taylor]: Taking taylor expansion of 0 in phi2
65.772 * [backup-simplify]: Simplify 0 into 0
65.772 * [taylor]: Taking taylor expansion of 0 in phi2
65.772 * [backup-simplify]: Simplify 0 into 0
65.773 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
65.773 * [backup-simplify]: Simplify (+ 0) into 0
65.774 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
65.774 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
65.775 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
65.775 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
65.776 * [backup-simplify]: Simplify (+ 0 0) into 0
65.776 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
65.776 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
65.777 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R) (/ 0 R)))) into 0
65.779 * [backup-simplify]: Simplify (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) 0) (* 0 (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R))) into 0
65.780 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
65.780 * [backup-simplify]: Simplify (+ 0) into 0
65.780 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
65.781 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
65.781 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
65.782 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
65.782 * [backup-simplify]: Simplify (- 0) into 0
65.783 * [backup-simplify]: Simplify (+ 0 0) into 0
65.783 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
65.783 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
65.784 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) (/ 0 R)))) into 0
65.786 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0
65.787 * [backup-simplify]: Simplify (+ 0 0) into 0
65.787 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
65.787 * [backup-simplify]: Simplify (+ 0) into 0
65.788 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
65.788 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
65.789 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
65.789 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
65.790 * [backup-simplify]: Simplify (- 0) into 0
65.790 * [backup-simplify]: Simplify (+ 0 0) into 0
65.790 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
65.791 * [backup-simplify]: Simplify (+ 0) into 0
65.791 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
65.791 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
65.792 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
65.793 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
65.793 * [backup-simplify]: Simplify (+ 0 0) into 0
65.793 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
65.794 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) (/ 0 R)))) into 0
65.796 * [backup-simplify]: Simplify (+ (* (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0
65.799 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))))) into 0
65.800 * [backup-simplify]: Simplify (- 0) into 0
65.800 * [backup-simplify]: Simplify (+ 0 0) into 0
65.800 * [taylor]: Taking taylor expansion of 0 in phi2
65.800 * [backup-simplify]: Simplify 0 into 0
65.800 * [backup-simplify]: Simplify (- (+ (* (/ 1 R) (/ 0 R)))) into 0
65.802 * [backup-simplify]: Simplify (+ (* (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) 0) (* 0 (/ 1 R))) into 0
65.805 * [backup-simplify]: Simplify (+ (* -1 0) (* 0 (* (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (/ 1 R)))) into 0
65.805 * [taylor]: Taking taylor expansion of 0 in phi2
65.805 * [backup-simplify]: Simplify 0 into 0
65.808 * [backup-simplify]: Simplify (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R)) into (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))
65.810 * [backup-simplify]: Simplify (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) into (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))
65.815 * [backup-simplify]: Simplify (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))))
65.818 * [backup-simplify]: Simplify (* (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) into (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))
65.820 * [backup-simplify]: Simplify (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))))
65.823 * [backup-simplify]: Simplify (- (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))))) into (- (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))))
65.830 * [backup-simplify]: Simplify (+ (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (- (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))))) into (- (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R)) (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))))
65.831 * [taylor]: Taking taylor expansion of (- (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R)) (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))))) in R
65.831 * [taylor]: Taking taylor expansion of (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R)) (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) in R
65.831 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R)) in R
65.831 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) in R
65.831 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) in R
65.831 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in R
65.831 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in R
65.831 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in R
65.831 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in R
65.831 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in R
65.831 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R
65.831 * [taylor]: Taking taylor expansion of -0.5 in R
65.831 * [backup-simplify]: Simplify -0.5 into -0.5
65.831 * [taylor]: Taking taylor expansion of phi2 in R
65.831 * [backup-simplify]: Simplify phi2 into phi2
65.831 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
65.831 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
65.831 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
65.831 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
65.831 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
65.832 * [backup-simplify]: Simplify (- 0) into 0
65.832 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
65.832 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in R
65.832 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in R
65.832 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R
65.832 * [taylor]: Taking taylor expansion of -0.5 in R
65.832 * [backup-simplify]: Simplify -0.5 into -0.5
65.832 * [taylor]: Taking taylor expansion of phi1 in R
65.832 * [backup-simplify]: Simplify phi1 into phi1
65.832 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
65.832 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
65.832 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
65.832 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
65.832 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
65.832 * [backup-simplify]: Simplify (- 0) into 0
65.833 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
65.833 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in R
65.833 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in R
65.833 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in R
65.833 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R
65.833 * [taylor]: Taking taylor expansion of -0.5 in R
65.833 * [backup-simplify]: Simplify -0.5 into -0.5
65.833 * [taylor]: Taking taylor expansion of phi2 in R
65.833 * [backup-simplify]: Simplify phi2 into phi2
65.833 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
65.833 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
65.833 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
65.833 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
65.833 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
65.833 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
65.833 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in R
65.833 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in R
65.833 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R
65.833 * [taylor]: Taking taylor expansion of -0.5 in R
65.833 * [backup-simplify]: Simplify -0.5 into -0.5
65.833 * [taylor]: Taking taylor expansion of phi1 in R
65.833 * [backup-simplify]: Simplify phi1 into phi1
65.833 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
65.833 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
65.833 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
65.833 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
65.833 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
65.833 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
65.833 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in R
65.834 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in R
65.834 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in R
65.834 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R
65.834 * [taylor]: Taking taylor expansion of -0.5 in R
65.834 * [backup-simplify]: Simplify -0.5 into -0.5
65.834 * [taylor]: Taking taylor expansion of phi2 in R
65.834 * [backup-simplify]: Simplify phi2 into phi2
65.834 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
65.834 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
65.834 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
65.834 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in R
65.834 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in R
65.834 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R
65.834 * [taylor]: Taking taylor expansion of -0.5 in R
65.834 * [backup-simplify]: Simplify -0.5 into -0.5
65.834 * [taylor]: Taking taylor expansion of phi2 in R
65.834 * [backup-simplify]: Simplify phi2 into phi2
65.834 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
65.834 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
65.834 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
65.834 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in R
65.834 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in R
65.834 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R
65.834 * [taylor]: Taking taylor expansion of -0.5 in R
65.834 * [backup-simplify]: Simplify -0.5 into -0.5
65.834 * [taylor]: Taking taylor expansion of phi1 in R
65.834 * [backup-simplify]: Simplify phi1 into phi1
65.834 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
65.834 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
65.834 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
65.834 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in R
65.834 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R
65.834 * [taylor]: Taking taylor expansion of -0.5 in R
65.834 * [backup-simplify]: Simplify -0.5 into -0.5
65.834 * [taylor]: Taking taylor expansion of phi1 in R
65.834 * [backup-simplify]: Simplify phi1 into phi1
65.834 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
65.834 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
65.835 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
65.835 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in R
65.835 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in R
65.835 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R
65.835 * [taylor]: Taking taylor expansion of -0.5 in R
65.835 * [backup-simplify]: Simplify -0.5 into -0.5
65.835 * [taylor]: Taking taylor expansion of phi2 in R
65.835 * [backup-simplify]: Simplify phi2 into phi2
65.835 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
65.835 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
65.835 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
65.835 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in R
65.835 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in R
65.835 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R
65.835 * [taylor]: Taking taylor expansion of -0.5 in R
65.835 * [backup-simplify]: Simplify -0.5 into -0.5
65.835 * [taylor]: Taking taylor expansion of phi2 in R
65.835 * [backup-simplify]: Simplify phi2 into phi2
65.835 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
65.835 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
65.835 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
65.835 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in R
65.835 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in R
65.835 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R
65.835 * [taylor]: Taking taylor expansion of -0.5 in R
65.835 * [backup-simplify]: Simplify -0.5 into -0.5
65.835 * [taylor]: Taking taylor expansion of phi1 in R
65.835 * [backup-simplify]: Simplify phi1 into phi1
65.835 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
65.835 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
65.835 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
65.835 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in R
65.835 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R
65.835 * [taylor]: Taking taylor expansion of -0.5 in R
65.835 * [backup-simplify]: Simplify -0.5 into -0.5
65.835 * [taylor]: Taking taylor expansion of phi1 in R
65.835 * [backup-simplify]: Simplify phi1 into phi1
65.835 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
65.835 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
65.836 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
65.836 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
65.836 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
65.836 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
65.836 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
65.836 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
65.837 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
65.837 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
65.837 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
65.837 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
65.837 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
65.837 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
65.837 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
65.838 * [backup-simplify]: Simplify (- 0) into 0
65.838 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
65.838 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
65.838 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
65.838 * [backup-simplify]: Simplify (- 0) into 0
65.838 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
65.838 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
65.838 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
65.838 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
65.838 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
65.839 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
65.839 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
65.839 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
65.839 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
65.839 * [backup-simplify]: Simplify (- 0) into 0
65.839 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
65.839 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
65.839 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
65.839 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
65.839 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
65.839 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
65.840 * [backup-simplify]: Simplify (- 0) into 0
65.840 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
65.840 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
65.840 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
65.840 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
65.840 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
65.840 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
65.840 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
65.841 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
65.841 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
65.843 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
65.844 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))
65.845 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))
65.846 * [backup-simplify]: Simplify (+ 0) into 0
65.846 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
65.846 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
65.847 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
65.847 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
65.847 * [backup-simplify]: Simplify (- 0) into 0
65.848 * [backup-simplify]: Simplify (+ 0 0) into 0
65.848 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
65.848 * [backup-simplify]: Simplify (+ 0) into 0
65.848 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
65.848 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
65.849 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
65.849 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
65.849 * [backup-simplify]: Simplify (- 0) into 0
65.849 * [backup-simplify]: Simplify (+ 0 0) into 0
65.850 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
65.850 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
65.850 * [backup-simplify]: Simplify (+ 0) into 0
65.850 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
65.851 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
65.851 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
65.851 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
65.851 * [backup-simplify]: Simplify (+ 0 0) into 0
65.852 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
65.852 * [backup-simplify]: Simplify (+ 0) into 0
65.852 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
65.852 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
65.853 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
65.853 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
65.853 * [backup-simplify]: Simplify (+ 0 0) into 0
65.853 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
65.854 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
65.854 * [backup-simplify]: Simplify (+ 0 0) into 0
65.854 * [backup-simplify]: Simplify (+ 0) into 0
65.854 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
65.854 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
65.855 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
65.855 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
65.855 * [backup-simplify]: Simplify (+ 0 0) into 0
65.856 * [backup-simplify]: Simplify (+ 0) into 0
65.856 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
65.856 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
65.857 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
65.857 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
65.857 * [backup-simplify]: Simplify (- 0) into 0
65.857 * [backup-simplify]: Simplify (+ 0 0) into 0
65.857 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
65.858 * [backup-simplify]: Simplify (+ 0) into 0
65.858 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
65.858 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
65.858 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
65.859 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
65.859 * [backup-simplify]: Simplify (- 0) into 0
65.859 * [backup-simplify]: Simplify (+ 0 0) into 0
65.859 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
65.860 * [backup-simplify]: Simplify (+ 0) into 0
65.860 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
65.860 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
65.863 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
65.863 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
65.864 * [backup-simplify]: Simplify (+ 0 0) into 0
65.864 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
65.864 * [backup-simplify]: Simplify (+ 0) into 0
65.865 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
65.865 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
65.866 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
65.866 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
65.866 * [backup-simplify]: Simplify (+ 0 0) into 0
65.867 * [backup-simplify]: Simplify (+ 0) into 0
65.867 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
65.867 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
65.868 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
65.869 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
65.869 * [backup-simplify]: Simplify (- 0) into 0
65.869 * [backup-simplify]: Simplify (+ 0 0) into 0
65.869 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
65.870 * [backup-simplify]: Simplify (+ 0) into 0
65.870 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
65.870 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
65.871 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
65.871 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
65.872 * [backup-simplify]: Simplify (+ 0 0) into 0
65.872 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
65.872 * [backup-simplify]: Simplify (+ 0) into 0
65.873 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
65.873 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
65.874 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
65.874 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
65.875 * [backup-simplify]: Simplify (- 0) into 0
65.875 * [backup-simplify]: Simplify (+ 0 0) into 0
65.875 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
65.876 * [backup-simplify]: Simplify (+ 0 0) into 0
65.876 * [backup-simplify]: Simplify (- 0) into 0
65.876 * [backup-simplify]: Simplify (+ 0 0) into 0
65.880 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0
65.882 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0
65.882 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R) in R
65.882 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in R
65.882 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in R
65.882 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in R
65.882 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R
65.882 * [taylor]: Taking taylor expansion of -0.5 in R
65.882 * [backup-simplify]: Simplify -0.5 into -0.5
65.882 * [taylor]: Taking taylor expansion of phi2 in R
65.882 * [backup-simplify]: Simplify phi2 into phi2
65.882 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
65.882 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
65.882 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
65.882 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
65.882 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
65.883 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
65.883 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in R
65.883 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in R
65.883 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R
65.883 * [taylor]: Taking taylor expansion of -0.5 in R
65.883 * [backup-simplify]: Simplify -0.5 into -0.5
65.883 * [taylor]: Taking taylor expansion of phi1 in R
65.883 * [backup-simplify]: Simplify phi1 into phi1
65.883 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
65.883 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
65.883 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
65.883 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
65.883 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
65.883 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
65.883 * [taylor]: Taking taylor expansion of R in R
65.883 * [backup-simplify]: Simplify 0 into 0
65.883 * [backup-simplify]: Simplify 1 into 1
65.884 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
65.884 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
65.884 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
65.884 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) 1) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
65.885 * [taylor]: Taking taylor expansion of (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) in R
65.885 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) in R
65.885 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in R
65.885 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in R
65.885 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in R
65.885 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R
65.885 * [taylor]: Taking taylor expansion of -0.5 in R
65.885 * [backup-simplify]: Simplify -0.5 into -0.5
65.885 * [taylor]: Taking taylor expansion of phi2 in R
65.885 * [backup-simplify]: Simplify phi2 into phi2
65.885 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
65.885 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
65.885 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
65.885 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
65.885 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
65.886 * [backup-simplify]: Simplify (- 0) into 0
65.886 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
65.886 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in R
65.886 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in R
65.886 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R
65.886 * [taylor]: Taking taylor expansion of -0.5 in R
65.886 * [backup-simplify]: Simplify -0.5 into -0.5
65.886 * [taylor]: Taking taylor expansion of phi1 in R
65.887 * [backup-simplify]: Simplify phi1 into phi1
65.887 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
65.887 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
65.887 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
65.887 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
65.887 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
65.887 * [backup-simplify]: Simplify (- 0) into 0
65.887 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
65.888 * [taylor]: Taking taylor expansion of R in R
65.888 * [backup-simplify]: Simplify 0 into 0
65.888 * [backup-simplify]: Simplify 1 into 1
65.888 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
65.888 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
65.888 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
65.889 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) 1) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
65.889 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) in R
65.889 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) in R
65.889 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in R
65.889 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in R
65.889 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in R
65.889 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in R
65.889 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in R
65.889 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R
65.889 * [taylor]: Taking taylor expansion of -0.5 in R
65.889 * [backup-simplify]: Simplify -0.5 into -0.5
65.889 * [taylor]: Taking taylor expansion of phi2 in R
65.889 * [backup-simplify]: Simplify phi2 into phi2
65.889 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
65.889 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
65.889 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
65.889 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
65.890 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
65.890 * [backup-simplify]: Simplify (- 0) into 0
65.890 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
65.890 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in R
65.890 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in R
65.890 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R
65.890 * [taylor]: Taking taylor expansion of -0.5 in R
65.890 * [backup-simplify]: Simplify -0.5 into -0.5
65.890 * [taylor]: Taking taylor expansion of phi1 in R
65.890 * [backup-simplify]: Simplify phi1 into phi1
65.890 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
65.890 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
65.891 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
65.891 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
65.891 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
65.891 * [backup-simplify]: Simplify (- 0) into 0
65.891 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
65.891 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in R
65.891 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in R
65.891 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in R
65.891 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R
65.891 * [taylor]: Taking taylor expansion of -0.5 in R
65.891 * [backup-simplify]: Simplify -0.5 into -0.5
65.892 * [taylor]: Taking taylor expansion of phi2 in R
65.892 * [backup-simplify]: Simplify phi2 into phi2
65.892 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
65.892 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
65.892 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
65.892 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
65.892 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
65.892 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
65.892 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in R
65.892 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in R
65.892 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R
65.892 * [taylor]: Taking taylor expansion of -0.5 in R
65.892 * [backup-simplify]: Simplify -0.5 into -0.5
65.892 * [taylor]: Taking taylor expansion of phi1 in R
65.892 * [backup-simplify]: Simplify phi1 into phi1
65.892 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
65.892 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
65.893 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
65.893 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
65.893 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
65.893 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
65.893 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in R
65.893 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in R
65.893 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in R
65.893 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R
65.893 * [taylor]: Taking taylor expansion of -0.5 in R
65.893 * [backup-simplify]: Simplify -0.5 into -0.5
65.893 * [taylor]: Taking taylor expansion of phi2 in R
65.893 * [backup-simplify]: Simplify phi2 into phi2
65.893 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
65.893 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
65.893 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
65.893 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in R
65.894 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in R
65.894 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R
65.894 * [taylor]: Taking taylor expansion of -0.5 in R
65.894 * [backup-simplify]: Simplify -0.5 into -0.5
65.894 * [taylor]: Taking taylor expansion of phi2 in R
65.894 * [backup-simplify]: Simplify phi2 into phi2
65.894 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
65.894 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
65.894 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
65.894 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in R
65.894 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in R
65.894 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R
65.894 * [taylor]: Taking taylor expansion of -0.5 in R
65.894 * [backup-simplify]: Simplify -0.5 into -0.5
65.894 * [taylor]: Taking taylor expansion of phi1 in R
65.894 * [backup-simplify]: Simplify phi1 into phi1
65.894 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
65.894 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
65.894 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
65.894 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in R
65.894 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R
65.894 * [taylor]: Taking taylor expansion of -0.5 in R
65.894 * [backup-simplify]: Simplify -0.5 into -0.5
65.895 * [taylor]: Taking taylor expansion of phi1 in R
65.895 * [backup-simplify]: Simplify phi1 into phi1
65.895 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
65.895 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
65.895 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
65.895 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in R
65.895 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in R
65.895 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R
65.895 * [taylor]: Taking taylor expansion of -0.5 in R
65.895 * [backup-simplify]: Simplify -0.5 into -0.5
65.895 * [taylor]: Taking taylor expansion of phi2 in R
65.895 * [backup-simplify]: Simplify phi2 into phi2
65.895 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
65.895 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
65.895 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
65.895 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in R
65.895 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in R
65.895 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R
65.895 * [taylor]: Taking taylor expansion of -0.5 in R
65.895 * [backup-simplify]: Simplify -0.5 into -0.5
65.895 * [taylor]: Taking taylor expansion of phi2 in R
65.895 * [backup-simplify]: Simplify phi2 into phi2
65.896 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
65.896 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
65.896 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
65.896 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in R
65.896 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in R
65.896 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R
65.896 * [taylor]: Taking taylor expansion of -0.5 in R
65.896 * [backup-simplify]: Simplify -0.5 into -0.5
65.896 * [taylor]: Taking taylor expansion of phi1 in R
65.896 * [backup-simplify]: Simplify phi1 into phi1
65.896 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
65.896 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
65.896 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
65.896 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in R
65.896 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R
65.896 * [taylor]: Taking taylor expansion of -0.5 in R
65.896 * [backup-simplify]: Simplify -0.5 into -0.5
65.896 * [taylor]: Taking taylor expansion of phi1 in R
65.896 * [backup-simplify]: Simplify phi1 into phi1
65.896 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
65.897 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
65.897 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
65.897 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
65.897 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
65.897 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
65.897 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
65.898 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
65.898 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
65.898 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
65.898 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
65.898 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
65.898 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
65.898 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
65.898 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
65.899 * [backup-simplify]: Simplify (- 0) into 0
65.899 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
65.899 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
65.899 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
65.899 * [backup-simplify]: Simplify (- 0) into 0
65.899 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
65.899 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
65.899 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
65.899 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
65.900 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
65.900 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
65.900 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
65.900 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
65.900 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
65.900 * [backup-simplify]: Simplify (- 0) into 0
65.900 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
65.900 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
65.900 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
65.900 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
65.901 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
65.901 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
65.901 * [backup-simplify]: Simplify (- 0) into 0
65.901 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
65.901 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
65.901 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
65.901 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
65.901 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
65.901 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
65.901 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
65.902 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
65.902 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
65.903 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
65.904 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))
65.905 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))
65.906 * [backup-simplify]: Simplify (+ 0) into 0
65.906 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
65.906 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
65.907 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
65.907 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
65.908 * [backup-simplify]: Simplify (- 0) into 0
65.908 * [backup-simplify]: Simplify (+ 0 0) into 0
65.908 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
65.909 * [backup-simplify]: Simplify (+ 0) into 0
65.909 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
65.909 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
65.910 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
65.910 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
65.911 * [backup-simplify]: Simplify (- 0) into 0
65.911 * [backup-simplify]: Simplify (+ 0 0) into 0
65.911 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
65.912 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
65.912 * [backup-simplify]: Simplify (+ 0) into 0
65.913 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
65.913 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
65.913 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
65.914 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
65.914 * [backup-simplify]: Simplify (+ 0 0) into 0
65.914 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
65.915 * [backup-simplify]: Simplify (+ 0) into 0
65.915 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
65.915 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
65.916 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
65.917 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
65.917 * [backup-simplify]: Simplify (+ 0 0) into 0
65.917 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
65.918 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
65.918 * [backup-simplify]: Simplify (+ 0 0) into 0
65.918 * [backup-simplify]: Simplify (+ 0) into 0
65.919 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
65.919 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
65.920 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
65.920 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
65.920 * [backup-simplify]: Simplify (+ 0 0) into 0
65.921 * [backup-simplify]: Simplify (+ 0) into 0
65.921 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
65.922 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
65.922 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
65.923 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
65.923 * [backup-simplify]: Simplify (- 0) into 0
65.924 * [backup-simplify]: Simplify (+ 0 0) into 0
65.924 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
65.924 * [backup-simplify]: Simplify (+ 0) into 0
65.925 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
65.925 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
65.926 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
65.926 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
65.926 * [backup-simplify]: Simplify (- 0) into 0
65.927 * [backup-simplify]: Simplify (+ 0 0) into 0
65.927 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
65.927 * [backup-simplify]: Simplify (+ 0) into 0
65.928 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
65.928 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
65.929 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
65.929 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
65.930 * [backup-simplify]: Simplify (+ 0 0) into 0
65.930 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
65.930 * [backup-simplify]: Simplify (+ 0) into 0
65.931 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
65.931 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
65.932 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
65.932 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
65.932 * [backup-simplify]: Simplify (+ 0 0) into 0
65.933 * [backup-simplify]: Simplify (+ 0) into 0
65.933 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
65.934 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
65.934 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
65.935 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
65.935 * [backup-simplify]: Simplify (- 0) into 0
65.935 * [backup-simplify]: Simplify (+ 0 0) into 0
65.936 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
65.936 * [backup-simplify]: Simplify (+ 0) into 0
65.937 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
65.937 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
65.938 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
65.938 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
65.939 * [backup-simplify]: Simplify (+ 0 0) into 0
65.939 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
65.939 * [backup-simplify]: Simplify (+ 0) into 0
65.940 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
65.940 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
65.941 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
65.941 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
65.941 * [backup-simplify]: Simplify (- 0) into 0
65.942 * [backup-simplify]: Simplify (+ 0 0) into 0
65.942 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
65.943 * [backup-simplify]: Simplify (+ 0 0) into 0
65.943 * [backup-simplify]: Simplify (- 0) into 0
65.943 * [backup-simplify]: Simplify (+ 0 0) into 0
65.948 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0
65.950 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0
65.950 * [taylor]: Taking taylor expansion of (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) in R
65.950 * [taylor]: Taking taylor expansion of 2 in R
65.950 * [backup-simplify]: Simplify 2 into 2
65.950 * [taylor]: Taking taylor expansion of (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) in R
65.950 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) in R
65.950 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in R
65.950 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in R
65.950 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R
65.950 * [taylor]: Taking taylor expansion of -0.5 in R
65.950 * [backup-simplify]: Simplify -0.5 into -0.5
65.950 * [taylor]: Taking taylor expansion of phi2 in R
65.951 * [backup-simplify]: Simplify phi2 into phi2
65.951 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
65.951 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
65.951 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
65.951 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in R
65.951 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in R
65.951 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R
65.951 * [taylor]: Taking taylor expansion of -0.5 in R
65.951 * [backup-simplify]: Simplify -0.5 into -0.5
65.951 * [taylor]: Taking taylor expansion of phi2 in R
65.951 * [backup-simplify]: Simplify phi2 into phi2
65.951 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
65.951 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
65.951 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
65.951 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in R
65.951 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in R
65.951 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R
65.951 * [taylor]: Taking taylor expansion of -0.5 in R
65.951 * [backup-simplify]: Simplify -0.5 into -0.5
65.952 * [taylor]: Taking taylor expansion of phi1 in R
65.952 * [backup-simplify]: Simplify phi1 into phi1
65.952 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
65.952 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
65.952 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
65.952 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in R
65.952 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R
65.952 * [taylor]: Taking taylor expansion of -0.5 in R
65.952 * [backup-simplify]: Simplify -0.5 into -0.5
65.952 * [taylor]: Taking taylor expansion of phi1 in R
65.952 * [backup-simplify]: Simplify phi1 into phi1
65.952 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
65.952 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
65.952 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
65.952 * [taylor]: Taking taylor expansion of R in R
65.952 * [backup-simplify]: Simplify 0 into 0
65.952 * [backup-simplify]: Simplify 1 into 1
65.952 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
65.952 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
65.953 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
65.953 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
65.953 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
65.953 * [backup-simplify]: Simplify (- 0) into 0
65.954 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
65.954 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
65.954 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
65.954 * [backup-simplify]: Simplify (- 0) into 0
65.954 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
65.954 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
65.954 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
65.954 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
65.955 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
65.955 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
65.955 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
65.956 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) 1) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
65.956 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) in R
65.956 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) in R
65.956 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in R
65.956 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in R
65.956 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in R
65.956 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in R
65.956 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in R
65.956 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R
65.956 * [taylor]: Taking taylor expansion of -0.5 in R
65.956 * [backup-simplify]: Simplify -0.5 into -0.5
65.956 * [taylor]: Taking taylor expansion of phi2 in R
65.956 * [backup-simplify]: Simplify phi2 into phi2
65.956 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
65.956 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
65.956 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
65.956 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
65.956 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
65.957 * [backup-simplify]: Simplify (- 0) into 0
65.957 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
65.957 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in R
65.957 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in R
65.957 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R
65.957 * [taylor]: Taking taylor expansion of -0.5 in R
65.957 * [backup-simplify]: Simplify -0.5 into -0.5
65.957 * [taylor]: Taking taylor expansion of phi1 in R
65.957 * [backup-simplify]: Simplify phi1 into phi1
65.957 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
65.957 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
65.957 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
65.957 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
65.958 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
65.958 * [backup-simplify]: Simplify (- 0) into 0
65.958 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
65.958 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in R
65.958 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in R
65.958 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in R
65.958 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R
65.958 * [taylor]: Taking taylor expansion of -0.5 in R
65.958 * [backup-simplify]: Simplify -0.5 into -0.5
65.958 * [taylor]: Taking taylor expansion of phi2 in R
65.958 * [backup-simplify]: Simplify phi2 into phi2
65.958 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
65.958 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
65.959 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
65.959 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
65.959 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
65.959 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
65.959 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in R
65.959 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in R
65.959 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R
65.959 * [taylor]: Taking taylor expansion of -0.5 in R
65.959 * [backup-simplify]: Simplify -0.5 into -0.5
65.959 * [taylor]: Taking taylor expansion of phi1 in R
65.959 * [backup-simplify]: Simplify phi1 into phi1
65.959 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
65.959 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
65.959 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
65.959 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
65.959 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
65.960 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
65.960 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in R
65.960 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in R
65.960 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in R
65.960 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R
65.960 * [taylor]: Taking taylor expansion of -0.5 in R
65.960 * [backup-simplify]: Simplify -0.5 into -0.5
65.960 * [taylor]: Taking taylor expansion of phi2 in R
65.960 * [backup-simplify]: Simplify phi2 into phi2
65.960 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
65.960 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
65.960 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
65.960 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in R
65.960 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in R
65.960 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R
65.960 * [taylor]: Taking taylor expansion of -0.5 in R
65.960 * [backup-simplify]: Simplify -0.5 into -0.5
65.960 * [taylor]: Taking taylor expansion of phi2 in R
65.960 * [backup-simplify]: Simplify phi2 into phi2
65.960 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
65.960 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
65.960 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
65.961 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in R
65.961 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in R
65.961 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R
65.961 * [taylor]: Taking taylor expansion of -0.5 in R
65.961 * [backup-simplify]: Simplify -0.5 into -0.5
65.961 * [taylor]: Taking taylor expansion of phi1 in R
65.961 * [backup-simplify]: Simplify phi1 into phi1
65.961 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
65.961 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
65.961 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
65.961 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in R
65.961 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R
65.961 * [taylor]: Taking taylor expansion of -0.5 in R
65.961 * [backup-simplify]: Simplify -0.5 into -0.5
65.961 * [taylor]: Taking taylor expansion of phi1 in R
65.961 * [backup-simplify]: Simplify phi1 into phi1
65.961 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
65.961 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
65.961 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
65.961 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in R
65.961 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in R
65.961 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R
65.961 * [taylor]: Taking taylor expansion of -0.5 in R
65.961 * [backup-simplify]: Simplify -0.5 into -0.5
65.962 * [taylor]: Taking taylor expansion of phi2 in R
65.962 * [backup-simplify]: Simplify phi2 into phi2
65.962 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
65.962 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
65.962 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
65.962 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in R
65.962 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in R
65.962 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R
65.962 * [taylor]: Taking taylor expansion of -0.5 in R
65.962 * [backup-simplify]: Simplify -0.5 into -0.5
65.962 * [taylor]: Taking taylor expansion of phi2 in R
65.962 * [backup-simplify]: Simplify phi2 into phi2
65.962 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
65.962 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
65.962 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
65.962 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in R
65.962 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in R
65.962 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R
65.962 * [taylor]: Taking taylor expansion of -0.5 in R
65.962 * [backup-simplify]: Simplify -0.5 into -0.5
65.962 * [taylor]: Taking taylor expansion of phi1 in R
65.962 * [backup-simplify]: Simplify phi1 into phi1
65.962 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
65.963 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
65.963 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
65.963 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in R
65.963 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R
65.963 * [taylor]: Taking taylor expansion of -0.5 in R
65.963 * [backup-simplify]: Simplify -0.5 into -0.5
65.963 * [taylor]: Taking taylor expansion of phi1 in R
65.963 * [backup-simplify]: Simplify phi1 into phi1
65.963 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
65.963 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
65.963 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
65.963 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
65.963 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
65.964 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
65.964 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
65.964 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
65.964 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
65.965 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
65.965 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
65.965 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
65.965 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
65.965 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
65.966 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
65.966 * [backup-simplify]: Simplify (- 0) into 0
65.966 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
65.966 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
65.966 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
65.966 * [backup-simplify]: Simplify (- 0) into 0
65.966 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
65.966 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
65.967 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
65.967 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
65.967 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
65.967 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
65.967 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
65.967 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
65.967 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
65.967 * [backup-simplify]: Simplify (- 0) into 0
65.967 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
65.967 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
65.968 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
65.968 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
65.968 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
65.968 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
65.968 * [backup-simplify]: Simplify (- 0) into 0
65.968 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
65.968 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
65.968 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
65.968 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
65.969 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
65.969 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
65.969 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
65.970 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
65.971 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
65.972 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
65.974 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))
65.975 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))
65.976 * [backup-simplify]: Simplify (+ 0) into 0
65.976 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
65.977 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
65.977 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
65.977 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
65.978 * [backup-simplify]: Simplify (- 0) into 0
65.978 * [backup-simplify]: Simplify (+ 0 0) into 0
65.978 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
65.978 * [backup-simplify]: Simplify (+ 0) into 0
65.978 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
65.979 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
65.979 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
65.979 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
65.980 * [backup-simplify]: Simplify (- 0) into 0
65.980 * [backup-simplify]: Simplify (+ 0 0) into 0
65.980 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
65.980 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
65.980 * [backup-simplify]: Simplify (+ 0) into 0
65.981 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
65.981 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
65.981 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
65.981 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
65.982 * [backup-simplify]: Simplify (+ 0 0) into 0
65.982 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
65.982 * [backup-simplify]: Simplify (+ 0) into 0
65.982 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
65.983 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
65.983 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
65.983 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
65.983 * [backup-simplify]: Simplify (+ 0 0) into 0
65.984 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
65.984 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
65.984 * [backup-simplify]: Simplify (+ 0 0) into 0
65.984 * [backup-simplify]: Simplify (+ 0) into 0
65.985 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
65.985 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
65.985 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
65.986 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
65.986 * [backup-simplify]: Simplify (+ 0 0) into 0
65.986 * [backup-simplify]: Simplify (+ 0) into 0
65.987 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
65.987 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
65.988 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
65.988 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
65.988 * [backup-simplify]: Simplify (- 0) into 0
65.988 * [backup-simplify]: Simplify (+ 0 0) into 0
65.988 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
65.989 * [backup-simplify]: Simplify (+ 0) into 0
65.989 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
65.989 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
65.989 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
65.990 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
65.990 * [backup-simplify]: Simplify (- 0) into 0
65.990 * [backup-simplify]: Simplify (+ 0 0) into 0
65.990 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
65.991 * [backup-simplify]: Simplify (+ 0) into 0
65.991 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
65.991 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
65.992 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
65.992 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
65.992 * [backup-simplify]: Simplify (+ 0 0) into 0
65.992 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
65.993 * [backup-simplify]: Simplify (+ 0) into 0
65.993 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
65.993 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
65.994 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
65.994 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
65.995 * [backup-simplify]: Simplify (+ 0 0) into 0
65.995 * [backup-simplify]: Simplify (+ 0) into 0
65.996 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
65.996 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
65.996 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
65.997 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
65.997 * [backup-simplify]: Simplify (- 0) into 0
65.997 * [backup-simplify]: Simplify (+ 0 0) into 0
65.997 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
65.998 * [backup-simplify]: Simplify (+ 0) into 0
65.998 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
65.998 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
65.998 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
65.999 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
65.999 * [backup-simplify]: Simplify (+ 0 0) into 0
65.999 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
65.999 * [backup-simplify]: Simplify (+ 0) into 0
66.000 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
66.000 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
66.000 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
66.000 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
66.001 * [backup-simplify]: Simplify (- 0) into 0
66.001 * [backup-simplify]: Simplify (+ 0 0) into 0
66.001 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
66.001 * [backup-simplify]: Simplify (+ 0 0) into 0
66.002 * [backup-simplify]: Simplify (- 0) into 0
66.002 * [backup-simplify]: Simplify (+ 0 0) into 0
66.004 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0
66.005 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0
66.007 * [backup-simplify]: Simplify (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (* (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))
66.009 * [backup-simplify]: Simplify (* (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) into (* (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))
66.015 * [backup-simplify]: Simplify (+ (* (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (* (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into (+ (* (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (* (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))))
66.017 * [backup-simplify]: Simplify (* (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) into (* (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))
66.019 * [backup-simplify]: Simplify (* 2 (* (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into (* 2 (* (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))))
66.021 * [backup-simplify]: Simplify (- (* 2 (* (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))))) into (- (* 2 (* (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))))
66.028 * [backup-simplify]: Simplify (+ (+ (* (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (* (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (- (* 2 (* (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))))) into (- (+ (* (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (* 2 (* (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))))
66.035 * [backup-simplify]: Simplify (- (+ (* (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (* 2 (* (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))))) into (- (+ (* (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (* (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (* 2 (* (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))))
66.057 * [backup-simplify]: Simplify (+ (* (- (+ (* (* (pow (sin (/ -0.5 (/ 1 (- phi2)))) 2) (pow (sin (/ -0.5 (/ 1 (- phi1)))) 2)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 (/ 1 (- phi2)))) 2) (pow (cos (/ -0.5 (/ 1 (- phi1)))) 2)) (* (pow (sin (/ -0.5 (/ 1 (- phi2)))) 2) (pow (sin (/ -0.5 (/ 1 (- phi1)))) 2))) (+ (* (sin (/ -0.5 (/ 1 (- phi2)))) (* (cos (/ -0.5 (/ 1 (- phi2)))) (* (cos (/ -0.5 (/ 1 (- phi1)))) (sin (/ -0.5 (/ 1 (- phi1))))))) (* (cos (/ -0.5 (/ 1 (- phi2)))) (* (sin (/ -0.5 (/ 1 (- phi2)))) (* (cos (/ -0.5 (/ 1 (- phi1)))) (sin (/ -0.5 (/ 1 (- phi1)))))))))))) (* (* (pow (cos (/ -0.5 (/ 1 (- phi2)))) 2) (pow (cos (/ -0.5 (/ 1 (- phi1)))) 2)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 (/ 1 (- phi2)))) 2) (pow (cos (/ -0.5 (/ 1 (- phi1)))) 2)) (* (pow (sin (/ -0.5 (/ 1 (- phi2)))) 2) (pow (sin (/ -0.5 (/ 1 (- phi1)))) 2))) (+ (* (sin (/ -0.5 (/ 1 (- phi2)))) (* (cos (/ -0.5 (/ 1 (- phi2)))) (* (cos (/ -0.5 (/ 1 (- phi1)))) (sin (/ -0.5 (/ 1 (- phi1))))))) (* (cos (/ -0.5 (/ 1 (- phi2)))) (* (sin (/ -0.5 (/ 1 (- phi2)))) (* (cos (/ -0.5 (/ 1 (- phi1)))) (sin (/ -0.5 (/ 1 (- phi1))))))))))))) (* 2 (* (* (cos (/ -0.5 (/ 1 (- phi2)))) (* (sin (/ -0.5 (/ 1 (- phi2)))) (* (cos (/ -0.5 (/ 1 (- phi1)))) (sin (/ -0.5 (/ 1 (- phi1))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 (/ 1 (- phi2)))) 2) (pow (cos (/ -0.5 (/ 1 (- phi1)))) 2)) (* (pow (sin (/ -0.5 (/ 1 (- phi2)))) 2) (pow (sin (/ -0.5 (/ 1 (- phi1)))) 2))) (+ (* (sin (/ -0.5 (/ 1 (- phi2)))) (* (cos (/ -0.5 (/ 1 (- phi2)))) (* (cos (/ -0.5 (/ 1 (- phi1)))) (sin (/ -0.5 (/ 1 (- phi1))))))) (* (cos (/ -0.5 (/ 1 (- phi2)))) (* (sin (/ -0.5 (/ 1 (- phi2)))) (* (cos (/ -0.5 (/ 1 (- phi1)))) (sin (/ -0.5 (/ 1 (- phi1)))))))))))))) (* (/ 1 (/ 1 (- R))) (* 1 (* 1 (* (/ 1 (/ 1 (- lambda2))) 1))))) (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 (/ 1 (- phi2)))) 2) (pow (cos (/ -0.5 (/ 1 (- phi1)))) 2)) (* (pow (sin (/ -0.5 (/ 1 (- phi2)))) 2) (pow (sin (/ -0.5 (/ 1 (- phi1)))) 2))) (+ (* (sin (/ -0.5 (/ 1 (- phi2)))) (* (cos (/ -0.5 (/ 1 (- phi2)))) (* (cos (/ -0.5 (/ 1 (- phi1)))) (sin (/ -0.5 (/ 1 (- phi1))))))) (* (cos (/ -0.5 (/ 1 (- phi2)))) (* (sin (/ -0.5 (/ 1 (- phi2)))) (* (cos (/ -0.5 (/ 1 (- phi1)))) (sin (/ -0.5 (/ 1 (- phi1))))))))))) (* (/ 1 (/ 1 (- R))) (* (/ 1 (/ 1 (- phi2))) (* (/ 1 (/ 1 (- phi1))) (* 1 (/ 1 (- lambda1))))))) (* (- (+ (* (* (pow (cos (/ -0.5 (/ 1 (- phi2)))) 2) (pow (cos (/ -0.5 (/ 1 (- phi1)))) 2)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 (/ 1 (- phi2)))) 2) (pow (cos (/ -0.5 (/ 1 (- phi1)))) 2)) (* (pow (sin (/ -0.5 (/ 1 (- phi2)))) 2) (pow (sin (/ -0.5 (/ 1 (- phi1)))) 2))) (+ (* (sin (/ -0.5 (/ 1 (- phi2)))) (* (cos (/ -0.5 (/ 1 (- phi2)))) (* (cos (/ -0.5 (/ 1 (- phi1)))) (sin (/ -0.5 (/ 1 (- phi1))))))) (* (cos (/ -0.5 (/ 1 (- phi2)))) (* (sin (/ -0.5 (/ 1 (- phi2)))) (* (cos (/ -0.5 (/ 1 (- phi1)))) (sin (/ -0.5 (/ 1 (- phi1))))))))) 3)))) (* (* (pow (sin (/ -0.5 (/ 1 (- phi2)))) 2) (pow (sin (/ -0.5 (/ 1 (- phi1)))) 2)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 (/ 1 (- phi2)))) 2) (pow (cos (/ -0.5 (/ 1 (- phi1)))) 2)) (* (pow (sin (/ -0.5 (/ 1 (- phi2)))) 2) (pow (sin (/ -0.5 (/ 1 (- phi1)))) 2))) (+ (* (sin (/ -0.5 (/ 1 (- phi2)))) (* (cos (/ -0.5 (/ 1 (- phi2)))) (* (cos (/ -0.5 (/ 1 (- phi1)))) (sin (/ -0.5 (/ 1 (- phi1))))))) (* (cos (/ -0.5 (/ 1 (- phi2)))) (* (sin (/ -0.5 (/ 1 (- phi2)))) (* (cos (/ -0.5 (/ 1 (- phi1)))) (sin (/ -0.5 (/ 1 (- phi1))))))))) 3))))) (* 2 (* (* (cos (/ -0.5 (/ 1 (- phi2)))) (* (sin (/ -0.5 (/ 1 (- phi2)))) (* (cos (/ -0.5 (/ 1 (- phi1)))) (sin (/ -0.5 (/ 1 (- phi1))))))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 (/ 1 (- phi2)))) 2) (pow (cos (/ -0.5 (/ 1 (- phi1)))) 2)) (* (pow (sin (/ -0.5 (/ 1 (- phi2)))) 2) (pow (sin (/ -0.5 (/ 1 (- phi1)))) 2))) (+ (* (sin (/ -0.5 (/ 1 (- phi2)))) (* (cos (/ -0.5 (/ 1 (- phi2)))) (* (cos (/ -0.5 (/ 1 (- phi1)))) (sin (/ -0.5 (/ 1 (- phi1))))))) (* (cos (/ -0.5 (/ 1 (- phi2)))) (* (sin (/ -0.5 (/ 1 (- phi2)))) (* (cos (/ -0.5 (/ 1 (- phi1)))) (sin (/ -0.5 (/ 1 (- phi1))))))))) 3)))))) (* (/ 1 (/ 1 (- R))) (* (/ 1 (/ 1 (- phi2))) (* (/ 1 (/ 1 (- phi1))) (* (/ 1 (/ 1 (- lambda2))) (pow (/ 1 (- lambda1)) 2)))))))) into (- (+ (* (/ (* (pow (cos (* 0.5 phi1)) 2) (* R (* (pow (cos (* 0.5 phi2)) 2) (* phi1 (* lambda2 phi2))))) (pow lambda1 2)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (* 2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))))) 3)))) (+ (* (/ (* R (* phi2 phi1)) lambda1) (sqrt (/ 1 (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (* 2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))))))) (+ (* (* R (* lambda2 (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)))) (sqrt (/ 1 (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (* 2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))))))) (+ (* (* lambda2 (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) R))) (sqrt (/ 1 (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (* 2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))))))) (* (/ (* (pow (sin (* 0.5 phi1)) 2) (* R (* phi1 (* lambda2 (* (pow (sin (* 0.5 phi2)) 2) phi2))))) (pow lambda1 2)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (* 2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))))) 3)))))))) (+ (* 2 (* (/ (* (sin (* 0.5 phi1)) (* R (* (cos (* 0.5 phi2)) (* phi1 (* (cos (* 0.5 phi1)) (* lambda2 (* (sin (* 0.5 phi2)) phi2))))))) (pow lambda1 2)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (* 2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))))) 3))))) (* 2 (* (* (cos (* 0.5 phi1)) (* R (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi2)) (* lambda2 (sin (* 0.5 phi2))))))) (sqrt (/ 1 (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (* 2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))))))))))
66.057 * * * [progress]: simplifying candidates
66.059 * [simplify]: Simplifying:
  (expm1 (* (sin (* phi1 0.5)) (sin (* phi2 0.5))))
  (log1p (* (sin (* phi1 0.5)) (sin (* phi2 0.5))))
  (- (cos (- (* phi1 0.5) (* phi2 0.5))) (cos (+ (* phi1 0.5) (* phi2 0.5))))
  (* (sin (* phi1 0.5)) (sin (* phi2 0.5)))
  (+ (log (sin (* phi1 0.5))) (log (sin (* phi2 0.5))))
  (log (* (sin (* phi1 0.5)) (sin (* phi2 0.5))))
  (exp (* (sin (* phi1 0.5)) (sin (* phi2 0.5))))
  (* (* (* (sin (* phi1 0.5)) (sin (* phi1 0.5))) (sin (* phi1 0.5))) (* (* (sin (* phi2 0.5)) (sin (* phi2 0.5))) (sin (* phi2 0.5))))
  (* (cbrt (* (sin (* phi1 0.5)) (sin (* phi2 0.5)))) (cbrt (* (sin (* phi1 0.5)) (sin (* phi2 0.5)))))
  (cbrt (* (sin (* phi1 0.5)) (sin (* phi2 0.5))))
  (* (* (* (sin (* phi1 0.5)) (sin (* phi2 0.5))) (* (sin (* phi1 0.5)) (sin (* phi2 0.5)))) (* (sin (* phi1 0.5)) (sin (* phi2 0.5))))
  (sqrt (* (sin (* phi1 0.5)) (sin (* phi2 0.5))))
  (sqrt (* (sin (* phi1 0.5)) (sin (* phi2 0.5))))
  (* (sqrt (sin (* phi1 0.5))) (sqrt (sin (* phi2 0.5))))
  (* (sqrt (sin (* phi1 0.5))) (sqrt (sin (* phi2 0.5))))
  (* (sin (* phi1 0.5)) (* (cbrt (sin (* phi2 0.5))) (cbrt (sin (* phi2 0.5)))))
  (* (sin (* phi1 0.5)) (sqrt (sin (* phi2 0.5))))
  (* (sin (* phi1 0.5)) 1)
  (* (cbrt (sin (* phi1 0.5))) (sin (* phi2 0.5)))
  (* (sqrt (sin (* phi1 0.5))) (sin (* phi2 0.5)))
  (* (sin (* phi1 0.5)) (sin (* phi2 0.5)))
  (expm1 (* (- lambda1 lambda2) (fma (cos (* phi1 0.5)) (cos (* phi2 0.5)) (- (* (sin (* phi1 0.5)) (sin (* phi2 0.5)))))))
  (log1p (* (- lambda1 lambda2) (fma (cos (* phi1 0.5)) (cos (* phi2 0.5)) (- (* (sin (* phi1 0.5)) (sin (* phi2 0.5)))))))
  (* (- lambda1 lambda2) (fma (cos (* phi1 0.5)) (cos (* phi2 0.5)) (- (* (sin (* phi1 0.5)) (sin (* phi2 0.5))))))
  (+ (log (- lambda1 lambda2)) (log (fma (cos (* phi1 0.5)) (cos (* phi2 0.5)) (- (* (sin (* phi1 0.5)) (sin (* phi2 0.5)))))))
  (log (* (- lambda1 lambda2) (fma (cos (* phi1 0.5)) (cos (* phi2 0.5)) (- (* (sin (* phi1 0.5)) (sin (* phi2 0.5)))))))
  (exp (* (- lambda1 lambda2) (fma (cos (* phi1 0.5)) (cos (* phi2 0.5)) (- (* (sin (* phi1 0.5)) (sin (* phi2 0.5)))))))
  (* (* (* (- lambda1 lambda2) (- lambda1 lambda2)) (- lambda1 lambda2)) (* (* (fma (cos (* phi1 0.5)) (cos (* phi2 0.5)) (- (* (sin (* phi1 0.5)) (sin (* phi2 0.5))))) (fma (cos (* phi1 0.5)) (cos (* phi2 0.5)) (- (* (sin (* phi1 0.5)) (sin (* phi2 0.5)))))) (fma (cos (* phi1 0.5)) (cos (* phi2 0.5)) (- (* (sin (* phi1 0.5)) (sin (* phi2 0.5)))))))
  (* (cbrt (* (- lambda1 lambda2) (fma (cos (* phi1 0.5)) (cos (* phi2 0.5)) (- (* (sin (* phi1 0.5)) (sin (* phi2 0.5))))))) (cbrt (* (- lambda1 lambda2) (fma (cos (* phi1 0.5)) (cos (* phi2 0.5)) (- (* (sin (* phi1 0.5)) (sin (* phi2 0.5))))))))
  (cbrt (* (- lambda1 lambda2) (fma (cos (* phi1 0.5)) (cos (* phi2 0.5)) (- (* (sin (* phi1 0.5)) (sin (* phi2 0.5)))))))
  (* (* (* (- lambda1 lambda2) (fma (cos (* phi1 0.5)) (cos (* phi2 0.5)) (- (* (sin (* phi1 0.5)) (sin (* phi2 0.5)))))) (* (- lambda1 lambda2) (fma (cos (* phi1 0.5)) (cos (* phi2 0.5)) (- (* (sin (* phi1 0.5)) (sin (* phi2 0.5))))))) (* (- lambda1 lambda2) (fma (cos (* phi1 0.5)) (cos (* phi2 0.5)) (- (* (sin (* phi1 0.5)) (sin (* phi2 0.5)))))))
  (sqrt (* (- lambda1 lambda2) (fma (cos (* phi1 0.5)) (cos (* phi2 0.5)) (- (* (sin (* phi1 0.5)) (sin (* phi2 0.5)))))))
  (sqrt (* (- lambda1 lambda2) (fma (cos (* phi1 0.5)) (cos (* phi2 0.5)) (- (* (sin (* phi1 0.5)) (sin (* phi2 0.5)))))))
  (* (sqrt (- lambda1 lambda2)) (sqrt (fma (cos (* phi1 0.5)) (cos (* phi2 0.5)) (- (* (sin (* phi1 0.5)) (sin (* phi2 0.5)))))))
  (* (sqrt (- lambda1 lambda2)) (sqrt (fma (cos (* phi1 0.5)) (cos (* phi2 0.5)) (- (* (sin (* phi1 0.5)) (sin (* phi2 0.5)))))))
  (* (- lambda1 lambda2) (* (cos (* phi1 0.5)) (cos (* phi2 0.5))))
  (* (- lambda1 lambda2) (- (* (sin (* phi1 0.5)) (sin (* phi2 0.5)))))
  (* (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) (- lambda1 lambda2))
  (* (- (* (sin (* phi1 0.5)) (sin (* phi2 0.5)))) (- lambda1 lambda2))
  (* (- lambda1 lambda2) (* (cbrt (fma (cos (* phi1 0.5)) (cos (* phi2 0.5)) (- (* (sin (* phi1 0.5)) (sin (* phi2 0.5)))))) (cbrt (fma (cos (* phi1 0.5)) (cos (* phi2 0.5)) (- (* (sin (* phi1 0.5)) (sin (* phi2 0.5))))))))
  (* (- lambda1 lambda2) (sqrt (fma (cos (* phi1 0.5)) (cos (* phi2 0.5)) (- (* (sin (* phi1 0.5)) (sin (* phi2 0.5)))))))
  (* (- lambda1 lambda2) 1)
  (* (cbrt (- lambda1 lambda2)) (fma (cos (* phi1 0.5)) (cos (* phi2 0.5)) (- (* (sin (* phi1 0.5)) (sin (* phi2 0.5))))))
  (* (sqrt (- lambda1 lambda2)) (fma (cos (* phi1 0.5)) (cos (* phi2 0.5)) (- (* (sin (* phi1 0.5)) (sin (* phi2 0.5))))))
  (* (- lambda1 lambda2) (fma (cos (* phi1 0.5)) (cos (* phi2 0.5)) (- (* (sin (* phi1 0.5)) (sin (* phi2 0.5))))))
  (* (- (sqrt lambda1) (sqrt lambda2)) (fma (cos (* phi1 0.5)) (cos (* phi2 0.5)) (- (* (sin (* phi1 0.5)) (sin (* phi2 0.5))))))
  (* (- lambda1 lambda2) (fma (cos (* phi1 0.5)) (cos (* phi2 0.5)) (- (* (sin (* phi1 0.5)) (sin (* phi2 0.5))))))
  (* (- (pow lambda1 3) (pow lambda2 3)) (fma (cos (* phi1 0.5)) (cos (* phi2 0.5)) (- (* (sin (* phi1 0.5)) (sin (* phi2 0.5))))))
  (* (- (* lambda1 lambda1) (* lambda2 lambda2)) (fma (cos (* phi1 0.5)) (cos (* phi2 0.5)) (- (* (sin (* phi1 0.5)) (sin (* phi2 0.5))))))
  (expm1 (fma (cos (* phi1 0.5)) (cos (* phi2 0.5)) (- (* (sin (* phi1 0.5)) (sin (* phi2 0.5))))))
  (log1p (fma (cos (* phi1 0.5)) (cos (* phi2 0.5)) (- (* (sin (* phi1 0.5)) (sin (* phi2 0.5))))))
  (* (cos (* phi1 0.5)) (cos (* phi2 0.5)))
  (log (fma (cos (* phi1 0.5)) (cos (* phi2 0.5)) (- (* (sin (* phi1 0.5)) (sin (* phi2 0.5))))))
  (exp (fma (cos (* phi1 0.5)) (cos (* phi2 0.5)) (- (* (sin (* phi1 0.5)) (sin (* phi2 0.5))))))
  (* (cbrt (fma (cos (* phi1 0.5)) (cos (* phi2 0.5)) (- (* (sin (* phi1 0.5)) (sin (* phi2 0.5)))))) (cbrt (fma (cos (* phi1 0.5)) (cos (* phi2 0.5)) (- (* (sin (* phi1 0.5)) (sin (* phi2 0.5)))))))
  (cbrt (fma (cos (* phi1 0.5)) (cos (* phi2 0.5)) (- (* (sin (* phi1 0.5)) (sin (* phi2 0.5))))))
  (* (* (fma (cos (* phi1 0.5)) (cos (* phi2 0.5)) (- (* (sin (* phi1 0.5)) (sin (* phi2 0.5))))) (fma (cos (* phi1 0.5)) (cos (* phi2 0.5)) (- (* (sin (* phi1 0.5)) (sin (* phi2 0.5)))))) (fma (cos (* phi1 0.5)) (cos (* phi2 0.5)) (- (* (sin (* phi1 0.5)) (sin (* phi2 0.5))))))
  (sqrt (fma (cos (* phi1 0.5)) (cos (* phi2 0.5)) (- (* (sin (* phi1 0.5)) (sin (* phi2 0.5))))))
  (sqrt (fma (cos (* phi1 0.5)) (cos (* phi2 0.5)) (- (* (sin (* phi1 0.5)) (sin (* phi2 0.5))))))
  (expm1 (* (hypot (* (- lambda1 lambda2) (fma (cos (* phi1 0.5)) (cos (* phi2 0.5)) (- (* (sin (* phi1 0.5)) (sin (* phi2 0.5)))))) (- phi1 phi2)) R))
  (log1p (* (hypot (* (- lambda1 lambda2) (fma (cos (* phi1 0.5)) (cos (* phi2 0.5)) (- (* (sin (* phi1 0.5)) (sin (* phi2 0.5)))))) (- phi1 phi2)) R))
  (* (hypot (* (- lambda1 lambda2) (fma (cos (* phi1 0.5)) (cos (* phi2 0.5)) (- (* (sin (* phi1 0.5)) (sin (* phi2 0.5)))))) (- phi1 phi2)) R)
  (+ (log (hypot (* (- lambda1 lambda2) (fma (cos (* phi1 0.5)) (cos (* phi2 0.5)) (- (* (sin (* phi1 0.5)) (sin (* phi2 0.5)))))) (- phi1 phi2))) (log R))
  (log (* (hypot (* (- lambda1 lambda2) (fma (cos (* phi1 0.5)) (cos (* phi2 0.5)) (- (* (sin (* phi1 0.5)) (sin (* phi2 0.5)))))) (- phi1 phi2)) R))
  (exp (* (hypot (* (- lambda1 lambda2) (fma (cos (* phi1 0.5)) (cos (* phi2 0.5)) (- (* (sin (* phi1 0.5)) (sin (* phi2 0.5)))))) (- phi1 phi2)) R))
  (* (* (* (hypot (* (- lambda1 lambda2) (fma (cos (* phi1 0.5)) (cos (* phi2 0.5)) (- (* (sin (* phi1 0.5)) (sin (* phi2 0.5)))))) (- phi1 phi2)) (hypot (* (- lambda1 lambda2) (fma (cos (* phi1 0.5)) (cos (* phi2 0.5)) (- (* (sin (* phi1 0.5)) (sin (* phi2 0.5)))))) (- phi1 phi2))) (hypot (* (- lambda1 lambda2) (fma (cos (* phi1 0.5)) (cos (* phi2 0.5)) (- (* (sin (* phi1 0.5)) (sin (* phi2 0.5)))))) (- phi1 phi2))) (* (* R R) R))
  (* (cbrt (* (hypot (* (- lambda1 lambda2) (fma (cos (* phi1 0.5)) (cos (* phi2 0.5)) (- (* (sin (* phi1 0.5)) (sin (* phi2 0.5)))))) (- phi1 phi2)) R)) (cbrt (* (hypot (* (- lambda1 lambda2) (fma (cos (* phi1 0.5)) (cos (* phi2 0.5)) (- (* (sin (* phi1 0.5)) (sin (* phi2 0.5)))))) (- phi1 phi2)) R)))
  (cbrt (* (hypot (* (- lambda1 lambda2) (fma (cos (* phi1 0.5)) (cos (* phi2 0.5)) (- (* (sin (* phi1 0.5)) (sin (* phi2 0.5)))))) (- phi1 phi2)) R))
  (* (* (* (hypot (* (- lambda1 lambda2) (fma (cos (* phi1 0.5)) (cos (* phi2 0.5)) (- (* (sin (* phi1 0.5)) (sin (* phi2 0.5)))))) (- phi1 phi2)) R) (* (hypot (* (- lambda1 lambda2) (fma (cos (* phi1 0.5)) (cos (* phi2 0.5)) (- (* (sin (* phi1 0.5)) (sin (* phi2 0.5)))))) (- phi1 phi2)) R)) (* (hypot (* (- lambda1 lambda2) (fma (cos (* phi1 0.5)) (cos (* phi2 0.5)) (- (* (sin (* phi1 0.5)) (sin (* phi2 0.5)))))) (- phi1 phi2)) R))
  (sqrt (* (hypot (* (- lambda1 lambda2) (fma (cos (* phi1 0.5)) (cos (* phi2 0.5)) (- (* (sin (* phi1 0.5)) (sin (* phi2 0.5)))))) (- phi1 phi2)) R))
  (sqrt (* (hypot (* (- lambda1 lambda2) (fma (cos (* phi1 0.5)) (cos (* phi2 0.5)) (- (* (sin (* phi1 0.5)) (sin (* phi2 0.5)))))) (- phi1 phi2)) R))
  (* (sqrt (hypot (* (- lambda1 lambda2) (fma (cos (* phi1 0.5)) (cos (* phi2 0.5)) (- (* (sin (* phi1 0.5)) (sin (* phi2 0.5)))))) (- phi1 phi2))) (sqrt R))
  (* (sqrt (hypot (* (- lambda1 lambda2) (fma (cos (* phi1 0.5)) (cos (* phi2 0.5)) (- (* (sin (* phi1 0.5)) (sin (* phi2 0.5)))))) (- phi1 phi2))) (sqrt R))
  (* (hypot (* (- lambda1 lambda2) (fma (cos (* phi1 0.5)) (cos (* phi2 0.5)) (- (* (sin (* phi1 0.5)) (sin (* phi2 0.5)))))) (- phi1 phi2)) (* (cbrt R) (cbrt R)))
  (* (hypot (* (- lambda1 lambda2) (fma (cos (* phi1 0.5)) (cos (* phi2 0.5)) (- (* (sin (* phi1 0.5)) (sin (* phi2 0.5)))))) (- phi1 phi2)) (sqrt R))
  (* (hypot (* (- lambda1 lambda2) (fma (cos (* phi1 0.5)) (cos (* phi2 0.5)) (- (* (sin (* phi1 0.5)) (sin (* phi2 0.5)))))) (- phi1 phi2)) 1)
  (* (cbrt (hypot (* (- lambda1 lambda2) (fma (cos (* phi1 0.5)) (cos (* phi2 0.5)) (- (* (sin (* phi1 0.5)) (sin (* phi2 0.5)))))) (- phi1 phi2))) R)
  (* (sqrt (hypot (* (- lambda1 lambda2) (fma (cos (* phi1 0.5)) (cos (* phi2 0.5)) (- (* (sin (* phi1 0.5)) (sin (* phi2 0.5)))))) (- phi1 phi2))) R)
  (* (hypot (* (- lambda1 lambda2) (fma (cos (* phi1 0.5)) (cos (* phi2 0.5)) (- (* (sin (* phi1 0.5)) (sin (* phi2 0.5)))))) (- phi1 phi2)) R)
  (* 0.25 (* phi1 phi2))
  (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))
  (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))
  (- lambda1 lambda2)
  (- (+ (* lambda1 (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2)))) (* lambda2 (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))) (+ (* lambda2 (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2)))) (* lambda1 (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))))
  (- (+ (* lambda1 (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2)))) (* lambda2 (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))) (+ (* lambda2 (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2)))) (* lambda1 (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))))
  (- 1 (+ (* 0.25 (* phi1 phi2)) (* 0.125 (pow phi1 2))))
  (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))
  (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))))
  0
  (- (+ (* 2 (* (/ (* (cos (* 0.5 phi1)) (* R (* (cos (* 0.5 phi2)) (* phi1 (* (sin (* 0.5 phi1)) (* lambda2 (* (sin (* 0.5 phi2)) phi2))))))) (* (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (* 2 (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))))) (pow lambda1 2))) (sqrt (/ 1 (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))))))))) (* 2 (* (* (cos (* 0.5 phi1)) (* (cos (* 0.5 phi2)) (* R (* (sin (* 0.5 phi1)) (* lambda2 (sin (* 0.5 phi2))))))) (sqrt (/ 1 (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))))))))) (+ (* (/ (* (pow (sin (* 0.5 phi1)) 2) (* R (* phi1 (* lambda2 (* (pow (sin (* 0.5 phi2)) 2) phi2))))) (* (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (* 2 (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))))) (pow lambda1 2))) (sqrt (/ 1 (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))))))) (+ (* (/ (* (pow (cos (* 0.5 phi1)) 2) (* R (* (pow (cos (* 0.5 phi2)) 2) (* phi1 (* lambda2 phi2))))) (* (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (* 2 (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))))) (pow lambda1 2))) (sqrt (/ 1 (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))))))) (+ (* (* R (* lambda2 (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)))) (sqrt (/ 1 (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))))))) (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))))))) (/ (* phi1 (* R phi2)) lambda1)) (* (* R (* lambda2 (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2)))) (sqrt (/ 1 (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (+ (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))))))))))))
  (- (+ (* (/ (* (pow (cos (* 0.5 phi1)) 2) (* R (* (pow (cos (* 0.5 phi2)) 2) (* phi1 (* lambda2 phi2))))) (pow lambda1 2)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (* 2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))))) 3)))) (+ (* (/ (* R (* phi2 phi1)) lambda1) (sqrt (/ 1 (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (* 2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))))))) (+ (* (* R (* lambda2 (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)))) (sqrt (/ 1 (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (* 2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))))))) (+ (* (* lambda2 (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) R))) (sqrt (/ 1 (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (* 2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))))))) (* (/ (* (pow (sin (* 0.5 phi1)) 2) (* R (* phi1 (* lambda2 (* (pow (sin (* 0.5 phi2)) 2) phi2))))) (pow lambda1 2)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (* 2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))))) 3)))))))) (+ (* 2 (* (/ (* (sin (* 0.5 phi1)) (* R (* (cos (* 0.5 phi2)) (* phi1 (* (cos (* 0.5 phi1)) (* lambda2 (* (sin (* 0.5 phi2)) phi2))))))) (pow lambda1 2)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (* 2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))))) 3))))) (* 2 (* (* (cos (* 0.5 phi1)) (* R (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi2)) (* lambda2 (sin (* 0.5 phi2))))))) (sqrt (/ 1 (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (* 2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))))))))))
66.062 * * [simplify]: iteration 0: 264 enodes
66.133 * * [simplify]: iteration 1: 744 enodes
66.507 * * [simplify]: iteration 2: 2946 enodes
67.278 * * [simplify]: iteration complete: 5009 enodes
67.279 * * [simplify]: Extracting #0: cost 67 inf + 0
67.279 * * [simplify]: Extracting #1: cost 367 inf + 1
67.282 * * [simplify]: Extracting #2: cost 824 inf + 794
67.288 * * [simplify]: Extracting #3: cost 1345 inf + 5329
67.298 * * [simplify]: Extracting #4: cost 1472 inf + 34249
67.329 * * [simplify]: Extracting #5: cost 1043 inf + 186265
67.435 * * [simplify]: Extracting #6: cost 522 inf + 466284
67.673 * * [simplify]: Extracting #7: cost 170 inf + 784910
68.075 * * [simplify]: Extracting #8: cost 41 inf + 936474
68.585 * * [simplify]: Extracting #9: cost 2 inf + 999647
69.076 * * [simplify]: Extracting #10: cost 0 inf + 1002063
69.569 * * [simplify]: Extracting #11: cost 0 inf + 1000900
70.084 * * [simplify]: Extracting #12: cost 0 inf + 1000875
70.548 * [simplify]: Simplified to:
  (expm1 (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))))
  (log1p (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))))
  (- (cos (* (- phi1 phi2) 0.5)) (cos (* (+ phi1 phi2) 0.5)))
  (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))
  (log (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))))
  (log (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))))
  (exp (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))))
  (* (* (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))))
  (* (cbrt (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))) (cbrt (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))))
  (cbrt (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))))
  (* (* (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))))
  (sqrt (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))))
  (sqrt (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))))
  (* (sqrt (sin (* phi1 0.5))) (sqrt (sin (* 0.5 phi2))))
  (* (sqrt (sin (* phi1 0.5))) (sqrt (sin (* 0.5 phi2))))
  (* (cbrt (sin (* 0.5 phi2))) (* (sin (* phi1 0.5)) (cbrt (sin (* 0.5 phi2)))))
  (* (sin (* phi1 0.5)) (sqrt (sin (* 0.5 phi2))))
  (sin (* phi1 0.5))
  (* (cbrt (sin (* phi1 0.5))) (sin (* 0.5 phi2)))
  (* (sin (* 0.5 phi2)) (sqrt (sin (* phi1 0.5))))
  (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))
  (expm1 (* (- lambda1 lambda2) (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))))))
  (log1p (* (- lambda1 lambda2) (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))))))
  (* (- lambda1 lambda2) (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))))
  (log (* (- lambda1 lambda2) (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))))))
  (log (* (- lambda1 lambda2) (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))))))
  (exp (* (- lambda1 lambda2) (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))))))
  (* (* (- lambda1 lambda2) (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))))) (* (* (- lambda1 lambda2) (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))))) (* (- lambda1 lambda2) (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))))))
  (* (cbrt (* (- lambda1 lambda2) (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))))) (cbrt (* (- lambda1 lambda2) (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))))))
  (cbrt (* (- lambda1 lambda2) (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))))))
  (* (* (- lambda1 lambda2) (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))))) (* (* (- lambda1 lambda2) (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))))) (* (- lambda1 lambda2) (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))))))
  (sqrt (* (- lambda1 lambda2) (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))))))
  (sqrt (* (- lambda1 lambda2) (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))))))
  (* (sqrt (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))))) (sqrt (- lambda1 lambda2)))
  (* (sqrt (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))))) (sqrt (- lambda1 lambda2)))
  (* (* (- lambda1 lambda2) (cos (* phi1 0.5))) (cos (* 0.5 phi2)))
  (* (- lambda1 lambda2) (- (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))))
  (* (* (- lambda1 lambda2) (cos (* phi1 0.5))) (cos (* 0.5 phi2)))
  (* (- lambda1 lambda2) (- (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))))
  (* (cbrt (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))))) (* (- lambda1 lambda2) (cbrt (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))))))
  (* (sqrt (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))))) (- lambda1 lambda2))
  (- lambda1 lambda2)
  (* (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))) (cbrt (- lambda1 lambda2)))
  (* (sqrt (- lambda1 lambda2)) (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))))
  (* (- lambda1 lambda2) (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))))
  (* (- (sqrt lambda1) (sqrt lambda2)) (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))))
  (* (- lambda1 lambda2) (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))))
  (* (- (* lambda1 (* lambda1 lambda1)) (* lambda2 (* lambda2 lambda2))) (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))))
  (* (* (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))) (+ lambda1 lambda2)) (- lambda1 lambda2))
  (expm1 (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))))
  (log1p (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))))
  (* (cos (* 0.5 phi2)) (cos (* phi1 0.5)))
  (log (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))))
  (exp (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))))
  (* (cbrt (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))))) (cbrt (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))))))
  (cbrt (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))))
  (* (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))) (* (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))) (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))))))
  (sqrt (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))))
  (sqrt (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))))
  (expm1 (* R (hypot (* (- lambda1 lambda2) (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))))) (- phi1 phi2))))
  (log1p (* R (hypot (* (- lambda1 lambda2) (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))))) (- phi1 phi2))))
  (* R (hypot (* (- lambda1 lambda2) (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))))) (- phi1 phi2)))
  (log (* R (hypot (* (- lambda1 lambda2) (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))))) (- phi1 phi2))))
  (log (* R (hypot (* (- lambda1 lambda2) (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))))) (- phi1 phi2))))
  (exp (* R (hypot (* (- lambda1 lambda2) (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))))) (- phi1 phi2))))
  (* (* (* R (hypot (* (- lambda1 lambda2) (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))))) (- phi1 phi2))) (* R (hypot (* (- lambda1 lambda2) (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))))) (- phi1 phi2)))) (* R (hypot (* (- lambda1 lambda2) (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))))) (- phi1 phi2))))
  (* (cbrt (* R (hypot (* (- lambda1 lambda2) (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))))) (- phi1 phi2)))) (cbrt (* R (hypot (* (- lambda1 lambda2) (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))))) (- phi1 phi2)))))
  (cbrt (* R (hypot (* (- lambda1 lambda2) (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))))) (- phi1 phi2))))
  (* (* (* R (hypot (* (- lambda1 lambda2) (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))))) (- phi1 phi2))) (* R (hypot (* (- lambda1 lambda2) (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))))) (- phi1 phi2)))) (* R (hypot (* (- lambda1 lambda2) (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))))) (- phi1 phi2))))
  (sqrt (* R (hypot (* (- lambda1 lambda2) (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))))) (- phi1 phi2))))
  (sqrt (* R (hypot (* (- lambda1 lambda2) (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))))) (- phi1 phi2))))
  (* (sqrt R) (sqrt (hypot (* (- lambda1 lambda2) (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))))) (- phi1 phi2))))
  (* (sqrt R) (sqrt (hypot (* (- lambda1 lambda2) (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))))) (- phi1 phi2))))
  (* (* (cbrt R) (cbrt R)) (hypot (* (- lambda1 lambda2) (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))))) (- phi1 phi2)))
  (* (sqrt R) (hypot (* (- lambda1 lambda2) (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))))) (- phi1 phi2)))
  (hypot (* (- lambda1 lambda2) (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))))) (- phi1 phi2))
  (* (cbrt (hypot (* (- lambda1 lambda2) (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))))) (- phi1 phi2))) R)
  (* R (sqrt (hypot (* (- lambda1 lambda2) (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))))) (- phi1 phi2))))
  (* R (hypot (* (- lambda1 lambda2) (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))))) (- phi1 phi2)))
  (* phi2 (* 0.25 phi1))
  (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))
  (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))
  (- lambda1 lambda2)
  (fma lambda1 (* (cos (* phi1 0.5)) (cos (* 0.5 phi2))) (- (* (* (sin (* phi1 0.5)) lambda2) (sin (* 0.5 phi2))) (fma (* lambda2 (cos (* phi1 0.5))) (cos (* 0.5 phi2)) (* (* lambda1 (sin (* 0.5 phi2))) (sin (* phi1 0.5))))))
  (fma lambda1 (* (cos (* phi1 0.5)) (cos (* 0.5 phi2))) (- (* (* (sin (* phi1 0.5)) lambda2) (sin (* 0.5 phi2))) (fma (* lambda2 (cos (* phi1 0.5))) (cos (* 0.5 phi2)) (* (* lambda1 (sin (* 0.5 phi2))) (sin (* phi1 0.5))))))
  (- 1 (fma 0.25 (* phi2 phi1) (* (* 0.125 phi1) phi1)))
  (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))))
  (- (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))))
  0
  (- (* 2 (fma (* (sqrt (/ 1 (- (fma (* (sin (* phi1 0.5)) (sin (* phi1 0.5))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi2))) (* (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) (* (cos (* phi1 0.5)) (cos (* phi1 0.5))))) (fma (cos (* phi1 0.5)) (* (sin (* 0.5 phi2)) (* (sin (* phi1 0.5)) (cos (* 0.5 phi2)))) (* (cos (* phi1 0.5)) (* (sin (* 0.5 phi2)) (* (sin (* phi1 0.5)) (cos (* 0.5 phi2))))))))) (* (cos (* 0.5 phi2)) (cos (* phi1 0.5)))) (* (* R (sin (* phi1 0.5))) (* (sin (* 0.5 phi2)) lambda2)) (* (* (/ (* (* (cos (* phi1 0.5)) R) (* phi1 (cos (* 0.5 phi2)))) lambda1) (/ (* (sin (* phi1 0.5)) (* phi2 (* (sin (* 0.5 phi2)) lambda2))) lambda1)) (/ (sqrt (/ 1 (- (fma (* (sin (* phi1 0.5)) (sin (* phi1 0.5))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi2))) (* (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) (* (cos (* phi1 0.5)) (cos (* phi1 0.5))))) (fma (cos (* phi1 0.5)) (* (sin (* 0.5 phi2)) (* (sin (* phi1 0.5)) (cos (* 0.5 phi2)))) (* (cos (* phi1 0.5)) (* (sin (* 0.5 phi2)) (* (sin (* phi1 0.5)) (cos (* 0.5 phi2))))))))) (fma (* (* (sin (* phi1 0.5)) (* (cos (* phi1 0.5)) (sin (* 0.5 phi2)))) (cos (* 0.5 phi2))) -2 (fma (* (sin (* phi1 0.5)) (sin (* phi1 0.5))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi2))) (* (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) (* (cos (* phi1 0.5)) (cos (* phi1 0.5)))))))))) (+ (fma (* (sqrt (/ 1 (- (fma (* (sin (* phi1 0.5)) (sin (* phi1 0.5))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi2))) (* (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) (* (cos (* phi1 0.5)) (cos (* phi1 0.5))))) (fma (cos (* phi1 0.5)) (* (sin (* 0.5 phi2)) (* (sin (* phi1 0.5)) (cos (* 0.5 phi2)))) (* (cos (* phi1 0.5)) (* (sin (* 0.5 phi2)) (* (sin (* phi1 0.5)) (cos (* 0.5 phi2))))))))) (* R lambda2)) (* (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) (* (cos (* phi1 0.5)) (cos (* phi1 0.5)))) (* (sqrt (/ 1 (- (fma (* (sin (* phi1 0.5)) (sin (* phi1 0.5))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi2))) (* (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) (* (cos (* phi1 0.5)) (cos (* phi1 0.5))))) (fma (cos (* phi1 0.5)) (* (sin (* 0.5 phi2)) (* (sin (* phi1 0.5)) (cos (* 0.5 phi2)))) (* (cos (* phi1 0.5)) (* (sin (* 0.5 phi2)) (* (sin (* phi1 0.5)) (cos (* 0.5 phi2))))))))) (fma (* R lambda2) (* (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))) (* (/ phi1 lambda1) (* phi2 R))))) (* (sqrt (/ 1 (- (fma (* (sin (* phi1 0.5)) (sin (* phi1 0.5))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi2))) (* (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) (* (cos (* phi1 0.5)) (cos (* phi1 0.5))))) (fma (cos (* phi1 0.5)) (* (sin (* 0.5 phi2)) (* (sin (* phi1 0.5)) (cos (* 0.5 phi2)))) (* (cos (* phi1 0.5)) (* (sin (* 0.5 phi2)) (* (sin (* phi1 0.5)) (cos (* 0.5 phi2))))))))) (fma (/ (* (* (* phi1 R) lambda2) (* phi2 (* (sin (* 0.5 phi2)) (sin (* 0.5 phi2))))) (fma (* (* (sin (* phi1 0.5)) (* (cos (* phi1 0.5)) (sin (* 0.5 phi2)))) (cos (* 0.5 phi2))) -2 (fma (* (sin (* phi1 0.5)) (sin (* phi1 0.5))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi2))) (* (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) (* (cos (* phi1 0.5)) (cos (* phi1 0.5))))))) (/ (* (sin (* phi1 0.5)) (sin (* phi1 0.5))) (* lambda1 lambda1)) (/ (* (* (* (cos (* phi1 0.5)) (cos (* phi1 0.5))) (* (* (* phi2 phi1) lambda2) (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))))) R) (* (fma (* (* (sin (* phi1 0.5)) (* (cos (* phi1 0.5)) (sin (* 0.5 phi2)))) (cos (* 0.5 phi2))) -2 (fma (* (sin (* phi1 0.5)) (sin (* phi1 0.5))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi2))) (* (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) (* (cos (* phi1 0.5)) (cos (* phi1 0.5)))))) (* lambda1 lambda1)))))))
  (fma (/ (* (* (* (cos (* phi1 0.5)) (cos (* phi1 0.5))) (* (* (* phi2 phi1) lambda2) (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))))) R) lambda1) (/ (sqrt (/ (/ 1 (* (fma (* (cos (* phi1 0.5)) (cos (* phi1 0.5))) (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) (fma (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))) (* (* (cos (* phi1 0.5)) (* (sin (* 0.5 phi2)) (* (sin (* phi1 0.5)) (cos (* 0.5 phi2))))) -2))) (fma (* (cos (* phi1 0.5)) (cos (* phi1 0.5))) (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) (fma (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))) (* (* (cos (* phi1 0.5)) (* (sin (* 0.5 phi2)) (* (sin (* phi1 0.5)) (cos (* 0.5 phi2))))) -2))))) (fma (* (cos (* phi1 0.5)) (cos (* phi1 0.5))) (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) (fma (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))) (* (* (cos (* phi1 0.5)) (* (sin (* 0.5 phi2)) (* (sin (* phi1 0.5)) (cos (* 0.5 phi2))))) -2))))) lambda1) (+ (fma (sqrt (/ 1 (fma (* (cos (* phi1 0.5)) (cos (* phi1 0.5))) (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) (fma (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))) (* (* (cos (* phi1 0.5)) (* (sin (* 0.5 phi2)) (* (sin (* phi1 0.5)) (cos (* 0.5 phi2))))) -2))))) (fma (* (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))) (* R lambda2) (* (* R (* (cos (* phi1 0.5)) (cos (* phi1 0.5)))) (* lambda2 (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2)))))) (* (* (* (/ (sin (* phi1 0.5)) lambda1) (/ (sin (* phi1 0.5)) lambda1)) (* (* (* phi1 R) lambda2) (* phi2 (* (sin (* 0.5 phi2)) (sin (* 0.5 phi2)))))) (sqrt (/ (/ 1 (* (fma (* (cos (* phi1 0.5)) (cos (* phi1 0.5))) (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) (fma (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))) (* (* (cos (* phi1 0.5)) (* (sin (* 0.5 phi2)) (* (sin (* phi1 0.5)) (cos (* 0.5 phi2))))) -2))) (fma (* (cos (* phi1 0.5)) (cos (* phi1 0.5))) (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) (fma (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))) (* (* (cos (* phi1 0.5)) (* (sin (* 0.5 phi2)) (* (sin (* phi1 0.5)) (cos (* 0.5 phi2))))) -2))))) (fma (* (cos (* phi1 0.5)) (cos (* phi1 0.5))) (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) (fma (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))) (* (* (cos (* phi1 0.5)) (* (sin (* 0.5 phi2)) (* (sin (* phi1 0.5)) (cos (* 0.5 phi2))))) -2))))))) (fma (* (/ phi1 lambda1) (* phi2 R)) (sqrt (/ 1 (fma (* (cos (* phi1 0.5)) (cos (* phi1 0.5))) (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) (fma (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))) (* (* (cos (* phi1 0.5)) (* (sin (* 0.5 phi2)) (* (sin (* phi1 0.5)) (cos (* 0.5 phi2))))) -2))))) (* -2 (fma (* (* (* (sin (* phi1 0.5)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi2)) lambda2)) (* R (sqrt (/ 1 (fma (* (cos (* phi1 0.5)) (cos (* phi1 0.5))) (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) (fma (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))) (* (* (cos (* phi1 0.5)) (* (sin (* 0.5 phi2)) (* (sin (* phi1 0.5)) (cos (* 0.5 phi2))))) -2))))))) (cos (* phi1 0.5)) (* (/ (* (* (* (sin (* phi1 0.5)) R) (* phi1 (cos (* 0.5 phi2)))) (* (cos (* phi1 0.5)) (* phi2 (* (sin (* 0.5 phi2)) lambda2)))) lambda1) (/ (sqrt (/ (/ 1 (* (fma (* (cos (* phi1 0.5)) (cos (* phi1 0.5))) (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) (fma (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))) (* (* (cos (* phi1 0.5)) (* (sin (* 0.5 phi2)) (* (sin (* phi1 0.5)) (cos (* 0.5 phi2))))) -2))) (fma (* (cos (* phi1 0.5)) (cos (* phi1 0.5))) (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) (fma (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))) (* (* (cos (* phi1 0.5)) (* (sin (* 0.5 phi2)) (* (sin (* phi1 0.5)) (cos (* 0.5 phi2))))) -2))))) (fma (* (cos (* phi1 0.5)) (cos (* phi1 0.5))) (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) (fma (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))) (* (* (cos (* phi1 0.5)) (* (sin (* 0.5 phi2)) (* (sin (* phi1 0.5)) (cos (* 0.5 phi2))))) -2))))) lambda1)))))))
70.564 * * * [progress]: adding candidates to table
71.482 * [progress]: [Phase 3 of 3] Extracting.
71.483 * * [regime]: Finding splitpoints for: (#<alt (λ (R lambda1 lambda2 phi1 phi2) (* (hypot (* (- lambda1 lambda2) (- (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) (* (* (sin (* phi1 0.5)) (* (cbrt (sin (* phi2 0.5))) (cbrt (sin (* phi2 0.5))))) (cbrt (sin (* phi2 0.5)))))) (- phi1 phi2)) R))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* (hypot (/ (* (- lambda1 lambda2) (- (* (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))))) (* (* (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))))) (+ (* (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) (* (cos (* phi1 0.5)) (cos (* phi2 0.5)))) (+ (* (* (sin (* phi1 0.5)) (sin (* phi2 0.5))) (* (sin (* phi1 0.5)) (sin (* phi2 0.5)))) (* (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) (* (sin (* phi1 0.5)) (sin (* phi2 0.5))))))) (- phi1 phi2)) R))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* (hypot (* (- lambda1 lambda2) (fma (cos (* phi1 0.5)) (cos (* phi2 0.5)) (- (* (sin (* phi1 0.5)) (sin (* phi2 0.5)))))) (- phi1 phi2)) R))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (- (fma (/ R (cos (* 0.5 (+ phi1 phi2)))) (fma (/ (* phi2 phi1) lambda1) (/ lambda2 lambda1) (/ (* phi2 phi1) lambda1)) (* (cos (* 0.5 (+ phi1 phi2))) (* R lambda2)))))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* (hypot (* (* (- lambda1 lambda2) (* (cbrt (fma (cos (* phi1 0.5)) (cos (* phi2 0.5)) (- (* (sin (* phi1 0.5)) (sin (* phi2 0.5)))))) (cbrt (fma (cos (* phi1 0.5)) (cos (* phi2 0.5)) (- (* (sin (* phi1 0.5)) (sin (* phi2 0.5)))))))) (cbrt (fma (cos (* phi1 0.5)) (cos (* phi2 0.5)) (- (* (sin (* phi1 0.5)) (sin (* phi2 0.5))))))) (- phi1 phi2)) R))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* (hypot (/ (* (- lambda1 lambda2) (- (* (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) (* (cos (* phi1 0.5)) (cos (* phi2 0.5)))) (* (* (sin (* phi1 0.5)) (sin (* phi2 0.5))) (* (sin (* phi1 0.5)) (sin (* phi2 0.5)))))) (+ (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) (* (sin (* phi1 0.5)) (sin (* phi2 0.5))))) (- phi1 phi2)) R))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* (sqrt (hypot (* (- lambda1 lambda2) (- (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) (* (sin (* phi1 0.5)) (sin (* phi2 0.5))))) (- phi1 phi2))) (* (sqrt (hypot (* (- lambda1 lambda2) (- (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) (* (sin (* phi1 0.5)) (sin (* phi2 0.5))))) (- phi1 phi2))) R)))>)
71.494 * * * [regime-changes]: Trying 6 branch expressions: ((- lambda1 lambda2) phi2 phi1 lambda2 lambda1 R)
71.494 * * * * [regimes]: Trying to branch on (- lambda1 lambda2) from (#<alt (λ (R lambda1 lambda2 phi1 phi2) (* (hypot (* (- lambda1 lambda2) (- (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) (* (* (sin (* phi1 0.5)) (* (cbrt (sin (* phi2 0.5))) (cbrt (sin (* phi2 0.5))))) (cbrt (sin (* phi2 0.5)))))) (- phi1 phi2)) R))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* (hypot (/ (* (- lambda1 lambda2) (- (* (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))))) (* (* (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))))) (+ (* (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) (* (cos (* phi1 0.5)) (cos (* phi2 0.5)))) (+ (* (* (sin (* phi1 0.5)) (sin (* phi2 0.5))) (* (sin (* phi1 0.5)) (sin (* phi2 0.5)))) (* (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) (* (sin (* phi1 0.5)) (sin (* phi2 0.5))))))) (- phi1 phi2)) R))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* (hypot (* (- lambda1 lambda2) (fma (cos (* phi1 0.5)) (cos (* phi2 0.5)) (- (* (sin (* phi1 0.5)) (sin (* phi2 0.5)))))) (- phi1 phi2)) R))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (- (fma (/ R (cos (* 0.5 (+ phi1 phi2)))) (fma (/ (* phi2 phi1) lambda1) (/ lambda2 lambda1) (/ (* phi2 phi1) lambda1)) (* (cos (* 0.5 (+ phi1 phi2))) (* R lambda2)))))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* (hypot (* (* (- lambda1 lambda2) (* (cbrt (fma (cos (* phi1 0.5)) (cos (* phi2 0.5)) (- (* (sin (* phi1 0.5)) (sin (* phi2 0.5)))))) (cbrt (fma (cos (* phi1 0.5)) (cos (* phi2 0.5)) (- (* (sin (* phi1 0.5)) (sin (* phi2 0.5)))))))) (cbrt (fma (cos (* phi1 0.5)) (cos (* phi2 0.5)) (- (* (sin (* phi1 0.5)) (sin (* phi2 0.5))))))) (- phi1 phi2)) R))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* (hypot (/ (* (- lambda1 lambda2) (- (* (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) (* (cos (* phi1 0.5)) (cos (* phi2 0.5)))) (* (* (sin (* phi1 0.5)) (sin (* phi2 0.5))) (* (sin (* phi1 0.5)) (sin (* phi2 0.5)))))) (+ (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) (* (sin (* phi1 0.5)) (sin (* phi2 0.5))))) (- phi1 phi2)) R))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* (sqrt (hypot (* (- lambda1 lambda2) (- (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) (* (sin (* phi1 0.5)) (sin (* phi2 0.5))))) (- phi1 phi2))) (* (sqrt (hypot (* (- lambda1 lambda2) (- (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) (* (sin (* phi1 0.5)) (sin (* phi2 0.5))))) (- phi1 phi2))) R)))>)
71.617 * * * * [regimes]: Trying to branch on phi2 from (#<alt (λ (R lambda1 lambda2 phi1 phi2) (* (hypot (* (- lambda1 lambda2) (- (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) (* (* (sin (* phi1 0.5)) (* (cbrt (sin (* phi2 0.5))) (cbrt (sin (* phi2 0.5))))) (cbrt (sin (* phi2 0.5)))))) (- phi1 phi2)) R))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* (hypot (/ (* (- lambda1 lambda2) (- (* (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))))) (* (* (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))))) (+ (* (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) (* (cos (* phi1 0.5)) (cos (* phi2 0.5)))) (+ (* (* (sin (* phi1 0.5)) (sin (* phi2 0.5))) (* (sin (* phi1 0.5)) (sin (* phi2 0.5)))) (* (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) (* (sin (* phi1 0.5)) (sin (* phi2 0.5))))))) (- phi1 phi2)) R))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* (hypot (* (- lambda1 lambda2) (fma (cos (* phi1 0.5)) (cos (* phi2 0.5)) (- (* (sin (* phi1 0.5)) (sin (* phi2 0.5)))))) (- phi1 phi2)) R))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (- (fma (/ R (cos (* 0.5 (+ phi1 phi2)))) (fma (/ (* phi2 phi1) lambda1) (/ lambda2 lambda1) (/ (* phi2 phi1) lambda1)) (* (cos (* 0.5 (+ phi1 phi2))) (* R lambda2)))))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* (hypot (* (* (- lambda1 lambda2) (* (cbrt (fma (cos (* phi1 0.5)) (cos (* phi2 0.5)) (- (* (sin (* phi1 0.5)) (sin (* phi2 0.5)))))) (cbrt (fma (cos (* phi1 0.5)) (cos (* phi2 0.5)) (- (* (sin (* phi1 0.5)) (sin (* phi2 0.5)))))))) (cbrt (fma (cos (* phi1 0.5)) (cos (* phi2 0.5)) (- (* (sin (* phi1 0.5)) (sin (* phi2 0.5))))))) (- phi1 phi2)) R))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* (hypot (/ (* (- lambda1 lambda2) (- (* (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) (* (cos (* phi1 0.5)) (cos (* phi2 0.5)))) (* (* (sin (* phi1 0.5)) (sin (* phi2 0.5))) (* (sin (* phi1 0.5)) (sin (* phi2 0.5)))))) (+ (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) (* (sin (* phi1 0.5)) (sin (* phi2 0.5))))) (- phi1 phi2)) R))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* (sqrt (hypot (* (- lambda1 lambda2) (- (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) (* (sin (* phi1 0.5)) (sin (* phi2 0.5))))) (- phi1 phi2))) (* (sqrt (hypot (* (- lambda1 lambda2) (- (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) (* (sin (* phi1 0.5)) (sin (* phi2 0.5))))) (- phi1 phi2))) R)))>)
71.740 * * * * [regimes]: Trying to branch on phi1 from (#<alt (λ (R lambda1 lambda2 phi1 phi2) (* (hypot (* (- lambda1 lambda2) (- (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) (* (* (sin (* phi1 0.5)) (* (cbrt (sin (* phi2 0.5))) (cbrt (sin (* phi2 0.5))))) (cbrt (sin (* phi2 0.5)))))) (- phi1 phi2)) R))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* (hypot (/ (* (- lambda1 lambda2) (- (* (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))))) (* (* (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))))) (+ (* (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) (* (cos (* phi1 0.5)) (cos (* phi2 0.5)))) (+ (* (* (sin (* phi1 0.5)) (sin (* phi2 0.5))) (* (sin (* phi1 0.5)) (sin (* phi2 0.5)))) (* (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) (* (sin (* phi1 0.5)) (sin (* phi2 0.5))))))) (- phi1 phi2)) R))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* (hypot (* (- lambda1 lambda2) (fma (cos (* phi1 0.5)) (cos (* phi2 0.5)) (- (* (sin (* phi1 0.5)) (sin (* phi2 0.5)))))) (- phi1 phi2)) R))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (- (fma (/ R (cos (* 0.5 (+ phi1 phi2)))) (fma (/ (* phi2 phi1) lambda1) (/ lambda2 lambda1) (/ (* phi2 phi1) lambda1)) (* (cos (* 0.5 (+ phi1 phi2))) (* R lambda2)))))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* (hypot (* (* (- lambda1 lambda2) (* (cbrt (fma (cos (* phi1 0.5)) (cos (* phi2 0.5)) (- (* (sin (* phi1 0.5)) (sin (* phi2 0.5)))))) (cbrt (fma (cos (* phi1 0.5)) (cos (* phi2 0.5)) (- (* (sin (* phi1 0.5)) (sin (* phi2 0.5)))))))) (cbrt (fma (cos (* phi1 0.5)) (cos (* phi2 0.5)) (- (* (sin (* phi1 0.5)) (sin (* phi2 0.5))))))) (- phi1 phi2)) R))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* (hypot (/ (* (- lambda1 lambda2) (- (* (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) (* (cos (* phi1 0.5)) (cos (* phi2 0.5)))) (* (* (sin (* phi1 0.5)) (sin (* phi2 0.5))) (* (sin (* phi1 0.5)) (sin (* phi2 0.5)))))) (+ (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) (* (sin (* phi1 0.5)) (sin (* phi2 0.5))))) (- phi1 phi2)) R))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* (sqrt (hypot (* (- lambda1 lambda2) (- (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) (* (sin (* phi1 0.5)) (sin (* phi2 0.5))))) (- phi1 phi2))) (* (sqrt (hypot (* (- lambda1 lambda2) (- (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) (* (sin (* phi1 0.5)) (sin (* phi2 0.5))))) (- phi1 phi2))) R)))>)
71.846 * * * * [regimes]: Trying to branch on lambda2 from (#<alt (λ (R lambda1 lambda2 phi1 phi2) (* (hypot (* (- lambda1 lambda2) (- (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) (* (* (sin (* phi1 0.5)) (* (cbrt (sin (* phi2 0.5))) (cbrt (sin (* phi2 0.5))))) (cbrt (sin (* phi2 0.5)))))) (- phi1 phi2)) R))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* (hypot (/ (* (- lambda1 lambda2) (- (* (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))))) (* (* (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))))) (+ (* (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) (* (cos (* phi1 0.5)) (cos (* phi2 0.5)))) (+ (* (* (sin (* phi1 0.5)) (sin (* phi2 0.5))) (* (sin (* phi1 0.5)) (sin (* phi2 0.5)))) (* (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) (* (sin (* phi1 0.5)) (sin (* phi2 0.5))))))) (- phi1 phi2)) R))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* (hypot (* (- lambda1 lambda2) (fma (cos (* phi1 0.5)) (cos (* phi2 0.5)) (- (* (sin (* phi1 0.5)) (sin (* phi2 0.5)))))) (- phi1 phi2)) R))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (- (fma (/ R (cos (* 0.5 (+ phi1 phi2)))) (fma (/ (* phi2 phi1) lambda1) (/ lambda2 lambda1) (/ (* phi2 phi1) lambda1)) (* (cos (* 0.5 (+ phi1 phi2))) (* R lambda2)))))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* (hypot (* (* (- lambda1 lambda2) (* (cbrt (fma (cos (* phi1 0.5)) (cos (* phi2 0.5)) (- (* (sin (* phi1 0.5)) (sin (* phi2 0.5)))))) (cbrt (fma (cos (* phi1 0.5)) (cos (* phi2 0.5)) (- (* (sin (* phi1 0.5)) (sin (* phi2 0.5)))))))) (cbrt (fma (cos (* phi1 0.5)) (cos (* phi2 0.5)) (- (* (sin (* phi1 0.5)) (sin (* phi2 0.5))))))) (- phi1 phi2)) R))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* (hypot (/ (* (- lambda1 lambda2) (- (* (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) (* (cos (* phi1 0.5)) (cos (* phi2 0.5)))) (* (* (sin (* phi1 0.5)) (sin (* phi2 0.5))) (* (sin (* phi1 0.5)) (sin (* phi2 0.5)))))) (+ (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) (* (sin (* phi1 0.5)) (sin (* phi2 0.5))))) (- phi1 phi2)) R))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* (sqrt (hypot (* (- lambda1 lambda2) (- (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) (* (sin (* phi1 0.5)) (sin (* phi2 0.5))))) (- phi1 phi2))) (* (sqrt (hypot (* (- lambda1 lambda2) (- (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) (* (sin (* phi1 0.5)) (sin (* phi2 0.5))))) (- phi1 phi2))) R)))>)
71.936 * * * * [regimes]: Trying to branch on lambda1 from (#<alt (λ (R lambda1 lambda2 phi1 phi2) (* (hypot (* (- lambda1 lambda2) (- (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) (* (* (sin (* phi1 0.5)) (* (cbrt (sin (* phi2 0.5))) (cbrt (sin (* phi2 0.5))))) (cbrt (sin (* phi2 0.5)))))) (- phi1 phi2)) R))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* (hypot (/ (* (- lambda1 lambda2) (- (* (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))))) (* (* (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))))) (+ (* (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) (* (cos (* phi1 0.5)) (cos (* phi2 0.5)))) (+ (* (* (sin (* phi1 0.5)) (sin (* phi2 0.5))) (* (sin (* phi1 0.5)) (sin (* phi2 0.5)))) (* (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) (* (sin (* phi1 0.5)) (sin (* phi2 0.5))))))) (- phi1 phi2)) R))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* (hypot (* (- lambda1 lambda2) (fma (cos (* phi1 0.5)) (cos (* phi2 0.5)) (- (* (sin (* phi1 0.5)) (sin (* phi2 0.5)))))) (- phi1 phi2)) R))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (- (fma (/ R (cos (* 0.5 (+ phi1 phi2)))) (fma (/ (* phi2 phi1) lambda1) (/ lambda2 lambda1) (/ (* phi2 phi1) lambda1)) (* (cos (* 0.5 (+ phi1 phi2))) (* R lambda2)))))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* (hypot (* (* (- lambda1 lambda2) (* (cbrt (fma (cos (* phi1 0.5)) (cos (* phi2 0.5)) (- (* (sin (* phi1 0.5)) (sin (* phi2 0.5)))))) (cbrt (fma (cos (* phi1 0.5)) (cos (* phi2 0.5)) (- (* (sin (* phi1 0.5)) (sin (* phi2 0.5)))))))) (cbrt (fma (cos (* phi1 0.5)) (cos (* phi2 0.5)) (- (* (sin (* phi1 0.5)) (sin (* phi2 0.5))))))) (- phi1 phi2)) R))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* (hypot (/ (* (- lambda1 lambda2) (- (* (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) (* (cos (* phi1 0.5)) (cos (* phi2 0.5)))) (* (* (sin (* phi1 0.5)) (sin (* phi2 0.5))) (* (sin (* phi1 0.5)) (sin (* phi2 0.5)))))) (+ (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) (* (sin (* phi1 0.5)) (sin (* phi2 0.5))))) (- phi1 phi2)) R))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* (sqrt (hypot (* (- lambda1 lambda2) (- (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) (* (sin (* phi1 0.5)) (sin (* phi2 0.5))))) (- phi1 phi2))) (* (sqrt (hypot (* (- lambda1 lambda2) (- (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) (* (sin (* phi1 0.5)) (sin (* phi2 0.5))))) (- phi1 phi2))) R)))>)
72.051 * * * * [regimes]: Trying to branch on R from (#<alt (λ (R lambda1 lambda2 phi1 phi2) (* (hypot (* (- lambda1 lambda2) (- (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) (* (* (sin (* phi1 0.5)) (* (cbrt (sin (* phi2 0.5))) (cbrt (sin (* phi2 0.5))))) (cbrt (sin (* phi2 0.5)))))) (- phi1 phi2)) R))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* (hypot (/ (* (- lambda1 lambda2) (- (* (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))) (* (cos (* 0.5 phi2)) (cos (* phi1 0.5))))) (* (* (* (sin (* phi1 0.5)) (sin (* 0.5 phi2))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))) (* (sin (* phi1 0.5)) (sin (* 0.5 phi2)))))) (+ (* (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) (* (cos (* phi1 0.5)) (cos (* phi2 0.5)))) (+ (* (* (sin (* phi1 0.5)) (sin (* phi2 0.5))) (* (sin (* phi1 0.5)) (sin (* phi2 0.5)))) (* (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) (* (sin (* phi1 0.5)) (sin (* phi2 0.5))))))) (- phi1 phi2)) R))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* (hypot (* (- lambda1 lambda2) (fma (cos (* phi1 0.5)) (cos (* phi2 0.5)) (- (* (sin (* phi1 0.5)) (sin (* phi2 0.5)))))) (- phi1 phi2)) R))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (- (fma (/ R (cos (* 0.5 (+ phi1 phi2)))) (fma (/ (* phi2 phi1) lambda1) (/ lambda2 lambda1) (/ (* phi2 phi1) lambda1)) (* (cos (* 0.5 (+ phi1 phi2))) (* R lambda2)))))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* (hypot (* (* (- lambda1 lambda2) (* (cbrt (fma (cos (* phi1 0.5)) (cos (* phi2 0.5)) (- (* (sin (* phi1 0.5)) (sin (* phi2 0.5)))))) (cbrt (fma (cos (* phi1 0.5)) (cos (* phi2 0.5)) (- (* (sin (* phi1 0.5)) (sin (* phi2 0.5)))))))) (cbrt (fma (cos (* phi1 0.5)) (cos (* phi2 0.5)) (- (* (sin (* phi1 0.5)) (sin (* phi2 0.5))))))) (- phi1 phi2)) R))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* (hypot (/ (* (- lambda1 lambda2) (- (* (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) (* (cos (* phi1 0.5)) (cos (* phi2 0.5)))) (* (* (sin (* phi1 0.5)) (sin (* phi2 0.5))) (* (sin (* phi1 0.5)) (sin (* phi2 0.5)))))) (+ (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) (* (sin (* phi1 0.5)) (sin (* phi2 0.5))))) (- phi1 phi2)) R))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* (sqrt (hypot (* (- lambda1 lambda2) (- (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) (* (sin (* phi1 0.5)) (sin (* phi2 0.5))))) (- phi1 phi2))) (* (sqrt (hypot (* (- lambda1 lambda2) (- (* (cos (* phi1 0.5)) (cos (* phi2 0.5))) (* (sin (* phi1 0.5)) (sin (* phi2 0.5))))) (- phi1 phi2))) R)))>)
72.144 * * * [regime]: Found split indices: #<option (#s(si 2 255))>
72.144 * [simplify]: Simplifying:
  (* (hypot (* (- lambda1 lambda2) (fma (cos (* phi1 0.5)) (cos (* phi2 0.5)) (- (* (sin (* phi1 0.5)) (sin (* phi2 0.5)))))) (- phi1 phi2)) R)
72.144 * * [simplify]: iteration 0: 20 enodes
72.145 * * [simplify]: iteration 1: 29 enodes
72.146 * * [simplify]: iteration 2: 31 enodes
72.147 * * [simplify]: iteration complete: 31 enodes
72.147 * * [simplify]: Extracting #0: cost 1 inf + 0
72.147 * * [simplify]: Extracting #1: cost 3 inf + 0
72.147 * * [simplify]: Extracting #2: cost 4 inf + 1
72.147 * * [simplify]: Extracting #3: cost 8 inf + 1
72.147 * * [simplify]: Extracting #4: cost 10 inf + 45
72.147 * * [simplify]: Extracting #5: cost 15 inf + 47
72.147 * * [simplify]: Extracting #6: cost 15 inf + 89
72.147 * * [simplify]: Extracting #7: cost 10 inf + 378
72.148 * * [simplify]: Extracting #8: cost 4 inf + 1392
72.148 * * [simplify]: Extracting #9: cost 2 inf + 2390
72.148 * * [simplify]: Extracting #10: cost 0 inf + 3701
72.149 * [simplify]: Simplified to:
  (* R (hypot (* (- lambda1 lambda2) (fma (cos (* phi1 0.5)) (cos (* phi2 0.5)) (* (sin (* phi2 0.5)) (- (sin (* phi1 0.5)))))) (- phi1 phi2)))
78.352 * [regime-testing]: Baseline error score: 0.12594386135573538
78.361 * [regime-testing]: Oracle error score: 0.05100313631563209
78.384 * [regime-testing]: End program error score: 0.12594386135573538